DE102004051565A1 - Opto-electronic arrangement, e.g. for controlling robot, has position-sensitive detector illuminated by two light emission devices, for forming two measuring cells with common detector - Google Patents

Abstract

Opto-electronic arrangement has a position-sensitive detector (105) illuminated by two light emission devices, to form two measuring cells with a common detector. A slotted diaphragm is between the light emission device and detector in a beam path. A slot direction of the diaphragms is aligned diagonally relative to a light-sensitive part of the detector. A light plane shines through the diaphragms and falls on the detector. Independent claims are also included for: (A) A pan/zoom sensor comprising a set of plates; (B) A PC keyboard comprising a force and/or moment sensor; and (C) A method of determining relative movements or relative positions of two objects.

Description

BACKGROUND THE INVENTION

The The invention relates to an optoelectronic device for Detecting relative movements or relative positions of two objects, which arrangement at least one position-sensitive detector comprising, each position sensitive detector of a light emitting device is illuminated to form a measuring cell. Furthermore, the Invention, a force and / or torque sensor, such a Arrangement operated. After all The invention relates to a PC keyboard which can be used for the power and / or torque sensor.

For the computer user It is becoming increasingly important to control three-dimensional movements through a peripheral device. In this case, a three-dimensional deflection is detected by the peripheral device and as translation (X, Y, Z) and / or as rotation (A, B, C) in the Space described. The most important component is the sensor, the can measure the deflection in up to six (6) degrees of freedom.

DE-36 11 337 A1 discloses a plastic ball housed Optoelectronic arrangement, which simultaneously has six components, namely Shifts (translation) along three axes and angular rotations around three axes, can capture. For this purpose, six light-emitting Facilities at substantially equal angular intervals to each other arranged in a plane. Each light-emitting device a fixed slit diaphragm is connected upstream. The relative movements or relative positions are detected by photosensitive detectors taken relative to the arrangement of light-emitting devices and slit diaphragms are movably arranged, and their detector axis perpendicular to the slot direction. The arrangement requires relatively low design effort, since the light-emitting devices and diaphragms, and possibly other electronic devices for driving and evaluation with conventional soldering on a single Board can be arranged which can be firmly connected to a first object. The position sensitive Detectors are connected to the second object. The disadvantage is however, that the arrangement requires a relatively large area. Cause is the relatively large one spatial Extension of the aperture and detectors, which are arranged in a ring around the light emitting devices are. As a result, a miniaturization of the arrangement limits set.

Further Documents with no claim to completeness that are technical Background for show the invention are: DE-27 27 704 C3, DE-36 11 336 C2, DE-32 40,241 A1, US 3,921,445 and U.S. 3,628,394.

THE INVENTION PASSING PROBLEM

Optoelectronic Arrangements for measuring relative movements or relative positions, and force and / or torque sensors, such arrangements in the past, have been mainly used in industrial Applications gained importance. Examples are the controlling of robots and measuring forces at vehicle test and measuring stands. The In principle, arrangements and sensors are also available in the office sector as well as commercially very interesting in consumer electronics Applications. They have the function of an input device, with up to six components can be entered unlike a joystick, a mouse or a trackball, which generally allow the entry of only two components. A simple and convenient input of six components, like it a force and / or Momentsensor with an optoelectronic arrangement allowed is For example, to control 3D design software and sophisticated Computer games desirable. The previous input devices However, due to their space / volume requirements are very unwieldy, which was substantially opposed to wider dissemination. A miniaturization would the installation, e.g. in game consoles, PC keyboards or notebook computers allow a broad market penetration.

The typical 3D input devices serve the manipulation of three-dimensional objects in the same time 6 degrees of freedom (6DOF = 3 translations and 3 rotations). The Cap or the ball of the 3D input device is spring-mounted and allows any deflection in space (6DOF). This group of input devices are targeted to customers with true 3D applications (6DOF), such as Catia or other CAD applications.

In addition to the real 6DOF applications, there is also a large group of applications in which to rotate an object is not desired. Examples of such applications are the Office products (Word, Excel, Powerpoint, etc.) and image processing programs (Adobe Photoshop, Acrobat Reader, etc.). The manipulated object is usually a two-dimensional template ("labeled and / or painted paper") that does not want to distort the original, but the customer's desire to change the view remains, but it is limited to moving it (Pan-2 DOF) and zooming in and out (zoom -1 DOF) of the object.

aim a development for This customer group is building an input device specifically for Pan / Zoom applications suitable is. That could be you get the costly effort of a full-fledged 3D sensor (6DOF), where the three rotatory movements are easy be ignored.

outgoing The prior art thus provides the present invention Task, an arrangement for detecting relative movements or to create relative positions of two objects, in comparison to the known arrangements provides a maneuverable design. To the Example could be the design of the arrangement will be more efficient and / or more flexible or a smaller space requirement exhibit. Furthermore, could The design of the arrangement may be cheaper and / or more specific for Pan / Zoom applications be suitable.

Furthermore The invention is based on the object, a force and / or Moments sensor to create, which also compared to the known sensors allows more elegant design. Finally lies The invention is based on the object, an input device for use in the office creating an uncomplicated way to input up to six or torque components allowed.

INVENTION SOLUTION

To the Fulfill This object teaches the invention an optoelectronic device for detecting relative movements or relative positions of two Objects defined by the features of claim 1, 10, 22, 29 or 35 is defined. The invention further teaches a force and / or A torque sensor defined by the features of claim 42 is. Preferably, the force sensor serves as a pan / zoom sensor for image processing and other similar office applications. After all She also teaches a personal computer keyboard, characterized by the features of the Claim 53 is defined.

CONSTRUCTION AND EDUCATION OF THE INVENTIONS SOLUTION

A Optoelectronic arrangement for detecting relative movements or Relative positions of two objects according to one form of the invention includes at least one position sensitive detector and is characterized in that the position sensitive detector illuminated by at least two light emitting devices, to form two measuring cells with a common detector.

Preferably indicates each of the two measuring cells formed by a common detector one in the beam path of the corresponding light emitting device between said light emitting device and the position sensitive one Detector arranged on slit. Every position sensitive Detector can be used in conjunction with two adjacent slit diaphragms stand.

