WO1998023464A1 - Mirror support orientation apparatus - Google Patents

Mirror support orientation apparatus Download PDF

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Publication number
WO1998023464A1
WO1998023464A1 PCT/SE1997/001979 SE9701979W WO9823464A1 WO 1998023464 A1 WO1998023464 A1 WO 1998023464A1 SE 9701979 W SE9701979 W SE 9701979W WO 9823464 A1 WO9823464 A1 WO 9823464A1
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WO
WIPO (PCT)
Prior art keywords
axis
sensor
mirror
support member
sensor signals
Prior art date
Application number
PCT/SE1997/001979
Other languages
French (fr)
Other versions
WO1998023464B1 (en
Inventor
Börje A. BRANDIN
Original Assignee
Brandin Boerje A
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 Brandin Boerje A filed Critical Brandin Boerje A
Priority to AU52365/98A priority Critical patent/AU5236598A/en
Publication of WO1998023464A1 publication Critical patent/WO1998023464A1/en
Publication of WO1998023464B1 publication Critical patent/WO1998023464B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/06—Rear-view mirror arrangements mounted on vehicle exterior
    • B60R1/062—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position
    • B60R1/07—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators
    • B60R1/072—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators for adjusting the mirror relative to its housing

Definitions

  • This invention relates to motor vehicle mirror systems, and more particularly, apparatus for supporting and determining the orientation of rearview mirrors.
  • the present invention is directed towards apparatus for supporting and determining the orientation of a mirror with respect to a given frame of reference.
  • the subject apparatus comprises a first support member of known position with respect to the frame of reference, a second support member rotatably coupled to the first support member about axes of known position with respect to the frame of reference, mirror housing means coupled to one of the support means for housing the mirror, first and second sensors operatively coupled to the first and second support members, and a signal processor.
  • the first and second sensors sense the rotational movement of one support member relative to the other and generate first and second sensor signals correlatable therewith.
  • the signal processor processes the first and second sensor signals, determines the current orientation of the mirror support and therefore of the mirror plane with respect to the frame of reference, and generates output signals correlatable therewith.
  • the first support means comprises a base mounted to a vehicle
  • the second support means is a support coupled to the base by a ball in socket joint.
  • the first sensor is operatively coupled to the base and the support in order to measure the rotation of the mirror along a first axis of rotation, and generate first sensor signals correlatable therewith.
  • the second sensor is operatively coupled to the base and the support in order to measure the rotation of the mirror along a second axis of rotation orthogonal to the first axis of rotation, and generate second sensor signals correlatable therewith.
  • the first sensor signals may be dependent of the movements of the mirror support sensed by the second sensor, and the second sensor signals may be dependent of the movements of the mirror support sensed by the first sensor.
  • the processor must solve numerically a set of two equations and two unknowns.
  • the first sensor is coupled to the first support means and the second support means in such a way that the first sensor signals are substantially independent or independent of the second sensor signals
  • the second sensor is coupled to the first support means and the second support in such a way that the second sensor signals are substantially independent or independent of the first sensor signals.
  • the means for coupling the second support to the first support is a ball in socket joint.
  • the first and second sensor preferably comprise linear displacement potentiometers and links of fixed length extending between the first and second support members.
  • the processor must solve two equations each with one unknown.
  • the present invention is also directed towards mirror support orientation apparatus comprising: a first support member rigidly connectable to a vehicle; a second support member rotatably connected to the base for rotation about a first axis; a third support member rotatably connected to the first support member for rotation about a second axis orthogonal to the first axis; a mirror housing means rigidly coupled to the third support member for housing the mirror; first sensor means operatively coupled to the first support member and to the second support member for sensing the rotation of the second support member about the first axis relative to the first support member, and for generating first sensor signals correlatable therewith; second sensor means operatively coupled to the second support member and to the third support member for sensing the rotation of the third support member about the second axis relative to the second support member, and for generating second sensor signals correlatable therewith; and signal processing means electrically coupled to the first sensor means and to the second sensor means for processing the first sensor signals and the second sensor signals and determining a current orientation of the mirror relative to
  • Figure 1 is a partially perspective view of a first embodiment of a support orientation apparatus made in accordance with the subject invention
  • Figure 2 is a sectional view of the apparatus shown in Figure 1, taken along the XY plane;
  • Figure 3 is a figure showing the geometry of a generalized mathematical model of the subject invention related to a coordinate system;
  • Figure 4a is a perspective view of a first preferred embodiment of a support orientation apparatus made in accordance with the subject invention;
  • Figure 4b is a sectional view of the apparatus shown in Figure 4a, taken along the XY plane;
  • Figure 4c is a sectional view of the apparatus shown in Figure 4a, taken along the XZ plane;
  • Figure 5a is a perspective view of a second preferred embodiment of a support orientation apparatus made in accordance with the subject invention.
  • Figure 5b is a sectional view of the apparatus shown in Figure 5a, taken along the XY plane;
  • Figure 5c is a sectional view of the apparatus shown in Figure 5a, taken along the XZ plane;
  • Figure 6a is a sectional view in the XY plane of a typical application of the first preferred embodiment, shown supporting a mirror attached to the second support member;
  • Figure 6b is a sectional view in the XZ plane of the apparatus shown in Figure 6a;
  • Figure 7a is a sectional view in the XY plane of an alternative application of the first preferred embodiment, shown supporting a mirror attached to the first support member;
  • Figure 7b is a sectional view in the XZ plane of the apparatus shown in Figure 7a;
  • Figure 8a is a sectional view in the XY plane of a typical application of the second preferred embodiment of the subject invention, shown supporting a mirror attached to the first support member;
  • Figure 8b is a sectional view in the XZ plane of the apparatus shown in Figure 8a;
  • Figure 9a is a sectional view in the XY plane of an alternative application of the second preferred embodiment of the subject invention, shown supporting a mirror attached to the second support member;
  • Figure 9b is a sectional view in the XZ plane of the apparatus shown in Figure 9a;
  • Figure 10 is a flow chart showing the method used by the processing means of the preferred embodiments to calculate the orientation of the mirror
  • Figure 11 is an exploded perspective view of a third preferred embodiment of a mirror support orientation apparatus made in accordance with the subject invention.
  • Figure 12 is a perspective view of the third preferred embodiment shown in Figure 11;
  • Figure 13 is a sectional view of the third preferred embodiment taken along the YZ plane in Figure 12.
  • the minimum number of sensors required to uniquely determine its orientation is two.
  • the conversion of sensor signals into mirror orientation signals with respect to a frame of reference may be more or less easily computed. If the sensors are independent, that is, they are configured such that each sensor senses the mirror movement in one degree of freedom only, the conversion is simplest. Two linear equations with one unknown must be solved. If the sensors are dependent, that is, they are configured such that each sensor senses the mirror movement to some extent in both degrees of freedom, the conversion is more complicated, since the mirror movement in two degrees of freedom will have to be reconstructed from dependent sensor signals.
  • Support orientation apparatus shown generally as
  • Second support member 14 comprises an elongated stem 11 having a longitudinal axis 60 and a pair of thin perpendicular rods 13 extending transversely from one end thereof along a longitudinal axis 64 and a transverse axis 62.
  • First and second sensors 18, 20 are operatively coupled to support member 12 and support member 14, and sense the movement of support member 14 with respect to support member 12, and therefore sense the movement of support member 14 with respect to the frame of reference XYZ.
  • Signal processor 22 determines the current orientation of support member 14 with respect to the frame of reference XYZ based upon sensor signals 68, 67, and previously stored apparatus parameters, and generates output signals 72.
  • Sensors 18 and 20 preferably consist of linear potentiometers 19, 21 and fixed links 46, 56.
  • Potentiometer 19 of sensor 18 is coupled to support member 14 by fixed length link 46.
  • Link 46 is coupled to potentiometer 19 by a ball in socket joint or other similar joint 44, and is coupled to support member 14 by a ball in socket joint or other similar joint 48.
  • Potentiometer 21 of sensor 20 is coupled to support member 14 by fixed length link 56.
  • Link 56 is coupled to potentiometer 21 by a ball in socket joint or other similar joint 54, and is coupled to support member 14 by a ball in socket joint or other similar joint 58.
