US4373804A — Method and apparatus for electro-optically determ…

Claim 1

Independent Claim 124 words

A method for determining the dimension, location or attitude of an object surface, comprising projecting a zone of light onto the surface of said object, said zone comprising at least two bright portions with at least one dark portion therebetween, forming an image of said zone on said surface onto a photodiode array with lens means whose axis is angularly spaced from the axis of said projected light, said image comprising said two bright portions and said dark portion therebetween; determining from the position of the dark portion of said image on said array relative to said lens axis the location of said surface illuminated by said zone, and determining from said location of said surface the location, attitude or dimension of said object.

Claim 2

Independent Claim 124 words

A method for determining the dimension, location or attitude of an object surface, comprising projecting a zone of light onto the surface of said object, said zone comprising at least two bright portions with at least one dark portion therebetween, forming an image of said zone on said surface onto a photodiode array with lens means whose axis is angularly spaced from the axis of said projected light, said image comprising said two bright portions and said dark portion therebetween; determining from the position of the dark portion of said image on said array relative to said lens axis the location of said surface illuminated by said zone, and determining from said location of said surface the location, attitude or dimension of said object.

Claim 3

Dependent Claim 24 words

A method according to claim 1, wherein said zone of light is provided by a laser operating in the TEM 01 or higher mode.

Claim 4

Dependent Claim 16 words

A method according to claim 1 wherein said position of said image comprises said dark portion.

Claim 5

Independent Claim 126 words

A method for determining the dimension, location, or attitude of an object surface, said object being in motion, comprising projecting onto the surface of said object a zone of light, forming an image of said zone on said surface onto a photodiode array with a lens system whose axis is angularly spaced from the axis of the projected light, said projection of said light zone being provided within a short time interval sufficient to effectively freeze the image on said array, scanning said photodiode array between successive light projection intervals, determining from the position of said image on said diode array the location of said surface illuminated by said zone, and determining from said location of said surface the location, attitude, or dimension of said object.

Claim 6

Independent Claim 126 words

A method for determining the dimension, location, or attitude of an object surface, said object being in motion, comprising projecting onto the surface of said object a zone of light, forming an image of said zone on said surface onto a photodiode array with a lens system whose axis is angularly spaced from the axis of the projected light, said projection of said light zone being provided within a short time interval sufficient to effectively freeze the image on said array, scanning said photodiode array between successive light projection intervals, determining from the position of said image on said diode array the location of said surface illuminated by said zone, and determining from said location of said surface the location, attitude, or dimension of said object.

Claim 7

Dependent Claim 12 words

A method according to claim 4 wherein said object comprises a gear.

Claim 8

Dependent Claim 27 words

A method according to claim 5 wherein said gear is rotated about its axis and wherein said pulse of light is initiated by a gear position sensor.

Claim 9

Dependent Claim 19 words

A method according to claim 6 wherein said gear portion sensor comprises a rotational encoder connected to said gear.

Claim 10

Dependent Claim 22 words

A method according to claim 6 wherein said gear position sensor comprises means for detecting the presence of a gear tooth surface.

Claim 11

Dependent Claim 39 words

A method according to claim 5 wherein a plurality of said zones of light are projected onto a surface of a single gear tooth and wherein the images of said zones are formed on at least one diode array.

Claim 12

Dependent Claim 32 words

A method according to claim 9 wherein the positions of said images on said at least one diode array are compared to determine the involute form or lead of said gear tooth.

Claim 13

Dependent Claim 23 words

A method according to claim 4 wherein said time interval is controlled as a function of the light energy reflected from said surface.

Claim 14

Dependent Claim 21 words

A method according to claim 4 wherein the output of the diode array is momentarily stored in a temporary memory means.

Claim 15

Independent Claim 101 words

A method for determining the angular tilt of an object surface which is inclined relative to a plane of measurement, comprising projecting onto the surface of said object at least two zones of light, the direction of light projection being normal to a plane of measurement, forming an image of said zones on said surface onto at least one photodiode array with a lens means whose axis is angularly spaced from the axis of said projected light, and determining from the separation of said image on said diode array the angular tilt of said surface, relative to said plane of measurement.

Claim 16

Independent Claim 101 words

A method for determining the angular tilt of an object surface which is inclined relative to a plane of measurement, comprising projecting onto the surface of said object at least two zones of light, the direction of light projection being normal to a plane of measurement, forming an image of said zones on said surface onto at least one photodiode array with a lens means whose axis is angularly spaced from the axis of said projected light, and determining from the separation of said image on said diode array the angular tilt of said surface, relative to said plane of measurement.

