Position reference sensor
A position reference sensor for a marine vessel comprises an optical assembly including a pulsed laser device for emitting laser light, a lens arrangement comprising a lenticular lens for producing a vertically fanned beam ( 18 ) of the laser light emitted by the pulsed laser device and a photodiode ( 32 ) comprising a plurality of photodetectors Rx, Ry, Rz for detecting laser light ( 28 ) that has been emitted by the pulsed laser device and reflected by a retro-reflective target ( 22 ) towards the photodiode ( 32 ). The level of reflected laser light incident upon each photodetector is individually detectable and the position reference sensor further comprises an actuator for varying the inclination of the optical assembly. The actuator is automatically controllable based on the level of reflected laser light incident upon each photodetector Rx, Ry, Rz. A position reference sensor for a marine vessel comprises an optical assembly including a pulsed laser device for emitting laser light, a lens arrangement comprising a lenticular lens for producing a vertically fanned beam ( 18 ) of the laser light emitted by the pulsed laser device and a photodiode ( 32 ) comprising a plurality of photodetectors Rx, Ry, Rz for detecting laser light ( 28 ) that has been emitted by the pulsed laser device and reflected by a retro-reflective target ( 22 ) towards the photodiode ( 32 ). The level of reflected laser light incident upon each photodetector is individually detectable and the position reference sensor further comprises an actuator for varying the inclination of the optical assembly. The actuator is automatically controllable based on the level of reflected laser light incident upon each photodetector Rx, Ry, Rz.
1. A position reference sensor comprising an optical assembly including:
a pulsed laser device for emitting laser light;
a lens arrangement comprising a lenticular lens for producing a vertically fanned beam of the laser light emitted by the pulsed laser device; and
a plurality of photodiode photodetectors for detecting laser light reflected by a retro-reflective target, the level of reflected laser light incident upon each photodetector being individually detectable;
the position reference sensor further comprising an actuator for varying the inclination of the optical assembly, the actuator being automatically controllable based on the level of reflected laser light incident upon each photodetector.
2. A position reference sensor according to claim 1 , wherein the optical assembly is operable to convert the reflected laser light incident upon each photodetector into a corresponding analog voltage signal, the magnitude of the corresponding analog voltage signal being indicative of the level of reflected laser light incident upon the particular photodetector.
3. A position reference sensor according to claim 2 , wherein the individual analog voltage signals are processed, in use, to provide a position feedback control signal.
4. A position reference sensor according to claim 3 , wherein the actuator is automatically controllable based on the position feedback control signal.
5. A position reference sensor according to claim 1 , wherein the photodetectors are in the form of a vertically arranged array.
6. A position reference sensor according to claim 5 , wherein the actuator is automatically controllable to vary the inclination of the optical assembly so that the maximum level of reflected laser light is incident upon one or more of the photodetectors at the center of the vertically arranged array.
7. A position reference sensor according to claim 5 , wherein the number of photodetectors in the array is at least three.
8. A position reference sensor according to claim 1 , wherein the lenticular lens comprises an array of cylindrical lenses whose individual optical outputs are superposed to produce the vertically fanned beam of laser light.
9. A position reference sensor according to claim 1 , wherein the lens arrangement includes a first lens to provide a beam of laser light extending across the lenticular lens in the vertical direction for transmission towards and through the lenticular lens to produce the vertically fanned beam of laser light.
10. A position reference sensor according to claim 1 , wherein the actuator is a servomotor.
11. A position reference sensor according to claim 1 , wherein the optical assembly is enclosed in a housing mounted on a marine vessel and wherein the housing is adapted to rotate or oscillate about a generally vertical axis.
12. A dynamic positioning system for a marine vessel, the dynamic positioning system including a position reference sensor according to claim 1 , mounted on the marine vessel and being operable to determine the position of the marine vessel relative to one or more objects.
13. A method for operating a position reference sensor comprising an optical assembly including a pulsed laser device, a lens arrangement comprising a lenticular lens, and a plurality of photodiode photodetectors, wherein the method comprises:
producing a vertically fanned beam of laser light using the pulsed laser device and lens arrangement and directing the vertically fanned beam towards one or more retro-reflective targets;
detecting the level of reflected laser light incident upon each photodetector; and
varying the inclination of the optical assembly, based on the detected level of reflected light incident upon each photodetector, by using an automatically controllable actuator.
14. A method according to claim 13 , wherein the method comprises converting the reflected laser light incident upon each photodetector into a corresponding analog voltage signal.
15. A method according to claim 14 , wherein the method comprises processing the individual analog voltage signals to provide a position feedback control signal.
16. A method according to claim 15 , wherein the method comprises automatically controlling the actuator based on the position feedback control signal.
17. A method according to claim 13 , wherein the photodetectors are in the form of a vertically arranged array and the method comprises automatically controlling the actuator to vary the inclination of the optical assembly so that the maximum level of reflected laser light is incident upon one or more of the photodetectors at the center of the vertically arranged array.