US5416392A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Real-time vision system and control algorithm for a spherical motor
Assignee: Georgia Tech Research Corp
•
Filing: 1993-09-10
•
Granted: 1995-05-16
•
Expires: 2013-09-10
Abstract
Abstract A spherical motor (10) provides smooth isotropic motion. The spherical motor (10) has a spherical stator (12) surrounding a spherical rotor (18) . A motor shaft (24) is mounted to the rotor (18), or alternatively, to the stator (12) for performing work in isotropic motion. A grid pattern is situated to move substantially concentrically with the rotor (18) and in conjunction with the motor shaft (24). A vision system (80) monitors the grid pattern (42) and determines in real time the position of the motor shaft (24). The vision system (80) has at least one image sensor (44) positioned on the stator (12) and a computer system (82) for processing data independent of a remote host computer (122). Further, a motor controller (191) using a motor control algorithm (200) my be interfaced with the vision system (80) to thereby derive a motor control system (190) for controlling the spherical motor (10) based upon the rotor orientation information retrieved by the vision system (80). Finally, a video controller (106) can be interfaced with the vision system (80) for converting digital image data in real time to analog image data conforming to the (RS-170 television standard for viewing on a display device (116).
Inventors
- 👤 Kok-Meng Lee
- 👤 Robert S. Blenis
- 👤 Tsang-Long Pao
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 06:00
CPC Classifications
H; H02; H02P; H02P25/00; H02P25/02; H02P25/08; B; B25; B25J; B25J17/00; B25J17/02; B25J17/0258; B25J17/0275; B25J9/00; B25J9/10; B25J9/12; B25J9/126; H02K; H02K41/00; H02K41/02; H02K2201/00; H02K2201/18
Claims Analysis
Total Claims: 20
Claim 1
Independent Claim
137 words
A method for permitting real time processing of images, comprising the steps of: viewing an object with an image sensor for capturing an image frame; scanning said image frame having said object; ascertaining an approximate area defined by rows and columns of said image frame where said object is located; and processing in real time said area, without prior storage of said image frame and said area, and discarding the remainder of said image frame; determining a three-dimensional location of a position of a spherical body; moving a grid pattern substantially concentrically with said spherical body; retrieving an image of said lines of said grid pattern with an image sensor; and determining a three dimensional orientation of said spherical body in a three dimensional reference frame comprising said image sensor based upon said image of said lines.
Claim 2
Independent Claim
137 words
A method for permitting real time processing of images, comprising the steps of: viewing an object with an image sensor for capturing an image frame; scanning said image frame having said object; ascertaining an approximate area defined by rows and columns of said image frame where said object is located; and processing in real time said area, without prior storage of said image frame and said area, and discarding the remainder of said image frame; determining a three-dimensional location of a position of a spherical body; moving a grid pattern substantially concentrically with said spherical body; retrieving an image of said lines of said grid pattern with an image sensor; and determining a three dimensional orientation of said spherical body in a three dimensional reference frame comprising said image sensor based upon said image of said lines.
Claim 3
Dependent Claim
24 words
The method of claim 1, further comprising the step of converting said area to an RS-170 standard signal after said processing and discarding steps.
Claim 4
Independent Claim
140 words
A system for permitting real time processing of images, comprising: an image sensor for capturing an image frame of an object; and processing means for scanning said image frame having said object for ascertaining an approximate area defined by rows and columns of said image frame where said object is located, and for processing said area, without prior storage of said image frame and said area, and discarding the remainder of said image frame; said system further comprising: a spherical body; a grid pattern of lines substantially concentric with said spherical body and moveable therewith; said image sensor for retrieving an image of said lines of said grid pattern; and said processing means for determining a three dimensional orientation of said spherical body in a three dimensional reference frame comprising said image sensor based upon said image of said lines.
Claim 5
Independent Claim
140 words
A system for permitting real time processing of images, comprising: an image sensor for capturing an image frame of an object; and processing means for scanning said image frame having said object for ascertaining an approximate area defined by rows and columns of said image frame where said object is located, and for processing said area, without prior storage of said image frame and said area, and discarding the remainder of said image frame; said system further comprising: a spherical body; a grid pattern of lines substantially concentric with said spherical body and moveable therewith; said image sensor for retrieving an image of said lines of said grid pattern; and said processing means for determining a three dimensional orientation of said spherical body in a three dimensional reference frame comprising said image sensor based upon said image of said lines.
Claim 6
Dependent Claim
37 words
The system of claim 3, further comprising another image sensor in communication with said processing means and wherein said processing means processes another area of another object concurrently with the processing of said area of said object.
Claim 7
Dependent Claim
20 words
The system of claim 3, further comprising a video controller means for converting said area to an RS-170 standard signal.
Claim 8
Dependent Claim
18 words
The system of claim 3, wherein said spherical body comprises a spherical motor connected to said processing means.
Claim 9
Dependent Claim
19 words
The system of claim 3, wherein said frame is processed at a rate greater than 30 frames per second.
Claim 10
Dependent Claim
140 words
An orientation sensing system for permitting non-contact three-dimensional orientation measurement of a spherical body, comprising: a grid pattern of lines substantially concentric with said spherical body and movable therewith; an image sensor for capturing an image frame of said lines of said grid pattern; and processing means associated with said image sensor, said processing means for scanning said image frame having said lines, said processing means for ascertaining as approximate area defined by rows and columns of said image frame where said lines are located, said processing means for determining a three-dimensional orientation of said spherical body in a three-dimensional reference frame comprising said image sensor based upon said image frame of said lines by processing in real time said area without prior storage of said image frame and said area, and by discarding the remainder of said image frame.
