EP1218769A1 - Detecteur angulaire optique utilise dans un systeme de determination de position et/ou d'attitude - Google Patents

Detecteur angulaire optique utilise dans un systeme de determination de position et/ou d'attitude

Info

Publication number
EP1218769A1
EP1218769A1 EP00962654A EP00962654A EP1218769A1 EP 1218769 A1 EP1218769 A1 EP 1218769A1 EP 00962654 A EP00962654 A EP 00962654A EP 00962654 A EP00962654 A EP 00962654A EP 1218769 A1 EP1218769 A1 EP 1218769A1
Authority
EP
European Patent Office
Prior art keywords
sensor
disposed
incident light
light
detecting means
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.)
Withdrawn
Application number
EP00962654A
Other languages
German (de)
English (en)
Inventor
Michael Paul Alexander Geissler
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP1218769A1 publication Critical patent/EP1218769A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/781Details
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/7803Means for monitoring or calibrating
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782Systems for determining direction or deviation from predetermined direction
    • G01S3/783Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163Determination of attitude

Definitions

  • This invention relates to optical-type angular sensors that can provide an indication of the angular relationship of the sensor to at least one light source and, in preferred forms of the invention, signals which enable the determination of both the angular orientation and the positional location of the sensor relative to an array of light sources
  • States patent number 5510893 describes, among other things, a position and posture detecting device which is based on a four-division PIN photodiode of which each division can independently receive and detect a quantity of incident light
  • the patent describes how differences in the incident light on the four divisions may be used to compute the angular relationship between the detector and the source of the light
  • the patent also describes the provision of a fence along the common boundaries of each adjacent pair of divisions in order to promote the variation of light incident on the four divisions with changes in the angular relationship of the source and the sensor
  • Another device comprises a plurality of light receiving elements each comprising two or more closely spaced planar light detectors having their light receiving surfaces facing in different spatial directions Again, three dimensional location may be determined from signals representing the relative light intensities detected by the light detectors
  • the main object of the invention is to provide an improved optical angular sensor, and preferably an optical position and posture sensor
  • the invention is based on the use of one or more collecting elements which respond to incident light to produce electromagnetic radiation (such as light) which is internally reflected by the element to detecting means preferably disposed adjacent narrow faces of the element or elements, which may be configured in a variety of ways to cause the outputs of the detecting means to vary in accordance with the angular relationship between the device and the light source
  • the device may include a shadow mask or other means above or adjacent the element or elements
  • Each element may comprise a fluorescent material, so that light is absorbed by the material and in response to the incident light is generated, normally at a wave length greater than the incident light
  • materials employing some other physical mechanism for the geneiation of electromagnetic radiation in response to the incident light might be employed
  • the elements are in the form of fiat laminas which are arranged in substantially a common plane and which have their narrow faces formed as internal mirrors
  • the device may include a mask defining an aperture, such as a circular aperture, over the array of detectors
  • a different embodiment may include a plurality of such planar elements disposed in different planes, which may be orthogonal planes but need not be
  • the lamina elements may comprise part of a spheroidal or ellipsoidal shell
  • the outputs from the detecting means are substantially free of cross-talk and may be sampled for each of a multiplicity of positions of a light source relative to the device so that a look up table can be compiled relating such angular relationship to a respective one of a large multiplicity of sets of values of the outputs of the detectors
  • a device may be used in conjunction with an array of light sources which may be (operated at different frequencies) whereby the angles between the device and various light sources may be obtained From those angles position and orientation of the device may be calculated Calibration of the angle sensing by means of the compilation of a look up table may readily be accomplished
  • the invention is intended to provide at least one and preferably more than one of the following advantages, namely a better signal to noise ratio, an extended dynamic range, increased discrimination against ambient light sources, the avoidance of any need for a lens, since the elements may be made substantially larger than, for example. segmented photodiodes, the use of generally inexpensive material, increased sensitivity and the absence of cross-talk between light receiving elements
  • Figure 1 is a general drawing illustrating the use of optical angular sensors with an array of light sources.
  • FIG. 2 illustrates schematically one embodiment of the invention.
  • FIG. 3 illustrates in part the operation of one embodiment of the invention
  • Figure 5 is one view of a single light receiving element used for preference in the present invention.
  • Figure 6 is a plan view of a single light receiving element in accordance with the invention.
  • Figure 7 illustrates a calibration rig
  • Figure 9 illustrates a control and processing system.
  • Fi Ogu"- res 10 and 11 illustrate another embodiment of the invention
  • Figure 1 of the drawings is a general schematic view illustrating one mode of use of a sensor according to the invention
