1272369 九、發明說明： 【發明所屬之技術領域】 本發明廣泛係關於光學定位震置（_)，以及使用該裝置 來感應移動的方法。 【先前技術】 像是電腦滑鼠或軌跡球這類指向裝置(p〇inting ―丨岣係 用於輸入資料至個人電腦與工作站並與之介接。這種裝置 允許在監視器上迅速定位游標，並且在許多文字、資料庫 _ 以及繪圖程式當中非當右用 ^ “ w吊有用。使用者例如利用在表面上移 動滑鼠，將游標往一方向移動並且移動距離與滑鼠的動作 成比例’來控制游標。另外，手部在靜止震置 有相同作用。 ' 電腦滑鼠具有先舉以芬撒从、 有先予以及機械式兩種版本，機械式滑鼠通 吊使用滾球來偵測動作，以 對季由、，扁碼态（shaft encoder、 與該球接觸，產生電腦移動 勳游私所使用的數位信號。機械 式滑鼠有一個問題，銶县#壬 _ ^種滑鼠比較不準確，並且持續 隱使用之後會因為灰塵累積笨笙 、 系積44而失效。此外，機械元件（特 別是軸編碼器）的移動以及磨 M耗限制了裝置的使用壽命。 ，上述：械：滑鼠的問題解決方式就是發展出光學式滑 ㊣。先學式滑氣更堅固並讀供更好的指 所以廣受歡迎。 光學式滑鼠所使用的主要 /τ ^ 寻、况技街仰賴··發光二極體 (LED)，/、以些微的入射角昭· 阳# ”、丨… 射表面，二維CMOS (互補舍 屬氧化物半導體）偵測器，其士 、 甫從、、力果影像；以及使連續影 101944.doc 1272369 用於利用決定光學特徵在連 了彳又牡埂、戈框架内的位 資料輸入裝置在一表面上的敕氣 ㈣作來感應 衣自上的移動。該感 明器、遠心影成像光學 匕3主^ '、、、 哭…n 及一光敏元件陣列。該照明 能点蔣…兮I #刀。該遠心影成像光學元件組 心成將攸忒表面之該照明部分 私— 出的先學特徵成像，並且 石亥先敏兀件陣列組態成偵 ^ 田5亥逖心影成像光學元件所 成像的光學特徵有關之強度資料。 另-具體實施例係關於一種感應資料輸入裝置在一表面 上的移動之方法。照明該表面之一部分，並且使用遠心影 成像光學元件將該表面之該照明部分的影像聚焦到一光敏 兀件陣列上。在連續框架内決定從該表面之該照明部分射 出的光學特徵之位移’來感應在至少一維度内該資料輸入 裝置在一表面上的移動。 另一具體實施例係關於一種光學定位裝置，其包含：至 少-雷射’其組態成照明_表面之一部分；—光敏元件陣 列，^衫成像光學兀件；以及一信號處理器。該遠心影 成像光學元件組態成將該表面之該照明部分連同有限光圈 成像光學元件所產生之光點圖案映射至光敏元件陣列，並 且該#唬處理器組態成決定連續框架内該光點圖案的位 移。 在此也揭示其他具體實施例。 【實施方式】 光點「湧現」問題 先前的光點式OPD有一個問題，係關於光點圖案的改 I0l944.doc 1272369 : ^或光點湧現」。一般而言，來自表面的光點圖案隨表 面牙夕動而移動，並且方向與速度都相同。不過，在許多光 學系統内，表面所發出的相鋒會有額外的改變。例如：若 纟偵測器隨系統改變時，參與光點圖案形成的該組射線相 對於該表面移動，然後該偵測的光點圖案將會以稍微隨機 方式改、又（或「湧現」），而不是簡單位移。這會讓用於偵測 表面動作的信號退化（來自於位移），導致系統精確度以及靈 敏度降低。 # 如下文的詳細討論，本發明的-項態様提供光點诱現微 不足道或減少的〇PD。 本文揭示的OPD具體實施例 本發明一般係關於一種用於光學定位裝置（〇pD)的感應 态，2及用於根據從表面反射的光之隨機強度分布圖案， 就是光點之位移，感應該感應器與表面之間相對移動的方 法OPD包含（但不受限於）將資料輸入至個人電腦的光學滑 ^ 鼠或執跡球。 立説明書内所提及的「一項具體實施例」或「具體實施例」 意味著，與該具體實施例有關連所說明的特定功能、結構 或特f生匕3在本發明的至少一項具體實施例内。出現在整 個^月書内許多地方的「在一項具體實施例内」一詞並不 一定全都參照到同一項具體實施例。 一般而言，OPD的感應器包含一照明器，其具有··一光 源與照明光學元件來照明表面之一部分；一偵測器，其且 有許多光二極體元件和成像光學元件；以及信號處理或混 101944.doc 1272369 : σ “虎電子兀件’用於將來自每-光敏元件的信號結合， 以產生來自偵測器的輪出信號。 " • 在一項具體實施例内，使用標準CMOS處理與設備來製造 β °亥偵測态與混合信號電子元件。較佳是，本發明的感應器 與方法提供一種高效率光學偵測架構，其利用產生一致= 鋒與遂心影光點成像的結構化照明，以及使用類比與數位 電子兀件組合的簡化信號處理組態。此架構減少感應器内 專門用於信號處理以及位移評估的電力量。吾人發現，使 用光點偵測技術並且根據本發明作適當組態的感應器可符 合或超出通常OPD所預期的效能準則，包含最高位移速 度、精確度以及％路徑誤差率。 光點式位移感應器簡介 此章節討論申請人所瞭解與相信的光點式位移感應器之 運作原理。雖然這些運作原理對於瞭解原理相當有用，不 過本發明的具體實施例並不必然受限於這些原理。 φ 請參閱圖1A，波長指示的雷射光繪示為到一表面的第一 入射波102以及第二入射波104，每個入射波各相對於表面 法線呈入射角Θ。繞射圖案1〇6具有入/2以仙的週期。 相較之下，請參閱圖1B，尺寸的形態不規則度大於光波 (即是粗糙度>1 μχη)的任何一般表面，都傾向以大約朗伯 (Lambertian)方式將光114散射到整個半球内。若使用連貫 光源（像是雷射），空間連續、散射的光將建立複雜的干涉圖 案116，其可由具備有限光圈的平方定律偵測器所偵測。光 與黑暗區域的此複雜干涉圖案丨16稱為光點。光點圖案〗16 101944.doc -10· 1272369 的正確性貝與對比取決於表面粗链度、光的波長及其空間 連續性程度，以及光聚集或成像光學元件。雖然通常非常 複雜，不過光點圖案丨丨6明確具有任何粗糙表面（由該光學 元件成像）區段的清晰特性，如此，可被利用來隨其橫向位 移至雷射與光學偵測器組件來識別在表面上的位置。 預期光點有各種尺寸，最大到光學元件有效光圈所設定 的玉間頻率，傳統上定義為其數值光圈Na = sjnQ，如圖1 b 所示。依照Goodman [J· W. Goodman著，Springer-Verlag (1984)出版，j· c· Dainty編輯的 Topics in Applied Physics 第 9冊，”Statistical Properties 〇f Laser Speckle Patterns” in Laser Speckle and Related Phenomena" _尤其請參閱第 39-40頁]，以光點強度自動互相關聯來表示尺寸統計分布。 「平均」光點直徑可定義為： 义 A _ — (等式1) sin0 ΝΑ1272369 IX. Description of the Invention: TECHNICAL FIELD OF THE INVENTION The present invention relates generally to optical positioning (_) and methods of using the device to sense movement. [Prior Art] A pointing device such as a computer mouse or trackball (p〇inting - is used to input data to and interface with a personal computer and a workstation. This device allows the cursor to be quickly positioned on the monitor. And in many texts, databases _ and drawing programs, it is not useful to use the right side. “When the user moves the mouse on the surface, the cursor is moved in one direction and the moving distance is proportional to the movement of the mouse. 'To control the cursor. In addition, the hand has the same effect in the static shock. 