  • Joint 44 moves along the axis of operation 42 of sensor 18.
  • Joint 54 moves along the axis of operation 52 of sensor 20.
  • Signal processor 22 is electrically or otherwise coupled to first and second sensors 18, 20, by wiring or other connections, and may comprise a computer microprocessor having a central processing unit with RAM memory and ROM memory. Apparatus parameters are stored in the memory of signal processor 22. Signal processor 22 receives first sensor signals 68 from first sensor 18, and second sensor signals 70 from second sensor 20. Signal processor 22 processes these signals in a manner hereinafter described, and generates support member orientation signals 72 indicative of the current orientation of support member 14 with respect to the frame of reference XYZ.
  • Support members M and N respectively correspond to support members 14 and 12 of Figure 1.
  • M comprises a plane defined by the points A, B, and C, and fixed link CO perpendicular thereto.
  • Plane ABC is rotatable about the origin O of a frame of reference XYZ by fixed link CO.
  • Frame of reference XYZ consists of a longitudinal reference axis X, a vertical reference axis Y, and a lateral reference axis Z.
  • the second support member N is taken to be the line segment OD on the X axis.
  • the support member M is coupled to a fixed point Q of known position with respect to the frame of reference XYZ by variable length link BQ, and to a fixed point R with known position with respect to the frame of reference XYZ by variable length link AR.
  • the line segment BC is taken to be parallel to the plane XZ
  • the line segment CA is taken to be perpendicular to the plane formed by the points B, C, and O.
  • the movement of the support member M is decomposed in two degrees of freedom: (i) rotation along the vertical axis of rotation U coincident with the Y axis, and (ii) rotation along the horizontal axis V, parallel to the line segment BC and passing through the origin O. Accordingly, the rotation of the support member about the rotation axis U is determined by the angle of rotation u formed by the axis X and the projection of CO onto the plane XZ, and the rotation of the support member about the rotation axis V is determined by the angle of rotation v formed by the axis Y and the link CO.
  • variable link AR is a function of both u and v
  • variable link BQ is a function of both u and v
  • the length of the variable link AR and BQ can be functions of v only or u only, for example the length of the variable link AR can be a function of v only, that is it will change as v changes but will be independent of u, and the length of the variable link BQ can be a function of u only, that is it will change as u changes but will be independent of v.
  • the derivative of AR with respect to u must be zero and the derivative of AR with respect to v must be a non zero constant or a function of v only.
  • the derivative of BQ with respect to v must be zero and the derivative of BQ with respect to u must be a non zero constant or a function of u only. The conditions necessary for this to hold are now shown.
  • xA xC - CA cos v cos u
  • yA yC + CA sin
  • v zA zC - CA cos v sin u.
  • AR will be approximately proportional to v and independent of u for small variations in u and v (app. 180+20 > u > 180-20 and app. 90+20 > v > 90-20).
  • the support member M is set in a first orientation and the corresponding lengths BQl and ARl, and angles ul and vl are measured.
  • the member M is then set in a second orientation and the corresponding lengths BQ2 and AR2, and angles u2 and v2 are measured.
  • These measurements are then substituted into equations (5), (6), (7) and (8) to calculate m, b, m', b'. Since the AR is known to be a linear function of v only and since BQ is known to be a linear function of u only, once the distances BQ and AR are known for any subsequent positioning of the support member M, its orientation with respect to the frame of reference XYZ may directly calculated through the following equations:
  • the support member M is set in a first orientation and the corresponding lengths BQl and ARl, and angles ul and vl are measured.
  • the member M is then set in a second orientation and the corresponding lengths BQ2 and AR2, and angles u2 and v2 are measured.
  • These measurements are then substituted into equations (13), (14), (15) and (16) to calculate m, b, m', b'. Since the AR is known to be a linear function of v only and since BQ is known to be a linear function of u only, once the distances BQ and AR are known for any subsequent positioning of the support member M, its orientation with respect to the frame of reference XYZ may be directly calculated through the following equations:
  • Equations (1) and (2) correspond to the support member orientation apparatus 10 shown in Figure 1, if the center of rotation of the ball in socket joint 15 corresponds to point O in Figure 3, if axis 60 corresponds and coincides with segment OC in Figure 3, if axis 62 corresponds and coincides with segment OA in Figure 3, if axis 64 corresponds and coincides with segment OB in Figure 3, if joint 48 corresponds to point A in Figure 3, if joint 58 corresponds to point B in Figure 3, and if the intersection of axis 60, 62 and 64 corresponds to point C in Figure 3.
  • the processor 22 in order to determine the orientation of member 14 with respect to the frame of reference XYZ, must solve numerically equations (1) and (2) for u and v, given AR and BQ.
  • the solutions embodying the preferred geometries of the support member orientation apparatus shown in Figure 1 are considered below.
  • the first solution is embodied in the apparatus of the subject invention by appropriately designing support member 14 so that the center of rotation of the ball in socket joint corresponds to point O in Figure 3, axis 60 corresponds and coincides with segment OC in Figure 3, axis 62 corresponds and coincides with segment OA in Figure 3, axis 64 corresponds and coincides with segment OB in Figure 3, joint 48 corresponds to point A in Figure 3, joint 58 corresponds to point B in Figure 3, and the intersection of axis 60, 62 and 64 corresponding to point C in Figure 3 coincides with center of rotation of the ball in socket joint (O).
  • Sensor 18 is placed on support member 12 so that its axis of operation 42 is in the XY plane, parallel to the X axis, and at the same approximate distance from the X axis as the distance which separates O to joint 48 (OA).
  • Sensor 20 is placed on support member 12 so that its axis of operation 52 is in the XZ plane, parallel to the X axis, and at the same approximate distance from the X axis as the distance which separates O to joint 58 (OB).
  • Support orientation apparatus shown generally as 110 comprises a first support member 112, a second support member 114 rotatably coupled to the first support member 112 by a ball in socket joint 115, a first sensor shown generally as 118, a second sensor shown generally as 120, a signal processor 122, and a frame of reference XYZ of known location with respect to support member 112.
  • First and second sensors 118, 120 are operatively coupled to support member 112 and support member 114, and sense the rotational movement of support member 114 with respect to support member 112, and therefore sense the rotational movement of support member 114 with respect to the frame of reference XYZ.
  • Sensors 118 and 120 preferably consist of linear potentiometers 119, 121 and fixed links 146, 156.
  • Potentiometer 119 of sensor 118 is coupled to support member 114 by fixed length link 146.
  • Link 146 is coupled to potentiometer 119 by a ball in socket joint or other similar joint 144, and is coupled to support member 114 by a ball in socket joint or other similar joint 148.
  • Potentiometer 121 of sensor 120 is coupled to support member 114 by fixed length link 166.
  • Link 156 is coupled to potentiometer 121 by a ball in socket joint or other similar joint 154, and is coupled to support member 114 by a ball in socket joint or other similar joint 158.
  • Sensor 118 is positioned relative to support member 112 so that its axis of operation 142 is in the XY plane, parallel to the X axis, and at the same approximate distance from the X axis as the distance which separates O to joint 48 (OA).
  • Sensor 120 is positioned relative to support member 112 so that its axis of operation 152 is in the XZ plane, parallel to the X axis, and at the same approximate distance from the X axis as the distance which separates O to joint 158 (OB).
  • Signal processor 122 determines the current orientation of support member 114 with respect to the frame of reference XYZ based upon sensor signals 168, 167, and previously stored apparatus parameters, and generates output signals 172. Processor 122 effectively solves two linear equations each with one unknown, i.e. equations (3) and (4).
  • Signal processor 122 is electrically or otherwise coupled to first and second sensors 118, 120, by wiring or other connections, and may comprise a computer microprocessor having a central processing unit with RAM memory and ROM memory. Apparatus parameters are stored in the memory of signal processor 122. Signal processor 122 receives first sensor signals 168 from first sensor 118, and second sensor signals 170 from second sensor 120. Signal processor 122 processes these signals and generates support member orientation signals 172 indicative of the current orientation of support member 114 with respect to the frame of reference XYZ.
