Sensor

• US 10,228,234 B2
• Filed: 09/17/2018
• Issued: 03/12/2019
• Est. Priority Date: 04/17/2015
• Status: Active Grant

• Current Assignee: Rememdia, LC (Sarcos Technology & Robotics Corp.)
• Original Assignee: Rememedia LC
• Inventors: Smith, Fraser M.
• Primary Examiner(s): Stafira, Michael P
• Application Number:
  US16/132,900
• Publication Number:
  US 20190025043A1
• Time in Patent Office: 176 Days
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01D 5/262 with optical projection of a pointer or a scale
• CPC Class Codes: G01D 5/34 the beams of light being detected by photocells

Abstract

A sensor comprising a light component in support of a light source operable to direct a beam of light onto an imaging device having an image sensor, such as a CCD or CMOS or N-type metal-oxide-semiconductor (NMOS or Live MOS) sensor. The sensor can also comprise an imaging device positioned proximate to the light component and operable to receive the beam of light, and to convert this into an electric signal, wherein the light component and the imaging device are movable relative to one another, and wherein relative movement of the light component and the imaging device is determinable in multiple degrees of freedom. The sensor can also comprise a light deflecting module designed to deflect light from a light component onto the imaging device. The light sources and the resulting beams of light therefrom can comprise a number of different types, orientations, configurations to facilitate different measurable and determinable degrees of freedom by the sensor.

Claims

1. A sensor comprising:

a light component support configured to mechanically couple to a surface of an object to be sensed;

a first light source that generates a beam of light, wherein the first light source is supported by the light component support;

an imager that receives the beam of light, and converts the beam of light into an electric signal; and

a transparent layer disposed between the imager and the light component that elastically couples the imager to the light component;

wherein the sensor;

determines a relative position of the imager and the light component support based on the beam of light received by the imager, and

calculates a strain on the surface of the object in one or more degrees of freedom based on the relative position of the imager and the light component support.

2. The sensor of claim 1, wherein the one or more degrees of freedom include:

a relative translation along an x-axis,

a relative translation along a y-axis,

a relative rotation about the x-axis,

a relative rotation about the y-axis,

a relative translation along a z-axis, and

a relative rotation about the z-axis;

wherein the x-axis, y-axis and z-axis are orthogonal.

3. The sensor of claim 2, wherein the beam of light comprises a conical shape.

4. The sensor of claim 2, wherein the beam of light comprises a cross-sectional area having a dimension in a direction of the x-axis greater than a dimension in a direction of the y-axis.

5. The sensor of claim 4, wherein the z-axis is substantially normal to the imager.

6. The sensor of claim 4, wherein the first light source generates the beam of light having an oblong cross sectional area.

7. The sensor of claim 4, wherein the first light source emits light through an aperture.

8. The sensor of claim 4, wherein the first light source is oriented on an incline relative to the imager so as to provide the beam of light with an inclined angle of incidence on the imager.

9. The sensor of claim 8, wherein the light component support and the imager are situated substantially parallel to one another, and the first light source is mounted on the light component support at an incline relative to the imager.

10. The sensor of claim 8, wherein the light component support and the imager are situated substantially non-parallel to one another, and the first light source is mounted on the light component support in a substantially normal orientation to the light component support.

11. The sensor of claim 4, including at least one of a lens or a collimator that directs the beam of light from the first light source.

12. The sensor of claim 1, wherein the first light source directs the beam of light having an oblong cross section area onto the imager.

13. The sensor of claim 1, further comprising a plurality of light sources mechanically coupled to the light component support, wherein the plurality of light sources generate a plurality of beams of light, at least some of the plurality of light sources emitting light at different frequencies.

14. The sensor of claim 1, further comprising a plurality of light sources mechanically coupled to the light component support, wherein the plurality of light sources generate a plurality of beams of light, at least some of the plurality of light sources emitting light at different frequencies, wherein the imager further receives a cumulative, interference light emission having a plurality of edges.

15. The sensor of claim 1, wherein the imager comprises an image sensor selected from the group consisting of a charge-coupled device (CCD) sensor, a complementary metal oxide semiconductor (CMOS) sensor, and a N-type metal-oxide-semiconductor (NMOS or Live MOS) sensor.

16. The sensor according to claim 1, wherein the light component support further supports a known mass;

and

the sensor further determines acceleration based on the known mass and the relative position of the imager and the light component support.