Sensor

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.

BACKGROUND

Sensors are used in a wide range of applications and are adapted to measure a wide variety of quantities. Many sensors can determine a desired quantity using a displacement measurement, such as a position sensor, a strain gage, a load cell, an accelerometer, an inertial measurement unit, a pressure gage, etc.

DETAILED DESCRIPTION

Although typical sensors are generally effective for a given purpose, they often have substantially different resolutions in one or more degrees of freedom. There is often one preferred degree of freedom that possesses substantially greater resolution than one or more of the other degrees of freedom. Additionally, obtaining measurement redundancy and/or measurements in multiple degrees of freedom can significantly increase size, complexity, and/or cost, which can preclude using redundant or multiple degree of freedom sensors in some applications. Thus, redundant sensors or multiple degree of freedom sensors would likely be more readily utilized in the event they were able to provide size, complexity, and/or cost within practical limits, such as those approximating single degree of freedom sensors.

Accordingly, a sensor is disclosed that can provide for redundancy and/or measurement in multiple degrees of freedom without significantly increasing size, complexity, or cost. In one aspect, the sensor can be adapted to measure any given quantity that can be determined using a displacement measurement. The sensor can comprise a light component in support of a light source operable to direct a beam of light; 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, wherein relative movement of the light component and the imaging device is determinable in multiple degrees of freedom. In some examples, the light source can comprise a single light source operable to generate a single beam of light in six degrees of freedom. Additional light sources can be included that are each configured to generate additional beams of light.

In another aspect, the present disclosure describes a sensor comprising at least one light source operable to direct a beam of light; an imaging device operable to receive the beam of light, and to convert the beam of light into an electric signal; a light deflection module proximate the imaging device operable to receive the beam of light and to deflect the beam of light onto the imaging device, wherein the light deflection module and the imaging device are movable relative to one another; wherein relative movement of the light deflection module and the imaging device is determinable in multiple degrees of freedom.

In still another aspect, the present disclosure describes a sensor comprising a light component in support of at least one light source operable to emit a beam of light; an imaging device operable to receive the beam of light, and to convert the beam of light into at least one electric signal; a light location module configured to receive the at least one electric signal and determine a location of the beam of light on the imaging device; and a position module configured to determine a relative position of the imaging device and the light component based on the location of the beam of light on the imaging device, wherein the beam of light comprises an annular configuration having at least two edges at the imaging device, such that more than one light distribution exists about the imaging device, the imaging device converting the light into multiple electric signals.

In still another example, a sensor can comprise a support structure; an imaging device positioned proximate the support structure, the support structure and the imaging device being movable relative to one another in at least one degree of freedom; a fiduciary disposed about the support structure and operative to define, at least in part, an image having image indicia identifiable by the imaging device, wherein a signal generated by the imaging device is based substantially on the fiduciary, and wherein an aspect of the fiduciary relative to the imaging device is caused to change with the relative movement of the support structure and the imaging device; and a position module configured to determine a relative position of the imaging device and the support structure based on the position of the fiduciary relative to the imaging device.

In still another example, a sensor system can comprise an object to be sensed; a sensor disposed about the object, the sensor comprising an imaging device positioned proximate to a surface of at least a portion of the object, the object and the imaging device being movable relative to one another in at least one degree of freedom; and a fiduciary disposed about the surface of the object and identifiable by the imaging device, wherein an aspect of the fiduciary relative to the imaging device is caused to change with the relative movement of the support structure and the imaging device, and wherein the sensor is actuatable upon relative movement between the object and the imaging device to facilitate determination of the change in the aspect of the fiduciary.

The present disclosure further describes a method for facilitating a displacement measurement, comprising providing a light component in support of a light source operable to direct a beam of light; providing 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 facilitating relative movement of the imaging device and the light component.

The present disclosure still further describes a method for facilitating a displacement measurement, comprising providing at least one light source operable to direct a beam of light; providing an imaging device operable to receive the beam of light, and to convert the beam of light into an electric signal; providing a light deflecting module proximate the imaging device operable to receive the beam of light and to deflect the beam of light onto the imaging device, wherein the light deflecting module and the imaging device are movable relative to one another, wherein relative movement of the light deflecting module and the imaging device is determinable in multiple degrees of freedom.

One example of a sensor100is illustrated schematically inFIGS. 1 and 2 and 4-8. The sensor100can comprise an imaging device110. The imaging device110can comprise or otherwise be operable with an image sensor111, such as a pixel sensor, photo sensor, or any other suitable type of imager that can convert light into electrical signals. In one aspect, the imaging device110can comprise an active pixel sensor having an integrated circuit containing an array of pixel sensors, wherein each pixel contains a photodetector and an active amplifier. Circuitry next to each photodetector can convert the light energy to a voltage. Additional circuitry may be included to convert the voltage to digital data. One example of an active pixel or image sensor is a complementary metal oxide semiconductor (CMOS) image sensor. In another aspect, the image device110can comprise a charge-coupled device (CCD) image sensor. In a CCD image sensor, pixels can be represented by p-doped MOS capacitors. These capacitors are biased above the threshold for inversion when light acquisition begins, allowing the conversion of incoming photons into electron charges at a semiconductor-oxide interface. The CCD is then used to read out these charges. Additional circuitry can convert the voltage into digital information. In still another aspect, the image device110can comprise a N-type metal-oxide-semiconductor (NMOS or Live MOS) type image sensor. The imaging device110can therefore include any suitable device or sensor that is operable to capture light and convert it into electrical signals, such as an imaging sensor typically found in digital cameras, cell phones, web cams, etc.

The sensor100can also include a light component120in support of one or more light sources operable to direct beams of light respectively. In the example illustrated, the light component comprises a single light source121that operates to deliver a single light beam or beam of light123. The light source121can comprises an LED, a laser, an organic LED, a field emission display element, a surface-conduction electron-emitter display unit, a quantum dot, a cell containing an electrically charged ionized gas, a fluorescent lamp, a hole through which light from a larger light source located external to the plane of light emission can pass, and/or any other suitable light source.FIG. 3Aillustrates a lens227operable with a light source221to focus or direct light from the light source221into a suitable beam of light223, in this case a columnar shaped beam of light.FIG. 3Billustrates a collimator328operable with a light source321to “narrow” light from the light source321into a suitable beam of light323, also in this case a columnar beam of light. It is noted that a collimator can be used with any of the example sensors discussed herein to generate beams of light having other cross-sectional shapes.FIG. 3Cillustrates a collimator428operable with a light source421to provide a beam of light having a nonuniform or tapering shape (e.g., conical) about its longitudinal axis. It should be recognized that a lens and a collimator can be used alone or in any combination with a light source to achieve a suitable beam of light.

