US5784282A
Expired / Lapsed
US
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Method and apparatus for identifying the position in three dimensions of a movable object such as a sensor or a tool carried by a robot
Assignee: SOLLAC LA DEFENSE 4 29 LE PARVIS 92800 PUTEAUXFRANCE
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Filing: 1994-06-10
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Granted: 1998-07-21
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Expires: 2014-06-10
Abstract
Abstract A method and apparatus for identifying the position of an object that is movable in a determined three-dimensional zone by means of a video camera (20) or the like mounted on the movable object (14), the camera (20) being capable of being swivelled to sight targets (22) disposed around the movable object (14) and to enable the position and the orientation of said object to be determined accurately by triangulation. The invention is particularly applicable to accurately determining the position and the orientation of a sensor or a tool mounted on a robot.
Inventors
- 👤 Marc Abitbol
- 👤 Jean-Luc Maillart
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 15:11
CPC Classifications
G; G01; G01B; G01B11/00; G01B11/002; G05; G05B; G05B19/00; G05B19/02; G05B19/18; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1692; G06; G06T; G06T7/00; G06T7/70; G06T7/80; G05B2219/00; G05B2219/30; G05B2219/39; G05B2219/39057
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
170 words
A method of identifying the position in three dimensions of a movable object carried by a robot, the method comprising the steps of: swivel-mounting a photosensitive detector on the movable object so as to be capable of being swivelled about at least one axis on said object, the detector having an optical axis; sighting with the detector targets disposed at predetermined known locations relative to a displacement zone of the movable object, the targets being sighted by swivelling the detector about said axis on the movable object without displacing the movable object from its position and the detector generating signals corresponding to images of the sighted targets; detecting for each sighted target an angular position of the detector relative to the axis of the movable object; determining from said signals and from said angular position the position of the optical axis of the detector for each sighted target; and calculating the position and orientation of the movable object by triangulation from the positions of the optical axis of the detector.
Claim 2
Independent Claim
170 words
A method of identifying the position in three dimensions of a movable object carried by a robot, the method comprising the steps of: swivel-mounting a photosensitive detector on the movable object so as to be capable of being swivelled about at least one axis on said object, the detector having an optical axis; sighting with the detector targets disposed at predetermined known locations relative to a displacement zone of the movable object, the targets being sighted by swivelling the detector about said axis on the movable object without displacing the movable object from its position and the detector generating signals corresponding to images of the sighted targets; detecting for each sighted target an angular position of the detector relative to the axis of the movable object; determining from said signals and from said angular position the position of the optical axis of the detector for each sighted target; and calculating the position and orientation of the movable object by triangulation from the positions of the optical axis of the detector.
Claim 3
Dependent Claim
58 words
A method according to claim 1, wherein said step of determining the position of the optical axis of the detector for each sighted target includes determining points of intersection of the optical axis of the detector and reference marks of the sighted targets and determining therefrom the positions, in three dimensions, of the optical axis of the detector.
Claim 4
Dependent Claim
63 words
A method according to claim 1, further comprising the step of determining parameters specific to means for swivelling the detector about the axis on the movable object to determine the position in three dimensions of the optical axis of the detector, said parameters comprising errors of concurrence and orthogonality between the optical axis of the detector and said axis on the movable object.
Claim 5
Dependent Claim
34 words
A method according to claim 3 wherein said detector is swivelled by a swivelling means and said method further comprises a prior calibration step during which parameters specific to said swivelling means are determined.
Claim 6
Dependent Claim
81 words
A method according to claim 1, wherein said step of swivelling the detector on the movable object includes rotating the detector in a stepwise manner about the axis on the movable object to occupy angular positions that are defined with a high degree of repeatability and the method further comprises the step of providing a prior calibration operation during which relative positions of the optical axis of the detector are accurately determined for each of said angular positions of the detector.
Claim 7
Dependent Claim
44 words
A method according to claim 1, further comprising a prior calibration step during which positions and orientations of the targets are accurately determined by sighting each of the targets at least three times with the detector for different known positions of the movable object.
Claim 8
Independent Claim
153 words
An apparatus for identifying the position in three dimensions of a movable object carried by a robot, the apparatus comprising a photosensitive detector which has an optical axis and which is carried by the movable object, means for swivelling the detector on said object about at least one axis, means for determining the angular position of the detector about said axis, targets disposed at determined known locations relative to a displacement zone of the movable object, control means for swivelling the detector in different angular positions about said axis to sight different targets without displacing the movable object, and data processing means connected to the detector to receive therefrom signals corresponding to images of said targets sighted by the detector when the movable object is not displaced from its position, wherein the position and orientation of said movable object are determined by triangulation utilizing said positions of the optical axis of the detector.
Claim 9
Independent Claim
153 words
An apparatus for identifying the position in three dimensions of a movable object carried by a robot, the apparatus comprising a photosensitive detector which has an optical axis and which is carried by the movable object, means for swivelling the detector on said object about at least one axis, means for determining the angular position of the detector about said axis, targets disposed at determined known locations relative to a displacement zone of the movable object, control means for swivelling the detector in different angular positions about said axis to sight different targets without displacing the movable object, and data processing means connected to the detector to receive therefrom signals corresponding to images of said targets sighted by the detector when the movable object is not displaced from its position, wherein the position and orientation of said movable object are determined by triangulation utilizing said positions of the optical axis of the detector.
Claim 10
Dependent Claim
20 words
An apparatus according to claim 7, wherein the detector is rotatably displaceable about two perpendicular axes on said movable object.
Claim 11
Dependent Claim
33 words
An apparatus according to claim 7, wherein the detector is displaceable in stepwise rotation to occupy predetermined angular positions about said axis, said angular positions being defined with a high degree of repeatability.
Claim 12
Dependent Claim
19 words
An apparatus according to claim 7, wherein the targets are located outside the displacement zone of the movable object.
Claim 13
Dependent Claim
25 words
An apparatus according to claim 7, wherein the targets comprise panels carrying a series of reference marks formed at predetermined intervals relative to one another.
Claim 14
Dependent Claim
15 words
An apparatus according to claim 11, wherein each target includes two types of reference marks.
Claim 15
Dependent Claim
23 words
An apparatus according to claim 11, wherein the reference marks are spheres made of materials having determined capacities for reflecting and diffusing light.
Claim 16
Dependent Claim
23 words
An apparatus according to claim 7, wherein the targets are mounted in fixed manner on rigid supports that include means for absorbing vibration.
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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) | 2001-07-20 | 2002-01-19 | 2002-07-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-07-20 | 2006-01-19 | 2006-07-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-07-20 | 2010-01-19 | 2010-07-21 | $7700.00 | Window Closed / Lapsed |