CN101473366B - 散斑导航系统 - Google Patents
散斑导航系统 Download PDFInfo
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Abstract
一个实施例涉及激光定位设备,该设备用于通过确定表面的连续图像的图像特征位移来感测数据输入设备和该表面之间的相对移动。该设备构成单集成封装,该封装包括平面基片(102)和含有准直镜(108)的透明密封剂。相干光源(104)和传感器阵列(106)及相关电路都配置在平面基片上。另一个实施例涉及感测数据输入设备和表面之间相对移动的方法。相干光由激光器发射,并被准直,以形成预定直径为D的并具有基本均匀的相前的准直照射光束。散斑模式由准直照射光束在表面的撞击形成,并被传感器阵列检测。也公开了其它实施例。
Description
技术领域
本发明通常涉及光学定位设备(OPD)和利用这种设备感测运动的方法。
背景技术
诸如计算机鼠标或跟踪球的指点设备用于向个人计算机和工作站输入数据并与之接口。这种设备允许光标在监视器上快速定位,并且在许多文本、数据库和绘图程序中都很有用。例如,用户通过在表面上的移动鼠标控制光标在一个方向上移动,移动的距离与鼠标的移动成比例。可选地,在固定设备上手的移动也可用于相同的目的。
计算机鼠标有光学和机械两种。机械鼠标通常使用旋转球检测运动,并使用一对与球接触的轴编码器产生由计算机用来移动光标的数字信号。机械鼠标存在一个问题,就是在持续使用之后由于污垢的积累等原因容易不精确并出现故障。另外,机械元件,尤其是轴编码器的移动及合成磨损不可避免地限制该设备的使用寿命。
解决上述机械鼠标的问题的一种方式就是开发出光学鼠标。由于光学鼠标更稳定并可以提供更好的定位精度,它们已经变得非常普遍。
用于光学鼠标的一种方法依赖于以切线或接近切线入射照射表面的发光二极管(LED),捕获所得图像的二维CMOS(互补金属氧化物半导体)检测器,以及关联连续图像以确定鼠标移动的方向、距离和速度的软件。这种技术通常可以提供高精度,但需要复杂的设计和相对高的图像处理要求。另外,由于照射是切线入射,因此光学效率很低。
另一种方法是使用例如光电二极管的光电传感器或检测器的一维阵列。表面的连续图像由成像光学器件捕获,转移到光电二极管,并进行比较以检测鼠标的移动。光电二极管可以直接用导线连成组以便于运动检测。这样就减少了光电二极管的要求,可以进行快速模拟处理。这种鼠标的一个实例公开于授权给Dandliker等人美国专利号5907152。由 Dandliker等人公开的这种鼠标与标准技术也不同,因为其使用了例如激光器的相干光源。从相干光源发出的光,在粗糙表面散射,生成一种称为散斑的随机强度分布的光。
使用上述现有方法的设备通常有几个不足和缺点。例如,这些设备通常都是多部件设备,要利用分立部件制造。该分立部件通常包括光源、照射光束致偏装置(deviator)、集成传感阵列和电路,以及采集透镜或其它成像光学器件。
本申请公开了一种光学定位设备的新型设计。公开的设计相比于现有技术设备的优势在于在保持跟踪设备移动的足够精度的同时降低了复杂性,使用更少的部件,且更容易制造。
发明内容
一个实施例涉及激光定位设备,该设备用于通过确定表面的连续图像中的图像特征位移来感测数据输入设备和表面之间的相对移动。该设备构成单集成封装(single integrated package),该封装包括平面基片和也含有准直透镜的透明密封剂(encapsulant)。相干光源和传感器阵列及相关电路都配置在该平面基片上。
另一个实施例涉及感测数据输入设备和表面之间相对移动的方法。相干光从激光器发射,并被准直,以便形成预定直径为D并具有基本均匀的相前(phase front)的准直照射光束。散斑模式由准直照射光束在该表面上的撞击产生,并被传感器阵列检测。
也公开了其它实施例。
附图说明
本公开的这些和各种其它特征及优点可以根据下面的详细描述及附图充分理解,但这些描述及附图只是为了说明和理解所用,不应当被认为将随附的权利要求书限于所示的具体实施例。
图1A是依照本发明实施例的在表面上的激光定位设备的横截面图。
图1B示出了具有包含准直透镜的透明密封剂层的具体实施例。
图2是依照本发明实施例的激光定位设备的集成封装的透视图。
图3是依照本发明实施例的在表面上的具有某一尺寸和角度θ的激光定位设备的横截面图。
