METHOD, SYSTEM, AND APPARATUS FOR MEASURING DISPLACEMENT

An apparatus is disclosed. The apparatus has a measuring body and a first laser device supported on the measuring body and configured to emit a first laser. The apparatus also has a second laser device supported on the measuring body, the second laser device configured to emit a second laser that intersects with the first laser at a reference distance from the measuring body. The apparatus further has a laser measuring device supported on the measuring body. The laser measuring device is configured to detect a first reflection of the first laser on the measuring body, the first reflection of the first laser reflecting from a reflection distance from the measuring body. The laser measuring device is configured to detect a second reflection of the second laser on the measuring body, the second reflection of the second laser reflecting from the reflection distance.

TECHNICAL FIELD

The present disclosure is directed to a method, system, and apparatus for measuring displacement, and more particularly, to a method, system, and apparatus for measuring displacement of an object or body.

BACKGROUND OF THE DISCLOSURE

Laser technology is often used in determining a distance from a point of reference to an object. For example, laser range-finding is often used in applications such as military reconnaissance and targeting activities. For example, a single laser beam is typically used to determine distance to a given object via use of a timed laser pulse.

Although the above conventional uses of laser technology may adequately measure linear distance, such conventional methods are unable to determine a rate of displacement of an object. Also, such conventional methods are subject to error based on various factors, e.g., error caused by the influence of the Doppler Effect.

The exemplary disclosed method, system, and apparatus of the present disclosure is directed to overcoming one or more of the shortcomings set forth above and/or other deficiencies in existing technology.

SUMMARY OF THE INVENTION

In one aspect, the present invention is directed to an apparatus. The apparatus includes a measuring body and a first laser device supported on the measuring body and configured to emit a first laser. The apparatus also includes a second laser device supported on the measuring body, the second laser device configured to emit a second laser that intersects with the first laser at a reference distance from the measuring body. The apparatus further includes a laser measuring device supported on the measuring body. The laser measuring device is configured to detect a first reflection of the first laser on the measuring body, the first reflection of the first laser reflecting from a reflection distance from the measuring body. The laser measuring device is configured to detect a second reflection of the second laser on the measuring body, the second reflection of the second laser reflecting from the reflection distance. The first and second reflections are configured to converge when the reference distance and the reflection distance converge.

In another aspect, the present invention is directed to a method. The method includes providing a measuring body, emitting a first laser from the measuring body, and emitting a second laser from the measuring body, the second laser intersecting with the first laser at a reference distance from the measuring body. The method also includes detecting a first reflection of the first laser on the measuring body, the first reflection of the first laser reflecting from a reflection distance from the measuring body. The method further includes detecting a second reflection of the second laser on the measuring body, the second reflection of the second laser reflecting from the reflection distance. The method additionally includes moving the first and second reflections toward each other based on moving the reference distance and the reflection distance toward each other.

DETAILED DESCRIPTION AND INDUSTRIAL APPLICABILITY

The exemplary disclosed method, system, and apparatus may be any suitable system for determining displacement of an object. For example, the exemplary disclosed system may be a laser intersection distance measurement and displacement measurement system as disclosed for example herein. For example,FIG. 1Aillustrates an exemplary system300for determining displacement. System300may include a measuring assembly302for measuring data associated with an object.

Measuring assembly302may include a measuring body305on which a laser device310configured to emit a laser315and a laser device320configured to emit a laser325may be supported (e.g., attached or mounted by any suitable technique). Measuring assembly302may also include a laser measuring device330that may be supported (e.g., attached or mounted by any suitable technique) by measuring body305. Measuring assembly302may include any suitable number of laser devices310and/or laser devices320and any suitable number of laser measuring devices330(e.g., may include an array of a plurality of exemplary laser devices and one or more exemplary measuring devices).

Measuring body305may be any suitable assembly for supporting (e.g., attaching or mounting by any suitable technique) laser device310, laser device320, and/or laser measuring device330as disclosed for example herein. For example, measuring body305may be a vehicle or a portion of a vehicle such as, e.g., a fixed wing or rotary wing aircraft (e.g., or a wing, fuselage, or other suitable component or assembly of an aircraft), a waterborne vessel (e.g., a maritime or naval vessel or a portion of a vessel, and/or any suitable vessel that may float on and/or submerge and move through a body of water such as an ocean, a lake, or a river), a ground vehicle or portion of a ground vehicle, any other suitable type of vehicle (e.g., a hot air balloon or a dirigible airship) and/or a building or other structure or a portion of a structure. For example, measuring body305may be an aircraft, and a first laser device (e.g., laser device310) and a second laser device (e.g., laser device320) may be mounted on a fuselage or a wing of the aircraft. It is also contemplated that measuring body may comprise a plurality of vehicles, structures, and/or other objects on which laser device310, laser device320, and/or laser measuring device330may be supported (e.g., attached or mounted by any suitable technique). For example, measuring body305may be any suitable body or object having sufficient baseline (e.g., length, width, or other dimension) for creating an angle between laser device310and laser device320as disclosed for example herein.

Laser device310may be any suitable device for emitting a laser. For example, laser device310may be a continuous wave laser, a pulsed laser (e.g., a long pulse laser or a short pulse laser), or a quasi-continuous mode laser. For example, laser device310may be a CO2, Argon laser, KTP laser, or Q-switched nanosecond laser. For example, laser device310may be a gas laser such as, e.g., a krypton laser, a carbon monoxide laser, a nitrogen laser, an excimer laser, a xenon ion laser, or a helium-neon laser. Also for example, laser device310may be a solid-state laser such as, e.g., a Nd:YAG laser, a Neodymium doped laser, an Er:YAG laser, an Ytterbium doped laser, or a Holmium YAG laser. Further for example, laser device310may be a chemical laser such as, e.g., a deuterium fluoride laser, or a hydrogen fluoride laser. Additionally for example, laser device310may be a semiconductor laser such as, e.g., a semiconductor laser diode, a GaN laser, a quantum cascade laser, or a hybrid silicon laser. Also for example, laser device310may be a metal-vapor laser such as, e.g., a manganese vapor laser, a helium-cadmium laser, a helium, -selenium laser, a helium-mercury laser, or a helium-silver laser. Further for example, laser310may be a gas dynamic laser, a Raman laser, or a free electron laser.

