JP2010140386A - Optical angle sensor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a highly accurate and small optical angle sensor which does not receive magnetic field influence within the wide range of rotation angles in a panning direction, a tilting direction, and a rotation direction as well. <P>SOLUTION: The optical angle sensor includes color patterns of two colors or more provided in a measurement target part, a light source with which the color patterns are irradiated, an optical lens for converging a transmitting or reflected light of the color patterns on the color patterns, and a multi-pixel optical sensor for detecting the intensity of light converged by the optical lens, measures a movement amount of a first color pattern in the panning direction to calculate a panning direction angle, and separates a second color pattern from the first color pattern to detect the second color pattern, measuring the movement amount of the second color pattern in the tilting direction and calculating a tilting direction angle. The optical angle sensor installs the color patterns on a spherical surface that rotates in accordance with the rotation of the measurement target, and measures a prescribed position of the color patterns so that the small optical angle sensor can perform measurement with high accuracy within the wide range. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an angle sensor used in a camera unit that rotates in two axial directions of Pan and Tilt directions and in three axial directions of Pan, Tilt, and Rotation, a posture control controller of a robot, and a joystick of a game machine. .

  In particular, the present invention relates to an optical angle sensor capable of absolute position measurement without magnetic influence, with a wide measurement angle range and high measurement accuracy.

  For example, the following methods have been proposed as conventional angle sensors.

  For example, as shown in Patent Document 1, there has been proposed a method in which a color block is pasted in the circumferential direction of a shaft that is a measurement object, light is irradiated to the color block, and a rotation angle is calculated from the reflected light change. Yes.

  Also, as shown in Patent Document 2, an integrated color pattern is attached to a rotating body that is a measurement object, and the amount of transmitted light of the color pattern depending on the rotation angle is detected and the rotation angle is measured. Proposed.

  However, these can measure the angle of the rotation direction of one axis, but cannot be used when the rotation angle of the two axes changes simultaneously.

  Therefore, a biaxial angle sensor as described below has been proposed.

  For example, there is a method using a PSD element (Position Sensitive Detector) which is an optical position sensor.

  The angle of the PAN and Tilt directions is calculated by irradiating the measurement object with light, receiving the reflected light with a PSD element, and detecting the position of the light spot on the light receiving surface.

  Since the position of light incident on the PSD element changes corresponding to the change in the rotation angle of the measurement object, the rotation angle can be calculated by detecting the position signal.

  In recent years, in addition to an angle sensor that can measure two-axis angles in the Pan and Tilt directions, practical application of a three-axis angle sensor that can also measure the rotation direction is expected.

  Therefore, it is conceivable to detect a three-axis angle by combining a conventional two-axis angle sensor or a one-axis angle sensor. However, since it is difficult in principle, a new method as described below has been proposed.

  For example, as described in Patent Document 3, it is a method of detecting an induced electromotive force.

  That is, the first coil wound on the outer surface of the hemispherical body portion having a spherical outer surface and the second coil provided surrounding the recess of the receiving member with which the hemispherical body portion is rotatably engaged. In this method, voltages having mutually different frequencies are supplied to either one to generate an alternating magnetic field, the induced electromotive force generated thereby is detected for each frequency, and the rotation angle of the three axes is calculated.

  Further, as shown in Patent Document 4, a method using a change in diffraction angle has also been proposed.

  That is, by providing a rectangular grating on the detection target surface and irradiating the rectangular grating with light, 0th-order diffracted light and ± 1st-order diffracted light are generated. By converging this diffracted light on a four-divided photodiode, and detecting the change in signal amount as the beam spot focused on each photodiode moves in response to the change in the angle of the rectangular grating. This is a method of measuring a triaxial angle.

  Furthermore, as shown in Patent Document 5, a method for detecting the magnetic field strength has also been proposed.

  That is, by providing two magnets on the rotating body and installing a plurality of magnetoelectric conversion elements separately from the rotating body, the rotation angle is detected by detecting the magnetic field intensity from the rotating body with the plurality of magnetoelectric conversion elements. It is a method to do.

  In addition, as disclosed in Patent Document 6, a method of accurately detecting a rotation angle by combining an acceleration, a gyroscope, and a magnetic sensor has been proposed.