In a preferred embodiment the optoelectronic device is a slot direction of at least one the slit aperture obliquely aligned with respect to the photosensitive portion of the detector. In a further preferred embodiment of the optoelectronic Arrangement forms a light plane passing through at least one of Slit aperture radiates and falls on the detector, an angle with one Plane of a photosensitive part of the detector.

there it is preferred that each detector be alternately (e.g., periodically) is illuminated by a light emitting device, wherein a measured value of the detector at the same time. In other words At any given time, the detector of each measuring cell is only illuminated by illuminated a light emitting device, wherein the measured value of the Detector at the same time.

An optoelectronic device according to a further form of the invention comprises at least one position-sensitive detector, wherein the position-sensitive detector is illuminated by a light-emitting device to form a measuring cell, and the measuring cell also in the beam path of the Light emitting device between the light emitting device and the position sensitive detector arranged slit. This optoelectronic device is characterized in that a plane of light radiating through the slit and incident on the detector is angularly oriented with respect to a photosensitive part of the detector.

In a preferred embodiment the optoelectronic arrangement forms the light plane an angle with a plane of the photosensitive part of the detector. Preferably extends a slot direction of the slit is substantially perpendicular to the photosensitive part of the detector.

In an alternative embodiment the optoelectronic device is a slot direction of the slit aslant aligned with respect to the photosensitive portion of the detector.

In a preferred embodiment this optoelectronic device of the invention is the position sensitive Detector in conjunction with two adjacent slit diaphragm, wherein the position sensitive detector as part of two different measuring cells serves. Preferably, each slit is emitted from its own light emitting device illuminated so that each position sensitive detector of two Light emitting devices is illuminated to two measuring cells to form with a common detector.

In a particularly preferred construction, each of the two adjacent Slit diaphragm of a respective arranged light emitting device illuminated. The two adjacent slit diaphragms can be together include an angle and can also preferably in each case mutually perpendicular slots exhibit.

A Optoelectronic arrangement for detecting relative movements or Relative positions of two objects according to yet another form of the invention comprises at least one position-sensitive detectors, wherein each position sensitive detector from its own light emitting device is illuminated to form a measuring cell. This optoelectronic Arrangement is characterized in that the measuring cells in groups are arranged so that the measuring cells of each group substantially are arranged parallel or perpendicular to each other.

In a preferred embodiment In addition, these optoelectronic devices each comprise the measuring cells one in the beam path of the light emitting device between the Light-emitting device and the position-sensitive detector arranged slit diaphragm, wherein a detector axis of the position sensitive Detector substantially perpendicular to a slot direction of Slit diaphragm is aligned. The detector axes of the position sensitive Detectors in each group of measuring cells are preferably parallel arranged to each other.

According to one Another form of the invention comprises an optoelectronic device for detecting relative movements or relative positions of two Objects at least two position sensitive detectors, where each position sensitive detector from its own light emitting device is illuminated to form a measuring cell. This optoelectronic Arrangement is characterized in that all position sensitive Detectors and light emitting devices in a common Plane are arranged, and that the measuring cells parallel to Cartesian Axes are arranged. The measuring cells can therefore essentially parallel to each other and / or substantially perpendicular to each other be arranged.

In a preferred embodiment In addition, these optoelectronic devices each comprise the measuring cells one in the beam path of the light emitting device between the Light-emitting device and the position-sensitive detector arranged slit diaphragm, wherein a detector axis of the position sensitive Detector substantially perpendicular to a slot direction of Slit diaphragm is aligned.

In a preferred embodiment The optoelectronic device of the invention is one element each Measuring cell consisting of light emission device, slit diaphragm and detector movable relative to the other two elements. The movable element is preferably arranged in the center of rotation of the measuring cell, so the measuring cell mainly only (i.e. can capture translational movements. Therefore, this measuring cell in principle do not detect any rotational movements. Rotations can only be detected be when the movable element with a distance from the center of rotation is located away. Is this distance from the center of rotation zero or minimal, the measuring cell is "blind" or "almost blind" for the rotary Move.

According to a further form of the invention, an optoelectronic device for detecting comprises of relative movements or relative positions of two objects, at least one position-sensitive detector, each position-sensitive detector being illuminated by a light-emitting device to form a measuring cell, and the measuring cell also having a slit disposed in the beam path of the light-emitting device between the light-emitting device and the position-sensitive detector. An element of the measuring cell consisting of the light emitting device, the slit and the detector is movable relative to the other two elements and the measuring cell can detect only translational movements. Eventually, the movable element of the measuring cell is arranged in the center of rotation of the measuring cell. Preferably, the movable element of each measuring cell is arranged in the center of rotation of the corresponding measuring cell.

In a preferred embodiment The optoelectronic device of the invention comprises the device at least three measuring cells, preferably from three to six measuring cells or even more than six measuring cells.

In a preferred embodiment The optoelectronic device of the invention is at least one of Light emission device, slit diaphragm and detector existing Measuring cell provided with a movable light emitting device, this measuring cell has a larger working area or range of motion has.

In a possible Further development of the invention are all light-emitting devices, prefers infrared light emitting diodes (ILEDs), and position sensitive Detectors, preferably position-sensitive infrared detectors, arranged in a common (first) level.

According to one Another aspect of the invention is a force and / or torque sensor provided by an optoelectronic device according to the invention for detecting relative movements or relative positions of two Objects is marked. The two objects are preferred from a first plate and a second plate, the first one Plate and the second plate are elastically connected and relative are movable relative to each other.

The 3D input devices according to the invention can be equated with a force and / or torque sensor. The translatory movements (X, Y, Z) correspond to the forces (F _x, F _y, F _z), and the rotary movements (A, B, C) correspond to the moments (M _x, M _y, M _Z). A pan / zoom sensor corresponds to a force sensor (F _x , F _y , F _Z ), since the pan / zoom sensor can only detect translational movements (X, Y, Z).

Further Preferred embodiments of the invention are described in the independent claims and communicated in the following description of exemplary embodiments.

