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WO2001088470A1 - Systeme de mesure et procede de mesure d'angles et de distances - Google Patents

Systeme de mesure et procede de mesure d'angles et de distances Download PDF

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Publication number
WO2001088470A1
WO2001088470A1 PCT/DK2001/000345 DK0100345W WO0188470A1 WO 2001088470 A1 WO2001088470 A1 WO 2001088470A1 DK 0100345 W DK0100345 W DK 0100345W WO 0188470 A1 WO0188470 A1 WO 0188470A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
distance
radiation means
array
radiation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DK2001/000345
Other languages
English (en)
Inventor
Tom Olesen
Preben DAMGÅRD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Unisensor AS
Original Assignee
Unisensor AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Unisensor AS filed Critical Unisensor AS
Priority to AU60080/01A priority Critical patent/AU6008001A/en
Publication of WO2001088470A1 publication Critical patent/WO2001088470A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude

Definitions

  • the present invention relates to a system and a method for measuring angles and distances between to modules.
  • the system should be capable of providing a distance to an object and an angle relative to the observer in an easy and fast manner.
  • the present invention provides an easy to mount measuring device for measuring the distance between two objects as well as an angle of rotation of a second object relative to a first object.
  • the above-mentioned objects are complied with by providing, in a first aspect, a system for determining an angle and a distance between a first and a second module, wherein the first module comprises
  • first, second and third radiation means the first and second radiation means being separated by a known first distance
  • first and third radiation means being separated by a known second distance
  • second and third radiation means being separated by a known third distance
  • an array of optical sensors being positioned at a fixed distance from the image forming means so that images of the radiation means of the first module are projected onto the array of optical sensors.
  • the system further comprises
  • first calculating means for transmitting sets of digital data from the transforming means to a first calculating means, said first calculating means being adapted to calculate, from sets of digital data representing the second and third known distances, a first ratio, said first ratio being proportional to the angle between the first module and the second module, and said first calculating means further being adapted to calculate, from the set of digital data representing the first known distance, the distance between the first module and the second module, and scaling said set of digital data with a scaling factor proportional to the first ratio.
  • the above-mentioned means may all be implemented as electronic means, such as an analogue circuit, or they may be implemented as digital means - e.g. comprising a microprocessor or a PC, or any combination thereof.
  • the first module may further comprise a fourth radiation means positioned at a fourth known distance from the third radiation means, and a fifth radiation means positioned at a fifth known distance from the third radiation means.
  • the first, second, fourth and fifth radiation means are positioned in a first plane.
  • the first calculating means may, from the set of digital data representing the fourth and fifth known distances, calculate a second ratio, the second ratio being proportional to the second angle between the first module and the second module.
  • the system may further comprise a second calculating means for calculating a rotation of the first module relative to the second module by calculating the position of the projected images of the first, second, fourth, and fifth radiation means.
  • the second calculating means may also be implemented as electronic means, such as an analogue circuit, or it may be implemented as digital means - e.g. comprising a microprocessor or a PC, or any combination thereof.
  • the first calculating means may be capable of determining a parallel translation of the position of the first module relative to the second module.
  • the array of optical sensors may comprise a one-dimensional and/or a two-dimensional CCD camera or CMOS array. Alternatively, the array of optical sensors may comprise at least two one-dimensional CCD cameras or CMOS arrays, and may further comprise a beam-splitter.
  • the radiation means may comprise LED's, lasers and/or reflectors so to reflect incoming light.
  • the image forming means may comprise a lens, such as a cylinder lens or pinhole.
  • the present invention relates to a method for determining an angle and a distance between a first and a second module, said method comprising the steps of
  • the first module comprising a first, second and third radiation means, the first and second radiation means being separated by a known first distance, the first and third radiation means being separated by a known second distance, and the second and third radiation means being separated by a known third distance,
  • the second module comprising image forming means and further comprising an array of optical sensors, said array of optical sensors being positioned at a fixed distance from the image forming means so that images of the radiation means of the first module are projected onto the array of optical sensors,