  In other words, the acceleration, gyroscope, and magnetic sensor are provided at specific positions on the three axes, respectively, to calculate the three-axis rotation angle.

  A method using moire fringes as shown in Patent Document 7 has also been proposed.

  That is, this is a method of calculating a triaxial angle by detecting a change in moire fringes generated by irradiating light on a grating provided in a measurement object from a light source provided away from the measurement object.

Moreover, as shown in Patent Document 8, the first color marker of the target marker that is the measurement object is detected to calculate the coarse position, and the first to third color markers are further detected to calculate the fine position. There have also been proposals to obtain location information.
JP 2005-134390 A (page 28, FIG. 3) JP-A-11-264743 (5th page, FIG. 3) Japanese Patent No. 3218327 (page 5, FIG. 2) JP 2007-218842 A (page 11, FIG. 1) JP 2007-248069 (page 13, FIG. 1) Japanese Patent No. 3797661 (page 8, FIG. 1) Japanese Patent No. 3698796 (page 19, FIG. 20) Japanese Patent No. 3626400 (page 11, FIG. 2)

  However, with the conventional configuration, it has been difficult to realize an angle sensor that is not particularly affected by magnetism, has a wide measurement angle range, has high measurement accuracy, and can perform absolute position measurement.

  For example, a case where a PSD element is used for biaxial angle measurement will be described.

  The PSD element measures and calculates the ratio of the current that flows to the two electrodes at the center of gravity when spot light is irradiated on the element, but the measurement position changes when the spot shape changes. At the same time, since the measurement value changes even when a temperature change occurs, there is a problem that the position detection accuracy is poor and it is difficult to perform highly accurate angle measurement.

  Further, for example, a method of measuring a biaxial or triaxial rotational angle using a plurality of uniaxial angle sensors shown in Patent Document 1 and Patent Document 2 is conceivable.

  However, when the rotation of two or three axes moves independently, it is difficult to provide a plurality of angle sensors individually for each axis because of the physical configuration and cannot be measured.

  Moreover, even when measuring the angles of three axes, there are the following problems.

  For example, a method for detecting the induced electromotive force shown in FIG. 2 on page 5 of the conventional patent document 3 or a magnet and a magnetic sensor as shown in FIG. 1 on page 13 of patent document 5 are used. 1 and the method using the magnetic sensor shown in FIG. 1 on page 8 of Patent Document 6 are easily affected by magnetism, and are affected by magnets and coil magnetic fields of motors and actuators used in cameras and robots. As a result, the measurement signal changes, and there is a problem that accurate measurement cannot be performed.

  Further, as a method not using magnetism, for example, a method using light has been proposed.

  For example, as disclosed in Patent Document 4, the method of receiving diffracted light with a four-divided photodetector has a problem that the range of measurement is extremely narrow although it is not affected by magnetism.

  In other words, when the rotation angle of the rectangular grating set in the measurement target area increases, the reflection angle of the diffracted light from the rectangular grating also increases, and the diffracted light can be detected by deviating greatly from the quadrant photodiode. This causes a problem that the signal may not be detected because it protrudes from the photodiode portion.

  In general, these angle sensors are required to measure an angle change of at least 10 degrees, and these conventional methods cannot meet the demand.

  As a method capable of measuring in a wide angle range, for example, as disclosed in Patent Document 7, a method using moire fringes has been proposed. In this method, as shown in Patent Document 7, page 19, FIG. 20, a light source is provided at a position away from the measurement object, and the change in moire fringes is observed with the optical sensor provided in the measurement object part. Thus, a change in incident angle is detected over a wide range.

  However, in order to measure the rotation angle of the three axes, it is necessary to install a plurality of light sources at positions distant from the measurement target, and further, three lattice pairs and three optical sensors are required for the measurement target part. For this reason, the measuring apparatus is very large and has a problem that miniaturization is difficult.

  Furthermore, as a method for measuring a wide angle range, a method shown in Patent Document 8 has been proposed. In other words, a target marker is placed on the object, and its three-dimensional position X-Y-Z is calculated by matching an image captured using a stereo camera with a color pattern prepared in advance.

