US 6,388,755 B1 · Wireless position and orientation detecting system

Abstract

An apparatus and method for wirelessly determining position and orientation of a first object relative to a second object in six dimensions, including one or more recording assemblies and one or more identification-coded or orientation-coded optical transponders. The positions of the recording assemblies are fixed relative to the first object and the transponders are fixed relative to the second object. A light source in each recording assembly emits light into space that is received, modulated, and retransmitted back by each transponder to a photodetector assembly in the recording assembly. The identification-coded optical transponder modulates the retransmitted light with a unique fixed code. The orientation-coded optical transponder modulates the retransmitted light with a unique fixed code that depends upon the direction of the incident light. The photodetector assemblies provide one or two independent position parameters for each transponder and two independent orientation parameters for each orientation-coded transponder. The system includes a combination of recording assemblies and transponders that provides at least six independent measured parameters.

Claims15

Dependent claims

A direct input system for determining six dimensions of position and orientation of a movable object relative to a known location, said system comprising:

(a) a first recording assembly fixed relative to said known location and including a first light source and a linear photodetector assembly, said first light source emitting first source light to said movable object;
(b) a second recording assembly fixed relative to said known location and including a second light source and a two-dimensional photodetector assembly, said second light source emitting second source light to said movable object;
(c) an optical transponder fixed to said movable object, said optical transponder receiving, modulating, and retransmitting said first source light as first retransmitted light with a first modulation code representing the direction of said first location relative to said movable object, and said optical transponder receiving, modulating, and retransmitting said second source light as second retransmitted light with a second modulation code representing the direction of said second location relative to said movable object;
(d) said linear photodetector assembly receiving said first retransmitted light, and providing said first modulation code and a one-dimensional coordinate representing one dimension of the direction from which said first retransmitted light is received;
(e) said two-dimensional photodetector assembly receiving said second retransmitted light, and providing said second modulation code and a two-dimensional coordinate pair representing the direction from which said second retransmitted light is received;
and
(f) a means for calculating said six dimensions of position and orientation of said movable object relative to said known location from said one-dimensional coordinate, said first modulation code, said two-dimensional coordinate pair, and said second modulation code.

4 more elements

A direct input system for determining six dimensions of position and orientation of a movable object relative to a known location, said system comprising:

(a) a first optical transponder fixed relative to said known location;
(b) a second optical transponder fixed relative to said known location;
(c) a third optical transponder fixed relative to said known location;
(d) a recording assembly fixed to said movable object and including a light source and a two-dimensional photodetector assembly, said light source emitting source light to said first optical transponder, said second optical transponder, and said third optical transponder;
(e) said first optical transponder receiving, modulating, and retransmitting said source light as first retransmitted light with a first modulation code;
(f) said second optical transponder receiving, modulating, and retransmitting said source light as second retransmitted light with a second modulation code different from said first modulation code;
(g) said third optical transponder receiving, modulating, and retransmitting said source light as third retransmitted light with a third modulation code different from said first modulation code and said second modulation code;
(h) said two-dimensional photodetector assembly receiving said first retransmitted light, and providing said first modulation code and a first two-dimensional coordinate pair representing the direction from which said first retransmitted light is received;
(i) said two-dimensional photodetector assembly receiving said second retransmitted light, and providing said second modulation code and a second two-dimensional coordinate pair representing the direction from which said second retransmitted light is received;
(j) said two-dimensional photodetector assembly receiving said third retransmitted light, and providing said third modulation code and a third two-dimensional coordinate pair representing the direction from which said third retransmitted light is received;
and
(k) a means for calculating said six dimensions of position and orientation of said movable object relative to said known location from said first two-dimensional coordinate pair, said first modulation code, said second two-dimensional coordinate pair, said second modulation code, said third two-dimensional coordinate pair, and said third modulation code.

9 more elements

A method for determining six dimensions of position and orientation of a first object relative to a second object, said method comprising the steps of:

(a) providing a first coordinate system fixed to said first object;
(b) providing a second coordinate system fixed to said second object;
(c) rigidly fixing at least one recording assembly to said first object, said at least one recording assembly having a light source that emits light as source light to said second object;
(d) providing said at least one recording assembly with a recording assembly reference point with a position and orientation that is known in said first coordinate system;
(e) rigidly fixing at least one optical transponder to said second object, said at least one optical transponder being selected from a group consisting of an identification-coded transponder and an orientation-coded transponder;
(f) providing said at least one optical transponder with a transponder reference point with a position and orientation that is known in said second coordinate system;
(g) said at least one optical transponder receiving, modulating, and retransmitting said source light as modulated light, each of said identification-coded transponders providing a unique fixed identification modulation code, and each of said orientation-coded transponders providing a unique orientation modulation code representing the direction of said first object relative to said second object;
(h) providing said at least one recording assembly with a photodetector selected from the group consisting of a photodetector that records one independent position parameter and a photodetector that records two independent position parameters, each of said photodetectors recording each of said orientation modulation codes as two independent angle parameters;
(i) providing said system with a combination of transponders and photodetectors capable of recording at least six independent parameters;
and
(j) calculating said six dimensions of position and orientation of said first object relative to said second object from said six independent parameters, said unique modulation codes being used to distinguish said transponders from each other.

8 more elements

A system for determining six dimensions of position and orientation of a first object relative to a second object, said system comprising:

(a) a first coordinate system fixed to said first object;
(b) a second coordinate system fixed to said second object;
(c) at least one recording assembly rigidly fixed to said first object, said at least one recording assembly having a light source that emits source light to said second object, said at least one recording assembly having a recording assembly reference point with a position and orientation that is known in said first coordinate system;
(d) at least one optical transponder rigidly fixed to said second object, said at least one transponder being selected from a group consisting of an identification-coded transponder and an orientation-coded transponder, said at least one transponder having a transponder reference point with a position and orientation that are known in said second coordinate system;
(e) said at least one transponder receiving, modulating, and retransmitting said source light as retransmitted light, each of said identification-coded transponders providing a unique fixed identification modulation code, and each of said orientation-coded transponders providing a unique orientation modulation code representing the direction of said first object relative to said second object;
(f) said at least one recording assembly having a photodetector selected from a group consisting of a photodetector that records one independent position parameter and a photodetector that records two independent position parameters, each of said photodetectors recording said orientation modulation code as two independent angle parameters;
(g) said system including a combination of transponders and photodetectors capable of recording at least six independent parameters, and either said first object has only one recording assembly or said second object has only one optical transponder;
and
(h) a means for calculating said six dimensions of position and orientation of said first object relative to said second object from said six independent parameters;
said unique modulation codes being used to distinguish said at least one transponder from each other.

7 more elements

Dependencies are inferred from the claim text.

Wireless position and orientation detecting system

Life of this patent

Wireless position and orientation detecting system

Life of this patent

Abstract

Claims15