Signal synchronous output method and system of optical encoder

Abstract

The invention is suitable for the technical field of industrial automation, and provides a signal synchronous output method and system of an optical encoder, and the method comprises the steps: obtaining and preprocessing an initial signal inputted by the encoder, obtaining a position-time correlation sequence, obtaining a synchronous sequence organized under a unified time system, and obtaining a synchronous sequence; acquiring an equivalent response position of downstream equipment in the displacement change process; and finally, reconstructing the target triggering time in the synchronization sequence according to the delay model. And converting the reconstructed synchronization sequence into a trigger instruction of downstream equipment. The method has the advantages that the response delay model changing along with the displacement state is constructed, so that compensation of the synchronization error can be adaptively adjusted along with the movement process, the problem that accumulated errors are difficult to deal with due to the fact that a traditional scheme depends on static compensation parameters is solved, and non-deterministic factors of the system can be accurately determined. For example, automatic adjustment of problems such as delay, phase offset and the like is performed.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation technology, and in particular relates to a method and system for synchronous signal output of an optical encoder. Background Technology

[0002] An optical encoder is a high-precision position detection device that converts mechanical displacement information into electrical signals. It typically consists of a scale or code disk and a reader that works with it. Optical encoders have advantages such as high resolution, good repeatability, and strong long-term stability, and are widely used in high-precision motion control, semiconductor manufacturing equipment, precision measurement systems, and machine vision inspection.

[0003] In many equipment manufacturing and testing systems, a single optical encoder often needs to provide position information to multiple downstream devices simultaneously. For example, in a high-speed line scan inspection system, the encoder needs to provide continuous, high-precision analog position feedback to the motor driver and digital trigger signals to multiple line scan cameras to control the cameras to complete exposure at precise positions. Different devices must receive the encoder's A, B, and Z signals at the same spatial location and time reference; otherwise, even slight timing differences will translate into significant image distortion or measurement errors under high-speed operating conditions. Therefore, in systems where multiple devices work collaboratively, the synchronous output of the encoder's digital signals becomes a key factor affecting the overall accuracy and reliability of the system.

[0004] In existing technologies, passive splitting or external signal replication is typically used to enable multiple devices to share the digital output signal of the same optical encoder. For example, passive splitting connects the same set of differential signals to multiple downstream devices simultaneously in parallel. This method is prone to electrical problems such as load superposition and impedance mismatch, resulting in inconsistent signal quality and timing characteristics received by each device, reducing triggering accuracy and system stability. To avoid the problems caused by passive splitting, some systems use external encoder signal distributors, repeaters, or isolation modules to replicate the digital signal. However, these solutions usually require additional hardware modules, power supplies, and wiring, which not only increases system complexity and cost but also inevitably introduces additional propagation delays and jitter. Furthermore, it is difficult to achieve strict consistency in delays between different replication channels. Under multi-level buffering or isolation conditions, unpredictable timing deviations can easily occur between output ports, becoming a major limiting factor for the synchronization accuracy of multiple devices.

[0005] Therefore, it is necessary to improve the current signal synchronization methods. Summary of the Invention

[0006] The purpose of this application is to provide a signal synchronization output method for an optical encoder, which aims to solve the problem that existing optical encoders are unable to effectively output targeted control signals for different processing equipment attribute types, resulting in difficulty in accurately synchronizing the actions of different types of equipment.

[0007] This application provides a method for synchronous signal output of an optical encoder, the method comprising:

[0008] Acquire and preprocess the initial signal input from the encoder, which contains information about the displacement change process of the measured object;

[0009] A spatiotemporal evolution model is constructed with time as the independent variable and the position of the measured object as the state variable. Based on the spatiotemporal evolution model, the initial signal is mapped into a continuous position-time correlation sequence.

[0010] Based on the location-time correlation sequence, the target location point of the downstream device is obtained during the displacement change of the measured object, and the target location point is mapped to the target trigger time to obtain a synchronization sequence organized under a unified time system.