Laser device310may for example be supported (e.g., attached or mounted by any suitable technique) on measuring body305by any suitable technique. For example, laser device310may be mounted on a movable assembly that allows laser device310to maintain a stationary position and also to selectively rotate or displace to change an orientation of laser device310. For example, laser device310may include a power assembly, motor assembly, and/or any other suitable actuation assembly to rotate, deflect, and/or change an orientation of laser device310as desired. For example, laser device310may include an electrical power assembly, a hydraulic power assembly, a pneumatic power assembly, a magnetic-powered assembly, and/or any other suitable assembly for driving a movement, rotation, and/or displacement of laser device310. For example, laser device310may be moved, rotated, and/or actuated to emit laser315in any desired direction. For example, laser device310may be moved, rotated, and/or displaced to emit laser315in a direction normal (e.g., at a 90° angle to a length and/or width direction of measuring body305) to a surface of measuring body305as illustrated inFIG. 1A. Laser device310may also be moved, rotated, and/or displaced to emit laser315in a direction that is at an angle to a direction normal to measuring body305(e.g., at any suitable angle such as, e.g., between about 0° and about 5°, between about 0° and about 10°, between about 0° and about 15°, between about 0° and about 20°, between about 0° and about 30°, between about 30° and about 45°, between about 30° and about 60°, between about 45° and about 70°, between about 60° and about 90°, and/or any other suitable angle from a direction that is substantially perpendicular to a surface of measuring body305).

Laser device320may be substantially similar to laser device310. For example, laser device320may emit laser325in any suitable direction such as, e.g., substantially perpendicular or normal to a surface of measuring body305and/or at any suitable angle from a direction that is substantially perpendicular or normal to a surface of measuring body305. Laser device320may be spaced at any suitable distance (e.g., spaced at any suitable interval) from laser device310. For example, laser device320may be spaced any suitable distance from laser device310in order to create an angle between lasers315and325. For example depending on an application of system300, laser devices310and320may be spaced from each other at a distance of between about ¼ inch and about 2 inches, between about 1 inch and about 12 inches, between about 0.5 feet and about 2 feet, between about 1 foot and about 6 feet, between about 5 feet and about 15 feet, between about 10 feet and about 50 feet, between about 20 feet and about 100 feet, between about 50 feet and about 200 feet, between about 100 feet and about 500 feet, between about 200 feet and about 1000 feet, and/or between about 500 feet and about 1500 feet. It is also contemplated that laser devices310and320may be spaced apart by several miles. For example, laser devices310and320may be spaced apart from each other at a relatively close distance when measuring body305is a piece of laboratory equipment or other precision equipment. Also for example, laser devices310and320may be spaced apart from each other on a vehicle such as, e.g., on different portions of an aircraft wing, on different wings of an aircraft, on different portions of an aircraft fuselage, on different portions of a ground vehicle, on different portions of a naval or maritime vessel (or any other suitable type of waterborne vessel as disclosed herein), and/or on different portions of a building, bridge, or other structure (e.g., or any suitable combination thereof).

For example as illustrated inFIG. 1A, laser devices310and320may be spaced apart at any suitable distance as disclosed for example above to create an angle between respective lasers315and325. For example, laser devices310and320may be disposed at any spacing from each other and at any configuration and/or angle that results in lasers315and325converging at a distance (e.g., point) that may be detected (e.g., as measured by laser measuring device330as disclosed below). For example, laser devices310and320may be disposed at a distance from each other on measuring body305and positioned so that respective lasers315and325converge (e.g., converge as measured by laser measuring device330as disclosed for example below) at a desired point C (e.g., convergence point) as illustrated inFIG. 1A. For example, point C may be an intersection of the exemplary lasers (e.g., an intersection of lasers315and325).

For example, in order to facilitate an operation of laser measuring device330as disclosed below, laser devices310and320may have differing properties relative to each other in order to emit respective lasers315and325having differing properties. For example, lasers315and325may have different frequencies, coding, pulsing, and/or any other differing properties in order to differentiate lasers315and325from each other to enhance an operation of laser measuring device330.

For example, laser device310and/or laser device320may be positioned (e.g., angled, moved, rotated, and/or actuated as disclosed for example above) so that respective lasers315and325converge at a desired point C (e.g., as measured by laser measuring device330as disclosed for example below). For example, point C may be disposed at a distance DR(e.g., reference distance) from measuring body305. For example, distance DRmay be a predetermined distance that may serve as a known, predetermined distance and/or point on which calculations and processes of system300may be based. Distance DRmay be based for example on a position, angle or orientation, and/or configuration of laser device310and/or laser device320. Distance DRmay provide a useful benchmark (e.g., baseline data used in an operation of system300as disclosed below) and may be varied as desired. For example, distance DRmay be set based on criteria associated with measuring body305(e.g., vehicle criteria if measuring body305is an aircraft, waterborne vessel, ground vehicle, or other type of vehicle such as the exemplary vessels disclosed herein). For example, depending on a preference of a user and/or parameters and/or criteria based on ambient conditions, properties of system300and/or a measured object, distance DRmay be varied to optimize an operation of system300. For example, depending on an application or purpose of use of system300, the ambient environment in which system300is operating, and/or the properties of an object being measured, distance DRmay be adjusted as necessary to allow for a suitable operation of system300. Distance DRmay for example be set to any suitable distance at which convergence point C may be detected by system300(e.g., as measured by laser measuring device330as disclosed below). Distance DRmay be for example any suitable distance such as, e.g., microscopic distances (e.g., between about 1 nanometer and about 1 micrometer, between about 100 nanometers and about 1 millimeter, and/or between about 1 micrometer and about 1 centimeter). Distance DRmay also be for example between about 1 millimeter and about 1 meter. Distance DRmay also be for example between about 1 meter and about 10 meters, between about 1 meter and about 100 meters, and/or between about 10 meters and about 1 kilometer. Distance DRmay also be between about 1 km and several kilometers (e.g., or miles or nautical miles). Distance DRmay also be a relatively large distance such as, for example, tens, hundreds, and/or thousands of miles or kilometers. For example, a user and/or system300may set distance DRto any desired distance based on positioning (e.g., moving, rotating, and/or actuating) laser devices310and/or320to emit lasers315and325to converge at a desired point C at a desired distance DR(e.g., as measured by laser measuring device330as disclosed below). For example, laser devices310and320may be configured manually by a user and/or automatically by system300as desired or suitable based on an operation of system300(e.g., based on a given use or application of system300). For example, laser devices310and320may be configured (e.g., positioned, moved, actuated, and/or rotated) to a predetermined position based on trigonometric and/or triangulation calculations to provide a desired distance DR.

