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WO1996017258A3 - Optical position sensing system - Google Patents

Optical position sensing system Download PDF

Info

Publication number
WO1996017258A3
WO1996017258A3 PCT/GB1995/002799 GB9502799W WO9617258A3 WO 1996017258 A3 WO1996017258 A3 WO 1996017258A3 GB 9502799 W GB9502799 W GB 9502799W WO 9617258 A3 WO9617258 A3 WO 9617258A3
Authority
WO
WIPO (PCT)
Prior art keywords
reflector
volume
space
beams
light
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB1995/002799
Other languages
French (fr)
Other versions
WO1996017258A2 (en
Inventor
Milan Momcilo Popovich
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NOVUS Ltd
Original Assignee
NOVUS Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GB9424277A external-priority patent/GB9424277D0/en
Application filed by NOVUS Ltd filed Critical NOVUS Ltd
Priority to AU39878/95A priority Critical patent/AU3987895A/en
Publication of WO1996017258A2 publication Critical patent/WO1996017258A2/en
Publication of WO1996017258A3 publication Critical patent/WO1996017258A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

An optical triangulation tracking system comprises means for creating at least two beams of light (14, 15), each being divergent, mounted relative to one another in a predetermined spatial and angular relationship such that the beams intersect one another thereby illuminating a volume of space (16), at least one reflector (3) relatively moveable within said volume of space, a light detection device (20) adapted to receive light from each of the two beams which has been reflected back along its path of transmission by the reflector and an image processing system (24, 25) connected to each of said detection devices, the arrangement being such that relative movement between said light beam creation means and the reflector will be monitored by the image processing system which determines from received images by triangulation spatial coordinates of the reflector thereby to determine the relative position within said volume of space of the reflector.
PCT/GB1995/002799 1994-12-01 1995-11-30 Optical position sensing system Ceased WO1996017258A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU39878/95A AU3987895A (en) 1994-12-01 1995-11-30 Optical position sensing system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB9424277.3 1994-12-01
GB9424277A GB9424277D0 (en) 1994-12-01 1994-12-01 Optical position system
GB9500943.7 1995-01-18
GBGB9500943.7A GB9500943D0 (en) 1994-12-01 1995-01-18 Optical position sensing system

Publications (2)

Publication Number Publication Date
WO1996017258A2 WO1996017258A2 (en) 1996-06-06
WO1996017258A3 true WO1996017258A3 (en) 1997-02-13

Family

ID=26306075

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1995/002799 Ceased WO1996017258A2 (en) 1994-12-01 1995-11-30 Optical position sensing system

Country Status (3)

Country Link
AU (1) AU3987895A (en)
GB (1) GB9500943D0 (en)
WO (1) WO1996017258A2 (en)

Cited By (24)

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US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8239992B2 (en) 2007-05-09 2012-08-14 Irobot Corporation Compact autonomous coverage robot
US8253368B2 (en) 2004-01-28 2012-08-28 Irobot Corporation Debris sensor for cleaning apparatus
US8368339B2 (en) 2001-01-24 2013-02-05 Irobot Corporation Robot confinement
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
US8380350B2 (en) 2005-12-02 2013-02-19 Irobot Corporation Autonomous coverage robot navigation system
US8382906B2 (en) 2005-02-18 2013-02-26 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8390251B2 (en) 2004-01-21 2013-03-05 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8387193B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US8418303B2 (en) 2006-05-19 2013-04-16 Irobot Corporation Cleaning robot roller processing
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8463438B2 (en) 2001-06-12 2013-06-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8474090B2 (en) 2002-01-03 2013-07-02 Irobot Corporation Autonomous floor-cleaning robot
US8515578B2 (en) 2002-09-13 2013-08-20 Irobot Corporation Navigational control system for a robotic device
US8584305B2 (en) 2005-12-02 2013-11-19 Irobot Corporation Modular robot
US8600553B2 (en) 2005-12-02 2013-12-03 Irobot Corporation Coverage robot mobility
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8966707B2 (en) 2005-02-18 2015-03-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US9305365B2 (en) 2013-01-24 2016-04-05 Kineticor, Inc. Systems, devices, and methods for tracking moving targets