  However, in this method, the camera optical system can be used to calculate the XYZ coordinates of the target marker placed on the object distant from the camera, but the rotation angle in the PAN-Tilt-Rotation direction is detected with high accuracy. It had the subject that it was difficult. In addition, since a stereo camera is required, there is a problem in downsizing the apparatus.

  SUMMARY OF THE INVENTION The present invention solves the above-described conventional problems, and an object thereof is to provide a small optical angle sensor that is not affected by a magnetic effect in a wide angle range.

  In order to solve the conventional problems, an optical angle sensor according to the present invention includes a color pattern composed of at least two colors provided in a measurement target portion, a light source that irradiates light on the color pattern, and the color A color pattern comprising a first color component, comprising: an optical lens for condensing the light transmitted through or reflected by the pattern onto the color pattern; and a multi-pixel photosensor for detecting the intensity of the light collected by the optical lens. The Pan direction angle is calculated by measuring the Pan direction movement amount, and the color pattern consisting of the second color component is separated and detected from the first color pattern and the Tilt direction movement amount is measured to determine the Tilt direction angle. Is to be calculated.

  With this configuration, it is possible to provide a small two-axis optical angle sensor that is not affected by magnetic effects with high accuracy in a wide angle range.

  Further, the optical angle sensor of the present invention includes a color pattern of at least three colors provided in a measurement target portion, a light source that irradiates light on the color pattern, and light transmitted or reflected by the color pattern. An optical lens for condensing the color pattern and a multi-pixel optical sensor for detecting the intensity of the light collected by the optical lens, and measuring the amount of movement in the Pan direction of the color pattern composed of the first color component The Pan direction angle is calculated, the color pattern consisting of the second color component is separated and detected, the amount of movement in the Tilt direction is measured, the Tilt direction angle is calculated, and the color pattern consisting of the third color component is separated and detected. Then, the rotation angle in the rotation direction is detected to calculate the rotation direction angle.

  With this configuration, it is possible to provide a small three-axis optical angle sensor that is not affected by high-precision magnetic effects in a wide angle range.

  According to the optical angle sensor of the present invention, it is possible to easily realize a small and highly accurate optical angle sensor that can measure in a wide angle range and is not affected by magnetic influence.

  Embodiments of the present invention will be described below with reference to the drawings.

(Embodiment 1)
FIG. 1 is a schematic diagram of an optical angle sensor according to Embodiment 1 of the present invention.

  In FIG. 1, a lens unit 1 is a unit in which, for example, a plurality of lenses are incorporated in a lens barrel.

  Thereby, although not shown in FIG. 1, an image of the subject can be formed on the image sensor 2.

  For example, a CMOS sensor is used as the imaging element unit 2. As a result, the video of the subject is converted into an electrical signal, and image information can be obtained by an image processing apparatus provided separately.

  Although the lens unit 1 and the image pickup device unit 2 are integrally installed, they can be driven in the PAN, TILT, and Rotation directions by, for example, a VCM drive actuator provided separately, although not shown in the drawing.

  Although the rotation center of the lens unit 1 is not particularly limited, as shown in FIG. 1, for example, the point where the rotation axis of the PAN and Tilt on the back of the multi-pixel photosensor 7 intersects is set as the rotation center. explain.

  The hemispherical body portion 3 is provided so that its shape is a hemispherical body with the rotation center of the lens unit 1 as the center point. The material of the hemispherical body portion 3 is not particularly limited, and plastic, glass, metal or the like is used.

  A color pattern 4 is formed on the hemispherical body portion 3. The material of the color pattern is not particularly limited, but pigments and dyes are preferable.

  As a method for forming the color pattern 4, for example, an inkjet method is used. A desired color pattern 4 can be obtained by appropriately ejecting the nozzle toward the hemispherical body.

  The present invention is not limited to the direct formation of the color pattern 4 on the hemispherical material. For example, a material such as a plastic formed with a color pattern may be attached to the hemispherical body portion 3. .

  For example, an LED is used as the light source 5. The present invention is not limited to LEDs, and LDs or halogen lamps may be used.

