• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Method and device for supplying information for determining the position of a body. For determining two position coordinates for a point. (D) within a space, a beam (10) is caused to irradiate a part of the space and is deflected cyclically over. the space whereby the beam is modulated in phase with the cyclic motion so that the radiation incident on the point (D) comprises sufficient information to identify the point. Embodiments with rotating (r, 9) and Cartesian coordinate axes are also included.
    公开号:SE8402568A1
    申请号:SE8402568
    申请日:1984-05-14
    公开日:2012-03-03
    发明作者:W J Montgomery
    申请人:Short Missile Systems Ltd；
    IPC主号:
    专利说明:

    2 can be applied to a body that supports the sensor or at a distance from any such body.
    By channeling the energy of the beam to a usable shape and sanding the energy between the molds instead of shielding a beam sufficiently wide to illuminate the entire said defined space, the range of the emitted beam from a radiation source with a given power is markedly increased. For example, if the shape is determined to a surface which is a ninth part of the radiation of the delimited space, it will increase by a factor of nine. If one ignores atmospheric factors, this would increase the usable area gets the beam with a very valuable factor three.
    According to a second aspect of the present invention, there is provided an apparatus for supplying information sufficient to determine two coordinates in a point space having a two-dimensionally defined space and comprising means for generating a beam designed to illuminate only a portion. of the space, devices for deflecting the beam cyclically Across the space, whereby the beam strikes the said point layer during discrete separate time periods, and devices for modulating the beam in phase with said cyclic motion so that the radiation hitting the point layer provides information to the point layer. 'pada of the two coordinates.
    According to one embodiment, the device comprises means for generating a shaped, pulsed laser beam and means (e.g. a Pechan prism) for rotating the same about an axis. The pulse frequency is sufficiently high to produce a plurality of pulses below the usual range of the beam. The shape can be chosen so that the duration of the illumination of any hot spot in a defined space illuminated by the beam is indicative of the radial distance r of the point from the axis, while the pulse repetition frequency varies cyclically in phase with the rotation of the beam, so that the received the pulse repetition frequency during each illumination period is indicative of the angular displacement 8 of the point from a reference axis.
    It should be noted that in this latter arrangement, sufficient information is obtained at the usual lighting period to identify the coordinates of the point. In the earlier patent specification 1,395,246 a set of two consecutive periods is required to lead this amount of information. Nevertheless, the present invention is not limited to arrangements in which a simple period itself provides full-blown position data.
    The set according to the invention preferably comprises the following steps, (i) arranging a beam of radiation comprising a first part of the beam and a second part of the beam, each part being shaped so as to illuminate only a part of said space, (ii) repeated scanning through the first part of the beam is forced across the space in a first scanning direction at a first scanning frequency, (iii) repeated scanning through the second part of the beam is forced across the space in a second scanning direction at an angle relative to the first scanning direction and at a second scanning frequency saint iv) modulating the first part of the beam in phase with the first scanning frequency and modulating the second part of the beam in phase with the second scanning frequency in such a way that the beam striking the point sheet from the first and second parts of the beam provides at the point sufficient information to identify both of the two choirs dinatars.
    Preferably, the first and second scanning directions are inboard perpendicular and the first and second of the scanning frequencies are equal, the first and second parts of the beam scanning alternately over time across the delimited space.
    The device according to the invention preferably comprises devices for generating a beam comprising a first part of the beam and a second part of the beam, each of said parts being designed so as to illuminate only a part of the space, the device further comprising - means for repeated scanning through the first part of the beam transverse across the space in a first scanning direction and at a first scanning frequency, and further for repeated scanning of the second part of the beam transversely across the space in a second radiation direction at an angle in relation to the first scanning direction and at a second scanning frequency saint don so as to modulate the first part of the beam in phase with the first scanning frequency and modulate the second part of the beam in phase with the second scanning frequency so that the beam if the point layer from the first and second parts of the beam becomes at point sufficient information to identify both coordinates.
    The lamp includes means for generating first and second pulsed laser beam parts and means for sweeping these transversely across the space in the first and other scanning directions, respectively. The pulse frequency has the habit of being sufficiently high to produce a plurality of pulses during the habit of scanning with this part of the beam across the space. In one embodiment, the pulse frequency for each part varies in phase with the sweep of the beam part so that the received pulse frequency during the usual irradiation period is indicative of the shift in predetermined and Y-directions.
