KR102205683B1 - An optical positioning sensor - Google Patents

Abstract

A sensor is disclosed that may include an optical component supporting a first light source configured to guide a first light ray and a second light source configured to guide a second light ray. In addition, the sensor may include an imaging device that is positioned adjacent to the optical component, directly receives the first light beam and the second light beam, and converts the first light beam and the second light beam into an electrical signal. The imaging device and the optical component are movable relative to each other. The sensor may further include an optical location module configured to receive the electrical signal and determine a location of the first light beam and the second light beam on the imaging device. Further, the sensor may include a position module configured to determine a relative position of the imaging device and the optical component based on the positions of the first light beam and the second light beam on the imaging device.

Description

Optical positioning sensor {AN OPTICAL POSITIONING SENSOR}

Sensors are used in a wide range of applications and are adapted to measure various quantities. Many sensors can use displacement measurements such as position sensors, strain gauges, load cells, accelerometers, inertial measurement units, pressure gauges, etc. to determine the desired amount.

Features and advantages of the present invention will become apparent from the detailed description, shown together by examples and features of the present invention, together with the accompanying drawings.
1 is a schematic side view of a sensor according to an embodiment of the present invention.
Fig. 2 is a schematic top view of the optical component of the sensor of Fig. 1;
3A shows a schematic side view of a light source of a sensor according to an embodiment of the present invention.
3B is a schematic side view of a light source of a sensor according to another embodiment of the present invention.
4 is a schematic top view of the sensor of FIG. 1 with relative motion of an optical component and an imaging component in two translational degrees of freedom, according to an embodiment of the present invention.
5 is a schematic top view of the sensor of FIG. 1 with relative motion of an optical component and an imaging component in rotational degrees of freedom, according to an embodiment of the present invention.
6 is a schematic top view of the sensor of FIG. 1 with relative motion of an optical component and an imaging component in two translational degrees of freedom, according to another embodiment of the present invention.
FIG. 7A is a schematic top view of the sensor of FIG. 1 with relative movement of an optical component and an imaging component in rotational degrees of freedom, according to another embodiment of the present invention.
FIG. 7B is a schematic top view of the sensor of FIG. 1 with relative motion of an optical component and an imaging component in rotational degrees of freedom, according to another embodiment of the present invention.
8 is a schematic top view of an optical component of a sensor according to another embodiment of the present invention.
9 is a perspective schematic diagram of a sensor according to another embodiment of the present invention.
10A is a schematic side view of an optical component of a sensor according to another embodiment of the present invention.
10B is a schematic side view of an optical component of a sensor according to another embodiment of the present invention.
Reference is made to the illustrative depicted embodiments, and the specific language used herein describes the same. It will be understood that it is not intended to limit the scope of the invention.

As used herein, the term "substantially" refers to the degree of completion or near completion of an amount or action, feature, characteristic, state, structure, item, or result. For example, an object that is "substantially" enclosed means that the object is completely or nearly enclosed. In some cases, the degree of exactly acceptable deviation from absolute completeness may depend on the particular context. However, in general, the proximity of perfection will make it possible to have the same overall result as absolute perfection and full perfection get. The use of "substantially" applies equally when used in a negative sense, which refers to the lack of completion or near completion of an action, characteristic, characteristic, state, structure, item or result.

As used herein, "adjacent" refers to the adjacency of two structures or elements. In particular, elements identified as "adjacent" are attached or connected. These elements can be in close proximity or close to each other, without having to touch each other. In some cases, the exact degree of adjacency may depend on the particular context.

An initial overview of technology embodiments is provided below, and specific technology embodiments are described in more detail later. This initial summary is intended to help readers understand more quickly, not to identify key or essential features of the technology, or to limit the scope of the claimed subject matter.

Although typical sensors are generally valid for a given purpose, often they do not produce the same level of resolution in each degree of freedom. Further, obtaining redundant measurements and/or measurements at multiple degrees of freedom can significantly increase size, complexity and cost, which, in some applications, can be redundant or prevent the use of multiple degrees of freedom sensors. Thus, redundant sensors or multiple degree of freedom sensors can be more easily used by keeping the size, complexity and cost within practical limits, such as approximating one degree of freedom sensor.

