CN101093255A - Device and method for detecting movement - Google Patents

Abstract

A detection device of movement is prepared for setting two linear sensors in nonparallel mode for sensing optical signal data, executing correlation and judging movement direction as well as calculating speed by an operation unit according to optical signal data sensed by two said linear sensors in order to obtain movement direction and speed of movement detection device relative to detection surface.

Description

Motion detection apparatus and method

Technical field

The present invention relates to a kind of motion detection apparatus and method, particularly relate to a kind of motion detection apparatus and method of using linear sensor.

Background technology

Nowadays the range of application of image sensing is quite extensive, makes detection of motion comprising the detection technique of utilizing image, as optical mouse and from mule carriage etc.

General is that the light signal that surface reflection that a sensing apparatus comes its place of sensing is returned is set with motion detection apparatus, and common sensing apparatus is a face type sensing apparatus.Face type sensing apparatus is the array that comprises the Image Sensor of n * n, detects the optical image signal of surface reflection in order to acquisition.Along with motion detection apparatus and surperficial the relatively moving of detection, the Image Sensor of n * n just begins to capture the signal of video signal on surface, place on the face type sensing apparatus.By the computing of MD between the picked image signal, judge moving direction and the distance of motion detection apparatus then with respect to the surface.

And above-mentioned motion detection apparatus is to utilize face type sensing apparatus to capture to detect the optical image signal that is reflected on the surface, concerns each other to realize the function of motion detection by judging.But because face type sensing apparatus has used more Image Sensor, so cost is higher.And because used more Image Sensor with it, so the data volume of its follow-up required processing and computing is huge, need the stronger arithmetic element of calculation function to carry out the calculation function that meets the product rate request, but so increased the cost of motion detection apparatus again.

So in known motion detection apparatus, the cost of its hardware and the problem of arithmetic speed are for needs improve part.

Summary of the invention

In view of this, the purpose of this invention is to provide a kind of motion detection apparatus and method thereof, it is provided with the light signal that two linear sensors come surface, sensing place to be reflected in motion detection apparatus.Judge that according to two light signals that linear sensor detected motion detection apparatus is with respect to the direction of motion that detects the surface again.The present invention is owing to only use two linear sensors to detect surface image, and the more known motion detection apparatus of its required Image Sensor also will lack, and the data volume that is detected is also will more known motion detection apparatus also little.Improve the cost height of known technology and the problem that data volume influences arithmetic speed greatly with this.

In order to address the above problem, the invention provides a kind of motion detection apparatus, it comprises: a light source is used to provide the light source that shines a surface of detecting in this motion detection apparatus, to reflect a light signal; One first linear sensor array (Linear sensor array), it comes this light signal of sensing according to system frequency; One second linear sensor array, itself and the first linear sensor array are provided with in non-parallel mode, and it comes this light signal of sensing according to system's clock pulse; One data storage element is in order to the light signal that stores the first linear sensor array institute sensing and the light signal of the second linear sensor array institute sensing; An and arithmetic element, be connected in this data storage element, calculate this motion detection apparatus with respect to this surperficial direction of motion and speed according to this light signal of this light signal of this first linear sensor array institute sensing and this second linear sensor array institute sensing.

For realizing the problems referred to above, the present invention also provides a kind of method for testing motion, comprise step: at first, one first linear sensor array comes sensing one light signal to produce one first optical signal data sequence according to system's clock pulse, one second linear sensor array comes this light signal of sensing to produce one second optical signal data sequence according to this system's clock pulse simultaneously, and wherein this first linear sensor array and this second linear sensor array are arranged on the motion detection apparatus non-parallelly.Then store this first optical signal data sequence and this second optical signal data sequence.Calculate in this first optical signal data sequence row in correlativity (correlation) between row and the row and this second optical signal data sequence then respectively and be listed as between correlativity, with the distance that determines that distance that this first linear sensor array is moved with respect to surface to be measured in vertical direction and this second linear sensor array are moved with respect to surface to be measured in vertical direction.Come again to calculate respectively this first linear sensor array in vertical direction with respect to the translational speed on surface to be measured and this second linear sensor array in vertical direction with respect to the translational speed on surface to be measured.Carry out vector decomposition or merging with respect to the translational speed on surface to be measured in vertical direction with respect to translational speed and this second linear sensor array on surface to be measured in vertical direction according to this first linear sensor array at last, in the hope of direction of motion and the speed of this motion detection apparatus with respect to surface to be measured.