The imaging device110can be positioned proximate the light component120and operable to directly receive the beam of light123and convert this into one or more electric signals. A light location module130can be configured to receive the electric signals and determine the various locations of the beam of light123on the imaging device110. For example, pixels of the imaging device110can be individually addressed such that the light intensity on each individual pixel may be known or determined by the light location module130.

The imaging device110and the light component120can be movable relative to one another in one or more degrees of freedom, and about different axes. Thus, a position module140can be configured to determine a relative position of the imaging device110and the light component120based on the various locations of the beam of light123on the imaging device110, such as movement from an initial or first position to one or more subsequent positions (e.g., position 2, 3, 4, . . . n). It is noted herein that the imaging device110and the light component120being movable relative to one another can comprise arrangements in which a) the light component is movable relative to a fixed imaging device, b) the imaging device is movable relative to a fixed light component, c) a movable imaging device and a movable light component. It is intended to be understood that any construction of the claims to ascertain their meaning is to include such arrangements. The same is true for any other components or devices identified herein as being movable relative to one another, such as the light deflection module described below.

In one aspect, the imaging device110and the light component120can be coupled112to one another in a manner that facilitates relative movement. For example, the light component120can be “fixed” and the imaging device110can be supported about the light component120by a structure, device, or mechanism that can facilitate movement of the imaging device110relative to the light component120. It should be recognized that in some embodiments the imaging device110can be “fixed” and the light component120movable relative thereto. The imaging device110and the light component120can be constrained for relative movement only in one or more selected degrees of freedom, such as translation in the X axis or rotation about the Z axis, etc. Any suitable arrangement of the imaging device110and the light component120is contemplated that facilitates relative movement of the imaging device110and the light component120in one or more desired degrees of freedom.

Relative movement of the imaging device110and the light component120can facilitate measurement of such relative movement, for example as a relative displacement and/or a rotation. Accordingly, a sensor in accordance with the present disclosure can be operable to measure or sense any quantity that can be based on, or that can be derived from, a relative movement, such as displacement, rotation, velocity, acceleration, etc. For example, a sensor as described herein can function as a position sensor, a strain gage, an accelerometer, a load sensor, or any other type of sensor that can utilize a relative motion to mechanically and/or computationally provide a measurement of a desired type. In one aspect, therefore, the sensor100can also include a clock150to measure elapsed time associated with a relative movement, as may be useful for determining velocity, acceleration, or other dynamic measurement quantities.

In addition, because the individual addresses of the pixels are known, the sensor100can be considered an “absolute” sensor. This attribute allows the sensor100to be powered off when not needed (i.e., to conserve energy) and powered on again to take a measurement or reading without needing to be initialized or otherwise calibrated to determine the relative position of the imaging device110and the light component120.

The imaging device110can comprise a pixel array of any suitable size, dimension, aspect ratio, and/or pixel count. For example, the pixel array can be a one-dimensional array or a two-dimensional array, such as an array of pixels arranged in rows and columns. In one aspect, a range of motion of the sensor can be limited by the size of the imaging device, although multiple imaging devices can be disposed adjacent to one another to provide a greater range of motion for the sensor. In another aspect, a range of motion of the sensor can be impacted by the location and/or size of the light sources. Thus, light sources can be located and/or sized to accommodate the desired relative movements between the light component and the imaging device. It should be recognized that a sensor in accordance with the present disclosure can also be configured to produce substantially the same level of resolution in each degree of freedom.

In one aspect, a center location of the beam of light123on the imaging device110can be determined utilizing a statistical method applied to the location of the beam of light123on the imaging device110. Such computations can be performed by the position module140. For example, the beam of light123can be distributed across multiple pixels on the imaging device110and can exhibit an intensity gradient that can be analyzed using statistical methods to determine the center of the beam.

In another aspect, the imaging device110can be monochromatic or chromatic and the light source121can produce any suitable color of light, such as white, red, green, or blue. The color selectivity of chromatic pixels to specific light beam wavelengths can be utilized to effectively increase pixel populations, which can be used to determine the location of the center of the beam without degradation from a neighboring light beam on the imaging device. For example, three light sources (red, green, and blue) can be used in close proximity to one another with a chromatic imaging device in place of a single light source with a monochromatic imaging device to determine a relative movement of the light component120and the imaging device110without interference from one another. The chromatic imaging device can track or sense different color light beams separately, even though the light beams may overlap on the imaging device. Different parts of the imaging device corresponding to different colors can generate separate signals that can be used to determine the relative movement of the light source and the imaging device, such as by providing redundancy and/or additional data points for computation.

Thus, in one aspect, the imaging device can comprise a color separation mechanism160. Any suitable color separation mechanism can be used, such as a Bayer sensor in which a color filter array passes red, green, or blue light to selected pixel sensors, a Foveon X3 sensor in which an array of layered pixel sensors separate light via the inherent wavelength-dependent absorption property of silicon, such that every location senses all three color channels, or a 3CCD sensor that has three discrete image sensors, with the color separation done by a dichroic prism.

It is noted that although many concepts and details pertaining to the present technology are discussed with respect to the sensor100, these concepts and details are also applicable to the other sensors discussed herein. Indeed, the present disclosure is intended to incorporate these into the various embodiments discussed herein and to the sensor technology in general, where appropriate and where apparent to those skilled in the art.

FIGS. 4-8, with continued reference toFIGS. 1 and 2, illustrate the sensor100in which relative movement between the imaging device110and the light component120is represented, and the various degrees of freedom in which the sensor is capable of measuring the relative movement. The single light source121produces the single light beam123that can be referred to generally as a “perpendicular” light beam, in that the light beam123(or a longitudinal axis of the light beam123) is perpendicular or substantially perpendicular to the imaging device110in a normal or nominal relative orientation of the imaging device110and the light component120, the light beam123comprising a longitudinal axis104. As will be discussed below, the light beam can comprise various cross-sectional shapes, configurations or shapes along its longitudinal axis, etc., which can be generated or produced in a variety of ways.