[0011] During the execution of the synchronization sequence, the actual trigger response time information of a downstream device is obtained, and the actual trigger response time information is back-mapped to the position-time association sequence to obtain the equivalent response position of the downstream device during the displacement change process.

[0012] Based on the deviation relationship between the equivalent response position and the corresponding target position, a delay model characterizing the response characteristics of the downstream equipment is established, and the target trigger time in the synchronization sequence is reconstructed according to the delay model.

[0013] The reconstructed synchronization sequence is converted into trigger instructions for downstream devices.

[0014] Another objective of this application is to provide a signal synchronization output system for an optical encoder, characterized in that it includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the signal synchronization output method for an optical encoder as described above.

[0015] This application provides a signal synchronization output method for an optical encoder. Its key advantage lies in constructing a response delay model that changes with displacement state, enabling the compensation for synchronization errors to adaptively adjust with the motion process. This avoids the problem of traditional solutions relying on static compensation parameters, which struggle to address accumulated errors. It allows for automatic adjustment to non-deterministic factors in the system, such as execution delay and phase shift. The system achieves consistent control of the triggering behavior of multiple devices without entirely relying on high-precision real-time hardware, exhibiting stronger engineering robustness and scalability. It is particularly suitable for complex industrial motion control scenarios with speed fluctuations, heterogeneous equipment, or differences in dynamic response characteristics. Attached Figure Description

[0016] Figure 1 An application environment diagram for a signal synchronization output method of an optical encoder provided in this application embodiment;

[0017] Figure 2 A flowchart illustrating a signal synchronization output method for an optical encoder provided in this application embodiment;

[0018] Figure 3 This is a block diagram of the internal structure of a computer device in one embodiment. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] It is understood that the terms "first," "second," etc., used in this application may be used herein to describe various elements, but unless otherwise stated, these elements are not limited by these terms. These terms are used only to distinguish the first unit or module from another unit or module. For example, without departing from the scope of this application, the first script may be referred to as the second script, and similarly, the second script may be referred to as the first script.

[0021] Figure 1 An application environment diagram for the signal synchronization output method of the optical encoder provided in the embodiments of this application is shown, such as... Figure 1 As shown, this application environment includes computer equipment, several downstream devices, a controller, an encoder, and a conveyor belt. The object being measured is transported on the conveyor belt; the object being measured can be processed items, parts, goods, etc.

[0022] Computer equipment can be laptops, desktop computers, dedicated data processing devices, etc., but is not limited to these. The controller is responsible for data acquisition and processing, and then transmits the collected data to the computer equipment for processing. The encoder is used to acquire conveyor belt operation data, such as the rotational speed of the conveyor belt drive motor, and to obtain information on the displacement changes of the measured object. Downstream equipment can be processing devices containing cylinders, robotic arms, pressure equipment, etc. Since different processing devices have different action times—for example, the actual pressurization completion time of a pressure device using a cylinder may vary, leading to deviations in mold, label position, or image printing—it is necessary to collect the actual processing time of the measured object. Different detectors can be used to collect the actual time of different types of equipment; for example, the detector for a pressure cylinder is a pressure gauge, and the time when a specific pressure value is reached is defined as the actual trigger response time information. When the conveyor belt rotates, the detector can be fixedly installed on the conveyor belt to collect data cyclically and correct accumulated errors in a timely manner.

[0023] The controller and detector can be connected via a network with extremely low time error delay.

[0024] like Figure 2 As shown, in one embodiment, a method for synchronous signal output of an optical encoder is proposed. This embodiment mainly illustrates the application of this method to the computer device shown in the figure above. A method for synchronous signal output of an optical encoder may specifically include the following steps:

[0025] Step S10: Acquire and preprocess the initial signal input by the encoder, wherein the initial signal contains information on the displacement change process of the measured object;

[0026] Step S20: Construct a spatiotemporal evolution model with time as the independent variable and the position of the measured object as the state variable, and map the initial signal into a continuous position-time correlation sequence based on the spatiotemporal evolution model;

[0027] Step S30: Based on the position-time correlation sequence, obtain the target position point of the downstream device during the displacement change of the measured object, and map the target position point to the target trigger time to obtain a synchronization sequence organized under a unified time system;

[0028] Step S40: During the execution of the synchronization sequence, the actual trigger response time information of a downstream device is obtained, and the actual trigger response time information is back-mapped to the position-time association sequence to obtain the equivalent response position of the downstream device during the displacement change process.

