Abstract:
A grating optical sensor includes: a lens imaging an object space; a diffractive hexagonal 3D grating optical modulator in the image plane of the lens to form at least one trichromatic RGB diffraction pattern; a photoelectric receiver arrangement arranged in the near field downstream of the modulator, having individual receivers configured to generate electric signals in accordance with centrosymmetrically trichromatic RGB diffraction orders of the diffraction pattern; an evaluation device for the electric signals generated by the individual receivers; and at least one light-diffusion plate arranged in either a pupillary plane of the lens or a papillary plane conjugate to the lens or both.

Description:
BACKGROUND OF THE INVENTION 
     A grating optical sensor is disclosed in WO 97/22 849. It is provided for accurately determining spatial and/or temporal spacings in focused image sequences of a lens/pupil system and/or determining spatial and/or temporal object parameters in real time such as, for example, speed or depth. A 3D grating has also already been used to carry out model calculations relating to the inverted retina of the human eye and to relate them to subjective phenomena known from human vision. In the preferred form, the 3D grating has a hexagonal structure. Other structures with centrosymmetrical diffraction patterns are, however, likewise possible. 
     Since the investigations of O. Lummer and the industrial development of daylight-like luminaires, it has been realized that there is an as yet unexplained resonance between sunlight and human vision. This has resulted in all the previous recommendations for approximating the spectrum of artificial light sources to the sunlight spectrum. In particular, in the case of color perception in phototopic day vision, there occur in the event of a change of illuminations having a different spectral composition of the radiation displacements of the color values which are compensated adaptively in human vision after a relatively short or, in part, relatively long time by means of approximate color constancy performances of the eye. The v. Kreis model, which attributes the adaptivity to the visual pigments of the retina, presently serves as an incomplete explanatory model for this. In addition, there are even more incomplete cortical explanatory models from other authors. 
     On the other hand, it has been documented many times that the phototopic seeing process cannot be characterized solely by the spectral light sensitivity of the individual cones. The very much more complex mode of operation of the visual sense requires knowledge of the luminance distribution in the entire visual field for the purpose of judging many visual tasks. Human vision is not based on the stimulus/reaction response of individual pixels. It takes account of the relative values over the entire field of view. In addition to chromatic adaptation effects, scattering of light at ocular media influences the extent of the achromatic axis (black-gray-white axis) centering the color space. It is therefore an illusion to believe that spectral photometers will be the ideal instruments of future chromatometry and color determinations, even if they are designed on the detection of overlapping RGB values. Likewise incomplete is a chromatometric technique which respectively dispenses with determining the triad of brightness/hue/saturation simultaneously and with reference to a entire field of view. 
     SUMMARY OF THE INVENTION 
     There is thus a growing need to have available in the future color sensors which can measure color values with reference to the spectral sensitivity curves of human vision, and ensure, given adaptation to artificial illuminations, an approximate color constancy corresponding to human vision. It is the object of the invention to create such a sensor. 
     The invention proceeds from the finding that it is possible, by inserting a diffractive multilayer (3D) grating into the image plane of an imaging lens/pupil system in the near field downstream of the grating (Fresnel/Talbot space; Fourier space or reciprocal grating), to make available three chromatic diffraction orders (RGB triple) with in each case six discrete interference maxima on mutually concentric circles, such as are described in the case of a hexagonal grating structure by means of the v. Laue equation known from crystal optics. 
     The v. Laue equation for diffractive space lattices requires for the production of constructive interference maxima the simultaneous satisfaction of the three phase conditions in the equation |1| 
     
       
         (cosα-cosα°)= h   1 λ/ gx   
       
     
     
       
         (cosβ-cosβ°)= h   2 λ/ gy   
       
     
     
