WO1998009211A1 - Procede de determination sans contact d'angles d'inclinaison - Google Patents

Procede de determination sans contact d'angles d'inclinaison Download PDF

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Publication number
WO1998009211A1
WO1998009211A1 PCT/DE1997/001816 DE9701816W WO9809211A1 WO 1998009211 A1 WO1998009211 A1 WO 1998009211A1 DE 9701816 W DE9701816 W DE 9701816W WO 9809211 A1 WO9809211 A1 WO 9809211A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle
receiver
transmitter
signals
emitters
Prior art date
Application number
PCT/DE1997/001816
Other languages
German (de)
English (en)
Inventor
Hans-Jürgen Wilke
Original Assignee
Wilke Hans Juergen
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wilke Hans Juergen filed Critical Wilke Hans Juergen
Priority to AU42942/97A priority Critical patent/AU4294297A/en
Publication of WO1998009211A1 publication Critical patent/WO1998009211A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
    • G01S1/76—Systems for determining direction or position line
    • G01S1/80—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional transducers or transducer systems spaced apart, i.e. path-difference systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
    • G01S1/76—Systems for determining direction or position line

Definitions

  • the invention relates to a method for the contactless detection of pivoting angles of a control unit comprising a transmitter, in particular when this unit is pivoted by hand.
  • a microwave transmission arrangement is already known (DE 22 49 473 B2). which is provided with a source for supplying a microwave carrier signal and with a plurality of individual radiators arranged in at least one line, to which the carrier signal can be fed in such a way that the frequency of the emitted microwaves is a function of the radiation direction.
  • a frequency modulation device is provided which modulates the frequency of the carrier signal supplied to each individual radiator in the same way, but with a time offset for successive individual radiators along the radiator line.
  • Such microwave transmission arrangements are used in particular in aircraft landing systems, in which an aircraft receives microwave signals emitted by floors and can determine its position angle relative to the transmitter by measuring the frequency (s) of the received microwave signals.
  • Such a transmission arrangement thus enables a receiver to orientate itself on the signals it emits.
  • the object of the invention is to trigger certain functions in a remote receiver by pivoting a transmitter, in particular by hand, by the receiver recognizing the pivoting angle of the transmitter in one or in several axes and evaluating control information therefrom.
  • This method can be used for very different applications, e.g. as a remote control unit, for mouse / joystick functions, for recognizing an object orientation from a distance, for position detection, for course detection, for collision protection.
  • All waves and radiations come into consideration as signal carriers, in particular acoustic and electromagnetic waves and particle radiations.
  • the receiver can determine the pivoting angle of the transmitter on one or more levels.
  • the transmitter and receiver are usually independent, separate units, between which there can be any medium that is suitable as a signal carrier. This can be solids, liquids, gases, plasma or vacuum.
  • a particular advantage of the method according to the invention is its simple technical implementation and its insensitivity to signal attenuation on the transmission path between the sensor and the receiver. Particularly expedient developments of the method according to the invention result primarily from the subclaims.
  • FIG. 2 shows a representation of the normalized radiation intensity according to FIG. 1 for two radiators arranged pivoted relative to one another
  • FIG. 3 shows an illustration according to FIG. 2 with a representation of the normalized radiation intensities of both emitters at an observation angle ALPHA
  • FIG. 4 shows an illustration according to FIG. 3 with illustration of the work area
  • 7a to d are exemplary representations for different pivoting angles of the transmitter with respect to the receiver
  • the transmitter has at least two radiators, the radiation intensity of which is dependent on the radiation angle.
  • the radiation diagram shown in Fig. 1 is typical for a conventional infrared LED emitter. What is important for the function of the method is above all the angle dependence of the radiation intensity and the reversibly clear relationship between angle and radiation intensity in the selected working angle.
  • the radiation diagram according to FIG. 2 is obtained.
  • the radiation from the two emitters must be able to be kept apart accurately by a receiver, and the receiver must have the angle-dependent radiation intensity did the spotlight know.
  • 3 is based on a receiver (observer) which is arranged at a distance from a transmitter and is pivoted through an angle ALPHA to the central axis of the transmitter.
  • the radiation intensity "IA " for the radiator A and "IB" for the radiator “B” can be assigned to this angle ALPHA.
  • the two signal amplitudes "SA” and “SB” are determined by the two radiators in a receiver. With a proportional relationship between radiation intensity and signal amplitude in the receiver, there is a corresponding unambiguous dependence of the angle ALPHA on the quotient "SA / SB" (FIG. 6).
  • a receiver can always reliably determine the angle ALPHA if it is in the angular range “W” and the distance to the transmitter “S” is in a range in which the receiver has sufficient signals “SA” and “SB” can receive exactly.
  • Damping and distance-dependent signal attenuations have no influence on the quotient "Q".
  • the receiver knows the angle-dependent course of the quotient, either on the basis of mathematical relationships or on the basis of a preprogrammed or measured calibration curve.
  • the receiver can determine the pivoting angle of the transmitter using the quotient Q (ALPHA) and the mapping function X (ALPHA):
  • the receiver is able to measure the angle ALPHA independently of the current distance to the transmitter. Swiveling the receiver within its permissible reception range has no influence on the measurement of the angle ALPHA (FIGS. 7a-7d).
  • the radiation from the emitters can be kept apart by a receiver and can be assigned precisely to the respective emitter.
  • a receiver When carrying out the method according to the invention, it must be ensured that the radiation from the emitters can be kept apart by a receiver and can be assigned precisely to the respective emitter.
  • the radiation from the emitters can be separated from one another in the time domain.
  • the spotlights can emit at different times. Which radiator emits in each case can be recognized by the time sequence (FIG. 8a) or by a signature of the respective emission (FIG. 8b).
  • the radiation of the emitters can also be separated in the frequency / energy range.