The present invention utilizes two linear sensor arrays to detect the optical image on surface, and sense data amount that it captured has reduced many than the sensor of face type in the past, thereby has promoted the arithmetic speed of judging direction of motion effectively.In like manner, required sensing element also lacks than face type sensor in the past, so also reduced the cost of motion detection apparatus on hardware.

In order further to understand technology, means and the functional effect that the present invention takes for the predetermined purpose of realization, see also following about detailed description of the present invention and accompanying drawing, purpose of the present invention, feature and characteristics, should get one thus gos deep into and concrete understanding, yet accompanying drawing only provides the usefulness of reference with explanation, is not to be used for the present invention is limited.

Description of drawings

Fig. 1 is the functional block diagram of motion detection apparatus of the present invention;

Figure 1A is the synoptic diagram of first preferred embodiment of linear sensor of the present invention;

Figure 1B is the synoptic diagram of second preferred embodiment of linear sensor of the present invention;

Fig. 2 is a method for testing motion flow chart of steps of the present invention; And

Fig. 3 is the motion synoptic diagram of linear sensor of the present invention.

Wherein, description of reference numerals is as follows:

Motion detection apparatus 1 surface 9

Light source 11 first linear sensor arrays 12

The second linear sensor array, 13 data storage elements 14

Arithmetic element 15 sensor control modules 16

Embodiment

Existing conjunction with figs. describes preferred embodiments of the present invention down in detail.

See also Fig. 1, it is for the functional block diagram of motion detection apparatus of the present invention.Motion detection apparatus 1 of the present invention comprises: light source 11, the first linear sensor array 12, the second linear sensor array 13, data storage element 14, arithmetic element 15 and sensor control module 16.When motion detection apparatus 1 detects to be measured surperficially 9 the time, its light source 11 shines in the light on surface 9, will reflect light signal to the first a linear sensor array 12 and the second linear sensor array 13.And this light signal be the rayed of light source 11 in surface 9 surface images that reflect or surface characteristics image, and its surface image or surface characteristics image come sensing by the first linear sensor array 12 and the second linear sensor array 13 according to system's clock pulse (systemtiming clock).Wherein the first linear sensor array 12 and the second linear sensor array 13 are nonparallel each other arrangements, and have more than one sensing element respectively.See also Figure 1A, it is the synoptic diagram of first preferred embodiment of linear sensor of the present invention.Shown in the figure is the vertical view that the first linear sensor array 12 and the second linear sensor array 13 are provided with relation.The first linear sensor array 12 and the second linear sensor array 13 vertical relation each other are arranged in the motion detection apparatus, with the light signal of sensitive surface 9 reflections.Other consults Figure 1B, and it is the synoptic diagram of second preferred embodiment of linear sensor of the present invention.Be arranged in the motion detection apparatus with non-parallel relation between the first linear sensor array 12 and the second linear sensor array 13 as shown in the figure, with the light signal of sensitive surface 9 reflections.

Then please continue to consult Fig. 1, from the above, the first linear sensor array 12 and the second linear sensor array 13 are according to the light signal of system's clock pulse sensing by surface 9 reflections.Wherein system's clock pulse is provided by sensor control module 16, and sensor control module 16 also is connected in data storage element 14 and arithmetic element 15 except that being connected in the first linear sensor array 12 and the second linear sensor array 13.The first linear sensor array 12 according to system's clock pulse sensor light signal after, will produce the first optical signal data sequence, then again the first optical signal data sequence is stored in data storage element 14.On the other hand, the second linear sensor array 13 according to system's clock pulse sensor light signal after, will produce the second optical signal data sequence, then again the second optical signal data sequence is stored in data storage element 14.Arithmetic element 15 reads the first optical signal data sequence and the second optical signal data sequence in data storage element 14 then, to carry out decision motion detection apparatus 1 at the related operation with respect to surperficial 9 direction of motion to be measured and speed.