       
         (cosγ-cosγ°)= h   3 λ/ gz   |1| 
       
     
     (h 1  h 2  h 3 =triple of integral diffraction orders n; α°, β°, γ°=aperture angle of the light cone incident in the 3D grating, relative to x, y, z; α, β, γ=angle of the diffraction orders relative to x, y, z; λ=wavelength; and gx, gy, gz=grating constant in the x-, y-, z-axial direction). Assuming a hexagonal packing of the optically diffracting elements and grating constant dimensions in μm of gx=2λ111, gy=4λ111/3, gz=4λ111, in equation |2|, λ111 constitutes the wavelength diffracted with maximum transmission into the 111 diffraction order.                λ                 h1h2h3     =     λ111   =       2        (         h1   gx        cos                   α   *       +       h2   gy        cos                   β   *       +       h3   gz        cos                   γ   *         )             h1   2       gx   2       +       h2   2       gy   2       +       h3   2       gz   2                        2                                   
     In the case of perpendicular incidence of light (α°=β°=90°, λ=0°) a triple of chromatic diffraction orders results in the visible spectral region (380-780 nm) 
     λ111 (longest wavelength) RED 
     λ123 (average wavelength) GREEN 
     λ122 (shorter wavelength) BLUE 
     The spectral transmission curves, which are centered relative to one of these λmax in each case, have a Gaussian shape and are determined at their half width by the number of the surface gratings in the z direction that are present in the 3D grating. In the event of incidence of white light, that is to say light of identical energy in all spectral components, and the grating inserted into the image plane of the imaging system, given the selection of λ111=559 nm, the result is the trichromatism of the diffraction orders at 
     λ111 RED=559 nm 
     λ123 GREEN=537 nm 
     λ122 BLUE=447 nm 
     There is thus a trichromatic tuning of the 3D grating, which is based on the resonant setting of the grating constants gx and gz to an integral λ111, and in which a trichromatic equilibrium of the brightness values (Patterson amplitudes 2  weights) is produced in the RGB diffraction orders. 
     In the case of adaptive chromatic retuning of the 3D grating to an illumination other than a white one, the relation of the RGB λmax (1 : 0.96 : 0.8 or 25 : 24 : 20) is always maintained. λ111 is the resonant wavelength determining the triple shifts to shorter λ111 wavelengths in the event of change to a blue illumination, and to longer λ111 wavelengths in the event of change to a red illumination. The adaptive shift ends with the complete adaptation to the new illumination, that is to say with the resonant finding of a new RGB equilibrium, of the trichromatically additive white standard, which recenters the color space. The actual resonance factor is the phase velocity nvλ=c (n=refractive index of the medium, v=frequency of the light, c=speed of the light). 
     The following new configuration of the sensor design forms the basis for the color constancy performance of the 3D grating optical sensor in the case of adaptation to variable illuminations. 
     A diffusion plate or disc or glass (hereinafter “diffusion glass”) or one or more light diffusing gratings are incorporated into the pupil plane (aperture space) of the imaging optical system. Their function is to be seen in that they scatter diffusely as incoherent background into the image plane information likewise present at each location in the pupil, spatially the sum of the spectral intensities and local frequency values which are irradiated into the pupil by all objects in the object space and contribute to optical imaging. As a result, each local image location is supported by the global information on the entire field of view, against which each local pixel must stand out by being differentiated from it, specifically in brightness, hue, saturation etc. However, each item of local information thereby remains relativized in terms of the global background of the entire field of view. 
     All the lenses, diffusion glasses or gratings are designed such that they are transparent exclusively for electromagnetic radiation in the visible spectrum (380-780 nm) and therefore these delimit an octave of the wavelengths or frequencies with definite absorption edges. This boundary condition is important because thereby spectral brightness values which could come about through variation in the illumination are cut off at these absorption edges. 
     In the near field downstream of the diffractive 3D grating, the RGB interference maxima (3×6 concentric maxima) assigned to a local pixel are interconnected via photoreceivers set in a constant fashion in terms of their spectral sensitivity to white sunlight (of identical energy in all spectral components) in such a way that a local RGB sum can be formed as a trichromatically additive brightness value by means of an appropriate evaluation. It is possible thereby to differentiate RGB equilibriums and disequilibriums. RGB equilibriums correspond in the object space to visible colorless surfaces or illuminations (black-gray-white objects). If illuminations are not visible, but can be inferred only via colorless objects or surfaces, they are represented in terms of their spectral characteristic by gray or white surfaces, what are termed mirrors of the illuminations. The image location with RGB equilibrium, which achieves the greatest aggregate brightness, supplies what is termed the white standard, and thereby defines the tip of the achromatic axis centering the color space. Alternatively, the image location whose RGB values most closely approximate an equilibrium takes over this provision of a white standard. This explains that the white standard can be displaced in the trichromatic space. 
     The design of a diffractive 3D grating optical sensor which provides trichromatic RGB values in three diffraction orders ensures color constancy when there is ensured together with the sudden or gradual change in the illumination in the object space a resonant mechanism, that is to say one that is adaptive to the spectral composition of the illuminations in the 3D grating, which corresponds to a chromatic tuning of the 3D grating. In the case of a white illumination, that is to say an equal-energy spectral composition, corresponding to average sunlight, of the visible light, three grating constants in the xyz-axial direction are tuned to the RED wavelength (559 nm), with standing wave formation in the x- and z-axial directions, that is to say resonance in the 3D grating. Identical values, that is to say RGB equilibriums, result thereby under the three Gaussian spectral photopic curves of the photoreceptors (cones in human vision). The white standard is determined via the RGB sum values of the three Gaussian curves, which are centered relative to the wavelengths 559 nm RED/537 nm GREEN/447 nm BLUE. 
