# US 12,215,969 B2 · Method and apparatus for cooperative usage of multiple distance meters

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- Number: US 12,215,969 B2
- Document ID: US12215969B2
- Status: Granted
- Kind: B2
- Application number: 18/406,407
- Filed: 2024-01-08
- Published: 2024-05-16
- Granted: 2025-02-04
- Earliest claimed: 2016-03-04
- Assignees: May Patents Ltd.
- Applicants: May Patents Ltd.
- Inventors: Yehuda Binder
- Web page: https://patentgrep.com/patent/US12215969B2

## CPC

- G01B 11/26: for measuring angles or tapers; for testing the alignment of axes
- G01B 11/026: {by measuring distance between sensor and object (G01B11/0608 takes precedence)}
- G01B 15/00: Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons (characterised by the use of optical techniques G01B9/00, G01B11/00)
- G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)}
- G01S 15/08: Systems for measuring distance only (indirect measurement G01S15/46)
- G01S 15/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S15/46)
- G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48)
- G01S 2013/468: {by Triangulation, i.e. two antennas or two sensors determine separately the bearing, direction or angle to a target, whereby with the knowledge of the baseline length, the position data of the target is determined}
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- 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

## Abstract

A method and apparatus for an angle meter cooperatively using two or more non-contact distance meters for measuring distances to a surface along substantially parallel lines. The measured distances are used for estimating or calculating the angle to the surface and the distance to the surface. The distance meters may use optical means, where a visible or non-visible light or laser beam is emitted and received, acoustical means, where an audible or ultrasound sound is emitted and received, or an electro-magnetic scheme, where radar beam is transmitted and received. The distances may be estimated using a Time-of-Flight (TOF), homodyne or heterodyne phase detection schemes. The distance meters may share the same correlator, signal conditioning circuits, or the same sensor. Two or more angle meters may be used defining parallel or perpendicular measurement planes, for measuring angles between surfaces, and for estimating physical dimensions such as length, area or volume.

## Claims

### Claim 1

A vehicle operative to travel in a direction and operative for estimating a first angle (α) between a reference line defined by first and second points and a first surface or a first object, the vehicle comprising:
a first distance meter for measuring a first distance (d1) along a first line from the first point to the first surface or the first object;
a second distance meter for measuring a second distance (d2) along a second line from the second point to the first surface or the first object; and
software and a processor for executing the software, the processor being coupled to receive representations of the first and second distances, respectively, from the first and second distance meters,
wherein the first and second lines are substantially parallel to one another and are spaced a third distance (c) apart, and the vehicle is operative to calculate, by the processor, the estimated first angle (α) based on the first distance (d1) and the second distance (d2), and to display the estimated first angle (α) or a function thereof by a display, and
wherein the meters are mounted so that the first and the second lines are substantially parallel or perpendicular to the travel direction,
wherein the estimated first angle (α) is calculated, by the processor, using, or based on, α=(arctan(d2−d1)/c),
wherein the vehicle is operative to send over a wireless network the representations of the first distance (d1) or any function thereof, the second distance (d2) or any function thereof, or the estimated first angle (α) or any function thereof,
wherein the vehicle is operative to calculate or estimate a distance or an angle using, or based on, the calculated first angle α and a speed V, and
wherein a time period Δt exists between a detection by the first distance meter and the successive detection by the second distance meter, and the processor is further operative to calculate or estimate the distance or the angle using, or based on, the calculated first angle α, the speed V, and the time period Δt.

### Claim 2 (depends on 1)

The vehicle according to claim 1, further comprising:
an antenna for transmitting and receiving first Radio-Frequency (RF) signals over the air; and
a wireless transceiver coupled to the antenna for wirelessly transmitting and receiving first data over the air using the wireless network, the wireless transceiver being coupled to be controlled by the processor, wherein the vehicle is operative to send to the wireless network by the wireless transceiver via the antenna.

### Claim 3 (depends on 2)

The vehicle according to claim 2, further operative to calculate, by the processor, a distance (d) and to send the calculated distance (d) or a function thereof to the wireless network by the wireless transceiver via the antenna, where d=(d1+d2)*cos (α)/2, d=(d1+d2)*sin (α)/2, d=(d1+d2)*cos2 (α)/(2*sin (α)), or d=(d1+d2)/(2*tg (α)).

