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 arranged in a cylindrical shape and 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; and
a module of a statistic estimator coupled to at least one of the at least first reader for determining the current angle between the first and second components; wherein
said encoder pattern comprises one or more channels for storing the codewords, and
the one or more channels are circumferentially extending linear strips.
2. The angle encoder of claim 1 wherein the encoder pattern is a flexible printed circuit board (PCB).
3. The angle encoder of claim 2 wherein the flexible PCB is wrapped about a pivot.
4. The angle encoder of claim 3 wherein the at least first reader measures the resistance or voltage differential between the encoder pattern and the at least first reader, for reading, from said encoder pattern, the codeword indicative of the current angle between the first and second components.
5. The angle encoder of claim 4 wherein the at least first reader is a wiper on the pivot, the wiper comprising at least one electrical contact, each of the at least one electrical contact in contact with at least one channel of the flexible PCB.
6. The angle encoder of claim 4 wherein the at least first reader is a wiper on the pivot and comprises at least one electrical contact, and wherein the at least one electrical contact is at a distance from the flexible PCB thereby forming a gap therebetween; the angle encoder further comprising a conductive fluid filled in the gap.
7. The angle encoder of claim 5 wherein, in addition to the one or more channels for storing the codewords, the flexible PCB further comprises a channel for providing an electrical source.
8. The angle encoder of claim 3 wherein the at least first reader measures the capacitance between the flexible PCB and the at least first reader, for reading, from the flexible PCB, the codeword indicative of the current angle between the first and second components.
9. The angle encoder of claim 8 wherein the pivot comprises a pivoting electrode, the pivoting electrode having a reader pin in proximity with the flexible PCB, and separated from the flexible PCB by a nonconductive gap therebetween.
10. The angle encoder of claim 1 wherein the at least first reader uses at least one of mechanical, optical and magnetic means for reading, from said encoder pattern, the codeword indicative of the current angle between the first and second components.
11. The angle encoder of claim 1 wherein the encoder pattern comprises a surface arranged about a pivot, and wherein the surface comprises peaks and valleys thereon for storing the codewords.
12. The angle encoder of claim 11 wherein the at least first reader is a wiper on the pivot, the wiper having no physical contact with the surface; and wherein the wiper measures the capacitance between the wiper and the surface.
13. 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.
14. The angle encoder of claim 1 wherein the statistic estimator is a Bayesian estimator.
15. The angle encoder of claim 14 wherein the Bayesian estimator is a Kalman Filter, an Extended Kalman Filter, a Minimum Mean Square Error estimator, or a Particle Filter.
16. An angle encoder comprising:
a first component;
a second component rotatable with respect to the first component and juxtaposed thereto;
an encoder pattern storing codewords indicative of possible angles between the first and second components;
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;
an analogue encoder section;
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; and
a module of a statistic estimator coupled to at least one of the at least first reader for determining the current angle between the first and second components.
17. The angle encoder of claim 16 wherein the statistic estimator is a Bayesian estimator.
18. The angle encoder of claim 17 wherein the Bayesian estimator is a Kalman Filter, an Extended Kalman Filter, a Minimum Mean Square Error, or a Particle Filter.