U.S. patent application number 14/589802 was filed with the patent office on 2015-10-08 for sensors, systems and methods for position sensing.
The applicant listed for this patent is Baanto International Ltd.. Invention is credited to Jonathan Clarke, Avanindra Utukuri.
Application Number | 20150285675 14/589802 |
Document ID | / |
Family ID | 42039057 |
Filed Date | 2015-10-08 |
United States Patent
Application |
20150285675 |
Kind Code |
A1 |
Utukuri; Avanindra ; et
al. |
October 8, 2015 |
Sensors, Systems and Methods for Position Sensing
Abstract
Various systems and methods for estimating the position of a
radiation source in three-dimensional space, together with sensors
for use in such systems are described. In some embodiments, the
systems include a plurality of radiation sensors. The
three-dimensional position of the radiation source is estimated
relative to each sensor using an aperture that casts shadows on a
radiation detector as a function of the incident angle of the
incoming radiation. In some embodiments, the ratio of a reference
radiation intensity to a measured radiation intensity is used to
estimate direction of the radiation source relative to the sensor.
When the angular position of the radiation source is estimated
relative to two sensors, the position of the radiation source in
three dimensions can be triangulated based on the known relative
positions of the two sensors.
Inventors: |
Utukuri; Avanindra;
(Mississauga, CA) ; Clarke; Jonathan; (North York,
CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Baanto International Ltd. |
Mississauga |
|
CA |
|
|
Family ID: |
42039057 |
Appl. No.: |
14/589802 |
Filed: |
January 5, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13850204 |
Mar 25, 2013 |
8928873 |
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14589802 |
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13051898 |
Mar 18, 2011 |
8405824 |
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13850204 |
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PCT/CA2009/001326 |
Sep 21, 2009 |
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13051898 |
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61098749 |
Sep 20, 2008 |
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Current U.S.
Class: |
702/151 |
Current CPC
Class: |
G01J 1/4257 20130101;
G01S 3/784 20130101; G01S 5/16 20130101; G01S 3/782 20130101 |
International
Class: |
G01J 1/42 20060101
G01J001/42; G01S 3/782 20060101 G01S003/782 |
Claims
1.-5. (canceled)
6. A system for estimating the position of a radiation source in
three dimensional space, the system comprising: a first radiation
sensor for receiving radiation from the radiation source and for
providing a first incident angle pair corresponding to the
direction of the radiation source relative to the first radiation
source; a second radiation sensor for receiving radiation from the
radiation source and for providing a second incident angle pair
corresponding the direction of the radiation source relative to the
second radiation source; and a processor for calculating the
estimated position of the radiation source based on the first and
second incident angle pairs.
7. The system of claim 6 wherein the processor is adapted to
calculate the estimated position of the radiation source by
determining a point of intersection between a first line defined by
the first incident angle pair and the position of the first
radiation sensor and a second line defined by the second incident
angle pair and the second radiation sensor.
8. The system of claim 6 wherein the processor is adapted to
calculate the estimated position of the radiation source by
identifying a line segment between the closest points between a
first line defined by the first incident angle pair and the
position of the first radiation sensor and a second line defined by
the second incident angle pair and the second radiation sensor.
9. The system of claim 8 wherein the processor is adapted to
calculate the estimate position of the radiation source by
bisecting the line segment.
10. The system of claim 6 wherein the first and second sensors are
mounted in a fixed relationship to one another.
11. The system of claim 6 wherein the first and second sensors may
be independently positioned relative to one another.
12. A method of estimating the position of a radiation source,
comprising: positioning first and second sensors in a three
dimensional space, wherein the first second sensor are separated by
a sensor spacing distance; calculating a first line corresponding
to the position of the first sensor and the position of the
radiation source; calculating a second line corresponding to the
position of the second sensor and the position of the radiation
source; and calculating an estimated position of the radiation
source based on the first and second lines.
13. The method of claim 12 wherein the position of the radiation
source is estimated by identifying a point of intersection between
the first and second lines.
14. The method of claim 12 wherein the position of the radiation
source is estimated by identifying a line segment between the
closest points on the first and second lines.
15. The method of claim 14 wherein the position of the radiation
source is estimated by bisecting the line segment.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of application Ser. No.
13/850,204, filed on Mar. 25, 2013, which is a continuation of
application Ser. No. 13/051,898 (now U.S. Pat. No. 8,405,824B2),
filed on Mar. 18, 2011, which is a continuation of Application No.
PCT/CA2009/001326, filed on Sep. 21, 2009, which is a
non-provisional of Application No. 61/098,749, filed on Sep. 20,
2008, each of which is incorporated herein by reference in its
entirety.
TECHNICAL FIELD
[0002] Embodiments described herein relate generally to apparatus
and accompanying methods for detecting the position of a radiation
source in 13 three dimensions using angular position sensors and
triangulation methods.
