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RESEARCH ARTICLE
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DOI: 10.3923/jas.2015.1059.1072
ABSTRACT
This study presents a proposed technique for displacement measurement in linear
horizontal motion. The measurement system consists of a lines can sensor with built
in illumination system, grating scale and an ultrasonic sensor. Once, the linescan
transducer scans the grating scale optically, the displacement of the transducer is
measured based on pixel shifting method. Additionally, the role of the ultrasonic
sensor is to add the reference position for the linescan transducer and the current
position in case of missing the position. The linescan transducer design includes;
the illumination source and the division of the grating scale. The accuracy of the
measurements is compared to white and infrared lights. After that, the comparison
is built based on three scale divisions which are 0.5, 1 and 2 mm. Finally, the
accuracy also is compared to different travelling ranges of motion. The
displacement measurements of the proposed transducer is evaluated comparatively
to Optiv Light Measurement (OLM) device.
Key words: Displacement, linescan, illumination, ultrasonic sensor
INTRODUCTION
The optical sensor has photo detector, which is sensitive
to the light. The light interruption on the photo detector
generates a pulse (Haus, 2010; Nagai et al., 2013). In optical
sensor, the pulse is the core of displacement sensing which
represents as a function of the incident light, as in:
Output voltage = KLight intensityIntegration time
(1)
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(b)
Electronic wires
Focal adjuster
Linesc an chip
Fig. 1(a-b): (a) Outer components of the module and (b) Inner components of the module
0
z m I LED
[(x - x o ) + (y - y o ) 2 + z 2 ](m+2)/2
D
Le
Li
(2)
Where:
Eo(r) = The irradiance at distance r from the LED
E(x, y,z) =
Linescan module
(3)
where, ILED is the LED intensity (W/sr). Now, for six LEDs are
arranged as, a ring around the aperture of the linescan module,
the irradiance E(x, y, z) is given by:
6
2
E(x, y,z) = z m Ij [(x - rcos( )) 2 +
N=1
N
2 2
2 -(m+2)/2
(y - rsin( )) + z ]
N
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(4)
(5)
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Le Lf D( Le Lf )
L2f D 2 2 (Le Lf )2
(6)
W
(mm/pixel)
N
(7)
Vdd
AO
CLK
SI
(8)
128 pixels
Where:
gp = The stripe width
V = The velocity of motion
T = The sample time of pulse
GND
(9)
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View scope
Strip width
00000000000000000000000000000000111111111111111111111111111111110000000000000000000000000000000011111111111111111111111111111111
White stripes
White stripe
0000 000000000000000 000 0000 00000 011 1111 1111111111111 111 1111111111
View scope
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1 00000000 0000 000000 000000 0000 0000 1111 111 111 111 111111 111 111 1111 1
Black stripe
Displacement
000000000000000000000000000000001111111111111111111111111111111 D = 0
100000000000000000000000000000000111111111111111111111111111111 D = X
1100000000000000000000000000000000 11111111111111111111111111111 D = 2HX
1110000000000000000000000000000000 01111111111111111111111111111 D = 3HX
Bit (0)
111111111100000000000000000000000000000000111111111111111111111 D = 10H X
111111111110000000000000000000000000000000011111111111111111111 D = 11H X
111111111111111111111111111111100000000000000000000000000000000 D = 32H X
Bit (0)
(10)
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Motion
Displacement
measurement
Linescan sensor
Cycle
Transition
+
Ultrasonic sensor
White strip
5 volts
3 volts
Black strip
Sliding rod
Grating scale
Arduino boar d
Pulley
(11)
Where:
Ur = The reading of the ultrasonic sensor
RESULTS
Initialization the measurement system: The construction of
the linear motion calibration system consists of the solid wood
bed, transducer conveyor, grating scale, ultrasonic sensor and
image captured module. The belt motion was executed by
using power drill shaft which was connected to the pulley. The
transducer output was connected to the analogue pins of
Arduino microcontroller. As shown in Fig. 11, two sliding
rods were designed to carry the transducer and to allow it to
move freely in two direction. The module was fixed above the
grating scale in such a way that the sensing element was
perpendicular to the scale stripes. The aperture of the module
was placed directly to the grating scale.
