EP0457548A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Computer aided positioning system and method
Assignee: Trimble Inc
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Filing: 1991-05-14
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Granted: —
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Expires: 2011-05-14
Abstract
Abstract A position sensing system calculates the X-Y coordinates of a point (12) using triangulation and determines the direction in which the point (12) is moving. The triangulation calculation is based on the coordinates of at least three retroreflective elements (18) spaced apart from each other around the periphery of a two-dimensional coordinate frame, and the measured angles between the lines projected radially outward from the point (12) to each of the retroreflective elements (18). The accuracy of the measured angles is achieved by using a rotating member (30) supported by dedicated hardware and controlled by software. The member (30) rotates with a beam of light (16) generated by a light transmitting and detecting device (14) positionable at the point (12). The light transmitting and detecting device (14) receives the beam of light reflected back from the retroreflective elements (18) and generates an output signal in response thereto. A computer (22) processes the output signals for use in calculating the X-Y position of the point (12) and the orientation of the light transmitting and detecting device (14) when it is positioned at the point (12).
Inventors
- 👤 Leon B.C. Devos
- 👤 Johannes N.Th. M. Schouten
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-09 22:21
CPC Classifications
G; G01; G01C; G01C15/00; G01C15/002
Claims Analysis
Total Claims: 20
Claim 1
Independent Claim
166 words
A system for determining the position of a point (12) in a two-dimensional coordinate frame of reference, the system comprising: at least three stationary retroreflective elements (18) spaced apart from each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements (18) capable of reflecting light back toward a light source; light transmitting and detecting means (14), positionable at the point (12), for generating a rotating beam of light (16) to illuminate each of said stationary retroreflective elements (18) during each rotation, and for detecting said beam of light (16) when it is reflected from said stationary retroreflective elements (18) and generating an output signal in response thereto; and computer means (22) responsive to said output signal for computing from said known coordinates of said retroreflective elements (18) and from the angular orientation of said beam (16) when said beam (16) illuminates said retroreflective elements (18), the coordinates of the position of the point (12) in the two-dimensional coordinate frame of reference.
Claim 2
Independent Claim
166 words
A system for determining the position of a point (12) in a two-dimensional coordinate frame of reference, the system comprising: at least three stationary retroreflective elements (18) spaced apart from each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements (18) capable of reflecting light back toward a light source; light transmitting and detecting means (14), positionable at the point (12), for generating a rotating beam of light (16) to illuminate each of said stationary retroreflective elements (18) during each rotation, and for detecting said beam of light (16) when it is reflected from said stationary retroreflective elements (18) and generating an output signal in response thereto; and computer means (22) responsive to said output signal for computing from said known coordinates of said retroreflective elements (18) and from the angular orientation of said beam (16) when said beam (16) illuminates said retroreflective elements (18), the coordinates of the position of the point (12) in the two-dimensional coordinate frame of reference.
Claim 3
Dependent Claim
135 words
A system for determining the position of a point (12) as claimed in claim 1 characterized in that said light transmitting and detecting means (14) comprises: means for generating a beam of light (16); means for projecting said beam of light (16) at a substantially constant rotating angular velocity toward said retroreflective elements (18); means for receiving said beam of light (16) reflected from said retroreflective elements (18) corresponding to said illumination of each of said retroreflective elements (18) during each rotation of said beam (16); and azimuth means, responsive to reflection of said beam of light (16) from said retroreflective elements (18), for continuously transmitting angle signals indicative of an azimuth angle at which said means for receiving said beam of light (16) is positioned with respect to each of said retroreflective elements (18).
Claim 4
Dependent Claim
52 words
A system for determining the position of a point (12) as claimed in claim 1 or 2, characterized in that said computer means (22) are capable of determining an orientation of said light transmitting and detecting means (14) when said light transmitting and detecting means (14) are positioned at the point (12).
Claim 5
Dependent Claim
38 words
A system for determining the position of a point (12) as claimed in claim 1,2 or 3, characterized in that at least one of said at least three stationary retroreflective elements (18) has a distinctive retroreflective bar code.
Claim 6
Independent Claim
233 words
A system for determining the position of a point (12) in a two-dimensional coordinate frame of reference, the system comprising: at least three stationary retroreflective elements (18) spaced apart from each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements (18) capable of reflecting light back toward a light source; light transmitting and detecting means (14), positionable at the point (12), for generating a rotating beam of light (16) to illuminate each of said stationary retroreflective elements (18) during each rotation, and for detecting said beam of light (16) when it is reflected from said stationary retroreflective elements (18) and generating an output signal in response thereto, said light transmitting and detecting means (14) including a member (30) rotating with said beam (16), said member (30) having a periphery and further having a plurality of angularly positioned elements (42) spaced around said periphery which divide a revolution of said member (30) into a plurality of generally equal partial revolutions, and a means (58,62) for, detecting movement of each of said at least three retroreflective elements (42) past a predetermined point as said member (30) rotates; and computer means (22), responsive to said output signal and said means for detecting movement of each of said elements (42) past a predetermined point, for computing the coordinates of the position of the point (12) in the two-dimensional coordinate frame of reference.
