WO2006067481A1 - Position measurement - Google Patents
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- WO2006067481A1 WO2006067481A1 PCT/GB2005/005028 GB2005005028W WO2006067481A1 WO 2006067481 A1 WO2006067481 A1 WO 2006067481A1 GB 2005005028 W GB2005005028 W GB 2005005028W WO 2006067481 A1 WO2006067481 A1 WO 2006067481A1
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- sensor
- features
- measurement
- measurement scale
- pattern
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- 238000005259 measurement Methods 0.000 title claims abstract description 116
- 239000003550 marker Substances 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 21
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 239000003086 colorant Substances 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000000523 sample Substances 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000003556 assay Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 150000003071 polychlorinated biphenyls Chemical class 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34776—Absolute encoders with analogue or digital scales
- G01D5/34792—Absolute encoders with analogue or digital scales with only digital scales or both digital and incremental scales
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/90—Two-dimensional encoders, i.e. having one or two codes extending in two directions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/95—Three-dimensional encoders, i.e. having codes extending in three directions
Definitions
- the present invention relates to the measurement of the position of an obj ect in two dimensions .
- a single-axis position encoder is a device for measuring the relative position of two obj ects along one axis .
- a scale is attached to one of the obj ects and a read head to the other .
- the read head contains a light source which illuminates the scale and a sensor or sensors for detecting the scale markings .
- the scale markings form a periodic pattern and the read head provides outputs which allow the markings to be counted to keep track of position .
- the scale markings may form code words and the readhead decodes the code words to determine the absolute position .
- Dual-axis incremental position encoders also exist .
- these include two read heads mounted together at right angles to each other, and a scale with periodicity in two usually orthogonal directions , each read head measuring incremental movement in a respective one of the two directions .
- Such a dual axis incremental encoder is disclosed in European patent application EP 1106972.
- European patent application EP 1099936 describes a two- dimensional absolute measurement scale which has a surface divided into a matrix of cells, each cell containing one bit of information .
- the values of the bits on the scale are arranged to form code words such that by reading some sub-set of all the bits on the scale, the absolute position of the electronic reading apparatus can be determined in two directions .
- the present invention provides a measurement system having a measurement scale pattern and sensor moveable relative to one another, the measurement system comprising : a measurement scale pattern having a pattern of features arranged into groups , each group having a known absolute position; at least one sensor, said at least one sensor having a field of view sufficient to detect one or more features simultaneously, wherein relative movement between the said at least one sensor and measurement scale pattern is constrained in two or more degrees of freedom; a processor to determine the position of the sensor or an obj ect connected to the at least one sensor relative to the measurement scale pattern in at least one linear and one rotational degree of freedom.
- the relative movement between the at least one sensor and the measurement scale pattern is constrained from rotation about axes parallel to the plane of the measurement scale pattern .
- Relative movement between the at least one sensor and the measurement scale pattern may also be constrained from linear movement in a direction perpendicular from the plane of the measurement scale pattern .
- the processor used the detected position of the one or more feature to determine the position of the at least one sensor relative to the measurement scale pattern .
- This system thus enables relative translational movement of the at least one sensor parallel to the plane of the measurement scale pattern and relative rotational movement of the at least one sensor about an axis perpendicular to the plane of the measurement scale pattern to be determined .
- relative translational movement of the at least one sensor in a direction perpendicular to the measurement scale pattern may also be determined .
- the measurement scale pattern may comprise a two- dimensional or one dimension scale pattern .
- the at least one sensor preferably comprises a two dimension sensor, such as a camera .
- the relative position of the measurement scale pattern and at least one sensor may be determined from a single feature ( i . e . an elongate feature) or from two or more separate features .
- Each group of features may include a marker feature having a quality which is the same in each group .
- the marker feature may have a quality which is different from all the other features in each group .
- the marker feature may be differentiated from the other features .
- the marker feature may have a different colour from all the other features in each unit .
- two or more marker features are detected by the at least one sensor and used to determine the relative orientation of the at least one sensor and measurement scale pattern .
