METHOD DETERMINING ORIENTATION OF MOBILE OBJECT AND GEAR FOR ITS IMPLEMENTATION Russian patent published in 1997 - IPC

FIELD: determination of position of working effect of manipulator. SUBSTANCE: for determination of orientation of mobile object relative to immobile one scanning by radiation beam formed in the form of hollow cone which axis is oriented with reference to vector of direction of mobile object is performed. Source of this radiation is mounted on object. Angle at vertex of hollow cone when it illuminates radiation detector mounted on immobile object is measured. Orientation of mobile object is determined by measured angles. Bundle of light guides may in addition be used to form beam of scanning radiation. Scanning is provided thanks to change of exposure angle of input butt of bundle of light guides and output butt of their bundle is anchored on mobile object. It is advantageous to modulate scanning radiation by frequency exceeding exposure frequency of radiation detectors. Gear for implementation of method has radiation detector positioned on immobile object, at least one source of scanning radiation is located on mobile object. It is manufactured for formation of radiation beam in the form of hollow cone and for change of angle by vertex of this cone which axis is oriented relative to vector of direction of mobile object. Radiation detectors are installed along lines oriented with regard to axes of coordinates of immobile object. Source of scanning radiation and outputs of radiation detectors are connected to unit determining inclination angle of scanning radiation. EFFECT: enhanced accuracy and reliability of determination of orientation of mobile object. 11 cl, 6 dwg