IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0932664
(2011-03-02)
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등록번호 |
US-8749797
(2014-06-10)
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발명자
/ 주소 |
- Granade, Stephen
- Balch, Michael K.
- Kliesner, Matthew A
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출원인 / 주소 |
- Advanced Optical Systems Inc.
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대리인 / 주소 |
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인용정보 |
피인용 횟수 :
4 인용 특허 :
12 |
초록
▼
A system is disclosed for remotely determining 6 degree of freedom of an object. Four or more radiating beacons are placed on an object, the beacons each simultaneously radiating a synchronized repeating code, the code being different for each beacon. A position sensor, such as a quadrant detector,
A system is disclosed for remotely determining 6 degree of freedom of an object. Four or more radiating beacons are placed on an object, the beacons each simultaneously radiating a synchronized repeating code, the code being different for each beacon. A position sensor, such as a quadrant detector, receives the light signals from the beacons, and correlates the received beacon signals against the same signal sequences produced in the receiver. With orientation of the beacons on the object being known, and orientation of the quadrant detector, or receiver, being known, roll, pitch, yaw, and X, Y and Z position in a coordinate space of the object can be determined.
대표청구항
▼
1. A method comprising: mounting a plurality of indicators in known relation on an object,simultaneously emitting a unique signal from each indicator of said plurality of indicators so that each said indicator emits a said unique signal, said unique signal comprising a unique repeating code, and con
1. A method comprising: mounting a plurality of indicators in known relation on an object,simultaneously emitting a unique signal from each indicator of said plurality of indicators so that each said indicator emits a said unique signal, said unique signal comprising a unique repeating code, and configuring each said unique repeating code as a unique, binary light modulated repeating code wherein each said unique, binary light modulated repeating code from each said indicator of said plurality of indicators is of the same length,simultaneously detecting each said unique signal,developing electrical signals representative of each detected said unique signal,using said electrical signals representative of each said detected unique signal from each said indicator and said known relation of said indicators, calculating 6 degree of freedom information of said object. 2. The method as set forth in claim 1 wherein said configuring each said unique, binary light modulated repeating code from each said indicator further comprises synchronizing each said unique, binary light modulated repeating code so that a beginning of each said unique, binary light modulated repeating code from said plurality of indicators starts at the same time. 3. The method as set forth in claim 2 wherein said detecting each said unique signal further comprises: duplicating each said unique repeating code emitted from each respective said indicator,correlating each duplicated said unique repeating code with a respective detected said unique repeating code,providing a correlation strength indication between each said duplicated unique repeating code and each said detected unique repeating code,determining a start point for each said detected unique repeating code. 4. The method as set forth in claim 3 wherein said detecting each said unique signal further comprises: continuously correlating a summation of a start bit of all unique repeating codes emitted by said indicators against a summation of all detected bits,detecting a correlation peak when said start bit is emitted, and,maintaining synchronization between each emitted said unique repeating code and said duplicated unique repeating code. 5. The method as set forth in claim 2 wherein said synchronizing each said unique binary light modulated repeating code further comprises: summing all emitted repeating codes to produce a summation of all said emitted repeating codes,summing received said repeating codes to produce a summation of all said received repeating codes from said plurality of indicators,correlating said summation of all said emitted repeating codes against said summation of said received repeating codes,using a resulting correlation peak from said correlating said summation of all said emitted repeating codes against said summation of said received repeating codes to determine a starting point of each of said repeating codes from said indicators. 6. The method as set forth in claim 1 further comprising: combining data with one said unique signal,transmitting said data along with said one unique signal from one said indicator of said plurality of indicators,extracting said data when said unique signal is received. 7. The method as set forth in claim 1 wherein said mounting a plurality of indicators on said object further comprises mounting reflective indicators on said object. 8. The method as set forth in claim 7 further comprising illuminating said reflective indicators with light beams encoded or modulated with said repeating code, and using a different said repeating code for each reflective indicator of said reflective indicators. 9. The method as set forth in claim 7 wherein said simultaneously emitting a unique signal further comprises: providing each reflective indicator of said reflective indicators with a light shutter over a reflective portion thereof,exposing said reflective indicators to light,using said light shutters, modulating light reflected from each of said reflective indicators to form a respective said unique repeating code from each of said indicators. 10. A method comprising: associating a plurality of indicators with an object, said indicators being in a known orientation,causing said plurality of indicators to each simultaneously signal in a different, predetermined manner to emit modulated light to form signals, said modulated light being a repeating code wherein each said repeating code from a respective said indicator is different from other emitted repeating codes from respective other said indicators, and synchronizing each said repeating code from a respective said indicator so that said repeating codes from all said indicators start at the same time, andemitting said repeating codes from all said indicators synchronously,detecting said repeating codes from said plurality of indicators,developing electrical signals representative of a detected said repeating code from each indicator of said plurality of indicators,from said electrical signals representative of said detected repeating code from each said indicator and said known geometric orientation, determining 6 degree of freedom information of said object. 11. The method as set forth in claim 10 wherein said detecting repeating codes from said plurality of indicators further comprises: duplicating all said repeating codes to form duplicated said repeating codes,determining a starting point of all received said repeating codes,correlating each duplicated repeating code with a respective received repeating code,when correlations between all said duplicated repeating codes and all said received repeating codes are found, calculating said six degree of freedom information of said object. 12. A method comprising: associating a plurality of indicators with an object, said indicators being in a known orientation,causing said plurality of indicators to each simultaneously signal in a different, predetermined manner using a single indicator controller to simultaneously provide a different, discrete, unique code to each respective said indicator of said indicators, by using a single indicator clock source in said controller, for clocking each said indicator so that respective bits of each said different, discrete, unique code from each respective said indicator occur simultaneously,detecting each said different, discrete, unique code from said plurality of indicators,developing electrical signals representative of each detected said different, discrete, unique code from each indicator of said plurality of indicators,from said electrical signals representative of each said different, discrete, unique code and said known geometric orientation, determining 6 degree of freedom information of said object. 13. The method as set forth in claim 12 further comprising synchronizing a detector clock source in a detector of simultaneously received different, discrete, unique codes with said indicator clock source. 14. A method comprising: mounting a plurality of indicators in known relation on an object,simultaneously emitting a unique signal from each indicator of said plurality of indicators so that each said indicator emits a said unique signal,combining data with one said unique signal,transmitting said data along with said one unique signal from one said indicator of said plurality of indicators,simultaneously detecting each said unique signal,developing electrical signals representative of each detected said unique signal,extracting said data when said unique signal is received,using said electrical signals representative of each detected said unique signal from each said indicator and said known relation of said indicators, calculating 6 degree of freedom information of said object.
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