Claim 7
Independent Claim
233 words
A system for determining the position of a point (12) in a two-dimensional coordinate frame of reference, the system comprising: at least three stationary retroreflective elements (18) spaced apart from each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements (18) capable of reflecting light back toward a light source; light transmitting and detecting means (14), positionable at the point (12), for generating a rotating beam of light (16) to illuminate each of said stationary retroreflective elements (18) during each rotation, and for detecting said beam of light (16) when it is reflected from said stationary retroreflective elements (18) and generating an output signal in response thereto, said light transmitting and detecting means (14) including a member (30) rotating with said beam (16), said member (30) having a periphery and further having a plurality of angularly positioned elements (42) spaced around said periphery which divide a revolution of said member (30) into a plurality of generally equal partial revolutions, and a means (58,62) for, detecting movement of each of said at least three retroreflective elements (42) past a predetermined point as said member (30) rotates; and computer means (22), responsive to said output signal and said means for detecting movement of each of said elements (42) past a predetermined point, for computing the coordinates of the position of the point (12) in the two-dimensional coordinate frame of reference.
Claim 8
Dependent Claim
30 words
A system for determining the position of a point (12) as claimed in claim 5 further characterized by a calibrating system for calibrating said light transmitting and detecting means (14).
Claim 9
Dependent Claim
81 words
A system for determining the position of a point (12) as claimed in claim 6 characterized in that said calibrating system comprises: a device (46) having an angularly positioned surface (48) for arbitrarily positioning said light transmitting and detecting means (14), wherein said light transmitting and detecting means (14) include said member (30) rotating with said beam (16); and means for measuring a distance between a first said angularly positioned element (42) and an adjacent second said angularly positioned element (42).
Claim 10
Dependent Claim
32 words
A system for determining the position of a point (12) as claimed in claim 5,6 or 7, characterized in that said plurality of angularly positioned elements (42) comprise a plurality of apertures.
Claim 11
Dependent Claim
41 words
A system for determining the position of a point (12) as claimed in claim 5,6, 7 or 8,characterized in that said means (58,62) for detecting movement of each of said elements (42) comprises a light source paired with a photodetector element.
Claim 12
Independent Claim
238 words
A system for determining the position of a point in a two-dimensional coordinate frame of reference, the system comprising: at least three stationary retroreflective elements spaced apart from each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements capable of reflecting light back toward a light source; light transmitting and detecting means positionable at the point for generating a rotating beam of light to illuminate each of said stationary retroreflective elements during each rotation and for receiving said beam of light reflected from said stationary retroreflective elements (18) and generating an output signal in response thereto when said beam illuminates said retroreflective elements, said light transmitting and detecting means including an optical member rotating with said beam, said member having a periphery and further having a plurality of apertures located at said periphery which divide a revolution of said member into a plurality of generally equal partial revolutions, and a means for registering a time differential between each adjacent pair of said plurality of apertures as said member rotates; and computer means, responsive to said output signal and said means for detecting movement of each of said elements past a predetermined point, for computing the coordinates of the position of the point in the two-dimensional coordinate frame of reference and for computing an orientation for said light transmitting and detecting means when said light transmitting and detecting means are positioned at said point
Claim 13
Independent Claim
238 words
A system for determining the position of a point in a two-dimensional coordinate frame of reference, the system comprising: at least three stationary retroreflective elements spaced apart from each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements capable of reflecting light back toward a light source; light transmitting and detecting means positionable at the point for generating a rotating beam of light to illuminate each of said stationary retroreflective elements during each rotation and for receiving said beam of light reflected from said stationary retroreflective elements (18) and generating an output signal in response thereto when said beam illuminates said retroreflective elements, said light transmitting and detecting means including an optical member rotating with said beam, said member having a periphery and further having a plurality of apertures located at said periphery which divide a revolution of said member into a plurality of generally equal partial revolutions, and a means for registering a time differential between each adjacent pair of said plurality of apertures as said member rotates; and computer means, responsive to said output signal and said means for detecting movement of each of said elements past a predetermined point, for computing the coordinates of the position of the point in the two-dimensional coordinate frame of reference and for computing an orientation for said light transmitting and detecting means when said light transmitting and detecting means are positioned at said point
Claim 14
Independent Claim
137 words
A method for determining the position of a point (12) in a two-dimensional coordinate frame of reference, the method comprising the steps of: locating at least three stationary retroreflective elements (18) spaced apart from each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements (18) capable of reflecting light back toward a light source; transmitting a rotating beam of light (16) in a plane to illuminate each of said stationary retroreflective elements (18) during each rotation; measuring an angle between successively illuminated retroreflective elements (18) when said beam (16) illuminates each of said retroreflective elements (18); tracking behavior of a rotation; using said behavior of a rotation to calculate angular measurements; and determining the position of the point (12) based on said angular measurements and said coordinates of said retroreflective elements (18).