  • the drawing illustrates an array of light sources 1, which in this particular example are disposed in some selected or arbitrary pattern over a ceiling or top cover of an enclosure
  • the light sources could be disposed on a suspended grid outdoors.
  • An optical angular sensor 2 has a multiplicity of light receiving elements, not specifically referenced in Figure 1. of which the outputs collectively vary as the position or orientation of the device 2 varies relative to the array of light sources.
  • the outputs obtained from the light receiving elements are coupled to and processed in control and processing circuits 3 which may also control, if desired, the light sources 1.
  • One manner of control is to vary the intensities of the light sources at different frequencies so that the outputs from the various light receiving elements can simultaneously, by means of respective frequency components, indicate the angular position of the sensor 2 in relation to a multiplicity of the light sources.
  • the circuits 3 may include discriminators to separate the signals components relevant to the respective light sources 1, and processing circuits which relate positional and angular values for the sensor (obtained by a suitably controlled mechanism) to sets of values of the sensor's outputs.
  • Figure 1 includes two other angular sensors 2a and 2b in different positions and orientations.
  • the light receiving elements is disposed so that light from any particular incident light source is distributed to the elements in different po ⁇ ions depending on the angular orientation of the sensor relative to the given light source.
  • it would be possible to calculate this angular relationship based on the various proportions of light received by the light receiving elements and the particular geometric arrangement it is generally preferable to adopt a calibration scheme wherein the sensor 2 is moved to a variety of positions, and set in a variety of different orientations, and the various sets of outputs from the light receiving elements for each positional combination of position and orientation are memorized in the form of a look up table.
  • the set of outputs from the light receiving elements can be matched against an entry in the look up table to provide an immediate read out of the position and/or angular orientation of the device 2.
  • the latter scheme has the advantage of avoiding any need for calculation of values and also permits the automatic correction of imperfections.
  • the sensor according to the invention may in general be employed with a wide variety of light sources, though it is preferable to employ light emitting diodes which may be operated to modulate their light outputs at selected frequency.
  • the circuitry 3 may of course include, depending on the coding, analog or digital filtering enabling the demodulation of the emitted light and the identification of each light source accordingly
  • segmented photodiodes as light receiving elements in a context such as that shown in Figure 1.
  • the electronic noise of known light receiving elements increases in proportion to its surface area and accordingly a sensor sensitivity can in general not be increased by increasing the surface area.
  • a lens is often used to collect greater quantities of light. If light emitting diodes are used at substantial distances from the sensor 2, power has to be increased in accordance with the square of the distance between source and sensor. Brightly light emitting diodes can illuminate the surroundings in undesirable ways.
  • Known photo sensors generally have a limited range of linear response properties. In such a range the optical power input is directly proportional to the electrical power output. Thus if too much light is incident on a photo sensor, the region of linear response may be exceeded. As a result, known optical angular sensors can only be used within comparatively narrow ranges of optical intensity.
  • the intention of the invention is to enable a substantial increase of the light receiving area without increasing the surface area of a photo sensor.
  • the signal to noise ratio can be increased, allowing higher sensitivity and accuracy, without the need for a lens or more powerful light sources.
  • size and production costs of sensing systems can be reduced.
  • Figure 2 illustrates in general form one embodiment of the invention.
  • the sensor 2 is positioned to receive light from an array of three light sources la, lb and lc.
  • the sensor has an enclosure of which the top wall defines an ape ⁇ ure 4. Although this might be a simple aperture, it would be preferable to dispose a filter such as an ultra-violet filter, as a window in the aperture.
  • the sensor 2 includes an array 5 of light receiving elements of which one is shown at 6. As soon to be described, each light receiving element generates, in response to the incident light, electromagnetic radiation, preferably in the optical range (by means for example of fluorescence) and each element 6 is associated with a respective detecting means 7 which may be a photodiode
  • Figures 3 and 4 illustrate one way in which the angular orientation of the sensor relative to the light source may be used to obtain different outputs from the light receiving elements.
  • Figure 3 is a side view whereas
  • Figure 4 is a plan view of an array of four light receiving elements 6a, 6b, 6c and 6d, each of which is in the form of a lamina and has a respective one of a multiplicity of photodiodes (7a-7d) disposed adjacent part of the narrow side face of the lamina.
  • Each photodiode may be bonded to the respective element at a corner thereof.
  • Figure 3 illustrates a light beam 8 from a source (not shown) entering an enclosure 9 obliquely by way of an ape ⁇ ure 4 in a mask 10 It therefore illuminates the four light receiving elements in a region 1 1, The light receiving elements are illuminated differently.
  • a sensor of this kind employing only two elements, such as the elements 6a and 6b, though a sensor of that kind can in general only sense variation of angle in one plane. In general, at least three light receiving elements are desirable.
