WO2001088470A1 - Measurement system and method for measuring angles and distances - Google Patents

Measurement system and method for measuring angles and distances Download PDF

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Publication number
WO2001088470A1
WO2001088470A1 PCT/DK2001/000345 DK0100345W WO0188470A1 WO 2001088470 A1 WO2001088470 A1 WO 2001088470A1 DK 0100345 W DK0100345 W DK 0100345W WO 0188470 A1 WO0188470 A1 WO 0188470A1
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WO
WIPO (PCT)
Prior art keywords
module
distance
radiation means
array
radiation
Prior art date
Application number
PCT/DK2001/000345
Other languages
French (fr)
Inventor
Tom Olesen
Preben DAMGÅRD
Original Assignee
Unisensor Aps
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 Unisensor Aps filed Critical Unisensor Aps
Priority to AU60080/01A priority Critical patent/AU6008001A/en
Publication of WO2001088470A1 publication Critical patent/WO2001088470A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude

Abstract

An easy to mount measuring device is provided for measuring the distance between two objects as well as an angle of rotation of the second object relative to the first object. The measuring device comprises light emitting means and means for switching the light on and off in turn, as well as optical detectors for detecting images of the light emitting means formed by image forming means. Calculating means is provided for calculating the distance between the two objects as well as the angle and translation of the two objects relative to each other. The calculating means may be analogue or digital comprising a microprocessor or a PC, or it may be a combination thereof. Further the measuring device may be adapted to measure a rotation as well as a translation of the second object relative to the first object.