    A device according to the present invention can be used in connection with a radiation sensor attached to a body and comprising layer calculation devices either on the body or at a distance therefrom, which in use receives as input information the straining which hits the sensor.
    The invention has particular application in remote control of a body (eg a controlled robot) which moves along a laser control beam. According to the invention, in combination, there is also provided a body to be controlled at a distance along a pulse modulated control beam and comprising a radiation sensor and layer calculating devices which are programmable with information regarding the beam modulation which is sufficient for calculating the body's transverse section relative to the longitudinal section. axis of the beam by monitoring an output of the radiation sensor saint don for generating said modulated beam comprising means for effecting cyclic motion of the beam over a defined area saint means for modulating the beam in phase with said cyclic motion.
    Although the invention is applicable to any movable body, whether on land, in or in motion, in the air or in space, it is particularly suitable in connection with movable bodies such as robots which include devices for modifying the body's ballistic trajectory. The invention can be applied to moving bodies which do not include such devices but which at any given moment of time should be able to receive data regarding the position of the moving body in relation to a given ballistic or line of sight. The invention can be applied to movable bodies in which their spatial orientation is required to be determined at a fixed or variable point at a distance from the movable body.
    The invention has special application in a robot control system, in which a laser control sample is aimed at a grinder and a robot is fired into the jet sample. The robot carried on its rear end a sensor, which is arranged to sense a space-modulated laser beam and feed signals in response to a control equipment to the robot, which generates signals depending on the robot's position in the cross section of the control sample. SA as soon as this layer has been calculated, the robot is controlled to move towards the center or other selected layer with the control monster. By saving the grind with the control sample, the robot is guided towards the grind.
    The invention will be described in more detail with reference to the accompanying drawings, which show exemplary embodiments of the invention.
    Figure 1 is a diagram relating to the shape of a first guide beam in cross section showing what is meant by the parameters r, R and e with identification of four points D of the cross section of the beam.
    Figure 2 is a diagram showing the beam intensity I in relation to time expressed as a cycle, i.e. a vary of the beam around the axis 11 of the four points shown in Figure 1, the diagram indicating the shape of the beam as it strikes each of the four points D.
    Figures 3 and 4 are diagrams further characterizing the shape of the beam section shown in Figures 1 and 2.
    Figure 5 is a diagram similar to Figure 3 showing a second form of a beam section.
    Figure 61 is a diagram showing a third shape.
    Figure 7 is a diagram characterizing the shape of the beam section of Figure 6.
    Figure 8 is a side view of the device according to the invention for generating a beam with a section as shown in Figures 1,2,3 and 4.
    Figure 9 shows a guide beam in the cross section showing the significance of the parameters X and Y and identifying four points in the beam response section. Figure 10 is a graph of received beam intensity received in relative time expressed as a scan cycle of the two parts of the beam for the four points shown in Figure 9, the diagram AskAd- the shape of the beam when it hits each of the four points P.
    Figure 11 shows an optical arrangement of a transmitter with double sanding energy source / double scanning / double opening for control according to a beam, the figure showing a first embodiment of a device according to the invention for generating the beam according to Figure 9.
    Figure 12 shows an optical arrangement of a transmitter with a double sanding effect cold / single scanner / double opening for control along a beam path, the figure constituting a second embodiment of the device according to the present invention for generating the beam bundle according to figure 9.
    Referring to Figures 1-7 and in particular to Figure 1, spatial modulation of a control beam cross section 10 is achieved by (1) rotating a laser beam in a direction f about a central axis 11 in a circular control sample surface 12 with a radius R, (2) pulsation of the laser beam with a frequency which varies with its angular displacement (for example after time t) from a vertical or other reference direction 13 in the plane of the control sample. Each revolution of the laser beam occupies the time T. During this time the pulse repetition frequency (or pulse interval) is varied between two boundaries and the cycle is repeated continuously at a predetermined speed. Feeding with a sensor D in the time interval Te between received laser pulses Provides a mat of the sensor layer in terms of an angular displacement 8 from the reference direction 13 and (3) shaping the control beam so that the total time Tr during which the sensor receives electromagnetic waves varies from the radiation sample. Provides a feed of the layer of the sensor in the form of a radial displacement r from the axis of rotation 11 of the beam 11. Figures 1-4 show the simple case in which a bundle is shaped so that during rotation of the same at a constant angular velocity w the proportion Tr of the total time T for a vary of the trajectory during which 1ase irradiation hits a point varies strictly linearly with it. radial distance r has this point from the axis of rotation 11 of the beam 10 and varies 25% for a point right next to the axis of the beam to 0% for a point just on the edge of the beam. This has been called a beam bundle modulation system in the form of a net rotating 18v ".