In general, the single light source can be used to determine relative movement of the light component and the imaging device in multiple degrees of freedom depending upon the configuration of the various components making up the sensor. In some cases, depending upon the configuration of the light source and/or the beam of light, up to six degrees of freedom may be achieved, such as three translation degrees of freedom in the x, y and z directions, and three rotation degrees of freedom about the x, y and z axes. In any of these cases, the sensor can be caused to operate utilizing less than a total available number of degrees of freedom, such as may be called for in different circumstances.

As shown inFIGS. 4 and 5for example, the single light source121, which directs the single light beam123substantially perpendicular to the X and Y translational degrees of freedom, can be used to determine relative movement of the imaging device110and the light component120in these two translational degrees of freedom. Movement of the light beam123, as caused by the relative movement between the light component120and the imaging device110, can trace a path125aalong the image sensor of the imaging device110as these components move relative to one another from an initial or first position to a second position.

The beam of light123, as generated by the light source121, can comprise different types or shapes. In one aspect, the beam of light123can comprise a columnar or cylindrical configuration (seeFIG. 1) along a longitudinal axis of the beam of light and between the light source121and the imaging device110. In another aspect, the beam of light123can comprise a nonuniform or tapering configuration along its longitudinal axis (e.g., conical) and between the light source and the imaging device110(seeFIG. 5). In the columnar configuration, little or no measurements due to translation in the Z direction, or along the Z axis, will be readable as there will be no change in pixel illumination as a result of the movement (although the intensity of the light can change and be measureable). On the other hand, if the beam of light123is caused to have a conical or tapering shape (when viewed laterally along the x and/or y axes) relative movement of the imaging device110and the light component120in a Z direction or translational degree of freedom is determinable. For example (as shown inFIG. 5), as the imaging device110and the light component120move relative to one another, such as the imaging device moving away from the light component120in the direction102along the z-axis from a first position to a second position (the imaging device110being shown in dotted lines in the more distant, second position), the beam of light123can be caused to illuminate an area A2(at the second position) on the imaging device110larger in size than an area A1(at the first or initial, closer position) due to the increase in the size of the cross-sectional area of the cone at the terminus of the beam of light123about the imaging device110, thus making translational movement along the z-axis determinable. It is noted that measurement along the z axis is also determinable in the direction opposite that shown by direction102, where the area illuminated on the imaging device110decreases as the imaging device110approaches the light component120(going from area A2to A1). Pixels along the path125a(FIG. 4) and within the areas A1and A2(FIG. 5) can be used to determine, at least partially, relative motion of the imaging device110and the light component120in the three identifiable degrees of freedom discussed above. Based on this, all three translational degrees of freedom can be achieved if the sensor is appropriately configured.

As shown inFIGS. 6A-C, and7, and with further reference toFIGS. 1 and 2, the imaging device110and the light component120can be movable relative to one another in one or more rotational degrees of freedom, wherein such relative movement can be determinable to provide additional measureable degrees of freedom, still while utilizing only a single light source121. In the examples shown, the imaging device110and the light component can be configured to be rotatable relative to one another about any combination of the X, Y and Z axes, and depending upon the configuration of the sensor, rotational degree of freedom can be determinable in addition to the translational degrees of freedom discussed above. For example, relative rotation of the imaging device110and the light component120about the X axis can provide measurement in a first rotational degree of freedom. Relative rotation along the X axis causes the beam of light123to disperse across additional or different areas of the imaging device110as the imaging device110rotates from a first position parallel to the light component120to a second position non-parallel to the light component120. Similarly, relative rotation of the imaging device110and the light component120about the Y axis can provide measurement in a second rotational degree of freedom. Rotation along the Y axis also causes the beam of light123to disperse across additional areas of the imaging device110.

FIGS. 6A-6Cillustrate further use of the single light beam123in determining relative movement of the imaging device110and the light component120in a rotational degree of freedom, in this case about the X axis. Although not specifically shown, similar determinable measurements can be made from relative rotation of the imaging device110and the light component120about the Y axis.FIGS. 6A-6Cillustrate the imaging device110in a second position after rotation about the X axis in directions106a-c, respectively, from an initial, first position parallel with the light component120. The light beam123can be directed substantially perpendicular to the axis of the rotational degree of freedom. As shown inFIG. 6A, the imaging device110is shown rotated in direction106arelative to the light component120. The axis or center of rotation107ais located about the X axis, and intersects a longitudinal axis104of the light beam123. In this example, determinable measurements and resolution of the sensor100will depend, at least in part, upon the area of the light beam123about the imaging device110and the degree of relative rotation between the imaging device110and the light component120. For example, if the light beam123comprises a columnar or conical shape, and the rotation of the imaging device110is limited to that shown inFIG. 6A, the light beam123could be caused to disperse across an additional or different area of the imaging device110as the cross-sectional area of the light beam123on the imaging device110changed from circular to oval. As such, this additional or different dispersed area can provide a determinable measurement along the X axis, thus giving the sensor an additional measurable rotational degree of freedom.

As shown inFIG. 6B, the imaging device110is shown rotated in direction106brelative to the light component120from an initial position parallel with the light component120. The axis of rotation107bis located in a position offset from the longitudinal axis104of the light beam123. In this configuration, light beam123moves in direction105along the imaging device110upon the rotation of the imaging device110in direction106b, and in addition the cross-sectional area of the light beam changes (e.g., from circular to oval), thus causing the light beam123to disperse across additional or different areas of the imaging device110. This dispersing of the light beam123across additional or different areas of the imaging device110can be used to determine that the imaging device110rotated relative to the light component120in direction106aabout a center of rotation107a, thus providing the sensor100with an additional measurable rotational degree of freedom.

As shown inFIG. 6C, the imaging device110is shown rotated in direction106crelative to the light component120from an initial position parallel with the light component120. The axis of rotation107cis located in a position offset from the longitudinal axis104of the light beam123, which is on the other side of the light beam123as compared to that shown inFIG. 6B. In this configuration, light beam123moves in direction109along the imaging device110upon the rotation of the imaging device110in direction106b, and in addition the cross-sectional area of the light beam123changes (e.g., from circular to oval). As such, the light beam123is caused to disperse across additional or different areas of the imaging device110. This dispersing of the light beam123across additional or different areas of the imaging device110can be used to determine that the imaging device110rotated relative to the light component120in direction106aabout the center of rotation107a, thus providing the sensor100with an additional measurable rotational degree of freedom. So far, this gives the sensor100five degrees of freedom.

