Laser scanner assembly

• US 8,542,413 B2
• Filed: 02/22/2010
• Issued: 09/24/2013
• Est. Priority Date: 02/23/2009
• Status: Active Grant

• Current Assignee: Voyis Imaging Incorporated
• Original Assignee: 2G Robotics Inc. (Sonardyne Group Ltd.)
• Inventors: Gillham, Jason Gregory, Ciochon, Tomasz
• Primary Examiner(s): Worku, Negussie
• Application Number:
  US13/202,405
• Publication Number:
  US 20120062963A1
• Time in Patent Office: 1,310 Days
• Field of Search: 358/474, 358/475, 358/483, 358/482, 358/497, 358/496, 382/154, 382/254, 356/4.01, 356/141.1, 356/5.01, 356/502, 348/81, 348/373, 348/376
• US Class Current: 358/474
• CPC Class Codes: B63C 11/48 Means for searching for underwater objects means for indicating the location of sunken objects B63C7/26; locating by use of the reflection or reradiation of radio or other waves G01S ; mountings of acoustic transducers in underwater equipment G10K11/006
• CPC Class Codes: B63C 11/52 Tools specially adapted for working underwater, not otherwise provided for
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4814 of transmitters alone
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

A laser scanner assembly for obtaining data to generate one or more three-dimensional clouds of data describing one or more submerged surfaces. The laser scanner assembly includes a housing subassembly with one or more body elements defining one or more cavities therein and comprising at least one window element therein at least partially defining the cavity, a light-generating subassembly positioned in the cavity having a laser source for generating laser light and a means for configuring the laser light into a fan configuration, and one or more optical sensors positioned in the cavity. The laser scanner assembly also includes means for moving the light-generating subassembly relative to the submerged surface, for illuminating illuminated points respectively, and means for determining the data for locating each illuminated point respectively utilizable for generating the three-dimensional cloud of data by using a baseline distance and first and second angles for each illuminated point respectively.

Claims

1. A laser scanner assembly for obtaining data to generate at least one three-dimensional cloud of data describing at least one submerged surface, the laser scanner assembly comprising:

a housing subassembly comprising at least one body element defining at least one cavity therein and comprising at least one window element therein at least partially defining said at least one cavity;

a light-generating subassembly positioned in said at least one cavity comprising;

a laser source for generating laser light;

means for configuring the laser light into a fan configuration;

at least one optical sensor positioned in said at least one cavity;

the means for configuring the laser light into the fan configuration and said at least one optical sensor being spaced apart by a predetermined baseline distance defining a substantially straight baseline therebetween;

the laser light fan configuration being transmittable through said at least one window element toward said at least one submerged surface, to illuminate a plurality of selected points thereon successively;

means for moving the light-generating subassembly relative to said at least one submerged surface, for illuminating the illuminated points on said at least one submerged surface respectively;

the laser light fan configuration being directed through said at least one window element to each said illuminated point respectively at a first angle relative to the baseline for each said illuminated point respectively;

each said illuminated point being respectively detectable through said at least one window element by said at least one optical sensor, each said illuminated point and said at least one optical sensor defining a reflection path therebetween respectively, the reflection path and the baseline defining a second angle therebetween for each said illuminated point respectively; and

means for determining the data for locating each said illuminated point respectively utilizable for generating said at least one three-dimensional cloud of data by using the baseline distance and the first and second angles for each said illuminated point respectively.

2. A laser scanner assembly according to claim 1 additionally comprising means for transmitting the data to means for generating said at least one three-dimensional cloud of data.

3. A laser scanner assembly according to claim 1 comprising a laser window element through which the laser light fan configuration is transmitted to the illuminated points respectively and an optical sensor window element through which said at least one optical sensor detects the illuminated points respectively.

4. A laser scanner assembly according to claim 1 in which the housing subassembly comprises:

a body portion;

a head portion mounted to the body portion, the head portion being movable relative to the body portion; and

said means for moving the light-generating subassembly comprising means for moving the head portion relative to the body portion.

5. A laser scanner assembly according to claim 4 in which the light-generating subassembly and said at least one optical sensor are mounted in the head portion and movement of the head portion relative to the body portion results in movement of the light-generating subassembly and said at least one optical sensor relative to said at least one submerged surface.

6. A laser scanner assembly according to claim 1 in which the light-generating subassembly is at least partially movable relative to said at least one optical sensor.