Claim 15
Independent Claim
137 words
A method for determining the position of a point (12) in a two-dimensional coordinate frame of reference, the method comprising the steps of: locating at least three stationary retroreflective elements (18) spaced apart from each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements (18) capable of reflecting light back toward a light source; transmitting a rotating beam of light (16) in a plane to illuminate each of said stationary retroreflective elements (18) during each rotation; measuring an angle between successively illuminated retroreflective elements (18) when said beam (16) illuminates each of said retroreflective elements (18); tracking behavior of a rotation; using said behavior of a rotation to calculate angular measurements; and determining the position of the point (12) based on said angular measurements and said coordinates of said retroreflective elements (18).
Claim 16
Dependent Claim
94 words
A method for determining the position of a point (12) as claimed in claim 11 characterized in that said step of tracking behavior of a rotation further includes the steps of: mounting a member (30) on a rotating shaft (28), said member (30) having a periphery and further having a plurality of apertures (42) located at said periphery which divide a revolution of said member (30) into a plurality of generally equal partial revolutions; and registering a time differential between each adjacent pair of said plurality of apertures (42) as said member (30) rotates.
Claim 17
Dependent Claim
58 words
A method for determining the position of a point (12) as claimed in claim 11 or 12, characterized in that said step of determining the position of the point (12) further includes the step of determining an orientation for said rotating beam of light (16) when said rotating beam of light (16) is positioned at the point (12).
Claim 18
Dependent Claim
57 words
A method for determining the position of a point (12) as claimed in claim 12 or 13, further characterized by inclusion of the step of interpolating between corresponding angle measurements between said each adjacent pair of said plurality of apertures (42) to determine exact angles between each of said adjacent pair of said plurality of apertures (42).
Claim 19
Independent Claim
309 words
A system for determining the position of a point (12) in a two-dimensional coordinate frame of reference, the system comprising: at least three stationary retroreflective elements (18) spaced apart form each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements (18) capable of reflecting light back toward a light source; light transmitting and detecting means (14), positionable at the point (12), for generating a rotating beam of light (16) to illuminate each of said stationary retroreflective elements (18) during each rotation, and for detecting said beam of light (16) when it is reflected from said stationary retroreflective elements (18) and generating an output signal in response thereto, said light transmitting and detecting means (14) including a member (30) rotating with said beam (16), said member (30) having a periphery and further having a plurality of angularly positioned elements (42) spaced around said periphery which divide a revolution of said member (30) into a plurality of generally equal partial revolutions, and a means (58,62) for detecting movement of each of said at least three retroreflective elements (18) past a predetermined point as said member (30) rotates; a calibrating system for calibrating said light transmitting and detecting means (14), said calibrating system including a device (46) having an angularly positioned surface (48) for arbitrarily positioning said light transmitting and detection means (14), wherein said light transmitting and detecting means (14) include said member (30) rotating with said beam (16); and means for measuring a distance between a first said angularly positioned element (42) and an adjacent second said angularly positioned element (42); and computer means (22), responsive to said output signal and said means (58,62) for detecting movement of each of said elements (42) past a predetermined point, for computing the coordinates of the position of the point (12) in the two-dimensional coordinate frame of reference.
Claim 20
Independent Claim
309 words
A system for determining the position of a point (12) in a two-dimensional coordinate frame of reference, the system comprising: at least three stationary retroreflective elements (18) spaced apart form each other and stationed at known coordinates in the two-dimensional coordinate frame, said retroreflective elements (18) capable of reflecting light back toward a light source; light transmitting and detecting means (14), positionable at the point (12), for generating a rotating beam of light (16) to illuminate each of said stationary retroreflective elements (18) during each rotation, and for detecting said beam of light (16) when it is reflected from said stationary retroreflective elements (18) and generating an output signal in response thereto, said light transmitting and detecting means (14) including a member (30) rotating with said beam (16), said member (30) having a periphery and further having a plurality of angularly positioned elements (42) spaced around said periphery which divide a revolution of said member (30) into a plurality of generally equal partial revolutions, and a means (58,62) for detecting movement of each of said at least three retroreflective elements (18) past a predetermined point as said member (30) rotates; a calibrating system for calibrating said light transmitting and detecting means (14), said calibrating system including a device (46) having an angularly positioned surface (48) for arbitrarily positioning said light transmitting and detection means (14), wherein said light transmitting and detecting means (14) include said member (30) rotating with said beam (16); and means for measuring a distance between a first said angularly positioned element (42) and an adjacent second said angularly positioned element (42); and computer means (22), responsive to said output signal and said means (58,62) for detecting movement of each of said elements (42) past a predetermined point, for computing the coordinates of the position of the point (12) in the two-dimensional coordinate frame of reference.
References Cited (Backward Citations)
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