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EP1166043A1 - Procede de creation d'une trame de coordonnees selectionnable par l'utilisateur - Google Patents

Procede de creation d'une trame de coordonnees selectionnable par l'utilisateur

Info

Publication number
EP1166043A1
EP1166043A1 EP00918194A EP00918194A EP1166043A1 EP 1166043 A1 EP1166043 A1 EP 1166043A1 EP 00918194 A EP00918194 A EP 00918194A EP 00918194 A EP00918194 A EP 00918194A EP 1166043 A1 EP1166043 A1 EP 1166043A1
Authority
EP
European Patent Office
Prior art keywords
user
point
origin
coordinate frame
axis
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.)
Withdrawn
Application number
EP00918194A
Other languages
German (de)
English (en)
Inventor
Jeffrey F. Arc Second Inc. SKOLNICK
Edward R. Arc Second Inc. BARRIENTOS
Sean M. Arc Second Inc. BELIVEAU
Thomas M. Arc Second Inc. HEDGES
Edmund S. Arc Second Inc. PENDLETON
Roger Arc Second Inc. WELLS
Eric J. Arc Second Inc. LUNDBERG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Arc Second Inc
Original Assignee
Arc Second Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from PCT/US1999/023615 external-priority patent/WO2000022380A1/fr
Priority claimed from US09/532,026 external-priority patent/US6662103B1/en
Application filed by Arc Second Inc filed Critical Arc Second Inc
Publication of EP1166043A1 publication Critical patent/EP1166043A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • G01S1/44—Rotating or oscillating beam beacons defining directions in the plane of rotation or oscillation
    • G01S1/54—Narrow-beam systems producing at a receiver a pulse-type envelope signal of the carrier wave of the beam, the timing of which is dependent upon the angle between the direction of the receiver from the beacon and a reference direction from the beacon; Overlapping broad beam systems defining a narrow zone and producing at a receiver a pulse-type envelope signal of the carrier wave of the beam, the timing of which is dependent upon the angle between the direction of the receiver from the beacon and a reference direction from the beacon
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Definitions

