US4670648A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Omnidirectional vision system for controllng mobile machines
Assignee: University of Cincinnati
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Filing: 1985-03-06
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Granted: 1987-06-02
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Expires: 2005-03-06
Abstract
Abstract An optical sensor apparatus receives visible light and converts that light to electrical signals for use by a control system. Visible light enters the apparatus through a hemispherical "fisheye" lens which provides a 360° field of view in azimuth and a 180° field of view in elevation. The light exiting the fisheye lens is projected through a shutter mechanism onto a receptor of a camera. The lens, shutter mechanism, camera and a level dector are mounted on a gimbal mounting to maintain a vertical orientation of the lens and camera. When the optical sensor apparatus is called upon by the control system to provide visual information, the shutter mechanism is energized to open when the lens and camera next become vertical. Image processing is then performed to determine the position of the optical sensor apparatus relative to known landmarks in the operating environment.
Inventors
- 👤 Ernest L. Hall
- 👤 Mohammad Ehtashami
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 12:24
CPC Classifications
G; G01; G01S; G01S5/00; G01S5/16; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0246; G05D1/0268; G05D1/027
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
131 words
An optical imaging assembly for use with a mobile machine guidance control system or the like comprising: a wide-angle lens having an optical axis and a substantially 360° field of view in azimuth for projecting images received from the surroundings; a means for producing electrical signals representative of said images projected by said lens; a pivotable gimbal for mounting said lens and signal producing means, said gimbal providing pivoting of said lens and signal producing means around two perpendicular pivot axes to thereby maintain said optical axis of said lens in vertical orientation in use; sensor means for detecting the orientation of said lens and signal producing means; and means responsive to said orientation detecting means for selectively sampling said representative electrical signals only when said optical axis is oriented vertically.
Claim 2
Dependent Claim
131 words
An optical imaging assembly for use with a mobile machine guidance control system or the like comprising: a wide-angle lens having an optical axis and a substantially 360° field of view in azimuth for projecting images received from the surroundings; a means for producing electrical signals representative of said images projected by said lens; a pivotable gimbal for mounting said lens and signal producing means, said gimbal providing pivoting of said lens and signal producing means around two perpendicular pivot axes to thereby maintain said optical axis of said lens in vertical orientation in use; sensor means for detecting the orientation of said lens and signal producing means; and means responsive to said orientation detecting means for selectively sampling said representative electrical signals only when said optical axis is oriented vertically.
Claim 3
Dependent Claim
16 words
The imaging assembly according to claim 1 wherein said signal producing means comprises an electronic camera.
Claim 4
Dependent Claim
36 words
The optical imaging assmebly according to claim 1 wherein said wide angle lens comprises a hemispherical fisheye lens having a substantially 360° field of view in azimuth and a substantially 180° field of view in elevation.
Claim 5
Dependent Claim
16 words
The imaging assembly according to claim 3 wherein said signal producing means comprises an electronic camera.
Claim 6
Dependent Claim
130 words
An optical imaging assembly for use with a mobile machine guidance control system or the like comprising: a wide-angle lens having a substantially 360° field of view in azimuth for projecting images received from the surroundings; a means for producing electrical signals representative of said images projected by said lens; a pivotable gimbal for mounting said lens and signal producing means; sensor means for detecting the orientation of said lens and signal producing means; and means responsive to said orientation detecting means for selectively sampling said representative electrical signals, said selective sampling means comprising a shutter mechanism responsive to said orinetation detecting means and positioned between said lens and said signal producing means for allowing said projected images to reach said signal producing means only when predetermined conditions are satisfied.
Claim 7
Dependent Claim
130 words
An optical imaging assembly for use with a mobile machine guidance control system or the like comprising: a wide-angle lens having a substantially 360° field of view in azimuth for projecting images received from the surroundings; a means for producing electrical signals representative of said images projected by said lens; a pivotable gimbal for mounting said lens and signal producing means; sensor means for detecting the orientation of said lens and signal producing means; and means responsive to said orientation detecting means for selectively sampling said representative electrical signals, said selective sampling means comprising a shutter mechanism responsive to said orinetation detecting means and positioned between said lens and said signal producing means for allowing said projected images to reach said signal producing means only when predetermined conditions are satisfied.
Claim 8
Dependent Claim
16 words
The imaging assembly according to claim 5 wherein said signal producing means comprises an electronic camera.
Claim 9
Dependent Claim
141 words
An optical imaging assembly for use with a mobile machine guidance control system or the like comprising: a wide-angle hemispherical fisheye lens having a substantially 360° field of view in azimuth and a substantially 180° field of view in elevation for projecting images received from the surroundings; a means for producing electrical signals representative of said images projected by said lens; a pivotable gimbal for mounting said lens and signal producing means; sensor means for detecting the orientation of said lens and signal producing means; and means responsive to said orientation detecting means for selectively sampling said representative electrical signals, said selective sampling means comprising a shutter mechanism responsive to said orinetation detecting means and positioned between said lens and said signal producing means for allowing said projected images to reach said signal producing means only when predetermined conditions are satisfied.
Claim 10
Dependent Claim
141 words
An optical imaging assembly for use with a mobile machine guidance control system or the like comprising: a wide-angle hemispherical fisheye lens having a substantially 360° field of view in azimuth and a substantially 180° field of view in elevation for projecting images received from the surroundings; a means for producing electrical signals representative of said images projected by said lens; a pivotable gimbal for mounting said lens and signal producing means; sensor means for detecting the orientation of said lens and signal producing means; and means responsive to said orientation detecting means for selectively sampling said representative electrical signals, said selective sampling means comprising a shutter mechanism responsive to said orinetation detecting means and positioned between said lens and said signal producing means for allowing said projected images to reach said signal producing means only when predetermined conditions are satisfied.
Claim 11
Dependent Claim
16 words
The imaging assembly according to claim 7 wherein said signal producing means comprises an electronic camera.
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) | 1990-06-01 | 1990-12-01 | 1991-06-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1994-06-01 | 1994-12-01 | 1995-06-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1998-06-01 | 1998-12-01 | 1999-06-02 | $7700.00 | Window Closed / Lapsed |