- the position of the features in each group may be identical , with only the quality of the features changing between each group .
- the features may have a multilevel coding .
- the features may be chosen from a variety of colours .
- each of the features having a multilevel coding means that fewer features can be used to code the positional information than, for example , a binary code .
- this invention allows absolute position information to be determined to a higher resolution than with a binary code .
- the unit may have one or more features which identify the X position and one or more features which identify the Y position .
- the at least one sensor may comprise two sensors in a fixed relationship with one another .
- the displacement of the image of a feature from its expected position may be used to determine the relative velocity between the measurement scale pattern and the at least one sensor .
- a second aspect of the present invention provides a method of measuring the relative position of a measurement scale pattern and at least one sensor which are moveable relative to one another, the measurement scale pattern being provided with a pattern of features arranged into groups , each group having a known absolute position, and the at least one sensor being constrained in two or more degrees of freedom, the method comprising the steps of : detecting one or more features of the measurement scale pattern at the at least one sensor; determining the position of said one or more scale features on the at least one sensor; and thereby determining the position of the at least one sensor or an obj ect connected to the at least one sensor relative to the measurement scale pattern in at least one linear and one rotational degree of freedom.
- Two or more features may be detected by the at least one sensor, and the method further comprising the following steps : determining the position of the images of the two or more features , whose absolute positions are known; determining the ratio of the distances between the two or more features and a datum position on the at least one sensor; and using the ratio of the distances between the two or more features and a datum position to determine the actual distance of the images of the two or more features to the datum position .
- a third aspect of the present invention provides a measurement scale comprising : a pattern of features arranged into groups ; wherein each group has a feature , the position of which is known with respect to the group; and each group has one or more subsidiary feature which defines the position of the group, the subsidiary- features being provided with multi-level coding .
- each group may have a feature, the position of which is known with respect to similar features in other groups .
- the feature whose position is known with respect to the group and the feature whose position is known with respect to similar features in other groups may be the same feature .
- the multi-level coding may comprise the use of different colours .
- a fourth aspect of the present invention provides a measurement scale comprising : a pattern of features arranged into groups ; wherein each group has a feature, the position of which is known with respect to similar features in other groups ; and each group has one or more subsidiary feature which defines the position of the group, the subsidiary features being provided with multi-level coding .
- a fifth aspect of the present invention provides a measurement system comprising a measurement scale and at least one sensor, the measurement scale and sensor being moveable relative to one another, having the measurement scale pattern above .
- a sixth aspect of the present invention provides a method for measuring the relative position of a measurement scale pattern and at least one sensor which are moveable relative to one another, the measurement scale pattern being provided with a pattern of features , the method comprising the steps of : detecting two or more features on the scale ; determining the position of the images of the two or more features , whose absolute positions are known; determining the ratio of the distances between the two or more features and a datum position on the sensor; and using the ratio of the distances between the two or more features and a datum position to determine the actual distance of the images of the two or more features to the datum position .
- a seventh aspect of the present invention provides a method for measuring the relative position of a measurement scale pattern and at least one sensor which are moveable relative to one another, the measurement scale pattern being provided with a pattern of features , the method comprising the steps of : detecting one or more features of the measurement scale pattern at the at least one sensor; determining the position of said one or more scale features on the at least one sensor; wherein the displacement of the image of a feature from its expected position is used to determine the relative velocity between the measurement scale pattern and the at least one sensor .
- Fig 1 illustrates a plan view of the 2D grid and readhead
- Fig 2 is a plan view of a basic unit of the 2D grid of Fig 1 ;
- Fig 3 is a section of the grid of Fig 1 ;
- Fig 4 is a section of the grid of Fig 1 , illustrating the direction vector between adj acent central dots ;
- Fig 5 is a side view of a second embodiment , showing the grid, camera and additional light source;
- Fig 6 a schematic illustration of the embodiment of Fig 5 , showing the grid at different heights ;
- Fig 7 is a side view of a third embodiment , showing the grid an two cameras ;
- Fig 8 is a plan view of a linear scale and readhead
- Fig 9 is a schematic illustration of a an alternative embodiment of the system which enables Z translation to be measured
- Fig 10 is an illustration of the image detected by the camera at a first height above the grid
- Fig 11 is an illustration of the image detected by the camera at a second height above the grid;
- Fig 12 illustrates an embodiment of the invention using two sensors ;
- Fig 13 illustrates the detected image of a dot on the measurement grid using a single sensor
- Fig 14 illustrates the detected image of two dots on the measurement grid using the sensor arrangement of Fig 12 ;
- Fig 15 illustrates a raster scan of the pixels of the sensor .