  • the second solution may be embodied in a second preferred embodiment of support orientation apparatus by appropriately designing support member 14 so that the center of rotation of the ball in socket joint corresponds to point O in Figure 3, axis 60 corresponds and coincides with segment OC in Figure 3, joint 48 corresponds to point C in Figure 3, joint 58 corresponds to point C in Figure 3.
  • Sensor 18 is placed on support member 12 so that its axis of operation 42 is in the XY plane, parallel to the Y axis, and at the same approximate distance from the Y axis, in the direction opposite to the direction of X, as the distance which separates O from joint 48 (-CO).
  • Sensor 20 is placed on support member 12 so that its axis of operation 52 is in the XZ plane, parallel to the Z axis, and at the same approximate distance from the Z axis, in the direction opposite to the direction of X, as the distance which separates O from joint 58 (-CO).
  • a second preferred embodiment of the subject invention shown generally as 210 comprises a first support member 212 rotatably coupled to a second support member 214 by a ball in socket joint 215, a first sensor shown generally as 218, a second sensor shown generally as 220, a signal processor 222, and a frame of reference coincident with support member 212.
  • First and second sensors 218, 220 are operatively coupled to support member 212 and support member 214, and sense the rotational movement of support member 214 with respect to support member 212, and therefore sense the rotational movement of support member 214 with respect to the frame of reference XYZ.
  • Sensors 218 and 220 preferably consist of linear potentiometers and fixed links 246, 266.
  • Potentiometer 219 of sensor 218 is coupled to support member 214 by fixed length link 246.
  • Link 246 is coupled to potentiometer 219 by a ball in socket joint or other similar joint 244, and is coupled to support member 214 by a ball in socket joint or other similar joint 248.
  • Potentiometer 219 of sensor 220 is coupled to support member 214 by fixed length link 266.
  • Link 256 is coupled to potentiometer 221 by a ball in socket joint or other similar joint 254, and is coupled to support member 214 by a ball in socket joint or other similar joint 258.
  • Sensor 218 is positioned relative to support member 212 so that its axis of operation 242 is in the XY plane, parallel to the Y axis, and at a distance of approximately -CO from the Y axis.
  • Sensor 220 is positioned relative to support member 212 so that its axis of operation 252 is in the XZ plane, parallel to the Z axis, and at an approximate distance -CO from the Z axis.
  • Signal processor 222 determines the current orientation of support member 214 with respect to the frame of reference XYZ based upon sensor signals 268, 267, and previously stored apparatus parameters, and generates output signals 272. Processor 222 effectively solves two linear equations each with one unknown, i.e. equations (11) and (12).
  • Signal processor 222 is electrically or otherwise coupled to first and second sensors 218, 220, by wiring or other connections, and may comprise a computer microprocessor having a central processing unit with RAM memory and ROM memory. Apparatus parameters are stored in the memory of signal processor 222. Signal processor 222 receives first sensor signals 268 from first sensor 218, and second sensor signals 270 from second sensor 220. Signal processor 222 processes these signals and generates support member orientation signals 272 indicative of the current orientation of support member 214 with respect to the frame of reference XYZ.
  • both the first and second preferred embodiments of subject support orientation apparatus may be used to support and measure the orientation of rearview mirrors with respect to a frame of reference.
  • support member of the support member orientation apparatus is used as mirror support and which support member of the apparatus is used as mirror base
  • these embodiments may function as apparatus which supports and determines the orientation of a rearview mirror for a vehicle. A few examples are presented below.
  • the first preferred embodiment of the subject support orientation apparatus is shown functioning as a mirror support orientation apparatus 310, in which mirror 316 is coupled to support member 314 by mirror housing means 317, and in which support member
  • 312 acts as a base which is connectable to a vehicle.
  • the first preferred embodiment of a subject support orientation apparatus is shown functioning as an alternative mirror support orientation apparatus 410, in which mirror 416 is coupled to support member 412 by mirror housing means 417, and in which support member 414 acts as a base which is connectable to a vehicle.
  • the second preferred embodiment of the subject support orientation apparatus is shown functioning as mirror support orientation apparatus 510, in which mirror 516 is coupled to support member 514 by mirror housing means 517, and in which support member 512 acts as a base.
  • the second preferred embodiment of the subject support orientation apparatus is shown functioning as an alternative mirror support orientation apparatus 610, in which mirror 616 is attached to support member 612 by mirror housing means 617, and support member 614 as a base.
  • the driver of the vehicle adjusts the mirror 616 for rearview purposes by manipulating mirror housing 617, (block 800) and activates processor 622 (block 802) which causes processor 622 to input the sensor signals 668, 670 from sensors 618 and 620 (block 804).
  • Processor 622 then computes the orientation of the mirror 616 with respect to the frame of reference XYZ based on the sensor signals 668, 670, by converting these signals into numerical values (block 806), retrieving stored parameter values (block 808), solving two linear equations (block 310), and outputting the orientation signals (block 312).
  • Figures 8a-b and 9a-b as utilizing links it should be understood that the links may be replaced by using a template.
  • the template could be linked to support member 514 by a ball in socket joint replacing joints 548 and 558.
  • the template would have a first slot parallel to the plane XZ, through which joint 544 would slide, and a second slot perpendicular to the first slot, through which joint 554 would slide.
  • the first slot would be sized to permit template to move parallel to plane XY without moving joint 544. However, if template moves in an other direction, the first slot forces joint 544 to move correspondingly.
  • the second slot would be sized to permit template to move perpendicularly to the first slot without moving joint 554. However, if template moves parallel to plane XY, the second slot forces joint 554 to move correspondingly.
  • the template effectively replaces links 546 and 556.
  • the support orientation apparatus shown generally as 710 comprises a first support member 712, a frame of reference XYZ centered upon the first support member 712, a second support member 713, a third support member 714 , a first sensor shown generally as 718, and a second sensor shown generally as 720, and processor 722.
  • the second support member 713 is rotatably connected by shaft 710 to the first support member 712 for rotation about the rotational axis U parallel to axis Y.
  • Third support member 714 is rotatably connected by shaft 711 to the second support member 714 for rotation about the rotational axis V orthogonal to the axis U and parallel to plane XZ.
  • Sensors 720 and 718 are rotational displacement potentiometers.
  • First sensor 720 is operatively coupled to the first support member 712 by section 752, and by section 754 to the shaft 710 of second support member 713, thereby sensing the rotation of the mounting member 713 relative to the support member 712 about the axis U and generating sensor signals correlatable therewith received by processor 522.
  • Second sensor 718 is operatively coupled to the shaft 711 of second support member 713 by section 764, and by section 562 to the third support member 714, thereby sensing the rotation of third support member 714 relative to the second support member 713 about the axis V and generating sensor signals correlatable therewith received by processor 722, based upon previously stored mirror parameters obtained from the mirror geometry, and /or a calibration process.
  • Mirror housing 717 housing mirror 716 is rigidly affixed to third support member 714.
  • Processor 722 then computes and outputs the orientation of the third support member with respect to the frame of reference XYZ based on the sensor signals 770 and 768, and previously stored apparatus parameters.
  • the driver of the vehicle adjusts the mirror 716 for rearview purposes by manipulating mirror housing 717, and activates processor 722 which causes processor 722 to input the sensor signals from sensors 718 and 720.
  • Processor 722 then computes and outputs the orientation signals 772 of the mirror 716 with respect to the frame of reference XYZ based on the sensor signals of sensors 750 and 760, and previously stored apparatus parameters such as sensor parameters, the relative position of the mirror 716 with respect to the support 714.
  • the first and second sensors may continuously send sensor signals to the processor which in turn could perform a continuous loop to check for a change in the sensor signals. Once a change in the sensor signals is detected, indicating that the mirror has been adjusted, the processor could utilize the new sensor signals to determine the new orientation of the mirror.