  For example, a white LED is preferably used as the LED. Three color components of RGB are used, and the color pattern provided on the hemispherical body portion 3 uses the three primary colors of RGB light and the complementary colors of cyan, yellow, and magenta, which are currently used as publicly known techniques. It is useful because it can.

  The light source 5 is preferably irradiated toward the apex portion of the color pattern provided on the hemispherical body portion 3 which is a measurement portion.

  Although not shown in the drawing, it can be said that it is preferable to collect light from the light source 5 using an optical lens and irradiate it on the hemispherical body portion 3 because brighter illumination can be obtained.

  As the multi-pixel optical sensor 7, for example, a CMOS sensor is used, and a plurality of RGB pixels are arranged. For example, a 30 × 30 900-pixel multi-pixel optical sensor 7 is preferably used because the calculation speed is reduced when the number of pixels is high. Thereby, for example, high-speed processing of 1 KHz or more can be easily realized.

  The lens 6 has a function of forming an image of the color pattern on the hemispherical body portion 3 on the multi-pixel photosensor 7 with high magnification. This makes it possible to detect a change in the color pattern with high accuracy.

  According to this configuration, the color pattern 4 is imaged on the multi-pixel optical sensor 7 by the lens 6 by irradiating the light emitted from the light source 4 to the color pattern provided on the hemispherical body portion 3. At this time, when the lens unit 1 and the imaging element unit 2 rotate in the PAN direction, the color pattern 4 on the hemispherical body unit 3 moves, and at the same time, the image formed on the multi-pixel photosensor 7 is in the PAN direction shown in FIG. Moving. By detecting this amount of movement, the rotation angle in the PAN direction can be calculated.

  Next, a method for calculating the angle in the TILT direction will be described. When the lens unit 1 and the imaging element unit 2 rotate in the TILT direction, the hemispherical body unit 3 formed integrally with them also rotates in the TILT direction.

  At this time, since the center of the hemispherical body portion 3 is set as the rotation center of the lens unit 1 and the image pickup device portion 2, the distance from the multi-pixel photosensor 7 does not change. Thereby, the color pattern 4 on the hemispherical body portion 3 can be reproduced on the multi-pixel optical sensor 7 with a blurred image.

  As the color pattern 4 on the hemispherical body portion 3 moves in the TILT direction, the color pattern 4 imaged on the multi-pixel photosensor 7 also moves. Move in the TILT direction as shown in the figure. By detecting this amount of movement, the rotation angle in the TILT direction can be calculated.

  Since the color pattern 4 on the hemispherical body portion 3 can be set on the hemispherical body portion 3, the rotation angle can be measured in a range of ± 90 degrees at the maximum.

  Further, it is not necessary to install a large-scale measuring device in the lens unit 1 and the image pickup device unit 2, and in the present invention, measurement can be performed only by providing the hemispherical body unit 3 and the color pattern provided thereon.

  This can be said to be extremely useful in that the mass addition of the drive parts such as the lens unit 1 and the image pickup device unit 2 can be reduced as much as possible and can be easily attached to the measurement target.

  In the present embodiment, a preferred example in which the hemispherical body portion 3 is installed at the rotation center of the lens unit 1 has been described. However, the hemispherical body portion is not necessarily a strict hemispherical body. If a color pattern image is formed on the multi-pixel optical sensor 7, the moving direction can be calculated.

  FIG. 2 shows an example of the color pattern 4. FIG. 2A shows a color pattern 4 provided on the hemispherical body portion 3, which is a vertical and horizontal grid pattern.

  The color pattern 4 is composed of vertical and horizontal patterns as shown in FIGS. For example, the vertical stripe pattern in FIG. 2B is set to blue, and the pattern in FIG. 2C is set to red.

  Accordingly, FIG. 2A is configured by combining two color patterns of blue and red.

  The method of separating the color pattern (a) into (b) and (c) is performed using, for example, the multi-pixel photosensor 7. By using each pixel of the multi-pixel photosensor 7 using an RGB color filter, the color pattern formed on the multi-pixel photosensor 7 can be color-separated. That is, it is possible to detect the blue pattern of (a) by detecting only the signal from the blue component pixel and the red pattern of (b) by detecting only the signal from the red component pixel. .