SUMMARY THE DRAWINGS

In The following figures show embodiments, where functionally similar or functionally similar components with the same Reference numerals are marked. It shows:

1 a measuring cell consisting of an LED (Light Emitting Diode, LED), a diaphragm and a PSD (Position Sensitivity Detector);

2 the parameters of a measuring cell according to 1 ;

3 the considerations of the cut surface and the idealized point of intersection;

4 a graphical representation for calculating a translational movement of the diaphragm;

5a - 5c possible changes to the parameters of the measuring cell without functional influence;

6a . 6b a measuring cell of an optoelectronic device according to the invention with a rotation of the diaphragm around the vector LEDdir;

7 an optoelectronic device according to the invention with six measuring cells according to the 6a and 6b ;

8th a measuring cell of an optoelectronic device according to the invention with a rotation of the diaphragm around the vector IRISdir;

9 an optoelectronic device according to the invention with six measuring cells according to the 8th ;

10 an optoelectronic device according to the invention with three measuring cells, each corresponding to three Cartesian axes;

11a - 11c the construction of measuring cells of an optoelectronic device according to the invention, wherein a plurality of measuring cells are combined, ie the measuring cells have a common position-sensitive detector;

12a . 12b a variation of the optoelectronic device according to the 11c ;

13a . 13b the construction of an optoelectronic device according to the invention, which is suitable for the measurement of six degrees of freedom;

14a - 14c the structure of yet another optoelectronic device according to the invention, which is suitable for measuring six degrees of freedom;

15 an optoelectronic device according to the invention, which consists of three pairs of parallel measuring cells;

16a - 16c a pair of adjacent apertures for an opto-electronic device according to the invention;

17a an optoelectronic device according to the invention, which consists of three pairs of measuring cells combined with each other, which form the diaphragms according to FIGS 16a - 16c exhibit;

17b the optoelectronic device according to the 17a in which each LED is activated alternately (eg periodically);

18 a graphical representation of the elements of a measuring cell;

19 a graphical representation for calculating a translational movement of the optical element (LED);

20 a graphical representation for calculating a translational movement of the diaphragm;

21 a graphical representation for calculating a translational movement of the position sensitive detector (PSD);

22 a further optoelectronic device according to the invention, which consists of three measuring cells in the same plane;

DETAILED DESCRIPTION OF THE EMBODIMENT

Optical sensor

Sensors for detecting the three-dimensional deflection have been constructed by optical elements. In this case, the arrangement of an LED (Light Emittent Diode, LED), a diaphragm and a PSD (Position Sensitivity Detector) has proven itself as a measuring cell of a total sensor. In the 1 a single measuring cell is shown.

An LED emits a cone of light that strikes a slit and the light plane remaining behind the panel intersects with a one-dimensional PSD. The intersection of the light plane with the PSD can be described by a scalar factor λ. He gives the signed distance of the point of intersection on the PSD from the rest position (starting position). Later, the factor λ is understood as the detected voltage of the PSD. The arrangement of the three optical elements to form a measuring cell results in an important property. The measuring cell detects certain movements (X, Y, Z, A, B or C) and at the same time can not measure other movements. Thus, each individual measuring cell can be considered as a sensor for certain movements. The sum of all detected movements gives the measuring space of the entire sensor.

parameter a measuring cell

For the exact one Description of the measuring cell is the position of the LED, the aperture and the PSD's required. The position indication of the LED is the source of the generated light used. At the aperture and the PSD becomes the center of the optical Elements used. Although this is not urgently required, it does the further bill clearer and causes the scalar factor in the rest position to have the value λ = 0.

In addition, the direction of the slot in the aperture is needed, as well as the direction of the position sensitive area of the PSD. 2 shows the necessary positions and directions that describe the measuring cell. LED Position of the LED. IRISpos Position of the diaphragm (midpoint). IRISdir Direction of the slot in the aperture. PSDpos Position of the PSD (center). PSDdir Direction of the photosensitive part of the PSD.

parameter the measuring cell

at The definition of the parameters is subject to some assumptions. The light cone The LED throws its light on the aperture and the resulting light plane cuts across the workspace with the PSD.

For the later considerations is it useful determine the viewing direction of the LED. It results from the LED Position and aperture position, as well as the LED position and the PSD position. It is assumed that the three points (LED, IRISpos and PSDpos) are arranged so that they are on one Straight lines.

Of the Vector of viewing direction LEDdir is normalized to length 1. The standardization on the length 1 also applies to the direction of the slit and the direction of the photosensitive Area of the PSD.

The Thickness of slit diaphragm and position sensitive area is considered ideal thin considered. Crossing the light plane with the PSD gives idealized an intersection and no cut surface. The size λ indicates the distance of the point of intersection from the rest period. There are positive values for the size λ, if the Intersection moves from the rest position towards PSDdir and negative values for the opposite deflection. Of course, the determination of the Size λ as desired be made differently and the rest position does not necessarily have be in focus. Another determination has an influence on the Calculation / working range of the individual measuring cells, but not on the fundamental Function or the arrangement of several measuring cells.

In the 3 the considerations of the cut surface and the idealized intersection are shown.

Later, the distance of the crossing point from the rest position (size λ) by an electrical voltage U _{1 ... 6 of} the associated PSD's is specified. The greater the amount of voltage, the greater the distance of the crossing point from the rest position. The sign of the voltage indicates on which side (PSDdir) from the rest position the crossing point lies.

Calculation of the point of intersection

The Measuring cell detects the relative movement of the three optical elements to each other. The size λ is determined. It is assumed that an optical element (LED, Aperture or PSD) moves and the other two elements firmly positioned are. The case that two optical elements move may open the case be transferred with a movable optical element, as long as the moving elements are similar (rigidly coupled) move. There are three different scenarios:

Captured movement

1. LED mobile

2. Aperture mobile

3. PSD mobile

Of the Vector Translate gives the shift of the moving optical Elements on. With the Rotate Matrix, the rotation becomes of the movable optical element around the origin of coordinates (e.g., with the angles roll, pitch, yaw). In the rest position is the Vector Translate 0 and the matrix rotates is equal to the unit matrix.

Calculation of a translatory Move

The above equations are further resolved. The rotatory component is converted into the translational component. A rotational movement can only be detected by the measuring cell, because due to a lever, the rotation also leads to a shift. 4 shows an example in which a diaphragm is twisted. Only because of the glare distance from the center of rotation (in which the LED is located in the example) is the rotation measurable. The measuring cell thus detects the displacement X and the displacement Y. The simultaneous rotation of the diaphragm remains ineffective or negligible. The size of the rotation is low in the arrangements presented here and are limited to a few degrees. Thus, translation is the dominant factor.

The Rotation is "translated" into the Translate vector and then contains the translatory Movement that occurs due to the rotation of the moving part. This translational component can only occur if the movable Part is not located in the center of rotation. The actual rotation of the moving part is ignored. The simplification of the share Rotate · Translate ≈ Translate is applied.