[0029] Step S50: Based on the deviation relationship between the equivalent response position and the corresponding target position, establish a delay model characterizing the response characteristics of the downstream equipment, and reconstruct the target trigger time in the synchronization sequence according to the delay model;

[0030] Step S60: Convert the reconstructed synchronization sequence into trigger instructions for downstream devices.

[0031] In this embodiment, a continuous position-time correlation sequence is constructed, uniformly mapping the actual triggering behavior of downstream devices to the same physical displacement trajectory for measurement, quantifying the triggering results of different devices under different response characteristics and execution delay conditions. Based on this, the deviation between the equivalent response position and the target position is modeled, constructing a response delay model that changes with the displacement state. This allows the compensation for synchronization errors to adaptively adjust with the motion process, avoiding the problem of traditional solutions relying on static compensation parameters that are difficult to handle accumulated errors. It enables automatic adjustment to non-deterministic factors of the system, such as execution delay and phase offset. The system achieves consistent control of the triggering behavior of multiple devices without completely relying on high-precision real-time hardware, exhibiting stronger engineering robustness and scalability, and is particularly suitable for complex industrial motion control scenarios with speed fluctuations, heterogeneous devices, or differences in dynamic response characteristics.

[0032] In a preferred embodiment, the method for acquiring and preprocessing the initial signal of the encoder input is as follows:

[0033] The time-stamped discrete displacement observation data is obtained from the encoder to form a discrete observation point sequence:

[0034] ;

[0035] Where P represents the sequence of discrete displacement observation points. This represents the sampling time of the nth observation point. This represents the corresponding location value of the measured object, and N represents the total number of observation points;

[0036] Perform a time sequence consistency check on the discrete observation point sequence and remove those that do not meet the requirements. Anomaly observation points;

[0037] The rationality of displacement changes at adjacent observation points is verified, and those that do not meet the requirements are eliminated. The abnormal observation points, among which This represents the maximum allowable displacement change within a unit sampling interval.

[0038] The verified discrete displacement observation point sequence As an initial signal characterizing the displacement change process of the measured object.

[0039] In this embodiment, a discrete displacement observation point sequence with time stamps is introduced, so that the encoder output is constrained to the same time reference system before entering subsequent processing, avoiding time sampling problems caused by sampling jitter and other reasons. By verifying the rationality of the displacement change amplitude of adjacent observation points, abrupt data that does not conform to the physical motion constraints are removed from the observation sequence, so that the remaining observation points can truly reflect the continuous motion characteristics of the measured object.

[0040] The advantage lies in constructing original observation data with reliable causal relationships in both time and space through the minimum necessary physical consistency constraints, thereby reducing the risk of error propagation and amplification during subsequent modeling and synchronization processes.

[0041] In a preferred embodiment, the method for constructing a spatiotemporal evolution model with time as the independent variable and the position of the measured object as the state variable, and mapping the initial signal into a continuous position-time correlation sequence based on the spatiotemporal evolution model, is as follows:

[0042] The preprocessed initial signal is denoted as... ,in For adjacent discrete displacement observation points ( , )and( , Calculate the interval velocity :

[0043] ;

[0044] In each time interval Within this range, the position is interpolated and mapped based on the interval velocity to obtain a continuous position function. :

[0045] ;

[0046] right to Repeated interpolation mapping across all time intervals yields the result in Continuous position functions defined by inner segments And generate a continuous location-time correlated sequence R:

[0047] .

