DE19705889A1 - Absolute rotation or angle sensor for automation or robotic applications - Google Patents

Absolute rotation or angle sensor for automation or robotic applications

Info

Publication number
DE19705889A1
DE19705889A1 DE1997105889 DE19705889A DE19705889A1 DE 19705889 A1 DE19705889 A1 DE 19705889A1 DE 1997105889 DE1997105889 DE 1997105889 DE 19705889 A DE19705889 A DE 19705889A DE 19705889 A1 DE19705889 A1 DE 19705889A1
Authority
DE
Germany
Prior art keywords
polarization
light
rotation
polarisation
plane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
DE1997105889
Other languages
German (de)
Other versions
DE19705889C2 (en
Inventor
Reinhard Seyer
Hannes Dr Albrecht
Klaus Hoffmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
Daimler Benz AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler Benz AG filed Critical Daimler Benz AG
Priority to DE1997105889 priority Critical patent/DE19705889C2/en
Publication of DE19705889A1 publication Critical patent/DE19705889A1/en
Application granted granted Critical
Publication of DE19705889C2 publication Critical patent/DE19705889C2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/344—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using polarisation
    • G01D5/345—Polarising encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J4/00—Measuring polarisation of light
    • G01J4/04—Polarimeters using electric detection means

Abstract

The sensor uses a polarisation light conductor (1), e.g. a single mode optical fibre, which is associated with a polarised light transmitter, e.g. a laser diode (5) and an analyser with a polarisation filter and a light detector, e.g. a photodiode (4). The detection point is freely selected in space independently of the rotation of the light polarisation plane at the free end of the light conductor, and not mechanically constructive with the reference point or rotation axis. This selection is achieved by providing a light reflector (2) and the polarisation filter at the latter end and coupling the reflected light to the detector using a polarisation-dependent beam splitter at the other end of the light conductor.

Description

Die Erfindung betrifft einen Drehwinkelsensor nach dem Oberbegriff des Anspruchs 1. Anwendungsbereich ist Automatisierungstechnik und Robotik.The invention relates to a rotation angle sensor according to the preamble of Claim 1. Area of application is automation technology and Robotics.

Es ist bekannt, daß man eine Drehung beispielsweise mit Hilfe von Potentiometern bestimmt. Nachteilig ist, daß sie einen mechanischen Kontakt besitzen. Verschleiß und Kontaktprobleme sind die Folge. Außerdem ist ihre Störfestigkeit in der Nähe der elektromagnetischen Felder nicht garantiert. Gleichfalls bekannt sind optische Sensoren, die mit Hilfe von Impuls- und Codescheiben arbeiten. Sie besitzen zwar nicht die oben erwähnten negativen Eigenschaften, kommen allerdings wie diese bei der Bestimmung einer Drehung nicht ohne einen mechanisch festgelegten Bezug aus.It is known that a rotation, for example, with the help of Potentiometers determined. The disadvantage is that they are mechanical Own contact. Wear and contact problems are the result. In addition, their immunity to interference is close to the electromagnetic Fields not guaranteed. Also known are optical sensors that work with the help of pulse and code disks. You own not the negative characteristics mentioned above, however like this when determining a rotation not without one mechanically fixed reference.

Die Erfindung geht von einem Drehwinkelsensor aus, wie er in der Offenlegungsschrift DE 38 15 152 A1 beschrieben ist. Dieser Sensor enthält einen polarisationserhaltenden Lichtwellenleiter, der über Polarisationsfilter mit einer Sende- und Auswerteeinrichtung verbunden ist. Die bekannten Drehwinkelsensoren benötigen fest eingebaute Achsen, um eine Drehung erkennen zu können. Sie sind daher nicht in der Lage, eine absolute Drehung eines Bauteils in einem beliebigen Raumpunkt detektieren zu können.The invention is based on a rotation angle sensor, as in the Laid-open specification DE 38 15 152 A1. This sensor contains a polarization-maintaining optical fiber that over Polarization filter connected to a transmitter and evaluation device is. The known rotation angle sensors require permanently installed axes, to be able to recognize a rotation. You are therefore unable to an absolute rotation of a component in any point in space to be able to detect.

