CA1250645A - Apparatus for measuring the position of a luminous object - Google Patents
Apparatus for measuring the position of a luminous objectInfo
- Publication number
- CA1250645A CA1250645A CA000493435A CA493435A CA1250645A CA 1250645 A CA1250645 A CA 1250645A CA 000493435 A CA000493435 A CA 000493435A CA 493435 A CA493435 A CA 493435A CA 1250645 A CA1250645 A CA 1250645A
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- Canada
- Prior art keywords
- responsive
- motor means
- signals
- position signals
- objective
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Selective Calling Equipment (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
- Measurement Of Optical Distance (AREA)
- Vehicle Body Suspensions (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Waste-Gas Treatment And Other Accessory Devices For Furnaces (AREA)
- Illuminated Signs And Luminous Advertising (AREA)
- Eye Examination Apparatus (AREA)
- Optical Communication System (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
ABSTRACT OF THE DISCLOSURE
APPARATUS FOR MEASURING THE POSITION OF A LUMINOUS OBJECT
R.A.T.P. Régie Autonome des Transports Parisiens The invention relates to Apparatus for localising and locating a luminous object comprising an optical system and a sensor for the position of the image formed, the locating being performed first at high speed , then at low speed. The object of the invention is to achieve rapid localising with reduced risk of losing the object to be located. In accordance with the invention, the optical system comprises a wide-angle objective and a narrow angle objective, position sensors comprising two photocell devices for detecting the image position and the localising is obtained by coarse adjustment using the wide-angle objective then fine adjustment using the narrow angle-objective. The invention is applicable to localising tiles which are coming unstuck from a vault.
APPARATUS FOR MEASURING THE POSITION OF A LUMINOUS OBJECT
R.A.T.P. Régie Autonome des Transports Parisiens The invention relates to Apparatus for localising and locating a luminous object comprising an optical system and a sensor for the position of the image formed, the locating being performed first at high speed , then at low speed. The object of the invention is to achieve rapid localising with reduced risk of losing the object to be located. In accordance with the invention, the optical system comprises a wide-angle objective and a narrow angle objective, position sensors comprising two photocell devices for detecting the image position and the localising is obtained by coarse adjustment using the wide-angle objective then fine adjustment using the narrow angle-objective. The invention is applicable to localising tiles which are coming unstuck from a vault.
Description
J. ~ d ~
APPARATUS FOR MEASURING THE POSITION OF A LUMINO~S OBJECT
Back~round of_the i vention The invention relates to apparatus for measuring the position of a luminous object and more particularly to apparatus for localising and~ocating such an object comprising an optical system for forming an image of the object, a sensor responsive to the position of the image relative to the optical axis, motors for directing the optical system along respective orthogonal axes and a 10 servocontrol for actuating the motors to direct the optional system so that the image is substantially on the optical axis first at a high motor speed then at a lower motor speed.
Description of the Prior Art In a prior apparatus, an optical syste~ with a 15 narrow field of view is used in order to obtain high precision; the fact of operating with first a fast movement, then a slow movement giving precise positioning enables the response time of the apparatus to be reduced. However, this apparatus has the disadvantage that the object can 20 move out of the optical field of view, for example if a fast movement of the object is too big and all the advantage sought of increased rapidity is lost.
Objects of the invention An object of the invention is to provide an appara-
APPARATUS FOR MEASURING THE POSITION OF A LUMINO~S OBJECT
Back~round of_the i vention The invention relates to apparatus for measuring the position of a luminous object and more particularly to apparatus for localising and~ocating such an object comprising an optical system for forming an image of the object, a sensor responsive to the position of the image relative to the optical axis, motors for directing the optical system along respective orthogonal axes and a 10 servocontrol for actuating the motors to direct the optional system so that the image is substantially on the optical axis first at a high motor speed then at a lower motor speed.