Description

MEASUREMENT SYSTEM AND METHOD FOR MEASURING ANGLES AND DISTANCES
The present invention relates to a system and a method for measuring angles and distances between to modules.
In many situations it is required to simultaneously measure a distance between two objects and an angle of which one of the objects is rotated relative to the other. Numerous measurement methods are available for measuring distance between two objects, e.g. triangulation, time-of-flight, and auto focus. Also many different systems have been invented for measuring an angle of one object relative to another. There are even systems for measuring distance as well as an angle between two objects, but these systems are dedicated to specific applications, and are often difficult to adapt to other applications. These measurement systems are build into larger systems providing information for e.g. a micro-controller manipulating one of the objects or for calculating data related to the measurements.
It is an object of the present invention to provide a system, which is fast and easy to mount on many different objects. The system should be capable of providing a distance to an object and an angle relative to the observer in an easy and fast manner.
The present invention provides an easy to mount measuring device for measuring the distance between two objects as well as an angle of rotation of a second object relative to a first object.
The above-mentioned objects are complied with by providing, in a first aspect, a system for determining an angle and a distance between a first and a second module, wherein the first module comprises
- first, second and third radiation means, the first and second radiation means being separated by a known first distance, the first and third radiation means being separated by a known second distance, and the second and third radiation means being separated by a known third distance,
and wherein the second module comprises
- image forming means, and
- an array of optical sensors being positioned at a fixed distance from the image forming means so that images of the radiation means of the first module are projected onto the array of optical sensors.
Preferably, the system further comprises
- means for switching the first, second and third radiation means on and off in a predetermined sequence,
- means for transforming images formed on the array of optical sensors into sets of digital data,
- means for transmitting sets of digital data from the transforming means to a first calculating means, said first calculating means being adapted to calculate, from sets of digital data representing the second and third known distances, a first ratio, said first ratio being proportional to the angle between the first module and the second module, and said first calculating means further being adapted to calculate, from the set of digital data representing the first known distance, the distance between the first module and the second module, and scaling said set of digital data with a scaling factor proportional to the first ratio.
The above-mentioned means (switching means, transforming means, and first calculating means) may all be implemented as electronic means, such as an analogue circuit, or they may be implemented as digital means - e.g. comprising a microprocessor or a PC, or any combination thereof. The first module may further comprise a fourth radiation means positioned at a fourth known distance from the third radiation means, and a fifth radiation means positioned at a fifth known distance from the third radiation means. Preferably, the first, second, fourth and fifth radiation means are positioned in a first plane.
The first calculating means may, from the set of digital data representing the fourth and fifth known distances, calculate a second ratio, the second ratio being proportional to the second angle between the first module and the second module.
The system may further comprise a second calculating means for calculating a rotation of the first module relative to the second module by calculating the position of the projected images of the first, second, fourth, and fifth radiation means. The second calculating means may also be implemented as electronic means, such as an analogue circuit, or it may be implemented as digital means - e.g. comprising a microprocessor or a PC, or any combination thereof.
The first calculating means may be capable of determining a parallel translation of the position of the first module relative to the second module. The array of optical sensors may comprise a one-dimensional and/or a two-dimensional CCD camera or CMOS array. Alternatively, the array of optical sensors may comprise at least two one-dimensional CCD cameras or CMOS arrays, and may further comprise a beam-splitter. The radiation means may comprise LED's, lasers and/or reflectors so to reflect incoming light. The image forming means may comprise a lens, such as a cylinder lens or pinhole.
In a second aspect, the present invention relates to a method for determining an angle and a distance between a first and a second module, said method comprising the steps of
1. providing the first module, said first module comprising a first, second and third radiation means, the first and second radiation means being separated by a known first distance, the first and third radiation means being separated by a known second distance, and the second and third radiation means being separated by a known third distance,
2. providing the second module, said second module comprising image forming means and further comprising an array of optical sensors, said array of optical sensors being positioned at a fixed distance from the image forming means so that images of the radiation means of the first module are projected onto the array of optical sensors,
3. switching the radiation means on and off in a predetermined sequence,
4. transforming images formed on the array of optical sensors into sets of digital data,
5. calculating, from sets of digital data representing the second and third known distances, a first ratio, said first ratio being proportional to the angle between the first and second module, and
6. calculating, from the set of digital data representing the first known distance, the distance between the first and second module, and scaling said set of digital data with a scaling factor proportional to the first ratio.