    Figures 1 and 2 schematically illustrate the variation during a series of electromagnetic (laser) pulses 14 received under different sensor layers (D1, D2, D3 and D4) along the surface 12 which are controlled by the beam 10.
    According to Figures 3, 4 and 5, the ranges of ray-beam shapes covered by the expression d = r cosi2ff K rj indicate the characteristic features that the time Tr during which electromagnetic vigors are received by a sensor D decreases linearly with increasing radial coordinates r. These shapes are identified as form I.
    With K = 0.125, the second curve is generated which is asymptomatic in Figure 5. However, the second values of the K mom range 0-0.25 can be selected, these curves all providing linear change (with radial lag) of the time during which electromagnetic waves received by the sensor.
    An alternative range of shapes (shape II) can be generated and these may be characterized by the time during which electromagnetic waves are received by the sensor D 8kar with 8kd radial coordinates r. These shapes correspond to those generated when the first set of shape I is reduced from the quadrant of a circle for producing, for example, the non-shaded part in figure 5.
    A third set of shapes (shape III) can be generated by rotating a beam with a rectangular cross section around one corner of the rectangle. Figure 6 Ash beam radiation beam shape and the variation in time when receiving electromagnetic radiation with radial coordinate r. It appears from Figure 7 that in a circular area with the radius d around the center 11 in the sample non-flake exact radial coordinated information is possible, ehur Angular information can be obtained from the pulse interval Te in the same way as the first and second sets of shapes. Outside this central region, the detector can receive both radial and angular coordinate information. The relative shape of the central region is determined by the width / length, the ratio d / L in the rectangular shape. Different d / L ratios can be taken into account, for example, ratios from 1 to 0.067 and below can be easily used with sanders for practical cableway conduction.
    The use of a rectangular beam has the advantage that it is easy to shape the beam (especially in connection with laser radiation heads). This system could be useful in special systems with railway control, where the controlled body should either stop at the general area (x <d) around the center of the control sample and / or be guided towards exact points outside this central region x> d.
    Although a variety of rotating beamforms are suitable for layering, these three particular shapes are of particular importance in trajectory robotic systems due to such factors as the ease of generating distinct beamforms of electromagnetic waves or the linearity of the sensor in response to the received radiation. .
    Of the three types already described, the form I has the most general application in systems where the robot follows a beam path, while the forms II and III can find application in connection with special situations.
    Figure 3 shows that the beam shape comprises a straight radial edge 16, which at 8 = 0 coincides with the reference direction 13, a curved edge 17 and a short circumferential edge 18 extending in a circumferential direction to close the shape but which the the case has a length equal to zero. The beam bundle thorn generated by an aperture or other means may be arranged to rotate in either direction of the beam bundle rotation system. The type of the curved edge 17 and the relative length of the short circumferential edge 18 can be varied to form the linearity of the arranged radial information for the robot control system. In this first example, the form Ia / Tr decreases linearly with Okande radial coordinate value r in accordance with the expression d = r cos E-21-r3 2 ddr d and r are given in Figure 3.
    The shape can be chosen in such a way that the length of the circumferential edge 18 is variable, thereby ensuring that the reception time of the electromagnetic radiation of the sensor does not change zero at the edge R of the controlled space 12. The following are examples of different ways in which this can be achieved: (1) A simple removal of the opening edge is inactivated with the dashed circumferential edge 19 in Figure 3. (2) The design of a curved edge which satisfies a general expression according to equation (1) is a special example.
    The resolution of the detection device for beam shapes I and II in both angular and radial directions varies with the angular coordinates. With ray beam shapes III, the resolution of the detection devices varies in both angular and radial directions again with the angular plane from the reference angle. See the description of British Patent Application 821939 from which this description is derived.
