US4843565A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Range determination method and apparatus
Assignee: Zimmerman Associates Inc
•
Filing: 1987-07-30
•
Granted: 1989-06-27
•
Expires: 2007-07-30
Abstract
Abstract A system for determining range, particularly for robotic applications, is disclosed. The system preferably includes a single camera and at least two light sources. The lights can be turned on and off independently and are located at different distances from the target object. To determine the range, the intensity of each pixel is recorded with the front light on, then the intensity is recorded with the rear light on. The ratio of these two intensities is a unique function of range, regardless of the reflectivity of the object. If there is ambient light illuminating the object, its value must be subtracted from the intensity measurements prior to calculating the ratio.
Inventors
- 👤 David W. Rose
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 18:45
CPC Classifications
G; G01; G01S; G01S11/00; G01S11/12
Claims Analysis
Total Claims: 48
Claim 1
Independent Claim
150 words
An apparatus for the detrmination of range information comprising: carrier means; illumination intensity measuring means mounted on said carrier means; a first light source mounted on said carrier means at a known distance from said illumination intensity measuring means, wherein said first light source is capable of controlled activation and inactivation; a second light source mounted on said carrier means displaced by a predetermined baseline distance from said first light source and said illumination intensity measuring means substantially on a line along the center axis of said illumination intensity measuring means, wherein said second light source is capable of controlled activation and inactivation; and a microprocessor capable of controlling the activation and inactivation of said first and second light sources, collecting data from said illumination intensity measuring means, and manipulating said data to obtain the approximate distance between said carrier means and obstacles in the path of said carrier means.
Claim 2
Independent Claim
150 words
An apparatus for the detrmination of range information comprising: carrier means; illumination intensity measuring means mounted on said carrier means; a first light source mounted on said carrier means at a known distance from said illumination intensity measuring means, wherein said first light source is capable of controlled activation and inactivation; a second light source mounted on said carrier means displaced by a predetermined baseline distance from said first light source and said illumination intensity measuring means substantially on a line along the center axis of said illumination intensity measuring means, wherein said second light source is capable of controlled activation and inactivation; and a microprocessor capable of controlling the activation and inactivation of said first and second light sources, collecting data from said illumination intensity measuring means, and manipulating said data to obtain the approximate distance between said carrier means and obstacles in the path of said carrier means.
Claim 3
Dependent Claim
22 words
An apparatus of claim 1 capable of determination of three-dimensional range information, wherein said illumination intensity measuring device is a video camera.
Claim 4
Dependent Claim
14 words
An apparatus of claim 2, wherein said first and second light sources are lasers.
Claim 5
Dependent Claim
25 words
An apparatus of claim 3, wherein said video camera is equipped with a filter which passes only the wavelength of light emitted by the lasers.
Claim 6
Dependent Claim
13 words
An apparatus of claim 1, wherein said apparatus operates in the infrared spectrum.
Claim 7
Dependent Claim
14 words
An apparatus of claim 2, wherein said microprocessor controls the iris of the camera.
Claim 8
Dependent Claim
16 words
An apparatus of claim 2, wherein said microprocessor controls the electronic gain of the video signal.
Claim 9
Dependent Claim
22 words
An apparatus of claim 1 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a single photodiode.
Claim 10
Dependent Claim
22 words
An apparatus of claim 1 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a single photoresistor.
Claim 11
Dependent Claim
21 words
An apparatus of claim 1 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a phototransistor.
Claim 12
Dependent Claim
16 words
An apparatus of claim 8, wherein said first and second light sources are light emitting diodes.
Claim 13
Dependent Claim
16 words
An apparatus of claim 9, wherein said first and second light sources are light emitting diodes.
Claim 14
Dependent Claim
16 words
An apparatus of claim 10, wherein said first and second light sources are light emitting diodes.
