公开(公告)号：US5907395A

公开(公告)日：1999-05-25

申请号：US870296

申请日：1997-06-06

Applicant: Waldean A. Schulz ,  Ivan Faul ,  Ronald M. Pasquini ,  Daniel J. Harrison

Inventor： Waldean A. Schulz ,  Ivan Faul ,  Ronald M. Pasquini ,  Daniel J. Harrison

IPC: A61B19/00 ,  G01B11/00 ,  G01B11/03 ,  G01S1/70 ,  G01S5/16 ,  G01B11/26

CPC classification number: G01B11/002 ,  A61B90/36 ,  G01S1/70 ,  G01S5/16

Abstract: Improved point source electromagnetic radiation emitters including a dispersing element that radiates electromagnetic radiation over a very wide conical angle of approaching about 180.degree.. This light dispersing element can be in any one or more of several illustrated forms such as a light diffusing spherical or hemispherical element, a planar diffusing plate, a tapered light guide, a plano-concave lens, a convex mirror, a light pipe with a large numerical aperture, or the like. The emitter of this invention may be fixed to an object and tracked in a 3-dimensional volume by a system using electro-optical position sensors in order to determine the spatial location of the emitters and therefore to determine, by geometry, the position and orientation of the object. The electromagnetic radiation generator is preferably disposed remote from the emitter and is electrically and magnetically isolated from the emitter. A common optical fiber provides transmission of the radiation from the generator to the emitter. The emitted radiation more nearly resembles point source of radiation and therefore enables more accurate determination of the location of the radiating element, and thereby more accurate determination of the position and orientation of the object on which the emitters reside. The preferred electromagnetic radiation generator is an LED, most preferably a laser diode.

Abstract translation: 改进的点源电磁辐射发射器包括在约180°的非常宽的圆锥角上辐射电磁辐射的分散元件。 该光分散元件可以是几种所示形式中的任何一种或多种，​​例如光漫射球形或半球形元件，平面扩散板，锥形光导，平凹透镜，凸面镜，具有 大数值孔径等。 本发明的发射器可以通过使用电光位置传感器的系统固定在物体上并以三维体积跟踪，以便确定发射器的空间位置，因此通过几何形状来确定位置和取向 的对象。 电磁辐射发生器优选地远离发射器设置并且与发射极电气和磁性隔离。 普通光纤提供从发生器到发射器的辐射传输。 发射的辐射更接近于类似于辐射源点，因此能够更准确地确定辐射元件的位置，从而更准确地确定放射器所在的物体的位置和方向。 优选的电磁辐射发生器是LED，最优选的是激光二极管。

公开(公告)号：USRE35816E

公开(公告)日：1998-06-02

申请号：US415126

申请日：1995-03-30

Applicant: Waldean A. Schulz

Inventor： Waldean A. Schulz

IPC: A61B19/00 ,  G01B11/00 ,  G01B11/03 ,  G01B11/24 ,  G01B11/245 ,  G01C3/06 ,  G01S5/16 ,  G01S7/481 ,  G01S17/02 ,  G01S17/46 ,  G01S17/89 ,  G01B11/14 ,  G01C3/08

CPC classification number: G01B11/24 ,  G01S17/46 ,  G01S17/89 ,  G01S7/481 ,  G01S7/4813 ,  A61B2034/2055 ,  A61B2034/2068 ,  G01S17/023 ,  G01S5/163 ,  G01S7/4817

Abstract: This method and apparatus optically samples numerous points on the surface of an object to remotely sense its shape utilizing two stages. The first stage employs a moveable non-contact scanner, which in normal operation sweeps a narrow beam of light across the object, illuminating a single point of the object at any given instant in time. The location of that point relative to the scanner is sensed by multiple linear photodetector arrays behind lenses in the scanner. These sense the location by measuring the relative angular parallax of the point. The second stage employs multiple fixed but widely separated photoelectronic sensors, similar to those in the scanner, to detect the locations of several light sources affixed to the scanner, thereby defining the absolute spatial positions and orientations of the scanner. Individual light sources are distinguished by time-multiplexing their on-off states. A coordinate computer calculates the absolute spatial positions where the scanner light beam is incident on the object at a given instant and continuously on a real time basis to generate a computer model of the object.