图4是依照本发明实施例的描述激光定位设备跟踪不同速度的圆周运动的描迹图(trace diagram)。
图5是依照本发明实施例的在表面上的具有刃形边缘用于抬升检测(lift detection)的激光定位设备的横截面图。
图6是依照本发明实施例的二维梳状阵列的示意图。
具体实施方式
图1A是依照本发明实施例的在表面上的激光定位设备的横截面图。如图所示,该激光定位设备包括平面基片(substrate)102、激光发射器104、传感器阵列106和准直透镜108。图1B所示为具有包括准直透镜108的透明密封剂层110的具体实施例。密封剂层110也用于保护发射器104和传感器阵列106。在其它实施例中,准直透镜108可以被接入到覆盖基片102的封装中,或可以成为覆盖基片102的透明模制塑料的一部分,或可以以其它方式实现。
例如,该激光定位设备可以包括用于用户向计算机系统输入的鼠标设备。该设备可以如此构造,以便支撑平面基片102使得其在固定距离处平行于散射表面120。该设备(以及因此平面基片102)可以在表面120上横向移动。
激光发射器104配置在平面基片102上。激光器104向散射表面120发射相干光。依照优选实施例,准直镜108被配置为接近激光器104,以便接收相干光并由此形成准直照射光束110。
准直照射光束110具有预定直径D,并且包括射向表面120的相干光的均匀相前。优选地,准直光束110处于垂直于散射表面120或几乎垂直于散射表面120的轨迹。如同图1所示,这就不需要光束致偏器部件。
准直照射光束110撞击到表面120上,并且在反射侧半球中以几乎所有的方向散射光。由于散射散布的非常广泛,传感器106的特定放置变得更加灵活且不那么严格。换言之,传感器106的放置可以有相对宽松的公差,这就有利地增加了该激光定位设备的可制造性。
传感器阵列106可以有利地配置在与激光器104相同的平面基片102上。而且,传感器阵列106可以包括二维梳状阵列或其它类型的检测器阵列。感测元件的二维梳状阵列以特定的方式和相关电路进行分组。来 自选定的感测元件组的信号可以被组合以生成组信号,并且可以从该组信号中生成差分信号,以便确定二维表面上的移动。二维梳状阵列的一个实例示于图6中,这将在下面进一步讨论。
依照本发明的一个实施例,不需要采集透镜或其它成像光学器件将散射光映射到传感器阵列106上。这就有利地简化了该设备的制造并降低了成本。
与传感器阵列106相关的电路可以被配置为从散射光中捕获被检测信号的连续图像帧。散射光的图像帧包括被称为“散斑模式(specklepattern)”的光学特征模式。
对于基片102相对于表面120的小的横向位移,散斑模式的变化优选由具有低水平散斑“沸腾”(boiling)(即除偏移之外模式的很小变化)的模式偏移(shift)所支配。依照本发明的实施例,因为准直照射光束110提供了均匀的相前,具有由横向偏移产生的低水平散斑沸腾的条件可以容易满足。
另外,在散斑模式中,散斑特征的典型大小(例如,均值或中值)优先与梳状阵列中元件分组的周期性相匹配。依照本发明的一个实施例,通过适当地配置准直照射光束110的预定直径,可以有便利地满足梳状阵列周期性与散斑大小相匹配的条件。
图2是依照本发明实施例的用于激光定位设备的集成封装的透视图。如图所示,激光器104和传感器阵列106都耦合到基片102。传感器阵列106可以是较大集成电路202的一部分,较大集成电路202可以包括处理检测到信号的电路以及执行其它操作的电路。
基片封装204可以密封激光发射器104和传感器阵列106。依照本发明的实施例,准直透镜108可以集成到封装104中,以便准直来自激光器104的相干光。可选地,准直透镜108可以被实施为附接到基片封装104的微型透镜。在传感器阵列106附近的封装部分可以是透明的,以便允许传感器阵列106检测从表面120散射的光。
图3是依照本发明实施例的在表面上的具有标明的某一面积和角度θ的激光定位设备的横截面图。该图说明了从散射表面120到平面基片102的高度h。该图还说明了准直照射光束110在表面120的“足迹”的直径D。如图所示,照射光束110的轨迹和从表面120到传感器阵列106上一点的散射光的轨迹之间的夹角为θ,其中所述传感器阵列106上的 一点可很好地近似由传感器阵列中心来表示。
对于梳状阵列检测,适合的准直光束直径D可由下式给出:
在上式中,h为平面基片到表面的高度,λ为相干光的波长,ξ为0.25到0.5之间的分数,Λ为梳状阵列的元件分组的周期(即,传感器像素间距的预定倍数),θ为来自传感器上一点的光束所对的角度。
散斑空间频率v与梳状阵列(逆)周期1/Λ匹配的条件可以表示为v=1/Λ。将所选频率表示为截止频率vmax=2NA/λ的分数ξ(优先在0.25到0.5之间),且取NA=从传感器上一点出来的光束所对的角的一半的正弦=Dcos2θ/(2h),这就可以由式1求出适合的光束直径D。例如,当λ=850nm,A=50μm,h=5nm,ξ=0.3,θ=30°时,准直光束直径D=0.38mm。
图4是依照本发明实施例的描述激光定位设备跟踪不同速度的圆周运动的四个描迹图(a,b,c和d)。这些描迹图是利用依照本发明的实施例的激光定位设备的原型试验单元生成的。
每个图中跟踪的运动包括半径大约为一厘米的近似圆周运动。参考圆形轨迹402和相应的跟踪轨迹404如图4所示。在左上方的标为(a)的图中,围绕圆周的移动速度为1cm/sec。在右上方的标为(b)的图中,围绕圆周的移动速度为10cm/sec。在左下方的标为(c)的图中,围绕圆周的移动速度为25cm/sec。在右下方的标为(d)的图中,围绕圆周的移动速度为40cm/sec。从每个图中可看出,在不同速度下的移动跟踪都相当好。
本公开提供了一种基于激光散斑的集成光学导航系统。该系统方便集成,紧凑且低档(low profile)、低成本,可以以宽松的公差建造,并且光学有效。
激光器和传感器的共面性有利地使得在单个平面封装内可能集成这些部件。现有系统由于使用波束致偏器和/或光学几何(opticalgeometry),其中传感器接近照射的镜向,因此排除了使用共面封装的可能。
而且,有利地使用准直照射生成具有很小的散斑“沸腾”的散斑模式,当相对于散射表面横向移动鼠标设备时,该散斑模式偏移。另外,表面照射的法向角有利地回避了除准直透镜之外,照射光束致偏器的需 求,或任何其它附加光学器件的需求。
二维梳状阵列传感器的使用方便地要求简单的信号处理,低功耗以及简单的集成电路实现。
在“鼠标”类型的指点设备或类似应用中,经常希望有抬升检测机构。抬升检测机构是一种机械机构,该机构在鼠标设备被抬升超过预定高度Δh时,可以使鼠标设备停止跟踪,Δh值通常设为1到5毫米(1-5mm)之间。在本公开的系统中,抬升检测可以由不透明的刃形边缘502实施,该刃形边缘被放置为如果鼠标设备被抬离表面120超过预定高度时,刃形边缘502将表面120被照射部分与传感器阵列的视野阻隔开。该布置的几何关系如图5所示。刃形边缘502的位置可以由距传感器阵列中心的水平距离x和垂直距离y表示:
参考图5,Δh是最大抬升高度,h是传感器阵列平面到表面的标称距离,w是传感器阵列宽度,s是传感器阵列与激光器之间的中心到中心的间距,d=h-y是刃形边缘502到表面120的距离。在表面处的照射光束直径D(h,s)依赖于h和s,可由式1,其中θ=tan-1(s/h)给出。例如,给定λ=850nm,Λ=50μm,h=5mm,ξ=0.3,s=3mm,w=1mm,Δh=2.2mm,可以得到准直光束直径D=0.385mm,θ=31°,x=1.8mm,y=3.5mm,d=1.5mm。
图6是依照本发明实施例的二维梳状阵列的示意图。示出了检测器元件的示例二维阵列602。2D阵列602由以8×8的矩阵组织的64个子阵列604组成。一个这样的子阵列604的展开图如图的左侧所示。
每个子阵列604包括以4×4的矩阵组织的16个检测器元件。在每个子阵列604中的这16个检测器元件每个都被标识为八个元件组的其中一个元件组的成员。与每个子阵列604的每个检测器元件关联的组号由在扩展图中标注各元件的数字(1,2,3,4,5,6,7或8)示出。对于整个阵列602,来自每组的信号以电组合在一起。合成的组信号(标号为1到8)就是阵列602的输出(如图的右侧所示)。
差分电路606用于根据多对组信号生成差分信号。第一差分信号CC由信号1和信号2的差生成。第二差分信号SC由信号3和信号4的 差生成。第三差分信号CS由信号5和信号6的差生成。第四差分信号SS由信号7和信号8的差生成。这四个差分信号包含了x方向和y方向上正交信号信息和同相信号的信息。