  • FIGS 5 and 6 illustrate the manner of operation of a single element for an improved sensor according to the invention.
  • Each element 6 is in the form of a lamina or plate of transparent material.
  • the plate has broad faces 12 and narrow faces 13.
  • the narrow faces, except in the region which is adjacent a respective photo sensor 7, are treated to form internal mirrors.
  • Light 8 incident on the plate 6 is absorbed
  • the material of the element 6 may, for example, contain fluorescent dye which in response to the incident light and emits light 15 that travels towards the photo sensor 7 either directly or after reflection by the mirrored edge faces or by reflection at the broad faces 12. If the material is fluorescent, then the light emitted by the dye will have a longer wave length than the incident radiation. This has the advantage that photo sensors are more sensitive as wavelength increases
  • the element 6 also acts as an optical band pass filter It is sensitive only at a pa ⁇ icular wavelength This eliminates the needs for a costly separate band pass filter
  • the lamina or panel 6 can be made of substantial size, since the area is no longer limited by that of the photodiode 7 Moreover, the use of a fluorescent element enables the light received and emitted by the fluorescent panel to be distributed equally over the surface of the photo sensor 7 There are no hot spots because light is distributed over a larger area Fu ⁇ hermore, the sensor may be used at higher levels of light than may be used when the operating range is constrained by the linear range of response of the photodiode
  • the element 6 may comprise an acrylic matrix containing any suitable known dye which exhibits fluorescence
  • the array of light receiving and generating elements is described in conjunction with some mask that allows a defined beam of light from a light source to fall, in general, differently on the various elements
  • the mask may define a variety of apertures of different shape
  • a mask is not essential in all embodiments of the invention
  • a panel comprising an element 6 and its photo sensor 7 may for example be disposed on each of a plurality of the faces of a cube
  • an array of panels such as shown in Figure 6 may be disposed in different planes (either orthogonal or not) and although various forms of mask may be employed, they need not be
  • each light receiving element though laminar, need not be planar
  • the elements may be disposed as different regions of a spherical or ellipsoidal shell or as different regions of a cylindrical surface
  • the outputs obtained from the various light receiving elements vary as the orientation of the array of elements varies relative to the incident light, any selected configuration of the light elements may employed
  • Figure 7 illustrates a calibration rig, comprising a source l, a sensor 2, a motorised arm 16 which carries the sensor 2 and can move and measure angular position about a first axis and a motorised arm 17 which can move and measure angular position about a second axis
  • the rig includes spacing bars 18 and 19
  • the rig includes optical encoders (not shown) for the two axes
  • the sensor is mounted at the nodal point of the gimbal
  • the sensor output and the relevant angular position are referenced in a table Known calculations may be employed to obtain position and orientation information in 3D space
  • Figure 8 illustrates the circumstances wherein a dished light receiving panel may be desirable to provide precise and angular readings even if a light source is very close
  • the lines 22 represent parallel rays of a distant light source whereas the lines 23 are divergent rays from a nearby light source
  • Line 24 is a centre line of the light sources at the same angle relative to the element 6a It may be noted that the distance 20 is not equal to the distance 21 because the angles 25 and 26 are different Compensation for this inequality may be provided by using dished or arcuate panels
  • Figure 9 illustrates the main schematic features of one example of the control and processing system
  • the system may include four LEDs each on a different frequency. This may be a multitude of LEDs, fitted with microprocessors so that each of them can be controlled to flash on one of the frequencies in use, dimmed (so that a viewing person would not be distracted by LEDs switching on and off) or be turned off completely
  • the system processor would be in charge of choosing the LEDs in 'view' by the sensor and allocating the right frequency to them
  • each LED in an array 90 of LED's is coupled to a respective channel in a plurality of processing channels 91
  • Each channel includes, for example, a photosensor 92, a preamplifier 93, a high pass filter 94 and an analogue-to- digital (AD) conversion stage 95
  • Outputs from the stages are subject to further processing including a compensation for lack of proportionality, in a processing unit 96
  • the processed digital outputs from the channels are employed to compute angles in an 'angle calculations' block 97 (which may be constituted by software) subject to calibration data 98
  • Positional and orientation calculations are performed by block 99
  • An LED coordinator 100 (the system processor) may receive feedback from block 99 and serves to control a respective modulator 101 for each LED
  • the senor is composed of a single element 6 and a plurality of detectors 7a to 7d.
  • the detectors are disposed in a manner similar to those in Figure 4 but the single thin planer element 6 is a single panel filled with fluorescent pigment and has the detectors in the form of photodiodes each adjacent part of a narrow face (in this case a corner facet) of the element 6.
  • the light within the element 6 will be alternated as it travels to the photosensors.
  • the alternation may be controlled by roughening the surface of the element and/or altering the concentration of the pigment or other optical alternating material within the element.