Abstract translation: 该方法和装置利用两个阶段对物体表面上的多个点进行光学取样以远程感测其形状。 第一阶段采用可移动的非接触式扫描器，其在正常操作中扫过窄的光束穿过物体，在任何给定的时刻照射物体的单个点。 相对于扫描仪的该点的位置由扫描器中的透镜后面的多个线性光电检测器阵列感测。 这些通过测量点的相对角视差来感测位置。 第二阶段采用与扫描仪中类似的多个固定但广泛分离的光电传感器来检测固定在扫描器上的几个光源的位置，从而限定扫描仪的绝对空间位置和取向。 通过对其开关状态进行时间复用来区分各个光源。 坐标计算机计算在给定时刻扫描光束入射到物体上的绝对空间位置，并且实时地连续地生成物体的计算机模型。

公开(公告)号：US07049594B2

公开(公告)日：2006-05-23

申请号：US10402586

申请日：2003-03-28

Applicant: Chunwu Wu ,  Waldean A. Schulz

Inventor： Chunwu Wu ,  Waldean A. Schulz

IPC: G01J5/08

CPC classification number: G01S3/7835 ,  G01S5/16

Abstract: A sensor for determining a component of a location of a radiation source within a three dimensional volume includes a mask having a series of openings that has a predetermined mathematical relationship among the openings within the series of openings and defines a mask reference line; a detector surface spaced from the mask where radiation passing through the mask creates a mask image on the detector surface having a series of peaks and an image reference line within the mask image that can be located and where at least 50% of the mask image is projected onto the detection surface; and a calculating unit to determine a location of the image reference line within the mask image and the component of the location of the radiation source from the calculated location of the image reference line within the mask image. A method and system for using this sensor are also disclosed.

Abstract translation: 用于确定三维体积内的辐射源的位置的分量的传感器包括具有一系列开口的掩模，所述开口在所述一系列开口内的所述开口之间具有预定的数学关系并且限定掩模参考线; 与掩模间隔开的检测器表面，其中穿过掩模的辐射在检测器表面上产生掩模图像，该掩模图像具有一系列峰值和可以位于掩模图像内的图像参考线，并且其中至少50％的掩模图像是 投影到检测面上; 以及计算单元，用于从掩模图像内的图像参考线的计算位置确定掩模图像内的图像参考线的位置和辐射源的位置的分量。 还公开了一种使用该传感器的方法和系统。

公开(公告)号：US06611141B1

公开(公告)日：2003-08-26

申请号：US09868948

申请日：2001-09-17

Applicant: Waldean A. Schulz ,  Ivan Faul

Inventor： Waldean A. Schulz ,  Ivan Faul

IPC: G01B1114

CPC classification number: G01C21/165 ,  A61B34/20 ,  A61B2034/107 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/0818 ,  A61B2090/3995 ,  G01S5/021 ,  G01S5/0263 ,  G01S5/16 ,  G01S5/163

Abstract: This invention is a system that tracks the 3-dimensional position and orientation of one or more bodies (20) in a volume by a light based as well as at least one non-light based mensuration sub-system. This overcomes the limitation of light based mensuration systems to the necessity of the bodies (20) to be in constant line-of-sight of its light based position sensors (26). The invention possesses most of the accuracy and stability of its light based position measurement sub-system (24, 26, 72), but can also work without direct line of sight either for short periods of time or within certain parts of the volume. It does so by incorporating other sensors (31, 34), such as inertial or magnetic, which are frequently recalibrated against the light based sub-system (24, 26, 72) while the bodies (20) are visible by the light based sub-system (24, 26, 72).