Description of the Prior Art In a prior apparatus, an optical syste~ with a 15 narrow field of view is used in order to obtain high precision; the fact of operating with first a fast movement, then a slow movement giving precise positioning enables the response time of the apparatus to be reduced. However, this apparatus has the disadvantage that the object can 20 move out of the optical field of view, for example if a fast movement of the object is too big and all the advantage sought of increased rapidity is lost.
Objects of the invention An object of the invention is to provide an appara-
2$ tus of this kind, with precise and rapid locating of the object and a reduced risk of the object to be located leaving the optical field of view.
Brief descri ~ion of the invention The present invention provides an apparatus for measuring the pos1tion of a luminous obj~ct, comprising an optical system comprising first and second objective means for forming first and second images of said object and having substantially a cornrnon optical axis, said first objective means having a relatively wider field o view than said second objective means, and first and second position sensor means responsive to the positions of said first and second images respectively relative to said op~cal axis for producing respective first and second position signals, at lea~t two motor means for rotating said optical system about respective orthogonal axes per-pendicular to said optical axis , and control means respon-1S sive to said first position signals for actuating said motor means at a relatively high speed to align said optical axis towards said object and responsive subsequently to said second position signals for actuating said motor means at a relatively slow speed, and register means for regis-tering said position signals, whereby to register the position of said object.
The use of an objective with wider field of view reduces the risk of losing the object ~uring tracking.
Preferably, said control means is responsive to said signals to actuate said two rnotor rneans in overlapping steps, said motor means for each direction being actuated at said low speed after the actuation of the motor means for the other direction.
This enables the localisation of the object to be achieved in a reduced time.
In a preferred embodiment of the invention, said optical system includes distance means responsive to the distance of said object for producing a distance signal, said register means being responsive to said distance signal.
Preferably, said distance means includes an infra-red laser.
Description of the drawings Other features and advantages of the invention will appear from the following description, given by way of example with reference to the accompanying drawings, in which:
- Fig. 1 is a side view of a device for localising and locating a luminous object in accordance with an embodiment of the invention.
- Fig. 2 is a top view of the device of Fig. 1.
- Fiy. 3 i6 a diagram illustrating the operation of the device.
- Fig. 4 is a schematic diagram of control and de-tecting means in the device.
- Fig. 5 is a flow chart illustrating the sequence of the localisation and locating operations of the device, and, - Flg. 6, which is disposed on the same sheet of formal drawings as Figure 4, is a general view of the device in use in particular application in accordance with the invention.
Description of the Preferred emboaiment As shown in Figs. 1 to 3, the localising and locating device of this embodiment of the invention comprises two juxtaposed objectives whose optical axes are practically coincident: ~ wide angle objective 1 and a tele-objective 2; a respective detector cell is associated with each objective, cell 3 responding to the wide ang~e objective 1, and cell 4 responding to the tele-objective 2.
The detector cells:3 and 4 comprise position sensitive photo cells which produce continuously data concerning the position along two orthogonal axes (X,Y) of the bary-centre of the light received on their sensitive surface. In the present case, these cells are disposed so as to receive the image produced by the respective objective and each cell gives the X,Y coordinates of the position of the image of the luminous object 5 which it receives.
The two objectives 1 and 2 and associated detec-tors 3 and 4 are disposed together on a platform 6 parallel to the common optical axis 7; the platform 6 is fixed on a rotating shaft 8 which is perpendicular to the platform 6;
additionally, the platform 6 is mounted for rotation about an axis 9 perpendicular to the rotating shaft 8. In this way, the complete optical system can be directed angularly along two orthogonal directions so as to track the lu~inous object 5~
Advantageously, the rotation movements of the shaft 8 and the platform 6 about the axis 9 are generated ~ 0~,~ ' C~
by stepping motors.
A range finder tnot shown) is juxtaposed with the optical system and directed along subs~antially the same optical axis so as to aim also at the luminous object 5.
FigO 3 shows the fields of view of the two objectives 1 and 2; the presence of the wide angle objectives ensures that the luminous object is not lost from the field of view when performing hunting operations for locating and localising the luminous object.