    According to Figure 8, the embodiment of optical beamforming comprises a diverging laser beam S producing a laser beam 20 which is collimated by an integrated fiber optic system 21.
    Alternatively, the beam can be collimated through a collimation lens, the collimated beam being partially diffused through a diffusion plate or optical distortion rod.
    The resulting substantially parallel beam 22 is then passed through a fixedly shaped opening 23, which is arranged in a housing (not shown) which has a matt black interior. The shape of the aperture 23 corresponds to the shape of the emitted laser beam 20.
    In front of the fixed opening 23 there is an optical beam rotation system 24 (in this case a Pechan prism) driven by a motor (not shown) so that the shaped beam is normally rotated at a constant angular velocity about an axis 25 passing through the optical system. center of the beam rotation and at one end of the opening. The beam is then passed to a main optical system indicated by a zoom lens 26 which focuses the laser beam as required. The lens is of the flick on type, ie. it can be characterized by step changes in optical gain to adjust what can be expected with respect to maximum and minimum optical gain in a normal zoom lens.
    A laser trigger mechanism is linked to the beam rotation system and pulses the laser as the beam 12 is rotated. The laser trigger consists of a light source 27 and light sensor 28. The light emitted by the boiler 27 is modulated by a pulsating sample comprising alternating opaque and transparent areas arranged around the periphery of a small night 29 mounted on the beam rotation system. In response to the pulsed light signal, the sensor generates a pulsed output signal which triggers an electronic switch 30 to intermittently connect a cold 31 with high power to the laser beam source to thereby generate corresponding pulses of the laser beam.
    A progressive increase or decrease in the width of the opaque surfaces around the circumference of the net will produce during each rotation an increase or decrease in the time interval between the pulses of the laser beam and an upper and lower boundary.
    In connection with drawing figures 9-12 and especially • figure 9, spatial modulation of the transverse section of the control sample is achieved by (1) sweeping a first part 40 of the beam1 across a rectangular control sample surface 41 in a first scanning direction X and at a first scanning frequency (number scans per unit of time), (2) scanning a second portion 42 of the beam across the same guide sample area 41 in a second scanning direction Y, which is perpendicular to the direction X and having the same scanning frequency, the scans of the second portion 42 of the beam being arranged to irradiate points along the guide surface 41 at times which alternate with the times for irradiation of the point through the first part 40 of the beam and (3) pulsation of the usual beam part at a frequency which varies with its displacement (x or y) from beginning 43 of the X, Y scanning axis in the plane of the control sample. During the usual sweep of a part of the beam, the pulse repetition frequency (or pulse interval) is varied between two boundaries with alternating sweeps preferably comprising different boundaries and non-overlapping areas, the two sweep cycles being repeated continuously at a predetermined speed. A sensor is affected by the laser radiation in the pulse bar from each sweep of a part of the beam. Feeding through the sensor of the time intervals (Tx, Ty) between received laser pulses in two consecutive pulse bars provides a feeding of the layer of the sensors relative to the inboard perpendicular reference axes.
    Figure 10 schematically illustrates the variation in a series of electromagnetic (laser) pulses received for different sensor layers (P1, P2, P3, P4) with the control beam.
    Generation of control samples by alternating sweeps of a rectangular shaped beam in right-angled directions can be achieved by a variety of optical systems, for example a single or double scanner, a single or double cold and a single or double lens (ie aperture). Figures 11 and 12, respectively, are ash optical two optical. arrangements selected from the row of possible combinations scanner / cold / lens.
    The choice of devices for a particular application must be governed by conditions in the overall system design. See discussion in British Patent Application No. 8231532 from which this disclosure is based.
    According to Figure 11, the embodiment shown comprises an optical beam transmitter comprising a first 50 and a second 51 diverging laser source (for example laser diodes) providing a first 52 and a second 53 1 laser beam 1, which are connected to the first 54 and other 55 fiber optic elements with rectangular cross section on the exit side. The diverging beams from the shaped rectangular callers are then passed to an optical main system indicated as a first 56 and a second 57 lens which focuses the beam in the required manner.