Thus, a sensor is disclosed that is capable of providing measurements in redundancy and/or multiple degrees of freedom without significantly increasing size, complexity or cost. In one aspect, the sensor can be configured to measure any given amount that can be determined using displacement measurements. The sensor may include an optical component that supports a first light source capable of guiding a first light ray and a second light source capable of guiding a second light ray. In addition, the sensor may include an imaging device that is positioned adjacent to the optical component, directly receives the first light beam and the second light beam, and converts the first light beam and the second light beam into an electrical signal. The imaging device and the optical component are movable relative to each other. The sensor may further include an optical location module configured to receive the electrical signal and determine a location of the first light beam and the second light beam on the imaging device. Further, the sensor may include a position module configured to determine a relative position of the imaging device and the optical component based on the positions of the first light beam and the second light beam on the imaging device.

In one aspect, a multiple degree of freedom sensor is disclosed. The multiple degrees of freedom sensor may include an optical component that supports a first light source configured to guide a first light ray and a second light source configured to guide a second light ray that is not parallel to the first light ray. In addition, the plurality of degrees of freedom sensor may include an imaging device positioned adjacent to the optical component, configured to directly receive a first light beam and a second light beam, and convert the first light beam and the second light beam into an electrical signal. have. The imaging device and the optical component are movable relative to each other in at least two translational degrees of freedom and at least two rotational degrees of freedom. The plurality of degrees of freedom sensor may further include an optical location module configured to receive the electrical signal and determine the locations of the first and second light rays on the imaging device. Further, the multiple degree of freedom sensor may include a position module configured to determine a relative position of the imaging device and the optical component based on the positions of the first light beam and the second light beam on the imaging device.

In yet another embodiment, a multiple degree of freedom sensor is disclosed. The multiple degrees of freedom sensor may include an optical component that supports a plurality of light sources configured to guide light rays. The multiple degree of freedom sensor may also include an imaging device positioned adjacent to the optical component, configured to directly receive a first light beam and a second light beam, and convert the first light beam and the second light beam into an electrical signal. The imaging device and the optical component are movable relative to each other in a plurality of translational degrees of freedom and a plurality of rotational degrees of freedom. The multiple degrees of freedom sensor may further include an optical location module configured to receive the electrical signal and determine the location of the rays on the imaging device. Further, the multiple degree of freedom sensor may include a position module configured to determine a relative position of the imaging device and the optical component based on the position of the light rays on the imaging device.

One embodiment of the sensor 100 is schematically shown in FIGS. 1 and 2. The sensor 100 may include an imaging device 110. The imaging device 110 may include an image sensor 111 such as a pixel sensor, a photosensor, or other suitable type of imager capable of converting light into an electrical signal. In one aspect, the imaging device 110 may comprise an active pixel sensor having an integrated circuit comprising an array of pixel sensors, where each pixel comprises a photodetector and an active amplifier. The circuit next to each photodetector can convert light energy into voltage. Additional circuitry can be included to convert the voltage into digital data. As an example of an active pixel sensor, there is a complementary metal oxide semiconductor (CMOS) image sensor. In yet another aspect, the imaging device 110 may include a charge-coupled device (CCD) image sensor. In a CCD image sensor, pixels can be represented by p-doped MOS capacitors. These capacitors can be biased above a threshold for inversion when light acquisition begins, thus converting incident photons into electronic charge at the semiconductor-oxide interface. Then, the CCD is used to read these charges. Additional circuitry can convert the voltage into digital information. Therefore, the imaging device 11 may include any suitable device or sensor, such as an imaging sensor typically found in digital cameras, cell phones, web caps, etc., configured to capture light and convert it into an electrical signal. .

In addition, the sensor 100 may include an optical component 120 supporting one or more light sources 121 and 122 configured to guide light rays 123 and 124, respectively. The light sources 121 and 122 are LEDs, lasers, organic LEDs, field emission display elements, surface-conducting electron-emitting display units, quantum dots, cells containing electrically charged ion gas, fluorescent lamps, outside of the plane of light emission. And/or a suitable light source of the foil through which light from a high-capacity light source located at may pass. 3A shows a lens 227 that works with a light source 221 to focus or guide light from the light source 221. 3B shows a collimator 328 working with a light source 321 to "narrow" the light from the light source 321 to an appropriate ray of light. It should be appreciated that the lens and collimator can be used alone or in combination with a light source to achieve the appropriate light beam.