The relative translational movement of the movable part of the measuring cell is redetermined and is thus:
Translate → Rotate · <moving part> - <moving part> + Translate

Under the condition: 0 = IRISdir · (LED × PSDpos - IRISpos × PSDpos + IRISpos × LED) λ = 0 for the case of no deflection (translation = rotation = (0 0 0) ^T ). Thus, the following simplifications result for the above equations (E = unit matrix):

1. LED mobile: Translate → Translate + (Rotate - E) LED

2. Aperture mobile: Translate → Translate + (Rotate - E) IRISpos

3. PSD portable: Translate → Translate + (Rotate - E) PSDpos

Changes without functional Influence on the measuring cell

The The above equations generally describe the construction of a measuring cell. Due to the geometric arrangement becomes visible that in the Measuring cell parameters changed can be without the functioning of the measuring cell changing. Certain changes at one or more parameters of the measuring cell are thus not important for the actual function. This results in an additional "margin" for the arrangement the measuring cell, which causes a changed geometric structure, but has no influence on the function of the measuring cell.

In the 5a It can be seen that the rotation of the PSD by the vector PSDdir or the turning around the vector LEDdir × PSDdir, and / or the shifting along the vector LEDdir × PSDdir does not affect as long as light still falls on the PSD. If a real PSD prevents the incidence of light during a rotation of eg 90 °, of course the functionality of the measuring cell is no longer given. All twists of the PSD until the occurrence of this situation have no functional influence on the measuring cell.

In the 5b it can be seen that the same applies to the aperture. Rotating the aperture around the vector IRISdir, and / or moving the aperture along the vector IRISdir or rotating around the vector IRISdir × LEDdir has no effect on the measuring cell as long as light can shine through the aperture of the aperture.

In the 5c it is shown that the LED around the vector LEDdir can be rotated arbitrarily. Even a rotation around the perpendicular vectors or a shift along the IRISdir vector is possible without any functional influence on the measuring cell as long as the light cone of the LED covers the entire working area.

The light plane around the Turn LEDdir vector

There are other changes to the arrangement of the measuring cell that affect the functionality of the measuring cell. The usual vertical or quasi-vertical arrangement is abandoned. The rotation of the aperture around the LEDdir vector causes the light plane to strike the PSD only in one direction perpendicular or quasi-perpendicular. The 6a and 6b show such an arrangement in which the aperture has been rotated by 45 °. In the 6a you can see the rotation of the slit diaphragm to the PSD. The 6b shows how in this case the light plane falls on the PSD.

sind als Punkte der einzelnen optischen Elemente zu verstehen und die Parameter IRISdir,

sind die Richtungsvektoren der Messzelle, mit der Eigenschaft |IRISdir| = |PSDdir| = 1.

Tabelle 6a

Tabelle 6b In the 7 (Aperture movable), a complete sensor arrangement is shown in which each aperture is rotated by 45 °. Table 6a lists the parameters of all 6 cells. The details of the parameters are arranged with respect to the Cartesian coordinate system in the order x, y and z. The parameters LED, IRISpos,

are to be understood as points of the individual optical elements and the parameters IRISdir,

are the directional vectors of the measuring cell, with the property | IRISdir | = | PSDdir | = 1.

Table 6a

Table 6b

The light plane around the Rotate irisdir vector

Another change of the measuring cell is achieved by turning the light plane around the IRISdir vector. The 8th shows a corresponding arrangement in which the LED has been rotated by 45 °.

Tabelle 8a

Tabelle 8b In the 9 (Aperture movable), a complete sensor arrangement is shown in which all the LEDs have been moved out of the planar arrangement and the light planes obliquely fall on the PSD's. Only with the vertically arranged PSDs, this leads to a change in the measuring cell. The horizontally arranged PSDs register no change in the measuring cell.

Table 8a

Table 8b

Rules for the design an optical 3D sensor

grouping

Out The individual measuring cells should have a complete 3D sensor (Pan / Zoom - 3 degrees of freedom or with 6 degrees of freedom). The basic applies here Rule that with N measuring cells at best an N dimensional sensor can be built. The sensor is always in a Cartesian Coordinate system that corresponds to the right hand rule. The goal of subsequent group formation is to create rules with their help groups of measuring cells (one or more measuring cells) can capture certain degrees of freedom in Cartesian space.

1 group

With of the 1 group, a single measuring cell is arranged so that approximately only one degree of freedom is detected. The measuring cell can actually no rotations capture only when the rotation is also a shift (Translation due to a rotation, "carousel ride") is caused this measurable.

Tabelle 10a

Tabelle l0b Conversely, the measuring cell can only measure one translation if the moving optical element (LED, aperture or PSD) is in or near the center of rotation of the sensor. The 10 (Moving LED) shows such an arrangement for a Pan / Zoom sensor, which can detect due to the arrangement no or almost no rotations. The measuring cell 1 can only detect movements along the Y axis. With the measuring cell 2, the movements along the X axis are determined, while the measuring cell 3 is responsible for measuring the movement along the Z axis.

Table 10a

Table 10b

in the next Step, the above 3D sensor (Pan / Zoom) is further changed. Instead of the LEDs in the turning center Now the PSD's positioned there. Although it is possible would be three PSD's in the turning center to place, only a single PSD is used here. The only PSD but is used by all three measuring cells (multiple use). This can of course not happen at the same time, because the PSD is just a crossroads of one Light level can detect. Three crossing points at the same time result in an arithmetic mean as a result, not that meaningfully can be further processed. But it is possible the Interrogate measuring cells one after the other and offset the LEDs (without overlapping) turn on and the crossover points on the PSD one after the other determine.

In the first step a group of 1 is formed. It is used to determine the movement along a major axis (here along the X axis). 11a shows the measuring cell.

motion vector

In the 11a the motion vector for this measurement line is also drawn. It indicates to which movement of the movable optical element the measuring cell can detect. All movements perpendicular to the motion vector can not be detected. The motion vector results from the vector product of IRISdir × LEDdir. It is thus independent of the orientation of the PSD (PSDdir). The orientation of the PSD is important for the working range of the measuring cell, but not for the measurable direction of movement of the measuring cell.