Fig. 4 il-lustrates the schematic circuit connections in the device.
Fig. 4 shows the two objectives 1 and 2 and the two cells 3 and 4; the optical system can be manoeuvred in rotation by two stepping motors 11 and 12. The position 15 data XGA and YGA produced by the cell 3, and XTE and YTE produced by the cell 4 are sent to apparatus for cal-culating the position of the object to be located, compri-sing a microprocessor 13. The microprocessor produces control signals for the motors 11 and 12 so as to perform stages of 20 fast and slow hunt for the object to be detected.
The range finder 14 gives data concerning the distance of the obiect to be located and it is alsolcon-trolled by the microprocessor 13; a memory 15 registers the position data of the motors 11 and 12, as counted 25 by the microprocessor 13t and the range-finder 14 when the localisation of the object to be located is terminated.
The range finder 14 preferably comprises an infra-red laser deviceO
~ Q ;?~
The operations of localising and locating a luminous object comprise a stage of coarse adjustment performed using the wide angle objective, then a stage of fine adjustment performed using the telle-objective, 5 and each stage may comprise fast and slow movements of the stepping motors 11 and 12; this enables the optical axis of the system to be brought towards the object to be located and it is then sufficient to measure the angular posi-tions of the motors to deduce the position of the object.
In accordance with this embodiment of the invention, the coarse and fine adjustment stages are performed simulta-neously and overlapping each other for the two X and Y
directions so that the adjustments for the two axes are obtained simultaneously, that is to say that the two stepping motors can operate simultaneously, one being at slow sp~ed and one at fast speed or both being at the same speed.
Fig. 5 shows a flow chart which will be used to explain the main operations performed by the microprocessor 13.
In a first step 21, the overall light intensity IGA received by the wide-angle objective is measured and compared with a threshold I1 which is a darkness ~hreshold:
the system is halted if the luminous object has been lost, that is tosay that it is not within the field of view of the wide angle lens. If the light intensity is sufficient, the coordinates of the image formed by the wide angle objective are read by the cell 3, for example the abscissa XGA
during a read step 22. The following step 24 is to compare the wide angle abscissa with a threshold value Sc which is a threshold for switching to the teleobjective. If the abscissa XGA is greater than the threshold Sc ~ a step 24 is triggered in which the stepping motor is run at high speed to reduce the abscissa X at a high speed and immediately after a red step 25 is triggered to read the ordinate YGA
given by the wide angle objective; YGA is then compared with the threshold Sc in ~ step 26. If the ordinate YGA is greater than the threshold Sc ~ a step 27 is triggered in which the second stepping motor is runiat high speed to reduce the ordinate Y.
If ~uri~g the step 23, it appears that the abscissa XGA is smaller than the threshold Sc of switching to the tele-objective, the next step 28 is started which is to check whether the overall light intensity from the tele-objective is greater than a second darkness threshold, to check whether the luminous object is situatecl within the field of the tele-objective. If this check is positive, the next step 2g is to read the abscissa XTE given by the cell 4 of the tele-objective and then in step 30 to compare it with a threshold S1 which is a threshold for switching to slow speed corresponding to a minimum distance of the optical axis from the luminous object such that the fast scan can be stopped without overshooting the central position due to the inertia of the stepping motors. If the abscissa XTE
measured is greater than the threshold S1 , the next step;is step 24 in which the X motor is run at high speed. If it is less than the threshold S1, the next step 31 is to perform a second comparison of the abscissa XTE with a threshold S2 ~ r~ 3 ~
corresponding to halt of the X motor, this threshold bPing ve~ close to a null value. If the abscissa XTE is greater than the threshold S2, the X motor is actuated at slow speed in step 32; if it is less, the X motor is stopped in step 33.
The stepping of the X motor is also ordered if the overall intensity of the light received by the tele-objective is less than the threshold value I2 during step 28.