Claim 17

Dependent Claim 40 words

A method according to claim 13 wherein four zones in a rectilinear pattern are projected, wherein said diode array comprises a matrix array, and wherein said angular tilt of said surface is determined by comparing image separation in two planes.

Claim 18

Dependent Claim 29 words

A method according to claim 13 further comprising determining the location of said object surface from the position of one or more of said images on said diode array.

Claim 19

Dependent Claim 55 words

A method according to claim 13 wherein a second lens and diode array are placed at an equal and opposite angular spacing from said axis of said projection of said zones, whereby, when said surface is normal to the projected light, the separation of said images on said first and second diode arrays is equal.

Claim 20

Independent Claim 180 words

A method for determining the dimension, location, or attitude of an object surface, comprising: projecting a zone of light onto a surface of an object; forming an image of said zone of light on a photodiode array with lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface; determining the position of said image on said photodiode array; determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; utilizing a broad light source to illuminate said surface; forming an image of said object surface on a two axis scanning array means; and determining from the location of said surface and from the image on said two axis scanning array means, the dimension, location, or attitude of said object surface.

Claim 21

Independent Claim 180 words

A method for determining the dimension, location, or attitude of an object surface, comprising: projecting a zone of light onto a surface of an object; forming an image of said zone of light on a photodiode array with lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface; determining the position of said image on said photodiode array; determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; utilizing a broad light source to illuminate said surface; forming an image of said object surface on a two axis scanning array means; and determining from the location of said surface and from the image on said two axis scanning array means, the dimension, location, or attitude of said object surface.

Claim 22

Dependent Claim 18 words

A method according to claim 17 wherein said two axes scanning array means comprises a matrix photodiode array.

Claim 23

Dependent Claim 14 words

A method according to claim 18 wherein said matrix array comprises said photodiode array.

Claim 24

Dependent Claim 15 words

A method according to claim 18 wherein said matrix array and photodiode array are distinct.

Claim 25

Dependent Claim 20 words

A method according to claim 17 further comprising illuminating the surface of said object to facilitate forming said surface image.

Claim 26

Dependent Claim 20 words

A method according to claim 17 further comprising analyzing said surface image to determine a physical characteristic of said surface.

Claim 27

Dependent Claim 35 words

A method according to claim 17 further comprising analyzing said surface image to determine the location of a portion thereof and determining the location of said zone of light relative to said surface image portion.

Claim 28

Dependent Claim 12 words

A method according to claim 18 wherein said projected light is flashed.

Claim 29

Dependent Claim 12 words

A method according to claim 18 wherein said zone is a spot.

Claim 30

Dependent Claim 31 words

A method according to claim 17 further comprising illuminating said surface for forming said surface image, and wherein said projection of said light and illumination of said surface are effected sequentially.

Claim 31

Dependent Claim 63 words

A method according to claim 18 further comprising projecting an additional zone of light into said object surface, forming an image of said additional zone of light onto a photodiode array with lens means having an optical axis angularly spaced from the axis of the projected light, and determining, from the locations of the photodiode array images, the attitude of the object surface.

Claim 32

Dependent Claim 32 words

A method according to claim 18 wherein said light zone is projected from a light source, and wherein said light source, lens means and photodiode array are mounted on a robot arm.

Claim 33

Dependent Claim 140 words

Apparatus for determining the dimension, location, or attitude of an object surface, comprising means for projecting onto the surface of said object a zone of light, said zone comprised of at least two bright portions with at least one dark portion therebetween, a photodiode array, lens means for forming an image of said zone on said surface onto said photodiode array, said lens means having an optical axis which is angularly spaced from the axis of said projected light, said image comprising said two bright portions and said dark portion therebetween, means for determining from the position of the dark portion of said image on said diode array relative to said lens axis, the location of said surface illuminated by said zone, and means for determining from said location of said surface the location, attitude or dimension of said object.