[0048] In this embodiment, a spatiotemporal evolution model is constructed by converting discrete displacement observation sequences into piecewise linear continuous position functions. Specifically, based on a time-ordered set of discrete observation points obtained after preprocessing, the interval average velocity is calculated for each pair of adjacent points. Interpolation relationships are established within each sampling interval to form a piecewise continuous position function covering the entire observation period, thereby generating a position-time correlated sequence. The advantage is that a mapping of continuous spatiotemporal representation is obtained through discrete signals. Linear interpolation avoids overfitting and oscillations that may be caused by high-order polynomials. In scenarios with sufficiently high sampling frequencies and smooth motion, it can approximate the real trajectory, reduce the complexity of system calibration, and enhance the practicality of the method.

[0049] In a preferred embodiment, based on the position-time correlation sequence, the method for obtaining the target position point of the downstream device during the displacement change of the measured object, and mapping the target position point to the target trigger time to obtain the synchronization sequence organized under a unified time system is as follows:

[0050] Based on continuous location-time correlation sequences The effective displacement range of the measured object during the displacement change process is obtained. ,in:

[0051] ;

[0052] Within the effective displacement range, for downstream equipment The installation location determines its target location point set. ,in , This refers to the sequence number of the synchronization task;

[0053] In position function Establish an inverse mapping relationship from location to time within a monotonically changing time interval. Based on reverse mapping relationship The target location of each downstream device Mapped to the corresponding target trigger time : ;

[0054] Under a unified time reference system, the synchronization task sequence number is... Determine the target time marker Generate the target time interval:

[0055] ;

[0056] The target location, target trigger time, and target time interval are combined to form a synchronization sequence. :

[0057] .

[0058] In this embodiment of the application, the target time identifier Used to construct the target time interval for this task And it serves as a criterion for assigning response samples, used to limit the relationship with the task sequence number. The relevant trigger responses should fall within the time window. Based on the established continuous position-time correlation sequence R, the installation positions of downstream devices are introduced to specify the target location point set, thereby transforming the displacement interval into a trigger target matching the actual position of each physical device. This method constructs a deterministic back-mapping t(x) with position as input and time as output, and independently calculates the theoretical trigger time for each downstream device, defining a unified target time identifier and its tolerance interval for the entire synchronization task sequence number n. This enables the system to coordinate multiple devices under a unified time reference system, while providing a controllable time margin for the actual response of each device through parameters, and establishing a synchronization window for distributed triggering actions in the time dimension. The resulting synchronization sequence Q incorporates cooperative tolerance, improving the robustness of the entire synchronization control system.

[0059] In a preferred embodiment, the method for obtaining the actual trigger response time information of a downstream device and mapping the actual trigger response time information back to the position-time correlation sequence to obtain the equivalent response position of the downstream device during the displacement change process is as follows:

[0060] Based on downstream equipment and synchronization sequence Obtain the actual trigger response time returned by the downstream device. Determine whether the actual trigger response time falls within the target time interval:

[0061] ;

[0062] When the actual trigger response time meets the target time interval, the actual trigger response time will be... By substituting the forward mapping of the location-time correlation sequence, the equivalent response location of the downstream device under the task is obtained. :

[0063] .

[0064] In this embodiment, the actual trigger response time of the downstream device is first used as a constraint condition for task attribution, that is, by determining... The correspondence between this response and the scheduled synchronization task on the timeline is fixed to avoid mismatches of response events when task intervals are close or communication jitter exists. The purpose of the time window constraint is to ensure that subsequent mapping and modeling are based only on reliable samples, reducing the pollution of the model by abnormal or late responses. Then... Substitute the positive mapping of position-time correlation sequences Obtain the equivalent response position The time deviation is converted into a spatial landing point deviation defined along the same motion trajectory, so that the device's response result can be compared with the target position point. Alignment. As a result, the differences in device response are uniformly expressed as positional offsets on the motion trajectory, which facilitates the separation and modeling of fixed and dynamic delays in subsequent steps, and makes it easier to correct the trigger timing according to the trajectory state.