2er group

In a group of two, two measuring cells are combined so that each measuring line can detect up to two movements along the axes (X, Y or Z). By combining the two measuring cells, the two movements must be distinguishable. This can be read off from the respective motion vectors. The motion vectors may not be equal BEW1 ≠ BEW2, or in other words, the tetrahedron (cross product) spanned by the motion vectors should be as large in volume as possible (sufficient condition). (BEW1 × BEW2 | = MAX> 0

For the group of 2, the first measuring cell is combined with another measuring cell. The second measuring cell is attached laterally so that the light plane strikes the PSD at 45 °. She is thus capable of being next To detect the movements along the X axis and the up and down movements along the Y axis. Both measuring cells together form a 2-group, as each measuring cell can detect up to 2 degrees of freedom and the combination of the two detected movements on the individual degrees of freedom can be clearly concluded. This relationship will later be seen again in the calibration matrix of the complete sensor (Pan / Zoom). The requirements for a group of two does not require that a measuring cell only detects one direction of movement (such as the one along the X axis). A group of two would also be given if the measuring cell 1 were arranged in mirror image to the measuring cell 2. In the 12b such a compilation is shown.

Tabelle 11a

Tabelle 11b The third measuring cell must now at least detect the movement along the Z axis. This could be a group. However, it can no longer be used here because the already positioned PSD is positioned along the X axis. A movement in the Z axis can only be detected by a plane of rotation twisted in the X / Z plane on the PSD. This leads to an arrangement of the third measuring cell, in which the LED is offset (for example along the Z axis) and the light plane falls onto the PSD as desired by means of a rotated diaphragm. 11c (PSD mobile) shows a possible arrangement.

Table 11a

Table 11b

The Table 11b shows the calibration matrix due to group formation can be interpreted very easily. For the determination of the movement along the X axis, only the first measuring cell is responsible. Only U1 will be for the determination of this movement is needed. The voltage U2 (second Measuring cell) detects the movement along the X in the same way Axis, like the first measuring cell. The difference of the voltage U2 and U1 eliminates the X motion and leaves only the Y motion, which is detected only by the second measuring cell. The third measuring cell actually represents a group of 3 because they are translational Measure movements along all axes. With the help of the group of 2, which is formed with the first two measuring cell, the doing already known movements along the X and the Y axis be eliminated. The factor for U1 eliminates the movement along the X axis for the 2nd and 3rd measuring cell. With the factor for U2 will be added the movement along the Y axis from the third measuring cell by calculation away. Left Through the calibration matrix in the third line the movement remains the Z axis, which is only measured by the third measuring cell.

Two other variations are in the 12a and 12b shown. They were designed using the same methodology as the pan / zoom sensor in the 11c , They show how with simple changes other but equivalent or advantageous sensors can be developed.

In the 12a (PSD movable), the third measuring cell was moved along the Z axis and not along the X axis as in the sensor of 11c , In the 12b (PSD movable), the symmetrically arranged measuring cells 1 and 2 form a 2-group. However, a symmetrical arrangement is not absolutely necessary for group formation. It serves more to obtain a simpler calibration matrix and to symmetrically build up the working area of the complete sensor. The third measuring cell forms with the first group of 2 (measuring cell 1 and 2) another group of 2, since the measuring cell can not detect the movement along the Y axis.

The The above examples show that a variety of arrangements one Pan / Zoom sensor result. It is not for the basic functionality decisive, whether the oblique incident light level with 45 ° or at a different angle. The angle of incidence has an influence the resolution won and the work area of the movement to be detected. By tilting the light plane (in two degrees of freedom, turn around the LEDdir vector and the IRISdir vector), the measuring cell can also be used for "unfavorable" movements. For vertical or quasi-vertical light incidence these are additional options not usable.

Design of 3D sensors with 6 degrees of freedom

Similar to the Pan / Zoom sensor, a 3D sensor with 6 degrees of freedom is now being set up. First the groups of 1 are set. In this example, the apertures should be the movable optical element. The apertures are positioned on the major axes to form the 1's groups. In the 13a The first three measuring cells are positioned.

Tabelle 13a The aperture of the first measuring cell is positioned on the X axis. Thus, this measuring cell can only detect movements along the X axis. It offers itself as a partner for a group of 2, because the movement along the X axis can be completely excluded from a group of two. The second measuring cell is positioned in the same way. It can only measure the movements along the Z axis. So that the third measuring cell likewise forms a group of 1, its diaphragm is placed in the coordinate origin. It can thus only detect the movements along the Y axis. With these three measuring cells, only the translatory movements are measured. Since each measuring cell is responsible for exactly one main axis, the remaining three measuring cells need only be arranged in such a way that they can detect the rotational degrees of freedom. The 13b (Aperture movable) shows a possible arrangement of all six measuring cells. By forming 1 group, it is sufficient to detect each of the remaining rotations by only one measuring cell.

Table 13a

Tabelle 13b In addition to the movement along the Y axis, the measuring cell 4 also detects the rotation about the Z axis (C value). The same applies to the measuring cell 5, it detects the movement along the Y axis and the rotation about the X axis (A value). The remaining rotation about the Y axis is measured by the measuring cell 6. Which can also detect the movement along the X axis. This results in the following calibration matrix.

Table 13b

Tabelle 13c The calibration matrix shows very clearly the chosen arrangement. For example, the movement along the X axis is determined only by the first measuring cell (voltage U1), although the measuring cell 6 can also detect the movement along the X axis. Overall, the calibration matrix is very sparse. Table 13c shows the calibration matrix in which very small values have been removed.

Table 13c

The Error of the calibration matrix for the translation and the rotation, arise due to the applied Linearization. Due to the chosen Arrangement can also very easily used the exact model become.

2er group

For the next arrangement two groups are formed immediately. The measuring cells in a group of two is arranged so that two degrees of freedom are detected by a group of two. As a result, the movable optical element no longer has to be arranged in the origin or along the main axis. 14a shows the first group of 2, which is responsible for measuring the Y and C movements. Both measuring Cells can detect the Y and C movement, respectively. For a single measuring cell, one movement is indistinguishable from the other. Only by combining the measuring cells (into a group of 2) can the individual movements be clearly distinguished.

By the lateral displacement of the measuring cell 2 to the measuring cell 1, the Although the second measuring cell also detect rotations about the X axis (movement A). But this is not because of the small distance to the axis especially pronounced.