For example, one of laser device310and laser device320may be maintained at an angle that is substantially perpendicular (e.g., normal) to a surface of measuring body305(e.g., and laser measuring device330) and the other of laser device310and laser device320may be positioned at an angle (e.g., not parallel) to the other laser device so that lasers315and325may converge at a point that can be detected. For example, one of laser devices310and320may be maintained at an orientation to emit one of lasers315and325substantially perpendicularly or normal to a surface of measuring body305(e.g., and of laser measuring device330), which may simplify calculations based on measurements of laser measuring device330(e.g., trigonometric calculations may be simplified by basing calculations on a right triangle configuration of convergence of lasers315and325as illustrated inFIG. 1A). Also for example, laser devices310and320may be positioned to emit both lasers315and325at an angle to the perpendicular (e.g., normal) of a surface of measuring body305(e.g., and of laser measuring device330).

Measuring assembly302may be used to measure a distance, displacement, and/or other properties of a body335. For example, body335may be located at a reflection distance DB(e.g., body distance) from measuring body305(e.g., an object, body, or any other suitable form of matter that may be measured by system300). Distance DBmay vary based on a location of body335relative to measuring body305. Distance DBmay be any suitable distance such as, for example, similar to the exemplary ranges disclosed above regarding distance DR. For example, body335may be any suitable body or object that may be measured by system300such as, e.g., a surface of the earth including terrain features such as water, hills, mountains, and/or valleys, a vehicle such as a ground vehicle, aircraft, and/or naval, maritime, or other type of waterborne vessel, and/or an object in space such as an asteroid or debris circling the earth. For example if measuring body305is a stationary or moving aircraft, vessel, or vehicle, body335may be a point on the earth's surface or another vehicle that may move relative to measuring body305. For example, measuring body305may be an aircraft and the target body (e.g., body335) may be an earth surface (e.g., a point on the surface of the earth). For example, body335may be a relatively large reflecting surface that is suitable for reflecting laser energy (e.g., has suitable reflectance characteristics for given wavelengths of lasers of system300).

For example, a convergence of lasers315and325(e.g., as measured by laser measuring device330as disclosed for example below) at predetermined distance DRmay (e.g., under certain conditions) correspond to distance DB(e.g., or a distance to point C) of body335to measuring body305. For example as disclosed below, lasers315and325may converge (e.g., as measured by laser measuring device330) when distance DRis substantially equal to distance DB. Also for example, distance DRmay be greater than distance DB. Further for example, distance DRmay be less than distance DB. If for example distance DRis maintained at a constant distance by a user and/or system300, distance DBmay vary from being larger than, smaller than, and/or substantially equal to distance DRbased on a movement of body335relative to measuring body305.

Laser measuring device330may be any suitable device for detecting and/or measuring a reflection of a laser beam (e.g., a reflection of lasers315and/or325). For example, laser measuring device330may include a single detector or an array of detectors that may detect reflections of lasers315and325. For example, a reflection of lasers315and325may be detected by laser measuring device330as a magnitude and trajectory (e.g., direction) of laser energy reflected from a surface of body335. For example, laser measuring device330may be a device that operates on a triangulation measurement principle. For example, laser measuring device330may include a collection lens configured to collect a reflection of a laser beam emitted from a predetermined position (e.g., of laser device310and/or320) and reflected by a surface of a target (e.g., a surface of body335). For example, laser measuring device330may include a camera (e.g., a camera having pixels for measuring laser energy, a linear array camera, a CMOS array, and/or any other suitable camera for measuring a reflected laser) configured to receive and measure reflected laser energy (e.g., from a laser beam that is collected and provided by a collection lens). Also for example, laser measuring device330may include components for measuring and/or determining properties of a reflected laser beam (e.g., reflections of lasers315and/or325) such as photodiode components, phototransistor components, and/or light dependent resistor components. For example, laser measuring device330may include one or more laser detector assemblies that may determine an angular distance (e.g., an angular spread) between reflections of lasers315and325to a suitable level of precision and/or accuracy (e.g., to a minute, and/or a second of arc measurement) to determine a displacement of body335relative to distance DR. For example, laser measuring device330may use apparent linear variations in diverging laser reflections of lasers315and325to determine if body335is converging or diverging from the laser reflections based on displacements of the measured reflections.

The output data from laser measuring device330may be provided in any suitable form such as, for example, raw numerical data, visual representation on a digital and/or analog user interface, and/or hard copy printout. For example,FIG. 1Billustrates an exemplary user interface340of laser measuring device330. For example, user interface340may have any suitable components for entering input data and/or receiving output data (e.g., as disclosed below regardingFIGS. 8 and 9). For example, user interface340may have a display345(e.g., digital and/or analog display) having a first portion350and a second portion355. For example, portions350and355may correspond to a displacement of an exemplary object (e.g., body335) being measured by system300. For example, portion350may correspond to a first displacement area or direction (e.g., a “+” area or direction) of body335, and portion355may correspond to a second displacement area or direction (e.g., a “−” area or direction) of body335. For example, such data may also be provided by any other suitable technique (e.g., any suitable technique for indicating a first and second displacement area or direction).