  • the emitters then emit constant or pulsed at different carrier frequencies (Fig. 9a) or with different modulations (Fig. 9b).
  • the radiation of the emitters can also be separated in the spatial area.
  • the emitters and the assigned reception sensors are arranged in such a way that the radiation from each emitter only reaches the reception sensor assigned to it.
  • the radiator "A” only radiates onto the receiving sensor for radiator "A", the radiator "B” accordingly only onto the receiving sensor for radiator “B” (FIG. 10).
  • the method is suitable for any angular range up to 360 °.
  • the radiation characteristics of the emitters and their number must be adapted to the respective purpose.
  • FIG. 11 shows the radiation diagram of three radiators "C", “D” and “E", each rotated by 120 °.
  • the radiation characteristics of these emitters are such that the intensity measurement of each emitter is possible in an angular range from -120 ° to + 120 °.
  • the emitters shown here have a symmetrical radiation characteristic. Asymmetrical characteristics and asymmetrical arrangements are also possible.
  • a remote receiver can always receive at least two or three emitted radiations at any point within a radius of 360 °. The same conditions prevail within a segment as in the arrangement described above with two radiators.
  • the receiver can determine the angle information within a segment and also determine which segment it is in. This covers the entire 360 ° range.
  • analog functions can be triggered by analog movements.
  • the mobile transmitter works, for example, battery operated in a handy housing.
  • the receiver is built into the monitor. With two pairs of emitters, the transmitter emits infrared radiation in two planes: horizontal and vertical.
  • the receiver is set up to determine two angles of information: horizontal and vertical.
  • the transmitter is pointed at the screen. You can move a cursor on the screen by moving (swiveling) the transmitter in a horizontal or vertical direction. The cursor follows the movement of the transmitter proportionally. If you point the transmitter to the top left, the cursor follows to the top left, correspondingly for all other movements. In its effect, this process is similar to the light point of a flashlight a wall that follows every movement of the flashlight.
  • angle information from two axes is converted in the receiver into an XY position of a cursor on the screen.
  • the receiver can be set to different sensitivity, so that a certain movement of the transmitter leads to a large or small movement of the cursor on the screen. This enables adaptation to the needs of the user. Low sensitivity reduces the influence of hand tremors and increases the ability of the user to reliably click even small fields on the screen with the cursor.
  • the transmitter can be used on the computer like a mouse or joystick. The movement of the transmitter then corresponds to the movement of the mouse on a solid surface, and the buttons trigger the corresponding functions.
  • the angle detection is independent of the distance. This means that the sensitivity of the cursor movement remains the same even at a greater distance from the monitor. As a result, the same movement of the remote control with the wrist at short and long distances will result in the same movement of the cursor on the screen.
  • the trembling of a point of light from a laser light pointer on a projection screen at long distances does not occur here.
  • an ultrasound emitter can also be installed in the transmitter. This radiator then emits ultrasound 1 pulses at set times, which the receiver picks up. The receiver uses the transit time to determine the distance to the transmitter. The receiver can now use this distance information to increase the sensitivity of the cursor movement so that a similar effect is achieved as with the laser pointer.
  • the transmitter Since the transmitter will normally be a battery-operated device, energy consumption on the transmitter side plays an important role. To save energy, i.a. the following measures are taken.
  • the emitters of the transmitter emit as much of their energy as possible in the desired working area, which will generally lead to an asymmetrical radiation characteristic (Fig. 12). If, on the other hand, emitters with symmetrical radiation characteristics are used - as shown in FIG. 4 - 50% of the emitted energy is lost unused.
  • Energy saving can also be achieved in that the radiation takes place only in a small duty cycle, so that radiation is carried out only for the smallest possible amount of time.
  • Energy saving can also be achieved in that the frequency of the radiation is reduced to up to approximately five radiation of angle information per second if the receiver independently carries out an interpolation of the cursor path curve. From the direction, speed and acceleration of the cursor position on the screen, the intermediate values of the cursor position for every 50 or more image changes per second can be calculated with sufficient accuracy. This creates a flowing cursor movement on the screen despite less transmitted angle data. As soon as a new pair of actual angle values (horizontal and vertical) arrives, the position error of the cursor due to the interpolation is compensated with an I controller characteristic.
  • the radiation can only take place if only a certain cursor position is transmitted should be, for example if a button on the transmitter is pressed and the transmitter is in use as a whole.
  • the transmitter has a pair of infrared light-emitting diodes, which are arranged horizontally at an angle of 60 °, and a second pair of IR LEDs, which are arranged vertically.
  • the radiation characteristics of the IR LEDs have an asymmetrical profile adapted to the working area (FIG. 12).
  • the radiation intensity changes as little as possible at an angle perpendicular to the working plane.
  • the IR radiation is amplitude modulated at a frequency of 50 to 200 kHz.
  • the four emitters thus present are activated one after the other in the time domain and send out their own digital signature for each emitter, which enables the receiver to be uniquely assigned to the emitter. With a plausibility check in the receiver, this signature reduces interference from other IR sources.
  • the receiver has an IR sensor with amplifier and bandpass filter, at the output of which an A / D converter converts the current signal amplitude into digital representation.
  • a microprocessor processes this data and continuously determines, among other things, whether a signal is coming in, which emitter is currently transmitting, with which amplitude it is doing this, amplitude quotients, conversion into angle information, conversion into cursor position, cursor interpolation and error Correction, if necessary distance information. Finally, additional information entered at the touch of a button can be included in the calculation.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Input By Displaying (AREA)

