Incremental rotary encoder for measuring horizontal or vertical angles

• US 6,304,079 B1
• Filed: 04/27/2000
• Issued: 10/16/2001
• Est. Priority Date: 04/28/1999
• Status: Expired due to Fees

• Current Assignee: Asahi Kogaku Kogyo Kabushiki Kaisha, Asahi Seimitsu Kabushiki Kaisha (Hoya Corporation), Pentax Corporation (Hoya Corporation)
• Original Assignee: Asahi Kogaku Kogyo Kabushiki Kaisha
• Inventors: Shirai, Masami, Kenjo, Katsuhiko
• Primary Examiner(s): PATIDAR, JAY M
• Application Number:
  US09/559,758
• Time in Patent Office: 537 Days
• Field of Search: 324/207.12, 324/207.2, 324/207.21, 324/207.25, 324/252, 338/32.R, 338/32.H, 332/90, 702/151, 702/145, 702/146
• US Class Current: 324/207.21
• CPC Class Codes: G01D 5/145 influenced by the relative movement between the Hall device and magnetic fields see G01R33/06
• CPC Class Codes: G01D 5/24409 Interpolation using memories
• CPC Class Codes: H03M 1/306 for waveshaping

Abstract

An incremental rotary encoder outputs two sine wave signals having a phase difference of 90 degrees when the incremental rotary encoder is in operation, the incremental rotary encoder including a binary coding circuit which codes each of the two sine wave signals into a binary signal, a voltage detector which detects the voltage of one of the two sine wave signals at the moment of variation in a signal level of the binary signal, and a controller which includes a calculator which takes an even number of voltage values from each of the two sine wave signals to take an average of the even number of voltage values for each of the two sine wave signals.

Claims

1. An incremental rotary encoder which outputs two sine wave signals having a phase difference of 90 degrees when said incremental rotary encoder is in operation, said incremental rotary encoder comprising:

a binary coding circuit which codes each of said two sine wave signals into a binary signal;

a voltage detector which detects the voltage of one of said two sine wave signals at the moment of variation in a signal level of said binary signal of the other of said two sine wave signals; and

a controller comprising a calculator which takes an even number of voltage values detected by said voltage detector to generate an average of said even number of voltage values for each of said two sine wave signals.

2. The incremental rotary encoder according to claim 1, wherein said calculator calculates a median voltage of each of said two sine wave signals in accordance with said average of said even number of voltage values, and performs an interpolative calculation in accordance with said detected voltage and said median voltage to calculate an interpolation rotational angle for said incremental rotary encoder.

3. The incremental rotary encoder according to claim 2, wherein said calculator performs said interpolative calculation using the following equations (1) and (2):

x=X−

V_C(COS) and

y=Y−

V_C(SIN) . . . (1);

θ

=tan<sup>−

1</sup>(y/x) . . . (2);

wherein “

X” and

“

Y”

designate the voltages of said two sine wave signals of the SIN and COS signals, respectively;

“

V_C”

designates the medium voltage; and

“

θ

”

represents said interpolation rotational angle.

4. The incremental rotary encoder according to claim 3, further comprising a non-volatile memory;

wherein said median voltages V_C(SIN) and V_C(COS) are stored in advance in said non-volatile memory; and

wherein said controller reads out said stored values of said median voltages V_C(SIN) and V_C(COS) from said non-volatile memory to perform said interpolative calculation.

5. The incremental rotary encoder according to claim 1, further comprising:

a rotary portion;

a sensor which outputs two sine wave signals having a phase difference of 180 degrees with respect to each respective said two sine wave signals having a phase difference of 90 degrees; and

a differential amplifier which amplifies a difference between said two sine wave signals having said phase difference of 180 degrees.

6. The incremental rotary encoder according to claim 1, further comprising:

a magnetic drum; and

first and second magnetic sensors arranged so as to be opposite from each other with respect to the axis of said magnetic drum.

7. An incremental rotary encoder which outputs two sine wave signals having a phase difference of 90 degrees when said incremental rotary encoder is in operation, said incremental rotary encoder comprising:

a binary coding circuit which codes each of said two sine wave signals into a binary signal;

a voltage detector which detects the voltage of one of said two sine wave signals at the moment of variation in a signal level of said binary signal of the other of said two sine wave signals;

a controller comprising a calculator which takes an even number of voltage values detected by said voltage detector to generate an average of said even number of voltage values for each of said two sine wave signals;

a closed-loop circuit which compares said average voltage with a predetermined target voltage to bring said average voltage close to said predetermined target voltage.

8. The incremental rotary encoder according to claim 7, further comprising:

a rotary portion;

a sensor which outputs two sine wave signals having a phase difference of 180 degrees with respect to each respective said two sine wave signals having a phase difference of 90 degrees; and

a differential amplifier which amplifies a difference between said two sine wave signals having said phase difference of 180 degrees;

wherein said closed-loop circuit adjusts an offset voltage of said differential amplifier so that said average voltage coincides with said predetermined target voltage.

9. The incremental rotary encoder according to claim 8, further comprising a non-volatile memory;

wherein said adjusted offset voltage is stored in advance in said non-volatile memory when the power is OFF; and

wherein said controller reads out said stored offset voltage from said non-volatile memory to adjust said voltage values X and Y, detected by said voltage detector, when the power is ON.

10. A surveying instrument comprising:

a leveling board;

a pedestal coupled to said leveling board to be rotatable about a vertical axis relative to said leveling board;

a collimating telescope coupled to said pedestal to be rotatable about a horizontal axis relative to said pedestal;

a horizontal-angle measuring device for measuring an angle of rotation of said pedestal relative to said leveling board; and

a vertical-angle measuring device for measuring an angle of rotation of said collimating telescope relative to said pedestal;

wherein at least one of said horizontal-angle measuring device and said vertical-angle measuring device comprises an incremental rotary encoder;

wherein said incremental rotary encoder comprises a rotary portion, a first sensor and a second sensor;

said first and second sensors being arranged so as to be opposite from each other with respect to the axis of said rotary portion;

wherein said incremental rotary encoder outputs two sine wave signals having a phase difference of 90 degrees when said incremental rotary encoder is in operation, said incremental rotary encoder comprising;

a binary coding circuit which codes each of said two sine wave signals into a binary signal;

a voltage detector which detects the voltage of one of said two sine wave signals at the moment of variation in a signal level of said binary signal of the other of said two sine wave signals; and

a calculator which takes an even number of voltage values from each of said two sine wave signals to take an average of said even number of voltage values for each of said two sine wave signals.