Method and system for positioning by using optical speckle

A method and system for positioning by using optical speckle are disclosed in this invention. A highly coherent laser light irradiates a positioning template in advance to record optical speckles caused by interference by scattered light beams from the positioning template for establishing a speckle database. Furthermore, a reference point is defined to position each recorded speckle. Therefore, a coordinate with respect to the reference point corresponding to a specified speckle can be used to position a target or applied to distance measurement by the speckle database. The precision of the speckles according to the present invention is within several micrometers. Hence, it can provide high precision positioning.

FIELD OF THE INVENTION

The present invention relates generally to a two-dimensional precise positioning system and method. More specifically, the present invention relates to a two-dimensional precise positioning system and method by determining change of optical speckles. It can be wildly applied to precise processing machines and positioning instruments.

BACKGROUND OF THE INVENTION

Two-dimensional precise positioning systems are popularly used in precise mechanical processing machines. Related products, such as CCD automatic positioning systems and magnetic induction positioning system are commercially available. Positioning precision of both kinds of devices is around 20 μm.

Telecentric lenses are often used in CCD automatic positioning systems in order to get invariant images in a large scope for precise images comparison and positioning. Although the imaging framework can get better invariant images for positioning, compared images demand sufficient judging features for positioning if a more precise positioning precision is required. In order to achieve sufficient judging features, sampling range needs to be relatively large. Therefore, precision of current mature positioning is around ±20 μm. It is unworkable for the requirement of precise processing machinery. A higher positioning precision is needed for more applications.

Magnetic induction positioning technology utilizes Hall Effect to scan a periodical magnetic positioning template by a magnetic sensing element to get signals of intensity change of a periodic magnetic field by induction. Then, moving distances can be calculated by analyzing the signal. Speed of relative movement of Hall Effect element to the template affects signal intensity change of the magnetic field induction. Hence, when a fast movement needs positioning, magnetic induction positioning precision can not be improved. A mature effective positioning precision is also around 20 μm.

In addition, there are many prior arts about two-dimensional precise positioning system and methods. U.S. Pat. No. 7,042,575 discloses an optical displacement sensor. Please refer toFIG. 1. The invention utilizes light beams to scan a surface and receives optical speckles of the reflected light beams from the surface for further measuring the displacement and locations. It applies mainly to optical mice. For computer input devices, it has an epoch-making meaning. However, coordinates of the scanned object can not be precisely positioned. For application of precise positioning instruments, it doesn't work effectively.

Please refer toFIG. 2. U.S. Pat. No. 7,110,120 provides an optical displacement sensor which can measure a moving body. By scanning an object with light beams directly, separating the scattered light beams reflected from the body by a grating and making the two light beams become two signals with 90° phase difference by a spatial filters, only direction of the displacement can be judged by calculating. In practice, it has no two-dimensional positioning function at all.

U.S. Pat. No. 7,317,538 discloses an optical displacement sensor. Speed of displacement and direction can be obtained by scanning an object with three separated light beams to form three spots on the surface of the object, then calculating scattered light beams from the three spots by analog to digital transform and Fourier transform by Doppler Effect. Please refer toFIG. 3. The method uses complex calculation to measure the speed of displacement and direction of the object. Therefore, reflected light beams have huge affection on the follow-up calculation. Compared with general positioning methods directly using surface features, the '538 patent will have calculation errors caused by data reading and mathematical hypothesis.

Last, please refer toFIG. 4. U.S. Pat. No. 7,242,466 provides a pointing system, for example, an optical mouse, by scanning a pre-coded surface with light beams and receiving scattered light beams from the surface so that movement and location can be further determined. The most notable feature of the invention is the pre-coded surface. With some scattering features and non-scattering features to define a location according to a specified method to arrange a digital pattern, displacement and location of a pointing device receiving scattered light beams relative to a coded surface can be obtained. However, not only is it inconvenient to prepare the pre-coded surface, but also precision is limited.

In summary, current two-dimensional precise positioning systems and methods have several technical inherent problems. The two-dimensional precise positioning system and method utilizing variation of optical speckle provided in the present invention are able to solve the problems mentioned above. It has advantages of wider applications and high precision.

SUMMARY OF THE INVENTION

This paragraph extracts and compiles some features of the present invention; other features will be disclosed in the follow-up paragraphs. It is intended to cover various modifications and similar arrangements included within the spirit and scope of the appended claims.

