Positioning pattern
AssigneeGcoder Systems AB
InventorsJonas Nilsagard, Olle Takman, Manne Stenberg
Life of this patent
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Abstract
An absolute position detection device, system and method using a pattern comprising two types of position data: location of the pattern relative an object and position of the pattern relative a sensing device, e.g. a camera. The device comprise the sensing device acquiring images of the pattern located on the object and a computational unit analysing the images for determining absolute position of the object relative the sensing device. The present invention is realized in a number of applications, such as forming part of a torque sensor, a theodolite, an articulating arm, or an angular detector.
Claims21
A position detecting system, for detecting a position of an object, the system comprising:
- a plurality of pattern groups arranged directly or indirectly on said object, each of the plurality of pattern groups comprising:
- at least one node part comprised of at least one shape, and
- at least one information part comprised of at least one shape;
- at least one image acquisition device for detecting said plurality of pattern groups;
- and
- a computational device comprising means for analysing signals for determining geometrical centres in at least two directions of each of said node parts and determining a type of part for each detected node part and information part;
- said node parts being arranged to provide a position relative to said image acquisition device and said information parts providing a location of said node parts relative said object.
A torque sensor, for measuring a torque in an object, the sensor comprising:
- a position detection system comprising:
- a plurality of pattern groups arranged directly or indirectly on said object, each of the plurality of pattern groups comprising:
- at least one node part comprised of at least one shape, and
- at least one information part comprised of at least one shape;
- at least one image acquisition device for detecting said plurality of pattern groups;
- and
- a computational device comprising means for analysing signals from said image acquisition device for determining geometrical centres in at least two directions of said node parts and determining a type of part for each detected node part and information part;
- said node parts being arranged to provide a position relative to said image acquisition device and said information parts providing a location of said node parts relative said object;
- at least two sleeves, each with a plurality of said pattern groups, said sleeves mounted on said object;
- and
- wherein said position detection system obtain position data from each sleeve and said computational device further comprise means to detect an angular difference between the position of said sleeves and to determine a torque from said angular difference.
A method for determining a position of an object, comprising the steps of:
- detecting with a sensing device a pattern group located on said object;
- determining, using symmetry analysis in at least two directions, geometrical center positions of node points forming part of said pattern group, said node points being comprised of at least one shape;
- determining a type of part for each node point;
- determining a type and position of information points located on said object, said information points being comprised of at least one shape;
- and
- determining an absolute position of said object relative to said sensing device using combined information of said position and said type of points of both node and information points.
A computer program stored in a non-transitory tangible computer readable medium for determining a position of an object by analyzing data indicative of a pattern group located on said object, wherein said data is received from a camera, characterized in that
- said computer program is arranged to determine geometrical center positions in at least two directions of node points in said pattern group for determining a position of said object relative to said camera, said node points being comprised of at least one shape, and
- further arranged to determine a type and a relative position of information points in said pattern group for determining a location of said node points relative to said object, said information points being comprised of at least one shape.
An angular detector for determining an angular position of an object, comprising:
- a position detection system comprising:
- a plurality of pattern groups arranged directly or indirectly on said object, each of the plurality of pattern groups comprising:
- at least one node part comprised of at least one shape, and
- at least one information part comprised of at least one shape;
- at least one image acquisition device for detecting said plurality of pattern groups;
- and
- a computational device comprising means for analysing signals from said image acquisition device for determining geometrical centres in at least two directions of said node parts and determining a type of part for each detected node part and information part;
- said node parts being arranged to provide a position relative to said sensing device and said information parts providing a location of said node part relative said object,
- wherein said computational device further comprises means for determining an angular position of said object from said signal analysis.
Dependencies are inferred from the claim text.