  In the present invention, an example in which color separation is performed by the multi-pixel photosensor 7 has been described, but the present invention is not limited to this.

  For example, by providing a dichroic filter that separates red and blue colors between the lens 6 and the multi-pixel optical sensor 7, the red pattern in (b) is reflected and the blue pattern in (a) is transmitted. Each color pattern may be detected by two multi-pixel photosensors 7. At this time, it is preferable to use a multi-pixel optical sensor 7 without a color filter. Thus, measurement can be performed with high sensitivity and a high number of pixels.

  In the present invention, the colors are described using red and blue, but the color is not limited. A combination of red and green or blue and green may be used. A plurality of monochromatic lights may be used. There is no problem if the various color patterns can be color-separated.

  FIG. 3 is a diagram showing how the image formed on the multi-pixel optical sensor 7 moves when the lens unit 1 rotates. An example of angle detection will be described with reference to FIG.

  FIG. 3A shows a color pattern for detecting the angle in the PAN direction at a certain time point. (C) shows a color pattern for calculating the angle change in the TILT direction.

  As shown in FIG. 1, when the lens unit 1 rotates in the PAN direction, an image formed on the multi-pixel optical sensor 7 is detected by being shifted in the direction shown in FIG. Since the shift amount corresponds to the angle change amount, the angle change amount can be calculated from the shift amount by grasping the relationship between the shift amount and the angle change amount in advance. Since the period of the color pattern in FIG. 3 (a) is constant, the change in this width can be made more accurate by interpolating the measured values.

  This shift amount can be measured independently without any problem even if rotation in the TILT direction occurs during rotation in the PAN direction.

  Further, when the lens unit 1 in FIG. 1 rotates in the TILT direction, it can be calculated by detecting the change in the color pattern in FIG.

  That is, as shown in FIG. 3D, the TILT direction can be detected in the same manner as the PAN direction by detecting the shift amount of the blue pattern detected by the multi-pixel photosensor 7 before and after the rotation change.

  Even if rotation in the PAN direction occurs, it can be detected with high accuracy without problems because it is detected independently.

  The color patterns shown in FIGS. (B) and (c) show a broken line with the shift direction as a normal vector as an example. Thereby, the shift width in the moving direction can be easily detected.

  The color pattern of the present invention is not limited to this example. Line thickness, line direction, and spacing can be set appropriately. Of course, it is not limited to the broken line. An arbitrary shape such as a cross shape, a round shape, a triangular shape, a quadrangular shape, or a star shape may be used.

  In this embodiment, the case where the color tone is fixed has been described. However, the color gradation may be changed according to the position.

  If the relationship between the position and the gradation is known in advance, the absolute position in the PAN and TILT directions can be detected by detecting the gradation, which is extremely useful.

  In the gradation detection, the gradation of each color pattern is multi-valued, and the intensity of light of each color incident on the multi-pixel optical sensor 7 is also multi-valued. Therefore, the gradation can be easily detected by detecting this. Can be detected.

  Needless to say, there is no problem even if it is used in both the PAN and TILT directions.

  As described above, according to the present invention, the color pattern color is assigned to each rotation axis of each angle, and the signals in each direction can be separated and detected by color separation of the color pattern, so that the accuracy without crosstalk is obtained. However, good and stable measurement can be realized.

(Embodiment 2)
In the first embodiment, the case where the PAN and TILT are used in the two-axis directions has been described. In the second embodiment, the rotation angle of the Rotation axis is measured in addition to the measurement of the rotation angle in the PAN and TILT directions. To do.

  FIG. 4 is a schematic diagram of an optical angle sensor according to the second embodiment of the present invention.

  As described in the first embodiment, the image condensed by the optical lens 41 is formed on the imaging element unit 42. Although not shown in FIG. 4, the lens unit 41 and the imaging element unit 42 can be rotated in the PAN, TILT, and ROTATION directions by an actuator.

  A hemispherical body portion 43 is provided with the rotation center position of the lens unit 1 and the imaging element portion 42 as a center point. Although FIG. 4 shows a structure bonded to the bottom surface of the image sensor section 42, the structure is not limited to this.