'The computer mouse has the first to use Finnish, first and mechanical versions, mechanical mouse to use the ball to detect The measurement action is based on the quarter encoder and the flat encoder (the shaft encoder, which is in contact with the ball, which produces a digital signal used by the computer mobile singer. The mechanical mouse has a problem, the 銶县#壬_^ species mouse It is inaccurate and will continue to be invisible after it has been accumulated due to dust accumulation and accumulation 44. In addition, the movement of mechanical components (especially shaft encoders) and the grinding M consumption limit the use of the device. Life. Above: Mechanical: The solution to the problem of the mouse is to develop an optical slippery. The first learner is more sturdy and read better for better fingers. The main /τ used by the optical mouse. ^ 寻,况技街 depends on · LED (LED), /, with a slight angle of incidence Zhao Yang # ”, 丨... shot surface, two-dimensional CMOS (complementary oxide semiconductor) detector, Chevalier, 甫, ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, To sense the movement of the garment from above. The sensor, telecentric imaging optics 主 3 main ^ ',,, cry...n and a photosensitive element array. The illumination can point to Chiang...兮I #刀. The telecentric imaging optics The component group is formed to image the pre-learning features of the illumination portion of the surface of the crucible, and the Shihai sensitized element array is configured to detect the intensity information related to the optical characteristics of the imaging image of the 5th 逖 逖 逖 imaging optical component Another specific embodiment relates to an induction a method of moving a data input device on a surface, illuminating a portion of the surface, and focusing the image of the illuminated portion of the surface onto a photosensitive element array using a telecentric imaging optic. Determining from the continuous frame The displacement of the optical feature emitted by the illumination portion of the surface to sense movement of the data input device on a surface in at least one dimension. Another embodiment relates to an optical positioning device comprising: at least - laser It is configured as one part of the illumination_surface; an array of photosensitive elements, an optical imaging element, and a signal processor. The telecentric imaging optical element is configured to image the illumination portion of the surface together with the finite aperture imaging optical element The resulting spot pattern is mapped to a photosensitive element array, and the #唬 processor is configured to determine the displacement of the spot pattern within the continuous frame. Other specific embodiments are also disclosed herein. [Embodiment] Light spot "emergence" problem The previous spot type OPD has a problem with the change of the dot pattern I0l944.doc 1272369: ^ or the spot appears. In general, the pattern of spots from the surface moves with the surface of the tooth and the direction and speed are the same. However, in many optical systems, the surface fronts are subject to additional changes. For example, if the detector detects a change with the system, the set of rays participating in the formation of the spot pattern moves relative to the surface, and then the detected spot pattern will be changed (or "emerged") in a slightly random manner. Instead of simple displacement. This degrades the signal used to detect surface motion (from displacement), resulting in reduced system accuracy and sensitivity. # As discussed in detail below, the present invention provides a spot-inducing sputum PD that is insignificant or reduced. DETAILED DESCRIPTION OF