Another group of 2 now covers two additional degrees of freedom. It is positioned in a similar way to the first group of 2, but rotated by 90 °. In the 14b is the second group of 2 shown. It can detect the movements along the X axis, as well as the rotation about the Y axis (B movement).

Tabelle 14a A group of 2, which can detect the missing movements (Z and A), could be arranged along the Y axis. This could be done with the same arrangement as in the first two groups of two. Since this would complicate the construction, the two remaining degrees of freedom are detected separately. Each measuring cell complements the previously positioned groups of two to form a group of three. 14c (Aperture movable) shows the entire arrangement.

Table 14a

Tabelle 14b The measuring cell 5 detects the A and the Y movement. It completes the first group of 2 (measuring cell 1 and 2 - Y / C) to a group of 3. Equivalent this happens with the measuring cell 6. It detects the movement Z and B. The second group of 2 (measuring cell 3 and 4 - X / B) we to the 3 group and can measure the movements X, B and Z.

Table 14b

3 group

Tabelle 15a

Tabelle 15b In the 15 (Aperture movable), an arrangement is shown, which consists of two groups of 3 forms. The first group of 3 consisting of measuring cell 1,3 and 5 measure the movements Y, A and B. The remaining movements X, Z and C are from the measuring cells 2, 4 and 6

Table 15a

Table 15b

outgoing from the above arrangement, two measuring cells are now combined. The two LEDs throw the light on the same PSD. In other words, the PSD's of the two measuring cells are located in the same place and have the same orientation. Thus, will a PSD from the two PSD's saved. The PSD is usually the most expensive optical element the measuring cell.

The calculations are still based on two separate PSD's. The arrangement is changed so that an adjacent LED shines on the PSD of the neighbor. So that both light levels on the PSD causes an intersection, the two PSD's are rotated. The two PSDs thus have the same orientation, which is rotated by 45 ° to both light levels. The light planes of the two measuring cells are at right angles to each other. The aperture is the movable optical element. It is arranged in such a way that the LED of the partner measuring cell can not throw its light plane onto the PSD through the wrong slit diaphragm. The partner slit diaphragm ("wrong slit diaphragm") is arranged in such a way that the diaphragm is arranged in the direction of the partner LED and thus no light incidence is possible.The diaphragm uses thereby the degree of freedom (see changes without functional influence on the measuring cell) on the one hand the to be the correct slit for your own LED, and then to stand along the direction of the partner LED, thus shading the light.The shutter can be extended at the end to ensure that no extraneous light from an LED falls on the PSD 16a to 16c show a possible arrangement.

Tabelle 17a The measuring cells 1, 3, 5 and the measuring cells 2, 4, 6 each form a group of 3. With the measuring cells 1,3,5, the movements X, Z and C are detected. The measuring cells 2,4,6 are responsible for the movements Y, A and B. The 17a (Aperture mobile) shows the appropriate arrangement and in the 17b the arrangement is shown with one active LED each.

Table 17a

Tabelle 17b

Table 17b

a the same working 3D sensor can be obtained, if you all PSD's around the respective LEDdir Vector rotates at the same angle. Accordingly, the Slit diaphragm can be rotated so that the light planes again each by 45 ° (or a similar one Angle) twisted on the PSD's fall and form measurable intersections.

Other variations for the arrangement of measuring cells

coordinate transformation

The Arrangement of the individual measuring cells takes place in a predetermined Cartesian coordinate system. The definition of a coordinate system but can be done arbitrarily. The relation between two coordinate system is described by a linear coordinate transformation. The Illustration ensures that the size ratios remain unchanged and the relation of the elements remains the same. For one 3D sensor with 6 degrees of freedom thus applies that the used coordinate system may be defined arbitrarily in space. A 3D sensor can thus be considered equivalent be viewed when using a linear coordinate transformation the used coordinate system are transferred to a coordinate system described here can.

Different moving ones optical elements

For the business A measuring cell is also used in addition to the fixed optical elements movable element needed. In all previous orders, it is always assumed that this is of the same type (LED, aperture or PSD). Of course you can too Measuring cells with different moving elements with each other be combined. For example, measuring cells with movable Apertures and movable PSD's arranged become. The above rules keep the arrangement of 3D sensors their validity.

Shared slit diaphragm

The movement that can be detected by a measuring cell is described by the motion vector. The motion vector is calculated from the product IRISdir × LEDdir. It can be seen from this that with a slit diaphragm two different motion vectors can be formed if the directions of the two LEDs is different.

Signal routing over the feathers

It is possible the movable optical element and the two fixed optical Elements over Wire springs to connect. This connection can also be used for electrical Wiring used by moving and fixed part of the sensor become. Thus, in addition to a power supply, various control signals guided become. Are the LEDs? the movable optical elements, these can be operated via the springs, for example in a matrix arrangement.

Movable LED's for the extension of the workspace

Out the equations of "calculation a translatory movement " another interesting feature and the experience confirms this. In a measuring cell with a movable LED, the working range of the movable optical element by the arrangement of the fixed be influenced by optical elements.

In Equation 1 (movable LED) represents the distance vector PSD aperture in relation to to the distance vector LED - aperture. Is the aperture closer? positioned on the PSD than on the LED, this increases the range of motion the LED. In the opposite case, the range of movement of the LED is restricted. Of the smaller range of motion is then resolved finer.

In of equation 2 (aperture movable) is the distance vector LED - PSD im relationship LED panel. After the aperture must always be in front of the PSD is the distance LED - PSD always bigger than the distance LED - aperture. In the case of a movable panel, therefore, it can only be a limitation of the Movement range come.

In the equation 3 (PSD mobile) is in the numerator as well as in the denominator of Distance vector LED - Aperture. The range of motion of the PSD is therefore always the same and corresponds to the maximum extent of the photosensitive part of the PSD

3D sensor with more than 6 measuring cells

For the construction of a 3D sensor with 6 degrees of freedom are at least 6 measuring cells necessary. Naturally can additional measuring cells are used, as would actually be required. These Redundancy of the 3D sensor can for the increase the accuracy of the sensor can be used or the sensor in Keep operation, even if one or more measuring cells fail. equivalent to this also applies to a pan / zoom sensor.

Appendix A

example calculation

18 shows a graphical representation of the position of the elements (ie, an LED, a diaphragm and a PSD) of a measuring cell. For an exemplary arrangement, the calculation of the size λ shall be shown. In this case, the three possible variants for the movable optical element are taken into account.