For example, when system300is in the exemplary configuration illustrated inFIG. 1A(e.g., when distance DRis substantially equal to distance DB, e.g., when a measured distance and/or point of body335is disposed at point of convergence point C of lasers315and325), a marking360may be disposed (e.g., displayed) on user interface340at a line or point dividing portions350and355. Marking360may for example indicate to a user (e.g., or such indication may be provided to system300and/or a user as data without user interface340) that body335is disposed at distance DR(e.g., that a reference distance DRis substantially equal to a body distance DBas illustrated inFIG. 1A). For example, marking360may include an indication of a reflection of laser315that is co-located (e.g., converged) with a reflection of laser325. For example, when measuring reflections of lasers315and325of body335, laser measuring device330may determine that a reflection of laser315has converged with (e.g., is measured at the same location as) laser325. For example, laser measuring device330may determine that reflections of lasers315and325off of body335correspond to body335being at the location of predetermined reference distance DR(e.g., that distance DRsubstantially equals distance DB). For example, based on the exemplary configuration ofFIGS. 1A and 1B, data may be provided to a user and/or system300that body335has not displaced from reference distance DR(e.g., that body335has not displaced relative to measuring body305). For example in an exemplary embodiment in which measuring body305is a helicopter hovering above body335that is a ground surface (e.g., a measured point or location on the surface of the earth), the exemplary configuration ofFIGS. 1A and 1Bmay indicate that measuring body305and body335have not moved relative to each other (e.g., that the exemplary helicopter is hovering or station keeping in place above the ground; e.g., that reference distance DRhas been attained by body335). For example, user interface340may be configured to display a location of a first reflection (e.g., a first reflection of laser315) relative to a location of the second reflection (e.g., a reflection of laser325).

FIGS. 2A and 2Billustrate an additional exemplary configuration of system300. As illustrated inFIG. 2A, body335may displace relative to measuring body305so that body distance DBis greater than reference distance DR. For example, body335may be disposed at a location that is further away from measuring body305than convergence point C.FIG. 2Billustrates exemplary output data of system300associated with the exemplary configuration ofFIG. 2A. For example, because body distance DBmay be greater than reference distance DR, laser measuring device330may provide system300with data indicating that a reflection of laser325(e.g., represented by marking370inFIG. 2B) has been determined to have moved relative to a reflection of laser315(e.g., represented by marking365inFIG. 2B). For example, user interface340may indicate that marking370is disposed by a determined amount in portion350(e.g., “+” portion), indicating that body335has displaced by an amount proportional to or otherwise mathematically related to an amount of movement by marking370in the “+” direction. Calculations may be made by system300by any suitable technique based on the above-described measurements of reflections of lasers315and325off of body335(e.g., as measured by laser measuring device330). For example, a difference between reference distance DRand reflection or body distance DBmay be proportional to a distance between a location of the first reflection (e.g., of laser315) and a location of the second reflection (e.g., of laser325) as measured by laser measuring device330and displayed on user interface340.

For example, system300may utilize components (e.g., located at measuring body305and/or located remotely and communicating with other components of system300via a network) similar to those described below regardingFIGS. 8 and 9. For example, system300may include a module comprising computer-executable code stored in non-volatile memory and a processor that may make calculations based on measurements taken by and/or data provided by laser measuring device330. For example (e.g., and as disclosed further below regardingFIGS. 8 and 9), system300may utilize software to conduct distance, velocity, and/or acceleration calculations based on measurements provided by laser measuring device330. For example, an output of exemplary software may be customized to a specific application of system300(e.g., to terrain mapping for aircraft and/or station keeping for rotary aircraft). For example, exemplary software may provide a simple binary output (e.g., “+” or “−”) if desired output is data indicating whether or not distance DRis greater than distance DB. Also for example, exemplary software of system300may provide more detailed calculations and output if more refined data output is desired (e.g., based on a given purpose or application of system300).

For example, system300may mathematically determine a linear distance between measuring body305and body335based on the changes in distance between measured reflections of lasers315and325. For example, any changes in distance such as convergence (e.g., reflections of lasers315and325moving toward each other) or divergence (e.g., reflections of lasers315and325moving away from each other) may be determined by the changes in the direction of movement and/or the distance of movement of reflections of lasers315and325measured by laser measuring device330. For example, a reflection of laser315may remain substantially fixed as measured by laser measuring device330(e.g., when laser device310is not moved and is maintained at a position so that laser315is emitted in a direction substantially perpendicular or normal to a surface of measuring body305). Also for example, a reflection of laser325may be measured by laser measuring device330as moving closer to (e.g., converging) or further away (e.g., diverging) from a reflection of laser315due to changes in distance DBbetween measuring body305and body335. For example as illustrated inFIG. 2B(e.g., and in other exemplary embodiments below), a reflection (e.g., marking370) of laser325measured in portion350(e.g., “+” portion) may indicate an increase of distance DBbetween measuring body305and body335(e.g., may indicate that distance DB>DR). Also for example as illustrated in some exemplary embodiments herein, a reflection of laser325measured in portion355(e.g., “−” portion) may indicate a decrease of distance DBbetween measuring body305and body335(e.g., may indicate that distance DB<DR).

Also for example, system300may make velocity, acceleration, and/or any other suitable calculations based on measurements taken by and/or data provided by laser measuring device330. For example, a relative velocity and/or relative acceleration between measuring body305and body335may be calculated using displacement determinations based on measurements of reflections of lasers315and325from body335measured by laser measuring device330. For example, a distance between reflections of lasers315and325measured by laser measuring device330, a determination of which portion (e.g., portion350or portion355) a reflection of laser325is measured as being disposed at, and/or a rate at which a reflection of laser325moves in relation to a reflection of laser315may provide data describing a direction, a magnitude and/or a rate of movement of member335relative to measuring body305. For example, this data may be used by system300in calculating changes in distance, radial velocity, and/or radial acceleration between measuring body305and body335. As disclosed in some exemplary embodiments herein, a reflection of laser315and/or a reflection of laser325may be measured as moving over portion350and/or portion355.

