JP4814214B2 - 長寸の物体の方向パラメータを決定するための装置及び方法 - Google Patents
長寸の物体の方向パラメータを決定するための装置及び方法 Download PDFInfo
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- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
- G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
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- G01S—RADIO 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/0304—Detection arrangements using opto-electronic means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
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- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Description
である。
によってオイラー回転物体座標において説明できることを出願人は認めている。ここでsはパラメータである。ベクトルrに沿って伝播するプローブ放射線16がワールド平面(Xo,Yo)上で、即ち(Xo,Yo,0)で衝当するポイントPoでは、パラメータsの値は
である。
になるように、互いに関して任意の角度αであることができる。
である。ここで、角度ε1,ε2は、ラジアンで表されている。
ここで、
であり、σは対する角度ε1の中心にある。最後の2回のオイラー回転前の線分Γ´の長さは、三角法の助けを借り、(ε1,ε2の小角近似内で)
の関係を用いて、線分Γに関して表すことができ、
が得られる。
で表すことができ、対する角度ε2は、
で表すことができる。
さらに、ワールド座標における先端112の絶対位置を知る必要がなく、物体110の方向だけ分かればよいのであれば、ベクトルDoの情報は必要なく、それを追加することは不要である。スキャンポイントPoはワールド平面(Xo,Yo)にあるので、ワールド座標中のポイントPoのzo sの値は0でなければならないことに留意されたい。
ここで(x,y,z)はオイラー回転物体座標におけるスキャンポイントPoの座標である。非回転物体軸X’に対するベクトルdoの角度βは、軸X’またはワールド軸Xoを用いた内積の微分法から求められる。
の内積から得られる。同様に、単位ベクトル
への方向余弦(図示せず)は、散乱部分138の反射方向を表す。
に対して角度δ’=(π/2)‐δで直接表される。他のオイラー角値ψでは、入射方向を十分に表すために方向余弦が用いられなければならない。
ここで、ωxは角周波数であり、Aは偏向振幅である。従って、スキャン角度σ(t)の瞬間値は、式17に式21を代入して求められる。
Claims (21)
- 平面及び前記平面への法線に接触する先端を有する長寸の物体の少なくとも1つの方向パラメータを決定するための装置であって、
a)前記長寸の物体の軸線と角度σをなすプローブ放射線により前記平面を照明するための前記長寸の物体上の投光器と、
b)前記軸線に対して所定の散乱角度で前記平面から戻る前記プローブ放射線の散乱部分を検出するための前記投光器から離隔した前記長寸の物体上の検出器と、
c)前記散乱部分の検出時間から前記少なくとも1つの方向パラメータを導き出すための計時装置と、
d)前記角度σを変化させ前記平面上にスキャンパターンを形成するための走査装置とを含み、
前記散乱部分の検出時間は、該検出時間における前記角度σと前記少なくとも1つの方向パラメータとの対応づけにより前記少なくとも1つの方向パラメータを導くために用いられることを特徴とする装置。 - 前記少なくとも1つの方向パラメータが、前記長寸の物体の軸線と前記接点での前記表面への法線間の傾斜角θを含むことを特徴とする請求項1に記載の装置。
- 前記少なくとも1つの方向パラメータが、前記軸線の周りのロール角ψを更に含むことを特徴とする請求項2に記載の装置。
- 前記走査装置が、x‐偏向γxを導入することによって角度σを変化させるための一軸スキャナを含むことを特徴とする請求項1に記載の装置。
- 前記走査装置が、x‐偏向γx及びy‐偏向γyを導入することによって角度σを変化させるための二軸スキャナを含むことを特徴とする請求項1に記載の装置。
- 前記走査装置が、前記角度σを変化させるための二軸スキャナを含み、前記スキャンパターンが、ラスタスキャンパターン、ラインスキャンパターン、リサジュー図形からなる群から選択されることを特徴とする請求項1に記載の装置。
- 前記投光器が、所定のパターンで前記平面上へ前記プローブ放射線を投射するための構造化された光学部品を含むことを特徴とする請求項1に記載の装置。
