US4409478A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for image acquisition utilizing a concave, cylindrical reflector
Assignee: AUTOMATIX INCORPORATED A CORP OF DE
•
Filing: 1983-01-18
•
Granted: 1983-10-11
•
Expires: 2003-01-18
Abstract
Abstract A method and apparatus for image acquisition utilizing a non-planar beam of electro-magnetic radiation, such as, a hollow conical beam of light, to illuminate at least a portion of an object. The conical beam of light is generated by impinging a light beam on the surface of a concave, cylindrical reflector. The illuminated portion of the object is imaged on an array of photosensitive elements to produce corresponding signals that are representative of the image on the array. These signals can be used to obtain identification information concerning the object and guidance information for a plural axis manipulator employed in conjunction with the object. In one application the image acquisition apparatus is used in a robot to provide control signals for guiding the robot tool along a path, such as, a welding seam.
Inventors
- 👤 Charles J. Libby
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 00:08
CPC Classifications
G; G01; G01B; G01B11/00; G01B11/02; G01B11/024; G01B11/24; G01B11/25; G01B11/2518
Claims Analysis
Total Claims: 27
Claim 1
Independent Claim
102 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a concave, cylindrical reflective surface to produce a conical beam of light having an angular arc that is a function of the radius of the concave, cylindrical reflective surface and the width of the collimated light beam impinging thereon; B. illuminating at least a portion of an object with said conical beam of light; and, C. imaging at least part of said light beam illuminated portion of the object on an array of photosensitive elements to produce corresponding signals representative of the image on said array.
Claim 2
Dependent Claim
102 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a concave, cylindrical reflective surface to produce a conical beam of light having an angular arc that is a function of the radius of the concave, cylindrical reflective surface and the width of the collimated light beam impinging thereon; B. illuminating at least a portion of an object with said conical beam of light; and, C. imaging at least part of said light beam illuminated portion of the object on an array of photosensitive elements to produce corresponding signals representative of the image on said array.
Claim 3
Dependent Claim
28 words
The method of claim 1 wherein at least a portion of the imaging path is coaxial with the axis of the conical beam extended from the apex thereof.
Claim 4
Dependent Claim
126 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a concave, cylindrical reflective surface to produce a conical beam of light having an angular arc that is a function of the radius of the concave, cylindrical reflective surface and the width of the collimated light beam impinging thereon; B. illuminating at least a portion of an object with said conical beam of light; C. imaging at least part of said light beam illuminated portion of the object on an array of photosensitive elements to produce corresponding signals representative of the image on said array; and; D. controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said object.
Claim 5
Dependent Claim
126 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a concave, cylindrical reflective surface to produce a conical beam of light having an angular arc that is a function of the radius of the concave, cylindrical reflective surface and the width of the collimated light beam impinging thereon; B. illuminating at least a portion of an object with said conical beam of light; C. imaging at least part of said light beam illuminated portion of the object on an array of photosensitive elements to produce corresponding signals representative of the image on said array; and; D. controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said object.
Claim 6
Dependent Claim
137 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a concave, cylindrical reflective surface to produce a conical beam of light having an angular arc that is a function of the radius of the reflective cylinder and the width of the collimated light beam impinging thereon; B. illuminating at least a portion of an object with said conical beam of light; C. imaging at least part of said light beam illuminated portion of the object on an array of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. controlling the angular arc of said conical beam of light by sweeping the collimated beam of light transversely across said concave, cylindrical reflective surface with the angular arc length being related to the beam sweep width.
Claim 7
Dependent Claim
137 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a concave, cylindrical reflective surface to produce a conical beam of light having an angular arc that is a function of the radius of the reflective cylinder and the width of the collimated light beam impinging thereon; B. illuminating at least a portion of an object with said conical beam of light; C. imaging at least part of said light beam illuminated portion of the object on an array of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. controlling the angular arc of said conical beam of light by sweeping the collimated beam of light transversely across said concave, cylindrical reflective surface with the angular arc length being related to the beam sweep width.
Claim 8
Independent Claim
133 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means responsive to said signals.
Claim 9
Independent Claim
133 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means responsive to said signals.
Claim 10
Dependent Claim
28 words
The apparatus of claim 5 wherein at least a portion of the imaging path is coaxial with the axis of the conical beam extended from the apex thereof.
Claim 11
Independent Claim
159 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illumintes at last a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. means for controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said object; and, F. utilization means responsive to said signals.
Claim 12
Independent Claim
159 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illumintes at last a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. means for controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said object; and, F. utilization means responsive to said signals.