In order to run the transducer, the linescan sensor SI pin
received an integration time with a duty cycle of 1 msec, while
CLK pin received 128 of pulses which had duty cycle of
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5 bits 7 bits
13 bits
14 bits
11 bits
8 bits
4 bits 10 bits
14 bits
13 bits
12 bits
Fig. 13(a-b): (a) Pattern of stripes image while moving in x direction and (b) Pattern of stripes image while moving in -x direction
View scope
CCD camera
Scale image
Movable part
Scale
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White stripes
High
intensity
Black stripes
High
intensity
(12)
Where:
Cf = The crop factor which is defined as the stripes width in
the view scope over the sensor array length
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0.5 mm: The image of the stripes in the view scope for
0.5 mm scale is shown in Fig. 16. The convergence of
LEDs light was concentrated at the middle of the image,
hence the transitions between the stripes were clear.
However, the reflected illumination from the black stripes
to the linescan chip was high, especially at the boundaries
due to the short distance between the lens and the grating
scale. Based on the rising and falling edges in the digital
image, there are 11 stripes (6.5 cycle) in the view scope,
which have length of 6.94 mm (1.1086.5). However, the
middle cycle (reference cycle) in the view scope was
captured by 14 pixels in sensor pixels array. The width
of this cycle can be calculated by Eq. 15, which is equal
0.667 mm. If the reference cycle width was 1.108 mm, the
error in measurement was 38.89%, so it is not
recommended to use 0.5 mm scale for displacement
tracking because of its high error
| Volume 15 | Issue 8 | 2015 |
First pixel
White stripes
Cycle
4.29 V
2 Vp-p
Threshold
line
High
intensity
Last pixel
Threshold voltage
Black stripes
Digitalized image
97
10
5
11
3
12
1
(13)
81
89
65
73
(15)
(14)
57
41
49
25
33
Pixel No.
V eq
97
10
5
11
3
12
1
17
81
89
65
73
57
41
49
25
33
17
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White stripe
High
intensity
High intensity
High intensity
Black stripe
Threshold
voltage
Black stripe
1.2
1.0
0.8
0.6
0.4
0.2
10
5
11
3
12
1
89
97
81
73
49
57
65
33
41
17
25
1
10
5
11
3
12
1
89
97
81
73
65
41
49
57
17
25
33
0
0.0
Pixel No.
Pixel No.
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4.29 V
Threshold
line Black stripe
Clear differentiation
81
89
65
73
57
41
49
25
33
17
0
Pixel No.
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y = 1.0155x-1.762
R = 0.9999
1000
Measured displacement (mm)
800
600
400
200
0
0
100 200
500 600
700
Table 5: Linescan module and ultrasonic sensor integration results over a range of 1000 mm
Measured displacement (mm)
Initial position (mm)
Actual displacement (mm)
318.16
85
317.16
333.16
100
331.16
398.16
165
393.16
494.2
265
488.2
657.18
420
646.18
767.24
530
753.24
825.12
600
813.12
898.22
665
888.22
983.16
750
973.16
1159.2
930
1143.2
Average (%)
Table 6: Performance of different optical methods for displacement measurements
Transducer
Method
Our proposed transducer
Pixel shifting method
Optical potentiometer (Lang et al., 1992)
Beers Law
Optical lever (Liu et al., 2006)
Plane mirrors
PSD (Miranda et al., 2014)
Resistive charge division
Photoelectric incremental encoder (Israel et al., 2003) Direct traceability
Optical encoder (Kao and Lu, 2005)
Fractional talbot effect
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300 400
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Range
1000 mm
940 mm
850 nm
100 mm
270 mm
600 mm
for
the
Error (%)
0.31
0.60
1.26
1.21
1.67
1.82
1.45
1.11
1.02
1.38
1.18
sensors integration
Resolution
63.5 m
10 mm
4 nm
72 m
27 nm
0.1 m
Accuracy
0.01%
0.01%
10 nm
500 m
2 m
0.2 m
1071
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