[0065] In a preferred embodiment, based on the deviation relationship between the equivalent response position and the corresponding target position point, a delay model characterizing the response characteristics of the downstream device is established. The method for reconstructing the target trigger time in the synchronization sequence based on the delay model is as follows:

[0066] Based on downstream equipment Equivalent response location in synchronous output tasks To obtain its spatial deviation :

[0067] ;

[0068] Convert spatial bias into equivalent time bias :

[0069] ;

[0070] in, The velocity estimate corresponding to the target trigger time, and satisfies the following under the piecewise linear model: ;

[0071] A delay model is established based on the time deviation. :

[0072] ;

[0073] in, Characterizing a fixed response delay, Characterizes dynamic response properties;

[0074] Based on the aforementioned delay model, the target trigger time corresponding to the downstream device in the synchronous output task is corrected to obtain the reconstruction trigger time. :

[0075] ;

[0076] A reconstructed synchronization sequence is generated based on the reconstruction trigger time.

[0077] In this embodiment, the delay model is established using the trigger point deviation as the entry point, aiming to transform the response error of the downstream device from an unstable time-domain representation to a displacement-domain representation consistent with the motion trajectory. The spatial deviation is obtained by subtracting the equivalent response position from the corresponding target position. This allows the equipment's deviation in a given task to be fixed as a geometric quantity along the same trajectory direction, avoiding the incomparability caused by different positional errors corresponding to the same time error when different tasks are at different speed ranges. Subsequently, the velocity estimate at the target trigger moment is used to... Converted to equivalent time deviation This ensures that the error measurement is consistent with the control quantity; among other things, the following is introduced: The lower bound constraint is used to suppress numerical amplification when velocity estimation is unstable, avoiding disproportionate influence of individual samples on the model. Under piecewise linear trajectories, Take the interval speed This ensures that velocity estimation and trajectory generation are of the same origin, avoiding phase lag introduced by additional filtering or higher-order fitting, and is based on a set of data obtained from multiple synchronization tasks. Sample Fitting ,in Corresponding to a relatively stable fixed delay component on the equipment side, By incorporating variable components related to the motion state, the model can distinguish between constant lag and velocity-varying responses, thus enabling feedforward correction of the target trigger time during the reconstruction phase. The resulting reconstruction trigger time... The time axis is calibrated based on the trajectory status and equipment response samples to ensure that the synchronization sequence remains consistent under different speed ranges, different loads, or different equipment differences, and to reduce the accumulation of errors in subsequent tasks.

[0078] In this embodiment, the speed estimate Refers to the task sequence number Near the target trigger moment, the instantaneous velocity estimate of the measured object along the displacement evolution trajectory is used to account for spatial deviation. Converted to equivalent time deviation To avoid inconsistencies in the temporal deviation scale corresponding to the same spatial deviation when different tasks are in different velocity ranges, the piecewise linear spatiotemporal evolution model in this application obtains velocity estimates from the same source as trajectory generation, and calculates interval velocities for adjacent discrete observation points. and in the interval Internal Order ,when Time to take To suppress conversion divergence caused by an excessively small denominator when velocity estimation is unstable, a lower velocity limit is introduced in the calculation of equivalent time deviation. , The maximum equivalent time deviation or minimum effective motion speed allowed by the system can be set to limit the abnormal impact of low-speed conditions on the fitting of the delay model.

[0079] In a preferred embodiment, the method for converting the reconstructed synchronization sequence into trigger instructions for downstream devices is as follows:

[0080] For downstream equipment Obtain its reconstruction trigger time. Generate the corresponding trigger command;

[0081] After the trigger execution is completed, obtain the synchronization task sequence number of each downstream device. Actual trigger response time It also assesses the time consistency of multiple downstream devices under a unified time reference system.

[0082]

[0083] When the condition is true, synchronization of different downstream devices is completed under a unified time reference system.

[0084] In this embodiment, the reconstructed synchronization sequence is issued as trigger commands to each downstream device, and a unified time reference system is used to lock the execution timing of each device onto the same time axis. The control terminal generates commands according to the device... After executing the constraint command, the completion phase is triggered based on the actual response time returned by the device. A closed-loop acceptance test is performed on the synchronization results. This is done by calculating the sequence number of the same task. Dispersion of actual response time of each device Synchronization quality can be quantified as a consistency metric on the time axis; this metric requires that it meet a preset time consistency upper limit under a unified time base. This avoids incorrectly constraining synchronization issues as simultaneous actions. Its advantage lies in eliminating random errors caused by fluctuations. When a criterion is not met, the system can mark the task sample as untrustworthy or trigger a reconstruction parameter update, preventing abnormal responses from being introduced into subsequent delay models.

