JPH07208921A - Position detector - Google Patents
Position detectorInfo
- Publication number
- JPH07208921A JPH07208921A JP2218394A JP2218394A JPH07208921A JP H07208921 A JPH07208921 A JP H07208921A JP 2218394 A JP2218394 A JP 2218394A JP 2218394 A JP2218394 A JP 2218394A JP H07208921 A JPH07208921 A JP H07208921A
- Authority
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- Japan
- Prior art keywords
- light
- light receiving
- straight line
- detecting device
- receiving elements
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、位置検出装置に関し、
特に、光学式の２次元（または１次元）の座標位置を検
出する光学式の位置検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device,
In particular, the present invention relates to an optical position detecting device that detects an optical two-dimensional (or one-dimensional) coordinate position.
【０００２】[0002]
【従来の技術】物体の姿勢を検出することに関連して、
その物体が向く方向に位置する面に対して物体が向く方
向の延長線が交差する面上の交点座標位置（２次元座標
位置）を検出する位置検出装置が本出願人の先願の特許
出願である特願平５−２２５２５２号に開示されてい
る。この先願の発明の位置検出装置では、交互に発光が
切り替えられる少なくとも２つの光源が面内に配置され
ており、一方、物体には少なくとも２次元の角度を検出
できる受光素子が取付けられており、受光素子で検出し
た光量または検出位置から物体の姿勢ばかりでなく、物
体が向く方向の延長線が交差する面上の交点座標位置も
検出できるようになっている。そして、受光素子として
は、４分割フォトディテクタまたは２次元ＰＳＤが使用
されている。2. Description of the Related Art In connection with detecting the posture of an object,
A position detecting device that detects an intersection coordinate position (two-dimensional coordinate position) on a surface where an extension line in the direction in which the object faces intersects a surface in the direction in which the object faces is a patent application filed by the present applicant. Japanese Patent Application No. 5-225252. In the position detecting device of the invention of this prior application, at least two light sources whose light emission is alternately switched are arranged in the plane, while a light receiving element capable of detecting at least a two-dimensional angle is attached to the object. From the amount of light detected by the light receiving element or the detection position, not only the posture of the object but also the coordinate position of the intersection point on the plane where the extension lines in the direction in which the object faces intersect. As the light receiving element, a four-division photo detector or a two-dimensional PSD is used.
【０００３】[0003]
【発明が解決しようとする課題】先願発明の位置検出装
置は、姿勢と位置を同時に検出する用途に対しては極め
て有効なものであるが、ただ単に前述のような態様の位
置を検出する用途に対して用いるには、受光素子である
４分割フォトディテクタまたは２次元ＰＳＤが高価であ
ることからコスト高となる。The position detecting device of the invention of the prior application is extremely effective for the purpose of simultaneously detecting the posture and the position, but simply detects the position in the above-mentioned manner. When used for various purposes, the cost is high because the four-division photodetector or the two-dimensional PSD, which is a light receiving element, is expensive.
【０００４】したがって、本発明の目的は、比較的安価
なフォトディテクタ（受光素子）を用いることができる
位置検出装置を提供することにある。Therefore, an object of the present invention is to provide a position detecting device which can use a relatively inexpensive photodetector (light receiving element).
【０００５】[0005]
【課題を解決するための手段】前述の目的を達成するた
めに、本発明は、中心にピークを持つ放射指向性を有す
る１つの光源と、該光源から放射された光を受光するよ
うに１つの直線上に間隔を隔てて配置された少なくとも
３つの受光素子と、各受光素子で受光した光の強度から
光源が向く方向に対する直線上の位置を求める演算手段
を有することを特徴とする位置検出装置を採用するもの
である。In order to achieve the above-mentioned object, the present invention relates to a light source having a radiation directivity having a peak at the center, and a light source for receiving the light emitted from the light source. Position detection having at least three light-receiving elements arranged on one straight line at intervals and calculating means for obtaining a position on the straight line with respect to the direction in which the light source faces from the intensity of light received by each light-receiving element The device is adopted.