Abstract

Procédé de détermination sans contact d'angles d'inclinaison d'une unité de commande, en particulier en cas d'inclinaison manuelle de cette unité, selon lequel certaines fonctions sont déclenchées par un récepteur situé à distance. Ledit récepteur détermine l'angle d'inclinaison de l'émetteur dans un ou plusieurs axes et en déduit des informations de commande. A cet effet, au moins deux émetteurs de rayons, décalés angulairement l'un par rapport à l'autre, faisant partie d'un émetteur, envoient des ondes ou des rayons attribuables sans ambiguïté à l'émetteur des rayons dont ils sont issus et présentant une densité de puissance connue dans le plan de l'angle d'inclinaison, au moins la répartition des intensités d'au moins un de ces émetteurs de rayons étant dépendante de l'angle. Un récepteur attribue, dans chaque position angulaire de l'émetteur, les signaux d'au moins deux émetteurs de rayons à chaque émetteur de rayons concerné et en détermine les amplitudes. Dans chaque position angulaire, le rapport entre les amplitudes des signaux est établi et l'angle d'inclinaison est calculé ou déterminé de manière empirique sur la base de ce rapport .
PCT/DE1997/001816 1996-08-28 1997-08-22 Procede de determination sans contact d'angles d'inclinaison WO1998009211A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU42942/97A AU4294297A (en) 1996-08-28 1997-08-22 Process for contactless recognition of swivelling angles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19634781A DE19634781C1 (de) 1996-08-28 1996-08-28 Verfahren zur berührungslosen Erkennung von Verschwenkungswinkeln
DE19634781.5 1996-08-28