In each of the examples ofFIGS. 6A-6C, interrogation of the imaging device110and the signals created by the light beam123on the imaging device, can be used to determine that the imaging device110rotated relative to the light component120about the X axis. The relative rotation of the imaging device110and the light component120about the Y axis is not shown, but is similar in result to that for relative rotation about the X axis with the sensor configured as shown.

Relative rotational movement of the imaging device110and the light component120about the Z axis to obtain or provide a sixth determinable degree of freedom for the sensor100can be achieved in multiple ways with the single light source121. In one aspect, the single light source121can be configured to, or can be operable with another structure, to emit a light beam123having a cross-sectional shape or area with a dimension in a first direction greater than a dimension in a different, second direction transverse to the first direction. For example, the beam of light123can comprise a length greater than a width. The first and second directions can be along axes intersecting through a center point of the cross-sectional shape. In another aspect, the single light source121can be configured to, or can be operable with another structure, to emit a light beam123having a cross-sectional shape having a dimension in one direction greater than a dimension in a second direction. In still another aspect, the single light source121can be configured to, or can be operable with another structure, to emit a light beam123having a cross-sectional shape defined by any shape configured to disperse light on additional or different areas of the imaging device110upon rotation about the Z axis and a center point located anywhere within the boundaries of the cross-sectional shape.

No matter how generated, by employing a beam of light having this type of shape, relative rotational movement between the imaging device110and the light component120along the Z axis will cause the light beam to disperse across additional or different pixels of the imaging device110, thus providing a determinable rotational degree of freedom about the Z axis, and thus facilitating achievement of a sixth degree of freedom by the sensor100using a single light source and a single beam of light. These conditions or parameters can generally be described as a light beam having an oblong configuration, but this is not meant to be limiting in any way as the word oblong may not accurately describe all of the available or possible cross-sectional shapes the beam of light could comprise. Such a shape of light can be obtained by configuring a light source with such a configuration. Alternatively, the light source can emit light having any shape (e.g., a non-oblong (e.g., columnar) shape), yet be directed through a suitably shaped hole or aperture (or a suitable collimator) such that the light emitted from the aperture comprises the desired (e.g., oblong) shape.

FIG. 7illustrates one example of the sensor100comprising a single light source121configured to emit a light beam123acomprising a circular cross-section, and to rotate about a point offset from a center point of the light beam123. In this example, rotation of the imaging device about the Z axis and about center of rotation101will not register a measurement. In other words, no rotational degree of freedom about the Z axis is obtained as the light beam123ais not caused to disperse across additional or different areas of the imaging device110upon relative rotation of the imaging device110and the light component120. However, relative rotation about the center point101′ offset from the light beam123awill cause the offset light beam123ato trace a path125across the imaging device110. Pixels along the path125of the light beam123acan be interrogated to determine the relative motion of the imaging device110and the light component120about the Z axis. It is noted that as the rotation axis or center point101′ approaches the axis of the light beam123a, the sensitivity of the sensor decreases as the imaging device is unable to detect as easily changes across the imaging device. Coincident rotation with the axis of the light beam123a, as noted above does not yield a rotational measurement about the z axis. As such, a light beam having an oblong cross-sectional shape (or other similar cross-sectional configuration or shape) can be utilized to provide measurement about the Z axis as the oblong shape will have a length greater than a width or height, and thus will facilitate light dispersal across different or additional areas of the imaging device110upon relative rotation. It is noted herein that rotation of the imaging device110about center point101is not specifically shown. However, one skilled in the art will recognize the various possible relative positions of the imaging device and the light component upon rotation about such point.

On the other hand,FIG. 7also illustrates an alternative light beam configuration, wherein the cross-sectional shape of the light beam123bcomprises a length dimension greater than a width dimension, which shape in this particular example comprises an oval. Indeed, relative rotation of the imaging device110and the light component120about the center points101will cause the light beam123bto disperse across additional or different areas of the imaging device110, as shown. This can be seen by the oval shaped light beam123represented in dotted lines in its initial position, and solid lines in its rotated position, wherein the light beam123bdisperses light across additional or different areas of the imaging device110. Likewise, relative rotation of the imaging device110and the light component120about the center points101′ will cause the light beam123bto disperse across additional or different areas of the imaging device110as it is caused to trace path125.

It should be recognized that a sensor in accordance with the present disclosure can have multiple translational degrees of freedom and/or multiple rotational degrees of freedom. Additional light sources, over the single light source121of sensor100, may help improve resolution of the sensor, in that there is more light movement across the imaging device and therefore more pixels to interrogate to obtain data that can be utilized to determine the relative movement of the imaging device and the light component. Depending upon the configuration of the sensor and the interrogation system, additional light sources may also allow for simplified calculation algorithms.

FIGS. 8A-8Dillustrate different exemplary non-circular light beams123a-d, respectively, having cross-sectional areas or shapes configured to facilitate determination of a rotational degree of freedom about the Z axis.FIG. 8Aillustrates a light beam123ahaving a rectangular cross-sectional shape, in which a length dimension is greater than a width dimension along respective axes intersecting at a center point.FIG. 8Billustrates a light beam123bhaving an oval cross-sectional shape, in which a length dimension is greater than a width dimension along respective axes intersecting at a center point.FIG. 8Cillustrates a light beam123chaving a triangular cross-sectional shape, in which a width dimension is greater than a length dimension along respective axes intersecting at a center point.FIG. 8Aillustrates a light beam123din the form of a line, in which a length dimension is greater than a width dimension along respective axes intersecting at a center point. Of course, those cross-sectional shapes illustrated in the figures and described herein are not intended to be limiting in any way. Those skilled in the art will recognize other cross-sectional shapes exist that are capable of dispersing light across different areas of the imaging device110upon rotation about the Z axis.