     After a sudden or gradual change in the illumination, a chromatically triggered reconstruction of the grating constants takes place in the diffractive 3D grating. In the case of a displacement of illumination to the longer wavelength region of the spectrum, the white standard in the 3D grating, still tuned to 559 nm RED, suddenly breaks down. If the adaptive mechanism of the shifting of the white standard then acts in the direction of the changed illumination, the grating achieves a new RGB equilibrium in the case of a chromatic tuning to 728 nm RED, for example. The trichromatically additive color space is thereby centered again relative to an achromatic axis, and the colors are correct again, being experienced as correct. 
     If, by contrast, the illumination is displaced toward the shorter wavelength spectrum, the grating achieves a new RGB equilibrium, for example in the case of a chromatic tuning to 513 nm RED. 
     The adaptive process, which leads as a result to a trichromatic restandardization of the color space in a changed white standard, can be described by the already explained v. Laue equation of crystal optics. The actual resonance factor is the phase velocity in the medium. Spectral triggering of the grating constant dimensions corresponds to the coefficient of thermal expansion for the RED wavelength in the RGB triple. It is possible by means of dosed IR, that is to say thermal irradiation in the 3D grating, or by varying the internal pressure in the 3D grating to vary the grating constant dimensions correspondingly. The sensor according to the invention can thereby ensure the color constancy properties of the human vision system. 
     A color constancy sensor which is represented technically in the form of a 3D grating or preprocessing filter that can resonate with the centroid of the spectral component of a light source or illumination is very important for all applications in which the color of fabrics and materials must be detected, differentiated and classified by the color perception forming the basis of the laws of human vision. This also holds for the relevant judgment of properties of visible objects that are associated with the hue characteristics, whether this be in general image processing, whether with automatic viewers in robotics or autonomously driving vehicles, indeed even in the case of sensors for the blind. At the same time, such a sensor is able to render color perceptions under artificial light sources predictable and measurable. Since such a 3D grating transforms the physical parameters (intensity and wavelength) into the psychological triad of brightness, hue and saturation, it is also possible to use a sensor to calculate brightness and saturation values of object surfaces. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     An exemplary embodiment of the grating optical sensor according to the invention is illustrated diagrammatically in the drawing and described with the aid of the figures, in which: 
     FIG. 1 shows the design of the sensor, 
     FIG. 1 a  shows the plan view of a centrosymmetrically trichromatic diffraction pattern, 
     FIGS. 2A and 2B show the adaptation to a white illumination, 
     FIGS. 3A and 3B show the adaptation to a red illumination, 
     FIG. 4 shows the cycle of the operation of adapting to a red illumination, 
     FIGS. 5A and 5B show the adaptation to a blue illumination, and 
     FIG. 6 shows the cycle of the operation of adapting to a blue illumination. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     The grating optical sensor illustrated schematically in FIG. 1 includes as lens/pupil system an imaging lens  1 . The latter projects the image of a visible object  2 , which is illuminated by a radiation source  3  emitting white light, from the object space onto a hexagonal diffractive 3D grating optical modulator  4  with the grating constants gx, gy, gz in the image plane  5 . Three chromatic RGB diffraction orders in the diffraction pattern  6  with six concentric maxima (Patterson weights) each result in a known way for each imaged object  2  in the visible spectrum due to diffraction in the modulator  4 , resonance between λ111 and the grating constants, and interference in the near field downstream of the modulator  4 . These are illustrated once again in plan view in FIG. 1 a  for an object  2  situated on the optical axis  7  of the sensor. In this case, the red (R) diffraction order is situated on the inner ring, the blue (B) on the middle ring, and the green (G) on the outer ring. 
     Each diffraction order is assigned a photoelectric receiver  8 . All the receivers  8  are set to the same spectral sensitivity for a radiation source  3  emitting white light. 
     Objects situated outside the optical axis  7  supply identical diffraction patterns  6 , which can also be interleaved. The resolution of the image depends on the grating constants of the modulator  4 . Each diffraction pattern is assigned a specific object. 
     A diffusion glass  9  is inserted into the pupil plane of the lens  1  or a plane conjugate thereto. This diffusion glass  9  can advantageously have a diffracting grating structure. Since imaging beams from all the objects in the object space run through each location of the pupil, image information from the entire object space is distributed simultaneously over the image plane via each diffusion center outward from the pupil plane. Consequently, information on the overall image is superimposed on each local image of an object. The diffusion characteristic of the diffusion glass  9  is to be selected such that diffusion takes place as uniformly as possible over the entire image field, and an image of the local object on the background produced by diffusion is maintained. 