【０００６】また、本発明は、中心にピークを持つ放射
指向性を有する１つの光源と、該光源から放射された光
を受光するように第１の直線上に間隔を隔てて配置され
た少なくとも３つの受光素子の第１列と、前記直線と角
度をなした第２の直線上に間隔を隔てて配置された少な
くとも３つの受光素子の第２列と、前記第１列の各受光
素子で受光した光の強度から光源が向く方向に対する第
１の直線上の位置を求め、第２列の各受光素子で受光し
た光の強度から光源が向く方向に対する第２の直線上の
位置を求め、かつ前記第１の直線上の位置と前記第２の
直線上の位置から第１の直線と第２の直線を含む面上の
２次元座標位置を演算する演算手段を有することを特徴
とする位置検出装置を採用するものである。Further, according to the present invention, one light source having a radiation directivity having a peak at the center, and at least a light source radiated from the light source and arranged at a distance on the first straight line so as to receive the light. A first row of three light receiving elements, a second row of at least three light receiving elements arranged at intervals on a second straight line forming an angle with the straight line, and each light receiving element of the first row. From the intensity of the received light, the position on the first straight line with respect to the direction in which the light source faces is determined, and from the intensity of the light received by each light receiving element in the second row, the position on the second straight line with respect to the direction in which the light source faces, A position characterized by having calculation means for calculating a two-dimensional coordinate position on a plane including the first straight line and the second straight line from the position on the first straight line and the position on the second straight line. It employs a detection device.
【０００７】さらにまた、本発明は、前述の形式の位置
検出装置において、前記第１の直線と第２の直線を含む
面に隣接した第２の面内での２次元位置座標を求めるた
めに、互いに角度をなすように配列された、少なくとも
３つの受光素子の第３列と少なくとも３つの受光素子の
第４列とを前記第２の面内にさらに有することを特徴と
する位置検出装置を採用するものである。Still further, according to the present invention, in the position detecting device of the above-mentioned type, in order to obtain the two-dimensional position coordinates in the second plane adjacent to the plane containing the first straight line and the second straight line. A position detecting device further comprising a third row of at least three light receiving elements and a fourth row of at least three light receiving elements, which are arranged so as to form an angle with each other, in the second surface. To be adopted.
【０００８】[0008]
【実施例】次に、図面を参照して本発明の実施例を説明
する。図１は、本発明の位置検出装置で用いる好ましい
光源の放射指向性を示すグラフであり、図２は、本発明
の原理を説明するための光源の向きと受光される光の量
との関係を示す図であり、図３は、２次元座標位置を検
出するための受光素子の配列を示す斜視図であり、図４
は、異なった面におけるそれぞれの２次元座標位置を検
出するための受光素子の配列を示す斜視図であり、図５
は、２次元座標位置を検出するための受光素子の他の配
列を示す斜視図である。Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a graph showing the radiation directivity of a preferable light source used in the position detecting device of the present invention, and FIG. 2 is a relation between the direction of the light source and the amount of received light for explaining the principle of the present invention. 3 is a perspective view showing an array of light receiving elements for detecting a two-dimensional coordinate position, and FIG.
5 is a perspective view showing an array of light receiving elements for detecting respective two-dimensional coordinate positions on different surfaces, and FIG.
FIG. 6 is a perspective view showing another arrangement of light receiving elements for detecting a two-dimensional coordinate position.
【０００９】図１を参照すると、本発明の位置検出装置
で用いるのに適した光源の放射指向性（指向方向の角度
に対する放射される光の強度）が示されている。図１に
示すように、本発明の位置検出装置で用いるのに適した
光源は、例えば、光の強度が中央にピークがあるような
例えばガウス分布を持つＬＥＤである。通常に市販され
ているＬＥＤはこのような放射指向性を持ち、安価に入
手できるものである。Referring to FIG. 1, there is shown the radiation directivity (intensity of light emitted with respect to the angle of the pointing direction) of a light source suitable for use in the position detecting device of the present invention. As shown in FIG. 1, a light source suitable for use in the position detecting device of the present invention is, for example, an LED having a Gaussian distribution in which the intensity of light has a peak in the center. The LEDs that are normally on the market have such radiation directivity and can be obtained at low cost.
