Velocity reference system

• US 4,893,287 A
• Filed: 12/17/1987
• Issued: 01/09/1990
• Est. Priority Date: 12/17/1987
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Stratton, Kenneth L., Bitar, Ali A.
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): SWANN, TOD R
• Application Number:
  US07/134,418
• Time in Patent Office: 754 Days
• Field of Search: 367/89, 367/90, 367/91, 342/104, 342/107, 342/116, 342/113, 342/117, 356/27, 356/28
• US Class Current: 367/91
• CPC Class Codes: G01S 15/586 using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
• CPC Class Codes: G01S 15/87 Combinations of sonar systems

Abstract

A velocity reference system uses a Doppler shift between transmitted and received wave energy to determine the relative speed between the system and a surface or element. Other systems employing Doppler shifts for detecting velocity suffer from poor measurement accuracy. Cross talk between channels of systems having multiple transmitters and receivers produces measurement errors. Additionally, errant movement generates measurement errors since the sensors cannot distinguish such errant movement from forward velocity. Two sensing units directed towards one another, and preferably towards the same location on the surface, effectively eliminates random vehicle movement. Furthermore, transmitting different frequencies from the two sensing units reduces cross talk between the two channels. Vehicle applications require a system capable of minimizing errant movement and environmental noise.

Claims

1. A velocity reference system for measuring the speed and distance travelled of a vehicle moving in a direction relative to a surface by means of ultrasonic wave Doppler shifts, said vehicle having a longitudinal axis extending in the direction of vehicle travel, said apparatus comprising:

a first sensing unit adapted to transmit and receive sonic wave energy having a first preselected frequency, said first sensing unit being responsive to received sonic wave energy having a first predetermined bandwidth about said first preselected frequency;

a second sensing unit adapted to transmit and receive sonic wave energy having a second preselected frequency, said second sensing unit being responsive to received sonic wave energy having a second predetermined bandwidth substantially non-overlapping said first bandwidth about said second preselected frequency;

said first sensing unit being adapted for mounting on the vehicle along said longitudinal axis and positioned to transmit sonic wave energy generally downwardly toward the surface, aligned along the longitudinal axis, and generally in the direction of vehicle travel, a portion of said transmitted wave energy being reflected by the surface and received by said first sensing unit;

said second sensing unit being adapted for mounting on the vehicle along the longitudinal axis spaced apart from said first sensing unit and positioned to transmit sonic wave energy generally downwardly toward the surface, aligned along the longitudinal axis, generally towards said first sensing unit and in a direction opposed to vehicle travel, a portion of said transmitted wave energy being reflected by the surface and received by said second sensing unit; and

digital processing means for determining the speed and distance travelled of said vehicle relative to the surface in response to a Doppler shift of said received sonic wave energy.

2. The velocity reference system, as set forth in claim 1, wherein said transmitted wave energy from each of said first and second sensing units is directed to substantially the same location on said surface.

3. The velocity reference system, as set forth in claim 1, wherein said processing means includes a means for detecting the frequency of said received reflected wave energy.

4. The velocity reference system, as set forth in claim 3, wherein said frequency detecting means includes a zero crossing detector.

5. The velocity reference system, as set forth in claim 3, wherein said frequency detecting means includes an analog to digital converter.

6. The velocity reference system, as set forth in claim 3, wherein said frequency detecting means divides the frequency of the received wave energy by a predetermined magnitude.

7. The velocity reference system, as set forth in claim 3, wherein said processing means compares the detected frequency of said received reflected wave energy with the frequency of said transmitted wave energy, and delivers a signal indicative of relative velocity between said sensing units and said surface in response to said comparison.

8. The velocity reference system, as set forth in claim 7, wherein said processing means includes a temperature sensitive means for adjusting said relative velocity signal in response to the ambient temperature through which said wave energy travels.

9. The velocity reference system, as set forth in claim 1, wherein said processing means includes a means for comparing said received reflected sonic wave energy to a preselected magnitude.

10. The velocity reference system, as set forth in claim 9, wherein said magnitude detecting means delivers a dropout signal in response to said received reflected wave being less than said preselected magnitude.

11. The velocity reference system, as set forth in claim 10, wherein said magnitude detecting means monitors the sensing unit that caused said dropout signal and delivers a disable signal in response to said sensing unit causing said dropout signal for a time exceeding a predetermined time period.

12. A method for sensing the relative velocity between a first body and a second body, comprising;

transmitting sonic wave energy of a first preselected frequency from said first body to a region on said second body;

transmitting sonic wave energy of a second preselected frequency from said first body to substantially the same region on said second body, said second transmission being spaced from said first transmission;

receiving a first and second reflections of the sonic wave energy from said second body;

filtering said first received reflected sonic wave energy and passing a first filtered sonic wave energy signal having a first predetermined frequency range;

filtering said second received reflected sonic wave energy and passing a second filtered sonic wave energy signal having a second predetermined frequency range substantially non-overlapping said first frequency range;

converting said filtered sonic wave energy signals from analog to digital;

comparing said first and second filtered sonic wave energy signal to a predetermined magnitude, and delivering a dropout signal in response to either sonic wave energy signal being less than said predetermined magnitude;

dividing the frequencies of said first and second digital signals by a preselected magnitude;

detecting the frequencies of said first and second divided signals;

calculating the frequency of said reflected wave energy signal as a function of the frequencies of said first and second divided frequency signals and multiply by said preselected magnitude;

comparing said calculated frequency to said preselected frequency to calculate a Doppler shift;

adjusting said calculated frequency in response to a measurement of ambient temperature; and

correlating said Doppler shift to a relative velocity between said bodies.