Aufgabe der Erfindung ist es, den Drehwinkel eines beliebig im Raum verdrehbaren Elements wie beispielsweise eines beweglichen Arms oder eines Bedienelements zu detektieren. The object of the invention is the angle of rotation of any in space rotatable element such as a movable arm or to detect an operating element.  

Erfindungsgemäß wird die Aufgabe durch die im Kennzeichen des Anspruchs 1 aufgeführten Merkmale gelöst.According to the invention, the object is characterized by the Features listed claim 1 solved.

Weiterbildungen der Erfindung sind in den Unteransprüchen enthalten.Further developments of the invention are contained in the subclaims.

Das Wesen der Erfindung besteht darin, daß zur Bestimmung der Drehung eine polarisationserhaltende Faser in Verbindung mit einem Polarisationsfilter verwendet wird.The essence of the invention is that to determine the Twist a polarization maintaining fiber in conjunction with a Polarization filter is used.

Ein Vorteil der Erfindung besteht darin, daß der Sensor eine Drehung relativ zu einem festgelegten Koordinatensystem unabhängig von seiner eigenen Drehachse bestimmen kann, wobei die eigene Achse des Sensors mit der des Bezugssystems jeden beliebigen Winkel bilden kann und die Distanz des Meßpunkts vom Bezugspunkt durch keine mechanisch konstruktiven Teile, wie Stangen oder Getriebe und/oder Gelenkwellen hergestellt wird.An advantage of the invention is that the sensor rotates relative to a specified coordinate system regardless of its can determine its own axis of rotation, being the sensor's own axis with which the reference system can form any angle and which Distance of the measuring point from the reference point by no mechanical constructive parts, such as rods or gears and / or cardan shafts will be produced.

Vorteilhaft ist, daß sich mit Hilfe dieses Sensors Verwindungen von ausgedehnten Konstruktionsbauteilen bestimmen lassen. Beispiele hierfür sind Tragflächen von Großflugzeugen. Außerdem lassen sich Raumwinkelmessungen über mehrere Gelenke hinweg durchführen, wie sie z. B. bei einem Roboterarm auftreten.It is advantageous that with the help of this sensor twists of have extensive construction components determined. Examples of this are wings of large aircraft. In addition, Perform solid angle measurements across several joints, such as they z. B. occur in a robot arm.

Die Erfindung wird im folgenden anhand der Figur näher erläutert.The invention is explained in more detail below with reference to the figure.

Mechanisch verdrillte Monomodefasern 1 sind in der Lage, monochromatisches Licht so zu transportieren, daß die Polarisationsebene erhalten bleibt. Spannt man ein Ende dieser Faser 1 im Ursprung eines Bezugssystems 6 ein und koppelt polarisiertes monochramatisches Licht beispielsweise aus einer Laserdiode 5 ein, so wird es von der Faser transportiert. Beim Transport ist die interne Polarisationsebene in erster Näherung unabhängig von einer Drehung der Faser, die klein ist gegenüber ihrer Vorspannung. Verbindet man das andere Ende der Faser 1 mit einem Polarisationsfilter und einem Reflektor 2, der das Licht reflektiert, so wird es in Abhängigkeit vom Winkel, den das Polarisationsfilter mit der Polarisationsebene der Faser bildet, gedämpft. Die Auswertung der Dämpfung erfolgt durch Auskopplung des reflektierten Lichts im Ursprung des Bezugssystems mittels polarisationsabhängiger Strahlteiler 3 in den Dioden 4 und der anschließenden Elektronik 7.Mechanically twisted monomode fibers 1 are able to transport monochromatic light in such a way that the plane of polarization is retained. If one clamps one end of this fiber 1 in the origin of a reference system 6 and couples polarized monochramatic light, for example from a laser diode 5 , it is transported by the fiber. In the first approximation, the internal polarization plane during transport is independent of a rotation of the fiber which is small compared to its pretension. If the other end of the fiber 1 is connected to a polarization filter and a reflector 2 which reflects the light, it is attenuated depending on the angle which the polarization filter forms with the polarization plane of the fiber. The damping is evaluated by coupling out the reflected light in the origin of the reference system by means of polarization-dependent beam splitters 3 in the diodes 4 and the subsequent electronics 7 .