  • the required means for performing the above-mentioned method are similar to the means according to the first aspect of the present invention.
  • Fig 1 is a block diagram of the measurement system of the present invention
  • Fig 2 is a schematic plan view of optical part of the measurement system with 3 radiation means in the first module
  • Fig 3 is a schematic plan view of optical part of the measurement system with 3 radiation means in the first module, and where the first module is rotated relative to the second module,
  • Fig 4 is a schematic view of the first module with 5 radiation means
  • Fig 5 is a schematic view of the embodiment with two 1 -dimensional image transforming means.
  • Fig 1 a block diagram of the present invention is shown.
  • a first module 1 is placed on an object together with first electronic means 3.
  • a second module 2 is placed at a distance 9 from the first module 1 together with the second electronic means 4, and also the third electronic means 5 and the fourth electronic means 6 are placed at the first module 1.
  • the first module 1 may be rotated an angle 8 relative to the second module 2.
  • the first module 1 comprises a first radiation means 20 and a second radiation means 22.
  • the first module 1 further comprises a third radiation means 24 positioned behind a line connecting the first radiation means 20 and the second radiation means 22.
  • the first distance 40 between the first radiation means 20 and the second radiation means 22 is known to the system.
  • the distances 44 and 42 are approximately the same and also know to the system.
  • the x-component of the third distance 42 is denoted 42x and the x-component of the second distance 44 is denoted 44x.
  • the second module 2 comprises an image forming element 10 as well as a second electronic means 4 for transforming the image into digital data.
  • the first electronic means 4 controls the radiation means 20, 22, and 24 of the first module 1 to be turned on and off one after the other.
  • an image 20', 22' or 24' of the radiation means is formed on the second electronic means 4.
  • the image is digitised and transferred via the third electronic means 5 to the fourth electronic means 6 where the position of the image of the radiation means is calculated.
  • the fourth electronic means 6 calculates the distances 40', 42x' 5 and 44x'.
  • the ratio between the distances 42x' and 44x' is proportional to the angle 8 of which the first module 1 is rotated around the rotational axis 30.
  • a shift in distance 9 between the first module 1 and the second module 2 will change the distances 10 42x' and 44x', but the ration between them will not change.
  • the first module should be rotated around rotational axis 30 lying on the line connecting the first radiation means 20 and the second radiation means 22.
  • the rotational axis 30 is at the centre of the line.
  • the distance 40' is scaled with the ratio between the distances 42x' and 44x'.
  • the distance 40' is proportional to the distance 40 and the ratio between the distances is proportional to the distance 9 between the first module 1 and the second module
  • the ratio between the distances 42x' and 44x' will be 1 , and the ratio between the distances 40 and 40' will be proportional to the distance 9. 5
  • the ratio between the distances 42x' and 44x' will be different from 1 , and the distance 40' should be scaled with this ratio before calculating the distance 9.
  • fi . and f 2 are linear functions determined during calibration of the measurement system.
  • a translation perpendicular to the distance 9 of the first module 1 relative to the second module 2 may be calculated. If no translation is present, the centre point between the first radiation means 20 and the second radiation means 22 will be at a predetermined position. During a translation this point will shift, and the shift is proportional to the translation that may be calculated by:
  • Translation 50 Translation in pixels * pixelsize * distance 9 / 2*distance 52
  • the first module 1 further comprises a fourth radiation means 101 and a fifth radiation means 102. These radiation means are placed in the same plane as the first radiation means 20 and the second radiation means 22 and at known distances from these radiation means.
  • the third radiation means 24 of the first module 1 should not be placed in that plane. This is shown in Fig 4, where the line connecting the fourth radiation means 101 and the fifth radiation means 102 should be perpendicular to a line connecting the first radiation means 20 and the second radiation means 22.
  • the fourth electronic means 6 is capable of calculating a second ratio between the fourth known distance and the fifth known distance. This ratio is proportional to the second angle between the first module and the second module.
  • the system further comprises a fifth electronic means being capable of calculating the rotation of the first module relative to the second module. The calculation is performed by determining the positions of the first radiation means 20, the second radiation means 22, the fourth radiation means 101 , and the fifth radiation means 101 , and comparing these positions with standard values for known rotations.
  • the radiation means of the first module 1 are light emitting diodes (LED's), but also other types of light emitting devices may be used, e.g. a diode laser or a small light bulb.
  • the radiation means are retro reflecting reflectors.
  • the light is sent from the second module 2 to the reflectors of first module 1.