In accordance with an aspect of the present invention, a positioning method by using optical speckles, includes the steps of: a) selecting a point on a surface having unique textures as a reference point; b) partitioning the surface into a number of unit zones to form a two-dimensional zone array and setting location data for the unit zones with respect to the reference point; c) irradiating the surface with a highly coherent parallel light at an incident angle θ to produce scattered light beams and setting a sampling angle φ with respect to normal to the surface for obtaining a first optical speckle image formed by the scattered light beams in every unit zone at the sampling angle φ; d) establishing a look-up table containing the location data of each unit zone and corresponding first optical speckle image thereof; e) capturing a second optical speckle image of a detection point at the sampling angle φ; f) identifying the unit zone where the detection point is located; and g) comparing the first optical speckle image in the unit zone where the detection point is located with the second optical speckle image for obtaining relative location of the detection point to the unit zone, and calculating location data of the detection point with respect to the reference point based on the relative location and location data of the unit zone where the detection point is located.

Preferably, the sampling angle φ is in the range of 0<φ≦θ−10° or θ+10°≦φ<90°.

Preferably, step f) includes steps of: f1) inserting between two adjacent unit zones a dark zone, which can substantially transmit, absorb or reflect the highly coherent parallel light so that no scattered light beams are generated in the dark zone to form the first optical speckle image or the second optical speckle image, thereby forming a periodical energy change of optical speckles across the surface; and f2) counting number of peaks of optical speckle energy between the detection point and the reference point for identifying the unit zone where the detection point is located.

Preferably, the dark zone has a size smaller than or equal to that of the unit zone.

Preferably, step f) includes steps of: f1) inserting between two adjacent unit zones a reference zone having optical speckle energy lower than that of the unit zones for forming a periodical energy change of optical speckles; and f2) counting number of peaks of optical speckle energy between the detection point and the reference point for identifying the unit zone where the detection point is located.

Preferably, an auxiliary positioning zone in which an optical speckle image can be formed is created among four adjacent unit zones for helping locate the detection point.

In accordance with another aspect of the present invention, a positioning system by using optical speckles, includes: a template having an unique texture surface; an emitting module, for emitting a highly coherent parallel light to irradiate the surface at an incident angle θ to generate scattered light beams; an optical speckle imaging module, provided at a sampling angle φ from normal to the surface, for obtaining a first optical speckle image of the scattered light beams generated by irradiating the surface with the highly coherent parallel light and a second optical speckle image of scattered light beams generated by irradiating a detection point; a sensor module for storing the first optical speckle image and the second optical speckle image; and an identifying/positioning unit for comparing the first optical speckle image and the second optical speckle image, thereby obtaining a location data of the detection point.

Preferably, the system further includes a positioning driving device for driving a target to a designated location by comparing the location data of the detection point obtained by the identifying/positioning unit and the designated location.

Preferably, the sampling angle φ is in the range of 0<φ≦θ−10° or θ+10°≦φ<90°.

Preferably, the emitting module includes a vertical cavity surface emitting laser (VCSEL), an edge emission laser (EEL), a gas laser, a solid-state laser, or a combination of a light emitting diode producing narrow band light and a filter.

Preferably, the sensor module includes a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) sensor.

Preferably, the optical speckle imaging module includes: an imaging lens for imaging the optical speckle onto the sensor module; a front aperture, provided between the imaging lens and the template, for filtering scattered light beams; and a rear aperture, located opposite to the front aperture with respect to the imaging lens, for controlling average radius of the optical speckle. The imaging lens, the front aperture and the rear aperture are linearly arranged in sequence.

Preferably, the optical speckle imaging module includes a condensing lens, located in a path of the scattered light beams at the sampling angle φ, for condensing energy of the optical speckle to an energy sensor.

Preferably, the optical speckle imaging module includes a semi-reflector, located between the imaging lens and the rear aperture, for partially reflecting energy of the optical speckle to an energy sensor.

Preferably, the optical speckle imaging module includes a condensing lens, located in a path of light beam reflected from the surface, for condensing energy of the optical speckle to an energy sensor.

Preferably, the average radius of the optical speckle can be obtained by controlling size of the rear aperture and distance from the rear aperture to the sensor module with a relation of:
δ≈1.22×(λ/D)×L
where δ is average radius of the optical speckle, λ is wavelength of the highly coherent parallel light, D is diameter of the rear aperture, and L is distance between the rear aperture and the sensor module.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The optical speckle sampling technology in the present invention utilizes two-dimensional imaging structure using optical speckles reflected from a non-specular surface to efficiently lower the variation of relative optical path difference of the imaging optical speckle. Therefore, invariance of the optical speckle can be achieved.

