System for visually determining position in space and/or orientation in space and apparatus employing same
Patent 4146924 Issued on March 27, 1979. Estimated Expiration Date: 
March 27, 1996. Estimated Expiration Date is calculated based on simple USPTO term provisions. It does not account for terminal disclaimers, term adjustments, failure to pay maintenance fees, or other factors which might affect the term of a patent.
March 27, 1996. Estimated Expiration Date is calculated based on simple USPTO term provisions. It does not account for terminal disclaimers, term adjustments, failure to pay maintenance fees, or other factors which might affect the term of a patent.Patent References 3216311 3454169 3589134 3669549 3804270 3850313 3888362 3890552 InventorsAssigneeApplicationNo. 05/615716 filed on 09/22/1975US Classes:700/259, Vision sensor (e.g., camera, photocell)318/568.13, With particular program teaching method318/568.14, Manual lead through318/568.16, With particular sensing device318/640, Photoelectric or optical-type measuring instruments348/94, Position detection382/153, Robotics414/5, Having means to transmit feedback signal from manipulator means to hand, finger, or arm700/264, Having particular operator interface (e.g., teaching box, digitizer, tablet, pendant, dummy arm)702/152, 3D position702/153, 3D orientation901/16, Cartesian (X-Y-Z arm)901/47OpticalExaminersPrimary: Ruggiero, JosephInternational ClassesB25J 19/02 (20060101)B25J 9/16 (20060101) B25J 13/08 (20060101) G06T 1/00 (20060101) AbstractVisual system for determining position in space and/or orientation in three-dimensional space for purposes, for example, of directing or instructing an industrial robot to perform manipulative acts and apparatus employing the visual system. The system includes a portable object arbitrarily movable in three-dimensional space and possessing the discernible properties of position in space and/or orientation in space. One or more sensors extract visual information or image data from the portable object and convert the same to an electric signal or signals. A computer is connected to receive the signal or signals which are analyzed and, in the case of the industrial robot, the information obtained is used to prepare operating instructions. | |