Claim 34

Dependent Claim 140 words

Apparatus for determining the dimension, location, or attitude of an object surface, comprising means for projecting onto the surface of said object a zone of light, said zone comprised of at least two bright portions with at least one dark portion therebetween, a photodiode array, lens means for forming an image of said zone on said surface onto said photodiode array, said lens means having an optical axis which is angularly spaced from the axis of said projected light, said image comprising said two bright portions and said dark portion therebetween, means for determining from the position of the dark portion of said image on said diode array relative to said lens axis, the location of said surface illuminated by said zone, and means for determining from said location of said surface the location, attitude or dimension of said object.

Claim 35

Dependent Claim 20 words

Apparatus according to claim 29, wherein said projecting means comprises a laser operating in the TEM 01 or higher mode.

Claim 36

Dependent Claim 24 words

Apparatus according to claim 29 wherein said image position determining means comprises means for determining the position of said dark portion of said image.

Claim 37

Dependent Claim 141 words

Apparatus for determining dimension, location, or attitude of an object surface, comprising: means for projecting a zone of light onto the surface of an object; a photodiode array; means for moving said object; lens means for forming an image of said zone onto said photodiode array, said lens means having an optical axis which is angularly spaced from the axis of the projected light, said projection of said light zone being provided within a time interval sufficiently short to effectively freeze the image on said array during relative motion thereof; means for scanning said photodiode array between successive light projection intervals; means for determining from the position of said image on said diode array the location of said surface illuminated by said zone; and means for determining from said location of said surface the location, attitude, or dimension of said object.

Claim 38

Dependent Claim 141 words

Apparatus for determining dimension, location, or attitude of an object surface, comprising: means for projecting a zone of light onto the surface of an object; a photodiode array; means for moving said object; lens means for forming an image of said zone onto said photodiode array, said lens means having an optical axis which is angularly spaced from the axis of the projected light, said projection of said light zone being provided within a time interval sufficiently short to effectively freeze the image on said array during relative motion thereof; means for scanning said photodiode array between successive light projection intervals; means for determining from the position of said image on said diode array the location of said surface illuminated by said zone; and means for determining from said location of said surface the location, attitude, or dimension of said object.

Claim 39

Dependent Claim 11 words

Apparatus according to claim 32 wherein said object comprises a gear.

Claim 40

Dependent Claim 26 words

Apparatus according to claim 33 further comprising means for rotating said gear about its axis and gear position sensor means for initiating said projection of light.

Claim 41

Dependent Claim 18 words

Apparatus according to claim 34 wherein said gear position sensor comprises a rotational encoder connected to said gear.

Claim 42

Dependent Claim 21 words

Apparatus according to claim 34 wherein said gear position sensor comprises means for detecting the presence of a gear tooth surface.

Claim 43

Dependent Claim 40 words

Apparatus according to claim 33 further comprising means for projecting a plurality of said zones of light onto a surface of a single gear tooth and means for forming the images of said zones on at least one diode array.

Claim 44

Dependent Claim 33 words

Apparatus according to claim 37 further comprising means for comparing the positions of said images on said at least one diode array to determine the involute form or lead of said gear tooth.

Claim 45

Dependent Claim 24 words

Apparatus according to claim 32 further comprising means for controlling said time interval as a function of the light energy reflected from said surface.

Claim 46

Dependent Claim 19 words

Apparatus according to claim 32 further comprising temporary memory means for momentarily storing the output of the diode array.

Claim 47

Dependent Claim 108 words

Apparatus for determining the angular tilt of an object surface which is inclined relative to a plane of measurement, comprising: means for projecting onto the surface of said object at least two zones of light, the direction of light projection being normal to a plane of measurement, lens means for forming an image of said zones on said surface onto at least one photodiode array, said lens means having an axis which is angularly spaced from the axis of said projected light, and means for determining from the separation of said images on said diode array the angular tilt of said surface relative to said plane of measurement.

Claim 48

Dependent Claim 108 words

Apparatus for determining the angular tilt of an object surface which is inclined relative to a plane of measurement, comprising: means for projecting onto the surface of said object at least two zones of light, the direction of light projection being normal to a plane of measurement, lens means for forming an image of said zones on said surface onto at least one photodiode array, said lens means having an axis which is angularly spaced from the axis of said projected light, and means for determining from the separation of said images on said diode array the angular tilt of said surface relative to said plane of measurement.

Claim 49

Dependent Claim 46 words

Apparatus according to claim 41 wherein said light zone projecting means comprises means for projecting four light zones in a rectilinear pattern, wherein said diode array comprises a matrix array, and said surface angular tilt determining means comprises means for comparing image separation in two planes.