1. LED movable figure 19

2. Aperture movable Figure 20

3. PSD mobile figure 21

Appendix B

Alternative arrangement according to the 22 (LED movable).

In this in 22 illustrated embodiment of the invention, only the LEDs are movable and they are located in or near the center of rotation. As a result, the measuring cells can only detect translational movements and are "blind" to rotational movements.

Of the Sensor construction is therefore only for Pan / Zoom applications suitable and not for 6 degrees of freedom applications (6DOF). The design goal for a Pan / Zoom sensor is therefore the moving element in the Shift center of rotation.

If It is spoken in this description that a measuring cell "mainly only" or "exclusively" translational Grasping movements is meant to mean that the measuring cell or the sensor at least in the first approximation exclusively translational Measure movements. Rotatory movements can also a little influence on have the measurement. Although this part is small and therefore negligible, but still available. The displacement and rotation of the sensor causes the single cell to be ideal for the sensor Leave position slightly (for example, the moving element is not more exactly in the turning center), so that small mistakes arise.

This situation is treated with the following methodology:
Method for determining relative movements or relative positions of two objects in an arrangement according to the invention, which can detect translational and rotational movements or the mainly only translational movements, with the steps:
one gives the exact equations for the detected movements of the measuring cells; (see page 13 from line 1)
one gives a first approximation, which neglects the coupled movements between rotation and / or translation; (see page 14 from line 17) or
For each measuring cell, the calibration matrix of the linearization and the maximum error are indicated.

101

LED

102

light cone

103

cover

104

light plane

105

PSD

301

light plane

302

PSD

303

section

304

intersection

401

PSD

402

cover

403

aperture spacing

404

shift X

405

shift Y

406

LED

1001

cell 1

1002

cell 2

1003

cell 3

1100

cell 1

1101

motion vector 1

1102

cell 2

1103

motion vector 2

1104

cell 3

1105

motion vector 3

1300

cell 1

1301

cell 2

1302

cell 3

1303

cell 4

1304

cell 5

1305

cell 6

1400

cell 1

1401

cell 2

1402

cell 3

1403

cell 4

1404

cell 4

1405

cell 5

1500

cell 1

1501

cell 2

1502

cell 3

1503

cell 4

1504

cell 5

1505

cell 6

1700

cell 1

1701

cell 2

1702

cell 3

1703

cell 4

1704

cell 5

1705

cell 6

1710

None LED active

1711

LED 1 active

1712

LED 2 active

1713

LED 3 active

1714

LED 4 active

1715

LED 5 active

1716

LED 6 active

1800 1900 2000

2100 LED

1801 1901 2001

2101 cover

1802 1902 2002

2102 PSD

2200

cell 1

2201

cell 2

2202

cell 3

Claims (54)

