基于曼彻斯特编码的图像式角位移测量系统

李勇杰; 于海; 万秋华; 梁立辉; 卢新然; 孙树红

doi:10.37188/CO.2024-0178

基于曼彻斯特编码的图像式角位移测量系统

doi: 10.37188/CO.2024-0178

cstr: 32171.14.CO.2024-0178

李勇杰^{1, 2,},
于海^1, ,,
万秋华¹,
梁立辉¹,
卢新然¹,
孙树红³

1.
中国科学院长春光学精密机械与物理研究所, 长春 130033
2.
中国科学院大学北京 100049
3.
驻沈阳地区代表局驻长春地区第一代表室

基金项目: 国家自然科学基金资助项目（No. 52075520）；吉林省自然科学基金（No. 20230101111JC）

详细信息

作者简介:
李勇杰（1996—），男，山西吕梁人，硕士研究生，2019年于山西大获得学士学位，主要研究方向为光电位移测量。E-mail：liyongjie22@mails.ucas.ac.cn

于　海（1987—），男，吉林敦化人，副研究员，2009年于东北电力大学获得学士学位，2014年于中国科学院长春光学精密机械与物理研究所机械电子工程专业获得工学博士学位，目前主要从事光电位移精密测量技术的研究。E-mail：yuhai@ciomp.ac.cn

中图分类号: TP212.9
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- 被引次数: 0
出版历程
- 收稿日期: 2024-09-29
- 录用日期: 2025-01-02
- 网络出版日期: 2025-02-26

Image-based angular displacement measurement system based on Manchester coding

1.
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China
3.
No. 1 Delegate Office in Changchun Area, Delegate Bureau in Shenyang Region

Funds: Supported by This project is supported by National Natural Science Foundation of China (No. 52075520); Natural Science Foundation of Jilin Province (No. 20230101111JC)

More Information

Corresponding author: yuhai@ciomp.ac.cn

摘要

摘要:
与传统光电位移测量技术相比，基于数字图像处理方法的位移测量技术具有更高的容错性、灵活性，因而成为当前的研究热点之一。为了实现高精度、高可靠性角位移测量，建立了基于曼彻斯特编码的图像式角位移测量系统。首先，以M序列伪随机编码为基础，采用曼彻斯特编码方式设计单码道光栅码盘，并采用数字图像传感器设计了光栅码盘上图案的获取光路。然后，基于所使用的编码图案，提出了译码识别算法。其次，为进一步提升位移测量的分辨力提出了边沿定位算法和编码标线边沿图案拟合的亚像素细分算法。最后，对所提出的方法进行实验验证。实验结果表明：在光栅码盘为100 mm时，实现21-bit的分辨力和1.73"的精度。所做的研究，为高可靠性、高性能光电角位移测量技术的研究奠定基础。
- 曼彻斯特 /
- 图像式 /
- 角位移测量 /
- 边沿定位 /
- 亚像素
Abstract:
In comparison with traditional photoelectric displacement measurement technologies, displacement measurement methods based on digital image processing methods exhibit superior fault tolerance and flexibility, making them a current research hotspot. To achieve high-precision and high-reliability angular displacement measurement, an image-based angular displacement measurement system based on Manchester coding is proposed. First, a single code-channel raster code disc was designed using Manchester coding based on M-sequence pseudo-random coding. A digital image sensor was then used to construct an optical path for capturing patterns on the raster code disc. Subsequently, a decoding recognition algorithm tailored to the coded patterns was developed. Additionally, edge positioning and sub-pixel subdivision algorithms for coded marker edge pattern fitting were proposed to further enhance the system’s resolution. The proposed method was then experimentally validated. The experimental results demonstrated that the system achieved a resolving power of 21 bits and an accuracy of 1.73 arcseconds with a 100 mm grating code disc. This research provides a foundation for the development of highly reliable and high-performance photoelectric angular displacement measurement technologies. Image-based angular displacement measurement system based on Manchester coding
- Manchester /
- graphical /
- angular displacement measurement /
- edge positioning /
- subpixel

HTML全文

图 1 图像式角位移测量技术原理图

Figure 1. Schematic diagram of image-based angular displacement measurement technology

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图 2 编码方式示意图

Figure 2. Schematic diagram of coding method

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图 3 边沿线示意图

Figure 3. Schematic diagram of the borderline

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图 4 边沿定位识别原理图

Figure 4. Schematic diagram of edge positioning recognition

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图 5 一次函数拟合示意图

Figure 5. Schematic diagram of a one-time function fitting

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图 6 实验装置图

Figure 6. Diagram of experimental setup

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图 7 硬件电路原理图

Figure 7. Hardware Circuit Schematic

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图 8 双图像传感器电路

Figure 8. Dual Image Sensor Circuit

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图 9 图像数据采集结果

Figure 9. Image data acquisition results

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图 10 译码和细分实验

Figure 10. Translation and segmentation experiment

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图 11 角度输出数据

Figure 11. Angle Output Data

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图 12 误差检测实验

Figure 12. Error detection experiment

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图 13 测角精度对比结果

Figure 13. Comparison results of angle measurement accuracy

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表 1 测角误差结果

Table 1. Angle measurement error results

序号	测量角度值	误差(arcsec)
1	00°00′00″	0
2	21°10′35.29″	−0.8
3	42°21′10.59″	−2.4
4	63°31′45.88″	−3.8
5	84°42′21.67″	−0.8
6	105°52′56.47″	−0.3
7	127°3′31.76″	3.1
8	148°14′7.06″	1.1
9	169°24′42.35″	−1.1
10	190°35′17.65″	−1.5
11	211°45′52.94″	−3.3
12	232°56′28.24″	−1.9
13	254°7′.5.53″	−3.6
14	275°17′38.82″	−1.4
15	296°28′14.12″	−1.1
16	317°38′49.41″	0.1
17	338°49′24.71″	−3.5

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