Angle encoder and a method of measuring an angle using same
An angle encoder has first and second components rotatable with respect to each other, and an encoder pattern having codewords for indicating the angle between the first and second components. The encoder pattern has a set of base encoder channels coded with a conventional Gray code, and a set of Booster channels for improving the resolution of angle measurement.
1. An angle encoder comprising:
a first component;
a second component rotatable with respect to the first component and juxtaposed thereto;
an encoder pattern associated with said second component, said encoder pattern storing codewords indicative of possible angles between the first and second components; and
at least a first reader, in response to a current angle between the first and second components, reading, from said encoder pattern, a codeword indicative of the current angle between the first and second components; wherein said encoder pattern comprises:
n base encoder channels, each of said n base encoder channels comprising at most 2 n aligned, equal-length segments, each segment storing a binary 1 or 0, and said n base encoder channels storing the codewords of an n-bit Gray code;
at least m first Booster channels, each of said m first Booster channels comprising at most 2 n equal-length segments, said equal-length segments alternately storing 0's and 1's and being offset from the base encoder channels by an offset distance of L 0 =Si/(m+1), where S represents the length of each segment, and i=1, 2, . . . , m, represents the Booster channel number of the first Booster channels.
2. The angle encoder of claim 1 wherein the channels of the encoder pattern are concentric rings, each segment is a segment of one of the concentric rings and has an angular length of at least S=360°/2 n , and said offset distance L 0 is an angular offset distance.
3. The angle encoder of claim 1 wherein the channels of the encoder pattern are circumferentially extending linear strips, each segment is a segment of one of the linear strips and has a linear length of at least S=L/2 n , where L is the linear length of each strip, and said offset distance L 0 is a linear offset distance.
4. The angle encoder of claim 3 wherein the encoder pattern is a flexible printed circuit board (PCB) storing codewords.
5. The angle encoder of claim 1 wherein the first reader measures the capacitance between the encoder pattern and the reader for reading, from said encoder pattern, the codeword indicative of the current angle between the first and second components.
6. The angle encoder of claim 1 wherein the first reader measures the electrical ON and OFF between the encoder pattern and the reader for reading, from said encoder pattern, the codeword indicative of the current angle between the first and second components.
7. The angle encoder of claim 1 wherein the first reader measures the resistance or voltage differential between the encoder pattern and the reader for reading, from said encoder pattern, the codeword indicative of the current angle between the first and second components.
8. The angle encoder of claim 1 wherein the first reader measures the optical ON and OFF between the encoder pattern and the reader for reading, from said encoder pattern, the codeword indicative of the current angle between the first and second components.
9. The angle encoder of claim 1 further comprising:
an analogue encoder section; and
a second reader coupled to the analogue encoder section for reading an analogue parameter for determining the current angle between the first and second components.
10. The angle encoder of claim 9 further comprising:
a module of a statistic estimator coupled to the analogue encoder section and the second reader for determining the current angle between the first and second components.
11. The angle encoder of claim 10 wherein the statistic estimator is a Bayesian estimator.
12. The angle encoder of claim 11 wherein the Bayesian estimator is a Kalman Filter, an Extended Kalman Filter, a Minimum Mean Square Error, or a Particle Filter.
13. The angle encoder of claim 1 wherein n=3, and m=2.
14. A device comprising:
a codeword generator for generating a codeword of a (n, m) boosted cyclic Gray code; and
a signal output coupled to the codeword generator for outputting the generated codeword of the (n, m) boosted cyclic Gray code;
wherein said (n, m) boosted cyclic Gray code comprises a plurality of codewords, each codeword having at least (n+m) bits, a Hamming distance for any pair of codewords being 1; wherein said (n, m) boosted cyclic Gray code has a minimum cross-codeword width of (m+1); and wherein the minimum cross-codeword width of said (n, m) boosted cyclic Gray code is the number of consecutive 1's or 0's in each bit across all codewords.
15. The device of claim 14 wherein each codeword of the (n, m) boosted cyclic Gray code comprises a first portion of n bits and at least a second portion of m bits, said portion of n bits are formed from an n-bit Gray code.
16. The device of claim 15 wherein the codewords of the (n, m) boosted cyclic Gray code comprise a plurality of codeword groups, each codeword group has (m+1) consecutive codewords of the (n, m) boosted cyclic Gray code, the first portion of each codeword group is formed by a same codeword of the n-bit Gray code.
17. The device of claim 16 wherein for the second portion of the (n, m) boosted cyclic Gray code, the i-th bits, i=1, . . . , m, of all codewords of the (n, m) boosted cyclic Gray code are formed by alternate groups of binary 1's and 0's, wherein each group of binary 1's have (m+1) binary 1's and each group of binary 0's have (m+1) binary 0's.
18. The device of claim 17 wherein for the second portion of the (n, m) boosted cyclic Gray code, the first binary 1 of each group of binary 1's of the i-th bits is in the i-th codeword of a codeword group.
19. The device of claim 18 is an angle encoder for measuring an angle, wherein the device comprises:
an encoder pattern storing at least a subset of the codeword of the (n, m) boosted cyclic Gray code, each codeword of the (n, m) boosted cyclic Gray code indicative of a possible angle value; and
at least one reader for reading, from said encoder pattern, a codeword indicative of the angle to be measured.
20. The device of claim 19 wherein the device measures a maximum angle of β, 0<β≦360°/M, M≧2 being an integer; and wherein the device comprises at least M readers, the encoder pattern stores at least a subset of a (n,(M−1)n+Mm) boosted cyclic Gray code, the encoder pattern comprises M zones along the reading direction of each reader, each zone comprises n a tracks, n a being an integer, such that Mn a ≧Mn+Mm, each track comprises a plurality of sectors with each sector corresponding to a bit of a codeword of the (n,(M−1)n+Mm) boosted cyclic Gray code.