Steps 32 and 33 also simultaneously trigger step 25 referred to above. If, during step 26, it appears that the ordinate YGA measure is less than the threshold Sc, that is to say the threshold for switching to the tele-objective, steps 34 to 39 are performed which are similar for the ordinate Y to the steps 28 to 32, performed for the abscissa X.
After the steps of fast scan of the Y motor, and slow scan or stop, a test 41 is performed to check whether both motors are stopped. If both motors are stopped, a step 42 is triggered in which the range R given by the range finder is read and the values of the angles of rotation e and ~
of the two motors and the range R are displayed to indicate the position of the luminous object. After this reading, or if the motors are not yet both stopped, the operations are repeated beginning at step 21.
It will be appreciated that the different ~ast and slow scans in the two X and Y coordinate axes overlap so that a fine adjustment step for one of the coordinates can only be ordered after a coarse adjustment of the other coordinate. Due to this overlap, the time necessary to localise the luminous object is reduced and the capacity of the microprocessor is better used.
In accordance with a variant e~bodiment of the invention, with a view to eliminating the e:Efects of parasi-tic light, the measurement of the coordinat~es o the object to be located is performed by differlentiation. Thus, if a cell receives the images of two luminous points~
namely the luminous object to be located and another luminous source which is noise, the values given by the celliare in fact equal to :
XS-Is + XB Is t Y _ Ys S B B
Xs+B e S ~ B S ~ B
that is to say the coordinates of the barycentre of the object S and the noise B (the indices S corresponding to the luminous object to be located and the indices B to the noise, the indi.ces S+B being the combined resultant).
In accordance with this embodiment of the invention, the object to be located comprises an intermittently operating luminous source and the measurements are made alternately with and without this source illuminated so as to obtain by differentiation the coordinates of the object to be located.
Advantageously, the luminous source i~ pulsed and data is acquired with the source illuminated, to S1B ~ YS1B and IS+B, then with the source extinguished, to measure XB, YB and IB. Then the following calculations are performed to obt.ain the coordinates XS and YS f the object :
~ ~'D''^i '~`~` r`/'~ P~
XS ~ et S~B - IB
~S~B' IS+B YB B
S
IS~B I~
The invention is applicable to localising and hunting luminous sources of various types, and can be applied in numerous different domaine; one particular example is searching for defective parts in the tiling of a vault such as the vault of an underground railway. This application is illustrated in Fig. 6.
Fig. 6 shows a vault 51 covered with china ti]es and tiles whish are badly stuck and are to be replaced are to be located. The locating device 54 according to the invention ls installed in a defined fixed position which will serve ~s the point of origin for the measurements.
It comprises a memory such as a tape unreeler 55.
~ n operator 5~ manipulates a rod~53 comprising at its end a device for sounding each tile and a luminous source which is visible to the loca~ing device.
When the operator tests a tile, the loca~ing operation for that tile is made simultaneously and the coordinates are registered in the memory of the same time as the result of the test. It will be understood that in this case it is important for the localising operations to be performed rapidly so that the vaults can be explored in a reduced time.
Brief descri ~ion of the invention The present invention provides an apparatus for measuring the pos1tion of a luminous obj~ct, comprising an optical system comprising first and second objective means for forming first and second images of said object and having substantially a cornrnon optical axis, said first objective means having a relatively wider field o view than said second objective means, and first and second position sensor means responsive to the positions of said first and second images respectively relative to said op~cal axis for producing respective first and second position signals, at lea~t two motor means for rotating said optical system about respective orthogonal axes per-pendicular to said optical axis , and control means respon-1S sive to said first position signals for actuating said motor means at a relatively high speed to align said optical axis towards said object and responsive subsequently to said second position signals for actuating said motor means at a relatively slow speed, and register means for regis-tering said position signals, whereby to register the position of said object.
The use of an objective with wider field of view reduces the risk of losing the object ~uring tracking.
Preferably, said control means is responsive to said signals to actuate said two rnotor rneans in overlapping steps, said motor means for each direction being actuated at said low speed after the actuation of the motor means for the other direction.
This enables the localisation of the object to be achieved in a reduced time.