- Fig 16 illustrates images of dots on the sensor .
- Fig 1 illustrates a plan view of a 2D scale and readhead of the invention .
- the scale 10 and readhead 12 may be mounted on members (not shown) which are moveable with respect to one another in a plane parallel to the plane of the scale .
- the grid comprises a matrix of dots 14.
- the matrix is made from a series of basic units , each comprising nine dots .
- Fig 2 illustrates a plan view of a basic unit 16 of the matrix . This comprises a marker feature comprising a central dark dot 18 surrounded by eight coloured dots 19.
- the basic units differ from one another by changing the colour of the coloured dots 19.
- the matrix is built up from these basic units , each basic unit having a different arrangement of the colours of the coloured dots .
- each black dot is known relative to the coloured features of the group .
- the position of each black dot is also known relative to the black dots in other group .
- the position of the black dots in different groups may be determined by mapping the grid, for example .
- each basic unit four of the coloured dots 20 are used to code the position along the X axis and four of the coloured dots 22 are used to code the position along the Y axis .
- Fig 3 illustrates basic units making up a portion of the grid . All the basic units with the same X position have the same pattern of coloured dots for the four dots denoting the X position . Likewise, all the basic units with the same Y position have the same pattern of coloured dots for the four dots denoting the Y position . However, basic units with different X positions will have different patterns of coloured dots for the four dots denoting the X positions .
- Using four dots for each of the X and Y positions enables a large amount of positions to be encoded . For example, if six colours are used for the four dots ( e . g . green, red, blue , cyan, magenta + yellow) , then 6 4 combinations are possible , i . e . 1294 combinations .
- the readhead comprises a sensor, such as a camera or other 2D optical detector, such as a charge coupled detector (CCD) .
- a light source may also be provided to illuminate the grid .
- the camera detects the dots and enables the position of each dot to be determined .
- a lens may be provided to focus the image of the dots onto the sensor in known manner .
- the relationship between feature size on the grid and image size on the sensor is 1 : 1. This has the advantage that image distortions at the sensor are theoretically eliminated . However they could alternatively be error mapped .
- the senor can have fixed focus .
- the light source used to illuminate the grid can be fixed, producing a flat illumination .
- the position of the readhead relative to the scale may be determined .
- the basic unit with that pattern of coloured dots is recognised .
- a controller may compare the detected pattern of the basic unit with known patterns from a look up table . By determining the location of the image of the central black dot of the basic unit on the camera , the exact position of the camera relative to the grid can be determined
- the position of the image of the black dot on the camera is found by determining its centre . This may simply be done for example by detecting the circumference of the dot and deducing the centre from it . Using the centres of the dots to locate the position of the dots reduces the image processing required by the sensor and enables a low resolution sensor to be used .
- the invention has the advantage of simple image processing .
- the invention has the advantage that the grid is easy to produce as only the black dots need to be positioned accurately . Errors in the positions of the coloured dots do not effect the position readings .
- This invention has the advantage that not only can translational movement of the camera relative to the grid be determined, but rotational movement of the camera in the XY plane can also be determined as described below .
- Fig 4 illustrates the grid as imaged onto the camera .
- the vector 38 from one black dot 30 to the other 32 can be determined .
- the orientation of the camera relative to the grid in the XY plane can be determined . This calculation may be carried out in a processor associated with the sensor .
- the basic units are square and thus enable the orientation of the sensor relative to the measuring scale to be determined for relatively small angles .