Claim 13
Independent Claim
171 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging theeon and (ii) illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. means for controlling the angular arc of said conical beam of light by sweeping the collimated beam of light transversely across said reflective cylinder means with the angular arc length being related to the beam sweep width; and, F. utilization means responsive to said signals.
Claim 14
Independent Claim
171 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging theeon and (ii) illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. means for controlling the angular arc of said conical beam of light by sweeping the collimated beam of light transversely across said reflective cylinder means with the angular arc length being related to the beam sweep width; and, F. utilization means responsive to said signals.
Claim 15
Independent Claim
114 words
An apparatus for image acquisition comprising: A. a rotatable cylindrical mirror means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc of predetermined angular width that illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals represntative of the image on said array; and, E. utilization means responsive to said signals.
Claim 16
Independent Claim
114 words
An apparatus for image acquisition comprising: A. a rotatable cylindrical mirror means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc of predetermined angular width that illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals represntative of the image on said array; and, E. utilization means responsive to said signals.
Claim 17
Independent Claim
140 words
An apparatus for image acquisition comprising: A. a rotatable cylindrical mirror means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc of predetermined angular width that illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. means for controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said object; and, F. utilization means responsive to said signals.
Claim 18
Independent Claim
140 words
An apparatus for image acquisition comprising: A. a rotatable cylindrical mirror means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc of predetermined angular width that illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. means for controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said object; and, F. utilization means responsive to said signals.
Claim 19
Dependent Claim
175 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. a reflective cylinder means having a concave reflective surface and a longitudinal axis, said longitudinal axis having a selected positional relationship with respect to the tool of the robot; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of the workpiece; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the workpiece on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means responsive to said signals for controlling the position of the tool with respect to the workpiece.
Claim 20
Dependent Claim
175 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. a reflective cylinder means having a concave reflective surface and a longitudinal axis, said longitudinal axis having a selected positional relationship with respect to the tool of the robot; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of the workpiece; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the workpiece on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means responsive to said signals for controlling the position of the tool with respect to the workpiece.
Claim 21
Dependent Claim
28 words
The apparatus of claim 11 wherein at least a portion of the imaging path is coaxial with the axis of the conical beam extended from the apex thereof.
Claim 22
Dependent Claim
199 words
In a robot having a tool for use with a workpiece an image acquisition apparatus comprising: A. a reflective cylinder means having a concave reflective surface and a longitudinal axis, said longitudinal axis having a selected positional relationship with respect to the tool of the robot B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of the workpiece; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the workpiece on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said worpiece; and, F. utilization means responsive to said signals for controlling the position of the tool with respect to the workpiece.
Claim 23
Dependent Claim
199 words
In a robot having a tool for use with a workpiece an image acquisition apparatus comprising: A. a reflective cylinder means having a concave reflective surface and a longitudinal axis, said longitudinal axis having a selected positional relationship with respect to the tool of the robot B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of the workpiece; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the workpiece on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said worpiece; and, F. utilization means responsive to said signals for controlling the position of the tool with respect to the workpiece.
Claim 24
Independent Claim
157 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said object; and, F. utilization means responsive to said signals.
Claim 25
Independent Claim
157 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array means of photosensitive elements to produce corresponding signals representative of the image on said array; E. controlling the angular width of the arc of said conical light beam as a function of the ambient light noise at said object; and, F. utilization means responsive to said signals.
Claim 26
Independent Claim
171 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array mens of photosensitive elements to produce corresponding signals representative of the image on said array; E. means for controlling the angular arc of said conical beam of light by sweeping the collimated beam of light transversely across said concave reflective surface with the angular arc length being related to the beam sweep width; and, F. utilization means responsive to said signals.
Claim 27
Independent Claim
171 words
An apparatus for image acquisition comprising: A. a reflective cylinder means having a concave reflective surface; B. means for impinging a beam of collimated light on said concave reflective surface to produce a conical beam of light having an angular arc that (i) is a function of the radius of the concave reflective surface and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of an object; C. an array means of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means for imaging at least part of said light beam illuminated portion of the object on said array mens of photosensitive elements to produce corresponding signals representative of the image on said array; E. means for controlling the angular arc of said conical beam of light by sweeping the collimated beam of light transversely across said concave reflective surface with the angular arc length being related to the beam sweep width; and, F. utilization means responsive to said signals.
References Cited (Backward Citations)
US4344666A
Cited
US4311357A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1986-10-10 | 1987-04-11 | 1987-10-11 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1990-10-10 | 1991-04-11 | 1991-10-11 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1994-10-10 | 1995-04-11 | 1995-10-11 | $7700.00 | Window Closed / Lapsed |