KR101304948B1 - Sensor System and Position Recognition System - Google Patents

Abstract

The present invention relates to a sensor device and a position recognition device using the same. The sensing device of the present invention comprises a first lens for forming an image of the object by focusing light from an object, a first image sensor for sensing an image of an object formed by the first lens; And a second lens formed at a position not identical to where the first lens is located, and collecting light from an object to form an image of the object, and an image of the object formed by the second lens. It includes a second image sensor for sensing the.

Sensor, mouse, position, OFS

Description

Sensor device and position recognition device using same {Sensor System and Position Recognition System}

1 is a structural diagram of a typical optical mouse

2 to 4 is a structural diagram of a sensing device according to an embodiment of the present invention

5 is a partial block diagram of a position recognition device using a sensor device according to an embodiment of the present invention

6 to 8 is a position recognition device having the sensing device of FIGS. 2 to 4 according to an embodiment of the present invention

{Description of Signs of Major Parts of Drawings}

200a: first recognition unit 200b: second recognition unit

201, 301: first image sensor 202, 302, 402: first lens

203, 303: second image sensor 204, 304, 404: second lens

305: beam splitting means 401: image sensor

403: blocking means

The present invention relates to a sensor device and a position recognition device using the same.

1 is a cross-sectional view of a conventional optical mouse.

Optical mice have an optical sensor (metal oxide CMOS semiconductor) that acts as a very small camera, and a small red light emitting diode (LED). The red light emitted by the engineering mouse is reflected onto the optical sensor, and the signal from the sensor is sent back to the digital signal processor (DSP), and the DSP can detect the pattern of each image. Compare how it worked.

Based on the change in the sequence of images, the DSP determines how far the mouse has moved, sends the corresponding coordinates to the computer, and the computer moves the cursor on the screen based on the coordinates received from the mouse. Because these things are repeated hundreds of times a second, the cursor on the screen can move very smoothly.

However, in the case of the sensor used in the conventional optical mouse, the distance between the lens and the floor must be maintained at 2.3 to 2.5 mm to obtain the displacement data, and the size of the image changes according to the distance, resulting in irregular displacement data compared to the traveling distance. .

The present invention has been made to solve the above problems, an object of the present invention is to redesign the optical system of the sensor device to provide a sensor device that operates regardless of the distance to the floor, and also overcomes the scaling problem. .

Another object of the present invention is to provide a position recognition device with a sensing device that overcomes inoperability or scaling due to height change of the moving frame.

In order to achieve the above object, the sensing device of the present invention comprises: a first lens for collecting light emitted from an object to form an image of the object; A first image sensor sensing an image of an object formed by the first lens; A second lens collecting light emitted from an object to form an image of the object; And a second image sensor sensing an image of an object formed by the second lens, wherein a distance between the first lens and the target object and a distance between the second lens and the target object are not equal.

Another sensing device of the present invention comprises: beam splitting means for splitting light emitted from an object into different paths; A first lens divided by the beam dividing means and collecting light output through one path to form an image of the object; A first image sensor sensing an image of an object formed by the first lens; A second lens divided by the beam dividing means to collect light output in a path different from the one path to form an image of the object; And a second image sensor for sensing an image of an object formed by the second lens, wherein a distance between the first lens and the beam splitting means and a distance between the second lens and the beam splitting means are not equal.

Another sensing device of the present invention, the first lens for collecting light emitted from the object; A second lens for forming an image of an object by using light collected by the first lens; An image sensor sensing an image formed by the second lens; And blocking means positioned between the first lens and the second lens and blocking other external light from entering when the light collected by the first lens passes through the second lens. The distance between the first lens and the blocking means and the distance between the second lens and the blocking means are not equal.

In the present invention, the distance between the first lens and the object and the distance between the second lens and the object may not be the same.

In the present invention, the first lens and the second lens may be convex lenses.

In addition, the present invention includes a position recognition device including the sensing device.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components, and the same reference numerals will be used to designate the same or similar components. Detailed descriptions of known functions and configurations are omitted.

2 is a structural diagram of a sensing device according to an embodiment of the present invention.

In the above embodiment, the sensing device includes a first image sensor 201, a first lens 202, a second image sensor 203, and a second lens 204.

The embodiment schematically illustrates a sensing device capable of accurately sensing the actual movement displacement regardless of the height change of the sensing device.

In the present embodiment, the first lens 202 and the second lens 204 use convex lenses, and the first image sensor 201 and the second image sensor 203 use CMOS image sensors. desirable. In the present invention, each of the components is not limited to the convex lens and the CMOS image sensor, it is obvious that the design can be easily changed according to the level of those skilled in the art.

Referring to FIG. 2, the sensing device of the present invention includes two recognition units 200a and 200b. The recognition unit detects an actual moving distance, and includes a first recognition unit 200a and a second recognition unit 200b, and each of the recognition units 200a and 200b includes a lens 202 and 204 and an image. Sensors 201 and 203. As mentioned above, it is preferable that the lenses 202 and 204 use convex lenses, and the image sensors 201 and 203 use CMOS image sensors.

The first recognition part 200a includes a first lens 202 and a first image sensor 201, and the second recognition part 200b includes a second lens 204 and a second image sensor 203. It includes. The first lens 202 and the second lens 204 use convex lenses to form light from the object as a focal point and then form an image of the object. The first lens 202 and the second lens 204 each use convex lenses to form an image of each object. Images of objects formed by the respective lenses 202 and 204 are recognized by the respective image sensors 201 and 203. That is, the first image sensor 201 recognizes an image of an object produced by the first lens 202, and the second image sensor 203 recognizes an image of an object produced by the second lens 204. .

In the embodiment of the present invention illustrated in FIG. 2, the distance between the first lens 202 and the object and the distance between the second lens 204 and the object should not be the same. That is, the first lens 202 and the second lens 204 should have a constant distance interval, even if a distance difference between the sensing device and the object occurs by the method described below by the constant distance interval. The distance can be measured.

FIG. 2 discloses a device capable of recognizing a real moving displacement regardless of a change in distance between a sensing device and a real object, and shows a detailed calculation process thereof.

Referring to FIG. 2, the distance between the first lens and the object is defined as b ₁ , the distance between the first lens 202 and the first image sensor 201 is defined as a ₁ , and the _first distance is defined as 1. The movement displacement recognized by the image sensor 201 is defined as x ₁ . In addition, the distance between the second lens 204 and the object is defined as b ₂ , the distance between the second lens 204 and the second image sensor 203 is defined as a ₂ , and the second image sensor The movement displacement recognized by (203) is defined as x ₂ .

As described above, the first lens 202 and the second lens 204 are always maintained at a constant distance. Accordingly, the difference between b ₁ , which is the distance between the first lens 202 and the object, and b ₂ , which is the distance between the second lens 204 and the object becomes a constant.

b ₂ -b ₁ = h = constant value

In addition, x ₁ and x ₂ , which are movement displacements recognized by the first image sensor 201 and the second image sensor 203, may be expressed as follows.

,

,

X is the actual displacement, a ₁ is the distance between the first image sensor 201 and the first lens 202, a ₂ is the distance between the second image sensor 203 and the second lens 204. . B ₁ is a distance between the first lens 202 and the object, and b ₂ is a distance between the second lens 204 and the object.

Summarizing the above two equations, we can see the actual size of the object as follows.

In the above description, x ₁ is a movement displacement recognized by the first image sensor 201, a ₁ is a distance between the first image sensor 201 and the first lens 202, and x ₂ is a second image sensor ( 203 is a movement displacement recognized, a ₂ is a distance between the second image sensor 203 and the second lens 204, and h is a distance between the first lens 202 and the second lens 204.

As described in the above equation, the actual movement displacement recognized by the actual sensing device is determined by the distance and angle of the first and second lenses 202 and 204 irrespective of the distance between the lenses 202 and 204, that is, the convex lens and the object. It can be seen that it depends on the distance between the lenses 202 and 204 and the image sensors 201 and 203. Therefore, even if the sensing device has a non-uniform floor and a difference in height occurs, the sensing device accurately recognizes the actual displacement. Therefore, even if the floor or the non-uniform using the mouse, it can recognize its position accurately and the coordinate movement path can be accurately identified.

3 is a structural diagram of another sensing device according to an embodiment of the present invention.

In this embodiment, the sensing device includes a first image sensor 301, a first lens 302, a second image sensor 303, a second lens 304, and a beam splitting means 305.

The embodiment schematically shows another sensing device capable of accurately sensing the actual movement displacement regardless of the height change of the sensing device.

In the present embodiment, like the sensing device of FIG. 2, the first lens 302 and the second lens 304 use convex lenses, and the first image sensor 301 and the second image sensor 303 are used. Preferably, a CMOS image sensor is used, and the beam splitter 305 is preferably a beam splitter. Of course, each of the components in the present invention is not limited to the convex lens, the CMOS image sensor and the beam splitter, it is obvious that the design can be easily changed to suit the level of those skilled in the art.

In the above embodiment, unlike the configuration of FIG. 2, the measurement object measured by the first image sensor 301 and the second image sensor 303 can be matched to one, thereby making it possible to measure more precise movement displacement.

In the sensing device of the above embodiment, the light of the reflected object is divided into different paths. Referring to FIG. 3, light emitted from the object is incident to the beam splitter 305. Light incident on the beam splitting means is separated in two directions. In FIG. 3, the beam splitting means is designed to be divided into the right side and the upper side. However, the beam splitting direction may be designed to be divided into the left and right sides, and the upper and left sides.

Referring to FIG. 3, the path of the light split to the right through the beam splitter 305 is defined as a first recognition unit 300a and the path of the light split to the top through the beam splitter 305. Is defined as the second recognition unit 300b.

The first recognition unit 300a includes a first lens 302 and a first image sensor 301, and the second recognition unit 300b includes a second lens 304 and a second image sensor 303. It includes.

Part of the light divided by the beam splitter 305 is always reflected to the right. The light reflected to the right is incident on the first lens 302 formed at a predetermined distance. The first lens 302 collects the focus of the incident light to form an image with the first image sensor 301, and the first image sensor 301 recognizes an image of an object.

The light of the other part divided by the beam splitter 305 is always reflected upward. The light reflected upward is incident on the second lens 304 formed at a predetermined distance. The second lens 304 collects the focus of the incident light to form an image with the second image sensor 303, and the second image sensor 303 recognizes an image of an object.

3, the distance between the first lens 302 and the beam splitter 305 and the distance between the second lens 304 and the beam splitter 305 should not be the same. That is, the difference between the distance formed by the first lens 302 and the second lens 304 with the beam splitting means 305 should not be '0'. As a result, the sensing device can constantly measure the moving distance even if a distance difference with the object occurs.

A distance between the first lens 302 and an object is defined as d ₁ , a distance between the first lens 302 and the first image sensor 301 is defined as c ₁ , and a first image sensor ( The movement displacement recognized by 301 is defined as x ₁ . In addition, the distance between the second lens 304 and the object is defined as d ₂ , the distance between the second lens 304 and the second image sensor 303 is defined as c ₂ , and the second image sensor The movement displacement recognized by 303 is defined as x ₂ .

As described above, the distance between the first lens 302 and the second lens 304 with the beam splitter 305 is maintained at a constant distance so as not to be the same. Thus, the first lens 302 and the difference between the object and the distance of d ₁ and d ₂ is the distance between the second lens 304 and the object is a fixed constant is maintained.

d ₂ -d ₁ = h = constant value

In addition, x ₁ and x ₂ , which are movement displacements recognized by the first image sensor 301 and the second image sensor 303, may be expressed as follows.

,

,

In the above, x is the actual displacement, c ₁ is the distance between the first image sensor 303 and the first lens 304, c ₂ is the distance between the object and the second lens 304. D ₁ is a distance between the first lens 302 and the first image sensor 301, and d ₂ is a distance between the second lens 304 and the object.

Summarizing the above two equations, we can see the actual size of the object as follows.

In the above description, x ₁ is a movement displacement recognized by the first image sensor 301, c ₁ is a distance between the first image sensor 301 and the first lens 302, and x ₂ is a second image sensor ( and the displacement recognized by 303), c ₂ is a second the distance between the image sensor 303 and the second lens 304, h is the distance of the first lens 302 and second lens 304.

As described in the above equation, the actual movement displacement recognized by the actual sensing device is the distance between the first and second lenses 302 and 304 and the respective lenses 302, regardless of the distance between the beam splitter 305 and the object. It can be seen that it depends on the distance between the 304 and the image sensor (301, 304). Therefore, even if the sensing device of the embodiment has a non-uniform bottom and a difference in height occurs, the sensing device accurately recognizes the actual displacement. Therefore, even if the floor or the non-uniform using the mouse, it can recognize its position accurately and the coordinate movement path can be accurately identified.

The result of the sensing device of FIG. 3 is the same as the result of the sensing device of FIG. 2, and both sensing devices have a distance between the actual lens or the beam splitter and the object, that is, the height difference between the actual sensing device and the object. Regardless, the actual displacement can be obtained accurately.

4 is a structural diagram of a sensing device according to another embodiment of the present invention.

In this embodiment, the sensing device includes an image sensor 401, a first lens 402, a blocking means 403, and a second lens 404.

The embodiment schematically illustrates a sensing device in which the scale of the movement displacement recognized by the actual sensing device does not change regardless of the height change of the sensing device.

In the present embodiment, it is preferable that the first lens 402 and the second lens 404 use a convex lens, and the image sensor uses a CMOS image sensor. In the present invention, each of the components is not limited to the convex lens and the CMOS image sensor, it is obvious that the design can be easily changed according to the level of those skilled in the art.

Referring to FIG. 4, the sensing device of the present invention includes two lenses 402 and 404. The lens positioned closest to the object is the second lens 404, which collects light emitted from the object as one point. The lens positioned close to the image sensor 401 forms an image of an object in the image sensor 401 using the light collected by the second lens 404 as the first lens 402. A blocking means 403 is provided between the first lens 402 and the second lens 404. A pinhole is formed at the center of the first lens 402 so as to pass only the light collected by one point. Prevent light from passing through except the collected light. The blocking means 403 may be manufactured in various ways, but it is preferable to use a material that does not block light at all. In addition, for mass production, it is possible to deposit a material that blocks the light on the remaining portion of the plastic except the pinhole through which light passes. In addition, the size of the pinhole can be adjusted by experiment so that the image sensor recognizes a constant scaling, the size is preferably not more than 400㎛. However, the size of the pinhole is changeable in accordance with the development of the related art of the present invention, it is obvious that it is not limited to the size. In the present embodiment, even if the distance between the object and the sensor device is caused by the pinhole formed in the blocking means 403 and the blocking means 403, the magnitude of the movement displacement recognized by the actual image sensor is kept constant. Therefore, the change of magnification recognized by the image sensor according to the distance change disappears.

In the above embodiment, the distance between the first lens 402 and the second lens 404 with the blocking means is preferably equal to the focal length of the lens, that is, the convex lens.

According to the above embodiment, the magnitude of the movement displacement recognized by the actual image sensor will be examined.

Referring to FIG. 4, x ₁ and x ₀ are movement displacements actually moved by the sensing device, and x is movement displacement recognized by the image sensor 401. f ₁ is the focal length of the first lens 402 and f ₂ is the focal length of the second lens 404. b ₂ is the distance between the first lens 402 and the image sensor 401, b ₁₂ is the distance between the first second lens 404 and the object, b ₁₁ is the second lens 404 in accordance with changes in the external environment And the distance to the object.

 The blocking means 403 of the above embodiment always forms only a certain phase in the image sensor and the movement displacement recognized by the actual image sensor 401 is as follows.

In the above, f ₁ is the focal length of the first lens 402, f ₂ is the focal length of the second lens 404, and x ₀ is the actual displacement.

As shown in Equation 7, the movement displacement recognized by the image sensor 401 is proportional to the ratio of the focal length of the first lens 402 and the second lens 404 and the actual movement displacement. Therefore, even if the sensing device changes its distance from the floor due to a change in the external environment, it does not affect the size of the movement displacement recognized by the actual image sensor.

5 is a partial block diagram of a position recognition device using a sensor device according to an embodiment of the present invention.

In the above embodiment, the position recognition device includes a control unit, a sensor unit, and a light emitting unit.

The above embodiment schematically shows a block diagram of an apparatus for recognizing its position.

Referring to FIG. 5, the position recognition device includes a control unit 501, a sensor unit 502, and a light emitting unit 503. The location recognition device refers to any device that must accurately grasp its current location, such as a mouse or a robot cleaner. The position recognition device may include any necessary components in addition to the block diagram 500 illustrated in FIG. 5. However, since other components in the present invention may obscure the gist of the present invention, a detailed description thereof will be omitted.

When a predetermined light is emitted from the light emitting unit 503, it is reflected by a floor lamp and is incident to the sensor unit 502 including the configuration of FIGS. 2 to 4. The light incident on the sensor unit 502 forms a predetermined image of the image sensor inside the sensor unit, and the control unit 501 calculates a moving distance of the actual position recognizing apparatus using the image. Of course, using the sensor unit disclosed in Figure 4 makes it possible to form a constant image of the image sensor.

6 to 8 are cross-sectional views of a mouse to which the sensing device is attached. 6 is a cross-sectional view of a mouse attached to the sensing device of FIG. 2, FIG. 7 is a cross-sectional view of a mouse attached to the sensing device of FIG. 3, and FIG. 8 is a perspective view of a mouse attached to the sensing device of FIG. Such a mouse recognizes the exact actual movement displacement and the constant movement scale irrespective of the change of the distance from the floor, thereby determining the exact position movement. 6 to 8 disclose an embodiment of a position recognition device using a mouse, the present invention is obvious that it is applicable to a position recognition device for searching for its own position, such as a cleaning robot.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. It can be understood that

According to the present invention as described above, even if a change in the distance between the sensor device and the target object due to the non-uniform shape of the floor, the sensor device accurately measures the actual displacement and is recognized by the image sensor inside the sensor device Since the size of the movement displacement is constantly recognized, the mouse or the position recognition device using the same has the advantage of being able to grasp its exact position and movement path.

Claims (20)

A first lens collecting light emitted from an object to form an image of the object; A first image sensor sensing an image of an object formed by the first lens; A second lens collecting light emitted from an object to form an image of the object; And A second image sensor configured to sense an image of an object formed by the second lens, And a distance between the first lens and the target object and a distance between the second lens and the target object are not equal. The method of claim 1, And the first lens and the second lens are separated by a predetermined distance. The method of claim 1, The first lens is a sensing device, characterized in that the convex lens. The method of claim 1, And the second lens is a convex lens. The method of claim 1, The actual displacement (x) is a sensing device, characterized in that obtained by the following equation.

(Where x ₂ is a movement displacement recognized by the second image sensor, a ₂ is a distance between the second image sensor and the second lens, x ₁ is a movement displacement recognized by the first image sensor, and a ₁ Is the distance between the second image sensor and the second lens, and h is the difference in distance between the first lens and the second lens from the object.) Beam dividing means for dividing light emitted from the object into different paths; A first lens divided by the beam dividing means and collecting light output through one path to form an image of the object; A first image sensor sensing an image of an object formed by the first lens; A second lens divided by the beam dividing means to collect light output in a path different from the one path to form an image of the object; And A second image sensor configured to sense an image of an object formed by the second lens, And a distance between the first lens and the beam splitting means and a distance between the second lens and the beam splitting means are not equal. delete The method according to claim 6, The first lens is a sensing device, characterized in that the convex lens. The method according to claim 6, And the second lens is a convex lens. The method according to claim 6, The actual displacement (x) is a sensing device, characterized in that obtained by the following equation.

(Where, x ₂ is a movement displacement recognized by the second image sensor, c ₂ is a distance between the second image sensor and the second lens, x ₁ is a movement displacement recognized by the first image sensor, c ₁ Is the distance between the second image sensor and the second lens, and h is the difference between the distance between the first lens and the second lens with the beam splitting means.) A first lens collecting light emitted from the object; A second lens for forming an image of an object by using light collected by the first lens; An image sensor sensing an image formed by the second lens; And Located between the first lens and the second lens, and includes a blocking means for blocking other external light from entering when the light collected by the first lens passes through the second lens, And a distance between the blocking means and the first lens is the same as a focal length of the first lens, and a distance between the blocking means and the second lens is the same as the focal length of the second lens. delete 12. The method of claim 11, The first lens is a sensing device, characterized in that the convex lens. 12. The method of claim 11, And the second lens is a convex lens. delete delete 12. The method of claim 11, Sensing device, characterized in that the displacement (x) recognized by the image sensor is obtained by the following equation.

(Where f ₁ is the focal length of the first lens, f ₂ is the focal length of the second lens, and x ₀ is the actual displacement). A light emitting unit emitting light; A first lens configured to collect light reflected from an object emitted from the light emitting unit to form an image of the object, a first image sensor for sensing an image of the object formed by the first lens, and A second lens formed at a position different from that of the first lens, wherein the light emitted from the light emitting unit collects the light reflected from the object to form an image of the object, and the object formed by the second lens A sensing unit including a second image sensor sensing an image; And And a controller configured to calculate a current coordinate position using the data sensed by the sensing unit. And a distance between the first lens and the target object and a distance between the second lens and the target object are not the same. A light emitting unit emitting light; Beam splitting means for dividing the light reflected from the object by the light emitting part into different paths, and splitting the light output by the beam splitting means into one path to form an image of the object A first lens, a first image sensor sensing an image of an object formed by the first lens, and light split by the beam splitting means and output by a path different from the one path to collect an image of the object. A sensing unit including a second lens forming (iii) and a second image sensor sensing an image of an object formed by the second lens; And And a controller configured to calculate a current coordinate position using the data sensed by the sensing unit. And the distance between the first lens and the beam splitting means and the distance between the second lens and the beam splitting means are not equal. A light emitting unit emitting light; A first lens that collects light reflected from an object emitted by the light emitting unit, a second lens that forms an image of an object by using light collected by the first lens, and an image formed by the second lens. A blocking means positioned between the sensing image sensor and the first lens and the second lens and blocking other external light from entering when the light collected by the first lens passes through the second lens; Sensing unit comprising a; And And a controller configured to calculate a current coordinate position using the data sensed by the sensing unit. And the distance between the blocking means and the first lens is the same as the focal length of the first lens, and the distance between the blocking means and the second lens is the same as the focal length of the second lens.

Images