Abstract

Apparatus (10) for supporting and determining the orientation of an adjustable rearview mirror (716) relative to a determined coordinate system includes a first support member (12) rigidly connectable to a motor vehicle, a second support member (14) movably connected to the first support member (12), moveable about a first axis (X) and about a second axis (Y) intersecting with and perpendicular to the first axis (X), a mirror housing (717), first and second sensors (18, 20), and a signal processor (22). The first sensor (18) senses the movement of the mirror (716) about the first axis (X) and generates first sensor signals correlatable therewith. The second sensor (20) senses the movement of the mirror (716) about the second axis (Y) and generates second sensor signals correlatable therewith. The sensors (18, 20) are preferably positioned to be substantially decoupled from one another in the sense that the measurement of the movement of the mirror (716) relative to one axis by one sensor (18) is independent or approximately independent from the measurement of the movement of the miror relative to the other axis by the other sensor (20). The processor (22) is electrically connected to the first and second sensors (18, 20) and calculates the orientation of the mirror (716) relative to both the first and second axes (X, Y) based upon the sensor signals and mirror geometry parameters.

Description

Title: MIRROR SUPPORT ORIENTATION APPARATUS
FIELD OF THE INVENTION
This invention relates to motor vehicle mirror systems, and more particularly, apparatus for supporting and determining the orientation of rearview mirrors.
BACKGROUND OF THE INVENTION
Most motor vehicles, such as cars and trucks, have rearview mirrors. In some countries, only one central inside mirror is required by law, but in many countries, it is mandatory to have three rearview mirrors: a central inside mirror, and one outside rearview mirror on each side of the vehicle.
For driving comfort and safety reasons, it is essential to ensure that rearview mirrors are oriented correctly, to give the driver a clear view of the road behind the vehicle. When the same motor vehicle is driven by a number of drivers having different body proportions, for example family members, rental car users or fleet drivers, it is usually necessary for each driver to readjust the orientation of the rearview mirrors.
There exist vehicle mirror systems which are capable of memorizing mirror positions for a limited number of drivers, and automatically adjusting mirrors to previous settings, based upon stored sensor signals.
A more advanced rearview mirror system, described in PCT
International Application No. PCT/IB95/01115, filed by Bertil A. Brandin, automatically and correctly adjusts all remote mirrors for rearview purposes for any driver. Once the central mirror has been adjusted by the driver for rearview purposes, the Brandin system uses the orientation of the central mirror with respect to a frame of reference in order to adjust all remote mirrors with respect to the same frame of reference. This system requires the conversion of sensor signals into mirror orientation signals with respect to a frame of reference.
There is accordingly a need for an apparatus which accurately and reliably determines the current orientation of rearview mirrors with respect to a frame of reference, and provides orientation signals correlatable with such orientation.
SUMMARY OF THE INVENTION
The present invention is directed towards apparatus for supporting and determining the orientation of a mirror with respect to a given frame of reference. The subject apparatus comprises a first support member of known position with respect to the frame of reference, a second support member rotatably coupled to the first support member about axes of known position with respect to the frame of reference, mirror housing means coupled to one of the support means for housing the mirror, first and second sensors operatively coupled to the first and second support members, and a signal processor. The first and second sensors sense the rotational movement of one support member relative to the other and generate first and second sensor signals correlatable therewith. The signal processor processes the first and second sensor signals, determines the current orientation of the mirror support and therefore of the mirror plane with respect to the frame of reference, and generates output signals correlatable therewith.
In one embodiment of the invention, the first support means comprises a base mounted to a vehicle, and the second support means is a support coupled to the base by a ball in socket joint. The first sensor is operatively coupled to the base and the support in order to measure the rotation of the mirror along a first axis of rotation, and generate first sensor signals correlatable therewith. The second sensor is operatively coupled to the base and the support in order to measure the rotation of the mirror along a second axis of rotation orthogonal to the first axis of rotation, and generate second sensor signals correlatable therewith. As no particular restriction is placed on the sensor axes of operation, the first sensor signals may be dependent of the movements of the mirror support sensed by the second sensor, and the second sensor signals may be dependent of the movements of the mirror support sensed by the first sensor. The processor must solve numerically a set of two equations and two unknowns.
In the case of two preferred embodiments of the invention, the first sensor is coupled to the first support means and the second support means in such a way that the first sensor signals are substantially independent or independent of the second sensor signals, and the second sensor is coupled to the first support means and the second support in such a way that the second sensor signals are substantially independent or independent of the first sensor signals. The means for coupling the second support to the first support is a ball in socket joint. The first and second sensor preferably comprise linear displacement potentiometers and links of fixed length extending between the first and second support members. The processor must solve two equations each with one unknown.
The present invention is also directed towards mirror support orientation apparatus comprising: a first support member rigidly connectable to a vehicle; a second support member rotatably connected to the base for rotation about a first axis; a third support member rotatably connected to the first support member for rotation about a second axis orthogonal to the first axis; a mirror housing means rigidly coupled to the third support member for housing the mirror; first sensor means operatively coupled to the first support member and to the second support member for sensing the rotation of the second support member about the first axis relative to the first support member, and for generating first sensor signals correlatable therewith; second sensor means operatively coupled to the second support member and to the third support member for sensing the rotation of the third support member about the second axis relative to the second support member, and for generating second sensor signals correlatable therewith; and signal processing means electrically coupled to the first sensor means and to the second sensor means for processing the first sensor signals and the second sensor signals and determining a current orientation of the mirror relative to the first axis and the second axis based upon the first sensor signals and the second sensor signals, and for generating output signals correlatable therewith. The processor must solve two linear equations each with one unknown.
BRIEF DESCRIPTION OF THE DRAWINGS
The present invention will now be described, by way of example only, with reference to the following drawings, in which like reference numerals refer to like parts and in which:
Figure 1 is a partially perspective view of a first embodiment of a support orientation apparatus made in accordance with the subject invention;
Figure 2 is a sectional view of the apparatus shown in Figure 1, taken along the XY plane;
Figure 3 is a figure showing the geometry of a generalized mathematical model of the subject invention related to a coordinate system; Figure 4a is a perspective view of a first preferred embodiment of a support orientation apparatus made in accordance with the subject invention;
Figure 4b is a sectional view of the apparatus shown in Figure 4a, taken along the XY plane;
Figure 4c is a sectional view of the apparatus shown in Figure 4a, taken along the XZ plane;
Figure 5a is a perspective view of a second preferred embodiment of a support orientation apparatus made in accordance with the subject invention;
Figure 5b is a sectional view of the apparatus shown in Figure 5a, taken along the XY plane;
Figure 5c is a sectional view of the apparatus shown in Figure 5a, taken along the XZ plane;
Figure 6a is a sectional view in the XY plane of a typical application of the first preferred embodiment, shown supporting a mirror attached to the second support member;
Figure 6b is a sectional view in the XZ plane of the apparatus shown in Figure 6a;
Figure 7a is a sectional view in the XY plane of an alternative application of the first preferred embodiment, shown supporting a mirror attached to the first support member; Figure 7b is a sectional view in the XZ plane of the apparatus shown in Figure 7a;
Figure 8a is a sectional view in the XY plane of a typical application of the second preferred embodiment of the subject invention, shown supporting a mirror attached to the first support member;
Figure 8b is a sectional view in the XZ plane of the apparatus shown in Figure 8a;
Figure 9a is a sectional view in the XY plane of an alternative application of the second preferred embodiment of the subject invention, shown supporting a mirror attached to the second support member;
Figure 9b is a sectional view in the XZ plane of the apparatus shown in Figure 9a;
Figure 10 is a flow chart showing the method used by the processing means of the preferred embodiments to calculate the orientation of the mirror;
Figure 11 is an exploded perspective view of a third preferred embodiment of a mirror support orientation apparatus made in accordance with the subject invention;
Figure 12 is a perspective view of the third preferred embodiment shown in Figure 11; and
Figure 13 is a sectional view of the third preferred embodiment taken along the YZ plane in Figure 12. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Since a vehicle mirror typically moves in two degrees of freedom with respect to the frame which attaches it to the vehicle, the minimum number of sensors required to uniquely determine its orientation is two. Depending how these two sensors are used in the mirror system, the conversion of sensor signals into mirror orientation signals with respect to a frame of reference may be more or less easily computed. If the sensors are independent, that is, they are configured such that each sensor senses the mirror movement in one degree of freedom only, the conversion is simplest. Two linear equations with one unknown must be solved. If the sensors are dependent, that is, they are configured such that each sensor senses the mirror movement to some extent in both degrees of freedom, the conversion is more complicated, since the mirror movement in two degrees of freedom will have to be reconstructed from dependent sensor signals. Two equations with two unknown must be solved numerically. For example, consider two sensor each measuring the rotation of a mirror relative to two orthogonal rotation axis; these sensors are independent since they each sense the mirror movement in one degree of freedom only. Consider now two sensor each measuring the rotation of a mirror relative to one rotation axis, these sensors are dependent since they each senses the mirror movement in the same degree of freedom. Furthermore, these two sensors are unable to determine the movement of the mirror in the remaining degree of freedom, making the determination of the mirror orientation with respect to a frame of reference impossible.