In a preferred embodiment of the invention, said optical system includes distance means responsive to the distance of said object for producing a distance signal, said register means being responsive to said distance signal.
Preferably, said distance means includes an infra-red laser.
Description of the drawings Other features and advantages of the invention will appear from the following description, given by way of example with reference to the accompanying drawings, in which:
- Fig. 1 is a side view of a device for localising and locating a luminous object in accordance with an embodiment of the invention.
- Fig. 2 is a top view of the device of Fig. 1.
- Fiy. 3 i6 a diagram illustrating the operation of the device.
- Fig. 4 is a schematic diagram of control and de-tecting means in the device.
- Fig. 5 is a flow chart illustrating the sequence of the localisation and locating operations of the device, and, - Flg. 6, which is disposed on the same sheet of formal drawings as Figure 4, is a general view of the device in use in particular application in accordance with the invention.
Description of the Preferred emboaiment As shown in Figs. 1 to 3, the localising and locating device of this embodiment of the invention comprises two juxtaposed objectives whose optical axes are practically coincident: ~ wide angle objective 1 and a tele-objective 2; a respective detector cell is associated with each objective, cell 3 responding to the wide ang~e objective 1, and cell 4 responding to the tele-objective 2.
The detector cells:3 and 4 comprise position sensitive photo cells which produce continuously data concerning the position along two orthogonal axes (X,Y) of the bary-centre of the light received on their sensitive surface. In the present case, these cells are disposed so as to receive the image produced by the respective objective and each cell gives the X,Y coordinates of the position of the image of the luminous object 5 which it receives.
The two objectives 1 and 2 and associated detec-tors 3 and 4 are disposed together on a platform 6 parallel to the common optical axis 7; the platform 6 is fixed on a rotating shaft 8 which is perpendicular to the platform 6;
additionally, the platform 6 is mounted for rotation about an axis 9 perpendicular to the rotating shaft 8. In this way, the complete optical system can be directed angularly along two orthogonal directions so as to track the lu~inous object 5~
Advantageously, the rotation movements of the shaft 8 and the platform 6 about the axis 9 are generated ~ 0~,~ ' C~
by stepping motors.
A range finder tnot shown) is juxtaposed with the optical system and directed along subs~antially the same optical axis so as to aim also at the luminous object 5.
FigO 3 shows the fields of view of the two objectives 1 and 2; the presence of the wide angle objectives ensures that the luminous object is not lost from the field of view when performing hunting operations for locating and localising the luminous object.
Fig. 4 il-lustrates the schematic circuit connections in the device.
Fig. 4 shows the two objectives 1 and 2 and the two cells 3 and 4; the optical system can be manoeuvred in rotation by two stepping motors 11 and 12. The position 15 data XGA and YGA produced by the cell 3, and XTE and YTE produced by the cell 4 are sent to apparatus for cal-culating the position of the object to be located, compri-sing a microprocessor 13. The microprocessor produces control signals for the motors 11 and 12 so as to perform stages of 20 fast and slow hunt for the object to be detected.
The range finder 14 gives data concerning the distance of the obiect to be located and it is alsolcon-trolled by the microprocessor 13; a memory 15 registers the position data of the motors 11 and 12, as counted 25 by the microprocessor 13t and the range-finder 14 when the localisation of the object to be located is terminated.
The range finder 14 preferably comprises an infra-red laser deviceO
~ Q ;?~
The operations of localising and locating a luminous object comprise a stage of coarse adjustment performed using the wide angle objective, then a stage of fine adjustment performed using the telle-objective, 5 and each stage may comprise fast and slow movements of the stepping motors 11 and 12; this enables the optical axis of the system to be brought towards the object to be located and it is then sufficient to measure the angular posi-tions of the motors to deduce the position of the object.
In accordance with this embodiment of the invention, the coarse and fine adjustment stages are performed simulta-neously and overlapping each other for the two X and Y
directions so that the adjustments for the two axes are obtained simultaneously, that is to say that the two stepping motors can operate simultaneously, one being at slow sp~ed and one at fast speed or both being at the same speed.