Yet above-mentioned light source 11 can be a coherent source (coherent light), for example LASER Light Source (LASER) or face type LASER Light Source (VCSEL), or a resonant cavity LED (Resonant Cavity LED).Light source 11 utilizes coherent source to shine in motion detection apparatus 1, and the reflected light signal on the surface 9 that motion detection apparatus 1 is detected is a hot spot image, carries out sensing for the first linear sensor array 12 and the second linear sensor array 13.In addition, light source 11 also can be the device that comprises an incoherent light source and lens, to produce a surface image on the surface 9 that motion detection apparatus 1 detected, carries out sensing for the first linear sensor array 12 and the second linear sensor array 13.

Then see also Fig. 2, it is a method for testing motion flow chart of steps of the present invention.At first utilize light source 11 to shine the surface of being detected in motion detection apparatus 19, with reflected light signal (as the step S201 of Fig. 2).Light signal reflexes to the first linear sensor array 12 and the second linear sensor array 13 then, and the first linear sensor array 12 and the second linear sensor array 13 produce the first optical signal data sequence and second optical signal sequence (as Fig. 2 step S203) respectively according to system's clock pulse sensor light signal.Then the first optical signal data sequence and second optical signal sequence are stored in data storage element 14 (as the step S205 of Fig. 2).Utilize the correlativity between being listed as and being listed as in the arithmetic element 15 calculating first optical signal data sequence again, and the correlativity (as the step S207 of Fig. 2) between being listed as in the second optical signal data sequence and being listed as.Determine the first linear sensor array 12 in distance and direction that vertical direction was moved with this, and the second linear sensor array 13 is in distance and direction that vertical direction moved.Then the displacement that the first linear sensor array 12 is detected in vertical direction and the temporal information of system's clock pulse perform calculations, in the hope of the translational speed of the first linear sensor array 12 in vertical direction; And the displacement that the second linear sensor array 13 is detected in vertical direction and the temporal information of system's clock pulse perform calculations, in the hope of the translational speed (as the step S209 of Fig. 2) of the second linear sensor array 13 in vertical direction.And the calculation of above-mentioned translational speed is the computing of division or differential.At last the first linear sensor array 12 is carried out the calculating that vector decomposes or merges at the translational speed and the second linear sensor array 13 of vertical direction in the translational speed of vertical direction, in the hope of direction of motion and the speed (as the step S211 of Fig. 2) of motion detection apparatus 1 with respect to surface 9.

Step S207 is described utilize in the first optical signal data sequence between the row and row and in the second optical signal data sequence row and be listed as between the computing of correlativity, can realize that the present invention can utilize the first preferable correlation operation formula (formula 1) or the second preferable correlation operation formula (formula 2) to carry out the computing of correlativity by various dependency expression formulas.Its first preferable correlation operation formula (formula 1) and the second preferable correlation operation formula (formula 2) are as follows:

(formula 1)

$\mathrm{Cr}(\mathrm{xlist},\mathrm{ylist})=\frac{\underset{i}{\mathrm{\Σ}}{x}_i{y}_i}{\sqrt{\underset{i}{\mathrm{\Σ}}{x_i}^2}\sqrt{\underset{i}{\mathrm{\Σ}}{\mathrm{yi}}^2}}$

Wherein Cr is the computing parameter of correlativity, x _iBe the data refer array in the first optical signal data sequence or the second optical signal data sequence, and y _iIt is the data comparison array in the first optical signal data sequence or the second optical signal data sequence.

(formula 2)

$\mathrm{Cr}(\mathrm{xlist},\mathrm{ylist})=\frac{\underset{i}{\mathrm{\Σ}}(x_i-\stackrel{\‾}{x})(y_i-\stackrel{\‾}{y})}{\sqrt{\underset{i}{\mathrm{\Σ}}{(x_i-\stackrel{\‾}{x})}^2}\sqrt{\underset{i}{\mathrm{\Σ}}{(y_i-\stackrel{\‾}{y})}^2}}$

Wherein Cr is the computing parameter of correlativity, x _iBe the data refer array in the first optical signal data sequence or the second optical signal data sequence, y _iBe the data comparison array in the first optical signal data sequence or the second optical signal data sequence,

Be the mean value of this data refer array,

Mean value for this data comparison array.