【００１０】次に、図２を参照して、本発明の原理を説
明する。図２ａは、直線上に等間隔で配置された３つの
受光素子（フォトディテクタ）１２ａ、１２ｂおよび１
２ｃに対する光源１０ａまたは１０ｂの向きを示してい
る。光源１０ａは矢印Ａの方向に向いており、受光素子
の列の直線とＡ1 の位置で交差する。また光源１０ｂは
矢印Ｂの方向に向いており、受光素子の列の直線とＢ1
の位置で交差する。図２ｂは、光源１０ａに対する各受
光素子が受光した光量をグラフで示したものである。図
２ｂに示すように、光量Ｐ1 、Ｐ2 、Ｐ3 は、位置に対
する光量の分布から二次曲線１３（Ｐ＝ａｚ2 ＋ｂｚ＋
ｃ）上にあると近似できる。そして、光源１０ａが向く
方向と直線との交点Ａ1 上に近似した二次曲線のピーク
（頂点）がくる。Next, the principle of the present invention will be described with reference to FIG. FIG. 2a shows three light receiving elements (photodetectors) 12a, 12b and 1 arranged at equal intervals on a straight line.
The direction of the light source 10a or 10b with respect to 2c is shown. The light source 10a is oriented in the direction of arrow A and intersects the straight line of the row of light receiving elements at the position A 1 . The light source 10b are oriented in the direction of the arrow B, the linear row of light receiving elements and B 1
Cross at the position. FIG. 2b is a graph showing the amount of light received by each light receiving element with respect to the light source 10a. As shown in FIG. 2b, the light quantities P 1 , P 2 , and P 3 are calculated from the distribution of the light quantity with respect to the position by using a quadratic curve 13 (P = az 2 + bz +
c) can be approximated to be above. Then, the peak (vertex) of the approximated quadratic curve is located on the intersection A 1 of the direction in which the light source 10a faces and the straight line.
【００１１】また、図２ｃは、光源１０ｂに対する各受
光素子が受光した光量をグラフで示したものである。図
２ｃに示すように、図２ｂと同様に、光量Ｐ4 、Ｐ5 、
Ｐ6は、近似した二次曲線１３（Ｐ＝ａｚ2 ＋ｂｚ＋
ｃ）上にあり、光源１０ｂが向く方向と直線との交点Ｂ
1 上に近似した二次曲線のピーク（頂点）がくる。FIG. 2c is a graph showing the amount of light received by each light receiving element with respect to the light source 10b. As shown in FIG. 2c, the light amounts P 4 , P 5 ,
P 6 is an approximate quadratic curve 13 (P = az 2 + bz +
c) on the intersection B between the straight line and the direction in which the light source 10b faces
The peak (vertex) of the quadratic curve approximated to 1 comes.
【００１２】ここで、光量の分布が直線上に配列された
受光素子に対して二次曲線で近似できることは、実験的
には、多数の受光素子を直線上に配列し、各受光素子の
光量をグラフに表すことにより確認され、また、その場
合、光源１０を種々の向きに変えた場合に、直線上の交
点位置に二次曲線のピークがくることが確認される。Here, the fact that the distribution of the amount of light can be approximated to a quadratic curve with respect to the light receiving elements arranged on a straight line is experimentally that a large number of light receiving elements are arranged on a straight line and the light amount of each light receiving element is Is shown in the graph, and in that case, when the light source 10 is changed in various directions, it is confirmed that the peak of the quadratic curve comes to the position of the intersection on the straight line.