- a rotation of 90° cannot be differentiated from a different basic unit .
- Use of a different shape of basic unit for example a rectangular shape made up of a 4 x 2 pattern of dots , would enable 90° orientations to be determined but the same problem would be encountered for 180° orientations .
- a non symmetric marking may be included in the basic unit so that the absolute position of the basic unit can be determined throughout 350° .
- the black dots could be replaced by features of another shape , for example a hyphen shape . In this case, only- one hyphen would need to be detected to determine the orientation of the camera relative to the grid.
- the relative orientation may be determined using several sets of black dots (or other features ) and the results averaged to gain a more accurate result .
- the pattern of coloured dots could be replaced with a pattern of different shapes or a pattern or dots with different spacings .
- dots of different reflectivity could be used .
- the camera is preferably constrained to move only in the plane of the scale ( i . e . in the XY plane and to rotate about Z ) .
- the position of the part of interest can be deduced to a greater accuracy than would be possible if movement was allowed in all 6 degrees of freedom. This is because, although rotation about X or Y and movement in the Z direction can be deduced by looking at the scale, these terms cannot typically be determined to the same accuracy as movement in the X or Y direction or rotation about the Z axis . Any error in calculating rotation about the X or Y axis will be multiplied by the distance between the scale plane and the point of interest .
- Rotation about X and Y will also effect the accuracy of the position reading in the XY plane and about Z .
- the system is able to detect position to a high accuracy, e . g . sub-micron level .
- FIG 5 shows a system in which the camera 42 is moveable relative to the grid 40 in X, Y and Z .
- a light source 44 for example a laser, which is located in a fixed position relative to the camera 42 , is used to proj ect a light spot 46 onto the grid 40.
- the light source 44 is set at an angle, e . g . 45 ° , to the camera 42.
- the position of the light spot 46 as detected by the camera 42 will move in X .
- the relative displacement of the grid 40 and camera 42 can be determined .
- Fig 6 illustrates the two relative positions of the grid 40 at Zl and Z2.
- the light beam 48 proj ected from light source 44 intersects the grid 40 at different positions at grid positions Zl and Z2 , thereby causing the position of the spot 46 imaged on camera 42 to differ in X for the two grid positions .
- the camera is used as before to determine the relative displacement in the XY plane .
- the camera may be provided with auto focussing means to enable the camera to adequately detect the dots at different distances from the grid .
- Fig 9 illustrates an embodiment in which the sensor is able to measure translation in Z even though the sensor is constrained to move only in the XY plane .
- the sensor 12 is constrained so that it has translational movement in two degrees of freedom in the XY plane and rotational movement about the Z axis .
- the measurement scale 10 comprises a translucent structure onto which the scale pattern is printed .
- the sensor 12 is positioned below the measurement scale and is in a fixed relationship via a bracket 70 to a mounting structure 72 onto which a laser 74 is mounted .
- the laser 74 is directed towards the sensor 12 , at an angle .
- the mounting structure 72 enables the laser 74 to be translated in Z , whilst constraining it in the other five degrees of freedom.
- the sensor is able to detect the laser dot and as the laser moves in Z , detect its movement .
- a device such as a camera or probe may be mounted on the mounting structure 72 and its movement may thus be measured in four degrees of freedom, i . e . translationally in X, Y and Z and rotationally about Z .
- the camera may be replaced by two cameras 52 , 54 angularly offset to one another . Both camera 52 , 54 are focussed onto the same location on the grid 50. As the relative displacement in Z between the grid 50 and the cameras 52 , 54 changes , the pattern detected by each of the cameras 52 , 54 will change . This change can be used to measure the relative displacement in Z .
- two dots 56, 58 are detected by both cameras 52 and 54.
- camera 52 only detects the dot 56 and camera 54 detects no dots .
- the outputs from camera are sent to a controller .
- the output of the cameras 52 , 54 are combined to determine the displacement of the camera relative to the grid in the XY plane .
- the difference in outputs from the cameras 52 , 54 are used to determine the Z displacement of the cameras 52 , 54 relative to the grid 50.