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Photometry And Measurement Of Optical Pulse Characteristics (AREA)

Abstract

Détecteur angulaire optique comprenant une pluralité d'éléments (6) de réception optique, dont chacun est, de préférence, fluorescent. En réaction à la lumière incidente, chaque élément génère de la lumière qui est réfléchie à l'intérieur dudit élément. Pour chaque élément, des moyens de détection respectifs (7) réagissent à ladite lumière générée. Le détecteur est situé de sorte que les sorties des moyens de détection varient en fonction de l'orientation angulaire du détecteur par rapport à la lumière incidente. Dans un mode de réalisation, chaque élément comprend une lame dont une face large (12) reçoit la lumière incidente et dont les faces étroites constituent des miroirs internes (14), les moyens de détection respectifs étant situés de manière à recevoir le rayonnement depuis une partie de face étroite de l'élément. Le détecteur peut comporter un masque ajouré (10) placé dans le trajet de la lumière incidente.
EP00962654A 1999-09-13 2000-09-13 Detecteur angulaire optique utilise dans un systeme de determination de position et/ou d'attitude Withdrawn EP1218769A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB9921510 1999-09-13
GB9921510A GB2357835A (en) 1999-09-13 1999-09-13 Detecting the incident angle of an optical light beam
PCT/GB2000/003509 WO2001020361A1 (fr) 1999-09-13 2000-09-13 Detecteur angulaire optique utilise dans un systeme de determination de position et/ou d'attitude

Publications (1)

Publication Number Publication Date
EP1218769A1 true EP1218769A1 (fr) 2002-07-03

Family

ID=10860750

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00962654A Withdrawn EP1218769A1 (fr) 1999-09-13 2000-09-13 Detecteur angulaire optique utilise dans un systeme de determination de position et/ou d'attitude

Country Status (3)