Please seeFIG. 5. It is used to illustrate the principle used for the present invention.

When a sampling device12is moved with respect to a surface14by a distance d, the maximum relative optical path difference variation Δ(nL) of laser optical speckle is equal to:

Δ⁡(nL)=4⁢δ⁢⁢dγ⁢cos3⁢φ(1)
where δis average radius of the optical speckle, d is moving distance of the sampling device12relative to the surface14, γ is half of vertical distance from a sensor16to the surface14, φ is sampling angle with respect to normal to the surface, λ is wavelength of laser beams. In order to obtain optical speckle, relative optical path difference variation of equation (1) should be smaller than or equal to ⅕ wavelength. That is,

With an optical speckle sampling device satisfying equation (2), under the situation that sampling range is smaller than length of d, since constructive optical speckle moves within the sampling range having relative optical path difference variation smaller than ⅕ wavelength, the original constructive optical speckle moves within the sampling range and keeps constructive interference. Hence, light spot won't vanish and the purpose of imaging optical speckle can be achieved. A feature light spot of the laser optical speckle within the sampling range does not deform along with motion and thus has perfect repeatability. Therefore it is very suitable to be utilized in two-dimensional precise positioning systems.

The present invention is illustrated by 6 embodiments:

First Embodiment

Please refer toFIG. 6toFIG. 9. The present invention provides a technology utilizing optical speckle image to achieve two-dimensional precise positioning. Because laser optical speckle is an interference image, it has higher resolution than general non-interference grayscale. Especially, dimensions of the constructive interference optical speckle can be controlled within several microns by a sampling device so as to provide precise positioning with optical speckle image. The first embodiment has a laser optical speckle two-dimensional precise positioning structure20using optical speckles scattered from a non-specular surface shown inFIG. 6. It includes a positioning template202, an emitting module204, an optical speckle imaging module206, a two-dimensional array sensor module208, an optical speckle identifying/positioning unit210and a servo positioning driving device212.

The positioning template202has a surface with unique textures, high rigidity and low deformability, and is non-scratchable and easy to clean. Surface of the positioning template202can scatter optical speckle remarkably.

The emitting module204can emit a highly coherent parallel light to surface of a target. The emitting module204can be a vertical cavity surface emitting laser (VCSEL), an edge emission laser (EEL), a highly coherent gas laser and a highly coherent solid-state laser. Additionally, the emitting module204can also emit narrow band light and consist of a highly coherent light emitting diode and a filter. The laser light is emitted at an incident angle θ with respect to normal to the positioning template202to irradiate the surface of the positioning template202. The surface of the positioning template202is uniformly irradiated by the incident light. Because the surface of the positioning template202has a non-uniform texture, the incident light will be scattered in various directions. The scattered light beams are collected at a sampling angle φ with respect to normal to the surface of the positioning template202. The sampling angle φ has a range of 0°<φ≦θ−10° or θ+10°≦φ<90°. According to the present embodiment, θ is 60° and φ is 50°. However, φ can be in a range of 0°<φ≦50° or 70°≦φ<90°. Along the direction of the sampling angle, the scattered light beams interfere with each other. The optical speckle image generated from the scattered light beams is captured by an optical speckle imaging module206. The main purpose to capture optical speckle image along the direction of the sampling angle is to avoid acquiring specular reflected laser beams which contain no feature point data of the surface.

The optical speckle image captured from the specular reflected angle result from light beams reflected and scattered from the surface. Reflected light beams are coherent. In contrast, scattered light beams are incoherent showing three-dimensional feature of the surface. The light beams with different features interfere with each other to form a complex pattern of interference. It is disadvantageous to precise identification and repeatability for interference patterns. Hence, only the interference of the scattered light beams showing three-dimensional feature of the surface patterns is needed. It can clearly and stably show the three-dimensional features of the surface and has very good repeatability. It is suitable for precision positioning by optical speckle image. Additionally, in comparison with small angle offset from the specular reflected direction, it can gather more scattered light energy and advantageous to get a stable optical speckle image and improve noise-signal ratio effectively.

