NON-CONTACT SENSING SYSTEM HAVING MEMS-BASED LIGHT SOURCE

• US 20120062706A1
• Filed: 11/10/2010
• Published: 03/15/2012
• Est. Priority Date: 09/15/2010
• Status: Active Grant

• Current Assignee: Perceptron Incorporated (Atlas Copco AB)
• Original Assignee: Perceptron Incorporated (Atlas Copco AB)
• Inventors: Keshavmurthy, Shyam P., Krakowski, Richard, Crowther, David, Lin, George C., Manning, Craig, Koskella, Martin P., Hibbard, Brett, Stefan, Ralph, Wilson, Jason
• Granted Patent: US 9,204,129 B2
• Time in Patent Office: Days
• US Class Current: 348/47
• CPC Class Codes: G01B 11/245 using a plurality of fixed, simultaneously operating transducers G01B11/2408 - G01B11/2425, G01B11/255 take precedence
• CPC Class Codes: G01B 11/2518 Projection by scanning of the object
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects

Abstract

A non-contact sensing system is provided for acquiring three-dimensional contour information of an object. The system is comprised of: a light source subsystem operable to scan a point of light in an area of illumination; a first imaging device having a field of view arranged to intersect with the illumination area and operable to capture image data; and a second imaging device having a field of view arranged to intersect with the illumination area and operable to capture image data. A first control module is in data communication with the first imaging device to determine contour information for an object in the field of view of the first imaging device and report the contour information for the object in a common coordinate system. A second control module is in data communication with the second imaging device to determine contour information for the object in the field of view of the second imaging device and report the contour information for the object in the common coordinate system. Moreover, the light source subsystem is calibrated to report position of the point of light in the common coordinate system.

Claims

1. A non-contact sensing system for acquiring three-dimensional contour information, comprising:

a light source subsystem operable to scan a point of light in an area of illumination;

a first imaging device having a field of view arranged to intersect with the illumination area and operable to capture image data;

a first control module in data communication with the first imaging device, the first control module operable to determine location of an object in the field of view of the first imaging device from the captured image data and report the location of the object in a common coordinate system;

a second imaging device having a field of view arranged to intersect with the illumination area and operable to capture image data; and

a second control module in data communication with the second imaging device, the second control module operable to determine location of an object in the field of view of the second imaging device from the captured image data and report the location of the object in the common coordinate system, wherein the light source subsystem is calibrated to report position of the point of light in the common coordinate system.

2. The non-contact sensing system of claim 1 wherein the first control module receives the position of the point of light from the light source subsystem and determines location of the object in the field of view of the first imaging device from the position of the point of light and the captured image data using triangulation.

3. The non-contact sensing system of claim 1 wherein the light source subsystem employs a micro-electro-mechanical system (MEMS) actuated mirror to position the point of light and translates the position of the point of light as reported by the MEMS actuated mirror to a position of the point of light in the common coordinate system.

4. The non-contact sensing system of claim 1 wherein the first control module in data communication with the light source subsystem to control scanning of the plane of light in the first illumination area.

5. The non-contact sensing system of claim 1 wherein the light source subsystem further includes a laser light source arranged to project light towards a micro electro-mechanical system (MEMS) actuated mirror and a spherical mirror arranged to reflect light directed by the MEMS actuated mirror towards the area of illumination.

6. The non-contact sensing system of claim 1 wherein the field of view of the first imaging device intersects with the field of view of the second imaging device.

7. The non-contact sensing system of claim 1 wherein the first imaging device, the first control module, the second imaging device, and the second control module residing in a common housing.

8. The non-contact sensing system of claim 7 wherein the light source subsystem resides in the common housing.

9. The non-contact sensing system of claim 7 wherein the light source subsystem resides in a housing distinct and spatially separate from the common housing.

16. The non-contact sensor of claim 1 further comprises an image processing unit receives image data captured by the first imaging device and the second imaging device and generates a single image from the captured image data.

10. A non-contact sensor device for acquiring three-dimensional contour information, comprising:

a first light source subsystem operable to project a point of light and scan the point of light in a first area of illumination, where the first light source subsystem uses a micro electro-mechanical system (MEMS) actuated mirror to scan the point of light;

a first imaging device having a field of view arranged to intersect with the first illumination area and operable to capture image data therein;

a second light source subsystem operable to project a point of light and scan the point of light in a second area of illumination that is adjacent to the first illumination area, where the second light source subsystem uses a micro electro-mechanical system (MEMS) actuated mirror to scan the plane of light; and

a second imaging device having a field of view arranged to intersect with the second illumination area and operable to capture image data therein;

wherein the first light source subsystem, the first imaging device, the second light source subsystem and the second imaging device reside in a housing of the device.

11. The non-contact sensor of claim 10 wherein the field of view of the first imaging device intersects with the field of view of the second imaging device.

12. The non-contact sensor of claim 10 wherein the first and second light source subsystems are interposed collectively between the first and the second imaging device, such that the first light source subsystem is positioned between the second imaging device and the second light source subsystem and the second light source subsystem is positioned between the first imaging device and the first light source subsystem.

13. The non-contact sensor of claim 10 further comprises

a first control module in data communication with the first light source subsystem to control scanning of the plane of light in the first illumination area and to receive position of the point of light as reported by the first light source subsystem;

and

a second control module in data communication with the second light source subsystem to control scanning of the plane of light in the second illumination area and to receive position of the point of light as reported by the second light source subsystem.

14. The non-contact sensor of claim 13 wherein the first control module translates the position of the point of light as reported by the first light source subsystem to a position of the point of light in a common coordinate system, and the second control module translates the position of the point of light as reported by the second light source subsystem to a position of the point of light in the common coordinate system.

15. The non-contact sensor of claim 14 wherein the first control module in data communication with the first imaging device to determine location of an object in the field of view of the first imaging device from the image data captured by the first imaging device using triangulation and report the location of the object in the common coordinate system;

and the second control module in data communication with the second imaging device to determine location of an object in the field of view of the second imaging device from the image data captured by the second imaging device using triangulation and report the location of the object in the common coordinate system, where the first control module operates independently from the second control module.

17. The non-contact sensor of claim 10 wherein the first light source subsystem further includes a laser light source arranged to project light towards the MEMS actuated mirror and a spherical mirror arranged to reflect light directed by the MEMS actuated mirror towards the area of illumination.