Position determining system

• US 4,231,260 A
• Filed: 11/03/1978
• Issued: 11/04/1980
• Est. Priority Date: 11/03/1978
• Status: Expired due to Term

• Current Assignee: Charles Stark Draper Laboratory Incorporated
• Original Assignee: Charles Stark Draper Laboratory Incorporated
• Inventors: Chamuel, Jacques R.
• Primary Examiner(s): Kreitman, Stephen A.
• Application Number:
  US05/957,462
• Time in Patent Office: 732 Days
• Field of Search: 73/597, 73/574, 73/578, 73/589, 324/207, 324/208, 324/11, 340/16 R, 367/7, 367/13, 367/87, 367/99, 367/118, 367/120, 367/123, 367/125
• US Class Current: 73/597
• CPC Class Codes: G01D 5/48 using wave or particle radiation means G01D5/26 takes precedence
• CPC Class Codes: G06F 3/0433 in which the acoustic waves are either generated by a movable member and propagated within a surface layer or propagated within a surface layer and captured by a movable member
• CPC Class Codes: Y10S 367/902 Speed of sound compensation

Abstract

A positioning determining system using a delay element and driver transducer for producing a traveling wave in the delay element, the presence of a traveling wave being detectable by a receiver transducer for determining the relative positions of the driver and receiving transducers. In accordance with the invention, a driver transducer, the delay element, and a second transducer form a self-excited feedback loop oscillator, the frequency of oscillation of which is determined by the spatial filtering provided by the second transducer so as to generate a traveling wave having a selected wavelength. The system includes automatic frequency selection to compensate for position sensing errors due to changes in the velocity of propagation of elastic waves arising because of temperature effects on the delay medium.

Claims

1. A position determining system comprising

at least one delay means capable of supporting a signal which travels along said delay means;

first transducer means coupled to said delay means and capable, when activated, of producing a traveling signal having at least one selected frequency, which signal travels along said delay means;

at least one second transducer means coupled to said delay means and responsive to said traveling signal to produce at least one electrical signal having said at least one selected frequency;

amplifier means responsive to said at least one electrical signal and capable of producing an output signal comprising a plurality of signal components of different frequencies, at least one of said signal components having said at least one selected frequency, said at least one electrical signal being arranged to be in phase with the at least one signal component having said at least one selected frequency;

means for supplying said output signal to said first transducer means to activate said first transducer means;

receiver transducer means relatively movable with respect to said delay means and coupled thereto for detecting said traveling signal as it travels past said receiver transducer means;

means for determining the delay of said detected signal as it travels from said first transducer means to said receiver transducer means whereby the position of said receiver transducer means relative to said first transducer means is determined; and

means for substantially reducing reflections of said traveling signal in said delay means.

2. A position determining system in accordance with claim 1 wherein said delay means is a curvilinear delay line and supports a traveling wave which travels along a specified direction.

3. A position determining system in accordance with claim 2 wherein said delay line is substantially linear and said traveling wave travels substantially along a straight line.

4. A position determining system in accordance with claim 1 wherein said first and second transducer means are fixedly positioned relative to said delay means.

5. A position determining system in accordance with claim 4 wherein the spacing between said first and second transducer means is selected so that said electrical signal and said one signal component are in phase.

6. A position determining system in accordance with claim 4 and further including means for controlling the phase of said electrical signal so that said electrical signal and said one signal component are in phase.

7. A position determining system in accordance with claim 6 wherein said controlling means is a phase-locked loop circuit.

8. A position determining system in accordance with claim 1 wherein said second transducer means has a periodic configuration, the period of which corresponds to the period of said at least one selected frequency, said periodic configuration thereby providing an effective filter operation with respect to said electrical signal.

9. A position determining system in accordance with claim 8 wherein the number of periods in the periodic configuration of said second transducer means is selected to control the filter operation of said second transducer means.

10. A position determining system in accordance with claims 8 or 9 and further including filter circuit means connected to said second transducer means and responsive to said electrical signal for further controlling the filter operation of said second transducer means.