- 前記構造化された光学部品が、ホログラフィック素子、回折素子、屈折素子、反射素子からなる群から選択される少なくとも1つの素子であることを特徴とする請求項7に記載の装置。
- 前記所定のパターンが、線の集合、楕円、矩形、多角形からなる群から選択されることを特徴とする請求項7に記載の装置。
- 前記投光器が、前記検出器の上方に取り付けられることを特徴とする請求項1に記載の装置。
- 前記検出器が、前記所定の散乱角度τで前記平面から戻る前記散乱部分のみを受け入れるための狭画角受容ユニットを更に含むことを特徴とする請求項1に記載の装置。
- 前記狭画角受容ユニットが、円筒レンズ、視準レンズ、厚い開口、開口系、スリットからなる群から選択されることを特徴とする請求項11に記載の装置。
- 前記検出器が光検出器アレイを含むことを特徴とする請求項1に記載の装置。
- 前記散乱部分の重心を決定するための重心計算装置を更に含むことを特徴とする請求項13に記載の装置。
- 前記プローブ放射線をスキャンビームに形成するための光学部品を更に含むことを特徴とする請求項1に記載の装置。
- 前記長寸の物体が、筆記具、ポインタ、ロボットアーム、棒からなる群から選択されることを特徴とする請求項1に記載の装置。
- 前記筆記具が、ペン、鉛筆、スタイラスからなる群から選択されることを特徴とする請求項16に記載の装置。
- 前記計時装置が前記長寸の物体上に配置されることを特徴とする請求項1に記載の装置。
- 前記投光器が、単一周波数fで前記プローブ放射線を放射するための単一周波数エミッタを含むことを特徴とする請求項1に記載の装置。
- 平面に接触する先端を有する長寸の物体の軸線と前記平面の法線間の傾斜角θを決定する方法であって、
a)前記長寸の物体上に投光器を供給する過程と、
b)前記長寸の物体上に前記投光器から離隔して検出器を供給する過程と、
c)前記投光器から前記軸線と角度σをなすプローブ放射線により前記平面を照明する過程と、
d)前記軸線に対して所定の散乱角度τで戻る前記プローブ放射線の散乱部分を前記検出器により検出する過程と、
e)前記散乱部分の検出時間から前記傾斜角θを導き出すための計時装置を供給する過程とを含み、
前記角度σが変化し前記平面上にスキャンパターンを形成し、
前記散乱部分の検出時間は、該検出時間における前記角度σと少なくとも1つの方向パラメータとの対応づけにより前記傾斜角θを導くために用いられることを特徴とする方法。 - 前記スキャンパターンが、一軸スキャンパターン及び二軸スキャンパターンの群から選択されることを特徴とする請求項20に記載の方法。
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US10/796,236 US7023536B2 (en) | 2004-03-08 | 2004-03-08 | Apparatus and method for determining orientation parameters of an elongate object |
US10/796,236 | 2004-03-08 | ||
PCT/US2005/005047 WO2005091837A2 (en) | 2004-03-08 | 2005-02-16 | Apparatus and method for determining orientation parameters of an elongate object |
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JP2008523353A JP2008523353A (ja) | 2008-07-03 |
JP4814214B2 true JP4814214B2 (ja) | 2011-11-16 |
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US (1) | US7023536B2 (ja) |
EP (1) | EP1735588A4 (ja) |
JP (1) | JP4814214B2 (ja) |
KR (1) | KR101026611B1 (ja) |
CN (1) | CN101523154B (ja) |
CA (1) | CA2558732C (ja) |
WO (1) | WO2005091837A2 (ja) |
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CN101523154B (zh) | 2011-02-23 |
US7023536B2 (en) | 2006-04-04 |
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CA2558732C (en) | 2011-07-19 |
KR20070007127A (ko) | 2007-01-12 |
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