【００１３】次に、図２ｂを例にとり、交点Ａ1 の座標
位置の求め方について説明する。今、受光素子１２ａ、
１２ｂ、１２ｃの各座標位置をｚ1 、ｚ2 、ｚ3 とする
と、光量Ｐ1 、Ｐ2 、Ｐ3 に対して、以下の式が成り立
つ。 Ｐ1 ＝ａｚ1 2＋ｂｚ1 ＋ｃ （１） Ｐ2 ＝ａｚ2 2＋ｂｚ2 ＋ｃ （２） Ｐ3 ＝ａｚ3 2＋ｂｚ3 ＋ｃ （３） 式（１）、（２）、（３）から、定数ａ、ｂ、ｃが求め
られる。Next, how to obtain the coordinate position of the intersection A 1 will be described with reference to FIG. 2B as an example. Now, the light receiving element 12a,
Assuming that the coordinate positions of 12b and 12c are z 1 , z 2 and z 3 , the following formulas hold for the light amounts P 1 , P 2 and P 3 . P 1 = az 1 2 + bz 1 + c (1) P 2 = az 2 2 + bz 2 + c (2) P 3 = az 3 2 + bz 3 + c (3) From formulas (1), (2), and (3), The constants a, b and c are obtained.
【００１４】一方、二次曲線のピーク値は、二次曲線
（Ｐ＝ａｚ2 ＋ｂｚ＋ｃ）を微分し、二次曲線の微分式
Ｐ’＝２ａｚ＋ｂから、Ｐ’＝０の値であるｚ＝−ｂ／
２ａをピーク位置として求める。On the other hand, the peak value of the quadratic curve is obtained by differentiating the quadratic curve (P = az 2 + bz + c), and from the quadratic curve differential equation P ′ = 2az + b, the value of P ′ = 0 is z = −. b /
2a is determined as the peak position.
【００１５】次に、図３を参照して、２次元座標位置の
検出について説明する。図３において、３つの受光素子
１２ａ、１２ｂ、１２ｃが面３０のＺ軸上に配列されて
おり、受光素子１４ａ、１４ｂ、１４ｃが面３０のＸ軸
上に配列されている。今、光源１０ｃは、面３０に対し
て面上の座標位置（ｘ0 、ｚ0 ）に向いているとする
と、前述の説明から明らかなように、Ｚ軸上の受光素子
１２ａ、１２ｂ、１２ｃで検出された光量から面３０上
のｚ方向の位置（ｚ0 ）が求められる。また、受光素子
１４ａ、１４ｂ、１４ｃで検出された光量から面３０上
のｘ方向の位置（ｘ0 ）が求められる。２つの位置から
２次元位置座標（ｘ0 、ｚ0 ）が求められる。Next, the detection of the two-dimensional coordinate position will be described with reference to FIG. In FIG. 3, three light receiving elements 12a, 12b, 12c are arranged on the Z axis of the surface 30, and light receiving elements 14a, 14b, 14c are arranged on the X axis of the surface 30. Now, assuming that the light source 10c faces the coordinate position (x 0 , z 0 ) on the surface with respect to the surface 30, as is apparent from the above description, the light receiving elements 12a, 12b, 12c on the Z axis. The position (z 0 ) in the z direction on the surface 30 is obtained from the amount of light detected in. Further, the position (x 0 ) in the x direction on the surface 30 is obtained from the light amounts detected by the light receiving elements 14a, 14b, 14c. Two-dimensional position coordinates (x 0 , z 0 ) are obtained from the two positions.
【００１６】次に、図４を参照して、異なった面におけ
るそれぞれの２次元座標位置を検出について説明する。
面３０に対して受光素子１２ａ、１２ｂ、１２ｃの列と
受光素子１４ａ、１４ｂ、１４ｃの列が図３と同様に配
置されている。なお、受光素子１２ｃと受光素子１４ｃ
は、図４に示すように、１つの受光素子であってもよ
い。光源が光源１０ｄで示す向きにあるときには、これ
らの受光素子で面上の座標位置（ｘ1 、ｚ1 ）が求めら
れる。一方、光源１０ｄの向く方向を前述の受光素子で
カバーできない場合、例えば、光源１０ｅで示す向きに
あるときには、面３０とは異なった面３２内に受光素子
１６ａ、１６ｂ、１６ｃの列と受光素子１８ａ、１８
ｂ、１８ｃを設けて、これらの受光素子によって２次元
座標位置（ｘ2 、ｚ2 ）が求められる。なお、受光素子
１６ｃと受光素子１８ａは、１つの受光素子であっても
よい。Next, with reference to FIG. 4, detection of respective two-dimensional coordinate positions on different surfaces will be described.