FIGS. 3A and 3Billustrate an additional exemplary configuration of system300. As illustrated inFIG. 3A, body335may displace relative to measuring body305so that body distance DBis greater than reference distance DR(e.g., greater than the value of DBillustrated inFIG. 2A). For example, body335may be disposed at a location that is farther away (relative toFIGS. 1A and 2A) from measuring body305than convergence point C.FIG. 3Billustrates exemplary output data of system300associated with the exemplary configuration ofFIG. 3A. For example, because body distance DBmay be greater than reference distance DR(e.g., greater than the amount illustrated inFIG. 2A), laser measuring device330may provide system300with data indicating that a reflection of laser325(e.g., represented by marking370inFIG. 3B) has been determined to have moved again relative to a reflection of laser315(e.g., represented by marking365inFIG. 3B). For example, user interface340may indicate that marking370is disposed by a determined amount in portion350(e.g., “+” portion), indicating that body335has displaced by an additional amount (e.g., relative toFIG. 2A) proportional to or otherwise mathematically related to an amount of movement by marking370in the “+” direction. Calculations may be made by system300by any suitable technique (e.g., similar to above) based on the above-described measurements of reflections of lasers315and325off of body335(e.g., as measured by laser measuring device330).

FIGS. 4A and 4Billustrate an additional exemplary configuration of system300. As illustrated inFIG. 4A, body335may displace relative to measuring body305so that body distance DBis less than reference distance DR. For example, body335may be disposed at a location that is closer to measuring body305than convergence point C.FIG. 4Billustrates exemplary output data of system300associated with the exemplary configuration ofFIG. 4A. For example, because body distance DBmay be less than reference distance DR, laser measuring device330may provide system300with data indicating that a reflection of laser325(e.g., represented by marking370inFIG. 4B) has been determined to have moved relative to a reflection of laser315(e.g., represented by marking365inFIG. 4B). For example, user interface340may indicate that marking370is disposed by a determined amount in portion355(e.g., “−” portion), indicating that body335has displaced by an amount proportional to or otherwise mathematically related to an amount of movement by marking370in the “−” direction. Calculations may be made by system300by any suitable technique (e.g., similar to above) based on the above-described measurements of reflections of lasers315and325off of body335(e.g., as measured by laser measuring device330).

FIGS. 5A and 5Billustrate an additional exemplary configuration of system300. As illustrated inFIG. 5A, body335may displace relative to measuring body305so that body distance DBis less than reference distance DR(e.g., less than the value of DBillustrated inFIG. 4A). For example, body335may be disposed at a location that is closer to measuring body305than convergence point C (relative toFIG. 4A).FIG. 5Billustrates exemplary output data of system300associated with the exemplary configuration ofFIG. 5A. For example, because body distance DBmay be less than reference distance DR(e.g., less than the amount illustrated inFIG. 4A), laser measuring device330may provide system300with data indicating that a reflection of laser325(e.g., represented by marking370inFIG. 5B) has been determined to have moved relative to a reflection of laser315(e.g., represented by marking365inFIG. 5B). For example, user interface340may indicate that marking370is disposed by a determined amount in portion355(e.g., “−” portion), indicating that body335has displaced by an additional amount (e.g., relative toFIG. 4A) proportional to or otherwise mathematically related to an amount of movement by marking370in the “−” direction. Calculations may be made by system300by any suitable technique (e.g., similar to above) based on the above-described measurements of reflections of lasers315and325off of body335(e.g., as measured by laser measuring device330).

In addition to the exemplary configurations disclosed above, marking370may be disposed at any other suitable position (e.g., in the “+” of “−” portions of user interface340based on a corresponding distance DB). For example, reflections of lasers315and/or325(e.g., markings365and/or370) may be disposed at any suitable distance from each other (e.g., as measured by laser measuring device330) based on any suitable corresponding values of distances DRand/or DB.

FIG. 6illustrates an additional exemplary configuration of system300. For example, both laser device310and laser device320may be disposed at an angle to a direction that is substantially perpendicular (e.g., normal) to a surface of measuring body305(e.g., and/or laser measuring device330). A location of convergence point C and distance DRmay be located based on the corresponding emissions of lasers315and325(e.g., corresponding to the position, angle, and/or configuration of angled laser devices310and320). For example, laser device310and/or laser device320may be angled relative to a direction that is substantially perpendicular (e.g., normal) to a surface of measuring body305to provide a desired convergence point C and distance DR(e.g., angled laser devices310and320may provide additional flexibility (e.g., and/or scope or range) to a user in setting convergence point C and reference distance DR).

For example, an exemplary system may include a measuring body (e.g., measuring body305), a first laser device (e.g., laser device310) supported on the exemplary measuring body and configured to emit a first laser (e.g., laser315), and a second laser device (e.g., laser device320) supported on the exemplary measuring body, the second laser device configured to emit a second laser (e.g., laser325) that intersects with the first laser at a reference distance (e.g., distance DR) from the measuring body. The exemplary system may also include a laser measuring device (e.g., laser measuring device330) supported on the exemplary measuring body. The exemplary laser measuring device may be configured to detect a first reflection of the first laser (e.g., laser315) on the exemplary measuring body, the first reflection of the first laser reflecting from a body or reflection distance (e.g., distance DB) from the measuring body. The exemplary laser measuring device may be configured to detect a second reflection of the second laser (e.g., laser325) on the measuring body, the second reflection of the second laser reflecting from the reflection distance. The first and second reflections are configured to converge (e.g., move toward each other, approach each other, and/or one or both reflections moving so that a distance between the reflections decreases) when the reference distance and the reflection distance converge (e.g., move toward each other, approach each other, and/or one or both of the reference distance and the reflection distance changing so that a difference between the reference distance and reflection distance decreases). Also for example, the exemplary system may include a processor and a displacement measurement module including computer-executable code stored in non-volatile memory (e.g., including components similar to the exemplary components described regardingFIGS. 8 and 9), wherein the processor and the displacement measurement module may be configured to determine a relative velocity or a relative acceleration between a target body disposed at the body or reflection distance (e.g., distance DB) and measuring body305based on a rate of movement of at least one of the first reflection (e.g., of laser315) and the second reflection (e.g., of laser325) on measuring body305(e.g., as measured by laser measuring device330).

