US4582430A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Position determination
Assignee: Allard Way Holdings Ltd
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Filing: 1984-12-20
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Granted: 1986-04-15
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Expires: 2004-12-20
Abstract
Abstract A method and apparatus for determining the relative positions of a first object (1) and a second object (3). The method comprises illuminating the first object (1) so as to produce a shadow (17) of the first object on a surface (15) lying at a known position with respect to the second object (3) and forming a two dimensional image of a scene including the surface (15). The distance between the position of the shadow (17) and a reference position (19) in the two dimensional image is monitored, and this distance is used to derive information relating to the relative positions of the first object (1) and the second object (3).
Inventors
- 👤 Donald R. C. Price
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-31 01:11
CPC Classifications
G; G01; G01S; G01S11/00; G01S11/12
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
97 words
A method of determining the relative positions of a first object and second object comprising the steps of: illuminating said first object so as to produce a shadow of said first object on a surface, said surface being at a known position with respect to said second object; forming a two dimensional image of a scene including said surface; monitoring the distance between the position of said shadow and a reference position in said two dimensional image; and using said distance to derive information relating to the relative positions of said first object and said second object.
Claim 2
Independent Claim
97 words
A method of determining the relative positions of a first object and second object comprising the steps of: illuminating said first object so as to produce a shadow of said first object on a surface, said surface being at a known position with respect to said second object; forming a two dimensional image of a scene including said surface; monitoring the distance between the position of said shadow and a reference position in said two dimensional image; and using said distance to derive information relating to the relative positions of said first object and said second object.
Claim 3
Dependent Claim
40 words
A method according to claim 1 in which said first object is illuminated so as to produce a second shadow of said first object on said surface, and said reference position is defined by the position of said second shadow.
Claim 4
Dependent Claim
25 words
A method according to claim 1 in which said reference position is defined by the position of said second object in said two dimensional image.
Claim 5
Dependent Claim
21 words
A method according to claim 1 including the step of using said information to control the position of said first object.
Claim 6
Dependent Claim
28 words
A method according to claim 4 in which said first object is controlled so as to tend to cause said first shadow and said reference position to merge.
Claim 7
Independent Claim
107 words
An apparatus for use in a method of determining the relative positions of a first object and a second object comprising: a surface at a known position with respect to said second object; a light source arranged to illuminate said first object so as to produce a shadow of said first object on said surface; camera means arranged to produce a two dimensional image of a scene including said surface; and means arranged to provide an indication of the relative position of said first object and said second object in dependence on the distance between the postion of said shadow and a reference position in said image.
Claim 8
Independent Claim
107 words
An apparatus for use in a method of determining the relative positions of a first object and a second object comprising: a surface at a known position with respect to said second object; a light source arranged to illuminate said first object so as to produce a shadow of said first object on said surface; camera means arranged to produce a two dimensional image of a scene including said surface; and means arranged to provide an indication of the relative position of said first object and said second object in dependence on the distance between the postion of said shadow and a reference position in said image.
Claim 9
Dependent Claim
41 words
An apparatus according to claim 6 including a second light source arranged to illuminate said first object so as to produce a second shadow of said first object on said surface, the position of said second shadow defining said reference position.
Claim 10
Dependent Claim
22 words
An apparatus according to claim 6 including control means arranged to control the position of the first object dependent on said indication.
Claim 11
Dependent Claim
13 words
An apparatus according to claim 8 wherein said first object is a manipulator.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1989-04-14 | 1989-10-14 | 1990-04-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-04-14 | 1993-10-14 | 1994-04-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-04-14 | 1997-10-14 | 1998-04-15 | $7700.00 | Window Closed / Lapsed |