Please refer toFIG. 7. In order to purify the interference optical speckle pattern from the scattered light beams showing the three-dimensional feature of the surface, any light pollution such as stray light must be eliminated. Therefore, the optical speckle imaging module206includes a front aperture2062for filtering stray light, an imaging lens2064for imaging the optical speckle onto the two-dimensional array sensor module208, and a rear aperture2066for limiting incident angle of the light from the imaging lens2064and controlling average dimension of the optical speckle with the front aperture2062. The design entirely filters away stray light at a large angle and unnecessary scattered light beams. Background light interference can be minimized.

In order to have optical speckle patterns with the best resolution, the average dimension of the optical speckle must be greater than or equal to the size of pixel of the two-dimensional array sensor module208. By controlling the dimension of the rear aperture2066and its distance to the two-dimensional array sensor module208, the average dimension of the optical speckle can be controlled. Average radius of the optical speckle δ can be obtained by:

δ≈1.22×λD×L(3)
where δ is average radius of the optical speckle, λ is laser beams wavelength, D is diameter of the rear aperture2066, L is distance between the rear aperture2066and the two-dimensional array sensor module208. With a proper arrangement of above parameters, the average radius of the laser optical speckle is equal to or slightly larger than size of a pixel of the two-dimensional array sensor module208. An optical speckle image with the best resolution can be obtained.

In order to get optical speckle image repeatedly in the sampling range for comparing precise optical speckle patterns and positioning, the imaging structure should satisfy equation (2). Relative position and distance between the constructive feature optical speckle light spots in the sampling range keep unchanged and have very good repeatability. It is suitable for comparing precise optical speckle patterns and positioning.

In order to increase transmission efficiency of the scattered light beams passing the imaging lens2064, the imaging lens2064must be perpendicular to the optical axle of the scattered light beams. The two-dimensional array sensor module208includes a charge-coupled device (CCD) sensor or a complementary metal-oxide-semiconductor (CMOS) sensor. In order to have a fixed proportion of the size of the two-dimensional image of the sensor208to that of the surface and eliminate projection effect, which occurs when magnifying power with respect to vertical incident plane and magnifying power with respect to parallel incident plane are different. The sensing plane of the two-dimensional array sensor module208must be parallel to the surface. The two-dimensional array sensor module208is used to record the laser optical speckle image and sends the recorded image to the optical speckle identifying/positioning unit210spontaneously. The optical speckle identifying/positioning unit210will compare the optical speckle image data with that stored in a look-up table (not shown) and proceed with positioning. Coordinates over the positioning template202irradiated by the coherent light beams can be defined. Distance of movement and its direction for the servo positioning driving device212can be calculated with the coordinates and target coordinates.

Please refer toFIG. 8. Method for the structure20to process two-dimensional precise positioning is described below. Firstly, a point on the positioning template202is selected as a reference point (step S201). Then, the surface is partitioned into several unit zones to form a two-dimensional zone array and set location data for the unit zones with respect to the reference point (step S202). Next, the surface is irradiated with laser beams from a highly coherent parallel light source of the emitting module204at incident angle θ to generate scattered light beams. A sampling angle φ is set with respect to normal to the positioning template202to capture a first optical speckle image formed by the scattered light beams at the sampling angle in every unit zone (step S203). Later, a look-up table is established containing the location data (coordinates) of each unit zone and corresponding first optical speckle image thereof and recorded by the two-dimensional array sensor module208(step S204). A second optical speckle image of a detection point is obtained at the sampling angle φ by the optical speckle imaging module206(step S205). Subsequently, the optical speckle identifying/positioning unit210is used to compare the second optical speckle image with the first optical speckle image in the look-up table to obtain relative location of the detection point to the unit zone. Then, based on the look-up table, the location data (coordinates) of the detection point with respect to the reference point is obtained (step S206). At last, the servo positioning driving device212moves a target a certain distance in a specified direction. The purpose of absolute positioning by using optical speckle is achieved.

Second Embodiment

In the first embodiment, it is inconvenient to repeatedly form optical speckle images, and to match the optical speckle images with that of the detection point, to locate the detection point in the positioning template202. There is a way to make imaging of the optical speckle by the positioning template202, comparing and positioning more convenient and faster.

Please refer toFIG. 9toFIG. 13.FIG. 9andFIG. 10illustrate a positioning template302provided with optical speckle positioning zones3022and one or more dark zones3024between adjacent optical speckle positioning zones3022. According to the present invention, the dark zone3024can be a continuous region as shown inFIG. 9, or it can have discrete zones as shown inFIG. 10. The so-called dark zone has a characteristic that when laser beams irradiate on it, the dark zone substantially transmit, absorb or reflect the laser beams so that no scattered light beams are generated in the dark zone. Hence, within the sampling angle range, no optical speckle is obtained in the dark zone.