The required means for performing the above-mentioned method are similar to the means according to the first aspect of the present invention.
The invention will now be described in further details with reference to the accompanying figures where,
Fig 1 is a block diagram of the measurement system of the present invention,
Fig 2 is a schematic plan view of optical part of the measurement system with 3 radiation means in the first module,
Fig 3 is a schematic plan view of optical part of the measurement system with 3 radiation means in the first module, and where the first module is rotated relative to the second module,
Fig 4 is a schematic view of the first module with 5 radiation means, and
Fig 5 is a schematic view of the embodiment with two 1 -dimensional image transforming means.
In Fig 1 a block diagram of the present invention is shown. A first module 1 is placed on an object together with first electronic means 3. A second module 2 is placed at a distance 9 from the first module 1 together with the second electronic means 4, and also the third electronic means 5 and the fourth electronic means 6 are placed at the first module 1. The first module 1 may be rotated an angle 8 relative to the second module 2.
In Fig 2 and Fig 3 a more detailed view of the first module 1 and the second module 2 is shown. The first module 1 comprises a first radiation means 20 and a second radiation means 22. The first module 1 further comprises a third radiation means 24 positioned behind a line connecting the first radiation means 20 and the second radiation means 22. The first distance 40 between the first radiation means 20 and the second radiation means 22 is known to the system. In a preferred embodiment of the present invention the distances 44 and 42 are approximately the same and also know to the system. The x-component of the third distance 42 is denoted 42x and the x-component of the second distance 44 is denoted 44x.
The second module 2 comprises an image forming element 10 as well as a second electronic means 4 for transforming the image into digital data.
When measurements are performed, the first electronic means 4 controls the radiation means 20, 22, and 24 of the first module 1 to be turned on and off one after the other. When one of the radiation means 20, 22, or 24 is turned on, an image 20', 22' or 24' of the radiation means is formed on the second electronic means 4. The image is digitised and transferred via the third electronic means 5 to the fourth electronic means 6 where the position of the image of the radiation means is calculated. When all three radiation means 20, 22, and 24 has been turned on and off, the fourth electronic means 6 calculates the distances 40', 42x' 5 and 44x'.
The ratio between the distances 42x' and 44x' is proportional to the angle 8 of which the first module 1 is rotated around the rotational axis 30. A shift in distance 9 between the first module 1 and the second module 2 will change the distances 10 42x' and 44x', but the ration between them will not change.
The first module should be rotated around rotational axis 30 lying on the line connecting the first radiation means 20 and the second radiation means 22. Preferably, the rotational axis 30 is at the centre of the line.
15
Due to a rotation of the first module 1 around the rotational axis 30 the distance 40' is scaled with the ratio between the distances 42x' and 44x'. The distance 40' is proportional to the distance 40 and the ratio between the distances is proportional to the distance 9 between the first module 1 and the second module
20 2.
If no rotation of the first module 1 has been made, the ratio between the distances 42x' and 44x' will be 1 , and the ratio between the distances 40 and 40' will be proportional to the distance 9. 5
If however a rotation of the first module 1 has been made, the ratio between the distances 42x' and 44x' will be different from 1 , and the distance 40' should be scaled with this ratio before calculating the distance 9.
30 This may also be expressed as
Angle 8 = , (40/40') and
Distance 9 - 40' ki f2(Angle 8),
where fi. and f2 are linear functions determined during calibration of the measurement system.
A translation perpendicular to the distance 9 of the first module 1 relative to the second module 2 may be calculated. If no translation is present, the centre point between the first radiation means 20 and the second radiation means 22 will be at a predetermined position. During a translation this point will shift, and the shift is proportional to the translation that may be calculated by:
Translation 50 = Translation in pixels * pixelsize * distance 9 / 2*distance 52
In a preferred embodiment of the present invention the first module 1 further comprises a fourth radiation means 101 and a fifth radiation means 102. These radiation means are placed in the same plane as the first radiation means 20 and the second radiation means 22 and at known distances from these radiation means. The third radiation means 24 of the first module 1 should not be placed in that plane. This is shown in Fig 4, where the line connecting the fourth radiation means 101 and the fifth radiation means 102 should be perpendicular to a line connecting the first radiation means 20 and the second radiation means 22. In this embodiment the fourth electronic means 6 is capable of calculating a second ratio between the fourth known distance and the fifth known distance. This ratio is proportional to the second angle between the first module and the second module.
In yet another preferred embodiment of the present invention the system further comprises a fifth electronic means being capable of calculating the rotation of the first module relative to the second module. The calculation is performed by determining the positions of the first radiation means 20, the second radiation means 22, the fourth radiation means 101 , and the fifth radiation means 101 , and comparing these positions with standard values for known rotations. In a preferred embodiment of the present invention the radiation means of the first module 1 are light emitting diodes (LED's), but also other types of light emitting devices may be used, e.g. a diode laser or a small light bulb.
