DE19705889C2 - Angle of rotation sensor - Google Patents

Angle of rotation sensor

Info

Publication number
DE19705889C2
DE19705889C2 DE1997105889 DE19705889A DE19705889C2 DE 19705889 C2 DE19705889 C2 DE 19705889C2 DE 1997105889 DE1997105889 DE 1997105889 DE 19705889 A DE19705889 A DE 19705889A DE 19705889 C2 DE19705889 C2 DE 19705889C2
Authority
DE
Germany
Prior art keywords
polarization
optical waveguide
rotation
light
coordinate system
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.)
Expired - Fee Related
Application number
DE1997105889
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German (de)
Other versions
DE19705889A1 (en
Inventor
Reinhard Seyer
Hannes 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
DaimlerChrysler 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 DaimlerChrysler AG filed Critical DaimlerChrysler 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

Description

Die Erfindung betrifft eine Vorrichtung zur absoluten Detektion einer Drehung oder eines Winkels eines Meßobjekts mit Lichtwellenleitern. Anwendungsbereiche sind Automatisierungstechnik und Robotik.The invention relates to a device for the absolute detection of a rotation or Angle of a measurement object with optical fibers. Areas of application are Automation technology and robotics.

Solche Anwendungen sind beispielsweise in der DE 36 38 345 A1 für die Überwachung der Struktur eines Großflugzeugs und in der US 5,126,558 für den Einsatz zur Messung des Gelenkwinkels von Roboterarmen beschrieben.Such applications are for example in DE 36 38 345 A1 for monitoring the Structure of a large aircraft and in US 5,126,558 for use in measuring the Joint angle of robot arms described.

Es ist bekannt, daß man eine Drehrichtung 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. In der Offenlegungsschrift DE 38 15 152 A1 ist eine Einrichtung zum Überwachen und/oder Steuern eines schienengebundenen Verkehrs offenbart, bei der zur Signalgewinnung faseroptische Sensoren eingesetzt werden. Dabei werden durch Druckeinwirkung von Fahrzeugen optische Signale erzeugt und mit einer Reflexionseinrichtung das gedämpfte Meßlicht reflektiert.It is known that a direction of rotation, for example, with the help of potentiometers certainly. The disadvantage is that they have mechanical contact. Wear and tear Contact problems are the result. In addition, their immunity to interference is close to that electromagnetic fields not guaranteed. Also known are optical sensors that work with the help of pulse and code disks. You do not have the ones mentioned above negative properties, however, come like this when determining a rotation not without a mechanically fixed cover. In DE 38 15 152 A1 is a device for monitoring and / or controlling a rail-bound Verkehrs discloses, in which fiber-optic sensors are used for signal acquisition. Optical signals are generated by the pressure of vehicles and with a Reflection device reflects the attenuated measuring light.

In der US 4,650,996 ist eine Winkelmeßeinrichtung offenbart, die auf dem polarisationsoptischen Prinzip beruht. Bei der Meßeinrichtung führt eine scheibenförmige Polarisationsfolie zwischen einer Diode und einem Photodetektor eine Drehbewegung aus. 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.In US 4,650,996 an angle measuring device is disclosed, which on the polarization-optical principle. In the measuring device leads a disc-shaped Polarization film between a diode and a photodetector from a rotary movement. The known rotation angle sensors require permanently installed axes in order to rotate to be able to recognize. You are therefore unable to make an absolute rotation of a component to be able to detect any point in space.

Aufgabe der Erfindung ist es daher, eine Vorrichtung anzugeben, die eine absolute Drehung eines Meßobjektes in einem beliebigen Raumpunkt gegenüber einem Bezugskoordinatensystem detektieren kann. The object of the invention is therefore to provide a device which has an absolute rotation of a measurement object in any point in space opposite one Can detect reference coordinate system.  