11. A position determining system in accordance with claim 1 wherein said second transducer comprises a continuous conductive element forming a plurality of interconnected square wave patterns, the period of each of said square wave patterns being selected in accordance with said at least one selected frequency.

12. A position determining system in accordance with claim 1 wherein said second transducer means comprises a plurality of separate coils connected in series, the spacing between said coils being selected in accordance with said at least one selected frequency.

13. A position determining system in accordance with claim 1 wherein

said delay means is formed as a hollow cylinder;

said first and second transducer means are mounted within the interior of said cylinder and are coupled to the interior wall thereof; and

said receiver transducer means is mounted externally to said cylinder and is coupled to the exterior wall thereof.

14. A position determining system in accordance with claim 1 wherein said delay has a planar surface and is capable of supporting traveling signals which travel omnidirectionally in said delay means.

15. A position determining system in accordance with claim 1 wherein said at least one second transducer means comprises a plurality of selectable transducers each coupled to said delay means and capable of producing a plurality of electrical signals having a plurality of selected frequencies, the selection of one of said plurality of transducers providing a traveling signal at the selected frequency associated therewith.

16. A position determining system in accordance with claim 1 wherein said at least one second transducer means comprises a pair of transducers each coupled to said delay means and capable of producing a pair of electrical systems having two different frequencies to provide separate traveling signals at each of said two frequencies;

said receiver transducer means detecting separately said traveling signals as they travel past said receiver transducer means; and

means responsive to said detected traveling signals for determining the position of said receiver transducer means relative to said first transducer means.

18. A system in accordance with claim 15 wherein one of said first and second transducer means is fixedly positioned with respect to said planar surface and the other of said first and second transducer means is arranged for movement about said fixed position along a selected path.

19. A system in accordance with claim 16 wherein said selected path is generally circular.

17. A system for determining the isotropy of a planar member capable of supporting traveling signals therein, said system comprising

first transducer means coupled to said planar member and capable, when activated, of producing an omnidirectional traveling signal having at least one selected frequency which traveling signal travels omnidirectionally in said planar member;

second transducer means having a periodic configuration coupled to said planar member and responsive to the detection of said omnidirectional traveling signal so as to produce an electrical signal having said at least one selected frequency;

amplifier means responsive to the said electrical signal and capable of producing an output signal comprising a plurality of signal components at different frequencies, one of said signal components having said at least one selected frequency, said electrical signal being arranged to be in phase with the one signal component having said at least one selected frequency;

means for supplying said output signal to said first transducer means to activate said first transducer means;

means responsive to said output signal for measuring the frequency thereof;

means for moving at least one of said first and second transducer means relative to the planar surface of said planar member so that said traveling signal traveling between said first and second transducer means travels along a plurality of different paths in said planar member, the frequency of said output signs produced thereby depending on the characteristics of said planar member in the directions of said plurality of different paths, whereby changes in the frequency of said output signals indicate the isotropy of said planar member.

20. A position determining system comprising

at least one delay means capable of supporting a signal which travels along said delay means;

first transducer means coupled to said delay means and capable, when activated, of producing a traveling signal having at least one selected frequency, which signal travels along said delay means;

at least one second transducer means coupled to said delay means and responsive to said traveling signal to produce at least one electrical signal having said at least one selected frequency;

amplifier means responsive to said at least one electrical signal and capable of producing an output signal comprising a plurality of signal components of different frequencies, at least one of said signal components having said at least one selected frequency, said at least one electrical signal being arranged to be in phase with the at least one signal component having said at least one selected frequency;

means for supplying said output signal to said first transducer means to activate said first transducer means;

said second transducer means being relatively movable with respect to said first transducer means and to said delay means and being capable of detecting the presence or absence of said traveling signal in said delay means as said second transducer moves relative thereto whereby the position of said second transducer means relative to said first transducer means is determined.

21. A position determining system in accordance with claim 20 and further including means for substantially reducing reflections of said traveling signal in said delay means.