  • This invention relates in general to the field of position measurement and more particularly to an improved apparatus and method of providing position-related information .
  • a variety of techniques are known in the art to measure position, including land surveying techniques and global positioning satellite (“GPS”) system techniques. These known techniques, however, do not always provide positional data to a user in a conveniently usable format, such as in an XYZ coordinate format. Further, even if the positional data is provided in an XYZ coordinate format, there are many applications, such as surveying or construction, where the XYZ coordinate system is not normally used. In addition, there is no simple way to rotate or translate the coordinate system or otherwise change the default reference frame m which the positional data is originally given to provide data that is more meaningful to the user. As a result, known systems for obtaining positional data have limitations that make them unsuitable for widespread use in multiple applications .
  • the present invention is a method and system for providing position data from a position detector with respect to an arbitrary, user-defined coordinate system.
  • the invention is to be used in conjunction with a position detecting apparatus that preferably contains, at a high level, several transmitters that transmit signals, preferably laser beams, from stationary locations and a receiving instrument that receives the signals.
  • a position detecting apparatus that preferably contains, at a high level, several transmitters that transmit signals, preferably laser beams, from stationary locations and a receiving instrument that receives the signals.
  • ARC-002 and ARC-004 entitled LOW COST TRANSMITTER WITH CALIBRATION MEANS FOR USE IN POSITION MEASUREMENT SYSTEMS and IMPROVED METHOD AND OPTICAL RECEIVER WITH EASY SETUP MEANS FOR USE IN POSITION MEASUREMENT SYSTEMS, respectively, filed March 21, 2000, the disclosures of which are incorporated herein by reference .
  • the inventive method and system is preferably used in the receiving instrument in the position detecting apparatus, which calculates the receiving instrument's position.
  • the receiving instrument displays the positional data and assorted other information of interest through a user interface.
  • the information may be, for example, the location of the receiving instrument with respect to a default or a user-selected coordinate frame, or its distance relative to another location.
  • the inventive method and system includes obtaining positional data from a known coordinate system, selecting an alternative presentation format, and defining transformations from the known coordinate system to the user-selected coordinate system. As a result, the raw position data obtained from the position detector is presented to the user m a user- selected format and uses nomenclature that is familiar to the user, regardless of the user's specific application.
  • the present invention can be applied to a variety of different fields, applications, industries, and technologies.
  • the present invention can be used, without limitation, with any system in which information related to position must be determined, including without limitation movement, dimensional measurement, and position and orientation tracking. This includes without limitation many different processes and applications involved in myriad industries.
  • Figure 1 is a block diagram illustrating one overall position detecting system in which the inventive method and system can be used;
  • Figure 2 is a flowchart illustrating the overall process used by the inventive method and system
  • Figures 3A through 3C are block diagrams illustrating the process in which a user-selectable coordinate frame is developed according to the present invention.
  • Figure 4 is a block diagram illustrating how transformed position data is provided to a user interface.
  • FIG. 1 is a block diagram illustrating an overall position detecting system 100 in which the inventive method and system can operate.
  • the system 100 includes a position detector 101, a tracking system 102, a position calculation engine (PCE) 104, data transfer protocol blocks 106, 107, data transformation block 108, display transformation block 110, and a display 112.
  • PCE position calculation engine
  • the data transformation block 108, display transformation block 110, and display block 112 work in conjunction with a user interface 114.
  • the inventive method and system is not limited to use in the system illustrated in Figure 1; the invention can be used with any system that generates two or three-dimensional position data.
  • Figure 2 is a flowchart illustrating the coordinate transformation process of the present invention, while Figures 3A through 3C illustrate in more detail the individual steps of the inventive process. The operation of these blocks will be described in more detail below.
  • the position data used in the inventive method and system can be obtained from the position calculation engine (PCE) 104, which is described in detail in co-pending, commonly assigned application Ser. No.(Atty. Docket No. ARC-002), the disclosure of which is incorporated herein by reference.
  • PCE position calculation engine
  • the PCE translates incoming signals from the transmitter into a physical position in space.
  • Application Ser. No. (Atty. Docket No. ARC-004) describes two possible methods for calculating the position of a detector 101 on a measurement tool: a theodolite network method and a non-theodolite transmitter method. Either one of these methods, as well as other methods, can be used as the PCE to obtain position data from the position detector for transformation into a user-selected coordinate frame.
  • the theodolite network method calculates the sensor position if the baseline between the two theodolites and the angles to a receiver are known, while the non- theodolite method avoids treating the system's transmitters as theodolites and takes advantage of the scanning operation of the transmitter described in co-pending, commonly assigned U.S. Application Ser.
  • Position data can also be obtained via other means as long as the data is configured to be freely exchangeable between the source and a user interface, such as via data transfer protocols 106, 107.
  • position information and other data is exchanged via the data transfer protocol 106, 107 between, for example, the position calculation engine 104 and the user interface 114, such as an alphanumeric display, to display the position data in a default format or in a format selected by the user.
  • the data transfer protocol 106, 107 between, for example, the position calculation engine 104 and the user interface 114, such as an alphanumeric display, to display the position data in a default format or in a format selected by the user.
  • the data transfer protocol is the format for communication between the PCE and the user interface. Note that any data communication protocol can be used in the inventive system and is not limited to the DTP described below.
  • the core processor of the DTP is a snap-in I/O driver that allows easy interchangeability between serial and parallel connections in different platforms. This allows the user interface and the apparatus used for position detection and tracking to use the same protocol software.
  • DTP may operate as follows : during normal use, the DTP may generally include a packet with a specific command as an argument and an array of related data as an optional second argument. A response will be either a packet containing the requested data or an acknowledging packet containing a Boolean value indicating the success or failure of receipt of the packet from the other device. Note that in the preferred embodiment, command packets are responded to with matching packets, while data packets are not responded to with matching packets .
  • the command packets may include packets for obtaining information from a peer processor, setting information, starting the return of data from a peer processor at a periodic rate, storing and returning the data to the peer processor, stopping the data updates, and updating software in the peer processor.