Referring first to Figures 1 and 2, illustrated therein is a first embodiment of support orientation apparatus made in accordance with the subject invention. Support orientation apparatus shown generally as
10 comprises a first support member 12, a second support member shown generally as 14 rotatably coupled to first support member 12 by a ball in socket joint 15, a first sensor shown generally as 18, a second sensor shown generally as 20, a signal processor 22, and a frame of reference XYZ centered upon support member 14. Second support member 14 comprises an elongated stem 11 having a longitudinal axis 60 and a pair of thin perpendicular rods 13 extending transversely from one end thereof along a longitudinal axis 64 and a transverse axis 62.
First and second sensors 18, 20 are operatively coupled to support member 12 and support member 14, and sense the movement of support member 14 with respect to support member 12, and therefore sense the movement of support member 14 with respect to the frame of reference XYZ.
Signal processor 22 determines the current orientation of support member 14 with respect to the frame of reference XYZ based upon sensor signals 68, 67, and previously stored apparatus parameters, and generates output signals 72.
Sensors 18 and 20 preferably consist of linear potentiometers 19, 21 and fixed links 46, 56. Potentiometer 19 of sensor 18 is coupled to support member 14 by fixed length link 46. Link 46 is coupled to potentiometer 19 by a ball in socket joint or other similar joint 44, and is coupled to support member 14 by a ball in socket joint or other similar joint 48. Potentiometer 21 of sensor 20 is coupled to support member 14 by fixed length link 56. Link 56 is coupled to potentiometer 21 by a ball in socket joint or other similar joint 54, and is coupled to support member 14 by a ball in socket joint or other similar joint 58. Joint 44 moves along the axis of operation 42 of sensor 18. Joint 54 moves along the axis of operation 52 of sensor 20.
Signal processor 22 is electrically or otherwise coupled to first and second sensors 18, 20, by wiring or other connections, and may comprise a computer microprocessor having a central processing unit with RAM memory and ROM memory. Apparatus parameters are stored in the memory of signal processor 22. Signal processor 22 receives first sensor signals 68 from first sensor 18, and second sensor signals 70 from second sensor 20. Signal processor 22 processes these signals in a manner hereinafter described, and generates support member orientation signals 72 indicative of the current orientation of support member 14 with respect to the frame of reference XYZ.
Referring now to Figure 3, in order to determine the preferred geometry of support orientation apparatus 10, including the locations of sensors 18 and 20, it useful to consider two functionally coupled support members M and N. Support members M and N respectively correspond to support members 14 and 12 of Figure 1. M comprises a plane defined by the points A, B, and C, and fixed link CO perpendicular thereto. Plane ABC is rotatable about the origin O of a frame of reference XYZ by fixed link CO. Frame of reference XYZ consists of a longitudinal reference axis X, a vertical reference axis Y, and a lateral reference axis Z. For simplicity, and without loss of generality, the second support member N is taken to be the line segment OD on the X axis. The support member M is coupled to a fixed point Q of known position with respect to the frame of reference XYZ by variable length link BQ, and to a fixed point R with known position with respect to the frame of reference XYZ by variable length link AR. Without loss of generality, the line segment BC is taken to be parallel to the plane XZ, the line segment CA is taken to be perpendicular to the plane formed by the points B, C, and O.
Without loss of generality, the movement of the support member M is decomposed in two degrees of freedom: (i) rotation along the vertical axis of rotation U coincident with the Y axis, and (ii) rotation along the horizontal axis V, parallel to the line segment BC and passing through the origin O. Accordingly, the rotation of the support member about the rotation axis U is determined by the angle of rotation u formed by the axis X and the projection of CO onto the plane XZ, and the rotation of the support member about the rotation axis V is determined by the angle of rotation v formed by the axis Y and the link CO.
Consider moving the support member M about the origin O.
This will result in a change of position of the support member M with respect to the frame of reference XYZ, and corresponding in a change in the angles u and v, and in a change in the length of the variable length links AR and BQ. Generally speaking the length of the variable link AR is a function of both u and v, and the length of the variable link BQ is a function of both u and v. However depending on the geometry, the length of the variable link AR and BQ can be functions of v only or u only, for example the length of the variable link AR can be a function of v only, that is it will change as v changes but will be independent of u, and the length of the variable link BQ can be a function of u only, that is it will change as u changes but will be independent of v. For this to hold, the derivative of AR with respect to u must be zero and the derivative of AR with respect to v must be a non zero constant or a function of v only. Similarly, the derivative of BQ with respect to v must be zero and the derivative of BQ with respect to u must be a non zero constant or a function of u only. The conditions necessary for this to hold are now shown.
If (xA, yA, zA), (xB, yB, zB), (xC, yC, zC), (xO, yO, zO), (xQ, yQ, zQ), (xR, yR, zR) represent the x, y and z coordinates of the points A, B, C, O, Q and R respectively. The following equations may be determined from the geometric relationships between the various points and angles:
xC = OC sin v cos u yC = OC cos v zC = OC sin v sin u xB = xC + BC sin u yB = yC zB = zC - BC cos u
xA = xC - CA cos v cos u yA = yC + CA sin v zA = zC - CA cos v sin u.
(1) (xQ - xB) 2 + (yQ - yB) 2 + (zQ - zB) = BQ2
(2) (xR - xA) 2 + (y-R - yA) + (ZR - zA) 2 = AR2
For small variations in u and v (app. 180+20 > u > app. 180-20 and app. 90+20 > v > app. 90-20 u and v measured in degrees), by appropriately substituting the equations for xA, yA, zA, xB, yB, zB, xC, yC and zC in equations (1) and (2), and by determining the derivative of BQ with respect to u, the derivative of BQ with respect to v, and the derivative of AR with respect to u, the derivative of AR with respect to v, it is found that the derivative of AR with respect to u can be made approximately zero, the derivative of AR with respect to v can be made approximately constant and non zero, the derivative of BQ with respect to v can be made approximately zero, and the derivative of BQ with respect to u can be made approximately constant and non zero, by appropriately setting the coordinates of Q and R, and setting the parameters OC, AC, and BC.
