Range-finder apparatus, methods, and applications

• US 10,281,262 B2
• Filed: 08/19/2016
• Issued: 05/07/2019
• Est. Priority Date: 08/31/2015
• Status: Active Grant

• Current Assignee: Arizona Board of Regents (University of Arizona)
• Original Assignee: Arizona Board of Regents (University of Arizona)
• Inventors: Takashima, Yuzuru
• Primary Examiner(s): Rahman, Md M
• Application Number:
  US15/756,290
• Publication Number:
  US 20180252513A1
• Time in Patent Office: 991 Days
• Field of Search: 356300
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01B 11/22 for measuring depth
• CPC Class Codes: G01C 3/02 Details
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4817 relating to scanning

Abstract

An imaging laser range finder including an objective lens having an optical axis, an object side, and an image side, a controllable pixelated light modulator disposed along the optical axis on the image side of the lens, and a detector disposed optically downstream from the pixelated light modulator on the image side of the lens. The controllable pixelated light modulator is advantageously a MEMS-based system such as a digital mirror device (DMD). An increased field of view may be obtained by incorporating a pair of opposing surface reflectors between an imaging lens and the controllable pixelated light modulator. Associated methods are disclosed.

Claims

1. An optical scanning device, comprising:

an objective lens having an optical axis;

a controllable pixelated light modulator having a plurality of individual pixel elements and a lateral dimension, disposed along the optical axis on an image side of the objective lens, wherein a direct field of view of the optical scanning device is set by said lateral dimension;

a pair of reflective surfaces disposed in opposed tangential planes on opposite sides of the optical axis between the objective lens and the pixelated light modulator and tilted with respect to a sagittal plane, such that a wide angle point on an object side of the objective lens is mapped to a respective pixel of the pixelated light modulator;

a controller coupled to the pixelated light modulator in a manner to selectively control any of a plurality of selected arrangements of the pixel elements so as to map the point on the object side of the objective lens to a single point on an image side of the objective lens; and

a detector disposed so as to produce a signal representative of the intensity of light emitted from one or more points in front of the objective lens as the controller selectively controls the pixelated light modulator.

2. The scanning device of claim 1, wherein the pair of lateral reflective surfaces have respective substantially-flat reflective surfaces that are disposed substantially parallel to one another.

3. The scanning device of claim 1, wherein each one of the pair of lateral reflective surfaces are tilted from between zero to 10 degrees.

4. The scanning device of claim 1, wherein the controllable pixelated light modulator is a digital micromirror device (DMD).

5. The scanning device of claim 1, wherein the controllable pixelated light modulator is a liquid crystal display (LCD).

6. The scanning device of claim 1, wherein the controllable pixelated light modulator is a grating light valve (GLV).

7. The optical scanning device of claim 1, further comprising a one dimensional focusing element disposed so as to focus tangential rays reflected from the pixelated light modulator.

8. The optical scanning device of claim 7, wherein the one dimensional focusing element is a cylindrical lens.

9. The optical scanning device of claim 1, further comprising an array of roof mirrors disposed between the pixelated light modulator and the detector, wherein sagittal light rays from the pixelated light modulator are guided to the detector.

10. The optical scanning device of claim 1, further comprising an optical path selector disposed between the objective lens and the micro-mirror array to map individual micro-mirrors both to a corresponding point in front of the objective lens and to the single point in back of the objective lens.

11. The optical scanning device of claim 10, wherein the optical path selector is a beam splitter.

12. The optical scanning device of claim 10, wherein the optical path selector is a frustrated total internal reflection prism.

13. The optical scanning device of claim 1, further comprising a scanner illumination source modulator adapted to modulate the scanner illumination and a demodulator coupled to the detector to demodulate the light directed to the detector by the pixelated light modulator wherein a transit delay of a modulation envelope from the illumination source to the detector can be used to determine a distance of the scanning device from an illuminated object.

14. An optical scanning method, comprising:

providing a controllable pixelated light modulator having a plurality of individual pixel elements and a lateral dimension that determines a direct object side scanning field;

providing a pair of reflective surfaces disposed in opposed tangential planes on opposite sides of the optical axis between the objective lens and the pixelated light modulator and tilted in a sagittal plane;

imaging light from one or more points in the object side scanning field onto the pixelated light modulator by reflection from the pair of reflective surfaces , the shape, position and dimensions of which establish an indirect scanning field; and

selectively controlling any of a plurality of selected arrangements of the pixel elements so as to map one or more points in the direct scanning field and the indirect scanning field to a single point in an image side a detection field.

15. The optical scanning method of claim 14, further comprising illuminating the one or more points in the object side of the objective lens with light so as to cause light to be emitted from those points and received at the single point on the image side of the objective lens.

16. The optical scanning method of claim 15, further comprising modulating the illuminating light, demodulating the light received at the single point on the image side of the objective lens, and determining a transit delay of the modulation envelope from the source of light to a detector to determine the distance of the scanning device to one or more of the points in the object side of the objective lens.

17. A laser range finder, comprising:

an objective lens having an optical axis, an object side, and an image side;

a controllable pixelated light modulator disposed along the optical axis on the image side of the lens, the pixelated light modulator having a lateral dimension that determines a direct object side field of view (FOV) of the laser range finder;

a pair of reflective surfaces disposed in opposed tangential planes on opposite sides of the optical axis between the objective lens and the pixelated light modulator and tilted with respect to a sagittal plane, wherein at least one of a shape, a position, an orientation, and a dimension of which establish an indirect FOV of the laser range finder; and

a detector disposed optically downstream from the pixelated light modulator on the image side of the lens.

18. The scanning device of claim 17, wherein the controllable pixelated light modulator is a digital micromirror device (DMD).

19. The scanning device of claim 17, wherein the controllable pixelated light modulator is a liquid crystal display (LCD).

20. The scanning device of claim 17, wherein the controllable pixelated light modulator is a grating light valve (GLV).