  • the reflectors will in turn reflect the light back into the image forming means 10 of the second module 2.
  • This embodiment is preferable when it is desired not to have any electronic means for driving the radiation means of the first module 1.
  • the image forming means 10 of the first module 1 is a lens and in yet another preferred embodiment of the present invention, the image forming means 10 is a cylinder lens.
  • a cylinder lens is preferable as it translates/projects/focuses the image of the radiation means into a line of light perpendicular to the 1 dimensional array og optical sensors making alignment of the measurement system easier.
  • the advantage of this arrangement is the possible use of two pieces of simple 1- dimensional optical sensors in stead of one more complex 2-dimensional array. The image processing of two 1 -dimensional arrays are much faster and easier that processing of one 2-dimensional array.
  • the image forming means 10 may be a pinhole.
  • the array of optical sensors may be a CCD line scan camera in either 1 or 2 dimensions or a CMOS array in 1 or 2 dimensions. It is obvious, that also other optical sensors may be used, such as a PSD (position sensitive device).
  • the first electronic means for turning on and off the radiation means of the first module in a predetermined sequence may comprise a micro controller, e.g. a Microchip PIC, where one port of the micro controller controls one radiation means. Timing of when a radiation means should be turned on and off may be generated by the first electronic means itself, or it may be received from one of the other electronic means, preferably from the fourth electronic means, either by wire or via wireless communication. Wireless communication between the first electronic means and one or more of the other electronic means is in a preferred embodiment made via BlueTooth technology, but also infrared communication is within the scope of this invention.
  • the second electronic means for transforming the image formed on the array of optical sensors into a set of digital data may be an analog to digital converter.
  • the third electronic means for transmitting the set of data form the second electronic means to the fourth electronic means may be a simple cable connection, or it may be a wireless connection using BlueTooth technology or infrared communication.
  • the fourth electronic means comprise a master micro controller capable of controlling the first electronic means to turn on and off the radiation means, the master micro controller further being capable of controlling the image forming means and the second electronic means for transforming the image into a set of digital data and for calculating the distance and angles between the first module and the second module.
  • the micro controller may be a Microchip PIC or a similar micro controller or a PC.
  • a parallel translation of the second module in relation to the first module may be detected by determining the parallel translations of the images of the radiation means.
  • the transportable staircase for airliners.
  • the transportable staircase is moved so as the staircase is positioned just outside the door of the airliner. In this way it is in many airports possible for the passengers of the airliner to walk from the aeroplane directly into the terminal of the airport without getting into open air.
  • the control of the movements is usually done by human hand, but using an instance of the present invention, this may be automated.
  • a first module On the aeroplane, behind the door, a first module is placed.
  • the first module comprise a self adhesive label with 4 small retro reflective areas, and a fifth small area elevated a few mm above the label.
  • a second module is placed on the transportable staircase.
  • a laser diode transmits laser light onto the label, and the image forming means captures an image of the 5 retro reflective areas.
  • the electronic means of the second module is capable of determining the position of the door of the aeroplane, and the knowledge of the position is used to move the staircase towards the aeroplane.
  • the position information may be updated while moving the staircase, and the best position for the staircase may therefore be achieved in one smooth movement.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un dispositif de mesure facile à monter destiné à mesurer la distance entre deux objets ainsi qu'un angle entre le second et le premier objet ou la rotation effectuée par ce second objet par rapport au premier. Ce dispositif de mesure comprend un organe émetteur de lumière et un organe permettant tour à tour d'allumer et d'éteindre cette lumière, ainsi que des détecteurs optiques permettant de détecter des images de l'organe émetteur de lumière formées par un organe de formation d'image. Un organe de calcul permet de calculer la distance entre les deux objets de même que l'angle entre ces deux objets et la translation effectuée par un objet par rapport à l'autre. L'organe de calcul peut être analogique ou numérique et comprend un microprocesseur ou un PC, ou il peut être une combinaison des deux. Ce dispositif de mesure peut aussi être adapté pour mesurer une rotation ou une translation effectuée par le second objet par rapport au premier.
PCT/DK2001/000345 2000-05-17 2001-05-17 Systeme de mesure et procede de mesure d'angles et de distances Ceased WO2001088470A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU60080/01A AU6008001A (en) 2000-05-17 2001-05-17 Measurement system and method for measuring angles and distances