And the calculation by correlativity, can obtain the distance that the first linear sensor array 12 is moved with respect to surface to be measured 9 in its vertical direction, and second distance that moved with respect to surface to be measured 9 in its vertical direction of linear sensor array 13, as shown in Figure 3, it is a linear sensor motion synoptic diagram of the present invention.The first linear sensor array 12 on motion detection apparatus 1 and the second linear sensor array 13, its position moves to position P2 with respect to surperficial 9 by position P1.By the calculating of correlativity can learn the first linear sensor array 12 in its vertical direction with respect to surface 9 distance D that is moved 1 and directions, and the second linear sensor array 13 in its vertical direction with respect to surperficial 9 distance D that is moved 2 and directions.Then can learn that motion detection apparatus 1 moves to the traveling time t that position P2 is spent by position Pl by system's clock pulse that sensor control module 16 is provided.And then the first linear sensor array 12 performed calculations with its traveling time t with respect to surface 9 distance D that moved 1 in its vertical direction, can try to achieve the relative moving speed V1 of the first linear sensor array 12 in its vertical direction.And the second linear sensor array 12 is performed calculations with respect to surface 9 distance D that moved 2 and its traveling time t in its vertical direction, can try to achieve the relative moving speed V2 of the second linear sensor array 12 in its vertical direction.At last translational speed V1 and translational speed V2 are carried out the computing of vector, translational speed V1 and translational speed V2 vector are decomposed or merge, can try to achieve motion detection apparatus 1 is moved to position P2 by position P1 direction and speed V3.By same principle, can detect motion and the speed thereof of motion detection apparatus 1 with respect to the either direction on the surface 9.And above-mentioned be the first linear sensor array 12 and the vertically disposed preferred embodiment in motion detection apparatus 1 of the second linear sensor array 13.Above-mentioned method for testing motion also can be realized in motion detection apparatus 1 with non-parallel setting (shown in Figure 1B) at the first linear sensor array 12 and the second linear sensor array 13.

In sum, the present invention utilizes two linear sensor arrays to detect the optical image on surface, and sense data amount that it captured has reduced many than the sensor of face type in the past, thereby has promoted the arithmetic speed of judging direction of motion effectively.In like manner, required sensing element also lacks than face type sensor in the past, so also reduced the cost of motion detection apparatus on hardware.

Yet; the above only is the detailed description and the accompanying drawing of the preferable specific embodiment of the present invention; yet feature of the present invention is not limited thereto; it is not in order to restriction the present invention; scope of patent protection of the present invention should be as the criterion with following claims; all embodiment that meets the spirit variation similar of claims of the present invention with it; all should be contained in the category of the present invention; any those skilled in the art is in technical field of the present invention, and the variation that can expect easily or modification all can be encompassed in the application's the scope of patent protection.

Claims (16)

1, a kind of motion detection apparatus is characterized in that, comprising:

One light source is used to provide the light source that shines a surface of detecting in this motion detection apparatus, to reflect a light signal;

One first linear sensor array, it comes this light signal of sensing according to system's clock pulse;

One second linear sensor array, itself and this first linear sensor array is provided with in non-parallel mode, and comes this light signal of sensing according to this system's clock pulse;

One data storage element is in order to this light signal of this light signal of storing this first linear sensor array institute sensing and this second linear sensor array institute sensing; And

One arithmetic element, it is connected in this data storage element, calculates this motion detection apparatus with respect to this surperficial direction of motion and speed according to this light signal of this first linear sensor array institute sensing and this light signal of this second linear sensor array institute sensing.

2, motion detection apparatus as claimed in claim 1 is characterized in that, this first linear sensor array and this second linear sensor array have more than one sensing element respectively.

3, motion detection apparatus as claimed in claim 1, it is characterized in that, this motion detection apparatus also comprises a sensor control module, this sensor control module is connected in this first linear sensor array, this second linear sensor array, this data storage element and this arithmetic element, is used to provide this system's clock pulse.

4, motion detection apparatus as claimed in claim 1 is characterized in that, this light source is a coherent source.

5, motion detection apparatus as claimed in claim 4 is characterized in that, this light source is a LASER Light Source or a type LASER Light Source.

6, motion detection apparatus as claimed in claim 1 is characterized in that, this light signal is that a coherent light shines the hot spot image that reflects in this surface.