### Claim 4 (depends on 1)

The vehicle according to claim 1, wherein the angle between the first and the second lines is less than 20°, 18°, 15°, 13°, 10°, 8°, 5°, 3°, 2°, 1°, 0.8°, 0.5°, 0.3°, 0.2°, or 0.1°.

### Claim 5 (depends on 1)

The vehicle according to claim 1, wherein the first line or the second line is at least substantially perpendicular to the reference line.

### Claim 6 (depends on 5)

The vehicle according to claim 5, wherein the angle formed between the first line or the second line and the reference line deviates from 90° by less than 20°, 18°, 15°, 13°, 10°, 8°, 5°, 3°, 2°, 1°, 0.8°, 0.5°, 0.3°, 0.2°, or 0.1°.

### Claim 7 (depends on 1)

The vehicle according to claim 1, wherein the processor is further operative to calculate or estimate a distance of based on, or according to, df=sqrt (dv2+dav2−2*dv*dav*sin (α)), wherein dav=1/2*(d1+d2) and dv=V*Δt.

### Claim 8 (depends on 7)

The vehicle according to claim 7, wherein the processor is further operative to calculate or estimate an angle φ based on, or according to, φ=arcsin (dv*cos (α)/df.

### Claim 9 (depends on 1)

The vehicle according to claim 1, for use with a distance df, further operative to calculate or estimate a time period Δt using, or based on, the calculated first angle α, the speed V, and the distance df.

### Claim 10 (depends on 9)

The vehicle according to claim 9, wherein the calculating or estimating of the time period At is based on, or is according to, Δt=[2*df2*sin2 (x)+sqrt (df2*(1+sin2 (x))-dav2)]/V, wherein dav=1/2*(d1+d2).

### Claim 11 (depends on 1)

The vehicle according to claim 1, wherein the processor further operative to calculate or estimate a time period Δt using, or based on, the calculated first angle α, the speed V, and an angle φ, wherein φ=arcsin (dv*cos (α)/df), df=sqrt (dv2+dav2-2*dv*dav*sin (α)), wherein dav=1/2*(d1+d2) and dv=V*Δt, and Δt is a time period that exists between the detection by the first distance meter and the successive detection by the second distance meter.

### Claim 12 (depends on 11)

The vehicle according to claim 11, wherein the calculating or estimating of the time period Δt is based on, or is according to, Δt=dav*sin (φ)/(V*cos (φ−α)).

### Claim 13 (depends on 1)

The vehicle according to claim 1, wherein the speed V is calculated or estimated according to or based on a detection of the first surface or first object by the first distance meter along the first line using a measured first distance value (d1A) followed by a detection of the first surface or first object by the second distance meter along the second line using a measured second distance value (d1B).

### Claim 14 (depends on 13)

The vehicle according to claim 13, wherein the first and second lines are spaced a third distance (c) apart, and wherein the speed (V) is calculated using, or based on, V=c/[cos (arctan((d2A-d1A)/c))*Δt], wherein At is the time between the detections by the first and second distance meters.

### Claim 15 (depends on 1)

The vehicle according to claim 1, wherein the speed V is estimated or calculated, by the processor, using, or based on, a Doppler frequency shift between a signal transmitted by, and a signal received by, the first or second distance meter.

### Claim 16 (depends on 1)

The vehicle according to claim 1, wherein the meters are mounted so that the first and the second lines are substantially parallel to the travel direction, and an angle formed between the first line or the second line and the travel direction is less than 20°, 18°, 15°, 13°, 10°, 8°, 5°, 3°, 2°, 1°, 0.8°, 0.5°, 0.3°, 0.2°, or 0.1°.

### Claim 17 (depends on 1)

The vehicle according to claim 1, wherein the vehicle is mounted so that the first and the second lines are substantially perpendicular to the travel direction, and an angle formed between the first line or the second line and a direction that is perpendicular to the travel direction is less than 20°, 18°, 15°, 13°, 10°, 8°, 5°, 3°, 2°, 1°, 0.8°, 0.5°, 0.3°, 0.2°, or 0.1°.

### Claim 18 (depends on 1)

The vehicle according to claim 1, wherein the vehicle is a ground vehicle adapted to travel on land.

