DEVICE AND METHOD FOR OPERATING CAMERAS AND LIGHT SOURCES
First Claim
1. A device comprising:
- a camera, configured to acquire images periodically according to a given exposure time, and at a first given frequency; and
at least one light source configured to periodically provide illumination light for the camera, the illumination light having a pulse duration that corresponds to the given exposure time and having a second given frequency that is an integer multiple of the first given frequency, wherein the second given frequency is higher than a threshold frequency where successive activations of the at least one light source are imperceptible.
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Abstract
Provided herein is a device and method for improved operating of cameras and light sources of a mobile automation apparatus. Light sources are operated to periodically provide illumination light for a camera operating according to a given exposure time and frequency, with a pulse duration having a respective frequency that is an integer multiple of the camera frequency, and higher than a threshold frequency where successive activations of the light sources are imperceptible. Furthermore, a light source paired with a camera is located at a distance from the paired camera that illuminates an object imaged by the paired camera, and where parasitic reflections from the paired light source are not reflected into the paired camera.
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Citations
20 Claims
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1. A device comprising:
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a camera, configured to acquire images periodically according to a given exposure time, and at a first given frequency; and at least one light source configured to periodically provide illumination light for the camera, the illumination light having a pulse duration that corresponds to the given exposure time and having a second given frequency that is an integer multiple of the first given frequency, wherein the second given frequency is higher than a threshold frequency where successive activations of the at least one light source are imperceptible. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method comprising:
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at a device comprising a controller, a camera and at least one light source, controlling, using the controller, the camera to acquire images periodically according to a given exposure time, and at a first given frequency; and controlling, using the controller, the at least one light source to periodically provide illumination light for the camera, the illumination light having a pulse duration that corresponds to the given exposure time and having a second given frequency that is an integer multiple of the first given frequency, wherein the second given frequency is higher than a threshold frequency where successive activations of the at least one light source are imperceptible. - View Dependent Claims (10)
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11. A device comprising:
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a support structure; a plurality of cameras spaced along the support structure, wherein adjacent cameras have partially overlapping fields of view directed away from the support structure; and
,a plurality of light sources comprising at least one light source paired with each of the plurality of cameras, wherein a paired light source is located at a distance from a paired camera that illuminates an object imaged by the paired camera, and where parasitic reflections from the paired light source are not reflected into the paired camera, and wherein the paired light source and the paired camera are operated at a different time from other paired light sources and other paired cameras located where the parasitic reflections from the paired light source are reflected into the other paired cameras. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A method comprising:
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at device comprising;
a controller;
a support structure;
a plurality of cameras spaced along the support structure, wherein adjacent cameras have partially overlapping fields of view directed away from the support structure; and
, a plurality of light sources comprising at least one light source paired with each of the plurality of cameras, wherein a paired light source is located at a distance from a paired camera that illuminates an object imaged by the paired camera, and where parasitic reflections from the paired light source are not reflected into the paired camera,controlling, using the controller, the paired light source and the paired camera to operate at a different time from other paired light sources and other paired cameras located where the parasitic reflections from the paired light source are reflected into the other paired cameras; and controlling, using the controller, the paired light source and the paired camera to operate at a same time as associated paired light sources and associated paired cameras, the paired camera and the associated paired cameras each located where respective parasitic reflections from the paired light source and the associated paired light sources are not reflected into the paired camera and the associated paired cameras.
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Specification