Optical scanning-based system for detecting position and/or orientation of objects
First Claim
1. Optical device for determining position and orientation of an object comprising a fixed part of known position comprising a laser beam projector with sequential scan defining the centre (O) of a reference frame (R) in space, the said projector scanning a beam in a zone comprising at least four point-like sensors fixed to the said object, the orientation of the scan being known at each instant, the four point-like sensors forming a parallelogram, wherein the instants, at which each of the sensors (A′
- , B′
, C′
, D′
) is scanned by the beam, determine four directions of each of the sensors in the reference frame (R), the four straight lines passing through the origin (O) and having the said directions intercepting an image plane of the fixed part at four projected points (A, B, C, D), the positions in the image plane of the mappings (A, B, C, D) of the four points determining a quadrilateral (ABCD) making it possible to calculate the position and the orientation of the object in space.
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Accused Products
Abstract
The optical device for determining position and orientation of an object comprising a fixed part comprises a laser beam projector with sequential scan and a projection centre (O), defining the centre of a reference frame (R) in space.
The projector emits, in a zone comprising at least four sensors fixed to the said object, the four sensors having a known disposition on the object.
The instants at which each of the sensors provides an electrical pulse determine the angular directions of the said sensors in the reference frame, the four straight lines passing through the origin and through each of the sensors intercepting an image plane of the fixed part at four projected points.
The positions in the image plane of the mappings of the four points determine a geometric shape making it possible to calculate the position and the orientation of the object in space.
26 Citations
9 Claims
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1. Optical device for determining position and orientation of an object comprising a fixed part of known position comprising a laser beam projector with sequential scan defining the centre (O) of a reference frame (R) in space, the said projector scanning a beam in a zone comprising at least four point-like sensors fixed to the said object, the orientation of the scan being known at each instant, the four point-like sensors forming a parallelogram, wherein the instants, at which each of the sensors (A′
- , B′
, C′
, D′
) is scanned by the beam, determine four directions of each of the sensors in the reference frame (R), the four straight lines passing through the origin (O) and having the said directions intercepting an image plane of the fixed part at four projected points (A, B, C, D), the positions in the image plane of the mappings (A, B, C, D) of the four points determining a quadrilateral (ABCD) making it possible to calculate the position and the orientation of the object in space. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
- , B′
Specification