JPS58120107A - Angle detecting device - Google Patents

Abstract

PURPOSE:To obtain the angle as a digital quantity, by computing the moving length from a rotating radius having a specified length and a moving angle by using a one dimensional image sensor. CONSTITUTION:When an O point 25 indicating the light receiving position of a zero position of a picture element is moved by an angle 21 as shown in the Figure, said angle 21 can be obtained by tan<-1>L1/L2 (where L1 is the distance from the O point 25 to a picture element 25' of received light, and L2 is the distance between a control point 20 of rotation and a plane 24, i.e. the rotating radius). The L2 in the above expression is set as a predetermined length. Meanwhile, the L1 is obtained from the total number of the picture elements included in this distance. Therefore, the angle 21 can be readily obtained from these two distances.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an angle detection device, and particularly to a device for digitally detecting a one-dimensional displacement angle using a -dimensional image sensor.

Conventional detection devices of this type include those using potentiometers and rotation angle sensors that combine magnetoresistive elements and long-lasting magnets, but since these detect analog quantities, digital As a sensor for a microcomputer, etc. that processes signals
Since it required a D conversion circuit and was affected by external ambient temperature and geomagnetism, it was not possible to detect the entire one-dimensional displacement angle with high reliability and accuracy.

An object of the present invention is to provide an angle detection device that can obtain an angle as a total digital quantity.

The present invention includes a first means for obtaining a light beam from a light emitting source, a second means comprising a one-dimensional image sensor for receiving the light beam and detecting the light receiving position, and a second means for receiving the light beam and detecting the light receiving position. and third means for determining a one-dimensional displacement angle formed by the second means.

Next, the present invention will be described in detail with reference to the drawings.

FIG. 1 is a perspective view of an angle detection device according to an embodiment of the present invention. On the first stand 18, a light emitting diode 11, a light emitting circuit unit 10 for supplying an appropriate normal voltage power to the light emitting diode 11, and a light 17 obtained by the light emitting diode 11 are disposed.
A convex lens 12 for narrowing down the light 17' and a cylinder lens 13 for narrowing the horizontal width of the light 17' passing through the convex lens 12 are provided. Furthermore, on the second table 16 [
U, a one-dimensional COD image sensor (hereinafter simply referred to as an image sensor) 14 which receives the light 17" that has passed through the cylinder lens 13 by specific picture elements arranged on an all-silicon substrate, photoelectrically converts the light, and further accumulates the light 17"; , and a light receiving circuit section 15 that controls the image sensor 14 and outputs the entire position of a specific picture element that receives light.

Now, if the second table 16 is rotated by a certain angle around a predetermined point on the optical axis on the first table 18, the position of the light-receiving pixel of the image sensor 14 will change according to this rotation angle. change. This state will be explained in detail using FIG. 2. Second
In the figure, a plane 24 indicates a one-dimensional arrangement of picture elements of the image sensor 14, and a plane 24 indicates a one-dimensional arrangement of picture elements of the image sensor 14,
The optical axis of the light 17, etc. is shown, the center point 20 shows the entire center position of rotation of the plane 24, and the light 23, 23' is an arrow indicating that the direction of the light and the horizontal plane are narrow beams. Also 0 points 25
indicates the light receiving position of the zero position of the picture element.

If the zero point 25 is now moved to the left by a certain angle 21 as shown in the figure, this angle 21 can be found from the following equation.

However, Ll is the distance from the zero point 25 to the light-receiving picture element 25', and L21f1 is the distance between the rotation center point 20 and the plane 24, that is, the radius of rotation.

Here, the rotation radius L2 is set to a predetermined length. That is, although not shown in FIG. 1, the second stage 16 is configured to rotate around a point on the optical axis of the light 17.

- The blade distance L1 is determined from the total number of picture elements included in this distance. Therefore, the angle 21 is easily determined from these two distances. The angle 21 is calculated by the light receiving circuit section 16 or separately prepared equipment. Image sensor 1
If we use 2048 bits as 4, then 0.1°
The needle side can be adjusted with accuracy within 30 seconds. Note that the distance L2 is approximately 5 cm, but the accuracy improves as this becomes larger.

Although all of the light emitting diodes 11 were used in the embodiment jζ of the present invention, the present invention is not limited to this, a filament light bulb may be used, and the number of convex lenses is not limited to one, but may be configured in multiple stages as necessary. . Image sensor 14
Although it is oriented horizontally, it may be used vertically or diagonally if necessary.

Only one angle detecting device shown in FIG. 1 may be used, but two may be used, each having an angle of 90 degrees. In this case, a two-dimensional displacement angle is obtained instead of one-dimensional. The center of rotation of the image sensor 14 does not necessarily have to be on the optical axis of the light 17.

The angle detection device shown in FIG. 1 is provided with suitable light blocking means, such as a black dark box, to prevent light from entering from the outside. This angle detection device is used, for example, to know where to dig underground pipes. In this case, the device is attached to the end of a flexible cable and inserted into an underground pipe. Then, the required location is determined from the information about the inserted length and the angle from this device.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an angle detection device according to an embodiment of the present invention, and FIG. 2 is a perspective view for explaining the entire principle of the device shown in FIG. In the figure, 10... Light emitting circuit section, 11... Light emitting diode, 12... Convex lens, 13...
・Cylinder lens, 14...-dimensional CCD image sensor, 15... Receiving circuit section, 16...
...First platform, 17.17'. 17"...Original beam, 18...Second platform, 20...Center point, 21...Rotation angle, 22.22'... ...Optical axis, 23.23'...
...arrow, 24...plane. 61

Claims (1)

[Claims] a first means for obtaining a light beam from a light emitting source; a second means comprising a one-dimensional image sensor for receiving all of the light beam and detecting the light receiving position; An angle detection device comprising: a third means for determining a one-dimensional displacement angle formed by the second means;