BACKGROUND
[0003] Numerous industrial, commercial, scientific, gaming and
other applications require sensing of the position of an object in
two and three dimensions. A variety of approaches exist for
estimating the position of an object. However, these approaches
tend to have limited accuracy or a high cost, or both.
[0004] There is a need for apparatus, systems and method for
detecting the position of an object with increased accuracy
compared to known methods.
SUMMARY OF EMBODIMENTS
[0005] A first aspect of the invention provides a sensor for
estimating the angular direction of a radiation source relative to
the sensor. The sensor comprises: a reference radiation detector
for providing a reference radiation intensity signal corresponding
to an intensity of radiation incident on the reference radiation
detector; a first direction radiation detector for providing a
first direction radiation intensity signal corresponding to an
intensity of radiation incident on the first direction radiation
detector; a second direction radiation detector for providing a
first direction radiation intensity signal corresponding to an
intensity of radiation incident on the second direction radiation
detector; a radiation stop for partially blocking radiation from
reaching the first and second direction radiation detectors; and a
processor coupled to the reference radiation detector and to the
first and second direction radiation detectors for providing for
providing first and second incident angles wherein the first
incident angle corresponds to the first direction radiation
intensity signal and the reference radiation intensity signal and
the second incident angle corresponds to the second direction
radiation intensity signal and the reference radiation intensity
signal.
[0006] Another aspect provides a sensor for estimating the angular
direction of a radiation source relative to the sensor. The sensor
comprises: a reference radiation detector for providing a reference
radiation intensity signal corresponding to an intensity of
radiation incident on the reference radiation detector; a first
direction radiation detector for providing a first direction
radiation intensity signal corresponding to an intensity of
radiation incident on the first direction radiation detector; a
second direction radiation detector for providing a second
direction radiation intensity signal corresponding to an intensity
of radiation incident on the second direction radiation detector; a
radiation stop for partially blocking radiation from reaching the
first and second direction radiation detectors; and a processor
coupled to the reference radiation detector and to the first and
second direction radiation detectors for providing for providing
first and second incident angles wherein the first incident angle
corresponds to the first direction radiation intensity signal and
the reference radiation intensity signal and the second incident
angle corresponds to the second direction radiation intensity
signal and the reference radiation intensity signal.
[0007] Another aspect provides a sensor for estimating the angular
direction of a radiation source relative to the sensor, the sensor
comprising: a reference radiation detector for providing a
reference radiation intensity signal corresponding to an intensity
of radiation incident on the reference radiation detector; a pair
of first direction radiation detector for providing a pair of first
direction radiation intensity signal corresponding to an intensity
of radiation incident on the first direction radiation detector; a
pair of second direction radiation detector for providing a pair
second direction radiation intensity signal corresponding to an
intensity of radiation incident on the second direction radiation
detector; a radiation stop for partially blocking radiation from
reaching the first and second direction radiation detectors; and a
processor coupled to the reference radiation detector and to the
first and second direction radiation detectors for providing for
providing first and second incident angles wherein the first
incident angle corresponds to the first direction radiation
intensity signals and the reference radiation intensity signal and
the second incident angle corresponds to the second direction
radiation intensity signals and the reference radiation intensity
signal.
[0008] Another aspect provides a sensor for estimating the angular
direction of a radiation source relative to the sensor, the sensor
comprising: a reference radiation detector for providing a
reference radiation intensity signal corresponding to an intensity
of radiation incident on the reference radiation detector; a pair
of directional radiation detector for providing a pair of
directional radiation intensity signal corresponding to an
intensity of radiation incident on the first direction radiation
detector; a radiation stop for partially blocking radiation from
reaching the first and second direction radiation detectors; and a
processor coupled to the reference radiation detector and to the
directional radiation detectors for providing for providing an
incident angle, wherein the incident angle corresponds to the
directional radiation intensity signals and the reference radiation
intensity signal.
[0009] Another aspect provides a sensor for estimating the angular
direction of a radiation source relative to the sensor. The sensor
comprises: a pixel array detector having an array of a pixels
sensitive to radiation; an aperture plate having an aperture,
wherein the aperture plate is arranged relative to the pixel array
detector to partially blocking radiation from reaching the pixel
array detector; a processor coupled to the pixel array detector to
receive radiation intensity information relating to the intensity
of radiation incident on the pixels of the pixel array detector,
wherein the processor is adapted to provide first and second
incident angles, wherein the first incident angle is corresponds to
the position of one or more pixels having a relatively high level
of incident radiation in a first direction and the second incident
angle corresponds to the position of one or more pixels have a
relatively high level of incident radiation in a second
direction.
[0010] Another aspect provides a system for estimating the position
of a radiation source in three dimensional space. The system
comprises: a first radiation sensor for receiving radiation from
the radiation source and for providing a first incident angle pair
corresponding to the direction of the radiation source relative to
the first radiation source; a second radiation sensor for receiving
radiation from the radiation source and for providing a second
incident angle pair corresponding the direction of the radiation
source relative to the second radiation source; and a processor for
calculating the estimated position of the radiation source based on
the first and second incident angle pairs.