In another preferred embodiment of the present invention the radiation means are retro reflecting reflectors. In this embodiment the light is sent from the second module 2 to the reflectors of first module 1. The reflectors will in turn reflect the light back into the image forming means 10 of the second module 2. This embodiment is preferable when it is desired not to have any electronic means for driving the radiation means of the first module 1.
In another preferred embodiment the image forming means 10 of the first module 1 is a lens and in yet another preferred embodiment of the present invention, the image forming means 10 is a cylinder lens. A cylinder lens is preferable as it translates/projects/focuses the image of the radiation means into a line of light perpendicular to the 1 dimensional array og optical sensors making alignment of the measurement system easier.
In an embodiment of the present invention where five radiation means are used, one may use a standard lens creating an image on a 2 dimensional array of optical sensors. It is also possible to use a beam splitter, two cylinder lenses, and two one-dimensional arrays of optical sensors. This is shown in Fig. 5, where the beam splitter 60 separates the image of the first module 1 into two images of preferably 50% light intensity. Each of the images are focused onto each their 1- dimensional array of optical sensors (64, 62) using cylindrical lenses (66,68). The two cylindrical lenses (66,68) should be rotated 90° relative to each other. The advantage of this arrangement is the possible use of two pieces of simple 1- dimensional optical sensors in stead of one more complex 2-dimensional array. The image processing of two 1 -dimensional arrays are much faster and easier that processing of one 2-dimensional array.
In yet another preferred embodiment of the present invention, the image forming means 10 may be a pinhole. The array of optical sensors may be a CCD line scan camera in either 1 or 2 dimensions or a CMOS array in 1 or 2 dimensions. It is obvious, that also other optical sensors may be used, such as a PSD (position sensitive device).
The first electronic means for turning on and off the radiation means of the first module in a predetermined sequence may comprise a micro controller, e.g. a Microchip PIC, where one port of the micro controller controls one radiation means. Timing of when a radiation means should be turned on and off may be generated by the first electronic means itself, or it may be received from one of the other electronic means, preferably from the fourth electronic means, either by wire or via wireless communication. Wireless communication between the first electronic means and one or more of the other electronic means is in a preferred embodiment made via BlueTooth technology, but also infrared communication is within the scope of this invention.
The second electronic means for transforming the image formed on the array of optical sensors into a set of digital data, may be an analog to digital converter.
The third electronic means for transmitting the set of data form the second electronic means to the fourth electronic means may be a simple cable connection, or it may be a wireless connection using BlueTooth technology or infrared communication.
In a preferred embodiment of the present invention, the fourth electronic means comprise a master micro controller capable of controlling the first electronic means to turn on and off the radiation means, the master micro controller further being capable of controlling the image forming means and the second electronic means for transforming the image into a set of digital data and for calculating the distance and angles between the first module and the second module. The micro controller may be a Microchip PIC or a similar micro controller or a PC.
A number of factors define the accuracy of which the measurement system can calculate the angle 8 and the distance 9. If the distances 42 and 44 are small, the difference between the distances 42x' and 44x' will be smaller than if the distances 42 and 44 are larger. A smaller difference reduces the accuracy of the measurement of the angle 8. On the other hand, small distances 42 and 44 will increase the size of the angle 8 that may be measured using the present invention. It is therefore apparent for a person skilled in the art, that the invention may easily be adapted to different measurement needs.
It is also apparent that the alignment of the system to a large extent is uncritical. E.g. a parallel translation of the second module in relation to the first module will be seen on the image forming means as a translation of the images of the radiation means. The ratios being calculated will not be influenced of the parallel translation as long as the images of the radiation means to not fall outside the image forming means.
When a system has been installed, i.e. when the first module 1 and the second module 2 has been positioned on the objects to monitor and the initial position has been determined, a parallel translation of the second module in relation to the first module may be detected by determining the parallel translations of the images of the radiation means.
As an example of the use of the present invention consider a transportable staircase for airliners. At the arrival at the airport, the transportable staircase is moved so as the staircase is positioned just outside the door of the airliner. In this way it is in many airports possible for the passengers of the airliner to walk from the aeroplane directly into the terminal of the airport without getting into open air.
The control of the movements is usually done by human hand, but using an instance of the present invention, this may be automated. On the aeroplane, behind the door, a first module is placed. The first module comprise a self adhesive label with 4 small retro reflective areas, and a fifth small area elevated a few mm above the label. A second module is placed on the transportable staircase. When the airliner has parked, a laser diode transmits laser light onto the label, and the image forming means captures an image of the 5 retro reflective areas. The electronic means of the second module is capable of determining the position of the door of the aeroplane, and the knowledge of the position is used to move the staircase towards the aeroplane. The position information may be updated while moving the staircase, and the best position for the staircase may therefore be achieved in one smooth movement.