前面给出关于本发明的具体实施例和实例的描述是为了描述和说明的目的,并且虽然已经通过前面的实例描述和说明了本发明,但不应将其解释为局限于此。这些描述不打算是穷尽的或将本发明限于所公开的具体形式,而且根据上面的教导在本发明范围内的许多修正、改进和变化都是可能的。本发明的范围旨在包括如这里所公开的一般范围,并且该范围由随附的权利要求书及其等同物限定。
Claims (18)
2.权利要求1中的激光定位设备,其中准直透镜具体体现为下面之一:a)覆盖平面基片的透明密封剂的一部分;b)覆盖平面基片的透明模制塑料的一部分;或c)插入覆盖平面基片的封装中的小透镜。
3.权利要求1中的激光定位设备,进一步包括用于抬升检测的不透明边缘。
4.权利要求3中的激光定位设备,其中放置该边缘以便当该设备被抬离平面基片超过预定高度时,将平面基片的被照射部分与传感器阵列的视野阻隔开。
5.根据权利要求1所述的激光定位设备,其中准直透镜被配置成接收来自相干光源的相干光并提供准直照射光束,该准直照射光束以该表面的法向角被传送到该表面。
6.根据权利要求5所述的激光定位设备,其中,由于准直光束的相前的均匀性,平面基片和该表面之间的小的横向位移就可导致具有最小沸腾的散斑模式的偏移。
7.根据权利要求1所述的激光定位设备,其中梳状阵列接收光形成该表面的图像而不使用采集透镜。
8.根据权利要求7所述的激光定位设备,其中由于准直光束的预定直径,在该表面处的散斑大小与梳状阵列的周期匹配。
9.一种通过确定表面的连续图像中的光学散斑的位移来感测数据输入设备和该表面之间的相对移动的方法,该方法包括:
从激光器发射相干光;
准直该相干光,以便形成预定直径为D的准直照射光束,且以该表面的法向角将其传送到该表面;
通过来自准直照射光束的相干光在该表面的撞击生成散斑模式;以及
利用传感器阵列检测该表面的图像。
10.根据权利要求9所述的方法,进一步包括使用用于抬升检测的不透明边缘。
11.根据权利要求9所述的方法,其中由于校准光束的基本均匀的相前,平面基片和该表面之间的小的横向位移就可导致散斑模式的偏移。
12.根据权利要求9所述的方法,其中传感器阵列包括梳状阵列。
13.根据权利要求12所述的方法,其中梳状阵列直接对该表面成像,而不使用其间的成像或采集透镜。
14.根据权利要求12所述的方法,其中激光器和传感器阵列都配置于同一平面基片上,该平面基片被配置为平行于该表面。
16.根据权利要求12所述的方法,其中由于准直光束的预定直径,在该表面处的散斑大小与梳状阵列的周期匹配。
17.一种光斑导航系统,包括:
发射相干光的装置;
校准相干光以便形成预定直径为D的准直照射光束的装置,该准直照射光束以表面的法向角被传送到该表面;
通过来自准直照射光束的相干光在该表面的撞击生成散斑模式的装置;以及
利用传感器阵列检测该表面的图像的装置。
18.根据权利要求17所述的系统,进一步包括使用用于抬升检测的不透明边缘。
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US11/313,133 | 2005-12-20 | ||
US11/313,133 US7737948B2 (en) | 2005-12-20 | 2005-12-20 | Speckle navigation system |
PCT/US2006/047802 WO2007075367A2 (en) | 2005-12-20 | 2006-12-14 | Speckle navigation system |
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EP (1) | EP1964102A2 (zh) |
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US20070139381A1 (en) | 2007-06-21 |
WO2007075367A2 (en) | 2007-07-05 |
KR20090031846A (ko) | 2009-03-30 |
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WO2007075367A3 (en) | 2008-04-24 |
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