13. A method for sensing the relative velocity between a first body and a second body, as set forth in claim 12, wherein said delivering dropout signal step includes timing a duration of said dropout signal, and switching to the other wave energy transmission not causing said dropout signal when said duration exceeds a predetermined time period.

14. A velocity reference system for measuring the speed and distance travelled of a moving vehicle moving in a direction relative to a surface by means of ultrasonic wave Doppler shifts, said vehicle having a longitudinal axis extending in the direction of vehicle travel and defining a boundary between a first side of said vehicle and a second side of said vehicle, said apparatus comprising:

a first transmitter adapted to transmit wave energy having a first preselected frequency;

a second transmitter adapted to transmit wave energy having a second preselected frequency different from said first preselected frequency;

a first receiver adapted to receive reflected wave energy from said first transmitter, said first receiver being responsive to wave energy having a first predetermined bandwidth about said first preselected frequency;

a second receiver adapted to receive reflected wave energy from said second transmitter, said second receiver being responsive to wave-energy having a second predetermined bandwidth substantially non-overlapping said first bandwidth about said second preselected frequency;

said first transmitter and second receiver being adapted for mounting on the first side of said vehicle, said first transmitter being positioned to transmit wave energy downwardly toward a portion of the surface and generally in the direction of vehicle travel;

said second transmitter and first receiver being adapted for mounting on the second side of said vehicle, said second transmitter being positioned to transmit wave energy generally downwardly toward the same portion of the surface and generally towards said first transmitter and generally in the direction opposed to vehicle travel;

digital processing means for determining the speed and distance travelled of said vehicle relative to the surface in response to a Doppler shift of said received wave energy.

15. The velocity reference system, as set forth in claim 14, wherein said processing means includes a means for comparing said received reflected sonic wave energy to a preselected magnitude.

16. The velocity reference system, as set forth in claim 15, wherein said magnitude detecting means delivers a dropout signal in response to said received reflected wave being less than said preselected magnitude.

17. The velocity reference system, as set forth in claim 16, wherein said magnitude detecting means monitors the sensing unit that caused said dropout signal and delivers a disable signal in response to said sensing unit causing said dropout signal for a time exceeding a predetermined time period.

18. The velocity reference system, as set forth in claim 14, wherein said processing means includes a means for detecting the frequency of said received reflected wave energy.

19. The velocity reference system, as set forth in claim 18, wherein said frequency detecting means includes an analog to digital converter.

20. The velocity reference system, as set forth in claim 18, wherein said processing means compares the detected frequency of said received reflected wave energy with the frequency of said transmitted wave energy, and delivers a signal indicative of relative velocity between said sensing units and said element in response to said comparison.

21. The velocity reference system, as set forth in claim 18, wherein said frequency detecting means divides the frequency of the received wave energy by a predetermined magnitude.

22. The velocity reference system, as set forth in claim 18, wherein said frequency detecting means includes a zero crossing detector.

23. The velocity reference system, as set forth in claim 14, wherein said processing means includes a temperature sensitive means for adjusting said relative velocity signal in response to the ambient temperature through which said wave energy travels.

24. A method for measuring the speed and distance travelled of a vehicle moving in a direction relative to a surface by means of wave energy Doppler shifts, said vehicle having a longitudinal axis extending in the direction of vehicle travel, said method comprising:

transmitting wave energy of a first preselected frequency from said vehicle to a region on said surface in the direction travelled and along said longitudinal axis;

transmitting wave energy of a second preselected frequency different from said first preselected frequency from said vehicle to substantially the same region on said surface along said longitudinal axis in the direction opposed to the direction of travel, said second transmission being spaced apart from said first transmission;

receiving a first and second reflections of the wave energy from said second body;

filtering said first received reflected wave energy and passing a first filtered wave energy signal having a first predetermined frequency range;

filtering said second received reflected wave energy and passing a second filtered sonic wave energy signal having a second predetermined frequency range substantially non-overlapping said first frequency range;

converting said filtered wave energy signals from analog to digital;

comparing said first and second filtered wave energy signal to a predetermined magnitude, delivering a dropout signal in response to either wave energy signal being less than said predetermined magnitude, timing a duration of said dropout signal, and switching to the other wave energy transmission not causing said dropout signal when said duration exceeds a predetermined time period;

dividing the frequencies of said first and second digital signals by a preselected magnitude;

detecting the frequencies of said first and second divided signals;

calculating the frequency of said reflected wave energy signal as a function of the frequencies of said first and second divided frequency signals and multiply by said preselected magnitude;

comparing said calculated frequency of said preselected frequency to calculate a Doppler shift;

adjusting said calculated frequency in response to a measurement of ambient temperature; and

correlating said Doppler shift to a speed and calculating a travel distance of said vehicle.