The imaging device 110 is positioned adjacent to the optical component 120 and may be configured to directly receive the rays 123 and 124 and convert them into electrical signals. The optical location module 130 may be configured to receive the electrical signal and determine the location of the light rays 123 and 124 on the imaging device 110. For example, the pixels of the imaging device 110 may be individually addressed, so that the light intensity on each individual pixel may be known or determined by the optical location module 130.

The imaging device 110 and the optical component 120 may be movable relative to each other in one or more degrees of freedom. Accordingly, the position module 140 may be configured to determine a relative position of the imaging device 110 and the optical component 120 based on the positions of the rays 123 and 124 on the imaging device 110. In one aspect, the imaging device 110 and the optical component 120 may be coupled 112 to each other in a manner that enables relative motion. For example, the optical component 120 is "fixed" and the imaging device 110 is a structure, device, or mechanism capable of enabling movement of the imaging device 110 relative to the optical component 120. It can be supported against the optical component 120 by. It should also be appreciated that in some embodiments, the imaging device 110 is “fixed”. The imaging device 110 and the optical component 120 may be limited in relative motion only to one or more selected degrees of freedom, such as translation on the X axis or rotation about the Z axis. Any suitable arrangement of imaging device 110 and optical component 120 is contemplated to allow relative movement of imaging device 110 and optical component 120 in one or more desired degrees of freedom.

This relative motion of the imaging device 110 and the optical component 120 may enable measurement of relative motion, such as relative displacement and/or rotation. Accordingly, a sensor according to the present disclosure may be configured to measure or sense any quantity that may be based on or may be derived from relative motion such as displacement, rotation, velocity, acceleration, and the like. For example, the sensors described herein function as position sensors, strain gauges, accelerometers, load sensors, or any other type of sensor that can use relative motion to mechanically and/or computationally provide a desired type of measurement. can do. Thus, in one aspect, the sensor 100 may include the watch 150 to measure elapsed time associated with relative motion, and may be useful for determining velocity, acceleration, or other dynamic measure.

Also, since the individual addresses of the pixels are known, the sensor 100 can be considered an "absolute" sensor. By this property, the sensor 100 can be powered off when not needed (i.e., to save energy), initiated or initiated to determine the relative position of the imaging device 110 and the optical component 120 You can measure or read without needing to be calibrated.

Imaging device 110 may comprise an array of pixels of any suitable size, dimension, aspect ratio and/or pixel count. For example, the pixel array may be a one-dimensional array or a two-dimensional array, such as an array of pixels arranged in rows and columns. In one aspect, the range of motion of the sensor may be limited by the size of the imaging device, although a plurality of imaging devices are positioned adjacent to each other to provide a wider range of motion for the sensor. In yet another aspect, the range of motion of the sensor may be affected by the location and/or size of the light source. Therefore, the light source may be positioned and/or sized to accommodate a desired relative position between the optical component and the imaging device. It should also be appreciated that the sensor according to the present disclosure should be capable of generating substantially the same level of freedom in each degree of freedom.

In one aspect, the central location of the rays 123, 124 on the imaging device 110 may be determined using a statistical method applied to the location of the rays 123, 124 on the imaging device 110. This operation may be performed by the position module 140. For example, each of the rays 123, 124 may be distributed over many pixels on the imaging device 110, and may represent an intensity gradient that may be thermally analyzed using a statistical method to determine the center of the rays. .

In yet another aspect, the imaging device 110 may be monochromatic or chromatic, and the light sources 121 and 122 generate any suitable light color such as white, red, green or blue. can do. The color selection of chromatic pixels for a particular ray wavelength can be used to effectively increase the pixel population, which can be used to determine the location of the center of the ray without degradation from neighboring rays on the imaging device. For example, instead of one light source with a monochromatic imaging device, three light sources (red, green and blue) are used adjacent to each other with the chromatic imaging device, without interference with each other, and the optical component 120 The relative motion of the imaging device 110 may be determined. The chromatic color imaging device may separate and track or sense different colored light rays even if the light rays overlap on the imaging device. Different parts of the imaging device corresponding to different colors may be generated by overlapping and/or providing additional data points for calculation of separate signals that may be used to determine the relative motion of the light source and the imaging device.