FIG. 9illustrates a sensor in accordance with another example of the present disclosure. In this example, the sensor200can be similar to the sensor100described above, which description is incorporated here where appropriate and as recognized by those skilled in the art. The sensor200can comprises an imaging device210. The imaging device210can comprise or otherwise be operable with an image sensor211, such as a pixel sensor, photo sensor, or any other suitable type of imager that can convert light into electrical signals. The sensor200can also include a first light component220ain support of one or more light sources operable to direct beams of light respectively. The first light component220aand the imaging device210can be parallel to one another and configured to be moveable relative to one another in one or more degrees of freedom. For example, the first light component220acan support a single light source221athat operates to deliver a light beam or beam of light223aonto the imaging device210. Other components and functions of the sensor100discussed above, can also be implemented or incorporated into the sensor200as will be apparent to those skilled in the art. However, unlike the sensor100discussed above, the sensor200can be further or alternatively be configured such that the light source221ais mounted on the light component220ain a way (e.g., the light source221ais mounted on an incline relative to the light component220a) so as to direct the beam of light223aonto the imaging device210at an incline, wherein the beam of light223ahas a longitudinal axis oriented on an incline relative to the imaging device210, such that an angle of incidence of the beam of light223ais on an incline relative to the imaging device210.

The sensor200can alternatively comprise, or comprise in addition to the first light source221a, a second light component220bin support of a second light source221b. In some aspects, the second light component220bcan be mounted or otherwise situated or disposed or located on the same side of the imaging device210. In one aspect, the second light component220bcan be fixed relative to the imaging device210, wherein the second light component220band the first light component220aare movable relative to one another. The second light source221bcan be configured to direct a beam of light223bonto the surface225of the first light component120b, wherein the first light component120bis configured to and capable of redirecting, reflecting, deflecting, etc. all or a portion of the beam of light223boff of one of its surfaces, for example surface225toward, and onto the imaging device210, and specifically the image sensor211, and wherein the imaging device can convert the second beam of light to an electric signal receivable by the light location module in a similar manner as the first beam of light223a. Likewise, the position module can be configured to determine a relative position of the imaging device and the light component based on the location of the first beam of light223aand the second beam of light223bon the imaging device210. In one aspect, the surface225can be made of a reflective or semi-reflective material. In another aspect, the surface225can be coated with a coating facilitating all or partial reflection or deflection of the beam of light223b. Examples of suitable materials can include, but are not limited to a metalized surface, a metalized surface configured to be resistant to oxidation, although this is not required. Some specific examples may include sputtered gold, platinum, palladium, aluminum, titanium, chromium, cobalt, magnesium, stainless steel, nickel, etc. Examples, of metals that could be used, but that could oxidize over time can include silver, iron, steel, tungsten, etc. The sputtering described above can be replaced with the application of foils or shim stock using any of the above-referenced materials. In other aspects, mirrored glass, mirrored polymers, etc. In other aspects, Mylar, a reflective polymer, or other polymers made with metal fillers could provide a reflective function. In the event that there is any scattering introduced by these materials, such artifacts can be corrected out since they would not possess the intensity of the primary light source. Surface225can be configured in other way as will be recognized by one skilled in the art where all or partial deflection/reflection of the beam of light223boff of the first light component220aand onto the imaging device210is facilitated.

Similar to the other embodiments discussed herein, the sensor200can be configured to function as a sensor by virtue of the relative movement between the first light component220a, the second light component220band the imaging device210. In one aspect, with the first light source221aconfigured to direct an angled beam of light223aonto the imaging device210and the image sensor211, relative translational movement between the imaging device210and the first light component220aalong each of the x, y and z axes is measureable and determinable as movement in each of these directions will cause light to disperse across different portions of the image sensor211from an initial position. Furthermore, relative rotational movement between the imaging device210and the first light component220aabout each of the x, y and z axes is measureable and determinable as movement in each of these directions will also cause light to disperse across different portions of the image sensor211from an initial position. As such, with the sensor200configured as shown, the sensor200is capable of sensing measurements in six degrees of freedom. To be sure, rotation about the z axis is obtained by providing the beam of light223aon an angle relative to the image sensor211. This can cause the beam of light223ato project or emit an oblong shaped beam onto the surface of the image sensor211, such that upon rotation about the z axis, other pixels are caused to receive light, thus providing a determinable measurement. Another variable that goes along with the size of the oblong shaped beam is the intensity of the beam of light. The intensity dissipates as the light source and the imaging device move away from one another, so each of these variables are usable alone or in combination.

In another aspect, with the second light component220band the second light source221bconfigured to direct a beam of light223bonto the surface225of the first light component220aand subsequently onto the imaging device210and the image sensor211as reflected (or otherwise deflected) from the surface225of the first light component220a, and with the second light component220bfixed relative to the imaging device210, relative translational movement between the imaging device210and the second light component220balong the z axis is measureable and determinable. In this configuration, translational movement along the x and y axes is not measureable as the second light component220band the imaging device210are fixed relative to one another, and movement by the second light component220balong either of the x and y axes would not cause additional or other pixels on the image sensor211to be illuminated. Of course, it is contemplated that in another aspect, the sensor200can be configured such that the second light component220band the imaging device210are moveable relative to one another, which would provide determinable measurements from translational movement along each of the x, y and z axes.

Furthermore, in the situation where the second light component220bis fixed relative to the imaging device210, but that the imaging device210and the first light component220aare moveable relative to one another, relative rotational movement between these components about the x and y axes is determinable. Rotation about the z axis will likely not yield a determinable measurement in this situation as the rotation of the first light component220aabout the z axis will not cause the reflected beam of light223bto emit across other pixels. However, in the configuration in which the second light component220band the imaging device210are moveable relative to one another, relative rotational movement about each of the x, y and z axes is measurable and determinable.

Of course, each of the first and second light components220aand220bcan be used in combination in a single sensor200, with these being fixed or movable relative to one another and the imaging device210as suits a particular application. Moreover, those skilled in the art will recognize that any number of first and/or second light sources221aand221bcan be used within the sensor200.

In one aspect, the imaging device210and the first and second light components220aand220bcan be coupled212to one another in a manner that facilitates relative movement between any combination of them. Likewise, the second light component220band the imaging device210can be supported within the sensor200such that they are fixed relative to one another.

The sensor200can further comprise a light location module230, a position module240and a clock250in a similar manner as discussed above. Similarly, interrogation and function of the sensor200can be accomplished in a similar was as described elsewhere herein.

