WO1997027449A1 - Radiant energy transducing apparatus with constructive occlusion - Google Patents
Radiant energy transducing apparatus with constructive occlusion Download PDFInfo
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- WO1997027449A1 WO1997027449A1 PCT/US1997/001011 US9701011W WO9727449A1 WO 1997027449 A1 WO1997027449 A1 WO 1997027449A1 US 9701011 W US9701011 W US 9701011W WO 9727449 A1 WO9727449 A1 WO 9727449A1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/04—Optical or mechanical part supplementary adjustable parts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/04—Optical or mechanical part supplementary adjustable parts
- G01J1/0407—Optical elements not provided otherwise, e.g. manifolds, windows, holograms, gratings
- G01J1/0437—Optical elements not provided otherwise, e.g. manifolds, windows, holograms, gratings using masks, aperture plates, spatial light modulators, spatial filters, e.g. reflective filters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/04—Optical or mechanical part supplementary adjustable parts
- G01J1/0407—Optical elements not provided otherwise, e.g. manifolds, windows, holograms, gratings
- G01J1/0474—Diffusers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/04—Optical or mechanical part supplementary adjustable parts
- G01J1/06—Restricting the angle of incident light
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J1/4228—Photometry, e.g. photographic exposure meter using electric radiation detectors arrangements with two or more detectors, e.g. for sensitivity compensation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/0271—Housings; Attachments or accessories for photometers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/04—Optical or mechanical part supplementary adjustable parts
- G01J2001/0481—Preset integrating sphere or cavity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/02—Constructional details
- G01J5/08—Optical arrangements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
Definitions
- the present invention relates generally to
- optical emitters and detectors and optical position
- tracking devices in particular, optical devices having distinct radiation and detection properties that may be used to track position of objects, using a relatively
- Position tracking is a growing technology with ever increasing applications. For example, in the
- Position tracking in three dimensions is used in virtual reality simulation. Position tracking is also used in the industrial arena, with applications in process control and robotics.
- the field of biomedics also uses position tracking devices for tracking portions of a human body to determine the body's motion patterns.
- Active systems utilize active electronic elements on the objects being tracked.
- active systems utilize active electronic elements on the objects being tracked.
- the Polhemus' 3SPACE ISOTRACK II ® system uses active magnetic elements to create a dynamic magnetic field that is
- the system By sensing changes in the magnetic field, the system delivers all six axes of the object's spatial location.
- Active systems are generally high-performance, high-end products. However, they can have disadvantages, including limited range of motion, metal interference, complex operation and high cost.
- range of the magnetic field is typically limited, and trailing connection wires are often a nuisance.
- mapping of the entire field is usually part of the system's required
- passive systems track objects without physical links between the object and the system.
- Target points such as retro reflectors may be used, or image processing of a video image may be performed.
- passive systems are often less complex and less expensive compared to active systems, they are often lacking in resolution.
- passive systems typically require extensive image processing, which can increase costs and the probability of errors.
- the use of reflectors avoids some of these problems, but not without introducing other problems, such as the need for critical alignment and extensive initialization.
- an optical detector such as photodiodes or charge-coupled device
- CCD compact compact disc
- the response is often limited. For example, they typically provide directional information or resolution about one axis only, and the sensor's accuracy is typically limited by the number of optical elements provided.
- the system be able to provide locational data inclusive of range data, along with directional data, for tracking an object in three dimensional space.
- the present invention resides generally in an optical position tracking system that tracks the position of objects, using light intensity and/or frequency with the application of geometry and ratios of detector
- the present invention provides for the illumination of an area that may be defined by spherical or hemispherical coordinates with a tailored spatial intensity profile, and/or the detection of light
- the positioning tracking system in one embodiment includes a retro reflector that is affixed to the object being tracked, and a head module that includes a light distributor and a light detector.
- Constructed occlusion as employed by the present invention includes the use of a mask that improves certain radiating
- a mask in a predetermined position enables the distributor to provide a more uniform radiation profile, and the detector to provide a more uniform response profile, at least for elevations approaching the horizon.
- changing the position and/or size of the mask changes the radiating and response profiles.
- the profiles may be further manipulated or enhanced with the use of a baffle,
- the baffle can be conical or an intersecting structure.
- the electromagnetic radiation utilized by the present invention includes visible light
- components including the mask and the baffle are formed of a Lambertian, polymeric material having a reflectance of approximately 99% for visible wavelengths.
- the distribution profile of a constructively occluded distributor can be specifically tailored or made substantially uniform for over most, if not all, azimuths and elevations of a hemispheric area over the distributor.
- the response profile of a constructively occluded detector can be specifically tailored or made substantially uniform for most, if not all, azimuths and elevations of a hemispheric area over the detector. In essence, constructed occlusion can render both the
- distributor and detector uniformly omnidirectional in the hemispheric area which the occluded device faces.
- the head module of the system includes a partitioned occluded device which may be either the distributor or the detector.
- a partitioning baffle in a distributor renders a partitioned distributor having distinct emission
- partitioned detector having distinct detection sections where the sections can detect radiation from different directions.
- the system may be variously configured, to use different combinations of partitioned and nonpartitioned devices, that is, a partitioned distributor with a
- nonpartitioned detector or a nonpartitioned distributor with a partitioned detector.
- a partitioned distributor provides a plurality of radiation sections and a
- partitioned detector provides a plurality of detection sections.
- a single head module provides one set of directional data about two coordinates (e.g., ⁇ and ⁇ ) for one reflector, using one of these combinations, wherein one of the devices is partitioned into four sections or quadrants.
- An additional head module remotely positioned from the first head module can provide a second set of directional data for the reflector (e.g., ⁇ 2 and ⁇ 2 ). By cross-referencing the second set of directional data with the first set of directional data, the system is able to obtain positional data in three dimensions of the
- the system can also track additional reflectors, using spectrally-different (or at least spectrally
- the system can use additional head modules, each housing an additional set of sensors
- the system can also use a single head module that is configured to house all of the additional sets of sensors.
- the single head module can be configured having one partitioned detector where each section houses a sensor from a set corresponding to a reflector being tracked. Accordingly, a single head module can track multiple reflectors.
- the nonpartitioned distributor and the partitioned detector may use separate cavities or share a single cavity within the head module.
- the nonpartitioned distributor of the head module may emit continuous broad band radiation or pulses of broad band radiation. Where the radiation is emitted in pulses, the elapsed time for the pulse radiation to reflect off the reflector can be analyzed by the system as data providing a range coordinate for the tracked
- the system can derive all three coordinates for a reflector, without using a separate head module.
- the system illuminates the detection zone without discriminating between the object being tracked and any other extraneous objects, such as
- the system provides a separate set of sensors dedicated to sensing background illumination so that the effects of self illumination can be compensated.
- the system may also be configured to reduce the level of background illumination.
- the system utilizes a head module having a scanning beam source that is situated between a split partitioned detector.
- the beam is of a predetermined width and sweeps the detection zone in search of reflectors. With the beam illuminating only a portion of zone at any give time, background illumination is substantially reduced and the system is therefore available to perform a color analysis using a relatively small number of filter sensor
- this embodiment uses two head modules to detect all three coordinates of one reflector.
- the system uses a head module that includes a nonpartitioned detector with a partitioned distributor.
- the partitioned distributor houses in each section a lamp of a distinguishable color (frequency), such that each section is distinctly associated with a distinguishable color.
- the detector houses a small combination of filtered sensors. The color mix reflected by a reflector is analyzed by the system to indicate a set of directional data for the reflector relative to the head module.
- the system may also be configured as an optically active system, using active light sources, such as LEDs, that are placed on the object being tracked, and a partitioned detector.
- active light sources such as LEDs
- a partitioned detector In this embodiment, light emitted from the LEDs are detected by the partitioned detector, and the color or oscillation frequencies of the LEDs are used to distinguish between different LEDs.
- optical devices and position tracking systems are contemplated by the present invention.
- an optical device configured as a ring having two structures which selectively occludes the optical surface of the other for different elevation angles.
- the principles of constructed occlusion is applied such that the device has a tailored or substantially uniform profile which can render the device hemispherical as a radiator or a detector.
- the structure may be configured such to provide distinct and separate segments.
- FIG. 1 is a perspective view of a position tracking system, in accordance with the present invention, for determining and displaying the position of game equipment;
- FIG. 2 is a schematic diagram of a Lambertian surface, demonstrating the cosine dependence property associated therewith;
- FIGS. 3A and 3B are schematic diagrams of a mask used to constructively occlude a Lambertian surface
- FIG. 4 is a side cross-section view of an optical arrangement employing the concepts of constructive occlusion and diffusive reflection, in accordance with the present invention
- FIG. 5 is a graph illustrating the cosine dependence of the arrangement of FIG. 4;
- FIG. 6 is a side cross-section view of an optical arrangement employing the concepts of constructive occlusion and diffusive reflection, and a conical baffle, in accordance with the present invention
- FIG. 7 is a graph illustrating the substantial alleviation or treatment of the cosine dependence of the arrangement of FIG. 6;
- FIGS. 8A and 8B are perspective views of an intersecting baffle, in accordance with the present invention.
- FIG. 9 is a perspective view of another intersecting baffle, in accordance with the present invention.
- FIG. 10 is a side cross-section view of an optical arrangement employing the concepts of constructive occlusion and diffuse reflection, and the intersecting baffle, with treatment of the Fresnel reflection, in accordance with the present invention
- FIG. 11 is a side cross-section view of an optical arrangement with a specially configured mask having properties of a baffle
- FIG. 12A is a side cross-section view representative of a partitioned distributor and a
- FIG. 12B is a cross section view of FIG. 12A, taken along line B-B.
- FIG. 13 is a perspective view of a head module used in association with an oscilloscope, in accordance with the present invention.
- FIG. 14 is a conceptual representation of X-Y coordinates of a display of the oscilloscope of FIG. 13;
- FIG. 15 is a schematic diagram of the electronics for converting electrical signal from the head module of FIG. 13, to the X-Y coordinates of the
- FIG. 16 is a side cross-section view of an embodiment of the head module, in accordance with the present invention.
- FIG. 17 is a cross-section view of FIG. 16, taken along line X-X;
- FIG. 18A is a side cross-section view of another embodiment of the head module, in accordance with the present invention.
- FIG. 18B is a cross-section view of FIG. 18A taken along line B-B;
- FIG. 19A is a side cross-section view of a further embodiment of the head module, in accordance with the present invention.
- FIG. 19B is a cross-section view of FIG. 19A, taken along line B-B;
- FIG. 20A is a side cross-section view of yet another embodiment of the head module, in accordance with the present invention.
- FIG. 20B is a cross-section view of FIG. 20A, taken along line B-B;
- FIG. 21 is a perspective view of another
- FIG. 22A is a plan view of a platform on which four individual partitioned detectors are mounted;
- FIG. 22B is a side view of the platform of FIG. 22A;
- FIG. 23A is a top plan view of another embodiment of an occluded device in accordance with the present invention.
- FIG. 23B is a side view of the occluded device of FIG. 23A;
- FIG. 23C is a side view rotate 90 degrees from the view of FIG. 23B;
- FIG. 24A is a perspective view of a ring
- FIG. 24B is a top plan view of the ring detector of FIG. 24A;
- FIG. 24C is a cross section view of the ring detector of FIG 24A, demonstrating the substantially constant cross section area provided thereby;
- FIG. 25A is a perspective view of a sectioned ring detector in accordance with the present invention.
- FIG. 25B is a top plan view of the ring detector of FIG. 25A;
- FIG. 25C is a side view of the ring detector of FIG 25A, demonstrating the substantially constant cross section area provided thereby;
- FIG. 26A is a top plan view of a multiple cavitied optical device in accordance with the present invention.
- FIG. 26B is a side cross-section view of the device of FIG. 26A, taken along line B-B;
- FIG. 27A is a side cross-section view of another embodiment of an optical arrangement employing the
- FIG. 27B is a view of the optical arrangement of FIG. 27A taken along line B-B;
- FIG. 28 is a side cross-section view of two partitioned optical arrangements configured back-to-back to provide spherical coverage in accordance with a feature of the present invention
- FIG. 29A is a perspective view of two sectioned ring detectors configured back-to-back to provide
- FIG. 29B is a side cross section view of the ring detectors of FIG. 29A;
- FIG. 30A is a side cross section view of one embodiment of an azimuthal device in accordance with the present invention
- FIG. 30B is a view of the azimuthal device of FIG. 30A taken along line B-B;
- FIG. 30C is a view of the azimuthal device of FIG. 30A taken along line B-B, with a tailored coverage;
- FIG. 31A is a side cross section view of another embodiment of the azimuthal device in accordance with the present invention.
- FIG. 31B is a view of the azimuthal device of FIG. 31A taken along line B-B;
- FIG. 31C is a view of the azimuthal device of
- FIG. 31A taken along line B-B, with a tailored coverage.
- the present invention resides in an optical position tracking system 10 that tracks the position of an object, without
- the system measures optical properties such as light intensity and frequency to provide at least directional data along two axes, if not positional data along three axes, for the object being tracked. If desired, the system may also provide positional and rotational data along six axes for the object being tracked.
- the position tracking system has numerous applications.
- the system may be used in a video game 11, where signals
- zone Z equipment within a zone Z are detected and processed, and converted to video signals fed to a video monitor. Though the system and display 15 are shown outside the zone Z, these components may of course be inside the zone Z.
- FIG. 1 One embodiment of the position tracking system 10 is shown in FIG. 1, having a head module H tracking a retro reflector RR1.
- the head module H utilizes the concepts of constructed occlusion and diffuse reflection, both of which are discussed below in further detail.
- constructed occlusion may be used to change certain characteristics of a substantially
- a substantially Lambertian emitter X is shown in FIG. 2. While the emitter X is illustrated with a planar surface, an emitter surface with substantially Lambertian properties need not be planar.
- the radiation intensity of the emitter X varies with the angle ⁇ .
- the emitter X has a radiation intensity profile that is a function of the angle ⁇ . This function or relationship between the radiation intensity and the angle ⁇ can be seen in the change in the cross sectional area K of the surface A as the angle ⁇ changes.
- the cross sectional area K varies as a cosine function of the angle ⁇ .
- FIG. 2 is also representative of a substantially Lambertian detector (also designated by X). While the detector X is shown with a planar surface, a detector surface with substantially Lambertian properties need not be planar. As the emitter X, the detector X has a
- Constructed occlusion aims to reduce, if not eliminate, the cosine dependency on the angle ⁇ in both the emitter X and the detector X.
- a mask M is employed to constructively occlude the surface A.
- the mask M is rendered to selectively "block" portions of the surface A, such that the cross section area K remains constant for most angles of ⁇ .
- the mask M offsets the change in cross section area K such that the radiation or response profile of the surface is substantially uniform for angles of ⁇ , except those near the horizon.
- the cross section area K remains constant for angles of ⁇ between 0 and approximately 80 degrees. This range of angles varies with different geometry between the mask, aperture and cavity. Overall, the radiation or response profile may be distinctly manipulated as desired with different mask and surface geometry.
- the mask M may be completely opaque, constructive occlusion may be achieved without complete opacity in the mask M. So long as the mask M provides a relative reduction in the transmission of radiation between occluded and nonoccluded areas, the cosine
- a diffusive reflector can increase the efficiency of an optical system by allowing a surface emitter or detector to be replaced by a point emitter or detector. For both cases, reference is made to FIG. 4.
- a substantially Lambertian emitting surface LS can be created using a point illuminating element 12 (such as a fiber optic) that illuminates a cavity 16 whose interior surface 20 is diffusely reflective.
- the cavity 16 diffusely reflects radiation from the point element 12 such that a uniformly illuminated surface 21 is created at the aperture 22 of the cavity 16.
- a substantially Lambertian detection surface LS can be created using a point detecting element 12 (such as a photodiode) that detects light within a cavity 16 whose interior surface 20 is diffusely reflective.
- the cavity 16 diffusely reflects radiation entering the cavity 16 through the aperture 22 such that the point detecting element 12 uniformly detects radiation reaching the aperture 22.
- the point element 12 may be a device
- a light-conveying device such as a fiber optic 14 or an optical waveguide, that efficiently transmits light into or away from the cavity 16 to another area.
- the occluded arrangement of FIG. 4 can either (i) illuminate an area over the aperture 22 with an intensity profile that is substantially uniform in almost all directions of the area, as an occluded distributor, or (ii) uniformly detect radiation over almost all directions of the area, as an occluded
- the radiation and detection profiles can remain substantially uniform for most angles in accordance with the selected mask/cavity/aperture geometry, except for those angles at or near the horizon of the occluded arrangement (hereinafter referred to as the horizon district).
- the cavity 16 of FIG. 4 can be provided in a base 18 which also provides a shoulder 28 surrounding the aperture 22 of the cavity.
- the base 18 may be formed of aluminum, plastic, or like materials, and covered with a coating of diffusely reflective substance, such as barium sulfate, so that the base 18 as a whole can diffusely reflect incident light.
- the base 18 may also be formed of a diffusely reflective bulk material such as Spectralon ® sold by Labsphere Inc., of North Sutton, New Hampshire. Spectralon ® is easily machined, durable, and provides a highly efficient Lambertian surface having a reflectivity of over 99%, in visible and near-infrared wavelengths.
- the mask M in particular its underside 24, is also constructed of a diffusely reflective material, such as Spectralon ® , so that any light incident on the mask M, in particular its underside 24, is also constructed of a diffusely reflective material, such as Spectralon ® , so that any light incident on the mask M, in particular its underside 24, is also constructed of a diffusely reflective material, such as Spectralon ® , so that any light incident on the mask M, in particular its underside 24, is also constructed of a diffusely reflective material, such as Spectralon ® , so that any light incident on the
- underside of the mask M is not lost but reflected back into the cavity 16.
- the light redirected back into the cavity 16 is, on average, reflected many times within the cavity 16 and adjacent diffusely reflective components.
- the cavity 16 is illustrated as a hemispherical cavity; however, the cavity may be any shape. Moreover, the size of the aperture 22 need not be comparable to the maximum cross-sectional area of the cavity; that is, the cavity may be more spherical than hemispherical.
- the aperture 22 need not be planar.
- the hemispherical cavity with a planar aperture may be preferred as it is easier to construct and it affords geometric symmetries that allow the use of simplifying calculations and assumptions.
- cavity 16 is hemispherical (or
- the aperture 22 of the cavity 16 defines a diameter D a and the mask defines a diameter D H .
- the ratio between the diameters D a and D M is a parameter that can change the profile (radiation or response) over the entire 2 ⁇ steradian hemisphere which the occluded
- uniformity in the profile is increased if the mask/cavity diameter ratio is close to one; however, this ratio reduces the efficiency of the occluded arrangement by diminishing the acceptance/escape area between the mask and the aperture. It is currently believed that, by decreasing the intensity for certain angles while increasing the intensity for other angles, the mask substantially averages the profile over a wide range of angles, for a more uniform efficiency for most angles.
- a mask/cavity diameter ratio of about 0.8 to 0.9 is preferred. This ratio provides a reasonably level profile, while maintaining a relatively high level of efficiency.
- the distance or height D between the mask M and the aperture 22 is another parameter that can change the occluded arrangement's radiation or detection profile.
- the thickness of the mask M can also change the profile.
- the graph of FIG. 5 shows the cross-sectional area K of an occluded arrangement with an aperture
- the cavity and mask may be constructed out of a core material that is pliant, e.g., rubber, so that the cavity and/or mask may be readily reconfigured to provide different geometries with different radiation or detection profiles.
- a core material e.g., rubber
- the system 10 may either increase the energy of the illumination radiated or detected, or provide a deflector or baffle 30 as shown in FIG. 6.
- the baffle 30 is configured to provide a surface 32 below the mask M, that is substantially perpendicular to the horizon district.
- the surface 32 serves to reflect light to the horizon district to significantly increase the illumination intensity in that district.
- the baffle 30 is constructed out of a diffusely reflective material such as Spectralon ® .
- the reflectivity of the baffles can be graded so that the baffle can have an angle dependent reflectivity, if desired, for example, to compensate nonuniform effects.
- the baffle 30, in conjunction with the shoulder 28 can extend the profile uniformity into angles of ⁇ well beyond 90 degrees (see, e.g., FIG. 7).
- the shoulder 28 redirects toward the upper hemispheric area that would otherwise be directed below the horizon.
- the shoulder 28 blocks light from below the horizon.
- the radiation or detection profile over the hemispheric area may be tailored as desired by carefully configuring and dimensioning the cavity aperture 22, the mask M, the baffle 30, and/or the shoulder 28.
- an occluded distributor R having an aperture with a diameter D a of approximately 2.0" that is constructively occluded by a mask M with a diameter D M of approximately 1.8" and enhanced by a baffle 30 having a base of approximately 0.27" in diameter and approximately 0.21" in length, has a radiation intensity profile that is relatively constant for angles of ⁇ up to 90 degrees.
- FIG. 11 shows a baffle that is incorporated into the mask M by bevelling edges 48 of the mask M. Where the mask M has a substantial thickness, the bevelled edges 48 effectively can direct light to the horizon district.
- FIG. 8A an alternative embodiment of the baffle is shown. Also covered with a diffusely-reflective material, a baffle 41 is formed of multiple extended members 42 defining an intersection 43 at their midpoints. The members 42 are preferably planar, but they may be curved or otherwise. The baffle 41 preferably, but not necessarily, defines symmetrical sections S in the occluded arrangement.
- the baffle 41 preferably, but not necessarily, has a length 44 substantially equal to the diameter of the aperture 22. Alternatively, the length 44 may be longer to extend beyond than aperture 22, or be shorter and shy of reaching the aperture 22.
- the baffle 41 preferably, but not necessarily, has a height 46 substantially equal to the separation distance D between the mask M and the aperture 22. Alternatively, the height 46 may be greater or lesser than the separation distance D.
- the baffle 41 extends toward the aperture 22 of the cavity 16 to create a substantially perpendicular surface 32 relative to the horizon. Consequently, the baffle 41 increases the illumination intensity at the horizon district for a more uniform profile (radiation or
- the baffle 41 may be modified as desired to change the profile.
- a modified baffle 41' is shown in
- FIG. 8B The baffle 41' compared to the baffle 41 has an enlarged core 45 at the intersection 43.
- the core 45 is illustrated with a circular cross section, the core 45 may be different shapes.
- the baffle 41' may also have greater thickness 47 in the members 42.
- the arrangement of FIG. 10 uses a mask diameter D M of
- a mask/aperture diameter ratio of 0.9 provides a relatively uniform response over a relatively large range of the angle ⁇ while maintaining an acceptable range of
- the disk-shaped mask M is spaced away from the aperture 22 by approximately 0.3 inches,
- FIG. 10 may be enclosed in a cover, e.g., dome 38, to protect the interior components. Moreover, the arrangement of FIG. 10 shows the point element 12 being mounted but rather below the mask M and baffle 41, outside of the cavity 16. Connection wires 40 from the point element 12 may be inserted through bores provided in the mask and baffle.
- Fresnel reflection generally occurs whenever light travels through a surface between two materials having different indices of refraction, for example, air and glass or silicon. Much like the cosine dependence of the Lambertian surface on the angle ⁇ discussed above, Fresnel reflection increases with the angle ⁇ , which decreases the illumination intensity of light in the horizon district.
- the arrangement of FIG. 10 illustrates the concepts used by the system.
- the head module H of the system 10 in certain embodiments includes an occluded and baffled emitter (distributor R) and in other embodiments, an occluded and baffled detector (detector T). Occluded and baffled distributors and detectors are disclosed, respectively, in U.S. Application Serial No. 08/590,290, filed January 23, 1996, and U.S. Application Serial No. 08/589,105, filed January 23, 1996, both of which are incorporated herein by reference.
- FIGS. 27A and 27B An alternative embodiment of an occluded and baffled emitter is shown in FIGS. 27A and 27B.
- elongated lamp L e.g., a minifluorescent lamp
- a elongated lamp L is located on the underside 24 of the mask M, between two closely spaced baffles 41. Electrical power for the lamp is supplied on power leads that extend through a passageway formed in the base 18. The height of the baffles 41 exceeds that of the lamp L, such that the lamp L is not visible from the side of the emitter.
- constructive occlusion can render the distributor R and the detector T to provide tailored radiation and detection profiles.
- constructive occlusion can enhance the operation and function of the distributor R and the detector T with respect to radiation in the horizon district, or even render the distributor R and the detector T to be substantially uniformly omnidirectional over a hemispheric area.
- the profiles of the distributor R and the detector T can be further enhanced with the aid of the baffle. With determinative sizing and positioning of the mask and/or baffle, the distributor R can be occluded in a manner that enables it to distribute uniform intensity in almost all directions and the detector T can be occluded in a manner that enables it to respond
- the system uses a head module H that is a combination of an omnidirectional device with a partitioned device that operates with axial resolution.
- the system employs a head module H that includes at least a partitioned distributor PR with a nonpartitioned detector T, or at least a partitioned detector PT with a nonpartitioned distributor R, where the partitioned devices operate with resolution about at least one axis.
- the system enables the
- the partitioned devices function and operate in a manner that allows the system to remain relatively simple electronically and structurally, and inexpensive.
- the baffle 41 effectively divides or partitions the surface LS and/or a region between the mask M and the surface LS into sections in rendering a directional distributor or
- the light source providing the
- the baffle 41 is modified or extended a baffle 51 to divide or partition the region into the sections that are now inclusive of a volume substantially between the cavity 16 and the mask M.
- the point element 12 is replaced by a plurality of point elements, each of which is associated with a distinct section.
- the baffle 51 is similar to the baffle 41 of FIG. 8A, but with the addition of
- dividers 53 which are substantially extended portions of the planar members 42.
- the dividers 53 are configured such that when the baffle 51 is placed between the mask M and the cavity 16 (both represented by broken lines), the members 42 remain above the aperture 22 while the dividers 53 extend below the aperture into the cavity 16 and approach or abut the interior surface of the cavity 16.
- the dividers 53 have an curved profile 55.
- a region G between the surface LS and the mask M is divided by the baffle 41 into sections S i .
- a region or volume G' between the cavity 16 and the mask M is divided by the baffle 51 into the sections or subvolumes S i .
- the baffle 41 and 51 are substantially opaque, having a thickness of approximately 3.0 mm.
- the baffles 41 and 51 need not necessarily be opaque, provided that they substantially divide the region G into the sections, such that light entering into each section substantially remains within that section only.
- the partitioned device has resolution about two axes. Two axes of resolution can also be enabled within the system 10 where the baffle 41 or 51 partitions the region into three sections; however, it is believed that the calculations used by the system to provide directional information would be more complex. Two axes of resolution are also enabled where baffle 41 or 51 divides the region into five or more sections. If only one axis of
- the baffle 41 or 51 is configured to partition the region into fewer sections, for example, two sections.
- baffle 51 provides four sections or quadrants (for resolution about two axes), an X/Y
- baffles 30, 41 and 51 all serve to increase the illumination intensity at the horizon
- the extended baffle 51 divides the cavity 16 and renders the distributor R and the detector T into partitioned distributor and detector PR and PT so that they provide resolution or distinguish direction about the X and Y axes.
- the baffle 51 which enables the partitioned devices PR and PT to generate intensity variations in a manner that allows the system to ascertain at least directional data, if not positional data for a reflector.
- FIGS . 12A and 12B illustrate a partitioned device that is representative of the partitioned
- the baffle 51 creates the sections, which includes lower sections below the aperture 22 within the cavity 16 and upper sections above the aperture 22 and below the mask M.
- a plurality of point elements 59 are used instead of the single point element 12 of FIG. 10 and each point element 59 is associated with a distinct section.
- Each point element 59 may be mounted in a distinct section, in particular, a distinct upper section, on the underside 24 of the mask M for the reasons previously discussed.
- point element 59 may represent light-conveying devices, as described earlier.
- the system in one embodiment provides a head module H that includes a partitioned detector PT and distributor R.
- partitioned detector PT may be configured as illustrated in FIGS. 12A and 12B, and the distributor R may be
- each point sensor 59 of the partitioned detector PT is
- the photodiode has a relatively small responsive area of approximately 0.8 square millimeters and a noise equivalent power (NEP) of approximately 6 ⁇ 10 -15 Watts/(Hertz) 0.5 .
- NEP noise equivalent power
- a photodiode with a small responsive area has two significant advantages: (i) it generally has low noise characteristics; and (ii) the greater efficiency of the system (i.e., a decrease in the ratio of sensor size to cavity size means greater sensitivity).
- the partitioned light detector's efficiency nears its asymptotic state with a cavity having approximately a 1.0 inch diameter or width.
- intensity variations detected by each of the point sensors in the partitioned detector PT of the head module H is processed by a
- processor 49 (a representative circuit 67 thereof being shown in detail in FIG. 15) for display on an oscilloscope 64.
- the circuit 67 is equivalent to the circuit suggested by a manufacturer of photodiodes, namely, United Detector Technologies (UDT) Sensors, Inc., of Hawthorne,
- the sections S A S B S C and S D created by the baffle 51 are arranged clockwise, when viewing down on the partitioned detector PT (see FIG. 13). Note that this arrangement coincides with the sections shown in a conceptual representation in FIG. 14, in that the normal extends outwardly from the horizon (or X/Y) plane into the hemispheric area over the partitioned detector T.
- the cathodes of the photodiodes are all connected to a common ground terminal.
- the anodes of the respective photodiodes are each connected to the respective current-to-voltage amplifier 50. The voltages are then summed and/or
- the first amplifier 52 outputs a signal which is the sum of the signals from all four sections S A , S B , S C and S D .
- the second amplifier 54 sums the signals from the sections B and C, and subtracts the sum of the signals from sections A and D.
- the second amplifier's output signal is then divided by the first amplifier's output signal by a divider 58 that provides and X output signal.
- a third amplifier 57 sums the signals from the sections A and B, and subtracts the sum of the signals from the sections C and D.
- the third amplifier's output signal is then divided by the first amplifier's output signal by a divider 60 that provides a Y output signal.
- a suitable divider is the DIV100 manufactured and sold by Burr-Brown ® of Arlington, Arizona. The relationship between the X and Y output signals and the section signals is given by the following formulas:
- Equations 1 and 2 may be varied so long as the configuration of the sections S A , S B , S C and S D is
- the X and Y output signals are fed to the oscilloscope 64 (FIG. 13).
- the X output signal is
- a spot 66 on the oscilloscope 64 indicates the azimuth p and elevation ⁇ position of the reflector.
- the spot 64 indicated on the oscilloscope 64 is
- FIG. 14 A grid conceptually representative of the coordinate system for the X and Y output signals is illustrated in FIG. 14.
- the azimuth (p) angle taking into account the appropriate section (with the
- This radial distance L is calculated from the X and Y output signals using the following formula:
- FIG. 14 illustrates conceptually the
- the system using the table in Appendix A provides a set of directional data (i.e., ⁇ , ⁇ ) for a reflector being tracked.
- ⁇ , ⁇ a set of directional data
- the algorithm used in Appendix A is merely one of numerous algorithms that may be used by the system.
- the algorithm of Appendix A is also one of many algorithms that allows the spot 66 to remain on the display regardless of the position of the object in the detection zone Z.
- directional data may provided by the system 10 through the use of analytic relationships (e.g., polynomial
- the partitioned light detector PT of the present invention provides at least directional information in the form of a set of azimuth and elevation coordinates (p, ⁇ ) for a given retro reflector.
- a partitioned detector embodying features of the present invention is disclosed in U.S.
- two partitioned devices PD 1 and PD 2 may be placed back-to-back as shown in FIG. 28, to provide spherical coverage that results from the two opposing hemispheric area of the two devices.
- the system may also use a partitioned detector with other
- fluorescent light sources under different conditions.
- an ordinary broad band light bulb can be used where the detection zone is free from other types of illumination.
- Fluorescent light sources that flicker can also be used.
- a suitable fluorescent light bulb is the "Mini Fluorescent" (TM), Model BF659 in white color, made by JKL Components Corp. of Pacoima, California.
- the system will function adequately for those areas substantially normal to and outside the horizon district of the light source.
- the use of the distributor R instead of an ordinary light source expands the operative zone of the system into a hemispheric area over the distributor R, including the horizon district of the distributor R.
- the system In order to track multiple retro reflectors RR i simultaneously with the foregoing embodiment (see FIG. 1), that is, to provide additional sets of directional data (p., ⁇ .) for additional retro reflectors (whether affixed to additional objects, or to different locations on the same object), the system necessarily distinguishes between signals attributable to distinct retro reflectors.
- the term "simultaneously" is used figuratively, and not necessarily literally, in that processing of data for multiple reflectors by the system may occur serially and not in parallel. Parallel
- processing may be accomplished with additional processors.
- the system 10 distinguishes between multiple reflectors by using spectrally-selective sensors.
- the light emitted from the distributor R is broad band light
- reflectors of different spectral characteristics are provided, along with a corresponding set of spectrally-responsive point sensors (e.g.,
- the system is capable of tracking multiple retro reflectors and distinguishing between the intensities variations collected for different reflectors.
- frequencies responses of ⁇ 1 and ⁇ 2 , respectively) may all be housed in a single partitioned detector PT.
- the sets 71 and 72 may be arranged such that each section below the mask M is occupied by one sensor from a given set.
- the partitioned detector PT of FIG. 17 can therefore detect at least two reflectors with
- the reflectors may each be affixed to different objects, or the
- reflectors may all be affixed to a single (substantially rigid) object to track its orientation.
- the frequencies or spectral characteristics of the electronics described herein are not specific wavelengths, but rather denote ranges of wavelengths.
- the responses from the sensor sets 71 and 72 are used in Equations herein to determine the position of the corresponding reflectors.
- the spectral characteristics of the reflectors need not be identical to the response characteristic of its "assigned" sensors, though performance of the system 10 is improved if they have similar characteristics.
- a third set of corresponding spectrally-responsive sensors with frequency spectrum ⁇ 4 may be added to the partitioned detector PT of the head module H.
- an additional head module H n with simply a partitioned detector PT n may be added and used in conjunction with the head module H without requiring reconfiguration of the latter. It can be seen in general that additional sets of sensors for detecting additional reflectors may be housed in the partitioned detector of an existing head module, or in separate and distinct partitioned detectors T i . As shown in FIGS.
- each partitioned detector houses one set of sensor sets S A , S B , S C and S D .
- a single partitioned detector PT of the above description can provide one set of directional data ( ⁇ 1 , ⁇ 1 ) for a given reflector.
- the system uses at least one
- partitioned light detector PT 2 to provide a second set of directional coordinates ⁇ 2 and ⁇ 2 , which when processed with the first directional coordinates ⁇ 2 and ⁇ 2 , provides all three coordinates for the reflector.
- the relative positions of the partitioned detectors PT and PT 2 to each other is made known to the system so that it can cross-reference the signals from both partitioned
- detectors to ascertain all three coordinates for a
- the system uses at least three reflectors and two partitioned detectors.
- a second partitioned detector PT 2 is used, it is part of a second head module H 2 providing a second distributor R 2 .
- the second distributor R 2 provides the light that is detected by the second partitioned detector.
- the system can cross- reference the respective sets of directional data for any one reflector tracking the movement of that reflector in three coordinates.
- a divider or a separating wall may be situated between the head modules H 1 and H 2 to prevent interference by the respective light
- the radiation from the respective distributors may be pulsed or flickered at different frequencies, e.g., 100Hz and 130Hz.
- this background source can be reduced if not eliminated.
- sensors 17A and 17B multiple sensors of different spectral responsiveness are used, that is, sensor sets 71 and 72 responsive to frequencies ⁇ 1 and ⁇ 2 are used to track two corresponding reflectors, as previously described.
- a third set of sensors 73 is provided. The frequency response of the third set 73 is selected to be responsive to all
- responses r 1 and r 2 of the first and second sets of sensors, after subtraction of the background energy are given by:
- R 1 is the sensor response before background correction and K ii are constants of correction.
- partitioned detector PT is given by:
- a e is the acceptance area or aperture of the partitioned detector PT
- a w is the area of the room walls
- W r is the room wall reflectance
- the signal from the retro reflector is given by:
- ⁇ ' is the divergent angle of the retro reflector, as previously defined, A r is the area of the retro reflector, and D r is the distance to the retro reflector.
- Table 1 below lists signal to background and A/D requirements for selected conditions using a 1" diameter retro reflector, where Rs is the room size in feet, D r is distance to the retro reflector in feet, and W r is the wall reflectance.
- a smaller signal to background required a larger Analog to Digital (A/D) converter.
- a head module H including a partitioned detector PT and a nonpartitioned distributor R is shown in FIG. 16.
- the partitioned detector PT and the distributor R of this head module each has its own cavity.
- a cavity 16 R , mask M R and baffle 41 are provided for the distributor R, and a separate cavity 16 PT , mask M PT and baffle 51 are provided for the
- partitioned detector PT albeit the cavity 16 R is actually configured in the mask M PT of the partitioned detector PT.
- the partitioned detector PT and the distributor R function without significant disturbance to the other.
- the distributor R distributes light into the
- the partitioned detector PT is able to detect intensity variations between the sections to enable the system to provide a set of directional data of p and ⁇ for each reflector.
- the head module with separate cavities may be the simplest and least costly to manufacture.
- the separate cavity feature enables the use of continuous or slowly oscillating illumination and relatively larger light sources. This
- embodiment is advantageous in that it avoids the use of moving components and imposes relatively slow response requirements on the electronics of the system.
- FIGS. 18A and 18B A single cavity 16 is provided and shared by a distributor R and a partitioned detector PT.
- One mask M and one extended baffle 51 are used in this embodiment.
- the partitioned detector PT uses three sets of sensors 71, 72 and 73 to detect two reflectors (the third set 73 for
- the distributor R uses a plurality of emitters 74, one for each section under the mask M.
- the emitters 74 can be broad band pulse emitters. By measuring the time elapsed for the pulses to return to the head module H, the system can obtain a range R of the reflector from the head module H, by:
- a pulse leading edge width or rise time of approximately 1 nanosecond would give a resolution of
- the system using this variation of the head module is able to provide all three coordinates of a reflector without using a second head module.
- the system 10 needs only two additional retro reflectors, both of which are also tracked by the head module H. It is understood by one of ordinary skill in the art that the "time of flight" variation is not limited to the single-cavity embodiment, but may also be used in the separate-cavity embodiment, described earlier.
- the system can be configured to generate minimal background illumination, as discussed below.
- the light distributor R of the head module H is replaced by a
- the scanning light mechanism 76 includes a plurality of scanning mirrors 78 whose
- point light source 82 is redirected by the mirrors 78 to form a scan beam 84 that sweeps the zone Z.
- rotating reflectors may be used in the system.
- the scanning beam 84 may be approximately 10
- the partitioned detector PT is set with a
- the optical intensity striking the partitioned detector PT exceeds the threshold and the system 10 processes the
- the partitioned detector PT of this embodiment is split into symmetrical components. As shown in FIG.
- the partitioned light detector PT is divided into two portions PT a and PT b , between which the scanning mechanism 76 is positioned. By splitting the partitioned detector PT, shadowing by the scanning mechanism 76 is
- the head module H of this embodiment provides only a one set of directional data (azimuth and elevation) for a reflector.
- this embodiment has a distinct advantage of lower background illumination and may thus be preferred for applications with a large number of reflectors .
- the system of this embodiment can readily track multiple retro reflectors using a small number of filter sensor combinations which cooperatively perform a "color" analysis on the signals detected.
- the system can be configured to distinguish between a very large number (i.e. thousands) of spectrally-distinguishable reflectors, using as little as two or three sets of sensors. Of course, it is understood by one of ordinary skill in the art that a larger number of sets can be used.
- the color analysis performed by the system is much like that used by the human eye to detect color.
- the eye using only three detectors (or “cones”) is able to distinguish between a variety of colors.
- the system using only three sets of spectrally-selective sensors 91, 92 and 93 as shown in FIG. 19B can be used to detect color.
- the system 10 includes a head module H having a nonpartitioned detector T and a partitioned distributor PR, with separate cavities 16 T and 16 PR , separate masks M T and M PR , a baffle 41 and a cavity dividing baffle 51.
- the partitioned distributor PR is equipped with different color lamps C A , C B , C D and C D to radiate a different color (i.e., radiation of a different wavelength) from each section.
- the resulting color mix reflected by a reflector is detected by the detector T using three single point sensors 95.
- the system analyzes the color mix detected by the detector T to obtain a set of directional data (azimuth and elevation) for that reflector.
- Additional reflectors may be tracked where the reflectors are equipped with shutters, such as LCD
- the partitioned distributor PR in an alternative embodiment may be equipped with emitters of different temporal frequency. That is, each section of the partitioned distributor PR may house a lamp or emitter that flickers at a distinct frequency so that the nonpartitioned
- detector T is able to distinguish between light from each lamp or emitter.
- active light sources 88 1 and 88 2 such as LEDs, replace the optically-passive reflectors (thereby obviating the use of a light source or light distributors).
- active light sources 88 1 and 88 2 replace the optically-passive reflectors (thereby obviating the use of a light source or light distributors).
- directional data for each of the sources 88 1 , and 88 2 is obtained.
- two partitioned detectors PT 1 and PT 2 positional data in all three coordinates for both of sources 88 1 and 88 2 obtained.
- the active light sources are distinguishable from each other by emitting
- the system 10 includes the partitioned distributor PR of FIG. 20B, and the partitioned detector PT of FIG. 17.
- the partitioned distributor PR with the color lamps C A , C B , C D and C D , or emitters of different temporal frequencies, as described above, may itself be mounted on or otherwise attached to the object being tracked.
- the resulting color mix from the partitioned distributor PR is detected by the sets of sensors 71, 72 and 73 of the partitioned detector PT of FIG. 17, which now perform a color analysis on the color mix to provide a set of directional data for the object relative to the partitioned detector PT.
- the accuracy of the directional performance of the light distributor and/or light detector can be empirically optimized using a variety of
- the height, relative diameter, thickness, and reflectivity of the mask, the width and reflectivity of the shoulders, the height and reflectivity of the baffle assembly, the shape and reflectivity of the cavity, and the photodiode's diameter all affect the light detector's directional response.
- performance can be tailored to be nonuniform, if desired, by varying specific parameters. For example, decreasing the distance between the mask and the aperture will decrease the spherical profile of the detector's response, while increasing the detector's "on-axis" efficiency.
- the detector's "on-axis" efficiency improves to about 90%, compared to about 40% with a mask above the aperture, but its response profile is narrowed, rendering a less uniform detection profile.
- the light detector's spectral response can also be tailored by using spectrally selective paint on the diffusely reflective surfaces or a filtered dome or cover.
- the signals representative of the position of the object tracked can be converted into video signals to drive a video monitor displaying the position or movement of the object.
- the reflectors may be removably affixed to the object, such that they can be readily transferred between different game equipment, such as game swords or game boxing gloves.
- occluded distributor or detector 98 may be configured to provide to a radiation or detection profile that is substantially uniform over a spherical area.
- the occluded device includes a tubular member 100 having a diffusely
- the tubular member 100 is
- the tubular member 100 has open ends 106 providing two
- apertures 108 from which radiation may enter into or exit. from the cavity 104.
- the apertures 108 are constructively occluded with masks M and the cavity 104 is divided by a planar baffle 110 to form two half volumes V 1 and V 2 inside the tubular member 100.
- a point element 112 is housed in each half volume, at a midlocation along the length of the member 100. Accordingly, the device 98 is operational with respect to one axis of resolution.
- the point element 112 is an emitter
- radiation is emitted from each end 106 of the occluded device 98 with a tailored distribution profile over the aperture 108.
- the occluded device 98 detects
- a second occluded tubular device 114 is provided.
- the second device 114 is structured similarly to the first device 98 and thus like numerals refer to like elements.
- the second device 114 is positioned orthogonally to the device such that its apertures 108 are offset substantially 90 degrees from the apertures 108 of the first device.
- the two devices together are operational with respect to two axes of resolution.
- occlusion can be accomplished by reconfiguring the
- annular or ring structure 120 is illustrated, having an opening or otherwise
- nonoptical area 122 through which an axis or boresight 124 can be drawn. It is understood by one of ordinary skill in the art that the area 122 may alternatively be non-reflective and/or nontransmissive.
- the axis 124 is substantially normal to a plane within which the ring structure 120 is confined.
- the elevation angle ⁇ is defined as the angle from the boresight 124.
- the ring structure 120 provides two distinct surfaces that can either radiate or detect light.
- the ring structure 120 includes a first annular structure 126 that provides a first surface 128 that faces inwardly toward the area 122.
- structure 120 also includes a second annular structure 130 (shown in exploded view in broken lines in FIG. 24A) that provides a second surface 132.
- the second structure 130 fits within the first structure 126 and may reside at any predetermined depth within the first structure 126 as shown by the arrow 123. Fitted inside the first structure 16, the second structure 130 effectively projects
- first and second surfaces are normal to each other, with the second surface 132 being
- first and second surfaces 128 and 132 need not be normal to each other so long as they can occlude each other as desired and any angle therebetween is known. Typically mutual selective occlusion is afforded if the structures 126 and 130 are nonparallel. Moreover, the second surface 132 need not be normal to the boresight 124 so long as any angle therebetween is known.
- the second structure 130 is situated at a lower depth within the first structure
- the second structure 130 can also be situated at a midline of the first structure 126, as shown in FIGS. 25A-25C.
- the cross section K can be kept substantially constant for most angles of ⁇ . It can be seen that for the angle of ⁇ approaching the horizon as shown in FIG. 24C, the first and second left surfaces 128 L and 130 L are unoccluded, whereas the first and second right surfaces are occluded, to provide the total cross section K. Where the angle of ⁇ is substantially zero, only the second surfaces 130 R and 130 L are unoccluded, whereas both the first surfaces 128 R and 128 L are effectively occluded to provide the total cross section K.
- the first and second structures 126 and 130 each constructively occludes the surfaces of the other for different angles of ⁇ , keeping the cross section area K relatively constant to provide a relatively uniform radiation or detection profile.
- the ring structure 120 is substantially omnidirectional for either radiation purposes or detection purposes.
- the cross section K also remains relatively constant for different angles of ⁇ . As shown in FIG. 25C, the left second structure 130 L
- the first and second structures 126 and 130 each constructively occludes the surfaces of the other for different angles of ⁇ , keeping the cross section area K relatively constant to provide a relatively uniform radiation or detection profile.
- the structure 120 is configured as a circular ring; however, it can be configured in any shape, provided the opening or nonoptical area 122 is present.
- the structure 120 is divided into at least two discrete portions or segments 150.
- the disclosed structure 120 of is divided into four segments 150a, 150b, 150c and 150d, as best shown in FIG. 24B, to provide two axes of resolution rendering the structure 120 directional in two coordinates, in the manner described earlier.
- segment 150d is shown partially broken away to reveal the cross section view of segment 150a which is representative of all the segments 150a-150d.
- the division in the structure 120 is preferably, but not necessarily, made so that each segment provides substantially symmetrical and equal surfaces 128 and 132.
- the segments 150a-150d are insulated from each other by gaps 152 filled with air or insulating material such that each segment is unaffected by the radiation or detection function of the others.
- each of the segments can radiate distinguishable
- each segment 150a-150d can generate signals representative of the radiation incident on the respective segment.
- the structure 120 can be constructed out of silica, or a calorimetric substance that is sensitive to infrared radiation.
- the first and second surfaces 128 and 132 may be rendered a dark shade or color such that infrared radiation
- two ring structures 120" and 120" may be used in a back-to-back configuration as shown in FIGS. 29A and 29B.
- a single non- reflective and non-transmissive member 122' is provided between the two structures 120' and 120" and each of the structures 120' and 120" is divided into the segments 150a'-150d' and 150a"-150d", respectively, to provide resolution about two axes (the segments 150d' and 150d” are not shown and the segments 150c' and 150c" are shown partially broken away).
- FIGS. 29A and 29B it can be seen that the ring structure 120' provides "top" hemispherical coverage and the ring structure 120" provides "bottom” hemispherical coverage, which together provide the spherical coverage.
- FIGS. 26A and 26B another embodiment of a constructively occluded, directional optical device 160 is illustrated.
- the device 160 is illustrated.
- the base 162 includes a base 162 constructed much like the base 18 earlier described, except that the base 162 contains four spherical cavities 164a, 164b, 164c and 164d, all of which are constructively occluded by a mask 166 configured from an upper portion 168 of the base 162.
- spherical cavities has a surface or aperture 167 that is occluded by the mask 166 so that the cross section area K remains substantially constant for most angles of ⁇ .
- a plurality of optical point elements 180 are provided, with each being associated with a distinct cavity.
- the four spherical cavities 164a-164d jointly form a larger cavity (delineated in FIG. 26B by broken line segments 169) which has been partitioned by a core section 170 of the base situated between the four spherical cavities, on which the mask M is supported.
- the core section 170 acts much like the baffle 51 described earlier in enabling the radiation in each cavity 164a-164d to remain therein.
- the device offers two axes of resolution, as described earlier.
- an occluded device in accordance with a feature of the present invention can be tailored as desired or needed.
- an occluded device providing a
- FIGS. 30A-30C An occluded device 200 is shown, having a diffusely reflective cavity 202, which in the illustrated embodiment, is cylindrical with a constant circular cross-section area 204. An aperture 206 of the cavity 202 provides a radiation or detection surface 208.
- the occluded device 200 includes a diffusely reflective mask M.
- the mask M has a width W M that is greater than a width W A of the aperture 206 and is positioned a distance D from the surface 208 or aperture 206.
- the width W M may be approximately
- the width W A may be approximately 0.250
- the distance D may be 0.075".
- the mask M overreaches and extends beyond the aperture 206.
- the device 200 has reduced function in the elevation angles over the hemispheric area or sector which the device 200 faces. But because the cross section area K H is
- the device 200 is rendered an azimuthal device having a radiation or detection profile that is substantially uniform in the azimuth direction at or near the horizon district of the device 200.
- the device includes a diffusely reflective baffle 214 that partitions or divides the cavity 202 into the sections S.
- the baffle 214 preferably, but not necessarily, divides the cavity 202 into four section S A , S B , S C and S D .
- the device 200 may then include four emitters 220 A - 220 D , each of which is housed in a distinct section.
- the emitters 220 can be lamps of different colors or different temporal frequencies, except that the device 200 operates azimuthally, as opposed to hemispherically.
- the azimuthal device 200 may include a plurality of detectors (also represented by reference numerals 220) in association with the sectors.
- the baffle 214 is configured to partition the cavity 202 into at least the four sections S A , S B , S C and S D , each of which houses a distinct emitter 220.
- the baffle 214 is configured to
- the cavity 202 partitions the cavity 202 into at least three sections that span preferably, but not necessarily, 270 degrees. As shown in FIG. 30C, the three sections may be sections S A , S D and S C , each with its respective detector 220. As a fourth detector 220 is not used in this embodiment for detection coverage of 180 degrees, the "nonactive" section S B is shown without a detector.
- the plurality of sections and/or the plurality of optical elements 220 associated with the sections S may be tailored or changed to meet the desired function and operation of the device 200 as either a partitioned azimuthal distributor or a partitioned azimuthal detector.
- the device 200 is shown in FIGS. 31A-31C where the width W M of the mask M is substantially equal to the width W A of the aperture 206. It can be seen that the cross section area K H has remained substantially unchanged from that of FIGS. 30A-30C; however, cross section area K E ' of FIG. 31A has increased over the area K B of FIG. 30A.
- FIGS. 30A-30C are positioned in the "bottom” of the cavity 202, whereas the optical elements 220 of FIGS. 31A-31C are positioned on the "sides" of the cavity 202. In either instance, the sites of the elements 220 within the cavity 202 are selected so as to avoid “hot spots,” as described earlier, if "hot spots” are undesirable or disruptive.
- FIGS. 30A-30C may be preferred for a floor-mounted azimuthal device and the embodiment of FIGS. 31A-31C may be preferred for a wall-mounted azimuthal device.
- the cavity 202, the mask M, and/or the baffle 214 may be diffusely reflective, and the cavity 202 may be any shape, although the cylindrical shape is preferred in most instances.
- a protective cover 224 may also be provided.
- the present invention provides a relatively simple and cost effective system that can track the position of objects moving in a three-dimensional zone, without a large number of optical elements or complex processing electronics.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/836,811 US5914487A (en) | 1997-01-22 | 1997-01-22 | Radiant energy transducing apparatus with constructive occlusion |
JP52696597A JP2001515583A (en) | 1996-01-23 | 1997-01-22 | Radiant energy converter with structural concealment |
EP97903061A EP0876583A4 (en) | 1996-01-23 | 1997-01-22 | Radiant energy transducing apparatus with constructive occlusion |
AU17073/97A AU1707397A (en) | 1996-01-23 | 1997-01-22 | Radiant energy transducing apparatus with constructive occlusion |
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/590,290 US5733028A (en) | 1996-01-23 | 1996-01-23 | Apparatus for projecting electromagnetic radiation with a tailored intensity distribution |
US08/589,105 | 1996-01-23 | ||
US08/589,104 US5705804A (en) | 1996-01-23 | 1996-01-23 | Quadrant light detector |
US08/590,290 | 1996-01-23 | ||
US08/589,105 US5773819A (en) | 1996-01-23 | 1996-01-23 | Single element light detector |
US08/589,104 | 1996-01-23 | ||
US08/781,826 | 1997-01-10 | ||
US08/781,826 US6043873A (en) | 1997-01-10 | 1997-01-10 | Position tracking system |
Publications (2)
Publication Number | Publication Date |
---|---|
WO1997027449A1 true WO1997027449A1 (en) | 1997-07-31 |
WO1997027449A9 WO1997027449A9 (en) | 1997-11-13 |
Family
ID=27504989
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1997/001011 WO1997027449A1 (en) | 1996-01-23 | 1997-01-22 | Radiant energy transducing apparatus with constructive occlusion |
PCT/US1997/001015 WO1997027450A1 (en) | 1996-01-23 | 1997-01-22 | A position tracking system |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1997/001015 WO1997027450A1 (en) | 1996-01-23 | 1997-01-22 | A position tracking system |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0876583A4 (en) |
JP (1) | JP2001515583A (en) |
AU (2) | AU1707397A (en) |
CA (1) | CA2244242A1 (en) |
WO (2) | WO1997027449A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8992043B2 (en) | 2010-02-15 | 2015-03-31 | Abl Ip Holding Llc | Constructive occlusion lighting system and applications thereof |
JP2016050833A (en) * | 2014-08-29 | 2016-04-11 | 旭化成エレクトロニクス株式会社 | Infrared sensor device |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6334700B2 (en) | 1996-01-23 | 2002-01-01 | Advanced Optical Technologies, L.L.C. | Direct view lighting system with constructive occlusion |
US6064061A (en) | 1998-03-31 | 2000-05-16 | Advanced Optical Technologies, L.L.C. | Enhancements in radiant energy transducer systems |
US6238077B1 (en) | 1996-01-23 | 2001-05-29 | Advanced Optical Technologies, L.L.C. | Apparatus for projecting electromagnetic radiation with a tailored intensity distribution |
US6851832B2 (en) | 2002-05-21 | 2005-02-08 | Dwayne A. Tieszen | Led tube light housings |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2969018A (en) * | 1957-05-01 | 1961-01-24 | Itt | Quadrant homing system |
US3777160A (en) * | 1971-03-22 | 1973-12-04 | Siemens Ag | Optical radiation detecting apparatus |
US4711998A (en) * | 1985-12-05 | 1987-12-08 | Santa Barbara Research Center | Direction finder system with mirror array |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS573887B2 (en) * | 1972-06-28 | 1982-01-23 |
-
1997
- 1997-01-22 WO PCT/US1997/001011 patent/WO1997027449A1/en not_active Application Discontinuation
- 1997-01-22 WO PCT/US1997/001015 patent/WO1997027450A1/en active Application Filing
- 1997-01-22 CA CA002244242A patent/CA2244242A1/en not_active Abandoned
- 1997-01-22 AU AU17073/97A patent/AU1707397A/en not_active Abandoned
- 1997-01-22 EP EP97903061A patent/EP0876583A4/en not_active Withdrawn
- 1997-01-22 AU AU17075/97A patent/AU1707597A/en not_active Abandoned
- 1997-01-22 JP JP52696597A patent/JP2001515583A/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2969018A (en) * | 1957-05-01 | 1961-01-24 | Itt | Quadrant homing system |
US3777160A (en) * | 1971-03-22 | 1973-12-04 | Siemens Ag | Optical radiation detecting apparatus |
US4711998A (en) * | 1985-12-05 | 1987-12-08 | Santa Barbara Research Center | Direction finder system with mirror array |
Non-Patent Citations (1)
Title |
---|
See also references of EP0876583A4 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8992043B2 (en) | 2010-02-15 | 2015-03-31 | Abl Ip Holding Llc | Constructive occlusion lighting system and applications thereof |
JP2016050833A (en) * | 2014-08-29 | 2016-04-11 | 旭化成エレクトロニクス株式会社 | Infrared sensor device |
Also Published As
Publication number | Publication date |
---|---|
EP0876583A1 (en) | 1998-11-11 |
WO1997027450A1 (en) | 1997-07-31 |
AU1707397A (en) | 1997-08-20 |
AU1707597A (en) | 1997-08-20 |
CA2244242A1 (en) | 1997-07-31 |
JP2001515583A (en) | 2001-09-18 |
EP0876583A4 (en) | 2000-01-19 |
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