Thus, in one aspect, the imaging device may include a color separation mechanism 160. Any suitable color separation mechanism is a Bayer sensor (an array of color filters passes red, green, or blue light through a selected pixel sensor), a Foveon X3 sensor (an array of layered pixel sensors is used to absorb light through silicon's inherent wavelength-dependent absorption) Separately, all locations sense all three channels) or a 3CCD sensor (with three separate image sensors, color separation done by a dichroic prism) can be used.

With continued reference to FIGS. 1 and 2, FIGS. 4-7B show sensor 100 undergoing relative motion of imaging device 110 and optical component 120. Light source 121 is generally referred to as a "vertical" ray in that light ray 123 is perpendicular or substantially perpendicular to imaging device 110 at the rated relative orientation of imaging device 110 and optical component 120 Creates a possible ray (123). In that light rays 124 are neither perpendicular nor parallel to imaging device 110 at the rated relative orientation of imaging device 110 and optical component 120, light source 1212 is generally "angular. "Creates a ray 124, which can be referred to as a ray. Therefore, the light sources 121 and 122 may be referred to as a vertical light source and an angled light source, respectively.

In general, one light source can be used to determine the relative motion in two translation degrees of freedom. For example, as shown in Figure 4, the light source 121 guiding the light beam 123 substantially vertically in X and Y translation degrees of freedom, the imaging device 110 and the optical component 120 in these two translation degrees of freedom. Can be used to determine the relative motion of Further, a light source 122 that guides light rays 124 that are not parallel to light rays 123 may be used to determine the relative motion of imaging device 110 and optical component 120 in X and Y translation degrees of freedom. Movement by the rays 123 and 124 may trace paths 125a and 126a along the imaging device 110, respectively, while the imaging device 110 ′ moves from the initial position of the imaging device to the final position. . The pixels along each path 125a, 126a can be used to determine the relative motion of the imaging device 110 and the optical component 120, for example by providing redundant and/or additional data points for computation. .

With further reference to FIGS. 1 and 2, as shown in FIG. 5, the imaging device 110 and the optical component 120 are movable relative to each other in degrees of freedom of rotation (in this case about the Z axis). Do. Movement by the rays 123 and 124 may trace paths 125a and 126a along the imaging device 110, respectively, while the imaging device 110 ′ moves from the initial position of the imaging device to the final position. . The pixels along the paths 125a and 126a of the two rays 123 and 124 can be used to determine the relative motion of the imaging device 110 and the optical component 120, in this case, the center of rotation 101 Have. As shown, ray 123 is guided substantially parallel to the axis of rotational freedom, and ray 124 is not parallel to ray 123. In other words, vertical and angled rays are used. However, it should be appreciated that the relative motion in the translation and rotational degrees of freedom shown in Figs. 5 and 6 can be determined by two vertical rays and two angled rays.

6 shows that the imaging device and the optical component are movable relative to each other, in translation degrees of freedom (in this case about the Z axis). In other words, the vertical ray 123 is guided substantially parallel to the axis of the translational degrees of freedom, and the angled ray 124 is not parallel to the ray 123, so that the imaging device 110 and the optical component ( The relative motion of 120 causes light rays 123 and/or light rays 124 to be guided to different locations of imaging device 110. For example, since the imaging device 110 moves in the direction 102 along the Z axis towards the optical component 120, the angled rays 124 move in the direction 103 along the imaging device 110. . This motion of the angled ray 124 determines the relative translational motion along the Z axis. In addition, the lack of motion of the vertical ray 123 may include a determination of the relative translational motion along the Z axis as a factor. Therefore, one angled ray of light can be used to determine the relative motion in three orthogonal translational degrees of freedom.

7A and 7B illustrate the additional use of angled rays 124 in determining the relative motion of the imaging device 110 and the optical component 120, in degrees of rotation (about the Z axis in this case). do. Therefore, the vertical ray 123 is guided substantially perpendicular to the axis of rotational freedom. As shown in FIG. 7A, the angled ray 124 moves in a direction 104 along the imaging device 110, and the vertical ray 123 moves in the opposite direction 105 along the imaging device 110. . The relative location of the light rays 123 and 124 on the imaging device 110, as well as the difference in direction, and the angle 127 of the angled light rays 124 are light in the direction 106a with respect to the rotation center 107a. It may be used to determine the imaging device 110 rotated relative to the component 120. In this case, the two rays 123 and 124 are on the "same side" of the center of rotation 107a.