Claims

1. A system for determining an angle and a distance between a first and a second module, wherein the first module comprises
- first, second and third radiation means, the first and second radiation means being separated by a known first distance, the first and third radiation means being separated by a known second distance, and the second and third radiation means being separated by a known third distance,
and wherein the second module comprises
- image forming means, and
- an array of optical sensors being positioned at a fixed distance from the image forming means so that images of the radiation means of the first module are projected onto the array of optical sensors.
2. A system according to claim 1, further comprising
- means for switching the first, second and third radiation means on and off in a predetermined sequence,
- means for transforming images formed on the array of optical sensors into sets of digital data,
- means for transmitting sets of digital data from the transforming means to a first calculating means, said first calculating means being adapted to calculate, from sets of digital data representing the second and third known distances, a first ratio, said first ratio being proportional to the angle between the first module and the second module, and said first calculating means further being adapted to calculate, from the set of digital data representing the first known distance, the distance between the first module and the second module, and scaling said set of digital data with a scaling factor proportional to the first ratio.
3. A system according to claim 1 or 2, wherein the first module further comprises
- fourth radiation means positioned at a fourth known distance from the third radiation means,
- fifth radiation means positioned at a fifth known distance from the third radiation means,
wherein the first, second, fourth and fifth radiation means are positioned in a first plane, and wherein the calculating means, from the set of digital data representing the fourth and fifth known distances, is adapted to calculate a second ratio, the second ratio being proportional to the second angle between the first module and the second module.
4. A system according to claim 3 further comprising a second calculating means for calculating a rotation of the first module relative to the second module by calculating the position of the projected images of the first, second, fourth, and fifth radiation means.
5. A system according to any of claims 1-4, wherein the first calculating means is capable of determining a parallel translation of the position of the first module relative to the second module.
6. A system according to any of claims 1-5, wherein the array of optical sensors comprises a one-dimensional CCD camera or CMOS array.
7. A system according to any of claims 1-5, wherein the array of optical sensors comprises a two-dimensional CCD camera or CMOS array.
8. A system according to any of claims 1-5, wherein the array of optical sensors comprises at least two one-dimensional CCD cameras or CMOS arrays, and further comprising a beam-splitter
9. A system according to any of claims 1-8, wherein the radiation means 5 comprises LED's.
10. A system according to any of claims 1-8, wherein the radiation means comprises lasers.
10 11. A system according to any of claims 1-10, wherein the radiation means comprises reflectors.
12. A system according to any of claims 1-11 , wherein the image forming means comprises a lens, such as a cylinder lens.
15
13. A system according to any of claims 1-11 , wherein the image forming means comprises a pinhole.
14. A method for determining an angle and a distance between a first and a 20 second module, said method comprising the steps of
- providing the first module, said first module comprising a first, second and third radiation means, the first and second radiation means being separated by a known first distance, the first and third radiation means being separated
25 by a known second distance, and the second and third radiation means being separated by a known third distance,
- providing the second module, said second module comprising image forming means and further comprising an array of optical sensors, said array
30 of optical sensors being positioned at a fixed distance from the image forming means so that images of the radiation means of the first module are projected onto the array of optical sensors, - switching the radiation means on and off in a predetermined sequence,
- transforming images formed on the array of optical sensors into sets of digital data,
- calculating, from sets of digital data representing the second and third known distances, a first ratio, said first ratio being proportional to the angle between the first and second module, and
- calculating, from the set of digital data representing the first known distance, the distance between the first and second module, and scaling said set of digital data with a scaling factor proportional to the first ratio.
PCT/DK2001/000345 2000-05-17 2001-05-17 Measurement system and method for measuring angles and distances WO2001088470A1 (en)

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Application Number Priority Date Filing Date Title
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DKPA200000794 2000-05-17
DKPA200000794 2000-05-17

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EP1340998A1 (en) * 2002-02-28 2003-09-03 Alignment International Limited Apparatus and method for identifying the orientation of an object
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WO2004112432A1 (en) * 2003-06-16 2004-12-23 Koninklijke Philips Electronics N.V. Device and method for locating a room area
EP1747443A2 (en) * 2004-05-06 2007-01-31 John Cerwin Electronic alignment system
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1340998A1 (en) * 2002-02-28 2003-09-03 Alignment International Limited Apparatus and method for identifying the orientation of an object
EP1340999A1 (en) * 2002-02-28 2003-09-03 Alignment International Limited Method and apparatus for identifying the position of an object
WO2004112432A1 (en) * 2003-06-16 2004-12-23 Koninklijke Philips Electronics N.V. Device and method for locating a room area
EP1747443A2 (en) * 2004-05-06 2007-01-31 John Cerwin Electronic alignment system
EP1747443A4 (en) * 2004-05-06 2007-10-24 John Cerwin Electronic alignment system
RU2492420C2 (en) * 2011-08-18 2013-09-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Санкт-Петербургский национальный исследовательский университет информационных технологий, механики и оптики" Method of determining spatial position of object and apparatus for implementing said method

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