  A color pattern 44 is provided on the hemispherical body portion 43.

  The light emitted from the light source 46 irradiates the central portion of the color pattern 44.

  The reflected light from the color pattern 44 is collected by the optical lens 45 and reaches the light shielding filter 47.

  The light blocking filter 47 blocks a specific color and uses, for example, a dichroic filter.

  The light that has passed through the light blocking filter 47 reaches the multi-pixel optical sensor 48 and forms a color pattern.

  FIG. 5 is an example of a color pattern for measuring three axes in the PAN, TILT, and ROTATION directions.

  FIG. 5A is an example of the color pattern 44 provided on the hemispherical body portion 43, and is composed of (b), (c), and (d) shown in FIG.

  For example, (b) is a color pattern used for measurement in the PAN direction. For example, a red pattern is used. (C) is a color pattern used for measurement in the TILT direction, and for example, blue is used.

  (D) is used for angle detection in the Rotation direction. For example, a green color pattern is used.

  The pattern (d) uses, for example, periodic parallel lines in the horizontal direction.

  Next, a method for calculating the rotation angle in the Rotation direction using the pattern of FIG.

  The calculation method will be described with reference to FIG.

  (A-1), (b-1) and (c-1) in FIG. 6 show examples of image formation observed on the multi-pixel photosensor when the color pattern 44 rotates in the Rotation direction. is there.

  Compared to (a-1), (b-1) rotates to the right, and (c-1) shows the case to rotate to the left.

  (A-2), (b-2), and (c-2) show the pattern of the light shielding filter 47.

  The black line portion shown in the figure uses a filter that reflects green and transmits red and blue.

  For example, the green reflection filter is formed by a film forming process such as vacuum deposition. Thereby, the light shielding filter which can interrupt | block light periodically regarding green is realizable.

  Further, an absorption filter such as a known green dye or pigment, which is also used for the color filter of the image pickup element portion, may be formed by a wet process.

  The light that has passed through the light blocking filter 47 reaches the multi-pixel photosensor 48. For example, a signal of only green is extracted by the multi-pixel photosensor 48. An example is shown in (a-3), (b-3), and (c-3) of FIG.

  As shown in (a-3), moire fringes with a certain period can be observed.

  The pitch of the moiré fringes is expressed by the following equation, where ω is the pitch of the line of the color pattern and the light shielding filter, and θ is the inclination of each grating.

Moire fringe pitch = ω / [2 · sin (θ / 2)]
Therefore, since the pitch between the color pattern and the light shielding filter is fixed, the inclination θ can be measured by measuring the pitch of moire fringes.

  In the present embodiment, since the inclination θ is set to be the rotation angle in the Rotation direction, the rotation angle can be calculated as an absolute value by obtaining the inclination θ.

  For example, as shown in (a-3), the slope θ is preferably obtained by obtaining a pixel having the minimum peak value and performing linear approximation by the least square method.

  By carrying out this over the entire multi-pixel photosensor 48, a linear approximation group with the minimum value as the groove is obtained. The slope can be calculated by calculating the pitch, which is the interval between these line groups, and obtaining the average value.

  That is, as shown in (b-3), it can be seen that the line pitch changes according to the inclination.

  In addition, although the example which calculates | requires the pitch of a moire fringe using the position of each pixel which has the minimum peak of the multi-pixel optical sensor 48 was demonstrated, it is not limited to this. The position of the pixel having the maximum value may be used.

  Further, the rotation angle may be calculated from the intensity change amount of the signal at the specific position.

  (C-3) shows a case where the rotation is the same in the counterclockwise direction opposite to (b-3).

  As can be seen from the figure, the line width is the same, and it can be seen that the angle changes by the same absolute amount. Further, it can be seen that the straight line approximated by the straight line is inclined in the opposite left direction.

  From this, it can be seen that not only the rotation amount but also the rotation direction can be observed by using the approximate inclination of the straight line. It can be said that it is practically useful.

  With this configuration, even if rotation occurs in the PAN and TILT directions and rotation occurs in the ROTATION direction, only the angular change in the Rotation direction can be separated and detected by using a color pattern. Good angle measurement can be realized.

