US5715166A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Apparatus for the registration of three-dimensional shapes
Assignee: Motors Liquidation Co
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Filing: 1992-03-02
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Granted: 1998-02-03
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Expires: 2012-03-02
Abstract
Abstract An apparatus for identifying surfaces, comprising a point digitizing apparatus for obtaining data points of a surface to be located and an apparatus, such as a memory device, for storing a mathematical model of a model surface. A microprocessor control unit registers the mathematical model and the obtained data points, wherein the microprocessor control unit accomplishes the registration by (i) determining a data point set comprising various points from the obtained data points, (ii) finding a set of closest points comprising, for each point of the data point set, a closest point on the first mathematical model, (iii) registering the data point set to the set of closest points to obtain a registered point set, (iv) computing a mean square distance of points of the registered point set to the closest point set, (v) comparing the mean square distance to a predetermined threshold and (vi) if the mean square distance is above a threshold, (vi.i) redefining the data point set as the registered point set and (vi.ii) repeating parts (ii), (iii), (iv) and (v). Resultant from the registration, the control unit provides an output signal that can be used to indicate the surface position, quality and/or identification.
Inventors
- 👤 Paul Joseph Besl
- 👤 Neil David Mc Kay
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-08 20:49
CPC Classifications
G; G01; G01B; G01B21/00; G01B21/02; G01B21/04
Claims Analysis
Total Claims: 15
Claim 1
Independent Claim
223 words
A surface position locating apparatus comprising: means for obtaining data points of a surface of a physical object; means for receiving a mathematical model of a model surface, a microprocessor control unit for registering the mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating parts (ii), (iii), (iv) and (v) if the mean square distance is above the threshold; and means for providing an output signal resultant from the registration, the output signal indicative of a position of the surface; and means for displaying the position of the surface responsive to the output signal.
Claim 2
Dependent Claim
223 words
A surface position locating apparatus comprising: means for obtaining data points of a surface of a physical object; means for receiving a mathematical model of a model surface, a microprocessor control unit for registering the mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating parts (ii), (iii), (iv) and (v) if the mean square distance is above the threshold; and means for providing an output signal resultant from the registration, the output signal indicative of a position of the surface; and means for displaying the position of the surface responsive to the output signal.
Claim 3
Dependent Claim
220 words
A surface inspection apparatus comprising: means for obtaining data points of a surface of a physical object; means for receiving a mathematical model of a model surface, a microprocessor control unit for registering the mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating pans (ii), (iii), (iv) and (v) if the mean square distance is above the threshold; and means for providing a first output signal resultant from the registration, the first output signal indicative of surface quality; and means for displaying the surface quality responsive to the first output signal.
Claim 4
Dependent Claim
220 words
A surface inspection apparatus comprising: means for obtaining data points of a surface of a physical object; means for receiving a mathematical model of a model surface, a microprocessor control unit for registering the mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating pans (ii), (iii), (iv) and (v) if the mean square distance is above the threshold; and means for providing a first output signal resultant from the registration, the first output signal indicative of surface quality; and means for displaying the surface quality responsive to the first output signal.
Claim 5
Dependent Claim
39 words
The apparatus of claim 2, also comprising: means for providing a second output signal resultant from the registration, the second output signal indicative of surface position; and means for displaying the surface position responsive to the second output signal.
Claim 6
Dependent Claim
237 words
A surface inspection apparatus comprising: means for obtaining data points of a surface of a physical object; means for receiving a mathematical model of a model surface, a microprocessor control unit for registering the mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating parts (ii), (iii), (iv) and (v) if the mean square distance is above the threshold; and means for providing an output signal resultant from the registration, the output signal indicative of surface quality; and means for performing a function selected from the group consisting of (i) accepting the surface and (ii) rejecting the surface, wherein said selected function is performed responsive to the output signal.
Claim 7
Dependent Claim
237 words
A surface inspection apparatus comprising: means for obtaining data points of a surface of a physical object; means for receiving a mathematical model of a model surface, a microprocessor control unit for registering the mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating parts (ii), (iii), (iv) and (v) if the mean square distance is above the threshold; and means for providing an output signal resultant from the registration, the output signal indicative of surface quality; and means for performing a function selected from the group consisting of (i) accepting the surface and (ii) rejecting the surface, wherein said selected function is performed responsive to the output signal.