Claim 50

Dependent Claim 30 words

Apparatus according to claim 41 further comprising means for determining the location of said object surface from the position of one or more of said images on said diode array.

Claim 51

Dependent Claim 54 words

Apparatus according to claim 41 further comprising a second lens and diode array placed at an equal and opposite angular spacing from said axis of said projection of said zones, whereby, when said surface is normal to the projected light, the separation of said images on said first and second diode arrays is equal.

Claim 52

Dependent Claim 193 words

Apparatus for determining the dimension, location or attitude of an object surface, comprising: means for projecting a zone of light onto a surface of an object; lens means for forming an image of said zone of light on a photodiode array, said lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface; means for determining the position of said image on said photodiode array; means for determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; means comprising a broad light source to illuminate said surface; means for forming an image of said object surface on a two axis scanning array means; and means for determining from the location of said surface and from the image on said two axis scanning array means, the dimension, location, or attitude of said object surface.

Claim 53

Dependent Claim 193 words

Apparatus for determining the dimension, location or attitude of an object surface, comprising: means for projecting a zone of light onto a surface of an object; lens means for forming an image of said zone of light on a photodiode array, said lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface; means for determining the position of said image on said photodiode array; means for determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; means comprising a broad light source to illuminate said surface; means for forming an image of said object surface on a two axis scanning array means; and means for determining from the location of said surface and from the image on said two axis scanning array means, the dimension, location, or attitude of said object surface.

Claim 54

Dependent Claim 17 words

Apparatus according to claim 45 wherein said two axis scanning array means comprises a matrix photodiode array.

Claim 55

Dependent Claim 13 words

Apparatus according to claim 45 wherein said matrix array comprises said photodiode array.

Claim 56

Dependent Claim 14 words

Apparatus according to claim 45 wherein said matrix array and photodiode array are distinct.

Claim 57

Dependent Claim 21 words

Apparatus according to claim 45 further comprising means for illuminating the surface of said object to facilitate forming said surface image.

Claim 58

Dependent Claim 21 words

Apparatus according to claim 45 further comprising means for analyzing said surface image to determine a physical characteristic of said surface.

Claim 59

Dependent Claim 38 words

Apparatus according to claim 45 further comprising means for analyzing said surface image to determine the location of a portion thereof and means for determining the location of said zone of light relative to said surface image portion.

Claim 60

Dependent Claim 17 words

Apparatus according to claim 45 wherein said light projecting means comprises means for flashing said projected light.

Claim 61

Dependent Claim 11 words

Apparatus according to claim 45 wherein said zone is a spot.

Claim 62

Dependent Claim 28 words

Apparatus according to claim 47 further comprising means for illuminating said surface for forming said surface image, and means for sequentially projecting said light and illuminating said surface.

Claim 63

Dependent Claim 68 words

Apparatus according to claim 45 further comprising means for projecting an additional zone of light onto said object surface, means for forming an image of said additional zone of light onto a photodiode array with lens means having an optical axis angularly spaced from the axis of the projected light, and means for determining, from the locations of the photodiode array images, the attitude of the object surface.

Claim 64

Dependent Claim 23 words

Apparatus according to claim 45 wherein said light projecting means, said lens means and said photodiode array are mounted on a robot arm.

Claim 65

Independent Claim 199 words

A method for determining the dimension, location, or attitude of an object surface, comprising: projecting a pulsed zone of light onto a surface of an object; forming an image of said pulsed zone of light on a photodiode array with lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface, storing the output of said diode array in temporary delay means; amplifying said stored diode array output, and controlling the amplification of said stored output in inverse proportion to the light energy reflected from said zone; determining, from the amplified stored array outputs, the position of said image on said photodiode array, said determination being effected in the interval between successive light pulses; determining from the position of said image on said array the location of said surface illuminated by said zone of light; and determining from said location of said surface, the dimension location, or attitude of said object.

Claim 66

Independent Claim 199 words

A method for determining the dimension, location, or attitude of an object surface, comprising: projecting a pulsed zone of light onto a surface of an object; forming an image of said pulsed zone of light on a photodiode array with lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface, storing the output of said diode array in temporary delay means; amplifying said stored diode array output, and controlling the amplification of said stored output in inverse proportion to the light energy reflected from said zone; determining, from the amplified stored array outputs, the position of said image on said photodiode array, said determination being effected in the interval between successive light pulses; determining from the position of said image on said array the location of said surface illuminated by said zone of light; and determining from said location of said surface, the dimension location, or attitude of said object.