    Alternatively (1), the diverging beams from the laser callers can be collimated by collimation lens systems, 14 collimated beams being provided which are partially diffused by diffusion plates or optical distortion rods. The resulting substantially parallel beams are then guided through fixed rectangular shaped apertures to the main optical system or (2) the diverging beams can both be collimated and formed by double cylindrical lens systems of the main optical system.
    First 58 and second 59 scanning mirrors are disposed between the rectangular shaped recesses 54 and 55 and the optical main system 56 and 57 or alternatively after the focusing main lenses 56 and 57, which mirrors are driven by first 60 and other 61 rotary motors or other motors to sweep the beam. usually at a constant angular velocity alternating in perpendicular directions in the control area.
    Figure 12 shows a modification in which a single, double-sided scanning mirror 80 replaces the two scanning mirrors 58 and 59, which mirror is driven by a single motor 81. After reflection at the mirrors 80, the beam 52 is directed towards the lens system 56 through a pair of mirrors 82 and beam 53 of mirrors 83.
    Laser trigger mechanisms linked to beam reduction The pulsation systems pulsate the resurfacing laser when the beam is scanned. Each laser trigger consists of a pick-up device or sensor 90,91 which senses the layer of the scanning mirrors and feeds information thereon to a control device 92 which provides a pulsed output signal to trigger an electronic switch 30 in phase with the scanning mirror layers intermittently. connecting a high-power call 31 to the laser call for generating corresponding pulses of the laser beam. During the habit of scanning the mirrors, each control equipment 92 will produce a progressive increase or decrease of the time interval between the pulses in the laser beam bundle mom byre and lower borders.
    Alternative devices are possible, for example: - A continuous vagal laser (or a non-laser emitting pulsed or continuous cold) can be used instead of a laser that is pulsed at the cold. The output from a continuous vaglaser can be pulsed, ie. its intensity is modulated before or after the beamforming using, for example: Mechanical shutters, for example a rotating seam comprising alternating transparent and opaque sectors, at which the width of the opaque sectors increases or decreases around the seam. In Figures 11 and 12, the scanning mirrors are properly driven in phase with the size 5.1 interruption.
    Electro-optical, aco-optical or other shutter triggered by the beam rotation system or the main control equipment.
    Direct laser cavity (length) modulation including wavelength modulation (and received intensity modulation) by end mirror displacement using piezoelectric elements.
    Alternative trigger mechanisms may come into consideration. These can be triggered directly from the beam bundle scan by electromechanical or electro-optical devices or by the beam bundle by electro-optical devices for example: Electronic pulse interval variation using an electronic ramp-triggered pulse per beam bundle scan from a light system comprising cold / night / light sensor. monitoring the generated beam beam type (ie the direction) by means of a square detector or other optical layer scanning equipment.
    Furthermore, A, or x and y position information can be used by changing different characteristics of the beam1 in addition to time intervals between pulses of electromagnetic straining for example: - The wavelength (color) of the beam can be varied as the beam scans across the control area by means of a rotatable laser beam or optical filter.
    The intensity can be varied using a variable density optical filter or variable input laser drive power.
    The polarization axis of a linearly polarized laser beam can be varied as the beam scans across the guide surface (eg the shaft can be varied by 180 ° when the beam is rotated 360 °) and a polarization-sensitive detector (detectors) mounted on the moving body.
