Proximity sensor for determining two-dimensional coordinates of a proximal object
A proximity sensor including a housing, a plurality of light pulse emitters for projecting light out of the housing along a detection plane, a plurality of primary light detectors for detecting reflections of the light projected by the emitters, by a reflective object in the detection plane, a plurality of primary lenses oriented relative to the emitters and primary detectors in such a manner that for each emitter-detector pair, light emitted by the emitter of that pair passes through one of the primary lenses and is reflected by the object back through one of the primary lenses to the detector of that pair when the object is located at a position, from among a primary set of positions in the detection plane, that position being associated with that emitter-detector pair, and a processor for co-activating emitter-detector pairs, and configured to calculate a location of the object in the detection plane.
1. A proximity sensor for determining two-dimensional coordinates of a proximal object, comprising:
a housing;
a plurality of light pulse emitters mounted in said housing for projecting light out of said housing along a detection plane;
a plurality of primary light detectors mounted in said housing for detecting reflections of the light projected by said emitters, by a reflective object in the detection plane;
a plurality of primary lenses mounted and oriented in said housing relative to said emitters and said primary detectors in such a manner that for each emitter-detector pair, light emitted by the emitter of that pair passes through one of the primary lenses and is reflected by the object back through one of the primary lenses to the detector of that pair when the object is located at a two-dimensional position, from among a primary set of positions in the detection plane, that position being associated with that emitter-detector pair; and
a processor connected to said emitters and to said primary detectors, for synchronously co-activating emitter-detector pairs, and configured to calculate a two-dimensional location of the object in the detection plane by:
determining an emitter-detector pair among the co-activated emitter-detector pairs, for which the detector detects a maximum amount of light, and identifying the position associated therewith,
determining additional positions that are associated with co-activated emitter-detector pairs and that neighbor the thus-identified position, and
calculating a weighted average of the thus-identified position and the thus-determined additional positions, wherein each position's weight in the average corresponds to a degree of detection of the reflected light beam for the emitter-detector pair to which that position is associated.
2. The proximity sensor of claim 1 , wherein said processor is configured to calculate the location of the object in the detection plane using the Hough transform by:
providing a plurality of candidate ellipses within the detection plane,
determining co-activated emitter-detector pairs for which the detector generates a detection signal, and identifying the positions associated therewith,
interpolating the detection signals for any two of the co-activated emitter-detector pairs whose two associated positions are neighbors, to determine an intermediate location between those two associated positions,
assigning an orientation to each intermediate location, the orientation being perpendicular to the line connecting the two neighboring associated positions,
for each candidate ellipse:
assigning a match value to the candidate ellipsis, the match value representing a degree of match between an edge of the candidate ellipsis and the location and orientation of an intermediate location, and
calculating a sum of the thus-assigned match values, and
designating that candidate ellipse with the maximum thus-calculated sum as being the location of the object in the detection plane.
3. The proximity sensor of claim 1 , wherein said processor further infers that the object is moving in a direction parallel to an optical axis of one of said primary lenses when the emitter of the thus-determined emitter-detector pair continues to be the same emitter over a time series of object location calculations, and the amount of light detected by the detector of that pair has the same ratio to the amount of light detected by the detector of a co-activated pair, with which one of the additional positions is associated, over the time series of calculations.
4. The proximity sensor of claim 1 , wherein said lenses are oriented so that for each emitter-detector pair, when the object is located at the associated position in the detection plane, the light emitted by the emitter of the pair is reflected by the object back to the detector at an angle θ or −θ with respect to an optical axis of one of said primary lenses, and wherein said processor further infers that the object is moving in a direction parallel to that angle θ or −θ with respect to the optical axis when the detector of the thus-determined emitter-detector pair continues to be the same detector over a time series of object location calculations, and the amount of light detected by the detector of that pair has the same ratio to the amount of light detected by the detector of a co-activated pair, with which one of the additional positions is associated, over the time series of calculations.
5. The proximity sensor of claim 1 , wherein the co-activated emitter-detector pairs include:
at least one emitter-detector pair for which the emitter is the same emitter as in the thus-determined emitter-detector pair, and
at least one emitter-detector pair for which the detector is the same detector as in the thus-determined emitter-detector pair.
6. The proximity sensor of claim 1 , further comprising a plurality of secondary light detectors mounted in said housing for detecting reflections of the projected light by a reflective object in the detection plane, such that for each emitter-detector pair of an emitter with a secondary detector, light emitted by the emitter of the pair passes through one of said primary lenses and is reflected by the object back through one of said primary lenses to the detector of the pair when the object is located at a two-dimensional position, from among a secondary set of positions in the detection plane, the secondary set of positions being different than the primary set of positions.
7. The proximity sensor of claim 6 wherein neighboring ones of the secondary set of positions are closer together than neighboring ones of the primary set of positions.
8. The proximity sensor of claim 1 , further comprising:
a plurality of secondary light detectors mounted in said housing for detecting reflections of the projected light by a reflective object in the detection plane; and
a plurality of secondary lenses mounted and oriented in said housing relative to said emitters and said secondary detectors in such a manner that for each emitter-detector pair of an emitter with a secondary detector, light emitted by the emitter of that pair passes through one of said primary lenses and is reflected by the object through one of the secondary lenses back to the detector of that pair when the object is located at a two-dimensional position, from among a secondary set of positions in the detection plane, the secondary set of positions being different than the primary set of positions.
9. The proximity sensor of claim 8 wherein neighboring ones of the secondary set of positions are closer together than neighboring ones of the primary set of positions.
10. The proximity sensor of claim 1 , wherein the detection plane passes over a reflective surface, and wherein said primary lenses direct the light beams projected by said emitters at an upward angle relative to said reflective surface, to minimize reflections of the projected light by the surface.
11. The proximity sensor of claim 1 , wherein said emitters and primary detectors comprise diodes that are mounted in said housing without individual plastic casing lenses and without individual substrates.
12. A plurality of proximity sensors for determining three-dimensional coordinates of a proximal object, comprising a plurality of the proximity sensors of claim 1 directed toward respective, intersecting detection planes.
13. The plurality of proximity sensors of claim 12 , wherein each proximity sensor is aimed in a direction substantially perpendicular to the direction in which another of the proximity sensors is aimed.