Die Dämpfung ist somit ein Maß für die Drehung des freien Endes gegenüber der Polarisationsebene der eingekoppelten Welle.The damping is therefore a measure of the rotation of the free end compared to the polarization plane of the injected wave.

Die Erfindung besteht darin, die Eigenschaft der Faser zu nutzen, die Polarisationsebene einer Welle unabhängig von ihrer eigenen Lage und Drehung im Raum zu transportieren.The invention is to take advantage of the property of the fiber that Polarization plane of a wave independent of its own position and Transport rotation in space.

Entscheidend für die Detektion ist das Detektionselement am freien Ende der Faser. Die Polarisationsebene dient als Referenz (s. Figur).The detection element at the free end is decisive for the detection the fiber. The polarization plane serves as a reference (see figure).

Für die Drehung ist die Lage der Polarisationsebene am freien Ende ausschlaggebend. Die Polarisationsebene ersetzt somit die Einspannung und das Widerlager der vorbekannten Sensoren.For the rotation, the position of the polarization plane is at the free end decisive. The polarization plane thus replaces the clamping and the abutment of the known sensors.

Claims (5)

1. Vorrichtung zur absoluten Detektion einer Drehung oder eines Winkels, mit einem polarisationserhaltenden Lichtwellenleiter einer Sendeeinrichtung für polarisiertes Licht und einem Analysator, der aus einem Polarisationsfilter und einem Lichtdetektor besteht, dadurch gekennzeichnet, daß der Detektionsort bezüglich der Drehung der Polarisationsebene des Lichtes am freien Ende des Lichtwellenleiters nicht mechanisch-konstruktiv mit dem Bezugspunkt oder festen Drehachse verbunden sondern frei im Raum wählbar ist.1. Device for the absolute detection of a rotation or an angle, with a polarization-maintaining optical waveguide, a transmitter for polarized light and an analyzer, which consists of a polarization filter and a light detector, characterized in that the detection location with respect to the rotation of the plane of polarization of the light at the free end the optical fiber is not mechanically and structurally connected to the reference point or fixed axis of rotation but can be freely selected in space. 2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Drehung aufgrund der Winkeländerung zwischen einem Polarisationsfilter und der Polarisationsebene einer Welle bestimmt ist.2. Device according to claim 1, characterized, that the rotation due to the change in angle between one Polarization filter and the polarization plane of a wave determined is. 3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Welle in eine Einrichtung eingekoppelt ist, die ihre Polari­ sationsebene unabhängig von ihrer eigenen Raumlage erhält.3. Device according to claim 1 or 2, characterized, that the wave is coupled into a device that its polar station level regardless of their own spatial position. 4. Vorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß für die Erhaltung der Polarisationsebene eine polarisations­ erhaltende optische Faser (1) vorgesehen ist.4. Device according to one of claims 1 to 3, characterized in that a polarization-maintaining optical fiber ( 1 ) is provided for maintaining the polarization plane. 5. Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß anstelle des Polarisationsfilters in dem freien Ende der Faser eine Vorrichtung zum Herstellen einer elliptischen Polarisation vorgesehen ist.5. Device according to one of claims 1 to 4, characterized, that instead of the polarizing filter in the free end of the fiber a device for producing an elliptical polarization is provided.
DE1997105889 1997-02-15 1997-02-15 Angle of rotation sensor Expired - Fee Related DE19705889C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE1997105889 DE19705889C2 (en) 1997-02-15 1997-02-15 Angle of rotation sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE1997105889 DE19705889C2 (en) 1997-02-15 1997-02-15 Angle of rotation sensor

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DE19705889C2 DE19705889C2 (en) 1999-12-09