    E.ans. No. 83 303 954.8
    权利要求:
    Claims (2)
    [1]
    1. PAT ENTKRAV Ink. t. PatPoveirket 1984 -06- 0 1. set for the addition of information sufficient to determine two coordinates in a point map with a two-dimensional delimited space, characterized by the following steps: - i. Arranging a beam so that it illuminates only one part of the said space; Deflection of the shaped beam bundle cyclically Over the space whereby the beam bundle illuminates the point during discrete Separate time periods; and Sg modulate the beam in phase with the aforementioned cyclic motion so that the beam hitting the point sheet provides sufficient information at the point to identify 'Dada of the two coordinates. 2. A set according to claim 1, characterized in that the step of deflecting the shaped beam comprises rotating the shaped beam around a beam axis, and that the modulation of the beam is in phase with the rotational motion. Set according to claim 2, characterized in that a frequency characteristic of said beam defines one of said coordinates by an angle of rotation e and an exposure travel for said beam defines the other of said coordinates by a radial distance from the axis of rotation of the beam. A method according to claim 1, characterized in that the step of obtaining a bundle of bars comprises arranging a first part of the bundle of bars and a second part of the bundle of bars, wherein the step of removing the bundle of bars comprises repeated scanning of the first part of the bundle of bars across the space in a first scanning direction at a first scanning frequency and repeatedly scanning the second part of the beam across the space in a second scanning direction at an angle to the first scanning direction and at a second scanning frequency and that the step of modulating the beam comprises modulation of the first part of the beam in phase with the first scanning frequency and modulation of the second part of the beam in phase with the second scanning frequency. Set according to claim 4, characterized in that the first and second scanning directions are mutually perpendicular. Set according to claim 4 or 5, characterized in that the first and second scanning frequencies are equal, the first and second part of the beam bundle scanning alternately in time across the delimited space. 7. set according to any one of the preceding claims, characterized in that the beam or at least a part thereof is pulsed with a repetition frequency which is modulated in phase with the scanning frequency, whereby the repetition frequency modulation of the beam or a part thereof provides sufficient information to identify specify one of the two coordinates. Device for supplying information sufficient to determine two coordinates of a point layer (D) with a two-dimensionally delimited space Al2), can be drawn by means (S, 23) for generating a beam (10) shaped for irradiating only a part of the space, devices (24) for obliterating the beam cyclically Over the space, whereby the beam strikes the said point layer during discrete time periods, saint devices (29,30) air to modulate the beam in phase with said cyclic motion so that the radiation hits the point team provides at the point sufficient information to 3 identify both of the two coordinates. Device according to claim 8, characterized in that the means (S, 23) for generating a shaped beamA1 bundle comprise a cold (S) for laser light. Device according to claim 9, characterized in that the laser is pulsed in phase with the deflection of the beam with a repetition frequency which is modulated so that it provides at least one of the two coordinates. Device according to claim 8, 9 or 10, characterized in that the elongating means comprise means for rotating the shaped beam bundle around an axis (25) of the beam bundle. Device according to claim 11, characterized in that the frequency characteristic of the beam determines one of said coordinates by an angle of rotation (8) and wherein the exposure duration of said beam defines the other of said coordinates by a radial distance Cr) from said axis ( 25). Device according to claim 8, 9 or 10, characterized in that the beam-generating means comprise means (50) for generating a first part of the beam and (51) for generating a second part of the beam, wherein the elongating means comprises means (58) for repeatedly scanning the first part of the beam & 1- = bundle transversely across the space in a first scanning direction at a first scanning frequency and (59) the second part of the beam bundle transversely across the space in a second deflection direction at an angle to the first scanning direction and at a second scanning frequency, the modulating means comprising means (90) modulating the first part of the beam in phase with the first scanning direction and (91) the second part of the beam in phase with the second scanning direction. Device according to claim 13, characterized in that the means generating the beam or each beam 5.1 comprise a laser source coupled to a transfer element in the form of a fiber optic with an output surface having a shape corresponding to the required shape of the generated beam. the beam or part of the beam. Device according to claim 13 or 14, characterized in that the device or each device for scanning with a part of a beam comprises a rotating mirror. Device according to claim 15, characterized in that each modulating device for the beam or each beam comprises devices for sensing the rotational position of the mirror. Ink. t. Patent Sale 1984 -06- 0 32 93 111111111111) 4 1111111111111111111111111111111111111111 AG.
    [2]
    2 Ink. t Patentverket 1984 -06- 0 = 0 181. 0 190. 9 08 7 0. 6 0. 4 a3 0. 2 01 61 = 270 ° 0 0. 4 0.3 02 0.1
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    法律状态:
    2012-11-13| NAV| Patent application has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    GBGB8219395.4A|GB8219395D0|1982-07-09|1982-07-09|A method of, and apparatus for, furnishing information to determine the position of a body|
    GBGB8231532.6A|GB8231532D0|1982-11-08|1982-11-08|A method of, and apparatus for, furnishing information to determine the position of a body|
    GB8317043A|GB2350248B|1982-07-09|1983-06-23|A method of, and apparatus for. furnishing information to determine the position of a body|
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