Abstract:
An optical sensor system for determining trajectory of a wheel includes: a wheel mounted in a wheel arch having an outer surface covered with evenly-spaced wheel treads; an optical sensor mounted in the wheel arch but not touching the wheel, for performing a plurality of counts corresponding to respectively capturing a plurality of images of the wheel according to the wheel treads, and comparing the captured images with a reference image to determine a 2D displacement. The optical sensor further performs a calculation to convert the measured 2D displacement of the wheel from its original position into a distance the wheel travels along a path in order to determine the wheel trajectory.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    1. Field of the Invention 
         [0002]    The present invention relates to optical sensors, and more particularly, to an optical sensor which can be used to perform odometry tracking. 
         [0003]    2. Description of the Prior Art 
         [0004]    Optical sensors, such as those commonly used in a computer mouse, can detect miniscule changes in direction in order to track the motion of an object over a 2D surface. Optical sensors work by illuminating the surface on which the object moves to capture an image, and comparing a reference image and the captured image in order to determine how far from the origin the object has moved. This image comparison generates accumulated delta y and delta x values ; computer algorithms can then be used to determine the resultant motion of the object. 
         [0005]    The advantage of optical sensors is that only a single sensor is needed to determine angular motion, as the optical sensor can generate both delta x and delta y values. Optical sensors are typically used in applications where only small distances need to be determined, however. If an optical sensor could be implemented in an application which moves via the use of wheels, the optical sensor could track the motion of the wheels and then convert the detected motion to real-life distance. 
         [0006]    It is therefore an objective of the present invention to employ a single optical sensor for tracking motion of a wheel in order to perform distance and odometry tracking. 
       SUMMARY OF THE INVENTION 
       [0007]    An optical sensor system for determining trajectory of a wheel comprises: a wheel mounted in a wheel arch having an outer surface covered with evenly-spaced wheel treads; an optical sensor mounted in the wheel arch but not touching the wheel, for performing a plurality of counts corresponding to respectively capturing a plurality of images of the wheel according to the wheel treads, and comparing the captured images with a reference image to determine a 2D displacement. The optical sensor further performs a calculation to convert the measured 2D displacement of the wheel from its original position into a distance the wheel travels along a path in order to determine the wheel trajectory. 
         [0008]    A method for determining trajectory of a wheel comprises: mounting a wheel in a wheel arch, the wheel having an outer surface covered with evenly-spaced wheel treads; utilizing an optical sensor mounted in the wheel arch but not touching the wheel to perform the following steps: capturing a plurality of images of the wheel according to the wheel treads to generate a plurality of counts, respectively; comparing the captured images with a reference image to determine a 2D displacement of the wheel; and performing a calculation to convert the measured 2D displacement of the wheel from its original position into a distance the wheel travels along a path in order to determine the wheel trajectory. 
         [0009]    These and other objectives of the present invention will no doubt become obvious to those of ordinary skill in the art after reading the following detailed description of the preferred embodiment that is illustrated in the various figures and drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0010]      FIG. 1  is an illustration of an optical sensor mounted above a wheel. 
           [0011]      FIG. 2A  is an illustration of accumulated motion generated by a wheel moving in a straight direction. 
           [0012]      FIG. 2B  is an illustration of accumulated motion generated by a wheel moving in an angular direction. 
           [0013]      FIG. 3A  is an illustration of generated angular motion of the wheel illustrated in  FIG. 2 . 
           [0014]      FIG. 3B  is an illustration of trajectory of the wheel illustrated in  FIG. 2  being the front wheel of a car. 
       