FIG. 10illustrates a sensor in accordance with another example of the present disclosure. In this example, the sensor300comprises a light component320in support of a light source321, which is mounted in a substantially normal orientation on the light component, and which is configured to emit a beam of light323onto an image sensor of an imaging device310initially supported in a manner such that it is oriented on an angle relative to the light component320(e.g., they are non-parallel to one another). In the configuration shown, the sensor300is capable of providing determinable translational measurements along the x and y axes, and determinable rotational measurements about the x and y axes. Translational and/or rotational measurements can be determinable in the event a conical and/or an oblong (or other similar shaped) beam of light is caused to be emitted onto the imaging device310.

With reference toFIG. 11, illustrated is a sensor400in accordance with another example of the present disclosure. The sensor400is similar in many respects to the other sensors described herein. As such, the description of the various components or elements of those sensors are incorporated herein as appropriate and as will be apparent to those skilled in the art. Unlike the sensor embodiments previously discussed, the sensor400comprises a light deflection module424positioned about an imaging device410having an image sensor411. The light deflection module424can comprise a surface425configured to partially reflect, fully reflect or otherwise deflect light emitted onto it from a light source. In the example shown, the sensor can further comprise a light component420ain support of a light source421aoperative to emit a beam of light423aonto the reflective surface425of the light deflection module424. In one aspect, the light component420ais located on a common side as the imaging device410, and operates to support the light source421ain such a manner so as to direct the beam of light423ain a direction initially away from the imaging device410and toward the reflective surface425of the light deflecting module424. It is noted that being located on a common side, the light source421aand the imaging device410can both be powered from the same side in one example sensor configuration. Upon coming into contact with the reflective surface425of the light deflecting module424, the reflective surface425operates to reflect, partially reflect or otherwise deflect the emitted light in a different direction, causing it to be emitted onto the image sensor411of the imaging device410as shown. The light component420aand light source421aare shown as being fixed relative to the imaging device410. In addition, the light component420aand the light deflecting module424can be configured to be moveable relative to one another, such that relative movement causes the emitted light to disperse across additional pixels as the movement of the imaging device410and the light component420adeviate from an initial position. In one aspect, the light deflection module424can facilitate specular reflection and can comprise a planar surface425and can be positioned, initially, substantially parallel to the light component420a, such that the angle of incidence in the beam of light423aemitted from the light source421ais the same as the angle of the reflected beam of light off of the surface425and onto the image sensor411. In another aspect, the light deflection module424can facilitate specular reflection and can comprise a planar surface425and can be oriented such that two or more of the x-y-z axes of the light deflection module are non-parallel to the imaging device. In still another aspect, the light deflection module424can comprise a nonplanar surface (e.g., such as one having a rough surface, a surface with one or more irregularities, etc.) such that the angle of incidence of the emitted beam of light423aon the nonplanar surface is different from the angle of reflection of the reflected beam of light as directed upon the image sensor411.

The sensor400can further comprise a second light component420bin support of a light source421boperative to emit a beam of light423btoward the light deflection module424and onto the reflective surface425, wherein the beam of light is reflected onto the image sensor411of the imaging device410. The second light component420band second light source421bcan be positioned about the imaging device410in a similar position and manner as the first light component420aand first light source421a(e.g., in substantially the same plane as the imaging device410, on an opposing side of the imaging device410, etc.), or it can be positioned in a different position (e.g., in a different plane than the first light component420a). A second light component420bcan improve or enhance resolution of the sensor400, depending upon how the sensor400is configured.

Similar to other sensors described herein, the sensor400can be configured to function as a sensor by virtue of the relative movement between the first light component420a, the second light component420band the imaging device410. In operation, relative movement between the imaging device410and the light deflecting module424can facilitate measurements in multiple degrees of freedom similar to other sensors discussed herein. In the embodiment shown, for example, relative translational movement can be determinable along the z axis as the angle of incidence and the angle of reflection change as the light deflecting module424moves toward and away from the imaging device410. With the first light component420aand the first light source421aconfigured to direct a beam of light423aonto the surface425of the light deflecting module424and subsequently onto the imaging device410and the image sensor411as reflected (or otherwise deflected) from the surface425, and with the first light component420aand first light source421afixed relative to the imaging device410, relative translational movement between the imaging device410and the first light component420aalong the z axis is measureable and determinable. In this configuration, translational movement along the x and y axes is not measureable as the first light component420aand the imaging device410and first light source421aare fixed relative to one another, and movement by the first light component420aalong either of the x and y axes would not cause additional or other pixels on the image sensor411to be illuminated. Of course, it is contemplated that in another aspect, the sensor400can be configured such that the first light component420aand the imaging device410are moveable relative to one another, which would provide determinable measurements from translational movement along each of the x, y and z axes.

With respect to rotational measurements within the sensor400, in the situation where the first light component420aand first light source421aare fixed relative to the imaging device410, relative rotational movement between these components about the x and y axes is determinable. Rotation about the z axis will likely not yield a determinable measurement in this situation as the rotation of the first light component420aabout the z axis will not cause the reflected beam of light423ato emit across other pixels. However, in the configuration in which the first light component420aand the imaging device410are moveable relative to one another, relative rotational movement about each of the x, y and z axes is measurable and determinable.

Although the first and second light components420aand420b(and their associated light sources) are shown as being fixed relative to the imaging device410, this is not to be limiting in any way. Indeed, in some aspects, the sensor400can be configured such that one or both of the first and second light components420aand420band the imaging device410are moveable relative to one another.

The sensor400can further be operative with a light location module430, a position module440and a clock450in a similar manner as discussed above. Similarly, interrogation and function of the sensor400can be accomplished in a similar way as described elsewhere herein.

With reference toFIG. 12, illustrated is a sensor500in accordance with another example of the present disclosure. The sensor500is similar in many respects to the sensor400discussed above, except that the light deflecting module524(which is shown as being planar) with its associated surface525is initially oriented on an incline relative to the image sensor511and the imaging device510about one of the x and y axes (in this case the x axis, as shown). In this embodiment, with the light component520fixed relative to the imaging device510, relative translational movement between the light deflecting module524and the imaging device510is measurable and determinable along the y and z axes. Furthermore, relative rotational movement between the light deflecting module524and the imaging device510is measureable and determinable about each of the x, y and z axes. In essence, it is contemplated that the sensor500can be initially oriented such that at least two of the x-y-z axes of the light deflection module are non-parallel to the imaging device, thus facilitating the determination of the relative movement of the imaging device and the light deflection module in at least five degrees of freedom.