  • the DTP should be a peer-to-peer protocol to allow each device in the system to handle both incoming and outgoing data. Further, every command, data request, response, and/or data issue is preferably packaged into a data packet that includes a header word, the length of the accompanying data, and an array of the data itself to allow easy collection and interpretation of incoming information. This ensures that data can be exchanged between the position calculation engine and the user interface quickly and accurately.
  • a "default coordinate frame" (DCF) is the default coordinate frame that is set up by the system during calibration of the transmitter and receiver.
  • the position detector's position is provided to the user as an XYZ coordinate in the DCF.
  • the XYZ coordinate position nor the DCF provides any meaningful information to the user, particularly if the user prefers to work in a coordinate frame having an orientation than the DCF and/or a coordinate system other than the default XYZ system.
  • the inventive method and system simplifies the transformation process by allowing the user to perform a series of steps that results in the creation of an alternate, user-defined transformed coordinate frame ("TCF") .
  • TCF allows the user to redefine position and measurement data in a way that is meaningful and useful for the user's specific application.
  • the TCF allows the user to easily transform the XYZ coordinate data into other coordinate systems, such as the NEZ (north/east/z) coordinate system or the angle/radial/elevation coordinate system, and also allows the user to reposition the coordinate frame at any selected location and in any desired orientation.
  • the user can decide whether the coordinate system should be changed to provide more meaningful position data at step 202. If no, the position data is presented at step 204 in the default format, as XYZ data in the DCF. If the user does want to change the coordinate system, however, the method first determines the desired user-selected plane at step 206, selects an origin/start point in the plane at step 208, and then sets an axis in the plane at step 210. The position data is then displayed in the user-selected coordinate frame at step 20 .
  • the position of the measurement tool is determined by checking the PCE for the current XYZ coordinate of the tool, as measured in the DCF.
  • the XYZ coordinate is then multiplied by a transformation matrix, which defines the point's coordinates with respect to the TCF.
  • the specific transformation matrix used to transform the XYZ coordinate would depend on the TCF selected by the user.
  • the invention is not limited to transforming XYZ coordinates to other coordinate systems, but can be used any time a user wishes to transform coordinates from one coordinate frame/presentation format to another coordinate frame/presentation format.
  • This coordinate is then used by any appropriate user application to determine position and measurement.
  • the software communicates with the PCE via the DTP, as explained above, to the user application .
  • the user first notifies the system via the user interface that it wishes to define a plane at step 300.
  • the user then defines a plane via the PCE by collecting three or more points using any desired measurement instrument at step 302. As is known in the art, three or more points are required to definite a plane.
  • a plane is then calculated based on a least squares fit through the collected points at step 304.
  • the system then transforms the coordinate system so that either the XY, XZ, or YZ plane lies on this plane, creating a new frame of reference for position and measurement calculations. More particularly, a new transformation matrix is generated at step 304 based on the user-defined plane so that future measurements and position are calculated with respect to this plane via this transformation matrix at step 306.
  • the plane is presented to the user in a form that is standard for that user's particular application.
  • XYZ coordinate systems are easily used and understood; therefore, the user interface in the inventive system can therefore ask the user to define an XY, XZ, or YZ plane.
  • XYZ coordinate systems are not ordinarily used; therefore, the user interface in the inventive system would ask the user to define, for example, a wall, floor or ceiling instead of an abstract plane.
  • the next step is defining a user-selected origin, which is illustrated in Figure 3B.
  • the user first notifies the system, via the user interface, that it wishes to select an origin at step 308.
  • the user selects a single point in space with the measurement device via the PCE at step 310.
  • the next step is defining a user-selected axis, as illustrated in Figure 3C.
  • the user initiates the axis selection process via the user interface at step 316 and then selects one point in space to define either the X, Y, or Z axis at step 318.
  • the system then defines the axis by connecting the user-selected origin with the user-selected point.
  • the select point and resulting axis is projected to the user-defined plane from the process described above with reference to Figure 3A. From this information, a transformation matrix corresponding to the user-selected axis is calculated at step 320 for transforming future measurements at step 322.
  • the axis information is presented to the user using nomenclature that is standard for that user's particular application.
  • nomenclature that is standard for that user's particular application.
  • XYZ coordinate systems are easily used and understood; therefore, the system can define an X, Y, or Z axis.
  • the XYZ coordinate system is not as familiar to most users, so the user interface for construction applications preferably would request the user to define the edge of a floor, the centerline of a column, or a control line instead of an abstract axis.
  • the superscripts indicate the frame of reference (e.g., superscript 1 indicates the original frame, or DCF, and superscript 2 indicates the user-selected frame, or TCF) .
  • Superscript 12 indicates a mapping from the DCF to the TCF.
  • the origin of the original DCF coordinate frame is translated to the user-selected origin point and the coordinate of the position detector is transformed from the DCF to the TCF via the transformation matrix at steps 326, 328.
  • the user interface displays the XYZ, XY, and Z coordinates in the user-selected TCF at step 330 rather than the original DCF, without any additional user intervention.
  • Another example involves the inventive system providing angle measurements in the user-selected TCF.
  • the user is prompted to select 2 points .
  • the system can provide the user with the elevation angle of the point with respect to the user- defined plane.
  • the system can provide the user with the azimuth angle with respect to the line defined by the two points in the TCF.
  • the origin of the coordinate frame is translated to the first user-selected point, allowing calculation of the elevation angle from the origin of the TCF to the measured point.
  • an axis (usually the X-axis) is aligned to pass through the second selected point. We can then calculate azimuth angles from this line.
  • inventive method and system are not limited to the examples outlined above, but can be used in conjunction with any position data source.
  • any device or combination of devices can be used to carry out the invention.
  • the user interface can be either a hand-held device or a computer
  • the point collection devices can be any device that has two or three dimensional information.
  • inventive method and system is not limited to conducting only the measurements in the examples, but can be used to provide any positional data in any user-selected coordinate frame as long as the user provides enough information to create the appropriate transformation matrix for the user-selected coordinate frame.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Business, Economics & Management (AREA)
  • Economics (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Quality & Reliability (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Development Economics (AREA)
  • Strategic Management (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Processing Or Creating Images (AREA)