[0011] In some embodiments, the processor is adapted to calculate
the estimated position of the radiation source by determining a
point of intersection between a first line defined by the first
incident angle pair and the position of the first radiation sensor
and a second line defined by the second incident angle pair and the
second radiation sensor.
[0012] In some embodiments, the processor is adapted to calculate
the estimated position of the radiation source by identifying a
line segment between the closest points between a first line
defined by the first incident angle pair and the position of the
first radiation sensor and a second line defined by the second
incident angle pair and the second radiation sensor.
[0013] In some embodiments, the processor is adapted to calculate
the estimate position of the radiation source by bisecting the line
segment.
[0014] In some embodiments, the first and second sensors are
mounted in a fixed relationship to one another.
[0015] In some embodiments, the first and second sensors may be
independently positioned relative to one another.
[0016] Another aspect provides a method of estimating the position
of a radiation source. The method comprises: positioning first and
second sensors in a three dimensional space, wherein the first
second sensor are separated by a sensor spacing distance;
calculating a first line corresponding to the position of the first
sensor and the position of the radiation source; calculating a
second line corresponding to the position of the second sensor and
the position of the radiation source; and calculating an estimated
position of the radiation source based on the first and second
lines.
[0017] In some embodiments, the method includes estimating the
position of the radiation source by identifying a point of
intersection between the first and second lines.
[0018] In some embodiments, the method includes estimating the
position of the radiation source by identifying a line segment
between the closest points on the the first and second lines.
[0019] In some embodiments, the method includes estimating the
position of the radiation source by bisecting the line segment.
[0020] These and other aspect of the present invention are further
described below.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Embodiments are described in further detail below, by way of
example, with reference to the accompanying drawings, in which:
[0022] FIG. 1a is a top view of a first sensor according to the
invention;
[0023] FIGS. 1b and 1c are side views of the sensor of FIG. 1a;
[0024] FIG. 2a is a top view of another sensor according to the
invention;
[0025] FIGS. 2b and 2c are side views of the sensor of FIG. 2a;
[0026] FIG. 3 is a top view of a three-dimensional optical position
sensing system;
[0027] FIG. 4 is a top view of another three-dimensional optical
position sensing system;
[0028] FIG. 5 illustrates the use of a three-dimensional optical
position sensing system to estimate the position of a radiation
source;
[0029] FIG. 6 is another illustration of a the use of a
three-dimensional optical position sensing system to estimate the
position of a radiation source;
[0030] FIG. 7 is a flow chart of a method for estimating the
position of an object in three space;
[0031] FIG. 8 is a top view of another sensor according to the
invention; and
[0032] FIG. 9 is a top view of another sensor according to the
invention.
[0033] The figures are illustrative only and are not drawn to
scale.
DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS
[0034] Example embodiments described herein provide details
relating to optical sensor systems and methods for determining the
position of a radiation source relative to the position of one or
more sensors. The radiating source may radiate in the visible light
spectrum, but it may also radiate in other light spectrums, such as
the ultraviolet or infrared light spectrums. The optical sensors
comprise solid-state radiation detectors. The radiation source may
be an active radiation source that generates radiation, such as a
light bulb, LED or other radiation emitting element. The radiation
source may be a passive radiation source that reflects radiation
from another source or sources. Other implementations and
configurations of optical sensors are also possible within the
scope of the invention. The embodiments described herein are
examples only.
[0035] Reference in now made to FIGS. 1a-1c, which illustrate a
first example optical sensor 100. A radiation source 110 is
positioned relative to sensor 100 such that radiation from the
radiation source 110 is incident upon the sensor 100.
[0036] Sensor 100 comprises reference radiation detector 102, first
direction radiation detector 104, second direction radiation
detector 106, aperture plate 108, a mounting substrate 112 and a
processor 120.
[0037] Mounting substrate 112 is substantially parallel to an x-y
plane. The reference detector 102, first direction detector 104 and
second direction detector 106 are mounted to the mounting substrate
112. Aperture plate 108 is positioned between the detectors 102-106
and the radiation source 110 in a z-dimension, which is orthogonal
to the x-y plane. The aperture plate may also be referred to as a
radiation stop or radiation block.
[0038] Incoming radiation from radiation source 110 striking sensor
100 impacts upon first direction radiation detector 104 at incident
angle .theta. relative to the x-axis, and upon second direction
radiation detector 106 at incident angle .phi. relative to the
y-axis. The incident angle pair (.theta., .phi.) defines an angular
position of radiation source 110 relative to sensor 100.
[0039] Sensor 100 estimates incident angle pair (.theta., .phi.)
using reference detector 102 and aperture plate 108 in conjunction
with first and second direction radiation detectors 104, 106.
