Sensor

• US 9,851,196 B2
• Filed: 04/17/2015
• Issued: 12/26/2017
• Est. Priority Date: 04/17/2015
• Status: Active Grant

• Current Assignee: Rememdia, LC (Sarcos Technology & Robotics Corp.)
• Original Assignee: Rememdia, LC (Sarcos Technology & Robotics Corp.)
• Inventors: Smith, Fraser M.
• Primary Examiner(s): Ton, Tri
• Assistant Examiner(s): Underwood, Jarreas C
• Application Number:
  US14/690,352
• Publication Number:
  US 20160305763A1
• Time in Patent Office: 984 Days
• Field of Search: 356600-640
• 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 mechanically coupled to a single light source that generates a beam of light; and

an imager connected to the light component support via one or more elastic members, wherein the imager receives the beam of light, and converts the beam of light into an electric signal, wherein the light component support and the imager are movable relative to one another;

wherein the sensor determines a relative movement of the light component support and the imager in multiple degrees of freedom.

2. The sensor of claim 1, wherein the multiple 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 single source generates the beam of light having an oblong cross sectional area.

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

8. The sensor of claim 4, wherein the single 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 single 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 single 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 single light source.

12. The sensor of claim 1, wherein the single 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. A sensor comprising:

at least one light source that directs a beam of light;

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

a light deflection surface proximate to the imager that receives the beam of light and deflects the beam of light onto the imager, wherein the light deflection surface and the imager are movable relative to one another; and

one or more elastic members that connect the light deflection surface to the imager;

wherein the sensor determines a relative movement of the light deflection surface and the imager in multiple degrees of freedom.

17. The sensor of claim 16, wherein the at least one light source is located substantially in a same plane as the imager, and directs the beam of light away from the imager towards the light deflection surface.

18. The sensor of claim 17, wherein the at least one light source and the imager are fixed relative to one another.

19. The sensor of claim 16, wherein the light deflection surface s planar and positioned substantially parallel to the imager.

20. The sensor of claim 16, wherein the light deflection surface is planar and initially oriented such that at least two of an x-axis, y-axis, or z-axis of the light deflection surface are non-parallel to the imager, and wherein relative movement of the imager and the light deflection surface is determined in at least five degrees of freedom.

21. The sensor of claim 16, wherein the light deflection surface is planar and initially oriented such that all three of an x-axis, y-axis, and z-axis of the light deflection surface are non-parallel to the imager, and wherein relative movement of the imager and the light deflection surface is determined in six degrees of freedom.

22. The sensor of claim 16, wherein the light deflection surface is non-planar, such that relative movement of the imager and the light deflection surface is determined in six degrees of freedom.

23. The sensor of claim 16, wherein the at least one light source and the imager receive power from a common side of the sensor.

24. The sensor of claim 16, wherein the at least one tight source includes two or more light sources that direct respective beams of light onto the light deflection surface, the imager further converts the respective beams of light to electric signals that are received by the sensor.

25. The sensor of claim 16, further comprising a plurality of light sources that 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.

26. A method for facilitating a displacement measurement, comprising:

directing, by a single light source, a beam of light, wherein the single light source is coupled to a light component support;

receiving, by an imager, the beam of light;

converting, by the imager, the beam of light into an electric signal, wherein the light component support and the imager are movable relative to one another; and

facilitating relative movement of the imager and the light component, wherein the imager and the light component support are connected by one or more elastic members.

27. The method of claim 26, further comprising determining, by a sensor, a relative position of the imager and the light component based on a location of the beam of light on the imager.

28. A method for facilitating a displacement measurement, comprising:

directing, by a single light source, a beam of light;

receiving, by an imager, the beam of light,

converting, by the imager, the beam of light into an electric signal;

deflecting, by a light deflection surface, the beam of light onto the imager, wherein the light deflecting surface and the imager are movable relative to one another; and

determining a relative movement of the light deflecting surface and the imager is in multiple degrees of freedom;

wherein the imager and a light component support of the single light source are connected by one or more elastic members.

29. The method of claim 28, further comprising determining a relative position of the imager and the light deflection surface in the multiple degrees of freedom based on a location of the beam of light as reflected onto the imager.