Country Link
EP (1) EP1218769A1 (fr)
GB (1) GB2357835A (fr)
WO (1) WO2001020361A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003093856A2 (fr) * 2002-02-06 2003-11-13 Martin Professional A/S Procede et systeme de poursuite de source de signaux
EP1887313A1 (fr) * 2006-07-31 2008-02-13 Agilent Technologies, Inc. Système de détermination d'emplacement et procédé d'une détermination d'emplacement
US10260844B2 (en) 2008-03-17 2019-04-16 Israel Aerospace Industries, Ltd. Method for performing exo-atmospheric missile's interception trial
CN101915562B (zh) * 2010-07-20 2012-10-10 中国航空工业集团公司西安飞机设计研究所 一种倾角传感器校准装置
ES2542801B1 (es) * 2014-02-11 2016-06-23 Iñigo Antonio ARIZA LOPEZ Panel concentrador solar
RU2610135C2 (ru) * 2016-01-28 2017-02-08 Вячеслав Данилович Глазков Способ синтезирования положенной относительной пеленгационной характеристики статического амплитудного датчика фасеточного типа отдалённого источника лучистого потока и устройство, его реализующее
IL246595B (en) * 2016-07-03 2020-07-30 Elta Systems Ltd Flash detection methods and systems
CN108645338B (zh) * 2018-05-11 2020-06-05 长春理工大学 基于psd的真空下信号器自标定方法及装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3119570A1 (de) * 1981-05-16 1982-12-02 Fa. Carl Zeiss, 7920 Heidenheim Fluoreszierendes material enthaltender strahlungssensor
DE3446464A1 (de) * 1984-12-20 1986-07-03 Fa. Carl Zeiss, 7920 Heidenheim Laserwarngeraet fuer militaerische fahrzeuge
DE3543787A1 (de) * 1985-12-09 1987-06-11 Siemens Ag Messanordnung zur bestimmung des einfallswinkels von licht
DE3543782A1 (de) * 1985-12-09 1987-06-11 Siemens Ag Einrichtung zur bestimmung des ortes eines lichtflecks
US4793715A (en) * 1987-08-28 1988-12-27 Westinghouse Electric Corp. Detector for aligning high power lasers
JPH0627828B2 (ja) * 1991-02-27 1994-04-13 浜松ホトニクス株式会社 位置検出器
FR2688324A1 (fr) * 1992-03-03 1993-09-10 Thomson Csf Dispositif de detection optronique a amplification optique et son application a la telemetrie et a l'ecartometrie.
US5510893A (en) * 1993-08-18 1996-04-23 Digital Stream Corporation Optical-type position and posture detecting device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO0120361A1 *

Also Published As

Publication number Publication date
GB2357835A (en) 2001-07-04
WO2001020361A1 (fr) 2001-03-22
GB2357835A8 (en) 2001-07-25
GB9921510D0 (en) 1999-11-17

Similar Documents

Publication Publication Date Title
US5101570A (en) Inclination angle detector
US4479053A (en) Focal plane array optical proximity sensor
US4420261A (en) Optical position location apparatus
JP4219442B2 (ja) 光電子センサ
US8969822B2 (en) Two-dimensional and three-dimensional position sensing systems and sensors therefor
JPH0248928B2 (fr)
KR101581061B1 (ko) 물체 검출을 위한 광 배리어 및 방법
KR20010014970A (ko) 물체 검출용 광학유닛 및 이를 이용한 위치좌표 입력장치
US20190065002A1 (en) Two-Dimensional Position Sensing Systems and Sensors Therefor
CN1170869A (zh) 光学位置传感器
EP0596982B1 (fr) Systeme de determination du sens d'un rayonnement optique incident
EP0041146A1 (fr) Procédé et dispositif pour la détermination de l'angle d'incidence d'énergie électromagnétique
WO2001020361A1 (fr) Detecteur angulaire optique utilise dans un systeme de determination de position et/ou d'attitude
JP4355141B2 (ja) マルチプルレーザ光学検出システム及び方法
JPS62150118A (ja) 光学式変位検出装置
JP2004037461A (ja) 光学距離測定デバイス
JP5429897B2 (ja) 光点位置検出装置
JPH03273123A (ja) 空間温度計測システム
JP3256764B2 (ja) 広範囲位置ディテクター
JPS61233386A (ja) 物体検知装置
JPS63167534A (ja) 光指示入力装置
Marszalec Design of an angular scan LED array-based range imaging sensor
GB2232550A (en) Optical sensor
JPH0743450A (ja) 物体検知センサ
KR100220229B1 (ko) 광축 판별장치 및 방법

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20020318

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20030401