Abstract translation: 本发明是一种通过基于光的以及至少一个基于非基于光的测量子系统跟踪体积中的一个或多个主体（20）的三维位置和取向的系统。 这克服了基于光的测量系统的限制，使得物体（20）在其基于光的位置传感器（26）处于恒定视距的必要性。 本发明具有其基于光的位置测量子系统（24,26,72）的大部分精度和稳定性，但是也可以在短时间内或在体积的某些部分内没有直接视线的情况下工作。 它通过结合诸如惯性或磁性的其它传感器（31,34）来实现，所述传感器经常被重新校准抵靠基于光的子系统（24,26,72），而主体（20）由基于光的子视觉可见 系统（24,26,72）。

公开(公告)号：US06608688B1

公开(公告)日：2003-08-19

申请号：US09647365

申请日：2001-05-16

Applicant: Ivan Faul ,  Waldean A. Schulz ,  Brett R. Skelton ,  Ronald M. Pasquini

Inventor： Ivan Faul ,  Waldean A. Schulz ,  Brett R. Skelton ,  Ronald M. Pasquini

IPC: G01B1114

CPC classification number: G06F3/0325 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2034/2055 ,  G06F3/0346 ,  G06F3/03545

Abstract: Disclosed is a wireless instrument tracking system. The wireless instrument tracking system is used for determining the location of at least one point relative to the instrument in a three-dimensional space relative to a three-dimensional coordinate tracking system. Advantageously, a first wireless instrument can be placed into the optical field with the wireless instrument including a wireless receiver and at least one optical position indicator. The optical position indicator is typically light emitting diodes (18) and communicates with corresponding measurement sensors (30) across a wireless optical link. The wireless optical link is time multiplexed with repetitive time frames divided into time slots. Each LED (18) emits an infrared signal or flashes in a respective time slot of a time frame. The measurement sensors (30) are preferably CCD cameras. The LEDs (18) are synchronized with the cameras and once synchronized each LED (18) flashes in a different time slot in synchronization with the camera frame rate.

Abstract translation: 公开了一种无线仪器跟踪系统。 无线仪器跟踪系统用于相对于三维坐标跟踪系统确定相对于仪器的至少一个点在三维空间中的位置。 有利地，第一无线仪器可以放置在光场中，无线仪器包括无线接收器和至少一个光学位置指示器。 光学位置指示器通常是发光二极管（18），并且通过无线光学链路与对应的测量传感器（30）通信。 无线光链路与被划分成时隙的重复时间帧进行时间复用。 每个LED（18）发射红外信号或在时间帧的相应时隙中闪烁。 测量传感器（30）优选为CCD照相机。 LED（18）与相机同步，并且一旦同步，每个LED（18）与相机帧速率同步地在不同的时隙中闪烁。

公开(公告)号：US6141104A

公开(公告)日：2000-10-31

申请号：US150345

申请日：1998-09-09

Applicant: Waldean A. Schulz ,  Robert Cormack

Inventor： Waldean A. Schulz ,  Robert Cormack

IPC: G01B11/03 ,  G01D5/34 ,  G01S3/783 ,  G01S5/16 ,  G06F3/03 ,  G06F3/033 ,  G06F3/042 ,  G01B11/14

CPC classification number: G06F3/0346 ,  G01D5/34 ,  G01S3/7835 ,  G01S5/16 ,  G06F3/0304

Abstract: An optical improvement for angular position sensors, which may be used to determine the spatial coordinates of a small source of light (or other energy) in a 3-dimensional volume. Such sensors normally include a linear photosensitive image detector such as a photodiode array or a charge-coupled device (CCD). An irregular pattern of parallel slits is described which increases the amount of light gathered while avoiding the undesirable characteristics of lens optics for this application. One optimal type of irregular pattern is the uniformly redundant array. A mathematical correlation function together with a polynomial interpolation function can determine the displacement of the image on the detector and thereby the location of the source relative to one angular dimension. Given the locations and orientations of several sensors in a 3-dimensional coordinate system and given the angles measured by each, the location of the point source can be computed.

Abstract translation: 用于角位置传感器的光学改进，其可用于确定三维体积中的小光源（或其他能量）的空间坐标。 这种传感器通常包括诸如光电二极管阵列或电荷耦合器件（CCD）的线性光敏图像检测器。 描述了平行狭缝的不规则图案，其增加了聚光的量，同时避免了用于该应用的透镜光学器件的不期望的特性。 一种最佳类型的不规则图案是均匀冗余阵列。 数学相关函数与多项式插值函数一起可以确定图像在检测器上的位移，从而确定源相对于一个角度尺寸的位置。 给定三维坐标系中几个传感器的位置和方向，并给出由每个坐标系测量的角度，可以计算点源的位置。