This implies that having set such parameter appropriately,
BQ will be approximately proportional to u and independent of v, and that
AR will be approximately proportional to v and independent of u for small variations in u and v (app. 180+20 > u > 180-20 and app. 90+20 > v > 90-20). One possible solution for making BQ approximately proportional to u and independent of v, and AR approximately proportional to v and independent of u, involves positioning point C coincident with point O, such that the length OC=0, and positioning Q appropriately such that Q is in the XZ plane at a distance BC from the X axis, i.e. xQ is a known constant, yQ≡O, and zQ=BC, and positioning R appropriately such that R is in the XY plane at a distance CA from the X axis, i.e. xR is a known constant, yR≤CA, and zR=0,
Accordingly, we have for small variations of u (app. 180+20 ≥ u > 180-20) and for small variations of v (app. 90+20 > u > 90-20) that
(3) BQ = m u + b
(4) AR = m' v + b'
which are linear functions in u and v respectively, and m, b, m' and b' are constants, m, b, m' and b' may determined either from the above mentioned differentiation procedure and the mirror system parameters, i.e. the coordinates of Q and R, OC, AC, and BC, or through a calibration process of an actual system. For example, substituting pairs of calibration measurements (BQ = BQl, u = ul), (BQ = BQ2, u = u2), (AR = ARl, v = vl) and (AR = AR2, v = v2), into equations (3) and (4) yields:
(5) m = (BQl - BQ2)/(ul - u2)
(6) b = BQl - m ul
(7) m' = (ARl - AR2)/(vl - v2)
(8) b' = ARl - m' vl
During the calibration process, the support member M is set in a first orientation and the corresponding lengths BQl and ARl, and angles ul and vl are measured. The member M is then set in a second orientation and the corresponding lengths BQ2 and AR2, and angles u2 and v2 are measured. These measurements are then substituted into equations (5), (6), (7) and (8) to calculate m, b, m', b'. Since the AR is known to be a linear function of v only and since BQ is known to be a linear function of u only, once the distances BQ and AR are known for any subsequent positioning of the support member M, its orientation with respect to the frame of reference XYZ may directly calculated through the following equations:
(9) u=(BQ-b)/m
(10) v=(AR-b')/m'
One other possible solution for making BQ approximately proportional to u and independent of v, and AR approximately proportional to v and independent of u, involves positioning points A and B to be coincident with point C, such that the lengths BC≡O and AC=0, and positioning Q appropriately such that Q is in the XZ plane at a distance of approximately -OC from the X axis, i.e. xQ≡-OC, yQ≡O, and zQ is a known distance, and positioning R appropriately such that R is in the XY plane at a distance of approximately -OC from the Y axis, i.e. xQ=-OC, yR is a known constant, and zR=0,
Accordingly, we have for small variations of u (app. 180+20 ≥ u > 180-20) and for small variations of v ( app. 90+20 > u > 90-20) that
(11) CQ=BQ = m u + b
(12) CR=AR = m' v + b'
which are linear functions in u and v respectively, and m, b, m' and b' are constants, m, b, m' and b' may determined either from the above mentioned differentiation procedure and the mirror system parameters, i.e. the coordinates of Q and R, OC, AC, and BC, or through a calibration process of an actual system. For example, substituting pairs of calibration measurements (CQ = CQ1, u = ul), (CQ = CQ2, u = u2), (CR = CR1, v = vl) and (CR = CR2, v = v2), into equations (11) and (12) yields:
(13) m = (CQl - CQ2)/(ul - u2)
(14) b = CQ1 - m ul (15) m' = (CR1 - CR2)/(vl - v2)
(16) b' = CR1 - m' vl
During the calibration process, the support member M is set in a first orientation and the corresponding lengths BQl and ARl, and angles ul and vl are measured. The member M is then set in a second orientation and the corresponding lengths BQ2 and AR2, and angles u2 and v2 are measured. These measurements are then substituted into equations (13), (14), (15) and (16) to calculate m, b, m', b'. Since the AR is known to be a linear function of v only and since BQ is known to be a linear function of u only, once the distances BQ and AR are known for any subsequent positioning of the support member M, its orientation with respect to the frame of reference XYZ may be directly calculated through the following equations:
(17) u=(CQ-b)/m
(18) v=(CR-b*)/m'
Equations (1) and (2) correspond to the support member orientation apparatus 10 shown in Figure 1, if the center of rotation of the ball in socket joint 15 corresponds to point O in Figure 3, if axis 60 corresponds and coincides with segment OC in Figure 3, if axis 62 corresponds and coincides with segment OA in Figure 3, if axis 64 corresponds and coincides with segment OB in Figure 3, if joint 48 corresponds to point A in Figure 3, if joint 58 corresponds to point B in Figure 3, and if the intersection of axis 60, 62 and 64 corresponds to point C in Figure 3. For this embodiment, the processor 22 in order to determine the orientation of member 14 with respect to the frame of reference XYZ, must solve numerically equations (1) and (2) for u and v, given AR and BQ.
The solutions embodying the preferred geometries of the support member orientation apparatus shown in Figure 1 are considered below. The first solution is embodied in the apparatus of the subject invention by appropriately designing support member 14 so that the center of rotation of the ball in socket joint corresponds to point O in Figure 3, axis 60 corresponds and coincides with segment OC in Figure 3, axis 62 corresponds and coincides with segment OA in Figure 3, axis 64 corresponds and coincides with segment OB in Figure 3, joint 48 corresponds to point A in Figure 3, joint 58 corresponds to point B in Figure 3, and the intersection of axis 60, 62 and 64 corresponding to point C in Figure 3 coincides with center of rotation of the ball in socket joint (O).
Sensor 18 is placed on support member 12 so that its axis of operation 42 is in the XY plane, parallel to the X axis, and at the same approximate distance from the X axis as the distance which separates O to joint 48 (OA). Sensor 20 is placed on support member 12 so that its axis of operation 52 is in the XZ plane, parallel to the X axis, and at the same approximate distance from the X axis as the distance which separates O to joint 58 (OB).
Referring now to Figures 4a through 4c, shown therein is a first preferred embodiment of a support orientation apparatus made in accordance with the subject invention, which incorporates the above- referenced first solution. Support orientation apparatus shown generally as 110 comprises a first support member 112, a second support member 114 rotatably coupled to the first support member 112 by a ball in socket joint 115, a first sensor shown generally as 118, a second sensor shown generally as 120, a signal processor 122, and a frame of reference XYZ of known location with respect to support member 112.
First and second sensors 118, 120 are operatively coupled to support member 112 and support member 114, and sense the rotational movement of support member 114 with respect to support member 112, and therefore sense the rotational movement of support member 114 with respect to the frame of reference XYZ. Sensors 118 and 120 preferably consist of linear potentiometers 119, 121 and fixed links 146, 156. Potentiometer 119 of sensor 118 is coupled to support member 114 by fixed length link 146. Link 146 is coupled to potentiometer 119 by a ball in socket joint or other similar joint 144, and is coupled to support member 114 by a ball in socket joint or other similar joint 148. Potentiometer 121 of sensor 120 is coupled to support member 114 by fixed length link 166. Link 156 is coupled to potentiometer 121 by a ball in socket joint or other similar joint 154, and is coupled to support member 114 by a ball in socket joint or other similar joint 158.
Sensor 118 is positioned relative to support member 112 so that its axis of operation 142 is in the XY plane, parallel to the X axis, and at the same approximate distance from the X axis as the distance which separates O to joint 48 (OA). Sensor 120 is positioned relative to support member 112 so that its axis of operation 152 is in the XZ plane, parallel to the X axis, and at the same approximate distance from the X axis as the distance which separates O to joint 158 (OB).
Signal processor 122 determines the current orientation of support member 114 with respect to the frame of reference XYZ based upon sensor signals 168, 167, and previously stored apparatus parameters, and generates output signals 172. Processor 122 effectively solves two linear equations each with one unknown, i.e. equations (3) and (4).
Signal processor 122 is electrically or otherwise coupled to first and second sensors 118, 120, by wiring or other connections, and may comprise a computer microprocessor having a central processing unit with RAM memory and ROM memory. Apparatus parameters are stored in the memory of signal processor 122. Signal processor 122 receives first sensor signals 168 from first sensor 118, and second sensor signals 170 from second sensor 120. Signal processor 122 processes these signals and generates support member orientation signals 172 indicative of the current orientation of support member 114 with respect to the frame of reference XYZ.
Referring again to Figure 3, the second solution may be embodied in a second preferred embodiment of support orientation apparatus by appropriately designing support member 14 so that the center of rotation of the ball in socket joint corresponds to point O in Figure 3, axis 60 corresponds and coincides with segment OC in Figure 3, joint 48 corresponds to point C in Figure 3, joint 58 corresponds to point C in Figure 3.
Sensor 18 is placed on support member 12 so that its axis of operation 42 is in the XY plane, parallel to the Y axis, and at the same approximate distance from the Y axis, in the direction opposite to the direction of X, as the distance which separates O from joint 48 (-CO). Sensor 20 is placed on support member 12 so that its axis of operation 52 is in the XZ plane, parallel to the Z axis, and at the same approximate distance from the Z axis, in the direction opposite to the direction of X, as the distance which separates O from joint 58 (-CO).
Referring now to Figures 5a through 5c, a second preferred embodiment of the subject invention shown generally as 210, embodying the second solution, comprises a first support member 212 rotatably coupled to a second support member 214 by a ball in socket joint 215, a first sensor shown generally as 218, a second sensor shown generally as 220, a signal processor 222, and a frame of reference coincident with support member 212.