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WO2000072039A1 (en) * 1999-05-19 2000-11-30 National Research Council Of Canada Optical motion detection for mri
US20030083844A1 (en) * 2001-10-30 2003-05-01 Reddi M. Mahadeva Optical position sensing of multiple radiating sources in a movable body
PL2023812T3 (en) 2006-05-19 2017-07-31 The Queen's Medical Center Motion tracking system for real time adaptive imaging and spectroscopy
US8781159B2 (en) 2009-05-13 2014-07-15 Applied Vision Corporation System and method for dimensioning objects using stereoscopic imaging
US8284988B2 (en) 2009-05-13 2012-10-09 Applied Vision Corporation System and method for dimensioning objects using stereoscopic imaging
US8508591B2 (en) 2010-02-05 2013-08-13 Applied Vision Corporation System and method for estimating the height of an object using tomosynthesis-like techniques
EP2536322B1 (en) 2010-02-16 2017-04-05 iRobot Corporation Vacuum brush
RU2013136375A (en) * 2011-01-04 2015-02-10 Конинклейке Филипс Электроникс Н.В. PRESENCE DETECTION SYSTEM AND LIGHTING SYSTEM
TWI451064B (en) * 2011-04-25 2014-09-01 Univ Nat Formosa Laser displacement measuring device and method combined with image measuring instrument
WO2013032933A2 (en) 2011-08-26 2013-03-07 Kinecticor, Inc. Methods, systems, and devices for intra-scan motion correction
US20150253428A1 (en) * 2013-03-15 2015-09-10 Leap Motion, Inc. Determining positional information for an object in space
US12260023B2 (en) 2012-01-17 2025-03-25 Ultrahaptics IP Two Limited Systems and methods for machine control
US10327708B2 (en) 2013-01-24 2019-06-25 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
US9717461B2 (en) 2013-01-24 2017-08-01 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
EP2950714A4 (en) 2013-02-01 2017-08-16 Kineticor, Inc. Motion tracking system for real time adaptive motion compensation in biomedical imaging
US9769387B1 (en) 2013-11-05 2017-09-19 Trace Live Network Inc. Action camera system for unmanned aerial vehicle
CN106572810A (en) 2014-03-24 2017-04-19 凯内蒂科尔股份有限公司 Systems, methods and apparatus for removing expected motion corrections from medical imaging scans
CN106714681A (en) 2014-07-23 2017-05-24 凯内蒂科尔股份有限公司 Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
US9943247B2 (en) 2015-07-28 2018-04-17 The University Of Hawai'i Systems, devices, and methods for detecting false movements for motion correction during a medical imaging scan
EP3380007A4 (en) 2015-11-23 2019-09-04 Kineticor, Inc. SYSTEMS, DEVICES, AND METHODS FOR MONITORING AND COMPENSATING A MOVEMENT OF A PATIENT DURING MEDICAL IMAGING SCAN
EP3655793A1 (en) * 2017-07-19 2020-05-27 Signify Holding B.V. A system and method for providing spatial information of an object to a device
US11029146B2 (en) 2018-10-18 2021-06-08 Cyberoptics Corporation Three-dimensional sensor with counterposed channels

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US4709580A (en) * 1986-02-26 1987-12-01 Bd Systems, Inc. Retroflective attitude determining system
FR2601443A1 (en) * 1986-07-10 1988-01-15 Centre Nat Etd Spatiales Position sensor and its application in telemetry, in particular space robotics
US4964722A (en) * 1988-08-29 1990-10-23 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Remote object configuration/orientation determination
EP0405423A2 (en) * 1989-06-30 1991-01-02 Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung E.V. Method and device to determine the position of an object
EP0554978A2 (en) * 1992-01-22 1993-08-11 Acushnet Company Monitoring system to measure flight characteristics of moving sports object

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
US4709580A (en) * 1986-02-26 1987-12-01 Bd Systems, Inc. Retroflective attitude determining system
FR2601443A1 (en) * 1986-07-10 1988-01-15 Centre Nat Etd Spatiales Position sensor and its application in telemetry, in particular space robotics
US4964722A (en) * 1988-08-29 1990-10-23 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Remote object configuration/orientation determination
EP0405423A2 (en) * 1989-06-30 1991-01-02 Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung E.V. Method and device to determine the position of an object
EP0554978A2 (en) * 1992-01-22 1993-08-11 Acushnet Company Monitoring system to measure flight characteristics of moving sports object