The exemplary disclosed invention may provide a method, system, and apparatus for determining displacement, velocity, and acceleration of an object. The exemplary disclosed method, system, and apparatus may be used in any application that determines changes in distance, velocity, and/or acceleration between an observer and an observed object. For example, the exemplary disclosed method, system, and apparatus may be used in any application utilizing information for station keeping, obstacle avoidance, rate of closure (e.g., between two objects such as an observer and an observed object), and/or terrain following (e.g., traveling at a desired distance to terrain). For example, the exemplary disclosed method, system, and apparatus may be used in a variety of aeronautical, aerospace, and/or nautical applications and operations. For example, the exemplary disclosed method, system, and apparatus may be used in aircraft and/or waterborne vessel navigation and for obstacle detection and avoidance by vessels (e.g., or any suitable type of waterborne vessels as disclosed herein) and/or aircraft, delivery of guided munitions, and/or station keeping by aircraft and/or naval vessels (e.g., station keeping for hovering rotary wing aircraft and/or station keeping by naval vessels traveling with other vessels in a fleet formation). The exemplary disclosed method, system, and apparatus may also be used in obstacle avoidance and navigation systems for any suitable type of vehicle, such as ground vehicles, hovercraft, fixed wing and rotary wing aircraft, and/or waterborne vessels (e.g., maritime vessels, and/or any suitable vessel that may float on and/or submerge and move through any suitable body of water such as, e.g., an ocean or a lake).

An exemplary method illustrating the operation of the exemplary system and apparatus will now be disclosed. For example,FIG. 7illustrates an exemplary process400of the exemplary disclosed method, system, and apparatus.

For example, process400starts at step405. At step410for example, a user may configure (e.g., and/or system300may automatically configure based on predetermined criteria and/or user input, e.g., via user interface340) laser devices310and320as disclosed e.g. above to correspond to a desired reference distance DR(e.g., as illustrated inFIG. 1A or 6). As disclosed for example above, laser devices310and320may be disposed in any suitable angle, position, location, and/or configuration to provide a desired convergence point C and reference distance DR.

At step420for example (e.g., and as disclosed above), system300may make velocity, acceleration, and/or any other suitable calculations based on measurements taken by and/or data provided by laser measuring device330at step415. For example, a relative velocity and/or relative acceleration between measuring body305and body335may be calculated using displacement determinations based on measurements of reflections of lasers315and325from body335measured by laser measuring device330at step415. System300may make calculations for example via components and processes disclosed above and/or components and processes disclosed below regardingFIGS. 8 and 9.

At step425for example, a user (and/or system300based on predetermined algorithms and/or user input entered for example via user interface340) determines if system300will continue process400with the same reference distance DRas determined for example at step410. If process400is to be continued with the same reference distance DR, the system returns to step415and repeats steps415and420. If process400is not to be continued with the same reference distance DR, (e.g., as determined at step410), process400continues to step430.

At step430for example, a user (and/or system300based on predetermined algorithms and/or user input entered for example via user interface340) determines if system300will continue process400with a new reference distance DR(e.g., a distance DRthat is different from the one previously set at step410). If process400is to be continued with a new (e.g., changed or revised) reference distance DR, the system returns to step410and calculates a new distance DRas disclosed above regarding step410. System300then repeats steps415and420using the new reference distance DR. A user and/or system300then determines whether measurements will continue using the same or a new reference distance DRat steps425and430respectively, and process400may continue (e.g., iteratively repeating steps415and420and/or steps415,420, and425) as disclosed above.

If for example at step430a user (and/or system300based on predetermined algorithms and/or user input entered for example via user interface340) determines that system300will not continue process400with a new reference distance DR, then system300exits process400at step435.

For example, the exemplary method may include providing a measuring body (e.g., measuring body305), emitting a first laser (e.g., laser315) from the exemplary measuring body, and emitting a second laser (e.g., laser325) from the exemplary measuring body, the second laser intersecting with the first laser at reference distance DRfrom the measuring body. The exemplary method may also include detecting a first reflection of the first laser on the measuring body, the first reflection of the first laser reflecting from a reflection distance (e.g., distance DB) from the measuring body. The exemplary method may also include detecting a second reflection of the second laser on the measuring body, the second reflection of the second laser reflecting from the reflection distance. The exemplary method may further include moving the first and second reflections toward each other based on moving the reference distance and the reflection distance toward each other. The exemplary method may also include moving the first and second reflections away from each other based on moving the reference distance and the reflection distance away from each other. The exemplary method may additionally include displaying the first and second reflections on a user interface (e.g., user interface340). For example, the exemplary method may include displaying the first and second reflections at the same location on the user interface when the reference distance is equal to the reflection distance (e.g., as illustrated inFIGS. 1A and 1B). For example, a first location of the first reflection on the measuring body may be the same as a second location of the second reflection on the measuring body when the reference distance is equal to the reflection distance (e.g., as illustrated inFIGS. 1A and 1B). Also for example, the exemplary method may include varying the reference distance based on varying an angle of emission of at least one of the first and second lasers, the angle of emission for example being an angle measured from a direction that is substantially perpendicular to a surface (e.g., normal to the surface) of the measuring body.

Also for example, the exemplary method may include detecting a first reflection of the first laser (e.g., laser315) on the measuring body, the first reflection of the first laser reflecting from a target body (e.g., body335). The exemplary method may also include detecting a second reflection of the second laser (e.g., laser325) on the measuring body, the second reflection of the second laser reflecting from the target body. The exemplary method may also include determining a displacement of the target body from the reference distance based on measuring a distance between the first reflection and the second reflection (e.g., as measured by laser measuring device330). Also for example, the exemplary method may include determining a relative velocity or a relative acceleration between the target body and the measuring body based on a rate of movement of at least one of the first reflection and the second reflection (e.g., as measured by laser measuring device330). Also for example, a first location of the first reflection on the measuring body may be the same as a second location of the second reflection on the measuring body (e.g., as measured by laser measuring device330and for example as displayed by user interface340and/or as provided as data by system300) when the target body is disposed at the reference distance from the measuring body.