Fig. 5 shows a flow chart which will be used to explain the main operations performed by the microprocessor 13.
In a first step 21, the overall light intensity IGA received by the wide-angle objective is measured and compared with a threshold I1 which is a darkness ~hreshold:
the system is halted if the luminous object has been lost, that is tosay that it is not within the field of view of the wide angle lens. If the light intensity is sufficient, the coordinates of the image formed by the wide angle objective are read by the cell 3, for example the abscissa XGA
during a read step 22. The following step 24 is to compare the wide angle abscissa with a threshold value Sc which is a threshold for switching to the teleobjective. If the abscissa XGA is greater than the threshold Sc ~ a step 24 is triggered in which the stepping motor is run at high speed to reduce the abscissa X at a high speed and immediately after a red step 25 is triggered to read the ordinate YGA
given by the wide angle objective; YGA is then compared with the threshold Sc in ~ step 26. If the ordinate YGA is greater than the threshold Sc ~ a step 27 is triggered in which the second stepping motor is runiat high speed to reduce the ordinate Y.
If ~uri~g the step 23, it appears that the abscissa XGA is smaller than the threshold Sc of switching to the tele-objective, the next step 28 is started which is to check whether the overall light intensity from the tele-objective is greater than a second darkness threshold, to check whether the luminous object is situatecl within the field of the tele-objective. If this check is positive, the next step 2g is to read the abscissa XTE given by the cell 4 of the tele-objective and then in step 30 to compare it with a threshold S1 which is a threshold for switching to slow speed corresponding to a minimum distance of the optical axis from the luminous object such that the fast scan can be stopped without overshooting the central position due to the inertia of the stepping motors. If the abscissa XTE
measured is greater than the threshold S1 , the next step;is step 24 in which the X motor is run at high speed. If it is less than the threshold S1, the next step 31 is to perform a second comparison of the abscissa XTE with a threshold S2 ~ r~ 3 ~
corresponding to halt of the X motor, this threshold bPing ve~ close to a null value. If the abscissa XTE is greater than the threshold S2, the X motor is actuated at slow speed in step 32; if it is less, the X motor is stopped in step 33.
The stepping of the X motor is also ordered if the overall intensity of the light received by the tele-objective is less than the threshold value I2 during step 28.
Steps 32 and 33 also simultaneously trigger step 25 referred to above. If, during step 26, it appears that the ordinate YGA measure is less than the threshold Sc, that is to say the threshold for switching to the tele-objective, steps 34 to 39 are performed which are similar for the ordinate Y to the steps 28 to 32, performed for the abscissa X.
After the steps of fast scan of the Y motor, and slow scan or stop, a test 41 is performed to check whether both motors are stopped. If both motors are stopped, a step 42 is triggered in which the range R given by the range finder is read and the values of the angles of rotation e and ~
of the two motors and the range R are displayed to indicate the position of the luminous object. After this reading, or if the motors are not yet both stopped, the operations are repeated beginning at step 21.
It will be appreciated that the different ~ast and slow scans in the two X and Y coordinate axes overlap so that a fine adjustment step for one of the coordinates can only be ordered after a coarse adjustment of the other coordinate. Due to this overlap, the time necessary to localise the luminous object is reduced and the capacity of the microprocessor is better used.
In accordance with a variant e~bodiment of the invention, with a view to eliminating the e:Efects of parasi-tic light, the measurement of the coordinat~es o the object to be located is performed by differlentiation. Thus, if a cell receives the images of two luminous points~
namely the luminous object to be located and another luminous source which is noise, the values given by the celliare in fact equal to :
XS-Is + XB Is t Y _ Ys S B B
Xs+B e S ~ B S ~ B
that is to say the coordinates of the barycentre of the object S and the noise B (the indices S corresponding to the luminous object to be located and the indices B to the noise, the indi.ces S+B being the combined resultant).