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA200000794 2000-05-17
DKPA200000794 2000-05-17

Publications (1)

Publication Number Publication Date
WO2001088470A1 true WO2001088470A1 (fr) 2001-11-22

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PCT/DK2001/000345 Ceased WO2001088470A1 (fr) 2000-05-17 2001-05-17 Systeme de mesure et procede de mesure d'angles et de distances

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AU (1) AU6008001A (fr)
WO (1) WO2001088470A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1340998A1 (fr) * 2002-02-28 2003-09-03 Alignment International Limited Procédé et dispositif pour détecter l'orientation d'un objet
EP1340999A1 (fr) * 2002-02-28 2003-09-03 Alignment International Limited Procédé et dispositif pour détecter l'orientation d'un objet
WO2004112432A1 (fr) * 2003-06-16 2004-12-23 Koninklijke Philips Electronics N.V. Dispositif et procede pour localiser une zone d'ecoute
EP1747443A4 (fr) * 2004-05-06 2007-10-24 John Cerwin Système d'alignement électronique
RU2492420C2 (ru) * 2011-08-18 2013-09-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Санкт-Петербургский национальный исследовательский университет информационных технологий, механики и оптики" Способ определения пространственного положения объекта и устройство для его осуществления

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4193689A (en) * 1977-07-29 1980-03-18 Thomson-Csf Arrangement for locating radiaring sources
US4209254A (en) * 1978-02-03 1980-06-24 Thomson-Csf System for monitoring the movements of one or more point sources of luminous radiation
US4295740A (en) * 1978-09-05 1981-10-20 Westinghouse Electric Corp. Photoelectric docking device
WO1988007656A1 (fr) * 1987-03-21 1988-10-06 Renishaw Plc Systeme a interferometres de detection de position
WO1994028375A1 (fr) * 1993-05-24 1994-12-08 Metronor As Procede et systeme de mesure geometrique
US5440392A (en) * 1991-10-11 1995-08-08 Metronor As Method and system for point by point measurement of spatial coordinates
US5973788A (en) * 1995-10-12 1999-10-26 Metronor Asa System for point-by-point measuring of spatial coordinates

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4193689A (en) * 1977-07-29 1980-03-18 Thomson-Csf Arrangement for locating radiaring sources
US4209254A (en) * 1978-02-03 1980-06-24 Thomson-Csf System for monitoring the movements of one or more point sources of luminous radiation
US4295740A (en) * 1978-09-05 1981-10-20 Westinghouse Electric Corp. Photoelectric docking device
WO1988007656A1 (fr) * 1987-03-21 1988-10-06 Renishaw Plc Systeme a interferometres de detection de position
US5440392A (en) * 1991-10-11 1995-08-08 Metronor As Method and system for point by point measurement of spatial coordinates
WO1994028375A1 (fr) * 1993-05-24 1994-12-08 Metronor As Procede et systeme de mesure geometrique
US5973788A (en) * 1995-10-12 1999-10-26 Metronor Asa System for point-by-point measuring of spatial coordinates

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1340998A1 (fr) * 2002-02-28 2003-09-03 Alignment International Limited Procédé et dispositif pour détecter l'orientation d'un objet
EP1340999A1 (fr) * 2002-02-28 2003-09-03 Alignment International Limited Procédé et dispositif pour détecter l'orientation d'un objet
WO2004112432A1 (fr) * 2003-06-16 2004-12-23 Koninklijke Philips Electronics N.V. Dispositif et procede pour localiser une zone d'ecoute
EP1747443A4 (fr) * 2004-05-06 2007-10-24 John Cerwin Système d'alignement électronique
RU2492420C2 (ru) * 2011-08-18 2013-09-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Санкт-Петербургский национальный исследовательский университет информационных технологий, механики и оптики" Способ определения пространственного положения объекта и устройство для его осуществления

Also Published As

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