Several advantages may be associated with the exemplary disclosed method, system, and apparatus. The exemplary disclosed method, system, and apparatus may for example provide a precise and accurate technique for measuring displacement, direction of movement, magnitude of velocity, and/or acceleration of an object. Also for example, the exemplary disclosed method, system, and apparatus may provide a precise and accurate technique for calculating changes in distance, changes in radial velocity, and/or changes in radial acceleration between a measuring body and an observed object. For example, the exemplary disclosed method, system, and apparatus may allow for accurate and precise distance and displacement measurement based on linear displacement laser reflections. Further for example, the exemplary disclosed method, system, and apparatus may instantaneously provide data describing a change in distance between an observer location and an observed object.

An illustrative representation of a computing device appropriate for use with embodiments of the system of the present disclosure is shown inFIG. 8. The computing device100can generally be comprised of a Central Processing Unit (CPU,101), optional further processing units including a graphics processing unit (GPU), a Random Access Memory (RAM,102), a mother board103, or alternatively/additionally a storage medium (e.g., hard disk drive, solid state drive, flash memory, cloud storage), an operating system (OS,104), one or more application software105, a display element106, and one or more input/output devices/means107, including one or more communication interfaces (e.g., RS232, Ethernet, Wifi, Bluetooth, USB). Useful examples include, but are not limited to, personal computers, smart phones, laptops, mobile computing devices, tablet PCs, touch boards, and servers. Multiple computing devices can be operably linked to form a computer network in a manner as to distribute and share one or more resources, such as clustered computing devices and server banks/farms.

Various examples of such general-purpose multi-unit computer networks suitable for embodiments of the disclosure, their typical configuration and many standardized communication links are well known to one skilled in the art, as explained in more detail and illustrated byFIG. 9, which is discussed herein-below.

According to an exemplary embodiment of the present disclosure, data may be transferred to the system, stored by the system and/or transferred by the system to users of the system across local area networks (LANs) (e.g., office networks, home networks) or wide area networks (WANs) (e.g., the Internet). In accordance with the previous embodiment, the system may be comprised of numerous servers communicatively connected across one or more LANs and/or WANs. One of ordinary skill in the art would appreciate that there are numerous manners in which the system could be configured and embodiments of the present disclosure are contemplated for use with any configuration.

In general, the system and methods provided herein may be employed by a user of a computing device whether connected to a network or not. Similarly, some steps of the methods provided herein may be performed by components and modules of the system whether connected or not. While such components/modules are offline, and the data they generated will then be transmitted to the relevant other parts of the system once the offline component/module comes again online with the rest of the network (or a relevant part thereof). According to an embodiment of the present disclosure, some of the applications of the present disclosure may not be accessible when not connected to a network, however a user or a module/component of the system itself may be able to compose data offline from the remainder of the system that will be consumed by the system or its other components when the user/offline system component or module is later connected to the system network.

Referring toFIG. 9, a schematic overview of a system in accordance with an embodiment of the present disclosure is shown. The system is comprised of one or more application servers203for electronically storing information used by the system. Applications in the server203may retrieve and manipulate information in storage devices and exchange information through a WAN201(e.g., the Internet). Applications in server203may also be used to manipulate information stored remotely and process and analyze data stored remotely across a WAN201(e.g., the Internet).

According to an exemplary embodiment, as shown inFIG. 9, exchange of information through the WAN201or other network may occur through one or more high speed connections. In some cases, high speed connections may be over-the-air (OTA), passed through networked systems, directly connected to one or more WANs201or directed through one or more routers202. Router(s)202are completely optional and other embodiments in accordance with the present disclosure may or may not utilize one or more routers202. One of ordinary skill in the art would appreciate that there are numerous ways server203may connect to WAN201for the exchange of information, and embodiments of the present disclosure are contemplated for use with any method for connecting to networks for the purpose of exchanging information. Further, while this application refers to high speed connections, embodiments of the present disclosure may be utilized with connections of any speed.

Components or modules of the system may connect to server203via WAN201or other network in numerous ways. For instance, a component or module may connect to the system i) through a computing device212directly connected to the WAN201, ii) through a computing device205,206connected to the WAN201through a routing device204, iii) through a computing device208,209,210connected to a wireless access point207or iv) through a computing device211via a wireless connection (e.g., CDMA, GMS, 3G, 4G) to the WAN201. One of ordinary skill in the art will appreciate that there are numerous ways that a component or module may connect to server203via WAN201or other network, and embodiments of the present disclosure are contemplated for use with any method for connecting to server203via WAN201or other network. Furthermore, server203could be comprised of a personal computing device, such as a smartphone, acting as a host for other computing devices to connect to.

The communications means of the system may be any means for communicating data, including image and video, over one or more networks or to one or more peripheral devices attached to the system, or to a system module or component. Appropriate communications means may include, but are not limited to, wireless connections, wired connections, cellular connections, data port connections, Bluetooth® connections, near field communications (NFC) connections, or any combination thereof. One of ordinary skill in the art will appreciate that there are numerous communications means that may be utilized with embodiments of the present disclosure, and embodiments of the present disclosure are contemplated for use with any communications means.

Traditionally, a computer program includes a finite sequence of computational instructions or program instructions. It will be appreciated that a programmable apparatus or computing device can receive such a computer program and, by processing the computational instructions thereof, produce a technical effect.

A programmable apparatus or computing device includes one or more microprocessors, microcontrollers, embedded microcontrollers, programmable digital signal processors, programmable devices, programmable gate arrays, programmable array logic, memory devices, application specific integrated circuits, or the like, which can be suitably employed or configured to process computer program instructions, execute computer logic, store computer data, and so on. Throughout this disclosure and elsewhere a computing device can include any and all suitable combinations of at least one general purpose computer, special-purpose computer, programmable data processing apparatus, processor, processor architecture, and so on. It will be understood that a computing device can include a computer-readable storage medium and that this medium may be internal or external, removable and replaceable, or fixed. It will also be understood that a computing device can include a Basic Input/Output System (BIOS), firmware, an operating system, a database, or the like that can include, interface with, or support the software and hardware described herein.