In accordance with this embodiment of the invention, the object to be located comprises an intermittently operating luminous source and the measurements are made alternately with and without this source illuminated so as to obtain by differentiation the coordinates of the object to be located.
Advantageously, the luminous source i~ pulsed and data is acquired with the source illuminated, to S1B ~ YS1B and IS+B, then with the source extinguished, to measure XB, YB and IB. Then the following calculations are performed to obt.ain the coordinates XS and YS f the object :
~ ~'D''^i '~`~` r`/'~ P~
XS ~ et S~B - IB
~S~B' IS+B YB B
S
IS~B I~
The invention is applicable to localising and hunting luminous sources of various types, and can be applied in numerous different domaine; one particular example is searching for defective parts in the tiling of a vault such as the vault of an underground railway. This application is illustrated in Fig. 6.
Fig. 6 shows a vault 51 covered with china ti]es and tiles whish are badly stuck and are to be replaced are to be located. The locating device 54 according to the invention ls installed in a defined fixed position which will serve ~s the point of origin for the measurements.
It comprises a memory such as a tape unreeler 55.
~ n operator 5~ manipulates a rod~53 comprising at its end a device for sounding each tile and a luminous source which is visible to the loca~ing device.
When the operator tests a tile, the loca~ing operation for that tile is made simultaneously and the coordinates are registered in the memory of the same time as the result of the test. It will be understood that in this case it is important for the localising operations to be performed rapidly so that the vaults can be explored in a reduced time.
Claims (11)
1. Apparatus for measuring the position of a luminous object, comprising an optical system comprising first and second objective means for forming first and second images of said object and having substantially a common optical axis, said first objective means having a relatively wider field of view than said second objective means, and first and second position sensor means responsive to the positions of said first and second images respectively rela-tive to said optical axis for producing respective first and second position signals , at least two motor means for rotating said optical system about respective orthogonal axes perpendicular to said optical axis, and control means responsive to said first position signals for actuating said motor means at a relatively high speed to align said optical axis towards said object and responsive subsequently to said second position signals for actuating said motor means at a relatively slow speed, and register means for registering said position signals, whereby to register the po-sition of said object.
2. Apparatus as claimed in claim 1, wherein said control means is responsive to said first position signals exceeding a threshold value to actuate said motor means in response to said first position signals, and is responsive to said first position signals having a value less than said threshold value to respond to said second position signals.
3. Apparatus as claimed in claim 2, wherein said control means is responsive to the overall light intensity of said second image to actuate said motor means in response to said second position signals.
4. Apparatus as claimed in claim 1, wherein said control means is responsive to the value of said second signals exceeding a threshold value for actuating said motor means at a relatively high speed and is responsive to the value of said second signals being less than said threshold value for actuating said motor means at said relatively slow speed.
5. Apparatus as claimed in claim 1, wherein said control means is responsive to said signals to actuate said two motor means in overlapping steps, said motor means for each direction being actuated at said low speed after the actuation of the motor means for the other direction.
6. Apparatus as claimed in claim 1, wherein said optical system includes distance means responsive to the distance of said object for producing a distance signal, said register means being responsive to said distance signal.
7. Apparatus as claimed in claim 6, wherein said distance means includes an infrared laser.
8. Apparatus as claimed in claim 1, wherein said optical system is mounted on a platform mounted for rotation about a shaft perpendicular thereto and about an orthogonal axis under the action of said motor means.
9. Apparatus as claimed in claim 1, wherein said motor means comprise stepping motors, said control means being responsive to count control signals for said motor means whereby to respond to the position of said optical axis.
10. Apparatus as claimed in claim 1 and including light source means for generating a luminous signal at said object, said luminous signal being intermittent, said control means being responsive to said position signals differentially as said luminous signal is illuminated or extinguished, whereby to eliminate the effect of parasitic light sources.