Abstract

L'invention concerne un procédé et un système permettant la conversion de données tridimensionnelles d'une trame de coordonnées par défaut en une trame de coordonnées arbitraire sélectionnée par un utilisateur. Le procédé consiste à obtenir des données de positions dans une trame de coordonnées par défaut et à transformer ces données en une trame de coordonnées différente, définie par l'utilisateur. On peut définir cette trame de coordonnées en permettant à l'utilisateur de sélectionner un plan, une origine et un axe, au moyen d'un système de coordonnées souhaité quelconque et dans une orientation souhaitée quelconque. Les données transformées permettent une présentation des mesures de positions sous une forme pertinente à l'application spécifique de l'utilisateur.
EP00918194A 1999-03-22 2000-03-22 Procede de creation d'une trame de coordonnees selectionnable par l'utilisateur Withdrawn EP1166043A1 (fr)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US12554599P 1999-03-22 1999-03-22
US125545P 1999-03-22
PCT/US1999/023615 WO2000022380A1 (fr) 1998-10-13 1999-10-13 Emetteur optique a tete rotative pour systeme de mesure de position
WOPCT/US99/23615 1999-10-13
US532026 2000-03-21
US09/532,026 US6662103B1 (en) 1999-03-22 2000-03-21 Method and system for creating a user-selectable arbitrary coordinate frame
PCT/US2000/007446 WO2000057132A1 (fr) 1999-03-22 2000-03-22 Procede de creation d'une trame de coordonnees selectionnable par l'utilisateur

Publications (1)

Publication Number Publication Date
EP1166043A1 true EP1166043A1 (fr) 2002-01-02

Family

ID=27378778

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00918194A Withdrawn EP1166043A1 (fr) 1999-03-22 2000-03-22 Procede de creation d'une trame de coordonnees selectionnable par l'utilisateur

Country Status (5)

Country Link
EP (1) EP1166043A1 (fr)
JP (1) JP2003524817A (fr)
AU (1) AU3905000A (fr)
CA (1) CA2366720A1 (fr)
WO (1) WO2000057132A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2689103B2 (ja) * 1995-07-14 1997-12-10 タキゲン製造株式会社 シャッター用ロック装置
DE102014105781B4 (de) * 2014-04-24 2016-04-07 Sick Ag Optoelektronischer Sensor und Verfahren zur Erfassung von Messinformationen aus einem Überwachungsbereich
CN104330078B (zh) * 2014-07-24 2017-02-15 中国人民解放军信息工程大学 一种基于三点后方交会模型的联合测量方法
JP2021018071A (ja) * 2019-07-17 2021-02-15 日本電気株式会社 地形情報生成装置、地形情報生成システム、情報生成方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4456961A (en) * 1982-03-05 1984-06-26 Texas Instruments Incorporated Apparatus for teaching and transforming noncoincident coordinate systems
US5247487A (en) * 1991-06-17 1993-09-21 Spatial Positioning Systems, Inc. Spatial measurement recovery system
US5337149A (en) * 1992-11-12 1994-08-09 Kozah Ghassan F Computerized three dimensional data acquisition apparatus and method
US5309913A (en) * 1992-11-30 1994-05-10 The Cleveland Clinic Foundation Frameless stereotaxy system

Non-Patent Citations (1)

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Title
See references of WO0057132A1 *

Also Published As

Publication number Publication date
AU3905000A (en) 2000-10-09
JP2003524817A (ja) 2003-08-19
WO2000057132A1 (fr) 2000-09-28
CA2366720A1 (fr) 2000-09-28

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