Aperture plate 108 is arranged at height H, relative to first and
second direction radiation detectors 104, 106. Aperture plate 108
is disposed such that it overlies both first and second positions
detectors 104,106. In this example, first and second direction
detectors 104,106 are mounted onto mounting substrate 112 such that
an edge of aperture plate 108 will approximately align with a
centerline of each direction detector 104, 106. Reference detector
102 is mounted onto mounting substrate 112 such that no overlap (in
the x or y dimensions) is created between it and aperture plate
108. Mounting substrate 102 may be constructed from any suitable
material to support the detectors 102, 104 and 106. Detectors 102,
104 and 106 receive power from a power supply (not shown) and
provide electronic signals to processor 120. In some embodiments,
mounting substrate 102 may be a semiconductor material such as a
printed circuit board (PCB) that includes conductors to couple the
detectors to the power supply and processor 120. Optionally,
aperture plate 108 may be mounted to the mounting substrate 112 or
it may be mounted to another support that holds it in a relatively
fixed position relative to detectors 102, 104 and 106.
[0040] In this embodiment, reference detector 102, and direction
detectors 104,106 are implemented for example as solid-state
radiation detectors. Other types of radiation detectors may also be
used. Aperture plate 108 is constructed for example out of a
suitable opaque material such that incoming radiation from
radiation source 110 is substantially absorbed or reflected. Other
implementations of sensor 100 are possible.
[0041] When incoming radiation from radiation source 110 strikes
sensor 100, reference detector 102 will be fully exposed to the
incoming radiation. The radiation intensity detected by reference
detector 102 forms a reference radiation intensity that is a
measure of radiation from radiation source 110 and ambient
conditions. In contrast, first and second direction radiation
detectors 104, 106 will, through their overlie with aperture plate
108, not be fully exposed to the incoming radiation, and thus will
receive an intensity of incoming radiation from radiation source
110 that is in generally not equal to the intensity received by
exposed reference detector 102. The different radiation intensities
received by positions sensors 104, 106, relative to reference
detector 102, can be used to estimate the angular position of
radiation source 110, relative to sensor 100.
[0042] FIG. 1b shows incident radiation striking first direction
radiation detector 104 at an incident angle .theta. relative to the
x-axis. Dimension s.sub.1 defines the part of first direction
detector 104 that lies in the shadow created by aperture plate 108,
from the centerline 114 of the detector. Likewise dimension d.sub.1
defines the part of first direction detector 104, relative to
centerline 114, that is exposed to incoming radiation from
radiation source 110. For positive incident angle .theta., the part
of position sensor on the other side of centerline 114 is covered
in shadow as well. Dimension s.sub.1 and d.sub.1 are related to
width D of first direction detector 102 according to,
s 1 = D 2 - d 1 . ( Equation 1 ) ##EQU00001##
For an incident angle of about 90 degrees, about half of direction
detector 102 will be covered in shadow (i.e. s.sub.1 is
approximately equal to zero) More generally, incident angle .theta.
of radiation source 110 is related to dimension s.sub.1 and height
H according to:
tan .theta. = H s 1 . ( Equation 2 ) ##EQU00002##
[0043] Reference detector 102 and direction detector 104 are
coupled to processor 120. Both reference detector 102 and direction
detector 104 provide radiation intensity signals f that are
generally proportional to the intensity of radiation sensed by the
respective detector. Processor 120 is adapted to use these
radiation intensity signals to estimate the position of radiation
source 110 relative to the sensor 100.
[0044] Reference detector 102 provides a baseline intensity signal
f.sub.m against which other radiation intensity levels may be
compared. For example, detector 104, which through its overlie with
aperture plate 108 is only partially exposed to radiation source
110. Ray 128 illustrates the ray of radiation at the boundary
between the illuminated and shadowed regions of detector 104. Ray
128 is illustrated partly in a broken line to indicate that
typically radiation source 110 will be much further from sensor 100
compared to the dimensions of the sensor. Typically, the distance
between the radiation source and the sensor will be one or more
orders of magnitude greater than the dimensions of the sensors.
[0045] Radiation detector 104 provides a radiation intensity signal
f.sub.1, where generally f.sub.1<f.sub.m. The ratio of radiation
intensity relative to reference radiation intensity f.sub.m
provides a measure of the ratio between shadow region S and exposed
region d.sub.1, and is given by,
f 1 f m = .alpha. d 1 D + .beta. , ( Equation 3 ) ##EQU00003##
where .alpha. models a gain factor and .beta. models an offset
factor introduced through practical implementations of reference
detector 102 and first direction detector 104. In some
implementations, the gain factor .alpha. may be approximately equal
to one, and offset factor .beta. may be approximately equal to
zero. In practical implementations, radiation detectors will
typically exhibit offsets and non-linearities that may be modeled
with these corrective factors. Offset factor .beta. may be used to
compensate for ambient radiation.
[0046] In various embodiments of the invention, .alpha., .beta. and
other corrective factors may be used to model the operating
characteristics of the sensors. For example, in sensor 100,
detectors 102, 104, 106 are square shaped with width and length D.