With reference toFIG. 13, illustrated is a sensor600in accordance with another example of the present disclosure. The sensor600is similar in many respects to the sensors400and500discussed above, except that the light deflecting module624(which is shown as being planar) with its associated surface625is initially oriented on an incline relative to the image sensor611and the imaging device610about each of the x and y axes. In this embodiment, with the light component620fixed relative to the imaging device610, relative translational movement between the light deflecting module624and the imaging device610is measurable and determinable along each of the x, y and z axes. Furthermore, relative rotational movement between the light deflecting module624and the imaging device610is measureable and determinable about each of the x, y and z axes. Here, it is contemplated that the sensor600can be oriented such that all three of the x-y-z axes of the light deflection module are non-parallel to the imaging device, wherein relative movement of the imaging device and the light deflection module is determinable in six degrees of freedom.

The sensor600can further comprise a light deflecting module comprising two surfaces625and626extending in or oriented in two different planes. In the example shown, the surface625can be offset from the surface626any desired or needed angle. Providing multiple surfaces can enhance the sensitivity of the sensor600by providing some relative movements between the imaging device and the light deflecting module624that are measurable at a faster rate and/or with more accuracy. For example, a change in the angle of reflection is likely to occur much faster and at a much larger degree if the beam of light623travels across both of surfaces625and626during a measurable relative displacement or movement within the sensor600.

The light deflecting module624can be operative with (e.g., coupled, joined to, adhered to, etc., such as via a coupling mechanism, device, system612) to the imaging device610in a manner so as to facilitate relative movement between the two as discussed herein. Likewise, the light component620can be operative with (e.g., coupled to, joined to, adhered to, etc., such as via a coupling mechanism, device, system613) the light deflecting module624so as to facilitate relative movement between the two as discussed herein. Alternatively, the light component620can be operative with the imaging device610in a similar manner. Furthermore, the sensor600can be operative with a light location module630, a position module640and a clock650in a similar manner as discussed above. Similarly, interrogation and function of the sensor600can be accomplished in a similar way as described herein

With reference toFIG. 14, illustrated is a sensor700in accordance with another example of the present disclosure. The sensor700is similar in many respects to the sensors400,500and600discussed above in that the sensor700comprises a light deflecting module724operative to deflect (e.g., reflect) light723emitted from the light source721supported by the light component720toward the imaging device710and onto the image sensor711. However, in this example, the light deflecting module724is non-planar and comprises a corresponding surface725. In this example, the light deflecting module724and the surface725are shown as having a curved configuration. The surface725can be curved in multiple directions, such as comprising a partial arcuate or partial spherical shape. It is noted that the curved light deflecting module724shown in the drawings is intended to be representative of one example embodiment. Indeed, those skilled in the art will recognize other configurations that are possible. With the light deflecting module724comprising a curved configuration, relative movement between the imaging device710and the light deflecting module724is measurable and determinable within six degrees of freedom (three translational degrees of freedom along the x, y and z axes, and three rotational degrees of freedom about the x, y and z axes). Indeed, relative movement between these components will cause the beam of light723to disperse across additional or other pixels as compared to those receiving light initially.

It is noted that one advantage of providing a light source on a common or same side as the imaging device, and being able to deflect or reflect this light off of a light deflecting module onto the image sensor711, is that power can be supplied to the sensor and all of its components in need of power (i.e., the light source, the imaging device) from the same side.

The light deflecting module724can be operative with (e.g., coupled, joined to, adhered to, etc., such as via a coupling mechanism, device, system712) to the imaging device710in a manner so as to facilitate relative movement between the two as discussed herein. Likewise, the light component720can be operative with (e.g., coupled to, joined to, adhered to, etc., such as via a coupling mechanism, device, system713) the light deflecting module724so as to facilitate relative movement between the two as discussed herein. Alternatively, the light component720can be operative with the imaging device710in a similar manner. Furthermore, the sensor700can be operative with a light location module730, a position module740and a clock750in a similar manner as discussed above. Similarly, interrogation and function of the sensor700can be accomplished in a similar way as described herein.

FIG. 15illustrate a sensor in accordance with another example of the present disclosure. In this example, the sensor800can be formed and can be caused to function similar to the other sensor examples discussed herein. For example, the sensor800can comprise one or more light components in support of at least one light source operable to emit one or more beams of light; an imaging device810operable to receive the beams of light, and to convert these into at least one electric signal; a light location module configured to receive the at least one electric signal and determine the locations of the one or more beams of light on the imaging device; and a position module configured to determine a relative position of the imaging device and the light component based on the locations of the one or more beams of light on the imaging device810.

However, sensor800can comprise multiple beams of light, with one or more of these beams of light formed having a ring or ring-like configuration, and one or more comprising a central beam of light. Moreover, the multiple beams of light can be configured such that there comprises unlit or “dark” areas or areas of reduced illumination adjacent and/or between the beams of light, thus providing the beams of light with at least one edge. For example, in the embodiment shown, the sensor comprises two beams of light from one or multiple light sources. The first beam of light823acomprises a central beam of light. Formed in a ring around the central first beam of light823ais a second beam of light823b. The at least two edges of the beam of light823bat the imaging device can define outer and inner perimeters of an annular ring, wherein an area of reduced illumination can be adjacent the annular ring. Indeed, the second beam of light823bcan be separated from the first beam of light823aby an area of reduced illumination822(an area about the imaging device that is unlit (or dark) or partially unlit (or dark)), which in this case also comprises an annular ring configuration surrounding the central first beam of light823a.

The first and second beams of light823aand823bcan be spaced at any distance. Moreover, the second beam of light823band the area of reduced illumination822can comprise the same or different widths within themselves, and relative to one another. They can even comprise color to help in distinguishing them or certain characteristics of them.

The first and second beams of light823aand823bcan be generated and emitted by any light component/light source number, type, etc. discussed herein, and that would be apparent to those skilled in the art. In one aspect, the beams of light823aand823bcan be generated by a single light source, such as light source821, operative with a lens or lens system configured to provide a sequential pattern or array of a central first beam of light, an area of reduced illumination, and a ring or surrounding second beam of light. The lens can be configured to generate any desired pattern, shape, sequence, etc. of light in accordance with the discussion herein. The light source can be configured to direct a series of beams of light onto the imaging device, with each beam of light at the imaging device having at least two edges.