On the other hand, as shown in FIG. 7B, the angled rays 124 move in the direction 108 along the imaging device 110, and the vertical rays 123 are the same direction 109 along the imaging device 110. ) To move. The relative location of the light rays 123 and 124 on the imaging device 110 as well as the similarity in the direction and the angle 127 of the angled light rays 124 are relative to the rotation center 107a, and the optical component in the direction 106a. It may be used to determine the imaging device 110 rotated relative to 120. In this case, the two rays 123 and 124 are on the "opposite side" of the center of rotation 107a. Therefore, the movement and direction of the angled light rays 124 and the vertical light rays 123 according to the imaging device 110 is the degree of freedom of rotation (e.g., , Rotation about the X axis) can be used to determine the relative motion of the imaging device 110 and the optical component 120.

It should be appreciated that a sensor according to the present disclosure may have multiple degrees of translation and/or multiple degrees of freedom of rotation. On top of the two light sources 121 and 122 of the sensor 100, an additional light source is "tricked" to cause the sensor to incorrectly determine the relative motion, especially when complex motions are mixed in a plurality of translation and rotation degrees of freedom. It can reduce or eliminate situations that can trick)". In general, another advantage of an additional light source is that there is more light movement across the imaging device, so more pixels are used to obtain the data, which is used to determine the relative motion of the imaging device and the optical component. The resolution of is improved. On top of the two light sources, an additional advantage of the light source is the simplified computational algorithm.

Thus, FIG. 8 shows an embodiment of a sensor 400 capable of improving resolution by the number, location and orientation of light sources, as well as removing potential computational ambiguities, especially when undergoing relative motion in multiple degrees of freedom. do. For example, the sensor 400 may include four vertical light sources 421a-d and four angled light sources 422a-d. In one aspect, the angled light sources 422a-d may be oriented such that rays 424a-d guide in a plane parallel to the axis of freedom. For example, rays 424a and 424b are in a plane parallel to the Y axis, and rays 424c and 424d are in a plane parallel to the X axis. However, as shown by light rays 424a′ oriented in any arbitrary direction, the angled rays may be oriented in any direction.

The specific arrangement in the figure is a vertical light source 421a-d located in the central portion of the optical component 420 and an angled light source 422a-d generally located in the periphery of the vertical light source 421a-d. ). Because of their rated vertical orientation relative to the imaging device 410, the rays generated by the vertical light sources 421a-d are imaged, for example in rotation about the Z axis or X and Y axes, such as a Z axis translation. It will not "sweep across" as much as rays 424a-d of angular light sources 422a-d during the movement of changing the relative position of the device 410 and the optical component. Therefore, a light source, such as the angled light sources 422a-d, is used to provide more motion across the imaging device 410 for the relative motion of the imaging device 410 and the optical component 420 at any degree of freedom. Can be placed and/or oriented, which can improve the resolution of sensor data. Therefore, grouping the vertical light sources 421a-d in the center portion and disposing the angled light sources 422a-d with respect to the periphery of the vertical light sources 421a-d are the light sources 421a- d, 422a-d) may be an effective batch configuration for the most efficient use of the imaging device area possible. In one aspect, colored light sources and color separation mechanisms can also be used to fit an increased number of light sources into a small area without sacrificing sensor performance.

The number and placement and orientation of light sources shown in this figure are merely examples of configurations that can be used to ensure that the relative motion of the imaging device and the optical component cannot "trick" the sensor into an error or incorrect reading. Therefore, it should be appreciated that any number of vertical or angled light sources can be used in any relative position or orientation to achieve the desired result, such as the level of redundancy or resolution.