In other embodiments, the sensors may shaped differently. It is not
necessary that sensors 102, 104 and 106 be identical sensors. In
various embodiments, different sensors may be used for the
reference sensor and the direction sensors and in other
embodiments, different direction sensors may be different.
Additional corrective factors may be used to scale or otherwise
adjust the outputs of the various sensors to allow the direction of
the radiation source to be estimated.
[0047] Returning to the present exemplary embodiment, combining
equations 1, 2 and 3 yields an overall expression for incident
angle .theta. of radiation source 110 and is given by:
.theta. = tan - 1 ( H D 2 - ( f 1 f m - .beta. ) D .alpha. ) . (
Equation 4 ) ##EQU00004##
Width D and height H are known parameters, while gain factor
.alpha. and offset factor .beta. may be determined experimentally,
if they are used at all. The ratio of f.sub.1 to f.sub.m is
computed based upon the output signals of reference detector 102
and first direction detector 104.
[0048] Referring to FIG. 1c, radiation detector 106 is partially
illuminated by radiation source 110 to a distance S.sub.2 from its
centerline 116. The incident angle .phi. of radiation source 110
relative to the y-axis, as shown in FIG. 3b, is given by
.phi. = tan - 1 ( H D 2 - ( f 2 f m - .beta. ) D .alpha. ) , (
Equation 5 ) ##EQU00005##
where f.sub.2 is the radiation intensity signal provided by second
direction detector 106. In this example, incident angle .phi. is a
negative angle.
[0049] Incident angle pair (.theta., .phi.) of radiation source 110
is an estimate of the direction of radiation source 110 relative to
the sensor 100.
[0050] Processor 120 is adapted to receive the radiation intensity
signals f.sub.m, f.sub.1 and f.sub.2 and to calculate incident
angle pair (.theta., .phi.). Processor 120 may implement the
mathematical formulae set out above or may implement corresponding
calculations and in some cases may use mathematical techniques that
provide an estimate of the results of the formulae. For example,
the processor may use look up tables, small angle approximations
and other tools to estimate the incident angle pair. In some
systems utilizing sensor 100, it may not be necessary to calculate
angles .theta. and .phi. directly. For example, in some systems,
the value of tan(.theta.) and tan(.phi.) could be used without
calculating the angles themselves. In such cases, the processor may
be adapted to calculate these values without then calculating the
angles.
[0051] In this embodiment, processor 120 is a microprocessor and is
adapted to carry out additional functions beyond those described
herein. The term "processor" is not limited to any particular type
of data processing or calculating element. In various embodiments,
the processor may be a microcontroller, a microprocessor, a
programmed logic controller such as a floating point gate array or
any other suitable device capable of calculation. The processor may
operate in conjunction with additional elements such as a power
supply, data storage elements, input/output devices and other
devices.
[0052] Aperture plate 108 may optionally be adapted to reduce
non-linearities in the length of the shadow cast by the aperture
plate on detectors 104 and 106 when radiation source 110 passes
over their respective centerlines 114 and 116. In the present
embodiment, the edge of aperture plate 108 is beveled to reduce the
effect of the thickness of the aperture plate 108 on the shadow. In
other embodiments, the edge of the aperture plate may be rounded.
In other embodiments, the aperture plate may additionally or
alternatively be made from a thin material to reduce its effect on
the shadow. In some embodiments, processor 102 may be adapted to
compensate for non-linearities in the position of the shadow cast
by the aperture plate. For example, such non-linearities may be
modeled into the formulae or look-up tables used by the processor
to estimate the incident angle pair (.theta., .phi.).
[0053] Reference is now made to FIGS. 2a-2c, which illustrate
another sensor 200 according to the present invention. Some
elements of sensor 200 are similar to elements of sensor 100 and
corresponding elements are identified by similar reference
numerals. FIG. 2a is a top-view of sensor 200 in an x-y plane. FIG.
2b illustrates a cross-sectional view of sensor 200 in an x-z
plane, while FIG. 2c likewise illustrates a cross-sectional view of
detector 200 along in a corresponding y-z plane. Detector 200
comprises a pixel-array detector 202, aperture plate 208, mounting
substrate 212 and processor 220.
[0054] Aperture plate 208 is arranged at height H relative to
detector 202 and is positioned so as to overlie with detector 202
in both the x and y directions. Aperture plate 208 plate has an
aperture 206, which in this embodiment is centered above detector
202. Aperture plate 208 is generally parallel to detector 202.
[0055] A portion of incoming radiation from a radiation source 210
striking detector 200 passes through aperture 206 and impacts upon
detector 202 at incident angle .theta. relative to the x-axis and
incident angle .phi. relative to the y-axis. The incident angle
pair (.theta., .phi.) defines an angular position of radiation
source 210 relative to detector 200. Pixel-array detector 202 has
an array of radiation-sensitive pixels arranged in rows parallel to
the x-axis and columns parallel to the y-axis.