[0085] Figure 3 An internal structural diagram of a computer device in one embodiment is shown. Specifically, this computer device may be... Figure 1 Computer equipment in the environment. For example... Figure 3As shown, the computer device includes a processor, memory, network interface, input device, and display screen connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement a method for synchronously outputting signals from an optical encoder. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to implement the method for synchronously outputting signals from an optical encoder.

[0086] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0087] In one embodiment, a signal synchronization output system for an optical encoder is provided, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the signal synchronization output method for an optical encoder as described above.

[0088] In one embodiment, the system further includes a rotary conveyor belt equipped with an encoder, a controller, and a plurality of detectors fixedly mounted on the rotary conveyor belt. The controller is used to acquire the initial signal input by the encoder. The detectors are wirelessly connected to the controller and are used to acquire the actual trigger response time information of the downstream device and input the actual trigger response time information to the controller.

[0089] In the embodiments of this application, when the above system is running, its corresponding method steps are executed. For a description of the signal synchronization output method of the optical encoder, please refer to the above text; it will not be repeated here.

[0090] In this embodiment, the system's advantage lies in its ability to adaptively adjust synchronization error compensation as the motion process changes by constructing a response delay model that varies with displacement state. This avoids the problem of traditional solutions relying on static compensation parameters, which struggle to address accumulated errors. The system can automatically adjust for non-deterministic factors such as execution delay and phase shift. Without fully relying on high-precision real-time hardware, the system achieves consistent control of multi-device triggering behavior, exhibiting stronger engineering robustness and scalability. It is particularly suitable for complex industrial motion control scenarios with speed fluctuations, heterogeneous equipment, or differences in dynamic response characteristics.

[0091] It should be understood that although the steps in the flowcharts of the various embodiments of this application are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in each embodiment may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0092] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Furthermore, any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory.

[0093] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A method for synchronous signal output of an optical encoder, characterized in that, The method includes: Acquire and preprocess the initial signal input from the encoder, which contains information about the displacement change process of the measured object; A spatiotemporal evolution model is constructed with time as the independent variable and the position of the measured object as the state variable. Based on the spatiotemporal evolution model, the initial signal is mapped into a continuous position-time correlation sequence. Based on the location-time correlation sequence, the target location point of the downstream device is obtained during the displacement change of the measured object, and the target location point is mapped to the target trigger time to obtain a synchronization sequence organized under a unified time system. During the execution of the synchronization sequence, the actual trigger response time information of a downstream device is obtained, and the actual trigger response time information is back-mapped to the position-time association sequence to obtain the equivalent response position of the downstream device during the displacement change process. Based on the deviation relationship between the equivalent response position and the corresponding target position, a delay model characterizing the response characteristics of the downstream equipment is established, and the target trigger time in the synchronization sequence is reconstructed according to the delay model. The reconstructed synchronization sequence is converted into trigger instructions for downstream devices.

2. The signal synchronization output method of an optical encoder according to claim 1, characterized in that, The method for acquiring and preprocessing the initial signal of the encoder input is as follows: The time-stamped discrete displacement observation data is obtained from the encoder to form a discrete observation point sequence: ； Where P represents the sequence of discrete displacement observation points. This represents the sampling time of the nth observation point. This represents the corresponding location value of the measured object, and N represents the total number of observation points; Perform a time sequence consistency check on the discrete observation point sequence and remove those that do not meet the requirements. Anomaly observation points; The rationality of displacement changes at adjacent observation points is verified, and those that do not meet the requirements are eliminated. The abnormal observation points, among which This represents the maximum allowable displacement change within a unit sampling interval. The verified discrete displacement observation point sequence As an initial signal characterizing the displacement change process of the measured object.