9 illustrates a plurality of imaging devices 510a-f disposed adjacent to each other, as well as a plurality of light sources 510a-c, to provide continuous measurements over a wide range of motion, using only one imaging device. ) Shows another sensor 500 that may include. For example, sensor 500 may be a light source 512a-c (which can be vertical and/or angular), each guiding light rays 523a-c to one or more imaging devices 510a-f at a given time. And any of the features and elements described herein, such as the optical component 520 to support the present invention. As shown, the imaging devices 510a-f are arranged in a twisted configuration with regions 514 between the imaging devices, where there is no sensor, for example at the interface of an adjacent imaging device. Ray 523a may terminate 529a in the region 514 between adjacent imaging devices 510a and 510b, in which case ray 523a will not contribute to the positioning function of sensor 500. However, in this case, the rays 523b and 523c are terminated 529b and 529c on the imaging devices 510b and 510e, respectively, so that even if the rays 523a cannot, they cannot contribute to the positioning function of the sensor 500. have. In other words, other imaging devices 510b and 510e, which still receive light rays 523b and 523c, respectively, can compensate for the loss of a signal from a given light source, such as 521a. In one aspect, the number and/or arrangement of the imaging device and/or light sources will be terminated on the imaging device in which at least one light source spans the desired range of motion of the sensor and at any degree of freedom of the sensor. Thus, in this way, even when the light source directs the light beam to the image sensor-free area, the plurality of light sources allow the sensor 500 to determine the relative position of the optical component 520 and the imaging device 510a-f. Can be used to guarantee.

10A and 10B, what is shown are two additional sensors according to the present disclosure. For example, FIG. 10A shows the imaging device 610 and the optical component 620 with elastic members 670 and 671 coupled to the imaging device 610 and the optical component 620 in order to enable the relative movement of the imaging device 610 and the optical component 620. The sensor 600 is shown. The elastic members 670 and 671 can establish a rated relative position for the imaging device 610 and the optical component 620, and allow relative motion of the imaging device 610 and the optical component 620 to any suitable degree of freedom. You can make it possible. The elastic members 670, 671 may include springs, which may be constructed from any suitable metal spring or elastomeric spring. Thus, in one aspect, the elastic members 670 and 671 can serve as a polymer suspension system for the imaging device 610 and the optical component 620.

In one aspect, the elastic members 670 and 671 may be disposed outside the light sources 621 and 622. In another aspect, the elastic member may include a transparent layer disposed between the imaging device 610 and the optical component 620. In one aspect, the elastic member may comprise a silicon layer that acts as a separator between the imaging device 610 and the optical component 620, which provides a low displacement and high resolution sensor. In one aspect, the range of motion of the sensor 600 may be limited by the size of the imaging device 610 and the type of suspension or separation structure, which may depend on the size of the desired motion range and/or the field of application of the specific sensor. I can.

For example, one field of application for sensor 600 may be a strain gauge. In this case, the imaging device 610 may be fixed to the surface 613 at the location 614 and the optical component may be fixed to the surface 613 at the location 615. As the surface 613 undergoes strain, the imaging device 610 and the optical component 620 will move relative to each other, and this movement may serve to enable measurement of the strain in one or more degrees of freedom. .

10B shows another example of a sensor 700 having a mass 780 connected to an optical component 720, which allows the sensor 700 to measure acceleration and/or function as a navigation aid. The mass 780 and the optical component 720 may be supported by an elastic member 770 such as a spring to enable relative motion of the imaging device 710 and the optical component 720 in one or more degrees of freedom. In one aspect, the elastic member 770 may be coupled to the support structure 790, and the support structure may be coupled to the imaging device 710. Although the optical component 720 is shown to be connected to the mass 780 and to be suspended from the elastic member 770, the imaging device 710 can be connected to the mass 780 and to be suspended by the elastic member 770. Be aware.

In another example of a sensor (not shown), a whisker can be coupled to an imaging device or optical component and placed in a flow field to determine the boundary layer thickness. In another example of a sensor (not shown), the imaging sensor and optical component can be configured for continuous relative rotation to measure the rotational position.

In accordance with an embodiment of the present invention, a method is disclosed that enables displacement measurement. The method may include providing an optical component supporting a first light source configured to guide a first light ray and a second light source configured to guide a second light ray. In addition, the method includes providing an imaging device positioned adjacent the optical component and configured to directly receive a first and second light rays, and to convert the first and second light rays into electrical signals. can do. The method may further comprise providing an optical location module configured to receive the electrical signal and determine a location of the first light ray and the second light ray on the imaging device. Still, the method may further comprise providing a position module configured to determine a relative position of the imaging device and the optical component based on the positions of the first and second light rays of the imaging device. Additionally, the method may include enabling relative motion of the imaging device and the optical component. In general, it is noted that although these methods may be performed sequentially in one embodiment, no specific order is required in the present method.