    
    
     DETAILED DESCRIPTION 
       [0015]    An exemplary embodiment of the present invention uses an optical sensor positioned above a wheel, as illustrated in  FIG. 1 . The odometry tracking system  100  comprises a wheel  150  mounted in a wheel arch  120 . Three optical sensors  131 ,  161  and  191  are illustrated in the diagram, being positioned at the top of the wheel arch, at the right side of the wheel arch and at the left side of the wheel arch, respectively. Each optical sensor is protected by a respective casing  133 ,  163 , and  193 . It is noted that an exemplary embodiment of the present invention only requires a single optical sensor of the illustrated optical sensors  131 ,  161 ,  191  in order to perform odometry tracking. The three sensors are illustrated in order to give examples as to possible placement, but not to limit the invention. 
         [0016]    The casings  133 ,  163 ,  193  are provided in order to protect the respective optical sensor  131 ,  161 ,  191  from damage. These casings can be clear housings that are flush with the wheel arch  120  or protrude. The aim of the casings  133 ,  163 ,  193  is to protect the optical sensor  131 ,  161 ,  191  from damage. Further, when the optical sensor  131 ,  161 ,  191  is used to determine motion of a wheel in a car, the casing  133 ,  163 ,  193  can also protect it from splashes etc. 
         [0017]    By using one of the optical sensors  131 ,  161 ,  191 , an accurate determination of how far the wheel  150  has travelled, as well as the trajectory of the wheel  150 , can be estimated. As detailed above, the optical sensors  131 ,  161 ,  191  are mounted on the top of the wheel arch  120 . The wheel arch  120  could be a wheel arch of a motorized vehicle such as a car, or a wheel arch in a treadmill. As the wheel  150  rotates, the optical sensors  131 ,  161 ,  191  generate reports based on a number of treads which are imaged. 
         [0018]    Refer to  FIG. 2A  and  FIG. 2B , which illustrate how the reports/counts of the optical sensor generate accumulated motion parameters.  FIG. 2A  illustrates the generated accumulated motion when the wheel  150  rotates without turning. As shown in the diagram, no x values are generated but y values are generated in the opposite direction from the wheel motion. These accumulated values can be termed Dy. 
         [0019]      FIG. 2B  illustrates the generated accumulated motion when the wheel  150  rotates and turns at the same time. As shown in the diagram, both x and y values are generated in the opposite direction from the wheel motion. In order to determine the resultant distance of the wheel  150 , the hypotenuse of Dx and Dy must be calculated. This value can then be translated into a real-world distance. 
         [0020]    A calibration step generates a ratio that can be used for conversion. The calibration process is performed to calculate how far the wheel turns for each count of the sensor. As noted above, the count corresponds to a sensor tread of the sensor. Assuming the wheel rotates as illustrated in  FIG. 2A , then it can be calculated how far in real terms the wheel turns because the circumference, C, of the wheel is a known value. 
         [0021]    The circumference of the wheel can be calculated using the Pythagorean equation: C=2πr 
         [0022]    As the wheel rotates, delta y values are accumulated until Dy corresponds to one rotation of the wheel. The accumulated value Dy has a direct relationship to C. It is determined how many reports/counts there are in Dy, and this value is used to divide the circumference C in order to generate a distance per count (dpc). This is illustrated by the following equation: 
         [0000]    
       
         
           
             
               
                 
                   dpc 
                   = 
                   
                     
                       c 
                       Dy 
                     
                     = 
                     
                       
                         2 
                          
                         π 
                          
                         
                             
                         
                          
                         r 
                       
                       Dy 
                     
                   
                 
               
               
                 
                   ( 
                   1 
                   ) 
                 
               
             
           
         
       
     
         [0023]    A trajectory of the wheel  150  is then determined. If the optical sensor  131 ,  161 ,  191  only plots a change in the y direction, i.e. only delta y values are generated, then the wheel  150  is determined to be rotating without turning and a simple conversion of counts can be used to generate the distance travelled by the wheel  150 . If, however, the wheel  150  is both turning and rotating then the angle  0  of the wheel turn can be calculated using simple trigonometry, as illustrated in  FIG. 3A  and shown by the following equation: 
         [0000]    
       
         
           
             
               
                 
                   
                     tan 
                      
                     
                         
                     
                      
                     θ 
                   
                   = 
                   
                     Dx 
                     Dy 
                   
                 
               