Optoelectronic device for detecting relative movements or relative positions of two objects, comprising at least one position-sensitive detector, characterized in that the position-sensitive detector is illuminated by at least two light-emitting devices to form two measuring cells with a common detector. Optoelectronic device according to claim 1, characterized characterized in that each of the two is from a common detector formed measuring cells in the beam path of the corresponding light emitting device between said light emitting device and the position sensitive one Detector arranged slit has. An optoelectronic device according to claim 2, wherein each position-sensitive detector in functional connection with two adjacent slit diaphragms. Optoelectronic device according to claim 2 or 3, characterized in that a slot direction at least one the slit aperture obliquely aligned with respect to the photosensitive portion of the detector is. Optoelectronic device according to claim 2 or 3, characterized in that a light plane passing through at least one of the slit apertures radiates and falls onto the detector, one acute angle with a plane of a photosensitive part of the Includes detector. Optoelectronic arrangement according to one of claims 1 to 5, characterized in that each detector alternately from a Light emitting device is illuminated, wherein a measured value of the Detector at the same time. Optoelectronic device according to claim 6, characterized characterized in that the detector of each measuring cell only from one Light emitting device is illuminated at a certain time, wherein the measured value of the detector is read out at the same time. Optoelectronic arrangement according to one of claims 1 to 7, characterized in that one element of each measuring cell consisting from light emitting device, slit diaphragm and detector relative is movable to the other two elements. Optoelectronic device according to claim 8, characterized characterized in that the movable element in the center of rotation of the measuring cell is arranged so that the measuring cell mainly only translational movements can capture. Optoelectronic arrangement for detecting relative movements or relative positions of two objects that are at least one position sensitive Detector, wherein the position-sensitive detector of a Light emitting device is illuminated to a measuring cell form, and the measuring cell as well one in the beam path of the light emitting device between the Light-emitting device and the position-sensitive detector arranged slit diaphragm, characterized in that a light plane that shines through the slit and on the Detector falls, angled with respect to a photosensitive part of the detector is oriented. Optoelectronic device according to claim 10, characterized characterized in that a slot direction of the slit is oblique with respect to is aligned with the photosensitive part of the detector. Optoelectronic device according to claim 10, characterized characterized in that the light plane at an acute angle with a Plane of the photosensitive part of the detector. Optoelectronic device according to claim 12, characterized characterized in that a slot direction of the slit is substantially perpendicular to the photosensitive part of the detector. Optoelectronic arrangement according to one of claims 10 to 13, characterized in that an element of each measuring cell consisting from light emitting device, slit diaphragm and detector relative is movable to the other two elements. Optoelectronic arrangement according to claim 14, characterized characterized in that the movable element in the center of rotation of the measuring cell is arranged so that the measuring cell exclusively translational movements can capture. Optoelectronic arrangement according to one of claims 10 to 15, characterized in that the position sensitive detector is associated with two slit diaphragms, the position sensitive Detector serves as part of two different measuring cells. Optoelectronic device according to claim 16, characterized characterized in that said two slit apertures are adjacent are. Optoelectronic arrangement according to claim 17, characterized characterized in that each of the two adjacent slit apertures of illuminated a respective arranged light emitting device becomes. Optoelectronic device according to claim 17 or 18, characterized in that the two adjacent slit diaphragms each having mutually perpendicular slots. Optoelectronic device according to claim 17 or 18, characterized in that the two adjacent slit diaphragms include an angle together. Optoelectronic arrangement according to one of claims 17 to 20, characterized in that each slit diaphragm of its own Light emitting device is illuminated so that each position sensitive Detector illuminated by two light emitting devices to to form two measuring cells with a common detector. Optoelectronic arrangement for detecting relative movements or relative positions of two objects that are at least one position sensitive Detectors, each position-sensitive detector of his own light emitting device is lit to a Measuring cell to form, characterized in that the measuring cells arranged in groups, so that the measuring cells of each group are arranged substantially parallel or perpendicular to each other. Optoelectronic device according to claim 22, characterized characterized in that the measuring cells are arranged in a common plane are. Optoelectronic device according to claim 22 or 23, characterized in that the measuring cells also each one in the beam path of the light emitting device between the Light-emitting device and the position-sensitive detector arranged slit diaphragm, wherein a detector axis of the position sensitive detector substantially perpendicular to a Slot direction of the slit is aligned. Optoelectronic arrangement according to one of claims 22 to 24, characterized in that the detector axes of the two position sensitive Detectors in a group of two measuring cells substantially parallel are arranged to each other. Optoelectronic arrangement according to one of claims 22 to 24, characterized in that the detector axes of the two position sensitive Detectors in a group of two measuring cells substantially perpendicular are arranged to each other. Optoelectronic arrangement according to one of claims 22 to 26, characterized in that one element of each measuring cell consisting from light emission device, slit diaphragm and detector relative is movable to the other two elements. Optoelectronic arrangement according to claim 27, characterized characterized in that the movable element in the center of rotation of the measuring cell is arranged so that the measuring cell mainly only translational movements can capture. Optoelectronic arrangement for detecting relative movements or relative positions of two objects that are at least two position sensitive Detectors, each position-sensitive detector of a light emitting device is illuminated to a measuring cell to form, characterized in that the position sensitive Detectors and light emitting devices in a common plane are arranged, and that the measuring cells parallel to Cartesian Axes are arranged. Optoelectronic arrangement according to claim 29, characterized characterized in that the two measuring cells are substantially parallel are arranged to each other. Optoelectronic arrangement according to claim 29, characterized characterized in that the two measuring cells are substantially perpendicular are arranged to each other. Optoelectronic arrangement according to one of claims 29 to 31, characterized in that the measuring cells also each one in the beam path of the light emitting device between the Light-emitting device and the position-sensitive detector arranged slit diaphragm, wherein a detector axis of the position sensitive detector substantially perpendicular to a Slot direction of the slit is aligned. Optoelectronic arrangement according to one of claims 29 to 32, characterized in that one element of each measuring cell consisting from light emitting device, slit diaphragm and detector relative is movable to the other two elements. Optoelectronic arrangement according to claim 33, characterized characterized in that the movable element in the center of rotation of the measuring cell is arranged so that the measuring cell exclusively translational movements can capture. Optoelectronic arrangement for detecting relative movements or relative positions of two objects that are at least one position sensitive Detector, each position-sensitive detector of a light emitting device is illuminated to a measuring cell and the measuring cell as well one in the beam path of the light emitting device between the Light-emitting device and the position-sensitive detector arranged slit diaphragm, wherein an element of the measuring cell consisting from the light emitting device, the slit and the detector movable relative to the other two elements, characterized that the measuring cell exclusively can capture translational movements. Optoelectronic arrangement according to claim 35, characterized characterized in that the movable element of the measuring cell in the center of rotation the measuring cell is arranged. Optoelectronic arrangement according to claim 35, characterized characterized in that the movable element of each measuring cell in the center of rotation the corresponding measuring cell is arranged. Optoelectronic arrangement according to one of claims 1 to 37, characterized in that the arrangement comprises at least three measuring cells, preferably from three to six measuring cells. Optoelectronic device according to claim 38, characterized characterized in that the arrangement comprises more than six measuring cells. Optoelectronic arrangement according to one of claims 1 to 39, characterized in that the light emitting device, Slit diaphragm and detector existing measuring cell with a movable Light emission device is provided, wherein the measuring cell a larger workspace or range of motion has. Optoelectronic arrangement according to one of claims 1 to 40, characterized in that each element of each measuring cell consisting from light emitting device, slit diaphragm and detector relative can be arranged to move to the other two elements. Force and / or torque sensor characterized by an optoelectronic device for detecting relative movements or relative positions of two objects according to one of claims 1 to 41st Force and / or torque sensor according to claim 42, characterized characterized in that the two objects consist of a first plate and a second plate, wherein the first plate and the second Plate elastically connected to each other and movable relative to each other are. Force and / or torque sensor according to claim 43, characterized characterized in that the first and the second plate over at least a spring and / or damping device connected to each other. Force and / or torque sensor according to claim 44, characterized characterized in that a spring (preferably made of electrically conductive Wire) next to the damping property also at the same time for electrical signal routing of the two movable Can serve plate. Force and / or torque sensor according to one of claims 44 to 45, characterized in that the at least one spring and / or damping device of one of the following components or Combinations thereof include: coil spring, spring pack, elastomer, casting resin. Force and / or torque sensor according to one of claims 44 to 46, characterized in that the spring and / or damping devices are arranged substantially rotationally symmetrical. Force and / or torque sensor according to one of claims 44 to 47, characterized in that at least one of the spring and / or Damping devices at least comprise an elastomer or spring element fixedly connected to the first and second plate is connected. Force and / or torque sensor according to one of claims 43 to 48, characterized by at least one stop device, which limits the movement of the first plate relative to the second plate. Force sensor according to one of Claims 42 to 49, characterized that the sensor exclusively can detect translatory movements (pan / zoom sensor). Pan / Zoom sensor with a first plate and a second plate, wherein the first plate and the second plate elastic connected to each other and are movable relative to each other, characterized by an optoelectronic arrangement for detecting relative movements or relative positions of two objects according to one of claims 1 to 41st A force sensor according to claim 51, wherein the sensor is due to its geometric structure exclusively translational movements can capture. PC keyboard characterized in that it has a Sensor according to one of the claims 42 to 52 has. Methodology for determining relative movements or Relative positions of two objects in an optoelectronic arrangement according to one of the claims 1 to 41, the translational and rotational movements or the mainly can only detect translational movements, characterized by the steps: - Specification the exact equations for the relative movements of the measuring cells; - indication of a first approximation, neglecting the coupled movements between rotation and / or translation; or - indication of the Calibration matrix of the linearization and the maximum error.