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10118392A1 (en) * 2001-04-13 2002-11-07 Zeiss Carl System and method for determining a position and / or orientation of two objects relative to one another as well as beam guidance arrangement, interferometer arrangement and device for changing an optical path length for use in such a system and method
WO2004065921A1 (en) * 2003-01-24 2004-08-05 Valtion Teknillinen Tutkimuskeskus Method and device for determining the rotational angle of the polarisation axis of an optical waveguide or fiber
EP1482273A1 (en) * 2002-03-07 2004-12-01 Takaoka Electric Mfg. Co., Ltd. Polarization bearing detection type two-dimensional light reception timing detecting device and surface shape measuring device using it
DE102004054244A1 (en) * 2004-11-09 2006-05-18 Thumedi Gmbh & Co. Kg Measuring system for analyzing e.g. human spinal column form, has sensor systems whose alignment in plains in earth gravitational field is determined by sensors, and rotation is determined when intensity of radiation sources is determined

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010005665A1 (en) 2010-01-26 2011-07-28 Dr. Ing. h.c. F. Porsche Aktiengesellschaft, 70435 System for measuring torsion between two measuring points of measuring section in e.g. lorry, has polarization analyzer attached to optical waveguide at measuring point, where point is connected with another measuring point over waveguide
DE102017131388B4 (en) * 2017-12-28 2019-08-29 fos4X GmbH Fiber optic torsion angle sensor and method of detecting a torsion angle

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4650996A (en) * 1983-08-11 1987-03-17 Kabushiki Kaisha Ono Sokki Angle transducer employing polarized light
DE3415855C2 (en) * 1984-04-28 1988-02-04 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt, De
DE3638345A1 (en) * 1986-11-10 1988-05-19 Felten & Guilleaume Energie SETUP AND USE OF A WAVE GUIDE SENSOR FOR MINIMUM EXPANSION
DE3815152A1 (en) * 1988-05-04 1989-11-23 Strabag Bau Ag Device for monitoring and/or controlling rail-bound traffic
US5126558A (en) * 1990-11-14 1992-06-30 Hughes Aircraft Company Joint position detector with fiber optical microbend loop

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4650996A (en) * 1983-08-11 1987-03-17 Kabushiki Kaisha Ono Sokki Angle transducer employing polarized light
DE3415855C2 (en) * 1984-04-28 1988-02-04 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt, De
DE3638345A1 (en) * 1986-11-10 1988-05-19 Felten & Guilleaume Energie SETUP AND USE OF A WAVE GUIDE SENSOR FOR MINIMUM EXPANSION
DE3815152A1 (en) * 1988-05-04 1989-11-23 Strabag Bau Ag Device for monitoring and/or controlling rail-bound traffic
US5126558A (en) * 1990-11-14 1992-06-30 Hughes Aircraft Company Joint position detector with fiber optical microbend loop

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10118392A1 (en) * 2001-04-13 2002-11-07 Zeiss Carl System and method for determining a position and / or orientation of two objects relative to one another as well as beam guidance arrangement, interferometer arrangement and device for changing an optical path length for use in such a system and method
US7358516B2 (en) 2001-04-13 2008-04-15 Carl Zeiss Ag System and method for determining a position or/and orientation of two objects relative to each other as well as beam guiding arrangement, interferometer arrangement and device for changing an optical path length for use in such a system and method
EP1482273A1 (en) * 2002-03-07 2004-12-01 Takaoka Electric Mfg. Co., Ltd. Polarization bearing detection type two-dimensional light reception timing detecting device and surface shape measuring device using it
EP1482273A4 (en) * 2002-03-07 2008-02-27 Takaoka Electric Mfg Co Ltd Polarization bearing detection type two-dimensional light reception timing detecting device and surface shape measuring device using it
WO2004065921A1 (en) * 2003-01-24 2004-08-05 Valtion Teknillinen Tutkimuskeskus Method and device for determining the rotational angle of the polarisation axis of an optical waveguide or fiber
DE102004054244A1 (en) * 2004-11-09 2006-05-18 Thumedi Gmbh & Co. Kg Measuring system for analyzing e.g. human spinal column form, has sensor systems whose alignment in plains in earth gravitational field is determined by sensors, and rotation is determined when intensity of radiation sources is determined
DE102004054244B4 (en) * 2004-11-09 2009-11-05 Thumedi Gmbh & Co. Kg Method and device for the three-dimensional analysis of the shape, movement and spatial position of joint systems, in particular the spine

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Owner name: DAIMLERCHRYSLER AG, 70567 STUTTGART, DE

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