11. A method of testing a wall including utilising an apparatus as claimed in claim 10, said luminous signal being generated at a desired point on said wall, and said register means registering the position of said light source means.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8416119 | 1984-10-22 | ||
| FR8416119A FR2572191B1 (en) | 1984-10-22 | 1984-10-22 | DEVICE FOR LOCATING AND LOCATING A LIGHT OBJECT |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1250645A true CA1250645A (en) | 1989-02-28 |
Family
ID=9308869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000493435A Expired CA1250645A (en) | 1984-10-22 | 1985-10-21 | Apparatus for measuring the position of a luminous object |
Country Status (9)
| Country | Link |
|---|---|
| EP (1) | EP0180512B1 (en) |
| JP (1) | JPS61286712A (en) |
| AT (1) | ATE60142T1 (en) |
| CA (1) | CA1250645A (en) |
| DE (2) | DE180512T1 (en) |
| DK (1) | DK481685A (en) |
| ES (1) | ES8701376A1 (en) |
| FR (1) | FR2572191B1 (en) |
| NO (1) | NO854094L (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2637691B1 (en) * | 1988-10-11 | 1991-04-05 | Micromaine Asi | DEVICE FOR TRACKING MOBILE OBJECTS |
| RU2052920C1 (en) * | 1995-08-15 | 1996-01-20 | КЕЛЛИКАМ-диджитал Корп., | NEXT SYSTEM |
| RU2610135C2 (en) * | 2016-01-28 | 2017-02-08 | Вячеслав Данилович Глазков | Method for synthesis of fixed relative direction-finding characteristic of static amplitude sensor of faceted type of remote radiant flux source and device therefor |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2966823A (en) * | 1948-08-21 | 1961-01-03 | Northrop Corp | Tracking telescope with dual field optical system |
| US3092911A (en) * | 1959-08-12 | 1963-06-11 | Continental Elektro Ind Ag | Target tracking instrument |
| DE2151452C3 (en) * | 1971-10-15 | 1974-05-30 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | Device for automatic target tracking of an optical observation system |
| JPS597926B2 (en) * | 1979-12-20 | 1984-02-21 | 横河電機株式会社 | position detection device |
| JPS577668A (en) * | 1980-06-16 | 1982-01-14 | Nippon Telegr & Teleph Corp <Ntt> | Switching connection device for telephone set and telephone-circuit utilizing equipment to telephone circuit |
-
1984
- 1984-10-22 FR FR8416119A patent/FR2572191B1/en not_active Expired
-
1985
- 1985-10-15 NO NO854094A patent/NO854094L/en unknown
- 1985-10-19 JP JP60232355A patent/JPS61286712A/en active Pending
- 1985-10-21 AT AT85402035T patent/ATE60142T1/en not_active IP Right Cessation
- 1985-10-21 DE DE198585402035T patent/DE180512T1/en active Pending
- 1985-10-21 ES ES548072A patent/ES8701376A1/en not_active Expired
- 1985-10-21 DK DK481685A patent/DK481685A/en not_active Application Discontinuation
- 1985-10-21 CA CA000493435A patent/CA1250645A/en not_active Expired
- 1985-10-21 DE DE8585402035T patent/DE3581366D1/en not_active Expired - Fee Related
- 1985-10-21 EP EP85402035A patent/EP0180512B1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| FR2572191B1 (en) | 1987-02-20 |
| DE3581366D1 (en) | 1991-02-21 |
| EP0180512A2 (en) | 1986-05-07 |
| ES548072A0 (en) | 1986-11-16 |
| NO854094L (en) | 1986-04-23 |
| EP0180512B1 (en) | 1991-01-16 |
| ATE60142T1 (en) | 1991-02-15 |
| DK481685D0 (en) | 1985-10-21 |
| ES8701376A1 (en) | 1986-11-16 |
| DE180512T1 (en) | 1986-09-04 |
| EP0180512A3 (en) | 1988-04-13 |
| DK481685A (en) | 1986-04-23 |
| JPS61286712A (en) | 1986-12-17 |
| FR2572191A1 (en) | 1986-04-25 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKEX | Expiry |