     The spectral transmission of the lens  1 , the diffusion glass  9 , and the modulator  4  are limited to the visible region of electromagnetic radiation, in particular to the wavelength region of 380-780 nm. 
     All the receivers  8 , assigned to the same diffraction order R, G, B, of a diffraction pattern  6  are interconnected for the purpose of forming a local chromatically additive brightness value  10 . The local trichromatically additive brightness values  11  are additionally produced therefrom downstream. 
     The local chromatically additive and trichromatically additive brightness values  10 ,  11  of the diffraction pattern  6 , and the corresponding brightness values  10 ′,  11 ′ of other diffraction patterns are fed to a comparison arrangement  12  for the purpose of determining the diffraction pattern with the best agreement between the chromatically additive brightness values  10 ,  10 ′ and, simultaneously, a maximum trichromatically additive brightness value  11 ,  11 ′. The corresponding brightness values of the selected diffraction pattern are led to a white standard forming unit  13  for the purpose of producing a white standard signal or value. The agreement between the three chromatically additive brightness values means that a colorless object detail is involved. The magnitude of the trichromatically additive brightness value specifies an evaluation on the black-gray-white scale. 
     The chromatically additive brightness values  10 ,  10 ′ of the individual diffraction patterns can also be fed to a color value forming unit  14 . The sum of the three different chromatically additive brightness values that, are referred in each case to the white standard signal, for example multiplied by the reciprocal of the white standard, forms the output signal for the local color value. If there is no measured white standard value available, the color evaluation can also be carried out by forming the ratio with a fictional white standard value. 
     The process of white standard formation can be checked permanently or in periodic sequence in a variation signaling unit  15 . A variation in the illumination leads either only to a change in the trichromatically additive brightness value  11 ,  11 ′ of the diffraction patterns selected for the white standard, while an RGB equilibrium is maintained. The white standard value is displaced in this case only on the achromatic axis, centering the color space, for black-gray-white objects. 
     If the variation in the illumination also leads, however, to an RGB disequilibrium in the diffraction pattern determining the white standard, the cause resides in a variation in the spectral composition of the illumination. The variation signaling unit  15  establishes such a variation and controls an adapter  16  which is assigned a thermal radiation source  17 . Thermal radiation on the modulator  4  causes variation in its grating constant as a function of the coefficient of thermal expansion until the white standard forming unit  13  displays a new white standard value. This adaptation process corresponds to an inclination of the achromatic axis centering the color space. 
     FIGS. 2A and 2B firstly illustrate the adaptation to a white illumination with spectral components of approximately the same energy. The intensity of emission is illustrated in the upper diagram as a function of wavelength. A diffractive hexagonal 3D grating in this case supplies three diffraction orders whose Gaussian spectral transmission curves are centered in relation to λ111=559 nm (RED), λ123=537 nm (GREEN) and λ122=447 nm (BLUE). This corresponds to the sensitivity of the cones in human day vision. The Gaussian curves illustrated in the lower diagram can be described by a −1  exp(-x 2 ), with x=(λh 1  h 2  h 3 −λ)/n and a=0.92 at n=55 for 111 RED, a=0.88 at n=53 for 123 GREEN, and a=0.56 at n=34 for 122 BLUE. The achromatic, that is to say gray to white, objects reproduce the spectral properties of the illumination in the object space to the extent that this itself is invisible. The product of the spectral intensities and spectral Gaussian curves produce identical brightness aggregate values of 33% each in the three diffraction orders. Their RGB equilibrium supplies the white standard, which centers the trichromiatic color space. In the table below, the values of the spectral brightness distribution are summarized in accordance with the Gaussian curves assigned to the diffraction orders, for the case of a white illumination. 
     FIGS. 3A and 3B and FIG. 4 illustrate the adaptation to an illumination displaced to the red. The intensity of emission is illustrated once again in the upper image as a function of wavelength, and that of the associated Gaussian spectral transmission curves is illustrated in the lower image of FIG.  3 B. The 3D grating optical adaptation to a red illumination leads via a chromatic tuning of the three grating constants at λ111=728 nm RED, λ123=699 nm GREEN, λ122=582 nm BLUE to a new trichromatic RGB equilibrium position which is displaced to the longer wavelength end of the spectrum and forms the new white standard. The product of variable spectral energy distribution in the illuminating light and a constant triple of the Gaussian curves results in the new distributions of the spectral brightness values in the RGB diffraction orders, as they are summarized in the following table. 
     The resonant adaptation operation illustrated in FIG. 4 starts with a disequilibrium in the RGB diffraction orders at 43% R, 39% G, 18% B, which was initiated by the sudden change from the white to the red illumination. Gradually progressive 3D grating optical resonance with longer λ111 wavelengths finally leads to the chromatic grating constant tuning at λ111=728 nm RED, and thus to the new RGB equilibrium with 33% R, 35% G and 32% B. 
     FIGS. 5A and 5B and FIG. 6 show in a similar way the 3D grating optical adaptation to a blue illumination via a chromatic tuning of the three grating constants at λ111=513 nm RED, λ123=492 nm GREEN, λ122=410 nm BLUE to a new trichromatic RGB equilibrium position, that is displaced to the short-wave end of the spectrum and forms the new white standard. The product of variable spectral energy distribution in the illuminating light and a constant triple of the Gaussian curves results in the new distributions of the spectral brightness values in the RGB diffraction orders, as they are summarized in the following table. 
     