Claim 15
Independent Claim
138 words
An apparatus for the determination of range information comprising: carrier means; illumination intensity measuring means mounted on said carrier means; supporting means located posterior to said carrier means; a first light source mounted on said supporting means, wherein said first light source is capable of controlled activation and inactivation; a second light source mounted on said supporting means at a predetermined baseline distance from said first light source substantially along the center axis of said illumination intensity measuring means, wherein said second light source is capable of controlled activation and inactivation; and a microprocessor capable of controlling the activation and inactivation of said first and second light sources, collecting data from said illumination intensity measuring means, and manipulating said data to obtain the approximate distance between said carrier means and obstacles in the path of said carrier means.
Claim 16
Independent Claim
138 words
An apparatus for the determination of range information comprising: carrier means; illumination intensity measuring means mounted on said carrier means; supporting means located posterior to said carrier means; a first light source mounted on said supporting means, wherein said first light source is capable of controlled activation and inactivation; a second light source mounted on said supporting means at a predetermined baseline distance from said first light source substantially along the center axis of said illumination intensity measuring means, wherein said second light source is capable of controlled activation and inactivation; and a microprocessor capable of controlling the activation and inactivation of said first and second light sources, collecting data from said illumination intensity measuring means, and manipulating said data to obtain the approximate distance between said carrier means and obstacles in the path of said carrier means.
Claim 17
Dependent Claim
22 words
An apparatus of claim 14 capable of determination of three-dimensional range information, wherein said illumination intensity measuring device is a video camera.
Claim 18
Dependent Claim
14 words
An apparatus of claim 15, wherein said first and second light sources are lasers.
Claim 19
Dependent Claim
22 words
An apparatus of claim 14 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a single photodiode.
Claim 20
Dependent Claim
22 words
An apparatus of claim 14 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a single photoresistor.
Claim 21
Dependent Claim
21 words
An apparatus of claim 14 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a phototransistor.
Claim 22
Dependent Claim
16 words
An apparatus of claim 17, wherein said first and second light sources are light emitting diodes.
Claim 23
Dependent Claim
16 words
An apparatus of claim 18, wherein said first and second light sources are light emitting diodes.
Claim 24
Dependent Claim
16 words
An apparatus of claim 19, wherein said first and second light sources are light emitting diodes.
Claim 25
Independent Claim
138 words
An apparatus for the determination of range information comprising: carrier means; supporting means located posterior to said carrier means; illumination intensity measuring means mounted on said supporting means; a first light source mounted on said supporting means, wherein said first light source is capable of controlled activation and inactivation; a second light source mounted on said supporting means at a predetermined baseline distance from said first light source substantially along the center axis of said illumination intensity measuring means, wherein said second light source is capable of controlled activation and inactivation; and a microprocessor capable of controlling the activation and inactivation of said first and second light sources, collecting data from said illumination intensity measuring means, and manipulating said data to obtain the approximate distance between said carrier means and obstacles in the path of said carrier means.
Claim 26
Independent Claim
138 words
An apparatus for the determination of range information comprising: carrier means; supporting means located posterior to said carrier means; illumination intensity measuring means mounted on said supporting means; a first light source mounted on said supporting means, wherein said first light source is capable of controlled activation and inactivation; a second light source mounted on said supporting means at a predetermined baseline distance from said first light source substantially along the center axis of said illumination intensity measuring means, wherein said second light source is capable of controlled activation and inactivation; and a microprocessor capable of controlling the activation and inactivation of said first and second light sources, collecting data from said illumination intensity measuring means, and manipulating said data to obtain the approximate distance between said carrier means and obstacles in the path of said carrier means.
Claim 27
Dependent Claim
22 words
An apparatus of claim 23 capable of determination of three-dimensional range information, wherein said illumination intensity measuring device is a video camera.
Claim 28
Dependent Claim
14 words
An apparatus of claim 24, wherein said first and second light sources are lasers.
Claim 29
Dependent Claim
22 words
An apparatus of claim 23 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a single photodiode.
Claim 30
Dependent Claim
22 words
An apparatus of claim 23 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a single photoresistor.
Claim 31
Dependent Claim
21 words
An apparatus of claim 23 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a phototransistor.
Claim 32
Dependent Claim
16 words
An apparatus of claim 26, wherein said first and second light sources are light emitting diodes.
Claim 33
Dependent Claim
16 words
An apparatus of claim 27, wherein said first and second light sources are light emitting diodes.