[0056] In this embodiment, aperture 206 is circular. In other
embodiments, the aperture may have another shape. For example, the
aperture may be square or rectangular with its edges generally
parallel to the x and y axes. The aperture may be square with its
edges arranged at an angle (such as a 45 degree) angle to the x and
y axes. Other shapes may also be used.
[0057] In various embodiments, the pixel-array detector may be a
CCD detector, a CMOS detector or other type of radiation sensitive
detector. Processor 220 is coupled to the pixel-array detector to
periodically determine which pixels are illuminated by radiation
source 210. This may done in a variety of ways. For example,
detector 202 may be adapted to output a data stream indicating the
illumination intensity of each of its pixels sequentially;
processor 220 may be adapted to query the detector 202 to obtain
the illumination intensity for each pixel or for some of the pixels
in detector 202.
[0058] When incoming radiation from radiation source 210 strikes
detector 202, pixels that are exposed to the radiation will have a
high illumination intensity while pixels located in the shadow cast
by aperture plate 208 will have a low illumination intensity. The
positions of pixels with a high illumination intensity may be used
to estimate incident angle pair (.theta., .phi.).
[0059] FIG. 2b shows incident radiation striking detector 202 at an
incident angle .theta. relative to the x-axis. A range of pixels
s.sub.1 in a row of the detector 202 is illuminated by the incident
radiation through aperture 206. Processor 220 is configured to
identify the row of pixels with the widest range of illuminated
pixels, which will typically correspond to the diameter of aperture
202 parallel to the x axis. Processor 220 identifies a center
x-dimension pixel p.sub.1 at or near the center of the range of
pixels s.sub.1 within the identified row. Pixel p.sub.1 is spaced a
distance d.sub.1 from a reference point 222. Distance d.sub.1 may
be determined based on the dimensions and arrangement of pixels in
detector 202, or a lookup table or other method may be used to
determine the distance d.sub.1 corresponding to pixel p.sub.1. In
this example, reference point 222 is at an edge of detector 202. In
other embodiments, the reference point may be at another position
on the x-y plane of the surface of detector 202.
[0060] When radiation source 210 is directly above sensor 200, a
range of pixels S.sub.c is illuminated and a center pixel P.sub.c
is at or near the center of pixel range S.sub.c. Pixel P.sub.c is
spaced a distance D.sub.c from reference point 222.
[0061] Incident angle .theta. may be calculated as:
.theta. = tan - 1 ( d 1 - D c H ) . ##EQU00006##
[0062] Typically, the values of D.sub.c and H will be recorded in
processor 220. Processor 220 repeatedly obtains pixel illumination
information from detector 202 and identifies a center pixel p.sub.1
and estimates angle .theta. as radiation source 210 moves relative
to sensor 200.
[0063] As with processor 120, processor 220 may be adapted to
implement the formulae described above or may be implement
corresponding calculations or use other methods to estimate angle
.theta..
[0064] Referring to FIG. 2c, radiation source 210 illuminates a
range of pixels s.sub.2 in a column of pixels parallel to the
y-axis of detector 202. A distance d.sub.2 is determined based on
the center pixel p.sub.2 in the range of pixels s.sub.2 and
incident angle .phi. is calculated as:
.phi. = tan - 1 ( d 2 - D c H ) . ##EQU00007##
The incident angle pair (.theta., .phi.) provide an estimate of the
direction of illumination source 210 relative to the position of
sensor 200.
[0065] In FIGS. 2a and 2b, radiation from radiation source 210 that
passess through aperture 206 is illustrated having parallel edges.
Typically, most radiation sources will divergent radiation output.
In most embodiments, the divergence of the radiation may be
ignored. For example, in many embodiments, the distance between
radiation source 210 and aperture plate 208 will substantially
exceed the distance between aperture plate 208 and sensor 202 be
several orders of magnitude or more and the divergence of the will
be negligible in comparison to the dimensions of the radiation
reaching sensor 202. In some embodiments, processor 220 may
optionally be adapted to compensate for the divergence of the
radiation using various geometric and computational operations.
[0066] Reference is now made to FIG. 3, which illustrates a three
dimensional optical position sensing system 300. System 300
comprises two sensors 332, 334, each of which is similar to sensor
100 (FIG. 1a). In this embodiment, the two sensors share a common
aperture plate 308 which has an aperture formed in it for each of
the respective sensors. Sensors 332 and 334 also share a common
mounting substrate 312, which holds them in a fixed relationship to
one another. Sensors 332 and 334 also share a processor 320 which
communicates with each of the detectors in each of the sensors.