The rows of the light receiving elements 12a, 12b, 12c and the rows of the light receiving elements 14a, 14b, 14c are arranged on the surface 30 in the same manner as in FIG. The light receiving element 12c and the light receiving element 14c
May be one light receiving element as shown in FIG. When the light source is in the direction indicated by the light source 10d, the coordinate position (x 1 , z 1 ) on the surface is obtained by these light receiving elements. On the other hand, when the light receiving element cannot cover the direction in which the light source 10d faces, for example, in the direction indicated by the light source 10e, the row of the light receiving elements 16a, 16b, 16c and the light receiving element in the surface 32 different from the surface 30. 18a, 18
Two-dimensional coordinate positions (x 2 , z 2 ) are obtained by these light receiving elements by providing b and 18c. The light receiving element 16c and the light receiving element 18a may be one light receiving element.
【００１７】前述の説明は、面３０と面３２が角度をな
している場合についてであるが、面３０と面３２が角度
をなさず、同一面内にあってもよい。In the above description, the surface 30 and the surface 32 are at an angle, but the surface 30 and the surface 32 may not be at an angle and may be in the same plane.
【００１８】次に、図５を参照して、２次元座標位置を
検出するための受光素子の他の配列について説明する。
図５に示すように、この実施例では、面３０内に、受光
素子１２ａ、１２ｂ、１２ｃの列（図面上左側の列）と
受光素子１４ａ、１４ｂ、１４ｃの列（図面上下側の
列）に加えて、受光素子２０ａ、２０ｂ、２０ｃの列
（図面上右側の列）と受光素子２２ａ、２２ｂ、２２ｃ
の列（図面上上側の列）が配置されている。この場合に
は、光源が面上内の位置を示すが、前者の２つの受光素
子の列では検出できないときには、後者の２つの受光素
子で位置を検出できる。また、前者および後者のいずれ
でも検出できるならば、より正確な値を求めるために、
平均値を算出してもよい。Next, with reference to FIG. 5, another arrangement of the light receiving elements for detecting the two-dimensional coordinate position will be described.
As shown in FIG. 5, in this embodiment, in the surface 30, a row of light receiving elements 12a, 12b, 12c (row on the left side in the drawing) and a row of light receiving elements 14a, 14b, 14c (rows on the upper and lower sides in the drawing). In addition to the columns of the light receiving elements 20a, 20b, 20c (the right column in the drawing) and the light receiving elements 22a, 22b, 22c.
Are arranged (the upper row in the drawing). In this case, the light source indicates a position on the surface, but when the former two rows of light receiving elements cannot detect the position, the latter two light receiving elements can detect the position. Also, if both the former and the latter can be detected, in order to obtain a more accurate value,
You may calculate an average value.
【００１９】（他の実施例）今までの実施例では、１つ
の座標位置を求めるのに、近似した曲線が二次曲線であ
るという理由で、３つの受光素子を用いていたが、それ
以上の受光素子を使用してもよいものである。その場
合、例えば、多数の受光素子で検出した光量を任意の組
み合わせで選択して二次曲線の３つの定数の値を複数の
組み合わせで求め、求めた値を平均化してもよい。また
は、二次曲線ではなく、さらに高次曲線三次、四次等）
で近似してよいものである。(Other Embodiments) In the above-described embodiments, three light receiving elements are used for obtaining one coordinate position because the approximated curve is a quadratic curve. It is also possible to use the light receiving element of. In that case, for example, the light amounts detected by a large number of light receiving elements may be selected in any combination, the values of the three constants of the quadratic curve may be obtained in a plurality of combinations, and the obtained values may be averaged. Or, instead of a quadratic curve, a higher-order curve such as cubic, quartic, etc.)