First and second sensors 218, 220 are operatively coupled to support member 212 and support member 214, and sense the rotational movement of support member 214 with respect to support member 212, and therefore sense the rotational movement of support member 214 with respect to the frame of reference XYZ. Sensors 218 and 220 preferably consist of linear potentiometers and fixed links 246, 266. Potentiometer 219 of sensor 218 is coupled to support member 214 by fixed length link 246. Link 246 is coupled to potentiometer 219 by a ball in socket joint or other similar joint 244, and is coupled to support member 214 by a ball in socket joint or other similar joint 248. Potentiometer 219 of sensor 220 is coupled to support member 214 by fixed length link 266. Link 256 is coupled to potentiometer 221 by a ball in socket joint or other similar joint 254, and is coupled to support member 214 by a ball in socket joint or other similar joint 258.
Sensor 218 is positioned relative to support member 212 so that its axis of operation 242 is in the XY plane, parallel to the Y axis, and at a distance of approximately -CO from the Y axis. Sensor 220 is positioned relative to support member 212 so that its axis of operation 252 is in the XZ plane, parallel to the Z axis, and at an approximate distance -CO from the Z axis. Signal processor 222 determines the current orientation of support member 214 with respect to the frame of reference XYZ based upon sensor signals 268, 267, and previously stored apparatus parameters, and generates output signals 272. Processor 222 effectively solves two linear equations each with one unknown, i.e. equations (11) and (12).
Signal processor 222 is electrically or otherwise coupled to first and second sensors 218, 220, by wiring or other connections, and may comprise a computer microprocessor having a central processing unit with RAM memory and ROM memory. Apparatus parameters are stored in the memory of signal processor 222. Signal processor 222 receives first sensor signals 268 from first sensor 218, and second sensor signals 270 from second sensor 220. Signal processor 222 processes these signals and generates support member orientation signals 272 indicative of the current orientation of support member 214 with respect to the frame of reference XYZ.
Referring now to Figure 6a through Figure 9b inclusive, both the first and second preferred embodiments of subject support orientation apparatus may be used to support and measure the orientation of rearview mirrors with respect to a frame of reference. Depending on which support member of the support member orientation apparatus is used as mirror support and which support member of the apparatus is used as mirror base, there are a number of possible ways in which these embodiments may function as apparatus which supports and determines the orientation of a rearview mirror for a vehicle. A few examples are presented below.
In Figures 6a-6b, the first preferred embodiment of the subject support orientation apparatus is shown functioning as a mirror support orientation apparatus 310, in which mirror 316 is coupled to support member 314 by mirror housing means 317, and in which support member
312 acts as a base which is connectable to a vehicle.
In Figures 7a- 7b, the first preferred embodiment of a subject support orientation apparatus is shown functioning as an alternative mirror support orientation apparatus 410, in which mirror 416 is coupled to support member 412 by mirror housing means 417, and in which support member 414 acts as a base which is connectable to a vehicle.
In Figures 8a-8b, the second preferred embodiment of the subject support orientation apparatus is shown functioning as mirror support orientation apparatus 510, in which mirror 516 is coupled to support member 514 by mirror housing means 517, and in which support member 512 acts as a base.
In Figures 9a-9b, the second preferred embodiment of the subject support orientation apparatus is shown functioning as an alternative mirror support orientation apparatus 610, in which mirror 616 is attached to support member 612 by mirror housing means 617, and support member 614 as a base.
Referring now to Figures 9a-9b and Figure 10, in use, the driver of the vehicle adjusts the mirror 616 for rearview purposes by manipulating mirror housing 617, (block 800) and activates processor 622 (block 802) which causes processor 622 to input the sensor signals 668, 670 from sensors 618 and 620 (block 804). Processor 622 then computes the orientation of the mirror 616 with respect to the frame of reference XYZ based on the sensor signals 668, 670, by converting these signals into numerical values (block 806), retrieving stored parameter values (block 808), solving two linear equations (block 310), and outputting the orientation signals (block 312).
While the subject invention has been illustrated in the
Figures 8a-b and 9a-b as utilizing links, it should be understood that the links may be replaced by using a template. For example, referring for simplicity to Figures 8a-b, the template could be linked to support member 514 by a ball in socket joint replacing joints 548 and 558. The template would have a first slot parallel to the plane XZ, through which joint 544 would slide, and a second slot perpendicular to the first slot, through which joint 554 would slide. The first slot would be sized to permit template to move parallel to plane XY without moving joint 544. However, if template moves in an other direction, the first slot forces joint 544 to move correspondingly. The second slot would be sized to permit template to move perpendicularly to the first slot without moving joint 554. However, if template moves parallel to plane XY, the second slot forces joint 554 to move correspondingly. The template effectively replaces links 546 and 556.
Referring now to Figures 11-13, in a third preferred embodiment of the invention, the support orientation apparatus shown generally as 710, comprises a first support member 712, a frame of reference XYZ centered upon the first support member 712, a second support member 713, a third support member 714 , a first sensor shown generally as 718, and a second sensor shown generally as 720, and processor 722. The second support member 713 is rotatably connected by shaft 710 to the first support member 712 for rotation about the rotational axis U parallel to axis Y. Third support member 714 is rotatably connected by shaft 711 to the second support member 714 for rotation about the rotational axis V orthogonal to the axis U and parallel to plane XZ.
Sensors 720 and 718 are rotational displacement potentiometers. First sensor 720 is operatively coupled to the first support member 712 by section 752, and by section 754 to the shaft 710 of second support member 713, thereby sensing the rotation of the mounting member 713 relative to the support member 712 about the axis U and generating sensor signals correlatable therewith received by processor 522. Second sensor 718 is operatively coupled to the shaft 711 of second support member 713 by section 764, and by section 562 to the third support member 714, thereby sensing the rotation of third support member 714 relative to the second support member 713 about the axis V and generating sensor signals correlatable therewith received by processor 722, based upon previously stored mirror parameters obtained from the mirror geometry, and /or a calibration process. Mirror housing 717 housing mirror 716 is rigidly affixed to third support member 714. Processor 722 then computes and outputs the orientation of the third support member with respect to the frame of reference XYZ based on the sensor signals 770 and 768, and previously stored apparatus parameters.
In use, the driver of the vehicle adjusts the mirror 716 for rearview purposes by manipulating mirror housing 717, and activates processor 722 which causes processor 722 to input the sensor signals from sensors 718 and 720. Processor 722 then computes and outputs the orientation signals 772 of the mirror 716 with respect to the frame of reference XYZ based on the sensor signals of sensors 750 and 760, and previously stored apparatus parameters such as sensor parameters, the relative position of the mirror 716 with respect to the support 714.
While the subject invention has been illustrated and described as being activated by the driver after the mirror has been adjusted, it should be understood that the first and second sensors may continuously send sensor signals to the processor which in turn could perform a continuous loop to check for a change in the sensor signals. Once a change in the sensor signals is detected, indicating that the mirror has been adjusted, the processor could utilize the new sensor signals to determine the new orientation of the mirror.
While the subject invention has been illustrated and described with respect to manually adjustable vehicle rearview mirrors, it is equally applicable to electrically adjustable remote rearview mirrors, as well as other applications involving adjustable mirrors such as light sources and distance sensors.
Thus, while what is shown and described herein constitute preferred embodiments of the subject invention, it should be understood that various changes can be made without departing from the subject invention, the scope of which is defined in the appended claims.

Claims

I CLAIM:
1. Apparatus for supporting and determining orientation angles of a mirror with respect to a frame of reference consisting of a longitudinal reference axis, a lateral reference axis intersecting and orthogonal thereto, and a vertical reference axis, intersecting and orthogonal to the longitudinal and lateral reference axes, comprising:
(a) a first support member of known position with respect to the frame of reference;
(b) a second support member rotatably coupled to the first support member, rotatable about a first axis of rotation coincident with the vertical reference axis, and rotatable about a second axis of rotation orthogonal thereto;
(c) mirror housing means rigidly coupled to one of the support members for housing the mirror;
(d) first sensor means operatively coupled to the first support member and to the second support member for sensing rotational movement of the second support member about the first axis, and for generating first sensor signals correlatable therewith;
(e) second sensor means operatively coupled to the first support member and to the second support member for sensing rotational movement of the second support member about the second axis, and for generating second sensor signals correlatable therewith; and (f) signal processing means coupled to the first sensor means and to the second sensor means for processing the first sensor signals and the second sensor signals and determining current orientation angles of the mirror relative to the first axis and to the second axis based upon the first sensor signals and the second sensor signals and for generating output signals correlatable therewith.