[0067] Sensors 332, 334 are disposed along an x-axis and are
separated by distance W. Processor 320, which is part of each
sensor 332,334 determines an angular position for radiation source,
in terms of incident angle pair (.theta., .phi.). For example,
sensor 332 determines an estimated incident angle pair
(.theta..sub.1, .phi..sub.1), while sensor 334 determines an
estimated incident angle pair (.theta..sub.2, .phi..sub.2). Each
estimated incident angle pair (.theta., .phi.) defines the
direction of radiation source 310 relative to the respective sensor
332 or 334.
[0068] Referring next to FIG. 4, another three dimensional optical
position sensing system 400 is illustrated. System 400 has a pair
of sensors 432 and 434 similar to sensor 200 (FIG. 2). In this
embodiment, sensors 432 and 434 share a common processor 420.
Processor 420 is coupled to each the pixel-array detector in
sensor. In this embodiment, processor 420, like the detector 402 of
sensor 432 is mounted to the substrate 412 of sensor 402 and
communicates with that detector through conductors in the mounting
substrate. Processor 420 communicates with the detector of sensor
434 through wire 436. In other embodiments, processor 420 may
communicate with sensor 434 through a wireless communication
system.
[0069] Sensors 432 and 434 have independent mounting substrates
(not shown in FIG. 4) and aperture plates 408, allowing them to be
moved independently and space apart by a variable distance W.
Alternatively, sensors 432 and 434 may be mounted to a common
mounting substrate which would hold them in fixed relation to one
another.
[0070] Referring briefly to FIG. 3, sensors 332 and 334 could
alternatively be mounted to independent mounting substrates and
have independent aperture plates, allowing them to be moved
independently of one another. They could continue to share a
processor which could be coupled to detectors in one or both of the
sensor through by wires or wirelessly.
[0071] Reference is now made to FIG. 5, which illustrates the use
of multiple sensors to estimate the position of a radiation source
510 in three dimensional space using a pair of sensors 532 and 534.
Triangulating the position of an object in three-space requires at
least two reference points A,B and two lines 542, 544, wherein
reference points A, B define a third line segment. FIG. 5 is a top
view of the arrangement of sensors 532, 534 and radiation source
510. Lines 542 and 544 extend through their respective sensors in
three-dimensional space and are not necessarily co-planar.
[0072] Reference point A in FIG. 5. is the position of sensor 532.
Reference point B is the position of sensor 534. Sensor 532
calculates a first incident angle pair (.theta..sub.1, .phi..sub.1)
that estimates the direction of radiation source 510 relative to
sensor 532. Incident angle pair (.theta..sub.1, .phi..sub.1) are
illustrated at line 542. Similarly, sensor 534 calculates a second
incident angle pair (.theta..sub.2, .phi..sub.2) that corresponds
to line 544 as an estimate of the direction of the radiation source
relative to sensor 534. Sensors 532 and 534 share a processor that
is adapted to find the intersection point 548 of lines 542 and 544,
which is an estimate of the position of radiation source 510. Lines
542 and 544 are practically only estimates of the direction of
radiation source relative to each sensor and accordingly will not
intersect is some cases.
[0073] Reference is next made to FIG. 6, in which a more practical
approach to estimating the position is illustrated using a pair of
sensors 632 and 634. Lines 642 and 644 are respectively estimates
of the direction of radiation source 610 from each of the sensors
632 and 634. Processor 620 is coupled to each of the sensors to
estimate lines 642 and 644 in the form of incident angle pairs that
originate at the sensors 632 and 634. Lines 642 and 644 extend in
three dimensional space. Using standard mathematical techniques a
line segment 646 the terminates at the closest points on lines 642
and 644 may be calculated. Processor 620 is programmed to calculate
this shortest line segment 646 between lines 642 and 644. Processor
620 then bisects the line segment 646 to calculate point 648, which
is an estimate of the position of radiation source 610.
[0074] Reference is next made to FIG. 7, which illustrates a method
700 implemented in processor 620 to calculate point 648.
[0075] Method 700 begins in step 702, in which a pair of sensors
are positioned in a three dimensional space. The pair of sensors
may be any type of sensors that are capable of estimating a
direction of radiation source relative to each of the sensors. For
example, the two sensor may be sensors 332 and 334 (FIG. 3) or
sensors 432 and 434 (FIG. 4) or sensors 532 and 534 (FIG. 5) or
sensors 632 and 634 (FIG. 6). The remainder of this method will be
explained as an example with reference to FIG. 6, although any
suitable sensor may be used in the method. The sensors are
positioned such that a radiation source (such as radiation source
is within the field of view of each of the sensors and have a
distance W between them.
[0076] Method 700 then proceeds to step 704, in which a first line
is calculated in terms of a first reference point and a first
incident angle pair (.theta., .phi.) defining an angular position
in three-space. For example, the first line segment may be line
642, which has a reference point at the location of sensor 632 and
extends in direction defined by first incident angle pair
(.theta..sub.1, .phi..sub.1).