       
         
               
               
               
             
               
               
               
               
               
               
             
           
               
                   
               
               
                 Visible 
                 Spectral 
                 3. Spectral brightness values 
               
             
          
           
               
                 spectrum 
                 intensity of 
                 122 
                 123 
                 111 
                   
               
               
                 wavelength 
                 illumination 
                 BLUE 
                 GREEN 
                 RED 
                 Sum 
               
               
                 (nm) 
                 Blue (T 1) 
                 410 nm 
                 492 nm 
                 513 nm 
                 RGB 
               
               
                   
               
               
                 400 
                 870 
                 1304 
                  47 
                  15 
                 1366 
               
               
                 410 
                 900 
                 1481 
                  91 
                  32 
                 1604 
               
               
                 420 
                 910 
                 1384 
                 159 
                  62 
                 1605 
               
               
                 430 
                 850 
                 1004 
                 241 
                 103 
                 1348 
               
               
                 440 
                 810 
                  625 
                 346 
                 164 
                 1135 
               
               
                 450 
                 850 
                  360 
                 509 
                 271 
                 1140 
               
               
                 460 
                 880 
                  172 
                 688 
                 411 
                 1271 
               
               
                 470 
                 800 
                  61 
                 760 
                 513 
                 1334 
               
               
                 480 
                 750 
                  18 
                 807 
                 619 
                 1444 
               
               
                 490 
                 700 
                   5 
                 795 
                 695 
                 1495 
               
               
                 500 
                 620 
                   1 
                 692 
                 693 
                 1386 
               
               
                 510 
                 550 
                   
                 561 
                 648 
                 1209 
               
               
                 520 
                 500 
                   
                 435 
                 582 
                 1017 
               
               
                 530 
                 480 
                   
                 331 
                 516 
                  847 
               
               
                 540 
                 460 
                   
                 234 
                 428 
                  862 
               
               
                 550 
                 420 
                   
                 147 
                 315 
                  462 
               
               
                 560 
                 380 
                   
                  85 
                 216 
                  301 
               
               
                 570 
                 340 
                   
                  45 
                 137 
                  182 
               
               
                 580 
                 320 
                   
                  24 
                  86 
                  110 
               
               
                 590 
                 310 
                   
                  12 
                  51 
                  63 
               
               
                 600 
                 300 
                   
                  5 
                  29 
                  34 
               
               
                 610 
                 280 
                   
                  2 
                  15 
                  17 
               
               
                 620 
                 280 
                   
                  1 
                  8 
                   9 
               
               
                 630 
                 250 
                   
                   
                  3 
                   3 
               
               
                 640 
                 240 
                   
                   
                  1 
                   1 
               
               
                 650 
                 230 
                   
                   
                  1 
                   1 
               
               
                 Sum 
                 14280  
                 6415 
                 7017  
                 6614  
                 20046  
               
               
                 % 
                 100 
                  32 
                  35 
                  33 
                  100 
               
               
                   
               
             
          
         
       
     
     The resonant adaptation operation illustrated in FIG. 6 starts with s disequilibrium in the RGB diffraction orders at 24% R, 28% G, 48% B, which was initiated by the sudden change from the white to the blue illumination. Gradually progressive 3D grating optical resonance with shorter ? 111  wavelengths finally leads to the chromatic grating constant tuning at λ111=513 nm RED, and thus to the new RGB equilibrium at 32% R, 35% G and 33% B. 
     The resonant adaptation operation also leads, of course, to a geometrical displacement of the position of the diffraction orders in the diffraction pattern, and thus with reference to the photoelectric receivers. However, this displacement always remains within the compass of the extent of the receiver surfaces.