THE INVENTION The present invention relates generally to an induced state for an optical positioning device (〇pD), 2 and for a random intensity distribution pattern of light reflected from a surface, that is, a displacement of a spot, which is sensed The method of relative movement between the sensor and the surface OPD includes, but is not limited to, an optical slipper or a remnant ball that inputs data to a personal computer. The phrase "a specific embodiment" or "embodiment" as used in the specification means that the specific function, structure or feature described in connection with the specific embodiment is at least one of the present invention. Within specific embodiments. The term "in a particular embodiment" that appears in many places throughout the entire book does not necessarily refer to the same particular embodiment. In general, an OPD sensor includes an illuminator having a light source and illumination optics to illuminate a portion of the surface; a detector having a plurality of photodiode elements and imaging optics; and signal processing Or mixed 101944.doc 1272369 : σ "Tiger electronic components" are used to combine the signals from each photosensitive element to produce a turn-out signal from the detector. " • In a specific embodiment, the standard is used CMOS processing and devices for fabricating beta-detected and mixed-signal electronic components. Preferably, the inductors and methods of the present invention provide a high-efficiency optical detection architecture that utilizes the generation of uniform = front and center image points Structured lighting, and simplified signal processing configuration using analog and digital electronic components. This architecture reduces the amount of power dedicated to signal processing and displacement estimation within the sensor. I have found that using spot detection technology and The appropriately configured sensor of the present invention can meet or exceed the performance criteria expected by the usual OPD, including the highest displacement speed, accuracy, and % path. Error Rate Introduction to Spot Point Displacement Sensors This section discusses the operating principles of the spot-type displacement sensors that the applicant knows and believes. Although these principles of operation are quite useful for understanding the principles, embodiments of the invention are not necessarily Limited to these principles. φ Referring to FIG. 1A, the laser light of the wavelength indication is shown as a first incident wave 102 and a second incident wave 104 to a surface, each incident wave having an incident angle with respect to the surface normal Θ The diffraction pattern 1〇6 has a period of /2 sen. In contrast, referring to Fig. 1B, the morphological irregularity of the size is greater than any general surface of the light wave (i.e., roughness > 1 μχη), It tends to scatter light 114 into the entire hemisphere in a Lambertian manner. If a coherent light source (like a laser) is used, spatially continuous, scattered light will create a complex interference pattern 116 that can be squared with a finite aperture. The complex detector pattern detected by the law detector. The complex interference pattern 光16 in the light and dark areas is called the spot. The correctness of the spot pattern is compared to the surface. Chain degree, wavelength of light and its spatial continuity, and light focusing or imaging optics. Although usually very complex, the spot pattern 丨丨6 clearly has clear features of any rough surface (imaged by the optical element) Thus, it can be utilized to identify the position on the surface as it is laterally