In one aspect of the method, the second ray is not parallel to the first ray. In yet another aspect of the method, enabling the relative motion of the imaging device and the optical component includes enabling relative motion in at least one of translational and rotational degrees of freedom.

It is to be understood that the embodiments of the present invention are not intended to be limited to the specific structures, procedural steps or materials disclosed herein, but are extended to equivalents of such as will be appreciated by those skilled in the art. In addition, it should be understood that the terms used herein are for the purpose of describing specific embodiments only, and are not intended to limit them.

References to “one embodiment” or “an embodiment” throughout the specification include in at least one embodiment of the present invention a particular, feature, structure, or characteristic described with the embodiment. Accordingly, the phrases "in one embodiment" or "in an embodiment" appearing in various places throughout this specification need not all refer to the same embodiment.

As used herein, a plurality of items, structural elements, synthetic elements and/or materials may be present in a common list for convenience. However, these lists should be construed as each of the list members being individually separated and identified as a unique member. Accordingly, individual members of such a list should, unless indicated to the contrary, be interpreted as substantially equivalent to another member of the same list, based on their presentation in a common group. Further, various embodiments and examples of the present invention may be referred to herein along with alternative examples for their various configurations. It should be understood that these examples, examples and alternatives are not to be construed as being substantially equivalent to each other, but should be construed as separate and autonomous expressions of the invention.

In addition, the described features, structures or characteristics may be arbitrarily appropriately combined in one or more embodiments. In this description, many specific details are provided, such as examples of length, width, shape, etc., to provide a thorough understanding of embodiments of the present invention. However, those skilled in the art will recognize that the present invention may be practiced without one or more specific details, and may also be practiced with other methods, constructions, materials, and the like. In other instances, well-known structures, intrinsics, or operations are not shown or described to avoid obscuring aspects of the invention.

While the above examples illustrate the principles of the invention in one or more specific applications, it will be appreciated by those skilled in the art that various modifications in the details of form, use and implementation can be made without the use of creative facilities and without departing from the principles and concepts of the invention. Will be clear to you. Accordingly, it is intended that the invention be limited by the claims set forth below.

Claims (20)