[0077] Method 700 then proceeds to step 706 in which a second line
is calculated in terms of a second reference point and a second
incident angle pair (.theta., .phi.) is calculated. In this
example, the second reference point is the position of sensor 634
and the second line is line 644, which extend from sensor 634 in a
direction defined by second incident angle pair (.theta..sub.2,
.phi..sub.2).
[0078] Method 700 then proceeds to step 708 in which a line segment
connecting the two closest points between the first and second line
is calculated. In FIG. 6, the closest points on lines 642 and 644
are points 652 and 654. These point are identified as the endpoints
of the shortest line segment 646 between lines 642 and 644. In the
event that lines 642 and 644 intersect (i.e. the shortest line
segment is of zero length), the point of intersection is deemed to
be point 648 and the method ends.
[0079] If lines 642 and 644 do not intersect, method 700 proceeds
to step 710 in which line segment 644 is bisected to find point 648
and the method ends.
[0080] Point 648 is an estimate of the position of the radiation
source 610. In the three dimensions space in which the radiation
sources are positioned.
[0081] Reference is next made to FIG. 8, which illustrates another
example sensor 800 according to the present invention. Sensor 800
is similar in various aspects to sensor 100 and similar elements
are identified with similar reference numerals.
[0082] Sensor 800 includes a reference radiation detector 802, a
pair of first direction radiation detectors 804a and 804b, a pair
of second direction radiation detectors 806a and 806b, an aperture
plate 608, a mounting substrate 812 and a processor 820.
[0083] Mounting substrate is substantially parallel to an x-y
plane. The reference detector 802, first direction detectors 804
and second direction detectors 806 are mounted to the mounting
substrate. Aperture plate 808 is positioned between the detectors
802, 804, 806 and a radiation source 810 in a z-dimension, which is
orthogonal to the x-y plane.
[0084] Aperture plate 808 has a square aperture 824 formed in it
and detectors 802, 804a and 804c are positioned relative to the
aperture 824 such that they are illuminated by a radiation source
810 in the same manner as a detectors 802, 804 and 806 of sensor
100 (FIG. 1). An edge 826 of the aperture 808 is aligned with the y
direction centerline of detector 804b such that detectors 804a and
804b are typically illuminated in a similar way by radiation source
810. The distance between detectors 604a and 604b may result in
radiation from radiation source 810 reaching detectors 804a and
804b at slightly different angles. Typically, the dimensions of
sensor 800 will be significantly smaller than the distance between
radiation source and the sensor 800 and this small difference can
neglected. In some embodiments, this difference may be compensated
for by processor 820.
[0085] Processor 820 is coupled to each of the detectors through
conductors within the mounting substrate 812. Processor 820
receives a pair of radiation intensity signals f.sub.1a and
f.sub.1b from detectors 804a and 804b. Processor 820 averages the
two radiation intensity signals to calculate an average radiation
intensity f.sub.1, which is then used estimate an angle .theta.
(not shown in FIG. 8) at which radiation from radiation source 810
strikes sensor 800 as described above in relation to sensor 100
(FIG. 1) relative to the x dimension.
[0086] Similarly, processor 820 receives a pair of radiation
intensity signals f.sub.2a and f.sub.2b which are averaged and
combined with a reference intensity signal f.sub.m from detector
802 to estimate an angle .phi. (not shown in FIG. 1) at which
radiation from radiation source 810 strikes sensor 800 relative to
the y-dimension.
[0087] The incident angle pair (.theta., .phi.) collectively form
an estimate of the angle radiation source 810 relative to the
sensor 800.
[0088] In this example, first direction radiation detectors 804a
and 804b are equally spaced from reference radiation detector 802
and similarly second direction radiation detectors 806a and 806b
are equally spaced from reference radiation detector 802. In other
embodiments, a pair of direction radiation detectors may be
unequally spaced from the reference radiation detector. Optionally,
in such embodiments, the processor may apply a differential
weighting to the radiation intensity signals received from the two
direction radiation detectors (instead of simply averaging the
radiation intensity signals) to compensate for the different
distances between the direction radiation detectors and that
reference radiation detectors.
[0089] Reference is next made to FIG. 9, which illustrates a single
direction sensor 900 that is based on sensor 800. Corresponding
components of the two sensors are identified with similar reference
numerals. Sensor 900 has a reference radiation detector 902 and a
single pair of direction radiation detectors 904a and 904b.
Radiation detectors 904a and 904b operate in the same manner as
radiation detectors 804a and 804b (FIG. 8) to provide a pair of
radiation intensity signal f1a and f1b to processor 920. Processor
920 averages signal f.sub.1a and f.sub.1b and compares the average
radiation intensity f.sub.1 with a reference radiation intensity
signal f.sub.m from detector 902 to provide a signal incident angle
.theta., which is an estimate of the direction of radiation source
910 relative to sensor 900 in one dimension. Sensor 900 may be used
in embodiment in which it is desirable to estimate the position of
the radiation source in one angular dimension.
[0090] Various examples of the present invention have been
described. These examples do not limit the scope of the present
invention.
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