Can be approximated by.
【００２０】[0020]
【発明の効果】以上説明したように、本発明によれば、
安価でかつ比較的簡単な構成で、物体が向く方向に位置
する面に対して物体が向く方向の延長線が交差する面上
の交点座標位置（２次元座標位置）を検出する位置検出
装置が得られる。As described above, according to the present invention,
A position detecting device, which is inexpensive and has a relatively simple structure, detects an intersection point coordinate position (two-dimensional coordinate position) on a surface where an extension line in the direction in which the object faces intersects a surface in the direction in which the object faces. can get.
【図１】図１は、本発明の位置検出装置で用いる好まし
い光源の放射指向性を示すグラフである。FIG. 1 is a graph showing radiation directivity of a preferable light source used in the position detecting device of the present invention.
【図２】図２は、本発明の原理を説明するための光源の
向きと受光される光の量との関係を示す図である。FIG. 2 is a diagram showing the relationship between the direction of a light source and the amount of received light for explaining the principle of the present invention.
【図３】図３は、２次元座標位置を検出するための受光
素子の配列を示す斜視図である。FIG. 3 is a perspective view showing an array of light receiving elements for detecting a two-dimensional coordinate position.
【図４】図４は、異なった面におけるそれぞれの２次元
座標位置を検出するための受光素子の配列を示す斜視図
である。FIG. 4 is a perspective view showing an array of light receiving elements for detecting respective two-dimensional coordinate positions on different surfaces.
【図５】図５は、２次元座標位置を検出するための受光
素子の他の配列を示す斜視図である。FIG. 5 is a perspective view showing another arrangement of light receiving elements for detecting a two-dimensional coordinate position.
１０ａ、１０ｂ、１０ｃ、１０ｄ、１０ｅ 光源 １２ａ、１２ｂ、１２ｃ 受光素子 １４ａ、１４ａ、１４ｃ 受光素子 １６ｃ、１６ｂ、１６ｃ 受光素子 １８ａ、１８ｂ、１８ｃ 受光素子 ２０ａ、２０ｂ、２０ｃ 受光素子 ２２ａ、２２ｂ、２２ｃ 受光素子 10a, 10b, 10c, 10d, 10e Light source 12a, 12b, 12c Light receiving element 14a, 14a, 14c Light receiving element 16c, 16b, 16c Light receiving element 18a, 18b, 18c Light receiving element 20a, 20b, 20c Light receiving element 22a, 22b, 22c Light receiving element
Claims (11)
１つの光源と、該光源から放射された光を受光するよう
に１つの直線上に間隔を隔てて配置された少なくとも３
つの受光素子と、各受光素子で受光した光の強度から光
源が向く方向に対する直線上の位置を求める演算手段を
有することを特徴とする位置検出装置。1. A light source having a radiation directivity having a peak in the center, and at least three light sources arranged on one straight line so as to receive light emitted from the light source.
A position detecting device comprising: one light receiving element; and an arithmetic means for obtaining a position on a straight line with respect to a direction in which a light source faces from the intensity of light received by each light receiving element.
前記演算手段は、各受光素子で受光した光の強度の前記
直線に対する分布を二次曲線分布に近似させ、二次曲線
式のピーク位置を演算により求めることによって前記直
線上の位置を算出することを特徴とする位置検出装置。2. The position detecting device according to claim 1,
The calculating means calculates the position on the straight line by approximating the distribution of the intensity of the light received by each light receiving element with respect to the straight line to a quadratic curve distribution and calculating the peak position of the quadratic curve equation by calculation. A position detecting device characterized by.