Cited By (52)

* Cited by examiner, † Cited by third party
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US8761935B2 (en) 2000-01-24 2014-06-24 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8478442B2 (en) 2000-01-24 2013-07-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8565920B2 (en) 2000-01-24 2013-10-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8368339B2 (en) 2001-01-24 2013-02-05 Irobot Corporation Robot confinement
US8686679B2 (en) 2001-01-24 2014-04-01 Irobot Corporation Robot confinement
US9038233B2 (en) 2001-01-24 2015-05-26 Irobot Corporation Autonomous floor-cleaning robot
US8463438B2 (en) 2001-06-12 2013-06-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8516651B2 (en) 2002-01-03 2013-08-27 Irobot Corporation Autonomous floor-cleaning robot
US8474090B2 (en) 2002-01-03 2013-07-02 Irobot Corporation Autonomous floor-cleaning robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8793020B2 (en) 2002-09-13 2014-07-29 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8515578B2 (en) 2002-09-13 2013-08-20 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8749196B2 (en) 2004-01-21 2014-06-10 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8461803B2 (en) 2004-01-21 2013-06-11 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8390251B2 (en) 2004-01-21 2013-03-05 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8854001B2 (en) 2004-01-21 2014-10-07 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8253368B2 (en) 2004-01-28 2012-08-28 Irobot Corporation Debris sensor for cleaning apparatus
US8598829B2 (en) 2004-01-28 2013-12-03 Irobot Corporation Debris sensor for cleaning apparatus
US8456125B2 (en) 2004-01-28 2013-06-04 Irobot Corporation Debris sensor for cleaning apparatus
US8378613B2 (en) 2004-01-28 2013-02-19 Irobot Corporation Debris sensor for cleaning apparatus
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8874264B1 (en) 2004-07-07 2014-10-28 Irobot Corporation Celestial navigation system for an autonomous robot
US8670866B2 (en) 2005-02-18 2014-03-11 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8382906B2 (en) 2005-02-18 2013-02-26 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8855813B2 (en) 2005-02-18 2014-10-07 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8387193B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8774966B2 (en) 2005-02-18 2014-07-08 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8966707B2 (en) 2005-02-18 2015-03-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US9599990B2 (en) 2005-12-02 2017-03-21 Irobot Corporation Robot system
US8380350B2 (en) 2005-12-02 2013-02-19 Irobot Corporation Autonomous coverage robot navigation system
US9149170B2 (en) 2005-12-02 2015-10-06 Irobot Corporation Navigating autonomous coverage robots
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
US8600553B2 (en) 2005-12-02 2013-12-03 Irobot Corporation Coverage robot mobility
US8954192B2 (en) 2005-12-02 2015-02-10 Irobot Corporation Navigating autonomous coverage robots
US8661605B2 (en) 2005-12-02 2014-03-04 Irobot Corporation Coverage robot mobility
US8584305B2 (en) 2005-12-02 2013-11-19 Irobot Corporation Modular robot
US8528157B2 (en) 2006-05-19 2013-09-10 Irobot Corporation Coverage robots and associated cleaning bins
US8418303B2 (en) 2006-05-19 2013-04-16 Irobot Corporation Cleaning robot roller processing
US8572799B2 (en) 2006-05-19 2013-11-05 Irobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US8839477B2 (en) 2007-05-09 2014-09-23 Irobot Corporation Compact autonomous coverage robot
US8726454B2 (en) 2007-05-09 2014-05-20 Irobot Corporation Autonomous coverage robot
US8438695B2 (en) 2007-05-09 2013-05-14 Irobot Corporation Autonomous coverage robot sensing
US8239992B2 (en) 2007-05-09 2012-08-14 Irobot Corporation Compact autonomous coverage robot
US9305365B2 (en) 2013-01-24 2016-04-05 Kineticor, Inc. Systems, devices, and methods for tracking moving targets

Also Published As

Publication number Publication date
AU3987895A (en) 1996-06-19
WO1996017258A2 (en) 1996-06-06
GB9500943D0 (en) 1995-03-08

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