displaced to the laser and optical detector assembly. It is expected that the spot will have various sizes, up to the inter-jade frequency set by the effective aperture of the optical element, traditionally Defined as its numerical aperture Na = sjnQ, as shown in Figure 1b. According to Goodman [J. W. Goodman, Springer-Verlag (1984), published by J. c. Dainty, Topics in Applied Physics, Volume 9," Statistical Properties 〇f Laser Speckle Patterns” in Laser Speckle and Related Phenomena" _see especially pages 39-40], which automatically correlate the intensity of the spots to represent the statistical distribution of the dimensions. The "average" spot diameter can be defined as: Meaning A _ — (Equation 1) sin0 ΝΑ
清注意到，利用Wiener-Khintchine定理，光點強度的空 間頻率頻譜密度純粹是強度自動互相關聯的傅立葉轉換。 隶、、、田λ!的可此光點amin =λ/2ΝΑ係按不可能的情況所設定， 其中主貝獻來自於圖1Β的極端射線118 (即是土㊀上的射 線）’以及來自於最「内部」射線干涉破壞的貢獻。因此切 割空間頻率係fc。或2ΝΑ/λ。 請注意，沿著一維（稱為”χ”）的影像内空間頻率之數值光 圈不同於沿著直角維度（，’y，，）的數值光圈。這是因為例如由 101944.doc 11 1272369 :維内光圈長度比另一維還長(例如是橢圓形而圓形)，或因 ·，、、歪像鏡所引起。在這些情況下，光點圖案116也為非等向 '生，並且平均光點尺寸在兩維度之内不同。It is noted that with the Wiener-Khintchine theorem, the spatial frequency spectral density of the spot intensity is purely a Fourier transform in which the intensities are automatically correlated. The light spot amin = λ/2 隶 of Li, 、, 田λ! is set according to the impossible situation, where the main shell comes from the extreme ray 118 of Fig. 1 (that is, the ray on the soil) and from The contribution of the most "internal" ray interference damage. Therefore, the spatial frequency is cut fc. Or 2ΝΑ/λ. Note that the numerical aperture of the spatial frequency within the image along one dimension (called "χ") is different from the numerical aperture along the orthogonal dimension (, 'y, ,). This is because, for example, by 101944.doc 11 1272369: the inner aperture length is longer than the other dimension (for example, elliptical and circular), or caused by the mirror. In these cases, the spot pattern 116 is also non-isotropic, and the average spot size is different within two dimensions.
雷射光點式位移感應器的_項優點在於，其可在昭明光 ⑽近法線人射角照射時運作。運用成像光學元件以及以 些Μ入射角到達粗糙表面的非連貫光之感應器也可用於产 向位移感應。不過，因為照明的些微入射角係用於在影： 内建立適當的表面區域大型明亮_黑暗陰影，該系統本質上 嶋效率就不佳，有大量光以反射方式反射離開偵測 為，如此對於影像形成毫無貢獻。相較之下，光點式位移 感應器可有效使用來自雷射光源的大量照明光，藉此允許 光學有效位移感應器的發展。 所揭示的光點式位移感應器設計 下文的詳細說明中說明了一種此類雷射光點式位移感應 器架構，其使用具有類比信號組合電路的CM〇s光二極體、 moderate amount適量的數位信號處理電路以及一低功率光 源，像是例如850 nm垂直凹穴表面發射雷射（VCSEL)。雖 然下文詳細說明中討論了特定實施細節，熟悉此項技術者 將會瞭解，在不背離本發明精神與範疇之下可使用不同的 光源、偵測器或光敏元件，以及/或不同的信號組合電路。 在此將參考圖2和圖3來說明根據本發明具體實施例的光 點式滑鼠。 圖2為根據本發明具體貫施例的光點式系統2 〇 〇之功能方 塊圖。該系統2 0 0包含一雷射源2 0 2、照明光學元件2 〇 4、成 101944.doc -12- 1272369 等項。 【圖式簡單說明】 從允許並來自附圖的詳 ^平細說明中，可更加瞭解本發明的 這些與許多其他特色與優點月的 .，、占，不過不應用於將申請專利範 圍限制於顯示的特定且俨每 寸疋，、體貫施例，僅用於解釋與瞭解之 用，其中： 圖1A和1B分別繪示反射自一 及The advantage of the laser spot displacement sensor is that it can operate when Zhaomingguang (10) is approaching the normal man angle. Sensors that use imaging optics and non-continuous light that reaches the rough surface at some angles of incidence can also be used for displacement sensing. However, because the slight incident angle of the illumination is used to create a large surface area with a large bright _ dark shadow in the shadow: the system is essentially inefficient, and a large amount of light is reflected and reflected away from the reflection, so that the image is Forming no contribution. In contrast, the spot displacement sensor effectively uses a large amount of illumination light from a laser source, thereby allowing the development of an optically effective displacement sensor. The disclosed spot-point displacement sensor design illustrates a laser spot-type displacement sensor architecture that uses a