前記演算手段は、受光した光の強度をＰとし、前記二次
曲線式をＰ＝ａｚ2 ＋ｂｚ＋ｃとし、各受光素子で受光
した光の強度の値をＰ1 、Ｐ2 、Ｐ3 として、該光の強
度の値Ｐ1 、Ｐ2 、Ｐ3 から前記二次曲線式の定数ａ、
ｂ、ｃを求め、二次曲線の微分式Ｐ’＝２ａｚ＋ｂか
ら、Ｐ’＝０の値であるｚ＝−ｂ／２ａをピーク位置と
して求めることを特徴とする位置検出装置。3. The position detecting device according to claim 2,
The calculating means sets the intensity of the received light as P, the quadratic curve equation as P = az 2 + bz + c, and the intensity values of the light received by the respective light receiving elements as P 1 , P 2 , and P 3 , From the light intensity values P 1 , P 2 , P 3 the constant a of the quadratic curve equation,
A position detecting device characterized in that b and c are obtained and z = −b / 2a, which is a value of P ′ = 0, is obtained as a peak position from a quadratic curve differential equation P ′ = 2az + b.
位置検出装置において、前記３つの受光素子は等間隔で
配置されていることを特徴とする位置検出装置。4. The position detecting device according to claim 1, wherein the three light receiving elements are arranged at equal intervals.
１つの光源と、該光源から放射された光を受光するよう
に第１の直線上に間隔を隔てて配置された少なくとも３
つの受光素子の第１列と、前記直線と角度をなした第２
の直線上に間隔を隔てて配置された少なくとも３つの受
光素子の第２列と、前記第１列の各受光素子で受光した
光の強度から光源が向く方向に対する第１の直線上の位
置を求め、第２列の各受光素子で受光した光の強度から
光源が向く方向に対する第２の直線上の位置を求め、か
つ前記第１の直線上の位置と前記第２の直線上の位置か
ら第１の直線と第２の直線を含む面上の２次元座標位置
を演算する演算手段を有することを特徴とする位置検出
装置。5. One light source having a radiation directivity having a peak in the center, and at least 3 arranged at a distance on a first straight line so as to receive light emitted from the light source.
A first row of two light receiving elements and a second row angled with the straight line
The second row of at least three light receiving elements arranged at intervals on the straight line of, and the position on the first straight line with respect to the direction in which the light source faces from the intensity of light received by each light receiving element of the first row. The position on the second straight line with respect to the direction in which the light source faces is obtained from the intensity of the light received by each light receiving element in the second row, and from the position on the first straight line and the position on the second straight line. A position detecting device having a calculating means for calculating a two-dimensional coordinate position on a surface including the first straight line and the second straight line.
前記演算手段は、各受光素子で受光した光の強度の前記
直線に対する分布を二次曲線分布に近似させ、二次曲線
式のピーク位置を演算により求めることによって前記直
線上の位置を算出することを特徴とする位置検出装置。6. The position detecting device according to claim 5,
The calculating means calculates the position on the straight line by approximating the distribution of the intensity of the light received by each light receiving element with respect to the straight line to a quadratic curve distribution and calculating the peak position of the quadratic curve equation by calculation. A position detecting device characterized by.