When the laser beams continuously irradiate the dark zone3024and the optical speckle positioning zones3022, reflected optical speckle energy in the dark zone3024is zero. Therefore, a periodical energy change of optical speckles across the surface is formed. By counting number of peaks or valleys of the optical speckle energy between a detection point and the reference point, location data of the unit zone where the detection point is located can be identified. It can reduce errors and time consumption in comparing the second optical speckle image and the first optical speckle image in the look-up table in the first embodiment.

With the dark zone3024, it is easy to offer a coordinate to an optical speckle image of the optical speckle positioning zone3022. The amount of peaks or valleys between the detection point and the reference point is counted in order to identify the optical speckle image and perform positioning in the next stage.

With the positioning template302having the dark zone3024, a semi-reflective mirror314is added in the two-dimensional imaging structure20in the first embodiment to form a two-dimensional imaging structure30as shown inFIG. 11. The two-dimensional imaging structure30includes an emitting module304, a front aperture306, an imaging lens308, a rear aperture310, a two-dimensional array sensor module312, and the semi-reflective mirror314located between the imaging lens308and the rear aperture310. In the structure, the semi-reflective mirror314can partially reflect optical speckle imaging energy to an optical speckle energy sensor316and partially pass the optical speckle imaging energy to the two-dimensional array sensor module312to form the optical speckle image. Please refer toFIG. 12. The area that the emitting module304irradiates the positioning template302is around the size of the optical speckle positioning zone3022.

Please seeFIG. 13in which d represents distance between two adjacent peaks. As mentioned above, when the laser beams move horizontally or vertically over the positioning template302, due to the dark zone3024, the optical speckle energy sensor316will detect a bright/dark signal. The bright/dark signal is then differentiated to obtain a slope thereof. When the slope is zero and the signal has a waveform curved downwards, the detection point is at the center of the optical speckle positioning zone3022. When the slope is zero and the signal has a waveform curved upwards, the detection point is at the center of the dark zone3024. By counting the peaks or valleys of the signal, the optical speckle positioning zone3022where the detection point is located can be identified. By this way, offset of the detection point from the location of the identified optical speckle positioning zone3022can be limited to positioning zone size or less (i.e., coarse positioning). When the coarse positioning is done, optical speckle image of the detection point is compared with the optical speckle image of the identified optical speckle positioning zone3022stored in the lookup table, then the location data (coordinates) of the detection point is determined (i.e., fine positioning).

Due to the characteristic that the optical speckle image moves without deformation, even if the optical speckle image of the identified optical speckle positioning zone3022and the optical speckle image of the detection point do not perfectly match which is caused by the offset mentioned above, the two optical speckle images are almost identical in overlapped imaging area. Therefore, positioning precision by such comparison can be smaller than a pixel in the sensor module312. It makes the absolute positioning technique of optical speckle image have very high positioning precision and wide applications. For example, an absolute positioning optical speckle ruler can replace traditional optical ruler and a two-dimensional absolute optical speckle automatic positioning system can replace conventional ones, such as CDD automatic positioning systems and magnetically induced automatic positioning systems.

Third Embodiment

It is mentioned in the second embodiment to reduce offset and time consumption in optical speckle image comparison by using dark zone. Please refer toFIG. 9again. The dark zone3024has a size equal to that of the optical speckle positioning zone3022. When the detection point is in the dark zone3024, the two-dimensional array sensor module312receives no scattered light beams.

In order to solve this problem, referring toFIG. 14, the elements shown inFIG. 9are used but the area of the dark zone is reduced. In other words, the dark zone3024has a size smaller than that of the optical speckle positioning zone3022. For example, the length and width thereof are ¼ of the optical speckle positioning zone. Under this situation, even though detection point A is in the dark zone3024, there are still some portions overlapping with the optical speckle positioning zone3022for positioning purpose.

Fourth Embodiment

InFIG. 9, only the optical speckle positioning zone3022can reflect the coherent light, and the rest area of the positioning template302is the dark zone3024where no optical speckle image is obtained. For full range positioning, sometimes, optical speckle image from the useless area are received. In order to cause the energy sensor to receive the optical speckle signal with bright/dark change to meet the requirements for both coarse positioning and fine positioning, the structure of the arrayed positioning zone inFIG. 9is modified as a positioning template402inFIG. 15.