2. Apparatus as defined in claim 1, wherein the first sensor means is positioned relative to the first support member and the second support member such that the first sensor signals are substantially independent of movement of the mirror about the second axis, and the second sensor means is positioned relative to the first support member and the second support member such that the second sensor signals are substantially independent of movement of the mirror about the first axis.
3. The apparatus as defined in claim 1, wherein the signal processing means comprises a computer processor having data storage means for storing known mirror geometry parameters, and computation means for computing the current orientation of the mirror based upon the data and the first and second sensor signals and for generating the output signals.
4. The apparatus as defined in claim 3, wherein the computation means converts the first sensor signals and the second sensor signals into numerical values, retrieves the mirror geometry parameters from the data storage means, and calculates values for a first angle of the mirror about the first axis based upon a first straight line relationship wherein the first angle is expressed as a function of the mirror geometry parameters independently of the second angle, and values for a second angle of the mirror about the second axis, based upon a second straight line relationship wherein the second angle is expressed as a function of the mirror geometry parameters independently of the first angle.
5. The apparatus as defined in claim 1, wherein the first support member is a base connectable to a vehicle.
6. The apparatus as defined in claim 5, wherein the base comprises an elongated stem having a longitudinal base axis coincident with the longitudinal reference axis.
7. The apparatus as defined in claim 6, wherein the first sensor means operates along a first sensor axis of operation spaced from and parallel to the longitudinal reference axis, and wherein the second sensor means operates along a second sensor axis of operation which is spaced from and parallel to the longitudinal reference axis.
8. The apparatus as defined in claim 6, wherein the first sensor means and the second sensor means each comprise a linear displacement potentiometer mounted on the stem of the base and a link of fixed length extending between the potentiometer and the second support member.
9. The apparatus as defined in claim 8, wherein the link of the first sensor means moves along the first sensor axis of operation and the link of the second sensor means moves along the second sensor axis of operation.
10. The apparatus as defined in claim 9, wherein the first sensor axis of operation falls within a first plane defined by the longitudinal reference axis and the vertical reference axis, and the second sensor axis of operation falls within a second plane defined by the longitudinal reference axis and the lateral reference axis.
11. The apparatus as defined in claim 10, wherein the linear potentiometer of each sensor means comprises a body component containing a resistor circuit and having a groove running substantially the length thereof along an axis parallel to the sensor axis, and a contact arm extending through the groove and slidably cooperating with the resistor circuit, wherein the contact arm has a free end that is rotatably connected to an end of the link.
12. The apparatus as defined in claim 1, wherein the mirror housing means comprises a mirror casing affixed to the second support member, having holding means for holding the mirror, and cover means for covering the first sensor means and the second sensor means.
13. The apparatus as defined in claim 6, wherein the second support member is a support coupled to the stem of the base by a ball in socket joint.
14. The apparatus as defined in claim 13, wherein the mirror is disposed in a support plane, and the mirror geometry parameters comprise a first plane of known position with respect to the support plane, a fixed point R of known location relative to the first sensor means, a fixed point Q of known location relative to the second sensor means, and points A and B fixed in the first plane, and constants b, b', m and m', wherein AR represents the distance between points A and R, and BQ represents the distance between the points B and Q, and wherein u represents the angle of rotation of the mirror about the first axis, and v represents the angle of rotation of the mirror about the second axis, and wherein the computation means:
(a) inputs the first and second sensor signals;
(b) converts the first and second sensor signals into numerical values correlated with distances BQ and AR;
(c) retrieves the mirror geometry parameters b, b', m and m' from the data storage means;
(d) calculates the values of angles u and v for the equations: u = (BQ - b)/m, and v = (AR - b')/m'; and
(e) outputs the calculated values for angles u and v.
15. The apparatus as defined in claim 1, wherein the mirror is disposed in an elongated support plane having a longitudinal support axis and a transverse support axis perpendicular thereto.
16. The apparatus as defined in claim 15, wherein the first sensor means and the second sensor means are mounted in the mirror housing means for operation along axes of operation which are spaced from and parallel to the support plane.
17. Apparatus as defined in claim 16, wherein the first sensor means is positioned relative to the first support member and second support member such that the first sensor signals are substantially independent of movement of the mirror about the second axis, and the second sensor means is positioned relative to the first support member and the second support member such that the second sensor signals are substantially independent of movement of the mirror about the first axis.
18. The apparatus as defined in claim 16, wherein the signal processing means comprises a computer processor having data storage means for storing known mirror geometry parameters, and computation means for computing the current orientation of the mirror plane based upon the data and the first and second sensor signals and for generating the output signals.
19. The apparatus as defined in claim 18, wherein the computation means converts the first sensor signals and the second sensor signals into numerical values, retrieves the mirror geometry parameters from the data storage means, and calculates values for a first angle of the mirror about the first axis based upon a first straight line relationship, wherein the first angle is expressed as a function of the mirror geometry parameters independently of the second angle, and values for a second angle of the mirror about the second axis, based upon a second straight line relationship wherein the second angle is expressed as a function of the mirror parameters independently of the first angle.
20. The apparatus as defined in claim 16, wherein the first sensor means operates along a first sensor axis of operation spaced from and parallel to the transverse support axis and the second sensor means operates along a second sensor axis of operation spaced from and parallel to the longitudinal support axis.
21. The apparatus as defined in claim 19, wherein the first sensor means and the second sensor means each comprise a linear displacement potentiometer mounted to the second support member and link of fixed length extending between the potentiometer and the stem of the base.
22. The apparatus as defined in claim 21, wherein the link of the first sensor means moves along the first sensor axis of operation and the link of the second sensor means moves along the second sensor axis of operation.
23. The apparatus as defined in claim 22, wherein the linear potentiometer of each sensor means comprises a rectangular body component containing a resistor circuit and having a groove running substantially the length thereof along an axis parallel to the sensor axis, and a contact arm extending through the groove and slidably cooperating with the resistor circuit, wherein the contact arm has a free end that is rotatably connected to an end of the link.
24. The apparatus as defined in claim 16, wherein the mirror housing means comprises a mirror casing affixed to the second support member, having a holding means for holding the mirror in the mirror plane, and cover means for covering the first sensor means and the second sensor means.
5. Apparatus for supporting and determining orientation angles of a mirror with respect to a frame of reference consisting of a longitudinal reference axis, a lateral reference axis intersecting and orthogonal thereto, and a vertical reference axis intersecting and orthogonal to the longitudinal and lateral reference axes, comprising:
(a) a first support member rigidly connectable to a vehicle;
(b) a second support member rotatably connected to the base for rotation about a first axis parallel to the vertical reference axis;
(c) a third support member rotatably connected to the first support member for rotation about a second axis orthogonal to the first axis;
(d) a mirror housing means rigidly coupled to the third support member for housing the mirror;
(e) first sensor means operatively coupled to the first support member and to the second support member for sensing the rotation of the second support member about the first axis relative to the first support member, and for generating first sensor signals correlatable therewith;
(f) second sensor means operatively coupled to the second support member and to the third support member for sensing the rotation of the third support member about the second axis relative to the second support member, and for generating second sensor signals correlatable therewith; and
(g) signal processing means electrically coupled to the first sensor means and to the second sensor means for processing the first sensor signals and the second sensor signals and determining current orientation angles of the mirror relative to the first axis and the second axis based upon the first sensor signals and the second sensor signals, and for generating output signals correlatable therewith.
26. The apparatus as defined in claim 24, wherein the first sensor means comprises a first rotational displacement potentiometer mounted along the first axis, and wherein the second sensor means comprises a second rotational displacement potentiometer mounted along the second axis.
27. The apparatus as defined in claim 25, wherein the signal processing means comprises a computer processor having data storage means for storing known mirror geometry parameters, and computation means for computing the current orientation of the mirror based upon the data and the first and second sensor signals and for generating the output signals.
PCT/SE1997/001979 1996-11-27 1997-11-25 Mirror support orientation apparatus WO1998023464A1 (en)

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US08/757,712 1996-11-27

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