Claim 8
Independent Claim
239 words
An apparatus for identifying surfaces, comprising: means for obtaining data points of a surface of a physical object; means for receiving a mathematical model of a model surface, a microprocessor control unit for registering the mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating parts (ii), (iii), (iv) and (v) if the mean square distance is above the threshold; and means for providing an output signal resultant from the registration, the output signal indicative of surface identification; and means for performing at least one of a set of functions comprising: (a) displaying the surface identification responsive to the output signal and (b) sorting the surface responsive to the output signal.
Claim 9
Independent Claim
239 words
An apparatus for identifying surfaces, comprising: means for obtaining data points of a surface of a physical object; means for receiving a mathematical model of a model surface, a microprocessor control unit for registering the mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating parts (ii), (iii), (iv) and (v) if the mean square distance is above the threshold; and means for providing an output signal resultant from the registration, the output signal indicative of surface identification; and means for performing at least one of a set of functions comprising: (a) displaying the surface identification responsive to the output signal and (b) sorting the surface responsive to the output signal.
Claim 10
Independent Claim
227 words
An apparatus for identifying surfaces, comprising: means for obtaining data points of a surface of a physical object; means for receiving a first mathematical model of a first model surface, a microprocessor control unit for registering the first mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the first mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating parts (ii), (iii), (iv) and (v) if the means square distance is above the threshold; and means for providing an output signal resultant from the registration, the output signal indicative of at least one member of a signal set comprising: (a) surface identification, (b) surface position and (c) surface quality.
Claim 11
Independent Claim
227 words
An apparatus for identifying surfaces, comprising: means for obtaining data points of a surface of a physical object; means for receiving a first mathematical model of a first model surface, a microprocessor control unit for registering the first mathematical model and the obtained data points, wherein the microprocessor control unit comprises, for accomplishing the registration, (i) means for determining a data point set comprising various points from the obtained data points, (ii) means for finding a set of closest points comprising, for each point of the data point set, a closest point on the first mathematical model, (iii) means for registering the data point set to the set of closest points to obtain a registered point set, (iv) means for computing a mean square distance of points of the registered point set to the closest point set, (v) means for comparing the mean square distance to a predetermined threshold and (vi.i) means for redefining the data point set as the registered point set if the mean square distance is above a threshold and (vi.ii) means for repeating parts (ii), (iii), (iv) and (v) if the means square distance is above the threshold; and means for providing an output signal resultant from the registration, the output signal indicative of at least one member of a signal set comprising: (a) surface identification, (b) surface position and (c) surface quality.
Claim 12
Dependent Claim
74 words
The apparatus set forth in claim 6, also comprising at least one member of a means set including: (a) means for displaying position of the inspected surface responsive to the output signal, (b) means for identifying the inspected surface responsive to the output signal, (c) means for performing manufacturing operation on the inspected surface responsive to the output signal and (d) means for displaying quality of the inspected surface responsive to the output signal.
Claim 13
Dependent Claim
43 words
The apparatus set forth in claim 6, wherein the microprocessor control unit also (i) determines moments of the first mathematical model and the data point set and (ii) registers the moments of the point set to the moments of the first mathematical model.
Claim 14
Dependent Claim
61 words
The apparatus set forth in claim 6, wherein the microprocessor control unit also comprises (i) means for determining if the mean square distance is minimizing to a point above the threshold and (ii) means for changing the initial state of the data point set if the determination indicates that the mean square distance is minimizing to a point above the threshold.
Claim 15
Dependent Claim
92 words
The apparatus set forth in claim 6 wherein the microprocessor control unit also registers a second mathematical model of a second model surface and the received data, and wherein the apparatus also comprises: means for receiving the second mathematical model; means for providing a second output signal resultant from the second registration; and means for performing at least one function of a set of functions comprising: (a) displaying the surface identification responsive to the first and second output signals and (b) sorting the surface responsive to the first and second output signals.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-02-02 | 2001-08-04 | 2002-02-03 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-02-02 | 2005-08-04 | 2006-02-03 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-02-02 | 2009-08-04 | 2010-02-03 | $7700.00 | Window Closed / Lapsed |