               
                 
                   ( 
                   2 
                   ) 
                 
               
             
           
         
       
     
         [0024]    Once the turning angle of the wheel  150  is determined, a trajectory of the wheel  150  can be plotted, as illustrated in  FIG. 3B .  FIG. 3B  is a diagram of the odometry system  100  being a car with four wheels. The front right-hand wheel is the wheel  150  illustrated in  FIG. 3B . As the turning angle θ of the wheel  150  is known, the internal angle between the wheel and the side of the car can be calculated by using right angles i.e. 90°-θ. 
         [0025]    A perpendicular line to the turned wheel  150  will intersect with an extended line from the rear axles of the car  100  to form a right-angled triangle having sides L, R and E. L is the length of the car  100  and therefore is a known value. Using trigonometry, the length of R and E can be calculated, as illustrated by the following equations: 
         [0000]    
       
         
           
             
               
                 
                   R 
                   = 
                   
                     L 
                     
                       sin 
                        
                       
                           
                       
                        
                       θ 
                     
                   
                 
               
               
                 
                   ( 
                   3 
                   ) 
                 
               
             
           
         
       
     
         [0000]    
       
         
           
             
               
                 
                   E 
                   = 
                   
                     L 
                     
                       cos 
                        
                       
                           
                       
                        
                       θ 
                     
                   
                 
               
               
                 
                   ( 
                   4 
                   ) 
                 
               
             
           
         
       
     
         [0026]    As illustrated by the dotted lines, the car  100  will move along a curve having a radius R from point O. By using the optical sensor  131 ,  161 ,  191  to determine a rotated distance of the wheel  150  and converting that distance into real-world values, a total distance d moved along the curve by the car  100  can be calculated. 
         [0027]    As detailed above, a distance per count has been calculated in the calibration stage. This value can be used to calculate a real distance taken by the vehicle  100 . When the vehicle  100  moves in a straight direction i.e. no change in x, the values can be directly put into equation (1) by multiplying a number of counts (treads) with the distance per count. In effect, this converts a distance monitored by the optical sensor  131 ,  161 ,  191  into a real distance. This is shown below as equation (5) : 
         [0000]      Distance= Dy ×dpc
 
         [0028]    If the vehicle  100  is turning, the displacement measured by the optical sensor  131 ,  161 ,  191  is calculated number by using the hypotenuse of Dx and Dy. This value is then converted into counts, and is multiplied with the value dpc to determine a distance travelled along the curve. This is shown below as equation (6) : 
         [0000]      Distance=√{square root over ( Dx   2   +Dy   2 )}×dpc
 
         [0029]    The final stage in the calculation places this determined distance on the curve calculated in  FIG. 3B . In this way, a trajectory of a wheel can be calculated to high accuracy. 
         [0030]    Although the above is described using a car as an exemplary embodiment, it should be appreciated that the concept can be applied to any application which tracks the motion of a wheel. Further, the optical sensor can also be calibrated to determine a vertical distance from the wheel, so that if air pressure of the wheel changes or some other factors cause the distance between the optical sensor and the wheel to change (the vehicle moves over rocky terrain, for example) the change in distance can be compensated for. 
         [0031]    No matter what implementation the optical sensor is applied to, the wheel radius should be set as a known parameter in an initialization procedure. In the example provided in  FIG. 3B , the length of the car L and the distance between the rear axles W will be known values and can also be set as the initialization parameters. This is not a limitation of the invention. 
         [0032]    To summarize, the present invention provides an optical sensor which can utilize changes in 2D motion of a wheel to determine angular motion of the wheel. By plotting a trajectory of the wheel using the determined change in motion, a distance the wheel moves along said trajectory can also be determined. 
         [0033]    Those skilled in the art will readily observe that numerous modifications and alterations of the device and method may be made while retaining the teachings of the invention. Accordingly, the above disclosure should be construed as limited only by the metes and bounds of the appended claims.