Claim 67

Independent Claim 198 words

A method for determining the dimension, location, or attitude of an object surface, comprising: projecting a pulsed zone of light onto a surface of an object; forming an image of said pulsed zone of light on a photodiode array with lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface, storing the output of said diode array in temporary delay means; applying a threshold voltage to said stored diode array output, and controlling said voltage in dependence upon the amount of light reflected from said zone; determining, from the stored array outputs, the position of said image on said photodiode array, said determination being effected in the interval between successive light pulses; determining from the position of said image on said array the location of said surface illuminated by said zone of light; and determining from said location of said surface, the dimension, location, or attitude of said object.

Claim 68

Independent Claim 198 words

A method for determining the dimension, location, or attitude of an object surface, comprising: projecting a pulsed zone of light onto a surface of an object; forming an image of said pulsed zone of light on a photodiode array with lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface, storing the output of said diode array in temporary delay means; applying a threshold voltage to said stored diode array output, and controlling said voltage in dependence upon the amount of light reflected from said zone; determining, from the stored array outputs, the position of said image on said photodiode array, said determination being effected in the interval between successive light pulses; determining from the position of said image on said array the location of said surface illuminated by said zone of light; and determining from said location of said surface, the dimension, location, or attitude of said object.

Claim 69

Dependent Claim 24 words

A method according to claim 58 further comprising controlling the light pulse length in dependence upon the amount of light reflected from said zone.

Claim 70

Dependent Claim 214 words

Apparatus for determining the dimension, location or attitude of an object surface, comprising: means for projecting a pulsed zone of light onto a surface of an object; lens means for forming an image of said pulsed zone of light on a photodiode array, said lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface, means for storing the output of said diode array in temporary delay means, means for amplifying said stored diode array output, and means for controlling the amplification of said stored output in inverse proportion to the light energy reflected from said zone; means for determining, in the interval between successive pulses of light, from the amplified stored diode array output, the position of said image on said photodiode array; means for determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; and means for determining from said location of said surface, the dimension, location, or attitude of said object.

Claim 71

Dependent Claim 214 words

Apparatus for determining the dimension, location or attitude of an object surface, comprising: means for projecting a pulsed zone of light onto a surface of an object; lens means for forming an image of said pulsed zone of light on a photodiode array, said lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface, means for storing the output of said diode array in temporary delay means, means for amplifying said stored diode array output, and means for controlling the amplification of said stored output in inverse proportion to the light energy reflected from said zone; means for determining, in the interval between successive pulses of light, from the amplified stored diode array output, the position of said image on said photodiode array; means for determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; and means for determining from said location of said surface, the dimension, location, or attitude of said object.

Claim 72

Dependent Claim 201 words

Apparatus for determining the dimension, location or attitude of an object surface, comprising: means for projecting a pulsed zone of light onto a surface of an object; lens means for forming an image of said pulsed zone of light on a photodiode array, said lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location on said object surface, means for storing the output of said diode array in temporary delay means, means for applying a threshold voltage in dependence upon the amount of light reflected from said zone; means for determining, in the interval between successive pulses of light, from the stored diode array output, the position of said image on said photodiode array; means for determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; and means for determining from said location of said surface, the dimension, location, or attitude of said object.

Claim 73

Dependent Claim 201 words

Apparatus for determining the dimension, location or attitude of an object surface, comprising: means for projecting a pulsed zone of light onto a surface of an object; lens means for forming an image of said pulsed zone of light on a photodiode array, said lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location on said object surface, means for storing the output of said diode array in temporary delay means, means for applying a threshold voltage in dependence upon the amount of light reflected from said zone; means for determining, in the interval between successive pulses of light, from the stored diode array output, the position of said image on said photodiode array; means for determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; and means for determining from said location of said surface, the dimension, location, or attitude of said object.

Claim 74

Dependent Claim 26 words

A method according to claim 61 further comprising means for controlling the light pulse length in dependence upon the amount of light reflected from said zone.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	1986-02-14	1986-08-16	1987-02-15	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	1990-02-14	1990-08-16	1991-02-15	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	1994-02-14	1994-08-16	1995-02-15	$7700.00	Window Closed / Lapsed

Method and apparatus for electro-optically determining the dimension, location and attitude of objects

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