Claim 34
Dependent Claim
16 words
An apparatus of claim 28, wherein said first and second light sources are light emitting diodes.
Claim 35
Independent Claim
138 words
An apparatus for the determination of range information comprising: carrier means; supporting means located posterior to said carrier means; illumination intensity measuring means mounted on said supporting means; a first light source mounted on said carrier means, wherein said first light source is capable of controlled activation and inactivation; a second light source mounted on said carrier means at a predetermined baseline distance from said first light source substantially along the center axis of said illumination intensity measuring means, wherein said second light source is capable of controlled activation and inactivation; and a microprocessor capable of controlling the activation and inactivation of said first and second light sources, collecting data from said illumination intensity measuring means, and manipulating said data to obtain the approximate distance between said carrier means and obstacles in the path of said carrier means.
Claim 36
Independent Claim
138 words
An apparatus for the determination of range information comprising: carrier means; supporting means located posterior to said carrier means; illumination intensity measuring means mounted on said supporting means; a first light source mounted on said carrier means, wherein said first light source is capable of controlled activation and inactivation; a second light source mounted on said carrier means at a predetermined baseline distance from said first light source substantially along the center axis of said illumination intensity measuring means, wherein said second light source is capable of controlled activation and inactivation; and a microprocessor capable of controlling the activation and inactivation of said first and second light sources, collecting data from said illumination intensity measuring means, and manipulating said data to obtain the approximate distance between said carrier means and obstacles in the path of said carrier means.
Claim 37
Dependent Claim
22 words
An apparatus of claim 33 capable of determination of three-dimensional range information, wherein said illumination intensity measuring device is a video camera.
Claim 38
Dependent Claim
14 words
An apparatus of claim 34, wherein said first and second light sources are lasers.
Claim 39
Dependent Claim
22 words
An apparatus of claim 33 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a single photodiode.
Claim 40
Dependent Claim
22 words
An apparatus of claim 33 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a single photoresistor.
Claim 41
Dependent Claim
21 words
An apparatus of claim 33 capable of determination of one-dimensional range information, wherein said illumination intensity measuring device is a phototransistor.
Claim 42
Dependent Claim
16 words
An apparatus of claim 36, wherein said first and second light sources are light emitting diodes.
Claim 43
Dependent Claim
16 words
An apparatus of claim 37, wherein said first and second light sources are light emitting diodes.
Claim 44
Dependent Claim
16 words
An apparatus of claim 38, wherein said first and second light sources are light emitting diodes.
Claim 45
Independent Claim
113 words
A method of determining range information to an object comprising: controlling first and second light sources, said first light source being located anteriorly of said second light source with respect to the object, and said first and second light sources being activated and deactivated independently of each other; measuring illumination intensity of the object under differing illumination conditions with a single illumination intensity measuring means; and manipulating the illumination intensity measurements to obtain an approximate range value, said approximate range value being a function of the ratio of said illumination intensity measurement taken when said first light source is activated to said illumination intensity measurement taken when said second light source is activated.
Claim 46
Independent Claim
113 words
A method of determining range information to an object comprising: controlling first and second light sources, said first light source being located anteriorly of said second light source with respect to the object, and said first and second light sources being activated and deactivated independently of each other; measuring illumination intensity of the object under differing illumination conditions with a single illumination intensity measuring means; and manipulating the illumination intensity measurements to obtain an approximate range value, said approximate range value being a function of the ratio of said illumination intensity measurement taken when said first light source is activated to said illumination intensity measurement taken when said second light source is activated.
Claim 47
Dependent Claim
16 words
A method of claim 42, wherein said illumination intensity is measured under three distinct illumination conditions.
Claim 48
Dependent Claim
45 words
A method of claim 43, wherein the illumination intensity is measured with both the first and second light sources inactivated, with the first light source activated and the second light source inactivated and with the second light source activated and the first light source inactivated.
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) | 1992-06-26 | 1992-12-26 | 1993-06-27 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-06-26 | 1996-12-26 | 1997-06-27 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-06-26 | 2000-12-26 | 2001-06-27 | $7700.00 | Window Closed / Lapsed |