### Claim 19 (depends on 18)

The vehicle according to claim 18, wherein the ground vehicle is selected from the group consisting of a bicycle, a car, a motorcycle, a train, an electric scooter, a subway, a train, a trolleybus, and a tram.

### Claim 20 (depends on 1)

The vehicle according to claim 1, wherein the vehicle is a buoyant or submerged watercraft adapted to travel on or in water.

### Claim 21 (depends on 20)

The vehicle according to claim 20, wherein the watercraft is selected from the group consisting of a ship, a boat, a hovercraft, a sailboat, a yacht, and a submarine.

### Claim 22 (depends on 1)

The vehicle according to claim 1, wherein the vehicle is an aircraft adapted to fly in air.

### Claim 23 (depends on 22)

The vehicle according to claim 22, wherein the aircraft is a fixed wing or a rotorcraft aircraft.

### Claim 24 (depends on 22)

The vehicle according to claim 22, wherein the aircraft is selected from the group consisting of an airplane, a spacecraft, a glider, a drone, or an Unmanned Aerial Vehicle (UAV).

### Claim 25 (depends on 22)

The vehicle according to claim 22, wherein the vehicle is used for measuring or estimating an altitude, a pitch, or a roll of the aircraft.

### Claim 26 (depends on 1)

The vehicle according to claim 1, wherein the vehicle is further operative to provide a notification or an indication to a person operating or controlling the vehicle, in response to a representation of the first distance (d1) or any function thereof, the second distance (d2) or any function thereof, or the estimated first angle (α) or any function thereof.

### Claim 27 (depends on 1)

The vehicle according to claim 1, further configured for measuring or estimating the vehicle speed, positioning, pitch, roll, or yaw.

### Claim 28 (depends on 1)

The vehicle according to claim 1, wherein at least one of the meters is mounted onto, is attached to, is part of, or is integrated with a rear or front view camera, chassis, lighting system, headlamp, door, car glass, windscreen, side or rear window, glass panel roof, hood, bumper, cowling, dashboard, fender, quarter panel, rocker, or a spoiler of the vehicle.

### Claim 29 (depends on 1)

The vehicle according to claim 1, wherein the vehicle further comprises an Advanced Driver Assistance Systems (ADAS) functionality, system, or scheme.

### Claim 30 (depends on 29)

The vehicle according to claim 29, wherein the vehicle is part of, integrated with, communicates with, or coupled to, the ADAS functionality, system, or scheme.

### Claim 31 (depends on 30)

The vehicle according to claim 30, wherein the ADAS functionality, system, or scheme is selected from a group consisting of Adaptive Cruise Control (ACC), Adaptive High Beam, Glare-free high beam and pixel light, Adaptive light control such as swiveling curve lights, Automatic parking, Automotive navigation system with typically GPS and TMC for providing up-to-date traffic information, Automotive night vision, Automatic Emergency Braking (AEB), Backup assist, Blind Spot Monitoring (BSM), Blind Spot Warning (BSW), Brake light or traffic signal recognition, Collision avoidance system, Pre-crash system, Collision Imminent Braking (CIB), Cooperative Adaptive Cruise Control (CACC), Crosswind stabilization, Driver drowsiness detection, Driver Monitoring Systems (DMS), Do-Not-Pass Warning (DNPW), Electric vehicle warning sounds used in hybrids and plug-in electric vehicles, Emergency driver assistant, Emergency Electronic Brake Light (EEBL), Forward Collision Warning (FCW), Heads-Up Display (HUD), Intersection assistant, Hill descent control, Intelligent speed adaptation or Intelligent Speed Advice (ISA), Intelligent Speed Adaptation (ISA), Intersection Movement Assist (IMA), Lane Keeping Assist (LKA), Lane Departure Warning (LDW) (a.k.a. Line Change Warning-LCW), Lane change assistance, Left Turn Assist (LTA), Night Vision System (NVS), Parking Assistance (PA), Pedestrian Detection System (PDS), Pedestrian protection system, Pedestrian Detection (PED), Road Sign Recognition (RSR), Surround View Cameras (SVC), Traffic sign recognition, Traffic assist, jam Turning assistant, Vehicular communication systems, Autonomous Emergency Braking (AEB), Adaptive Front Lights (AFL), and Wrong-way driving warning.