US 12,320,632 B2
High resolution optical displacement measurement
Richard Kirby, Heber City, UT (US); Fraser M. Smith, Salt Lake City, UT (US); and Marc X. Olivier, Salt Lake City, UT (US)
Filed by SARCOS CORP., Salt Lake City, UT (US)
Filed on Feb. 10, 2022, as Appl. No. 17/669,199.
Prior Publication US 2023/0251081 A1, Aug. 10, 2023
Int. Cl. G01B 11/27 (2006.01); G01B 11/00 (2006.01); G01B 11/16 (2006.01); G01D 5/26 (2006.01); G01L 1/24 (2006.01); G01P 3/36 (2006.01); G01P 15/093 (2006.01); G01P 15/18 (2013.01); G01P 21/00 (2006.01); G06T 7/73 (2017.01)
CPC G01B 11/272 (2013.01) [G01B 11/167 (2013.01); G01L 1/24 (2013.01); G01P 3/36 (2013.01); G01P 15/18 (2013.01); G06T 7/74 (2017.01); G01B 11/002 (2013.01); G01B 11/16 (2013.01); G01D 5/26 (2013.01); G01P 15/093 (2013.01); G01P 21/00 (2013.01)] 26 Claims
OG exemplary drawing
 
1. An apparatus for measuring displacement comprising:
a light intensity pattern object comprising a light intensity pattern having an array of light intensity pattern portions;
an imaging device including a light intensity measuring surface; and
a micro-lens array disposed between the light intensity pattern object and the light intensity measuring surface such that each respective micro-lens of the micro-lens array views a corresponding, respective light intensity pattern portion of the light intensity pattern object as a sub-image, and each micro-lens of the micro-lens array focuses each respective sub-image onto the light intensity measuring surface such that the micro-lens array forms upon the light intensity measuring surface an array of focused sub-images forming a sensed image of the light intensity pattern object,
wherein the light intensity pattern is unique for each displacement of the light intensity pattern object relative to the imaging device, such that a single displacement solution is produced for each possible displacement, and
wherein the imaging device is configured to capture the sensed image and register the sensed image to a reference image of the light intensity pattern object based on light intensity pattern portions in the focused sub-images to thereby provide a measurement of displacement of the light intensity pattern object relative to the imaging device.