Publications (1)

Publication Number Publication Date
WO1998009211A1 true WO1998009211A1 (fr) 1998-03-05

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ID=7803929

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1997/001816 WO1998009211A1 (fr) 1996-08-28 1997-08-22 Procede de determination sans contact d'angles d'inclinaison

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AU (1) AU4294297A (fr)
DE (1) DE19634781C1 (fr)
WO (1) WO1998009211A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006039171A1 (de) * 2006-08-21 2008-02-28 Siemens Ag Verfahren und Vorrichtung zum Ermitteln eines Winkels eines Messobjektes gegenüber einer Detektionsvorrichtung mittels einer organischen Leuchtdiode
DE102006062125B4 (de) * 2006-12-30 2016-09-29 Sick Ag Verfahren und Vorrichtung zur Justierung einer opto-elektronischen Sensoranordnung

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2173918A (en) * 1935-08-16 1939-09-26 Telefunken Gmbh Multiple beam radio beacon
DE2249473A1 (de) * 1971-10-08 1973-04-26 Marconi Co Ltd Mikrowellen-sendeanordnung
US5023943A (en) * 1988-12-31 1991-06-11 Deutsche Itt Industries Gmbh Electrooptical pointing device for remotely controlling electronic apparatus
GB2280504A (en) * 1993-07-28 1995-02-01 Data Stream Corp Position data input system for computer.
DE19544355A1 (de) * 1994-11-30 1996-06-05 Alps Electric Co Ltd Koordinaten-Ferneinstelleinrichtung
JPH08163024A (ja) * 1994-12-09 1996-06-21 Sharp Corp ポインタ用リモコン送信機及び受信機
EP0721169A2 (fr) * 1995-01-05 1996-07-10 International Business Machines Corporation Dispositif de pointage sans fil pour une commande à distance d'un curseur

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9202662U1 (de) * 1992-02-29 1992-04-16 Höbel GmbH, 4130 Moers Positionsüberwachungseinrichtung

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2173918A (en) * 1935-08-16 1939-09-26 Telefunken Gmbh Multiple beam radio beacon
DE2249473A1 (de) * 1971-10-08 1973-04-26 Marconi Co Ltd Mikrowellen-sendeanordnung
US3858215A (en) * 1971-10-08 1974-12-31 Marconi Co Ltd Microwave transmission employing time staggered frequency modulation at an array of radiators
US5023943A (en) * 1988-12-31 1991-06-11 Deutsche Itt Industries Gmbh Electrooptical pointing device for remotely controlling electronic apparatus
GB2280504A (en) * 1993-07-28 1995-02-01 Data Stream Corp Position data input system for computer.
DE19544355A1 (de) * 1994-11-30 1996-06-05 Alps Electric Co Ltd Koordinaten-Ferneinstelleinrichtung
JPH08163024A (ja) * 1994-12-09 1996-06-21 Sharp Corp ポインタ用リモコン送信機及び受信機
EP0721169A2 (fr) * 1995-01-05 1996-07-10 International Business Machines Corporation Dispositif de pointage sans fil pour une commande à distance d'un curseur

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 096, no. 010 31 October 1996 (1996-10-31) *

Also Published As

Publication number Publication date
DE19634781C1 (de) 1998-01-22
AU4294297A (en) 1998-03-19

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