- figs 10 and 11 Another method of determining the relative height of the grid and camera is illustrated in figs 10 and 11.
- Fig 10 illustrates the view of the grid when the camera is at a first height hi above the grid and
- fig 11 illustrates the view of the grid when the camera is at a second height h2 above it .
- each pixel in the camera is used to best fit the image with the expected image at any particular height and orientation .
- the relative height of the grid and camera is thus determined from this best fit operation .
- This method also has the advantage that as all the camera pixels are used, then if any pixel produces an erroneous signal , the error has little effect on the overall result . This is unlike the method of comparing the diameter of the dots , in which case the error from a single pixel could have a larger effect .
- Fig 8 illustrates a linear scale 60 and a readhead 62 movable relative to the scale .
- the linear scale 60 comprises a linear array of units 64 , each having a data dot 66 and a pattern of coloured dots 68.
- the coloured dots 68 identify the unit and the image of the black dot 66 on the sensor of the readhead enables the exact position of the readhead to be determined .
- FIG. 12 A further embodiment of the invention is illustrated in Fig 12.
- two sensors 80 , 82 e . g . cameras ) are used to detect the pattern of dots on the grid 84.
- the two sensors 80 , 82 are spaced a distance d apart, for example 50mm or 100mm and are fixed relative to one another by a bar 86. Both sensors are orientated towards the grid, parallel to one another .
- one dot detected by each sensor is used for this calculation .
- This arrangement has the advantage that the dots used in the calculation are separated by a significant amount and thus it is more accurate than using two adjacent dots in the field of view of a single sensor, which may be spaced apart for example 1.5mm apart .
- Fig 13 illustrates an image taken by a sensor of a marker feature (e . g . black dot ) 88 on the grid 84.
- the position of the image of the marker feature on the sensor must be determined .
- the real position of the marker feature on the grid is known (from the colour coded dots , for example )
- the relative position of the sensor may be determined .
- the number of pixels are counted from the image of the marker feature to a datum position 90 ( e . g . the centre of the image ) in both X and Y directions .
- the number of pixels is multiplied by a pixel scale factor .
- this method of determining the position of the marker feature has the disadvantage that the pixel scale factor varies with rideheight of the sensor relative to the grid .
- the position of the sensor relative to the grid may be determined without requirement of the pixel scale factor, by using two marker features to determine the relative position of the sensor in each direction (X, Y) .
- Fig 14 illustrates the image produced by the sensor .
- the image of two marker features 90 , 92 on the grid are used to determine the position of the sensor relative to the grid in the X direction .
- the positions of the marker features on the grid in the X direction are known .
- the distance of the images of these marker features from the datum position i . e . the centre of the image
- the ratio of the distances between the centre pixel and the image of the two marker features as this is the same as the ratio of the actual distance to the camera centre and the distance to the known coordinates of the marker features .
- the pixel scale factor is not required and thus this embodiment is tolerant to rideheight .
- the position data of the dots on the grid is determined by scanning the field of view 94 of the camera . This is typically done as a raster scan, reading information from each pixel in turn along the top row 96 and then repeating this method for each subsequent row, as illustrated by the arrows 98 , 100 shown in Fig 15.
- Fig 16 illustrates four dots A, B, C and D in the field of view of the camera . Reading the data from the pixels using the raster scan as described above, the measurement data of dot A will be read first , followed by dot B, dot C and finally dot D . if there is relative movement between the sensor and grid, then the position of dot D may have changed by the time the output from the pixels in its vicinity are read .
- the position shift of the two bottom dots C and D from where they are expected to be can be used to determine the relative velocity of the grid and sensor .
- a good image of dots C and D will result and the positions of dots C and D can be differentiated to give accurate position data .
- an unclear image of dots C and D will result and the change in position of the dots can be used to measure the relative velocity .
- the two dimensional measurement grid and associated sensor have many potential uses .
- One such use is with an X-Y planar motor, such as those used for testing PCBs (e . g . a flying probe test system) .