CM〇s photodiode with an analog signal combination circuit, and an appropriate amount of digital signal. The processing circuit and a low power source such as, for example, a 850 nm vertical pocket surface emitting laser (VCSEL). Although specific implementation details are discussed in the detailed description that follows, those skilled in the art will appreciate that different light sources, detectors or photosensitive elements, and/or different combinations of signals can be used without departing from the spirit and scope of the invention. Circuit. A spot mouse according to an embodiment of the present invention will be described herein with reference to Figs. 2 and 3. Figure 2 is a functional block diagram of a spot system 2 〇 具体 according to a specific embodiment of the present invention. The system 200 includes a laser source 2 0 2, an illumination optics 2 〇 4, and a 101944.doc -12- 1272369 item. BRIEF DESCRIPTION OF THE DRAWINGS These and many other features and advantages of the present invention may be more fully understood from the detailed description of the drawings and the accompanying drawings. The specific and 俨 疋 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 显示 显示 显示 显示 显示 显示 显示 显示 显示 显示 显示 显示 显示 显示 显示 显示
圖 町目十滑表面的光繞射圖案，以 反射自粗链表面的并+搞 〜尤卞擾圖案内之光點； 圖2為根據本發明且體眚 1^、S貝轭例的光點式〇PD之功能方塊 圖3為根據本發明具體實施例具有交錯光敏元件群組的 陣列之方塊圖； 圖4為顯示範例非遠心影成像系統的射線圖； 圖5A為顯示根據本發明具體實施例具有主射線垂直於表 面的範例遠心影成像系統之射線圖； 圖5B為顯示根據本發明具體實施例具有主射線與表面夾 非垂直角度的範例遠心影成像系統之射線圖； 圖6為其中光圈位於透鏡位置上的非遠心影成像系統之 光學圖； 圖7為根據本發明具體實施例具有主射線垂直於表面並 且在物體側上具有遠心影的成像系統之光學圖； 為在影像側上具有遠心影的成像系統之光學圖； 圖9為根據本發明具體實施例在物體以及影像側上都具 有遠心影的成像系統之光學圖；以及 101944.doc -20- 1272369The light diffraction pattern of the surface of the shovel is reflected from the surface of the thick chain and the light spot in the pattern of the 卞 卞 ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; FIG. 3 is a block diagram showing an array of staggered photosensitive elements in accordance with an embodiment of the present invention; FIG. 4 is a ray diagram showing an exemplary non-telecentric imaging system; FIG. 5A is a view showing a specific embodiment according to the present invention; Embodiments have a radiograph of an exemplary telecardiographic imaging system with a primary ray perpendicular to the surface; FIG. 5B is a ray diagram showing an exemplary telecentric imaging system having a non-perpendicular angle of the primary ray and the surface clip in accordance with an embodiment of the present invention; An optical diagram of a non-telecentric imaging system in which the aperture is at the lens position; Figure 7 is an optical diagram of an imaging system having a primary ray perpendicular to the surface and having a telecentric image on the object side, in accordance with an embodiment of the present invention; An optical diagram of an imaging system having a telecentric image; FIG. 9 is an optical diagram of an imaging system having telecentric images on both the object and the image side in accordance with an embodiment of the present invention; 101944.doc -20- 1272369
312 314 316 318 402 404 502 504 506 602 604 702 704 802 804 902 904 906 1002 1004 1006 差分類比電路 相位内差分電流信號 差分類比電路 四相位差分電流信號 表面 透鏡 透鏡 透鏡 照明射線 透鏡 系統光圈 透鏡 系統光圈 透鏡 光圈 透鏡 透鏡 光圈 照明光學元件 成像光學元件 照明 101944.doc -22-312 314 316 318 402 404 502 504 506 602 604 702 704 802 804 902 904 906 1002 1004 1006 Difference classification ratio circuit phase difference current signal difference classification ratio circuit four phase differential current signal surface lens lens lens illumination ray lens system aperture lens system aperture lens Aperture lens lens aperture illumination optics imaging optics illumination 101944.doc -22-