In the structure inFIG. 15, dark zones4024between adjacent optical speckle positioning zones4022are linked by optical speckle positioning strips4026. The optical speckle positioning strips4026have a width about ⅓ of that of the optical speckle positioning zone4022. Hence, the optical speckle image energy in the optical speckle positioning strips4026is about ⅓ of the optical speckle positioning zone4022. When the optical speckle positioning zones4022and the optical speckle positioning strips4026are irradiated, a periodical energy change of optical speckles across the surface occurs. As shown inFIG. 16, requirement of the coarse positioning is fulfilled. When positioning is carried out in the optical speckle positioning strips4026, the optical speckle positioning strips4026can provide sufficient optical speckle images to meet needs of optical speckle images for the fine positioning. By counting number of the peaks or valleys of the optical speckle energy between the detection point and the reference point, the location data of the positioning zone where the detection point is can be identified.

Furthermore, there is a large dark zone4024surrounded by four adjacent optical speckle positioning zones4022which is unable to offer reference optical speckle images. In order to satisfy requirement of precise positioning for this area, a circular auxiliary positioning zone4028is provided in the dark zone4024surrounded by four adjacent optical speckle positioning zone4022for helping locate the detection point. The auxiliary positioning zone can form optical speckle images. Diameter of the circular auxiliary positioning zone4028is around half of the length of the optical speckle positioning zone4022. The arrangement can satisfy requirements of the coarse and fine positioning.

A full-ranged precise two-dimensional imaging structure40using the positioning template402inFIG. 15is shown inFIG. 17. The structure is similar to that of the second embodiment and has an emitting module404, a front aperture406, an imaging lens408, a rear aperture410, a two-dimensional array sensor module412, a semi-reflective mirror414and an optical speckle energy sensor416, in which like elements have like functions. The structure can provide precise optical speckle images for the coarse and fine positioning in the positioning template402. Positioning precision can be smaller than the size of a pixel of the sensor module412.

Fifth Embodiment

The two-dimensional imaging structure40described in the fourth embodiment is modified into a imaging structure50shown inFIG. 18by removing the semi-reflective mirror414and adding a condensing lens514for condensing the reflected light beams to an energy sensor516in the specular reflection direction. In this embodiment, the dark zone3024inFIG. 10according to the second embodiment is replaced with a partially reflective zone which has lower reflectivity than that of the positioning zone. Therefore, the positioning template has no dark zone. In other words, in the present embodiment, any point in the positioning template can provide an optical speckle image. When the positioning template is irradiated by laser beams, change of optical speckle energy detected by the energy sensor516in the specular reflection direction is shown inFIG. 16. Of course, using a semi-reflective mirror for reflecting scattered light partially to the energy sensor516in order to help identifying process of the energy sensor516is an alternative.

InFIG. 18, the imaging structure is used to provide reflected light beams in the specular reflection direction. The energy sensor516can detect signal change for achieving the coarse positioning. For non-specular reflection, in the direction of φ=θ−10°, a front aperture506, an imaging lens508and a rear aperture510are used to get optical speckle image for fine positioning. The structure is similar to that in the third embodiment and has a positioning template502, an emitting module504, the front aperture506, the imaging lens508, the rear aperture510, a two-dimensional array sensor module512, and the optical speckle energy sensor516. Like elements have like functions inFIG. 17, and thus the description thereof is omitted hereinafter.

Like the imaging structure in the present embodiment, the energy sensors of the third embodiment and the fourth embodiment can be provided in the direction of angle of reflection for obtaining a periodical energy change of optical speckles across the surface.

Sixth Embodiment

The positioning templates shown inFIG. 17andFIG. 18can be replaced with an elongated rectangular board for performing one-dimensional precise positioning. All the positioning templates in the preceding embodiments can also be replaced with an elongated rectangular board, which can be deemed as an optical speckle ruler. It can be used for one-dimensional precise optical speckle positioning. Due to absolute positioning, it has different operation principle from general optical rulers in the market and it has good competition. Two optical speckle rulers perpendicular to each other can be used for another type of two-dimensional precise positioning. Three optical speckle rulers spatially perpendicular to one another can be used for three-dimensional precise positioning. Thus, application of combination of the optical speckle rulers has a huge market. Besides, the technique in the present invention can be applied to identifying devices for finance or banking. For example, three-dimensional finger print readers, security cards, keys, mechanical arm positioning apparatuses.