- the relative position of parts of an X-Y planar motor can conventionally be determined by computation from the magnetic grid to an accuracy of the order of millimetres .
- the measurement grid and sensor of the present invention the relative positions of moving parts can be determined to an accuracy of the order of micrometers .
- the measurement grid of the present invention has the advantage that it can easily be manufactured in large sizes , so it is suitable for use in large machines , for example the above mentioned flying probe test systems may have a size of over Im 2 . Machines such as flying probe test systems are typically already provided with cameras which may also be used as the sensor for the measurement grid .
- the measurement grid and sensor is also suitable for use in laboratory instruments having two-dimensional stages , for carrying out procedures such as assays .
- these two-dimensional stages use stepper motors or linear motors to control the relative position of moving parts .
- a two dimensional measurement grid may be located in a corner of the instrument as a calibration grid .
- a calibration artefact could be provided with a measurement grid, the calibration having similar dimensions to a well plate .
- These instruments are typically provided with cameras , e . g . for monitoring reactions in assays , and these cameras can be used as the sensor for the measurement grid .
- the measurement grid and sensor are suitable for instruments which are already provided with a camera or other sensor which can also be used as the sensor for the measurement grid .
- the measurement grid and sensor are suitable for use in a microscope . This has the advantage that microscopes are typically back lit and so do not need an additional light source .
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Abstract
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007547655A JP2008525783A (en) | 2004-12-23 | 2005-12-22 | Positioning method |
US11/791,263 US20080040942A1 (en) | 2004-12-23 | 2005-12-22 | Position Measurement |
EP05850644A EP1828725A1 (en) | 2004-12-23 | 2005-12-22 | Position measurement |
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GB0428165.5 | 2004-12-23 | ||
GBGB0428165.5A GB0428165D0 (en) | 2004-12-23 | 2004-12-23 | Position measurement |
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WO2006067481A1 true WO2006067481A1 (en) | 2006-06-29 |
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PCT/GB2005/005028 WO2006067481A1 (en) | 2004-12-23 | 2005-12-22 | Position measurement |
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US (1) | US20080040942A1 (en) |
EP (1) | EP1828725A1 (en) |
JP (1) | JP2008525783A (en) |
CN (1) | CN101084413A (en) |
GB (1) | GB0428165D0 (en) |
WO (1) | WO2006067481A1 (en) |
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Cited By (12)
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EP1972901A1 (en) * | 2007-03-20 | 2008-09-24 | CSEM Centre Suisse d'Electronique et de Microtechnique SA Recherche et Développement | Method of two-dimensional measurement of the position of an object |
US9618369B2 (en) | 2008-08-26 | 2017-04-11 | The University Court Of The University Of Glasgow | Uses of electromagnetic interference patterns |
EP2169357A1 (en) | 2008-09-24 | 2010-03-31 | CSEM Centre Suisse d'Electronique et de Microtechnique SA Recherche et Développement | A two-dimension position encoder |
US9040900B2 (en) | 2011-06-24 | 2015-05-26 | Canon Kabushiki Kaisha | Two-dimensional absolute encoder and scale therefor |
DE102013102474A1 (en) | 2013-03-12 | 2014-09-18 | Carl Mahr Holding Gmbh | One-dimensional measuring device |
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US11009693B2 (en) | 2015-12-10 | 2021-05-18 | Canon Kabushiki Kaisha | Microscope system |
DE102020204280B4 (en) | 2019-04-03 | 2024-03-07 | Mitutoyo Corporation | Optical encoder |
CN114460442A (en) * | 2022-02-09 | 2022-05-10 | 苏州格拉尼视觉科技有限公司 | High-precision needle-off compensation method and device for flying needle test and storage medium |
Also Published As
Publication number | Publication date |
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CN101084413A (en) | 2007-12-05 |
JP2008525783A (en) | 2008-07-17 |
US20080040942A1 (en) | 2008-02-21 |
GB0428165D0 (en) | 2005-01-26 |
EP1828725A1 (en) | 2007-09-05 |
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