  The optical angle sensor according to the present invention has characteristics that can be measured with high accuracy and small size in a wide range of angles, and is useful as an angle sensor for a camera or the like. It can also be applied to robot attitude control and joysticks for game consoles.

Schematic of the biaxial optical angle sensor according to Embodiment 1 of the present invention. Schematic diagram showing an example of a color pattern in Embodiment 1 of the present invention Schematic explaining the method of PAN, TILT rotation angle measurement in Embodiment 1 of the present invention Schematic diagram of a triaxial optical angle sensor according to Embodiment 2 of the present invention. Schematic diagram showing an example of a color pattern for ROTATION angle measurement in Embodiment 2 of the present invention Schematic explaining the ROTATION rotation angle calculation method in Embodiment 2 of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,41 Lens unit 2,42 Image pick-up element part 3,43 Hemispherical body part 4,44 Color pattern 5,45 Light source 6,46 Lens 7,48 Multi-pixel photosensor 47 Light-shielding filter

Claims (11)

A color pattern composed of at least two colors provided in a measurement target part; a light source that irradiates light on the color pattern; an optical lens that condenses light transmitted or reflected by the color pattern onto the color pattern; A multi-pixel optical sensor that detects the intensity of the light collected by the optical lens, calculates the Pan direction angle by measuring the amount of movement of the color pattern composed of the first color component in the Pan direction, An optical angle sensor that calculates a Tilt direction angle by measuring a movement amount in the Tilt direction by separating and detecting a color pattern composed of the color components from the first color pattern. The optical angle sensor according to claim 1, wherein the color pattern is arranged by repeating a marker having a specific shape periodically. 3. The optical angle sensor according to claim 2, wherein the marker having the specific shape has a circular shape, a square shape, a triangular shape, a cross shape, or a star shape. The optical angle sensor according to claim 1, wherein a spherical hemispherical body having a rotation center position of the measurement target portion as a central point is provided, and the color pattern is formed or installed on the hemispherical body. A color pattern of at least three colors provided in a measurement target part; a light source that irradiates light on the color pattern; an optical lens that focuses light transmitted or reflected by the color pattern onto the color pattern; A multi-pixel optical sensor that detects the intensity of the light collected by the optical lens, calculates the Pan direction angle by measuring the amount of movement of the color pattern made of the first color component in the Pan direction, Separately detect the color pattern consisting of color components and measure the amount of movement in the Tilt direction to calculate the Tilt direction angle, separate and detect the color pattern consisting of the third color component to detect the rotation angle in the Rotation direction Optical angle sensor that calculates rotation direction angle. The optical angle sensor according to claim 5, comprising: the color pattern formed of blue, red, and green components; and the multi-pixel photosensor in which blue, red, and green filters are periodically arranged on each pixel. . A color pattern composed of the third color component formed in a lattice shape, and a lattice-shaped light shielding filter that shields the third color component between the color pattern and the multi-pixel photosensor, The amount of change in moire fringes formed by a color pattern and the light shielding filter is detected by the multi-pixel photosensor, and an angle in a rotation direction between the color pattern and the multi-pixel photosensor is calculated. Optical angle sensor. The optical angle sensor according to claim 7, wherein the light shielding filter is equivalent to a pitch of a grid-like color pattern made of the third color component. A color pattern composed of a first color component having markers formed at equal intervals in the Pan direction;
An image comparison unit that compares images before and after the movement of the color pattern after the color pattern is detected by the multi-pixel photosensor, and detects the movement amount in the Pan direction by the image comparison unit; The optical angle sensor according to claim 5, wherein the Pan direction angle is calculated based on the angle. Image comparison for comparing a color pattern composed of a first color component having markers formed at equal intervals in the Tilt direction and an image before and after movement of the color pattern after the color pattern is detected by the multi-pixel photosensor. 6. The optical angle sensor according to claim 5, further comprising: means for detecting a movement amount in the Tilt direction by the image comparison means, and calculating a Tilt direction angle based on the movement amount. 6. The optical angle sensor according to claim 5, wherein a color pattern provided in the measurement target part is set to a gradation determined in advance by a position, and the position is calculated by measuring the gradation.

Images