3. The signal synchronization output method of an optical encoder according to claim 1, characterized in that, The method for constructing a spatiotemporal evolution model with time as the independent variable and the position of the measured object as the state variable, and mapping the initial signal into a continuous position-time correlation sequence based on the spatiotemporal evolution model, is as follows: The preprocessed initial signal is denoted as... ,in For adjacent discrete displacement observation points ( , )and( , Calculate the interval velocity : ； In each time interval Within this range, the position is interpolated and mapped based on the interval velocity to obtain a continuous position function. : ； right to Repeated interpolation mapping across all time intervals yields the result in Continuous position functions defined by inner segments And generate a continuous location-time correlated sequence R: 。 4. The signal synchronization output method of an optical encoder according to claim 1, characterized in that, Based on the location-time correlation sequence, the method for obtaining the target location point of the downstream device during the displacement change of the measured object, and mapping the target location point to the target trigger time to obtain the synchronization sequence organized under a unified time system is as follows: Based on continuous location-time correlation sequences The effective displacement range of the measured object during the displacement change process is obtained. ,in: ； Within the effective displacement range, for downstream equipment The installation location determines its target location point set. ,in , This refers to the sequence number of the synchronization task; In position function Establish an inverse mapping relationship from location to time within a monotonically changing time interval. Based on reverse mapping relationship The target location of each downstream device Mapped to the corresponding target trigger time : ; Under a unified time reference system, the synchronization task sequence number is... Determine the target time marker Generate the target time interval: ； The target location, target trigger time, and target time interval are combined to form a synchronization sequence. : 。 5. The signal synchronization output method of an optical encoder according to claim 1, characterized in that, The method for obtaining the equivalent response position of a downstream device during the displacement change process by obtaining the actual trigger response time information of a downstream device and mapping the actual trigger response time information back to the position-time correlation sequence is as follows: Based on downstream equipment and synchronization sequence Obtain the actual trigger response time returned by the downstream device. Determine whether the actual trigger response time falls within the target time interval: ； When the actual trigger response time meets the target time interval, the actual trigger response time will be... By substituting the forward mapping of the location-time correlation sequence, the equivalent response location of the downstream device under the task is obtained. : 。 6. The signal synchronization output method of an optical encoder according to claim 1, characterized in that, Based on the deviation relationship between the equivalent response position and the corresponding target position, a delay model characterizing the response characteristics of downstream equipment is established. The method for reconstructing the target trigger time in the synchronization sequence based on the delay model is as follows: Based on downstream equipment Equivalent response location in synchronous output tasks To obtain its spatial deviation : ； Convert spatial bias into equivalent time bias : ； in, The velocity estimate corresponding to the target trigger time, and satisfies the following under the piecewise linear model: ; A delay model is established based on the time deviation. : ； in, Characterizing a fixed response delay, Characterizes dynamic response properties; Based on the aforementioned delay model, the target trigger time corresponding to the downstream device in the synchronous output task is corrected to obtain the reconstruction trigger time. : ； A reconstructed synchronization sequence is generated based on the reconstruction trigger time.

7. The signal synchronization output method of an optical encoder according to claim 1, characterized in that, The method for converting the reconstructed synchronization sequence into trigger commands for downstream devices is as follows: For downstream equipment Obtain its reconstruction trigger time. Generate the corresponding trigger command; After the trigger execution is completed, obtain the synchronization task sequence number of each downstream device. Actual trigger response time It also assesses the time consistency of multiple downstream devices under a unified time reference system. When the condition is true, synchronization of different downstream devices is completed under a unified time reference system.

8. A signal synchronization output system for an optical encoder, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to perform the steps of the signal synchronization output method of the optical encoder as described in any one of claims 1 to 7.

9. The signal synchronization output system of an optical encoder according to claim 8, characterized in that, The system also includes a rotary conveyor belt equipped with an encoder, a controller, and several detectors fixedly mounted on the rotary conveyor belt. The controller is used to acquire the initial signal input from the encoder. The detector is wirelessly connected to the controller to obtain the actual trigger response time information of the downstream device and input the actual trigger response time information to the controller.

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