前記演算手段は、第１列の受光素子に関して、受光した
光の強度をＰとし、前記二次曲線式をＰ＝ａｚ2 ＋ｂｚ
＋ｃとし、各受光素子で受光した光の強度の値をＰ1 、
Ｐ2 、Ｐ3 として、該光の強度の値Ｐ1 、Ｐ2 、Ｐ3 か
ら前記二次曲線式の定数ａ、ｂ、ｃを求め、二次曲線の
微分式Ｐ’＝２ａｚ＋ｂから、Ｐ’＝０の値であるｚ＝
−ｂ／２ａをピーク位置として求め、第２列の受光素子
に関して、受光した光の強度をＱとし、前記二次曲線式
をＱ＝ａｘ2 ＋ｂｘ＋ｃとし、各受光素子で受光した光
の強度の値をＱ1 、Ｑ2 、Ｑ3 として、該光の強度の値
Ｑ1 、Ｑ2 、Ｑ3 から前記二次曲線式の定数ａ、ｂ、ｃ
を求め、二次曲線の微分式Ｑ’＝２ａｘ＋ｂから、Ｑ’
＝０の値であるｘ＝−ｂ／２ａをピーク位置として求
め、前記２つのピーク位置を前記２次元座標位置とする
ことを特徴とする位置検出装置。7. The position detecting device according to claim 6,
With respect to the light receiving elements in the first column, the calculating means sets the intensity of the received light as P, and the quadratic curve equation is P = az 2 + bz
+ C, the value of the intensity of the light received by each light receiving element is P 1 ,
As P 2 and P 3 , the constants a, b and c of the quadratic curve equation are obtained from the light intensity values P 1 , P 2 and P 3 and the quadratic curve differential equation P ′ = 2az + b '= The value of 0 z =
-B / 2a is obtained as the peak position, the intensity of the received light is Q for the light receiving elements in the second row, and the quadratic curve equation is Q = ax 2 + bx + c, and the intensity of the light received by each light receiving element is as the value Q 1, Q 2, Q 3, the values to Q 1 light intensity, Q 2, from Q 3 of the quadratic curve equation constants a, b, c
From the differential equation of the quadratic curve Q ′ = 2ax + b, Q ′
A position detecting device, wherein x = −b / 2a, which is a value of = 0, is obtained as a peak position, and the two peak positions are set as the two-dimensional coordinate positions.
前記第１の直線と第２の直線を含む面に隣接した第２の
面内での２次元位置座標を求めるために、互いに角度を
なすように配列された、少なくとも３つの受光素子の第
３列と少なくとも３つの受光素子の第４列とを前記第２
の面内にさらに有することを特徴とする位置検出装置。8. The position detecting device according to claim 5,
A third of at least three light-receiving elements arranged at an angle to each other in order to obtain two-dimensional position coordinates in a second plane adjacent to the plane including the first straight line and the second straight line. A row and a fourth row of at least three light-receiving elements in the second
A position detecting device further having the same in the plane of the.
位置検出装置において、前記３つの受光素子は等間隔で
配置されていることを特徴とする位置検出装置。9. The position detecting device according to claim 5, wherein the three light receiving elements are arranged at equal intervals.
の位置検出装置において、前記受光素子の第１列と前記
受光素子の第２列は互いに直角であることを特徴とする
位置検出装置。10. The position detecting device according to claim 5, wherein the first row of the light receiving elements and the second row of the light receiving elements are at right angles to each other. apparatus.
て、前記受光素子の第３列と前記受光素子の第４列は互
いに直角であることを特徴とする位置検出装置。11. The position detecting device according to claim 8, wherein the third row of the light receiving elements and the fourth row of the light receiving elements are at right angles to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6022183A JP2880902B2 (en) | 1994-01-21 | 1994-01-21 | Position detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6022183A JP2880902B2 (en) | 1994-01-21 | 1994-01-21 | Position detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07208921A true JPH07208921A (en) | 1995-08-11 |
| JP2880902B2 JP2880902B2 (en) | 1999-04-12 |
Family
ID=12075686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6022183A Expired - Fee Related JP2880902B2 (en) | 1994-01-21 | 1994-01-21 | Position detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2880902B2 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5979105A (en) * | 1982-10-27 | 1984-05-08 | Kawasaki Steel Corp | Method for measuring size and shape of h-beam |
| JPS61196104A (en) * | 1985-02-27 | 1986-08-30 | Aoki Kensetsu:Kk | Position detecting method and its photo-receiving device by means of laser beam |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2613843B2 (en) | 1993-08-18 | 1997-05-28 | 株式会社デジタルストリーム | Optical position and attitude detection device |
-
1994
- 1994-01-21 JP JP6022183A patent/JP2880902B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5979105A (en) * | 1982-10-27 | 1984-05-08 | Kawasaki Steel Corp | Method for measuring size and shape of h-beam |
| JPS61196104A (en) * | 1985-02-27 | 1986-08-30 | Aoki Kensetsu:Kk | Position detecting method and its photo-receiving device by means of laser beam |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2880902B2 (en) | 1999-04-12 |
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