Claim 11
Dependent Claim
140 words
An orientation sensing system for permitting non-contact three-dimensional orientation measurement of a spherical body, comprising: a grid pattern of lines substantially concentric with said spherical body and movable therewith; an image sensor for capturing an image frame of said lines of said grid pattern; and processing means associated with said image sensor, said processing means for scanning said image frame having said lines, said processing means for ascertaining as approximate area defined by rows and columns of said image frame where said lines are located, said processing means for determining a three-dimensional orientation of said spherical body in a three-dimensional reference frame comprising said image sensor based upon said image frame of said lines by processing in real time said area without prior storage of said image frame and said area, and by discarding the remainder of said image frame.
Claim 12
Dependent Claim
16 words
The system of claim 8, wherein said spherical body is a rotor in a spherical motor.
Claim 13
Dependent Claim
16 words
The system of claim 8, wherein said spherical body is the stater of a spherical motor.
Claim 14
Dependent Claim
31 words
The system of claim 8, further comprising another sensor for generating another area which is processed by said processing means in order to determine said three-dimensional orientation of said spherical body.
Claim 15
Dependent Claim
19 words
The system of claim 8, further comprising a video controller for converting said area to a RS-170 standard signal.
Claim 16
Independent Claim
120 words
A method for permitting real time processing of images; comprising the steps of: viewing an object with an image sensor for capturing an image frame; scanning said image frame having said object; ascertaining an approximate area defined by rows and columns of said image frame where said object is located; and, processing in real time said area, without prior storage of said image frame and said area, and discarding the remainder of said image frame; determining a three-dimensional location of a position on a spherical body; moving a grid pattern substantially concentrically with said spherical body; and determining said position of said body in three dimensional space based upon said area, said area comprising a part of said grid pattern.
Claim 17
Independent Claim
120 words
A method for permitting real time processing of images; comprising the steps of: viewing an object with an image sensor for capturing an image frame; scanning said image frame having said object; ascertaining an approximate area defined by rows and columns of said image frame where said object is located; and, processing in real time said area, without prior storage of said image frame and said area, and discarding the remainder of said image frame; determining a three-dimensional location of a position on a spherical body; moving a grid pattern substantially concentrically with said spherical body; and determining said position of said body in three dimensional space based upon said area, said area comprising a part of said grid pattern.
Claim 18
Independent Claim
157 words
A method for permitting real time processing of images comprising the steps of: viewing an object with an image sensor for capturing an image frame; scanning said image frame having said object; ascertaining an approximate area defined by rows and columns of said image frame where said object is located; and processing in real time said area, without prior storage of said image frame and said area, and discarding the remainder of said image frame; determining a three-dimensional location of a position of a spherical body; moving a grid pattern substantially concentrically with said spherical body, said grid pattern having first lines converging toward a point and having substantially parallel second lines which are substantially orthogonal to said first lines; retrieving in said area with an image sensor a first line and at least two second lines which intersect with said first line; and determining said position of said body in three-dimensional space based upon said area.
Claim 19
Independent Claim
157 words
A method for permitting real time processing of images comprising the steps of: viewing an object with an image sensor for capturing an image frame; scanning said image frame having said object; ascertaining an approximate area defined by rows and columns of said image frame where said object is located; and processing in real time said area, without prior storage of said image frame and said area, and discarding the remainder of said image frame; determining a three-dimensional location of a position of a spherical body; moving a grid pattern substantially concentrically with said spherical body, said grid pattern having first lines converging toward a point and having substantially parallel second lines which are substantially orthogonal to said first lines; retrieving in said area with an image sensor a first line and at least two second lines which intersect with said first line; and determining said position of said body in three-dimensional space based upon said area.
Claim 20
Dependent Claim
39 words
The method of claim 14, further comprising the steps of: retrieving a second area of another first line and another set of second lines; and determining said position of said body based upon both said first and second areas.
References Cited (Backward Citations)
US3596523A
Cited
US3780444A
Cited
US3899728A
Cited
US3877850A
Cited
US3854341A
Cited
US4524386A
Cited
US4533827A
Cited
US5165841A
Cited
US4634889A
Cited
US4707642A
Cited
US4628765A
Cited
US4727278A
Cited
US4707647A
Cited
US4739241A
Cited
US4807153A
Cited
US4864206A
Cited
US5033096A
Cited
US4874998A
Cited
US4853630A
Cited
US5168221A
Cited
US4998284A
Cited
SU1516344A1
Cited
US5038065A
Cited
US4983875A
Cited
US5046190A
Cited
US5043621A
Cited
US4962425A
Cited
US5177563A
Cited
US5023533A
Cited
US4963036A
Cited
US5027115A
Cited
US5113117A
Cited
US5010773A
Cited
US5199864A
Cited
US5180955A
Cited
US5125595A
Cited
US5185667A
Cited
US5146566A
Cited
US5146340A
Cited
US5204573A
Cited
US5223709A
Cited
US5280225A
Cited
US5319577A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-05-15 | 1998-11-14 | 1999-05-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-05-15 | 2002-11-14 | 2003-05-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-05-15 | 2006-11-14 | 2007-05-16 | $7700.00 | Window Closed / Lapsed |