Embodiments of the system as described herein are not limited to applications involving conventional computer programs or programmable apparatuses that run them. It is contemplated, for example, that embodiments of the disclosure as claimed herein could include an optical computer, quantum computer, analog computer, or the like.

Regardless of the type of computer program or computing device involved, a computer program can be loaded onto a computing device to produce a particular machine that can perform any and all of the depicted functions. This particular machine (or networked configuration thereof) provides a technique for carrying out any and all of the depicted functions.

A data store may be comprised of one or more of a database, file storage system, relational data storage system or any other data system or structure configured to store data. The data store may be a relational database, working in conjunction with a relational database management system (RDBMS) for receiving, processing and storing data. A data store may comprise one or more databases for storing information related to the processing of moving information and estimate information as well one or more databases configured for storage and retrieval of moving information and estimate information.

Computer program instructions can be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner. The instructions stored in the computer-readable memory constitute an article of manufacture including computer-readable instructions for implementing any and all of the depicted functions.

The elements depicted in flowchart illustrations and block diagrams throughout the figures imply logical boundaries between the elements. However, according to software or hardware engineering practices, the depicted elements and the functions thereof may be implemented as parts of a monolithic software structure, as standalone software components or modules, or as components or modules that employ external routines, code, services, and so forth, or any combination of these. All such implementations are within the scope of the present disclosure. In view of the foregoing, it will be appreciated that elements of the block diagrams and flowchart illustrations support combinations of means for performing the specified functions, combinations of steps for performing the specified functions, program instruction technique for performing the specified functions, and so on.

It will be appreciated that computer program instructions may include computer executable code. A variety of languages for expressing computer program instructions are possible, including without limitation C, C++, Java, JavaScript, assembly language, Lisp, HTML, Perl, and so on. Such languages may include assembly languages, hardware description languages, database programming languages, functional programming languages, imperative programming languages, and so on. In some embodiments, computer program instructions can be stored, compiled, or interpreted to run on a computing device, a programmable data processing apparatus, a heterogeneous combination of processors or processor architectures, and so on. Without limitation, embodiments of the system as described herein can take the form of web-based computer software, which includes client/server software, software-as-a-service, peer-to-peer software, or the like.

In some embodiments, a computing device enables execution of computer program instructions including multiple programs or threads. The multiple programs or threads may be processed more or less simultaneously to enhance utilization of the processor and to facilitate substantially simultaneous functions. By way of implementation, any and all methods, program codes, program instructions, and the like described herein may be implemented in one or more thread. The thread can spawn other threads, which can themselves have assigned priorities associated with them. In some embodiments, a computing device can process these threads based on priority or any other order based on instructions provided in the program code.

Unless explicitly stated or otherwise clear from the context, the verbs “process” and “execute” are used interchangeably to indicate execute, process, interpret, compile, assemble, link, load, any and all combinations of the foregoing, or the like. Therefore, embodiments that process computer program instructions, computer-executable code, or the like can suitably act upon the instructions or code in any and all of the ways just described.

The functions and operations presented herein are not inherently related to any particular computing device or other apparatus. Various general-purpose systems may also be used with programs in accordance with the teachings herein, or it may prove convenient to construct more specialized apparatus to perform the required method steps. The required structure for a variety of these systems will be apparent to those of ordinary skill in the art, along with equivalent variations. In addition, embodiments of the disclosure are not described with reference to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the present teachings as described herein, and any references to specific languages are provided for disclosure of enablement and best mode of embodiments of the disclosure. Embodiments of the disclosure are well suited to a wide variety of computer network systems over numerous topologies. Within this field, the configuration and management of large networks include storage devices and computing devices that are communicatively coupled to dissimilar computing and storage devices over a network, such as the Internet, also referred to as “web” or “world wide web”.

Throughout this disclosure and elsewhere, block diagrams and flowchart illustrations depict methods, apparatuses (e.g., systems), and computer program products. Each element of the block diagrams and flowchart illustrations, as well as each respective combination of elements in the block diagrams and flowchart illustrations, illustrates a function of the methods, apparatuses, and computer program products. Any and all such functions (“depicted functions”) can be implemented by computer program instructions; by special-purpose, hardware-based computer systems; by combinations of special purpose hardware and computer instructions; by combinations of general purpose hardware and computer instructions; and so on—any and all of which may be generally referred to herein as a “component”, “module,” or “system.”

While the foregoing drawings and description set forth functional aspects of the disclosed systems, no particular arrangement of software for implementing these functional aspects should be inferred from these descriptions unless explicitly stated or otherwise clear from the context.

Each element in flowchart illustrations may depict a step, or group of steps, of a computer-implemented method. Further, each step may contain one or more sub-steps. For the purpose of illustration, these steps (as well as any and all other steps identified and described above) are presented in order. It will be understood that an embodiment can contain an alternate order of the steps adapted to a particular application of a technique disclosed herein. All such variations and modifications are intended to fall within the scope of this disclosure. The depiction and description of steps in any particular order is not intended to exclude embodiments having the steps in a different order, unless required by a particular application, explicitly stated, or otherwise clear from the context.

The functions, systems and methods herein described could be utilized and presented in a multitude of languages. Individual systems may be presented in one or more languages and the language may be changed with ease at any point in the process or methods described above. One of ordinary skill in the art would appreciate that there are numerous languages the system could be provided in, and embodiments of the present disclosure are contemplated for use with any language.

While multiple embodiments are disclosed, still other embodiments of the present disclosure will become apparent to those skilled in the art from this detailed description. There may be aspects of this disclosure that may be practiced without the implementation of some features as they are described. It should be understood that some details have not been described in detail in order to not unnecessarily obscure the focus of the disclosure. The disclosure is capable of myriad modifications in various obvious aspects, all without departing from the spirit and scope of the present disclosure. Accordingly, the drawings and descriptions are to be regarded as illustrative rather than restrictive in nature.