7, motion detection apparatus as claimed in claim 1 is characterized in that, this light source is a resonant cavity LED.

8, motion detection apparatus as claimed in claim 1 is characterized in that, this light source comprises an incoherent light source and lens, in order to produce this surperficial surface image that this motion detection apparatus detects.

9, motion detection apparatus as claimed in claim 8 is characterized in that, this incoherent light source is a light emitting diode.

10, motion detection apparatus as claimed in claim 1 is characterized in that, this first linear sensor array and the vertical each other setting of this second linear sensor array.

11, a kind of method for testing motion is characterized in that, comprises step:

One first linear sensor array comes sensing one light signal to produce one first optical signal data sequence according to system's clock pulse, one the 22 linear sensor array comes this light signal of sensing to produce one second optical signal data sequence according to this system's clock pulse simultaneously, and wherein this first linear sensor array and this second linear sensor array are arranged on the motion detection apparatus non-parallelly;

Store this first optical signal data sequence and this second optical signal data sequence;

Calculate in this first optical signal data sequence row in correlativity between row and the row and this second optical signal data sequence respectively and be listed as between correlativity, with the distance that determines that this first linear sensor array is moved with respect to surface to be measured on its vertical direction at the distance that is moved with respect to surface to be measured on its vertical direction and this second linear sensor array;

Calculate respectively this first linear sensor array on its vertical direction with respect to the translational speed on surface to be measured and this second linear sensor array translational speed on its vertical direction with respect to surface to be measured; And

Carry out vector operation according to this first linear sensor array in translational speed and this second linear sensor array translational speed with respect to surface to be measured on its vertical direction with respect to surface to be measured on its vertical direction, in the hope of direction of motion and the speed of this motion detection apparatus with respect to the surface, place.

12, method for testing motion as claimed in claim 11, it is characterized in that, this method also comprise utilize a light source with rayed in the surface that this motion detection apparatus detected, to reflect this light signal, reach for this this second optical signal data sequence of second linear sensor array sensing for this this first optical signal data sequence of first linear sensor array sensing.

13, method for testing motion as claimed in claim 11, it is characterized in that, this first linear sensor array on its vertical direction with respect to the translational speed on surface to be measured and this second linear sensor array translational speed on its vertical direction with respect to surface to be measured, carry out an algorithm and try to achieve in the temporal information of the temporal information of the displacement that detects with respect to surface to be measured on its vertical direction and this system's clock pulse and displacement that this second linear sensor array detects with respect to surface to be measured on its vertical direction and this system's clock pulse by this first linear sensor array respectively.

14, method for testing motion as claimed in claim 13 is characterized in that, this algorithm is division or differentiates.

15, method for testing motion as claimed in claim 11 is characterized in that, the calculating formula of the correlativity between being listed as and being listed as between row and the row and in this second optical signal data sequence in this first optical signal data sequence is:

$\mathrm{Cr}(\mathrm{xlist},\mathrm{ylist})=\frac{\underset{i}{\mathrm{\Σ}}{x}_i{y}_i}{\sqrt{\underset{i}{\mathrm{\Σ}}{x_i}^2}\sqrt{\underset{i}{\mathrm{\Σ}}{y_i}^2}}$

Wherein Cr is a relevance parameter, x _iBe a data refer array, y _iIt is data comparison array.

16, method for testing motion as claimed in claim 11, the calculating formula that reaches the correlativity between being listed as in this second optical signal data sequence and being listed as between it is characterized in that being listed as in this first optical signal data sequence and being listed as is:

$\mathrm{Cr}(\mathrm{xlist},\mathrm{ylist})=\frac{\underset{i}{\mathrm{\Σ}}(x_i-\stackrel{\‾}{x})(y_i-\stackrel{\‾}{y})}{\sqrt{\underset{i}{\mathrm{\Σ}}{(x_i-\stackrel{\‾}{x})}^2}\sqrt{\underset{i}{\mathrm{\Σ}}{(y_i-\stackrel{\‾}{y})}^2}}$

Wherein Cr is a relevance parameter, x _iBe a data refer array, y _iBe data comparison array,

Be the mean value of this data refer array, Mean value for this data comparison array.

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