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 (3)

1. Vorrichtung zur absoluten Detektion einer Drehung eines am Drehort an einem Meßobjekt gedachten Koordinatensystems gegenüber einem Bezugskooedinatensystem, welche einen polarisationserhaltenden Lichtwellenleiter (1), einer Sendeeinrichtung für polarisiertes Licht (5) und einem Analysator aufweist, der aus einem Polarisationsfilter und einem Lichtdetektor (3, 4, 7) besteht, wobei ein erstes Ende des Lichtwellenleiters (1) im Ursprung (6) eines Bezugssystems fest eingespannt und bezüglich der Polarisationsebene von eingekoppeltem Licht festgelegt ist und ein zweites, freies Ende des Lichtwellenleiters (1) fest mit dem Polarisationsfilter und einem Reflektor (2) versehen und mit einem Detektionsort am Meßobjekt mechanisch verbunden ist, so daß der Lichtwellenleiter (1) durch Drehung oder Verformung des Meßobjekts auf ihn einwirkende Kräfte eine Torsion erfährt und die dadurch hervorgerufene Änderung der Richtung der Polarisationsebene des Polarisationsfilters am freien Ende des Lichtwellenleiters (1) gegenüber der Richtung der Polarisationsebene des am ersten Ende eingekoppelten Lichts ein Maß für zu messenden Drehungen des gedachten Koordinatensystems ist.1.Device for the absolute detection of a rotation of a coordinate system intended at the location of rotation on a measurement object relative to a reference coordinate system, which has a polarization-maintaining optical waveguide ( 1 ), a transmitter for polarized light ( 5 ) and an analyzer consisting of a polarization filter and a light detector ( 3 , 4 , 7 ), wherein a first end of the optical waveguide ( 1 ) is firmly clamped in the origin ( 6 ) of a reference system and fixed with respect to the polarization plane of coupled light and a second, free end of the optical waveguide ( 1 ) is fixed to the polarization filter and a reflector ( 2 ) and is mechanically connected to a detection location on the measurement object, so that the optical waveguide ( 1 ) is subjected to torsion due to the rotation or deformation of the measurement object and the resulting change in the direction of the polarization plane of the polarization filter s at the free end of the optical waveguide ( 1 ) in relation to the direction of the polarization plane of the light coupled in at the first end is a measure of the rotations of the imaginary coordinate system to be measured. 2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß als Lichtwellenleiter (1) eine verdrillte Monomode-Lichtleitfaser verwendet ist.2. Device according to claim 1, characterized in that a twisted single-mode optical fiber is used as the optical waveguide ( 1 ). 3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß anstelle des Polarisationsfilters in dem zweiten Ende der Lichtleitfaser (1) eine Vorrichtung zum Herstellen einer elliptischen Polarisation vorgesehen ist.3. Device according to claim 1 or 2, characterized in that instead of the polarization filter in the second end of the optical fiber ( 1 ), 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
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Application Number Priority Date Filing Date Title
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DE19705889C2 true DE19705889C2 (en) 1999-12-09

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Cited By (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
DE102017131388A1 (en) * 2017-12-28 2019-07-04 fos4X GmbH Fiber optic torsion angle sensor and method for detecting a torsion angle

Families Citing this family (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
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
FI20030118A (en) * 2003-01-24 2004-07-25 Valtion Teknillinen Method and apparatus for determining the angle of rotation of an optical waveguide polarization axis
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

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 (3)

* 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
DE102017131388A1 (en) * 2017-12-28 2019-07-04 fos4X GmbH Fiber optic torsion angle sensor and method for detecting a torsion angle
DE102017131388B4 (en) * 2017-12-28 2019-08-29 fos4X GmbH Fiber optic torsion angle sensor and method of detecting a torsion angle

Also Published As

Publication number Publication date
DE19705889A1 (en) 1998-08-20

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Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
8127 New person/name/address of the applicant

Owner name: DAIMLERCHRYSLER AG, 70567 STUTTGART, DE

D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee