JPS6014188A - Position detector - Google Patents

Abstract

PURPOSE:To detect one-dimensional and two-dimensional positions of the center, corners, and ends of an object by moving an image, which is focused onto photoelectric transducers, obliquely in the arrangement direction of each photoelectric transducer, and selecting detection signals of individual photoelectric transducers and subjecting them to an arithmetic processing. CONSTITUTION:This position detector consists of an illuminating device 39 which illuminates an object to be detected, a focusing lens 41 which focuses the image of the object 40 to be detected, a detector 42 consisting of plural two-dimensionally arranged photoelectric transducers which detects the brightness of the image, a scanner 43 which moves the image on-dimensionally in the focusing surface, a selecting device which selects plural detection signals of the detector 42, and a controller 44 for the scanner 43. The selecting device 45 is provided with an operating circuit, a switching circuit, etc., and one-dimensional and two-dimensional positions of the center, corners, and ends of the object to be detected are determined on a basis of detection signals, the selecting signal, and a scanning signal.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a position detection device for an industrial robot.

Conventional configuration and its problems When working with an industrial robot, if it is difficult to accurately position the target object, a position detection device is used to obtain position information of the target object. It will be done.

As a conventional example, an industrial camera is generally used as a position detection device, but it requires a processing system with advanced calculation functions, and there are many problems in terms of cost when using it.

To solve this problem, the inventors have already proposed a method of position detection using a simplified processing system. To explain this with reference to FIGS. 1 to 8, the lighting 1
4 x 4 photoelectric converters 4a to 4 arranged two-dimensionally by an imaging lens 3 containing two objects to be detected with dimensions LxL illuminated by
The image is formed on 4p.

Here, the shape of the photoelectric converter is assumed to be t1×t1. Between the imaging lens 3 and the photoelectric converters 4a to 4p,
A galvanometer 5 is disposed as a scanning device, and a scanning signal output from a control device 6 is used to scan the photoelectric converters 4a, 4.
The image is driven to move diagonally at an angle of θ1 with respect to the arrangement direction of each of d, 4a, and 4m. -B1
A scanning signal is output from the control device 6, and the galvanometer 5 is driven to +1'+iJ photoelectric converters 4a to 4.
The image of the object 2 formed on 4p moves at an angle of θ1 with respect to the arrangement direction of the front photoelectric converters 4a, 4d and 4a, 4m. The photoelectric converters 4a to 4
Of the detection signals S1 to 316 of p, S3, 34. S7゜S
8 inputs both r of the switching circuit 11a111b,
The detection signal S1, 32.35. S6 is input to both switching circuits 11C and 211d.

The detection signals 811, 812, 315, and 316 are input to both switching circuits 11e and 11f, and the detection signals 39, 810, 313, and 314 are input to both switching circuits 11q and 11h.

By outputting a dimension designation signal and a direction 1 determination signal from the dimension 4111 determination circuit 8 and the direction designation circuit 10, respectively, a switching signal to be output from the signal selection circuit 9 is determined, and the switching signal outputs the switching circuit 11a. , 11b are the detection signals 33, 34, 37 .
38 are outputted to each arithmetic circuit 12a, and similarly, the switching circuit 11C211d outputs the detection signal 31. One signal among S2゜S5 and S6 is outputted to the arithmetic circuit 12b, respectively, and the switching circuits 11e and 1
1f outputs one signal among the detection signals S11, 312, 315, and 316 to the arithmetic circuit 12c, and the switching circuits 11q and 11h output the detection signals 39, 310,
, 313, and 314 are each output to the arithmetic circuit 12d. The arithmetic circuit 12a.

12b, 12c, and 12d each perform an operation of adding the two input signals, and send the results to the nine circuits 12a, 12d.
2d are outputted to arithmetic circuits 14a and 14b, respectively, and both of the arithmetic circuits 12b and 12c are outputted to both the switch and notching circuits 13a and 13b. The switching circuits 13a and 13b follow the switching signal output from the direction specifying circuit 10, the switching circuit 13a outputs one of the two input signals to the arithmetic circuit 14a, and the switching circuit 13b outputs one of the two input signals. One of the signals is output to the arithmetic circuit 14b. The control unit 0 circuits 14a and 14b each perform calculations to add input two signals, and the control unit 14a sends the control device 6 S3 +37 +311 +
315, S 4 +S s-toS 12+S16°S 1 →-32+3 3-to 34. S5+S6+S
7+S8, and the arithmetic circuit 14b
is the control device, S1+S5+S9+S13°32
-1-36+S10+S14, S9+S1o+S11
10S12, S13+s14+S15+S16 is output. The control device 6 is composed of an arithmetic circuit 15, a gate circuit 16, a comparison circuit 17, an AND circuit 18, a sampling circuit 19, and a drive circuit 20 as shown in FIG. The drive circuit 20 outputs a position signal and a scanning signal, respectively.

When detecting an object to be detected of L<2t, first, the dimension designation circuit 8 outputs a dimension designation signal, the direction designation circuit 10 outputs a method designation signal, and the drive circuit 20 outputs a scanning signal, and the galvanometer 5 is driven. -1) The image of the object to be detected 2 formed on the photoelectric converters 4a to 4p of 1j moves at an angle of θ1 with respect to the arrangement direction of each of the photoelectric converters 4a, 4d and 4a, 4m. . The photoelectric converter 4b.

4c, 4f, 4q, 4j, 4, 4n, 4o detection signals S2, 33, 36, 37 . S10. S11°S14. S
15 is selected by the switching circuits 11a to 11h according to a switching signal outputted by the signal selection circuit in response to the dimension signal and direction designation signal input, and is input to the arithmetic circuits 12a to 12d. The arithmetic circuit 12a
-12did each input is added, S3+S7. S2+S
6. S110 S16. S10+314 is connected to the switching circuits 13a, 13b1 and the arithmetic circuits 14a, 1
Output to 4b. The arithmetic circuit 14. a is the performance-
The output S3+87 of the circuit 12a and the signal S1 selected according to the switching signal in the switching circuit 13a
Add 1+815, S 3 +37 +31'1 +
Output S 1s. The arithmetic circuit 14b is selected according to the output S10+S14 of the arithmetic circuit 12d and a switching signal from the switching circuit 13b.
S 2-1-36 with force Hj/f)2, S2+ S
Output e −+−S 1o −1−314. 1)
ft arithmetic circuits 14a, 14b output signals S3+S7+
S11+ S15, S2)-S64-S
10 +S 14 is input manually to the arithmetic circuit 15, and the difference (S3 + 37 + 311 + 315) - (S 2 +
S e-t S10+514) is output. 1) II notation structure detected object 2 images are the photoelectric converters 4b, 4f, 4j
, when reaching 4n soil, compare it with Ua, which was previously set to a certain value such that Ua>O, and obtain (S3,000ST+S11).
-815)-(82+36+S10+S14)>Ua
Then, the gate circuit 16 outputs a signal. Next, the image of the detected object 2 is transmitted to the light 7 and the converter 4b, +
f.

When it comes to the middle between 4i, 4n and 4c, 4g, 4k, 4o, the value is set in advance to be azO.
8, (S3+S+y-+-311+316)
(S 2 +S 6 +S 10-1-314) =
(2)a, and a signal is output from the comparison circuit 1γ. Due to the signal generation power of the gate circuit 16 and the L comparison circuit 17, the AND circuit 18 outputs the sampling signal from the sampling circuit 19, and the sampling circuit 19 reads the scanning signal of the drive circuit 2o at that time. , outputs position signals in the arrangement direction of the photoelectric converters 4a, 4d. Thereafter, the image of the object to be detected 2 is transmitted to the photoelectric converters 4c and 4g.

4, when it reaches 4o, it is compared with Ub, which was set in advance to a certain value such as Ub (0), and (S3-1-37 disappears.Next, the scanning signal of the drive circuit 20 completes one cycle. Then, the direction designation signal and the switching signal of the direction designation circuit 10 change, and the switching signal of the signal selection circuit 9 changes.Due to the change in the switching signal, the switching circuits 118 to 11h output the detection signal 'S5.
, S6, S7.

38.39, 310, 311.312 are selected and output.

Thereafter, in the same manner as described above, the arithmetic circuit 14a.

1 4 b'': ri S5+S6 -t S7+S8
, S9+310+311+312 are output, and the arithmetic circuit 15, the gate circuit 16, the comparison circuit 17,
Said ANDIL! The sampling circuit 19 reads the scanning signal of the IJ drive circuit 20 at that time, and outputs a position signal in the arrangement direction of the iMJ nine electric transducers 4a and 4m.

The case of detecting objects with t<L<3t and 2t<L<4t is also the same as described above, so a description thereof will be omitted.

In this way, when the photoelectric converters are arranged in a two-dimensional array of 4 x 4, position detection is performed by processing the detection signals of the photoelectric converters in forward order. There was a problem that only the position could be detected.

The inventors have already proposed another method for detecting devices that are connected to a tipped processing system. To explain this with reference to FIGS. 9 to 13, the object to be detected 22 which has been illuminated with the illumination 21 is two-dimensionally 4×
An image is formed on four arrayed photoelectric converters 24a to 24p.

Here, the shape of the photoelectric converter is assumed to be t2×L2. A galvanometer 25 as a scanning device is arranged between the imaging lens 23 and the photoelectric converters 24a to 24p,
A scanning signal outputted from the control device 26 drives each of the photoelectric converters 24a, 24d and 24a, 24m so that the image moves toward the other at an angle of θ2 with respect to the arrangement direction. A scanning signal is output from the switching control device 26, the galvanometer 25 is driven, and the image of the object 22 formed on the photoelectric converters 24a to 24pJ2 is transferred to the photoelectric converter 24a.

24d, 24a, and 24m move obliquely at an angle of θ2 with respect to the arrangement direction of 24m. The photoelectric converters 24a to 24
Of the detection signals P1 to P16, P6°P is input to the arithmetic circuit 29a, and P2. P3 is input to the arithmetic circuit 29b, P5. P8 is input to the arithmetic circuit 29c, and Plo, Pl
l is input to the arithmetic circuit 29d, Pl and P4 are input to the arithmetic circuit 2
9e, P9 and P12 are manually input to the arithmetic circuit 29f, P14゜P15 is input to the arithmetic circuit 29q, and P13 is input to the arithmetic circuit 29q.
．． Pl6.: Input to the calculation circuit 29h. The arithmetic circuits 29a to 29h each perform an arithmetic operation of adding two input signals, and the results are sent to the arithmetic circuits 29a, 29h.
9d.

29e and 29h are arithmetic circuits 31a and 31b, respectively.

31C931d and the arithmetic circuit 29b.

29C both output to the switching circuit 30a and the switching circuit 30C, and the arithmetic circuits 29f and 29g
Both are output to the switching circuit 30b and the switching circuit 3od. By the switching signal output from the direction m constant circuit 28, the switching circuit "1f53
Both 0 a and 30 c are P2+P3, P5+
P8 is selected, and each of the arithmetic circuits 31
a, 31c, and the switching circuit sob,
Both sods are P9+P12. Select one of Pl44-Pl6 to operate the arithmetic circuits 31b and 31, respectively.
Output to d. The arithmetic circuits 31a to 31d each perform an arithmetic operation of adding two input signals, and the arithmetic circuits 31a and 31b output the result to the arithmetic circuit 32a, and the arithmetic circuits 31C and 31d output the result to the arithmetic circuit 32b. Output. The arithmetic circuits 32a and 32b each perform an arithmetic operation of adding two input signals.
a to the control device 26, (P5+P6+P7+P8)
+(P9+P10+P11+P12), (P2+P3-
1-P6-1-P7)+(P10+P11+P14+P
16), and the arithmetic circuit 32b outputs one of (Pl +P2+P3+P4)- to the control device 26.
1-(P13+P14+P15+P16), (Pl 4
-P4+P5+P8)+(P9+P12+P134-P
l6). An example of the configuration of the control device 26 is shown in FIG. 13, which includes an arithmetic circuit 33, a gate circuit 34, a comparison circuit 35, an AND circuit 36, a sampling circuit 37, and a drive circuit 38. 37. The drive circuit 38 outputs a position signal and a scanning signal, respectively.

When detecting the detected object 22, the detected object 2
If the dimensions of the image of No. 2 are L1×L2 and the scanning length is 4~mountain W, -Wcosθ≧3 L 2 , Wsinθ
2; j3 t 2 .

Detection is possible under the condition of L1':>Wcosθ, L2)Wsinθ, and first the direction specifying circuit 28
A switching signal and a scanning signal are output from the drive circuit 38, the galvanometer 25 is driven, and the image of the object to be detected 22 formed on the optical converters 24a to 24p is transferred to the photoelectric converter 24a. .

It moves at an angle of θ2 with respect to the arrangement direction of each of 24d, 24a, and 24m. The photoelectric converters 24a to 24p
The detection signals P1 to P16 are detected by the arithmetic circuit 2 as described above.
It is calculated by inputting it to 9a to 29h.

P2+P3, P5''-P8 are outputted from the arithmetic circuits 29b, 29c to both the switching circuits 30a, 30c, and P9+P12 are outputted from the performance 1 circuits 29f, 29q to both the switching circuits 3ob, 30d.
, P14+P16 are output, and the arithmetic circuit 29a,
29d, 29e, 29h to the arithmetic circuit 31a,
31b, 31c, and 31d, Pe-1'y and P1o, respectively.
→-Pll, Pl-toP4°P13+P'16 is output. The switching circuits 30a, 30b, 30
c, 5oct are respectively P2+P3 . P14+P16
．． P6+P8°P9+P12 are selected, respectively, and the arithmetic circuit 31a.

Output to 31b, 31c, and 31d. The arithmetic circuit 31
a to 31d add the two input signals, and the arithmetic circuits 31a and 31b output the result to the arithmetic circuit 32a, and the arithmetic circuits 31G and 31d output the result to the arithmetic circuit 32b, respectively. The arithmetic circuits 32a and 32b each add the two input signals, and from the arithmetic circuit 32a, (P2+P3+P60P7)+(P1o+P11+P
14+P15) is output to the arithmetic circuit 33, and from the arithmetic circuit 32b, (P1+P4+P5→-P8)
+ (P 9 + P12+P13+P16) is output to the arithmetic circuit 33. The arithmetic circuit 33 performs an arithmetic operation to calculate the difference between the power of two people, and calculates ((P 2 + P 3 + P
6-1- P7 ) +(P10+P11+P14
+P15))-((P1+P4+P5+P8)+(P9
10P12+, P13+P1e )):, ((P3+Pend+P11+P15)-(P4+P8+, Pl 2+P1
e)) -((P10P5+P9+P13)-(P
2+Pe+P1゜0P14)) is output. The corner of the image of the detected object 22 is the photoelectric converter 24a, 24
With respect to the arrangement direction of d, the fiJ photoelectric converters 24a, 2
4e.

24i, 24m and 24b, 24f, 24]
, 24n, compare it with Ea, which was previously set to a certain value such that Ea)○, and calculate ((P34-P7+P
11+P15)-(P4+P8+P12+P16))
-((P1+P's+P9+P13)-(P2+P6
+P10+P14)))Ea, and a signal is output from the gate circuit 34. Next, the corner of the image of the object to be detected 22 is the photoelectric converter 24b.

24f, 24j, 24n and 24c, 24g
, 24k.

When the middle (l) of 24o is reached, compare it with Fa which was set in advance to a certain value such that Faz○ ((P3+PT10P
11→-Pls)-(P4+P8+P12+P16)
)-((P1+P5→-P9+P'13),-(P24
-P6+P10+P14))-Fa, and a signal is output from the comparison circuit 35. By the signal outputs of the gate circuit 34 and the comparison circuit 35, the AND circuit 3
6 outputs a sampling signal to the sampling circuit 37, the sampling circuit 37 reads the scanning signal of the drive circuit 38 at that time, and the photoelectric converter 24a,
A position signal in the arrangement direction of 24d is output. Thereafter, the image of the object to be detected 22 is transmitted to the photoelectric converter 24c.

24g, 24k, 24o and 24d, 24h,
When it reaches the middle of 241°24p, it is compared with Eb which was previously set to a certain value such that Eb(○), and ((P 3-+
-P7+, P11+P1ei) -(P4+P8+P12
+P16)) -((P1+Ps+P9+P13)-
(P20P6+P10-1-PI3)) (Eb,
The signal from the gate circuit 34 disappears.

Next, when the scanning signal of the drive circuit 38 finishes one cycle,
The switching signal of the direction designation circuit 28 changes, and the switching circuits 30a, 30b.

30c, 3od are detection signals P5-1-P8. P
9-1-PI3. P2+P3. Selectively output P14+P16. Thereafter, the arithmetic circuit 32a is operated in the same manner as described above.

From 32b, respectively, (P5+P6+P"7-1-P8
)+(P9+P10+P11+P12), (PI0P
2 + P 3 - P4) -1 - (P13 + P14
+P15-IP16) is output, and the arithmetic circuit 33,
Processed by the gate circuit 34, the comparison circuit 35, and the AND circuit 36, the sampling circuit 37 reads the scanning signal of the first drive circuit 38 at that time, and obtains a position signal in the array direction of the photoelectric converter 24 aT 24 rrl. Output.

In this way, the images formed by the two-dimensional array of 4 x 4 photoelectric converters are scanned into 4 x 4 images by a scanning device.
Position detection is performed by moving diagonally in the array direction of an array of photoelectric converters and calculating the detection signals of each photoelectric converter as described above. The problem was that I couldn't do it.

Purpose of the Invention The present invention solves the above-mentioned conventional drawbacks as well as the problems of the ones already proposed by the inventors. The object of the present invention is to provide a 14-position detection device that can also perform one- and two-dimensional position detection.

Structure of the Invention The present invention includes an illumination device that illuminates an object to be detected, an imaging device that forms an image of the object to be detected, and a plurality of two-dimensional devices arranged on an imaging plane to detect the brightness of the image. a detection device comprising an array of photoelectric converters; a scanning device for moving the relative position of an image and the photoelectric converters one-dimensionally within an imaging plane; a detection signal of the detection device, a selection signal of the selection device; One of the center, corner, and edge of the object to be detected is detected by the scanning signal of the scanning device.
゜It is composed of a determining means for determining a two-dimensional position,
Center of detected object using simplified processing system.

This enables detection of one- and two-dimensional positions of corners and edges.

DESCRIPTION OF EMBODIMENTS Hereinafter, one embodiment of the present invention will be described with reference to the drawings. Objects to be detected 40 and 46 are detected by an imaging lens 41,
As shown in the figure, the two-dimensionally arranged 4×4 beams 'ti are imaged on the converters 42a, 42b, -42p.

[)IJ imaging lens 41 and the photoelectric converter 42a~
Between 42p and 42p, the l/c was
43, position 1, :1rl) Scanning 1-. output from the controller 44. By the way, 1) 1j 9'1shi conversion? +'G 42'', 42d, 42a, and 42m are driven so that the image moves obliquely in the arrangement direction of each, and the image is moved in the direction yc-0 of the imaging lens 41,
The galvanometer 43 is arranged.

Next, Fig. 16.17 shows the f of the detected object 40°46.
This explains the decision principle for determining ~'Li'ff, 1) photoelectric converters 42a, 42b -.
・The photoelectric converters 4a and 4b explained in FIG. 2 on page 42
- The photoelectric converter 42a is the same as the principle of determining the position of the detected object 2 explained in the example.

42b-42p and the photoelectric converters 24a, 24b, . . . 24p explained in FIG. do. Now, if we look at the output waveforms in Figure 16.17, we can see that both waveforms have the same shape, and that the waveforms that determine the position of the detected object are at the same position in both cases. The present invention focuses on the fact that the same detection device and detection circuit can be used both for detecting the position of the object 460 and for detecting the angular position of the object to be detected.

An example of the configuration of the selection device 46 is shown in FIG.
Arithmetic circuits 47a, 47b-47h, arithmetic circuits 48a
, 48b, 48C, 48d, switching circuit 49a
, 49b, 49C, 49d, switching circuit 50
a, 5ob, direction designation circuit 51, signal selection circuit 52
It consists of The arithmetic circuit 47a inputs 1. the detection signals of the photoelectric converters 42a, 42b, . . . A2
...A1゜A2, A3, A4 among A16
Input and add the four detection signals.

Output AI +A2 +A3 → -A4.

[) 1f recorder 3'7 circuit 47b, 47C, 47d
, 47e.

47f, 47CI, and 47h also input 4 detection signals and perform addition in the same manner as described above, and each A6-1-
A64-A7+A8. A9→-A10-1-A111
-AI2.

A13+A14+A15-1-A16, A4-1-A
80A12]-A16, A3-1-A7-+-A11
．． 4-A15.

A2+A6-IAl0-1-A14, Al1-A5
-1-A9-1- Output A13. The arithmetic circuit 48a receives the output A64 of the arithmetic circuit 4-rb, 47G.
-A60A7''-A8, A94-A10-1-A11
Input IAl 2, add and divide by 2 (line -), then ((As 0 A6 - IA 7 I - A 8) 0 (8 9)
The arithmetic circuit 48b outputs +A 10-+-A 111A12))/2 to the switching circuit 49a.
, 48G, 48d also perform the same calculation as the calculation circuit 48a, and the calculation circuit 48b performs the same calculation as the calculation circuit 47a.
, input the output of 47d and output ((A1-+-A
2-1-A3+A4) 1-(813i-A14+A15
+A16))/2 is output to the switching circuit 49b, and the arithmetic circuit 48c outputs the arithmetic circuit +7f, 47g.
Input the output signal of ((A3+A7+A114-A
15)+(A2+A6+A1 o+A14))/2 is outputted to the switching circuit 49c, and the arithmetic circuit 48d inputs the output signals of the arithmetic circuits 47e and 47h to obtain ((A4+A8+AI 2→-A16)-
1-(AI+A5+A9+A13))/2 is output to the switching circuit 49d. The switching circuit 49a selects the arithmetic circuits 47a and 47b according to the switching signal output from the signal selection circuit 52.
, 48a and outputs it to the switching circuit 50a, and the switching circuits 49b, 49c.

Similarly, 49d is connected to the arithmetic circuit 47C747d.
, 48b, the arithmetic circuits 47e, 47f.

48c, one signal is selected from among the three human power signals from the arithmetic circuits 47g, 47b, 4sd, and outputted to the switching circuits 50a, sob, and 50b, respectively. The switching circuits 50a, 50b-: front north direction designation circuit 5
The switching circuit 50 a selects one signal from each of the switching signals A I +42 + A3-1- A4
, A 5-1- A 6-1-87+A8 , ((
A60Ae +A7 =+-As) +(A9 +A
1o+A11+A12))/2, A4+A3-1
-812-+-A16゜A3+A7+IS, 11 +A
15, ((A3-toA7+A I' 1 →-Al
5) +(A2 +A6+Ha10-1-A14))/
2 to the control device 44, and the 7 switching circuit sob outputs A9+A10+A11.
→-A12, A13+A14-1815+A16. (
(A1+A2-+-As-1-A4)-1-(813+
A14+A15-1-A16))/2, 82-1-
A 60 A10-1-A1 4, AI +A31-A
9 A13.

((A4 +As 4-AI 2816) + (
Any one of A1→-A5-1-A9+A13))/2 is output to the control device 44.

An example of the configuration of the control device 44 is shown in FIG.
．． It is composed of an AND circuit 56, a Zumbling circuit, a heat 57, and a drive circuit 58. Output signal B1 of the selection device 45. B2 is calculated by the calculation circuit 53, and B1-B
2 is output. The gate circuit 54 and the comparison circuit 55 are connected to the arithmetic circuit 53.
4 outputs an output signal from when the input value B1-B2 becomes above a certain value until it becomes below a certain value, and the comparison circuit 56 outputs an output signal when the input value B1-B2 becomes O. give a signal. The outputs of the gate circuit 54 and the comparison circuit 55 are connected to the AND circuit 56, and output a sampling signal to the sampling circuit 57 connected to the galvanometer drive circuit 58 which outputs a scanning signal. The sampling circuit 67 reads the scanning signal of the galvano drive circuit 58 using a sampling signal, and outputs a position signal.

Next, the operation of the position detecting device according to the present embodiment configured as described above will be explained below.

When detecting the object to be detected 40, first, the direction designation circuit 51 and the signal selection circuit 52 output a switching signal, and the drive circuit 58 outputs a scanning signal, the galvanometer 43 is driven by 1, and the photoelectric conversion is performed. Vessel 4
The images of the object to be detected 40 formed on the photoelectric converters 2a to 42p are the photoelectric converters 42a, 42d and 42a, 42m.
The angle θ is also moved by - with respect to each arrangement direction. Detection signals A1 to A16 of the photoelectric converters 42a to 42p are sent to the arithmetic circuits 47a to 47h and 48a to 48.
d, and the result is selected by the switching circuits 49a, 49b, 49c, and 49d according to the switching signal output from the signal selection circuit 52,
From each 85+A6-4-A7+A8゜A9 18100A11 1812, A3-1-A7 10A11+A1
s, A2+A6→-A10+A14 is output. The switching circuits 50a and 50b are connected to the direction designation circuit.
According to the switching signal output from the heat 61, As+A7+'A11 +A16゜A 2-+-A 6
-+-A 1o -+-A 14 is selected and output to the arithmetic circuit 53, i? iJ recording trowel - from circuit 53 (A
3-1-A7-1-A11 +A15 ) -(A2+
A6-1-A10+A14) is output. Thereafter, the output signal of the arithmetic circuit 53 passes through the gate circuit 54, the comparison circuit 55, the AND circuit 66, and the sampling circuit 57, reads the scanning signal of the drive circuit 58 at that time, and converts the photoelectric converter 42a, 42d. Explanation will be omitted. Next, when the scanning signal of the driving circuit 58 ends one cycle, the switching signal of the direction specifying circuit 51 changes,
81A9+A10+A11+ from the switching circuits 50a and 50b to A5186-1-A7, respectively.
AI2 is selectively outputted, and then the arithmetic circuit 53. the gate circuit 54, the comparison circuit 65,
The AND circuit 56 processes the signal, and the sampling circuit 57 reads the scanning signal of the drive circuit 58 at that time.

A position signal in the arrangement direction of the photoelectric converters 42a and 42m is output.

When detecting the object to be detected 46, the direction designation circuit 61 and the signal selection circuit 52 output a switching signal, and the drive circuit 58 outputs a scanning signal, and the galvanometer 43 is driven. Oral light′
The image of the detected leg 46 formed on the photoelectric converters 42a to 42p is transmitted to the photoelectric converters 42a, 42d and 42a.
, 42m are also moved at an angle of - with respect to the arrangement direction of each. Detection signals A1~ of the photoelectric converters 42a~42p
A16 is the arithmetic circuit 47a to 47h and 48a to
48d, and the result thereof is outputted from the signal selection circuit 52 according to the switching signal, which is then outputted to the switching circuits 49a, 49b, and 49c.

49d, respectively ((A s − + − A6 18 Ryo As ) + (A 9 + A 10 + A 11 − 1 − AI
2))/2, ((A1-1-A2183+A4)
-1-(A130A14-1-A15+A16))/2
, ((A30A7+A11+A15)+(A2-
1-A6+A10-1-A14))/2, ((A4+
A8 + AI 20A1e ) + (AI +A3-1
-89+A13))/2 is output. The switching circuit 50a.

50b, respectively ((A3+A7-1-A11+
A1s )+(A2+A6+Al○+A14))/2
, ((A4+A8+AI 2+A16)+ (AI+A
5+A90A13))/2 is selected and the arithmetic circuit 6
3, and from the arithmetic circuit 53, (((A3+A7
+A11 +A1 s )+(A2-1-A6+A10
+A14))-((A4-1-A8+AI2+A16
)+(AI +A5+A9+A13 )))/2=((
(A3+A71811+A15)=(A4+A8+A1
2+A1 e ))-((A1+A5+A9+A1 3
)-(A2 18 6-t A10-1-A14)
))/2 is output. Hereinafter, the output signal of the calculation circuit 1 53 is transmitted to the gate circuit 54, the comparison circuit 55, and the A
The scanning signal of the driving circuit 58 at that time is read through the ND circuit 56 and the sampling circuit 57, and the scanning signal is read out from the photoelectric converter 42a.

The process in which the position signals in the array direction of 42d are output is the same as in the case of detecting the position of the object to be detected 40 described above, so a detailed explanation will be omitted. Next, the drive circuit 6
When one period of the scanning signal No. 8 is completed, the direction specifying circuit 5
1 switching signal changes, and each of the switching circuits 50a and 50b ((A5+Ae→-A7+A8
)-1-(A9-1-A104-A11 1812.)
)/2, ((AI +A20A3+A4)+(
A130A14+A15+A16))/2 is selected and output, and then processed in the arithmetic circuit 53, the gate circuit 64, the comparison circuit 55, and the AND circuit 56 in the same manner as described above, and the sampling circuit 67 selects the drive signal at that time. The scanning signal of the circuit 58 is read and the photoelectric converter 42
a.

Outputs a position signal in the array direction of 42 m.

As described above, according to this embodiment, the center and corners of the target object are determined by selecting and arithmetic processing the detection signals of the 4×4 photoelectric converters arranged two-dimensionally.

One- and two-dimensional position detection of the edge can be performed using the same detection device and the same detection circuit without sacrificing the feature of using a simplified processing system.

Although 4×4 photoelectric converters arranged two-dimensionally were used in the embodiment, it goes without saying that similar results can be obtained even if the number of photoelectric converters arranged is different.

Effects of the Invention In the present invention, an image formed on a plurality of photoelectric converters arranged two-dimensionally is moved diagonally in the arrangement direction of each photoelectric converter by a scanning device, and a selection device is used to move an image formed on a plurality of photoelectric converters arranged in two dimensions diagonally in the arrangement direction of each photoelectric converter. By selecting and calculating the detection signals of
, it is possible to realize an excellent position detection device that can obtain the effect of performing two-dimensional position detection using the same detection device and the same detection circuit.

[Brief explanation of the drawing]

Figure 1 is a configuration diagram of the position detection device already proposed, and Figure 2
The figure is a block diagram of the two-dimensionally arranged 4 x 4 photoelectric converters of the same device, Figures 3.4 and 5.6 are principle diagrams showing the decision principle of the above device, and Figure 7 is the same device. 8 is a configuration diagram of the control device of the same device, FIG. 9 is a configuration diagram of another position detection device already proposed, and FIG.
A configuration diagram of a two-dimensional 4×4 array of photoelectric converters in the same device. Fig. 11r, top, principle diagram showing the decision principle of the device, 12th
The figure is a block diagram of the selection device of the same device 1, FIG. 13 is a block diagram of the control device of the same device, and FIGS.
Fig. 15 is a block diagram of a position detection device as an example of J. Fig. 15 is a block diagram of a two-dimensional 4 x 4 array of photoelectric converters of the same device, and Figs. 16 and 17 show the determination principle of the device. principle diagram,
FIG. 18 is a configuration diagram of the selection device of the same device, and FIG.
It is a block diagram of the control device of the same apparatus. 1.21.39 ・・Lighting device, 2, 22, 40° 46
...Detected object, 3,23.41...Imaging lens, 4,24.42...2-dimensionally arranged 4×4 photoelectric converters, 5,25.43-...・ Galvanometer,
6.26.44...Control device, 7,27°45
---Selection device, 8 ---Dimension designation circuit, 9,5
2...Signal selection circuit 10, 28, 61...
・・Direction designation circuit, 11.13, 30, 49.50・−
... Swing circuit, 12, 14, 16, 29, 31
. 32.33, 47, 48.53... Arithmetic circuit,
16, 34, 54... Gate circuit, 17, 36° 55... Comparison circuit, 18, 36.56...
AND circuit-19, 37, s7... Sampling circuit, 20.38.68... Drive circuit. Name of agent: Patent attorney Toshio Nakao and 1 other person 2nd
fig.

Claims (1)

[Claims] An illumination device that illuminates the object to be detected, an imaging device that forms an image of the iron of the object to be detected, and a plurality of photoelectric conversion devices arranged in two dimensions to detect the brightness of the image placed on the imaging plane. 23; a scanning device that moves the relative position of the image and the photoelectric converter one-dimensionally within the imaging plane; a selection device that selects a plurality of detection signals of the detection device; and a detection device of the detection device. 1 and 2 of the center, corner, and edge of the object to be detected by the selection signal of the selection device and the scanning signal of the scanning device.
and determining means for determining a dimensional position.