Method and apparatus for determining spatial information

• US 4,335,962 A
• Filed: 07/20/1979
• Issued: 06/22/1982
• Est. Priority Date: 07/20/1979
• Status: Expired due to Term

• Current Assignee: Robotic Vision Systems, Inc. (Acuity Brands, Inc.)
• Original Assignee: Robotic Vision Systems, Inc. (Acuity Brands, Inc.)
• Inventors: Di Matteo, Paul, Ross, Joseph A.
• Primary Examiner(s): Punter, William H.
• Application Number:
  US06/059,199
• Time in Patent Office: 1,068 Days
• Field of Search: 356/375-376, 356/388-389, 356/393, 356/397, 356/1-2, 356/152, 250/558, 364/564
• US Class Current: 356/604
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50

Abstract

A method and apparatus for determining spatial information regarding the points on an object situated in an object space wherein substantially planar laterally spaced diverging radiant energy beams are applied to the object space and a recording means records the reflected radiant energy in such space from a position whereat the radiant energy from points in the space and along the radiant energy beams is uniquely defined.

Claims

1. Apparatus for determining spatial information relating to an object adapted to be situated within an object space having predefined front and rear extents comprising:

means for applying substantially planar diverging laterally spaced radiant energy beams to said object space, said beams having common point of intersection;

means for recording radiant energy in said object space, said recording means being positioned so that radiant energy from all points along each of said beams in said space and receivable thereby is uniquely defined, said recording means recording the confrontation of said radiant energy beams with a flat reference plane at said front extent and with said object in said object space;

and means for utilizing the records of said recording means including the records of said reference surface and said object to derive information for determining the spatial positions of points on said object.

2. Apparatus in accordance with claim 1 wherein:

said recording means records a calibrated comb structure disposed in orthogonal dispositions at said front extent;

and said means for utilizing further employs said records of said comb structure to derive said information.

3. Apparatus in accordance with claim 1 further comprising:

a number of further recording means for recording the radiant energy in said object space, each of said further recording means being disposed so that radiant energy from at least some of the points along said beams in said space and receivable thereby is non-uniquely defined.

4. Apparatus in accordance with claim 3 wherein:

each of said number of further recording means includes a lens node which is laterally spaced from the projection point P by a measure for which line-of-sight rays to that lens node from at least some of the points of said radiant energy beams coincide.

5. Apparatus in accordance with claim 3 further comprising:

means for utilizing the records of said recording means and the records of said number of additional recording means to derive information for determining the spatial positions of points on said object.

6. A method for determining spatial information related to an object adapted to be situated within an object space having predefined front and rear extents comprising:

applying substantially planar diverging laterally spaced radiant energy beams to said object space, said beams having a common point of intersection, said step of applying including;

projecting said radiant energy beams onto a flat reference plane disposed at said front extent;

and projecting said radiant energy beams onto said object in said object space;

recording radiant energy in said object space from a first position at which radiant energy from points along said beams in said space is uniquely defined, said step of recording including;

recording the confrontation of said radiant energy beams and said reference plane in a first record;

and recording the confrontation of said radiant energy beams and said object in a second record;

and utilizing said first and second records to derive information for determining the spatial positions of the object points confronted by said beams.

7. A method in accordance with claim 6 wherein:

said step of utilizing comprises;

determining the spacings between recorded object points on said second record and corresponding recorded lines on said first record;

and calculating with said spacings a first spatial coordinate for each of said recorded object points.

8. A method in accordance with claim 7 wherein:

said step of recording further comprises;

recording a calibrated comb structure in vertical and horizontal disposition at said front extent in third and fourth records; and

said step of utilizing further comprises;

determining the horizontal and vertical positions of said recorded object points of said second record on said third and fourth records;

and calculating with said determined horizontal and vertical positions and said first calculated spatial coordinate of each recorded object point second and third spatial coordinates of that recorded object point.

9. A method for determining spatial information related to an object adapted to be situated within an object space having predefined front and rear extents comprising:

applying substantially planar diverging laterally spaced radiant energy beams to said object space, said beams having a common point of intersection, said step of applying including;

projecting said radiant energy beams onto a flat reference plane disposed at said front extent;

and projecting said radiant energy beams onto said object in said object space;

recording radiant energy in said object space from a first position at which radiant energy from points along said beams in said space is uniquely defined and from a number of further positions for which radiant energy from at least some of the points along said beams in said space is non-uniquely defined, said step of recording from said first position and recording from said further positions each comprising;

recording the confrontation of said radiant energy beams and said reference surface in a first record;

recording the confrontation of said radiant energy beams and said object in a second record;

and recording a calibrated comb structure in vertical and horizontal disposition at said front extent in third and fourth records;

and utilizing the records recorded at said first and at said number of further positions, including the first, second, third and fourth records recorded at each of said first and additional positions, to derive information for determining the spatial positions of points on said object.