immutable characteristic portion having a surface for long objects absolute position of the tip of a decision to a method and apparatus

摘要

The present invention is an absolute stance and tip touching the tip of a long object on a flat surface with invariant features provides a method for determining a position. The method comprises a step of detecting the light scattered back to the sensing object at an angle to the axis of the exploration phase illuminating light on the surface and the invariant feature portion, a long object. The position of the object is derived from the reaction of the scattered light to the invariant portion and surface characteristics. The absolute position of the tip to the surface is obtained from the attitude and constant characterizing part. Method and apparatus for practicing the invention is very diverse. In some cases, the sensing light from the object is directed toward the surface at an angle with respect to the axis of a long object. Alternatively, the angle is the place to be in inverse scattering inverse scattering angle scattering. Angle to the axis of a long object, it is convenient, such as angle . In addition, this reaction to obtain the absolute position may be a change in intensity of the scattered light or scattered light station. Exploration light is preferably directed to a surface with invariant features aimed scanning beam shape. Scan angle light beam is directed exploration varies gets the scanning beam along the scan pattern. This angle change can be made by a scanner having a one-axis or two-axis scan mirror and the driver, but are not limited to FIG. Depending on the case, the scanning pattern is one-axis or two-axis scan pattern scan pattern, a two-axis scan pattern is a suitable pattern is a raster or Lissajous figures.