Position sensing apparatus

• US 4,912,643 A
• Filed: 10/30/1987
• Issued: 03/27/1990
• Est. Priority Date: 10/30/1986
• Status: Expired due to Fees

• Current Assignee: Institute For Industrial Research and Standards
• Original Assignee: Institute For Industrial Research and Standards
• Inventors: Beirne, Terence P.
• Primary Examiner(s): Laroche, Eugene R.
• Assistant Examiner(s): Lee, Benny T.
• Application Number:
  US07/115,759
• Time in Patent Office: 879 Days
• Field of Search: 364/424, 364/449, 364/424.01, 364/424.04, 364/424.06, 356/1, 356/4, 37/DIG. 1, 172/4.5
• US Class Current: 702/150
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 3/784 using a mosaic of detectors
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A position sensing apparatus 1 having two base stations spaced-apart a known distance on a datum line L. The base stations each comprise generators 2(a) and 2(b) which emit a rotating laser beam. The rotating laser beams are detected by a movable sensor 6 and datum sensors 7(a), 7(b) which are associated with the generators 2(a), 2(b) and are located on the datum line L. The time difference between detection of each laser beam by the movable and datum sensors 7(a), 7(b) is determined and is used to calculate positional angles α and β between position lines between the movable sensor and each base station and the datum line L. As there are only two laser beams, they are differentiated by contra-rotation in the same horizontal plane. Vertical position is determined according to the vertical position on the movable sensor 6 at which the beams are detected. The position and level values may be continuously displayed in a vehicle having a movable sensor and they may be used for automatic control or may be stored for analysis.

Claims

1. A position sensing apparatus comprising:

a. first and second base stations, each base station comprising a radiation generator for generating a rotating beam of radiation in a common plane at a constant angular velocity and in an opposite direction relative to the other base station, and in which the radiation generators are spaced apart a known distance along a datum line;

b. a separate datum sensor associated with each radiation generator for detecting the beam of radiation generated by its associated radiation generator and generating a timing signal indicative thereof; and

c. A movable sensor for detecting each rotating beam of radiation, timing means at the movable sensor and coupled thereto, said timing means being responsive to the timing signals generated by the datum sensors of the first and second base stations, for determining positional angles defined between position lines between the movable sensor and each radiation generator and relating to the datum line by determining the time delays between the receiving of each radiation beam by its datum sensor and by the movable sensor.

2. A position sensing apparatus as recited in claim 1, in which the datum sensors are located on the datum line.

3. A position sensing apparatus as recited in claim 1 or 2, further including:

a. a separate radio transmitter at each datum sensor for transmitting a radio signal immediately upon detection of a radiation beam from the associated radiation generator;

b. a radio receiver at the movable sensor for receiving radio signals transmitted by the datum sensors;

c. differentiating means at the movable sensor for differentiating which datum sensor is transmitting a radio signal;

d. means for determining the time delay between detection of a radiation beam from each radiation generator and reception of a radio signal from the associated datum sensor; and

e. means for calculating the positional angles in response to the time delays and the distance between the two radiation generators.

4. A position sensing apparatus as recited in claim 3, in which each datum sensor is positioned in a separate housing and each is mounted on a radiation generator.

5. A position sensing apparatus as recited in claim 3, in which the radio transmitter of each datum sensor is a two channel radio frequency tone transmitter operating at an upper frequency in the VHF band.

6. A position sensing apparatus as recited in claim 1, in which the apparatus includes means for determining the vertical position of the movable sensor with reference to the datum line.

7. A position sensing apparatus as recited in claim 6, in which the movable sensor is positioned above ground and comprises a plurality of vertically spaced apart radiation detectors, with the vertical distance between the radiation detectors and the vertical distance of the movable sensor above the ground determining the vertical position level of the movable sensor above the datum line.

8. A position sensing apparatus as recited in claim 7, in which the movable sensor further comprises an ultrasonic transducer for measuring the vertical position of the movable sensor above the ground.

9. A position sensing apparatus as recited in claim 1, in which the apparatus includes:

a. means for storing a set of preset desired movable sensor position data entered by a user of the apparatus;

b. means for determining position data on the movable sensor according to said determined position angles;

c. means for comparing the preset data with the position data on the movable sensor to produce a set of control difference data; and

d. means for outputting the control difference data to a driver of an earth moving machine.

10. A position sensing apparatus as recited in claim 9, in which the apparatus includes control means for utilizing the control difference data to control and position said earth moving machine.

11. A position sensing apparatus as recited in claim 9 or 10, in which the apparatus includes means for transmitting the position data on the movable sensor to a separate memory means.

12. A position sensing apparatus as recited in claim 9 or 10, in which the apparatus comprises display means for outputting the position data on the movable sensor.

13. A method of determining the position of a movable sensor relative to a datum line comprising the steps of:

a. establishing the datum line between a pair of radiation generators, each having an associated datum sensor sensing the radiation beam generated by its associated radiation generator and producing a timing signal indicative thereof;

b. generating a separate radiation beam of radiation from each generator at a constant angular velocity in a common plane and with each radiation beam being generated in an opposite direction of rotation relative to the other radiation beam;

c. detecting each radiation beam at the movable sensor, and differentiating the radiation beams at the movable sensor by detecting their directions of rotation; and

d. at the movable sensor, monitoring the time delays between the reception of a radiation signal by each datum sensor as indicated by the timing signals therefrom and detection of each radiation beam by the movable sensor to provide a measure of the positional angle defined between position lines between the movable sensor, and each radiation generator and relative to the datum line.

14. A method as recited in claim 13, comprising the additional steps of:

a. transmitting a radio signal from each datum sensor when a radiation signal is detected; and

b. receiving the radio signal at the movable sensor to determine the time at which a radiation signal is detected at the datum sensor.