7. A laser scanner assembly according to claim 6 comprising two optical sensors.

8. A laser scanner assembly according to claim 6 which is substantially neutrally buoyant.

9. An underwater vehicle assembly comprising:

an underwater vehicle;

means for determining the underwater vehicle'"'"'s location relative to a selected frame of reference; and

the laser scanner assembly of claim 1 mounted on the underwater vehicle.

10. A laser scanner system for providing at least one three-dimensional cloud of data describing at least one submerged surface, the system comprising:

at least one laser scanner assembly comprising;

a housing subassembly comprising at least one body element defining at least one cavity therein and comprising at least one window element therein at least partially defining said at least one cavity;

a light-generating subassembly positioned in said at least one cavity comprising;

a laser source for generating laser light;

means for configuring the laser light into a fan configuration;

at least one optical sensor positioned in said at least one cavity;

the means for configuring the laser light into the fan configuration and said at least one optical sensor being spaced apart by a predetermined baseline distance defining a substantially straight baseline therebetween;

the laser light fan configuration being transmittable through said at least one window element toward said at least one submerged surface, to illuminate a plurality of selected points thereon successively;

means for moving the light-generating assembly relative to said at least one submerged surface, for illuminating the illuminated points on said at least one submerged surface respectively;

the laser light fan configuration being directed through said at least one window element to each said illuminated point respectively at a first angle relative to the baseline for each said illuminated point respectively;

each said illuminated point being respectively detectable through said at least one window element by said at least one optical sensor, each said illuminated point and said at least one optical sensor defining a reflection path therebetween respectively, the reflection path and the baseline defining a second angle therebetween for each said illuminated point respectively;

means for determining data for locating each said illuminated point respectively utilizable for generating said at least one three-dimensional cloud of data by using the baseline distance and the first and second angles for each said illuminated point respectively;

means for transmitting the data;

means for receiving the transmitted data; and

means for utilizing the data to generate said at least one three-dimensional cloud of data describing said at least one submerged surface.

11. A laser scanner system according to claim 10 in which said at least one laser scanner assembly additionally comprises a laser window element through which the laser light fan configuration is transmitted to the illuminated points respectively and an optical sensor window element through which said at least one optical sensor detects the illuminated points respectively.

12. A laser scanner system according to claim 10 in which the housing subassembly of said at least one laser scanner assembly additionally comprises:

a body portion;

a head portion mounted to the body portion, the head portion being movable relative to the body portion; and

said means for moving the light-generating subassembly comprising means for moving the head portion relative to the body portion.

13. A laser scanner system according to claim 12 in which the light-generating subassembly and said at least one optical sensor are mounted in the head portion and movement of the head portion relative to the body portion results in movement of the light-generating subassembly and said at least one optical sensor relative to said at least one submerged surface.

14. A laser scanner system according to claim 13 in which the light-generating subassembly is at least partially movable relative to said at least one optical sensor.

15. A laser scanner system according to claim 14 in which said at least one laser scanner assembly comprises two optical sensors.

16. A method of providing at least one three-dimensional cloud of data describing at least one submerged surface, the method comprising:

(a) providing a laser scanner assembly comprising;

a housing subassembly comprising at least one body element defining at least one cavity therein and comprising at least one window element therein at least partially defining said at least one cavity;

a light-generating subassembly positioned in said at least one cavity comprising;

a laser source for generating laser light;

means for configuring the laser light into a fan configuration;

at least one optical sensor positioned in said at least one cavity;

the means for configuring the laser light into the fan configuration and said at least one optical sensor being spaced apart by a predetermined baseline distance defining a substantially straight baseline therebetween;

(b) transmitting the laser light configuration through said at least one window element toward said at least one submerged surface, to illuminate a plurality of selected points thereon successively;

(c) moving the light-generating subassembly relative to said at least one submerged surface, for illuminating the illuminated points on said at least one submerged surface respectively;

(d) directing the laser light fan configuration toward said at least one submerged surface at a first angle relative to the baseline for each said illuminated point respectively;

(e) utilizing said at least one optical sensor to detect each said illuminated point respectively, each said illuminated point and said at least one optical sensor defining a reflection path therebetween, the reflection path and the baseline defining a second angle therebetween for each said illuminated point respectively;

(f) determining data locating each said illuminated point respectively for generating said at least one three-dimensional cloud of data by triangulation using the baseline distance and the first and second angles for each said illuminated point respectively;

(g) transmitting the data to means for generating said at least one three-dimensional cloud of data describing said at least one submerged surface based on the data; and

(h) generating said at least one three-dimensional cloud of data describing said at least one submerged surface based on the data.