As a sensor,
A first chromatic light source operable to direct a first light beam,
A second chromatic light source operable to direct a second light beam,
Imaging device-the imaging device
Color separation means for dividing the first light beam and the second light beam into a light beam of a first color and a light beam of a second color,
A first monochromatic detector configured to receive the light beam of a first color and convert the light beam of the first color into a first electrical signal, and
-Comprising a second monochromatic detector configured to receive the light beam of a second color and convert the light beam of the second color into a second electrical signal,
An optical component located close to the imaging device and supporting a first chromatic light source and a second chromatic light source-the imaging device and the optical component are movable relative to each other-,
One or more elastic members connecting the optical component to the imaging device, the one or more elastic members operable to facilitate relative movement of the imaging device and the optical component;
An optical location module configured to receive the first and second electrical signals and to determine positions of the first and second optical beams on the imaging device, and
Position module configured to determine the relative position of the imaging device and the optical component based on the positions of the first and second light beams on the imaging device
Containing, sensor. The method of claim 1, wherein the imaging device and the optical component are movable relative to each other with a first translation degree of freedom and the position module is further configured to determine a relative position of the imaging device and the optical component with respect to the first translation degree of freedom. ,
The sensor, wherein the first light beam is directed substantially perpendicular to the axis of the first translation degree of freedom. The method of claim 2, wherein the imaging device and the optical component are movable relative to each other with a second translation degree of freedom and the position module is further configured to determine a relative position of the imaging device and the optical component with respect to the second translation degree of freedom. ,
The sensor, wherein the first light beam is directed substantially perpendicular to the axis of the second translation degree of freedom. The method of claim 1, wherein the imaging device and the optical component are movable relative to each other with a first degree of rotational freedom and the position module is further configured to determine a relative position of the imaging device and the optical component with respect to the first rotational degree of freedom. ,
The sensor, wherein the first light beam is directed substantially perpendicular to an axis of rotational freedom. The method of claim 4, wherein the imaging device and the optical component are movable relative to each other with a second degree of rotational freedom and the position module is further configured to determine a relative position of the imaging device and the optical component with respect to the second rotational degree of freedom. ,
The sensor, wherein the first light beam is directed substantially parallel to the axis of the second degree of rotational freedom. The sensor according to claim 1, wherein a central position of the first and second light beams on the imaging device is determined using a statistical method applied to the positions of the first and second light beams on the imaging device. The sensor of claim 1, wherein the imaging device comprises a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The sensor according to claim 1, wherein the color separation means is a Bayer sensor or a 3CCD sensor. The sensor of claim 1, wherein the imaging device comprises a plurality of imaging devices. The method of claim 1, wherein the first light source is an LED, a laser, an organic LED, a field emission display device, a surface-conducting electron-emitting display unit, a quantum dot, a cell containing an electrically charged ion gas, a fluorescent lamp, and a light emitting device. A sensor comprising a hole through which light from a high-capacity light source located outside the plane can pass, or a combination thereof. The sensor of claim 1, further comprising at least one of a collimator and a lens operative with the first chromatic light source. The sensor of claim 1, further comprising a mass associated with at least one of an imaging device and an optical component. The method of claim 1, wherein the imaging device is fixed to the surface,
The position module is further configured to determine a strain on the surface in one or more degrees of freedom based on a relative position of the imaging device and the optical component. As a multiple degree of freedom sensor,
A first chromatic light source operable to direct a first light beam,
A second chromatic light source operable to direct a second light beam,
Imaging device-the imaging device
Color separation means for dividing the first light beam and the second light beam into a first color and a second color,
A first monochromatic detector configured to receive light of a first color and convert the light into a first electrical signal, and
-Comprising a second monochromatic detector configured to receive light of a second color and convert the light into a second electrical signal,
The optical component supporting the first chromatic light source and the second chromatic light source, the imaging device and the optical component are movable relative to each other in a plurality of degrees of freedom of translation and of a plurality of rotations,
One or more elastic members connecting the optical component to the imaging device, the one or more elastic members operable to facilitate relative movement of the imaging device and the optical component;
An optical location module configured to receive a first signal and a second electrical signal and to determine a position of the first and second optical beams on the imaging device, and
Position module configured to determine the relative position of the imaging device and the optical component based on the positions of the first and second light beams on the imaging device
Including, a plurality of degrees of freedom sensor. The multi-degree of freedom sensor according to claim 14, wherein the color separation means is a Bayer sensor or a 3CCD sensor. The method of claim 14, wherein the imaging device is fixed to the surface,
The position module is further configured to determine a strain on the surface based on the relative position of the imaging device and the optical component. As a method of enabling displacement measurement, the method
Directing a first chromatic light beam by a first chromatic light source,
Directing a second chromatic light beam by a second chromatic light source,
Directly receiving a first chromatic light beam and a second chromatic light beam by an imaging device proximate the optical component, the first light source and the second light source supported by the optical component,
Dividing the first chromatic light beam and the second chromatic light beam into a light beam of a first color and a light beam of a second color by a color separation means of the imaging device,
Converting, by an imaging device, a light beam of a first color and a light beam of a second color into an electric signal,
Connecting the optical component to the imaging device by one or more elastic members,
Receiving an electrical signal by an optical location module,
Determining, by an optical location module, a location of the first chromatic light beam and a location of the second chromatic light beam on the imaging device,
Determining, by a position module, a relative position of the imaging device and the optical component, based on the positions of the first chromatic light beam and the second chromatic light beam on the imaging device, and
Enabling relative movement of the imaging device and the optical component by means of one or more elastic members
A method for enabling displacement measurement comprising a. 18. The method of claim 17, wherein enabling the relative movement of the imaging device and the optical component comprises enabling relative movement in at least one of translational and rotational degrees of freedom. The method of claim 17, wherein the imaging device is fixed to the surface, and the method
Determining a strain on the surface in one or more degrees of freedom based on the relative position of the imaging device and the optical component. The method of claim 17, wherein the color separation means is a Bayer sensor or a 3CCD sensor.

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