In another aspect, the beams of light823aand823bcan be generated by a single light source, such as light source821, operative with an optical blocker configured to provide or generate the annular beams of light and adjacent areas of reduced illumination. In still another aspect, multiple light sources can be used to generate the various beams of light and areas of reduced illumination. Still other devices and systems and methods may be available to generate the various beams of light and adjacent areas of reduced illumination as will be apparent to those skilled in the art.

It is noted that any type of light component/light source discussed herein can be utilized in the sensor to create the light rings. In addition, those skilled in the art will recognize that the rings do not have to be circular or annular, but that they can comprise any configuration or shape. Moreover, the light distribution across the imaging device can comprise any sequence or pattern of both lit and non-lit areas, wherein the non-lit areas may comprise dark areas or areas of reduced illumination (e.g., adjacent the annular rings). The light sources can further be configured to emit light at a given color frequency.

Providing the sensor with and configuring the beams of light in this type of configuration functions to increase the number of edges of the beams of light, which improves the resolution of the sensor. Resolution is increased as additional distributions of light between edges are made available for interrogation along different axes of movement. In addition, the edges can provide a highly discernible location for the presence or non-presence of light, and thus leading to increased statistical robustness in the post-processing steps.

FIG. 16Aillustrates a representation of one exemplary pattern of annular beams of light and adjacent areas of reduced illumination (surrounding a central beam of light). In this example, a central beam of light is surrounded by an annular area of reduced illumination, which is surrounded by an annular beam of light. This light/reduced light or dark pattern can repeat as often as needed or required across the imaging device810ato provide or define several edges.

FIG. 16Billustrates a representation of a light emission pattern based on light generated from multiple light sources, each one comprising a pattern of annular beams of light and adjacent areas of reduced illumination (surrounding a central beam of light). In this example, there are a total of four different light/reduced light or dark patterns distributed across the imaging device810b, each one with a plurality of edges.

The present disclosure further describes a sensor configured to provide light emitted by two or more light sources in accordance with yet another example. Again, the sensor can be formed and can be caused to function similar to the other sensor examples discussed herein. For example, the sensor can comprise one or more light components in support of, in this case, at least two light sources operable to emit respective beams of light; an imaging device operable to receive the beams of light, and to convert these into at least one electric signal; a light location module configured to receive the at least one electric signal and determine the locations of the one or more beams of light on the imaging device; and a position module configured to determine a relative position of the imaging device and the light component based on the locations of the one or more beams of light on the imaging device. However, unlike the sensors discussed above, the sensor can comprise a plurality of light sources supported by one or more light components operative to generate the beams of light, such that these interfere with one another to create a plurality of light (where light is dispersed) and reduced light (where a reduced amount or no light is dispersed) areas about the imaging device. More specifically, at least some of the plurality of light sources can be configured to emit light at the same or different frequencies. The light sources can be configured and/or oriented such that their light emissions (or waves) impinge one another, such that a cumulative, interference light emission having a plurality of edges is caused to be received on or at the imaging device. Upon generating an interference light emission, one or more identifiable resultant superposed light wave front patterns (with edge detail forming various light areas and areas of reduced illumination adjacent one another) will emerge or be present on the imaging device having constructive and/or destructive wave properties.FIG. 16Cillustrates a representation of this, wherein two light sources generate two individual light emissions823cand823c′ that are shown as impinging one another, thus resulting in a cumulative interference light emission827having constructive wave forms or a constructive wave pattern about the imaging device810c. The interference light emission and the resultant wave front patterns can provide a large number of light distributions available for detection and interrogation by the light location module and the position module operable with the sensor and sensor system due to the interference light emission present on the imaging device. In one example, the sensor can be configured such that the interference light emission comprises a plurality of light distributions, wherein the number of light distributions is greater in number than the number of light sources used to generate the beams of light. This increase in available light distributions can function to increase the resolution of the sensor over other sensors discussed herein. Relative movement between the imaging device and the light components (or the light deflecting modules) will cause the interference light emission to disperse across a larger number of different pixels of the imaging device. Which movement will result in signals and data to be identified and interrogated in a similar manner as with other sensors discussed herein, except that in this embodiment, there are several more light distributions. It is further noted that the light sources can emit light of the same or different color as well, thus providing still additional data for processing.

It is noted herein that each of the various light sources discussed above in the various embodiments and examples can be oriented in a variety of ways and directions. For example, angled light sources (relative to the imaging device) can be oriented to direct light beams in planes parallel to degree of freedom axes.

It is also noted that the number, location and placement, orientation, type, etc. of the light components and the light sources relative to the imaging device can be whatever is needed or desired to ensure that no relative movement of the imaging device and light component can “trick” the sensor into a faulty or incorrect reading and to achieve a desired result, such as redundancy or level of resolution. Those shown in the figures are merely exemplary, and are not intended to be limiting in any way. For example, light sources can be placed so as to emit light onto periphery portions, inner portions of the image sensor of the imaging device, or a combination of these. In one aspect, the number placement and type of light sources utilized can be configured to maximize the “sweep” of the light across the imaging device during relative movement of the light components and the imaging device within the sensor. Light sources can also be arranged in groups or patterns to provide different patterns or clusters of light onto the imaging device. Furthermore, colored light sources and a color separation mechanism can also be employed to fit an increased number of light sources into a small area without degrading the performance of the sensor.

FIG. 17illustrates another embodiment of a sensor900that can include multiple light sources921a-cas well as multiple imaging devices910a-fdisposed adjacent to one another to provide continuous measurement over a larger range of motion that may not available using only a single imaging device. For example, the sensor900can include any of the features and elements described hereinabove, such as a light component920in support of the light sources921a-c(which may be perpendicular and/or angled) that direct light beams923a-c, respectively, toward one or more of the imaging devices910a-for a light deflecting module at a given time. As shown, the imaging devices910a-fare arranged in a staggered configuration with a region914in between imaging devices where no image sensor is present, such as at an interface between adjacent imaging devices. A light beam923amay terminate at a location929athat is in the region914between adjacent imaging devices910a,910b, in which case the light beam923awill not contribute to the position determining functionality of the sensor900. However, in this case, light beams923b,923ccan terminate at locations929b,929con imaging devices910b,910e, respectively, to contribute to the position determining functionality of the sensor900even when the light beam923acannot. In other words, the other imaging devices910b,910estill receiving light beams923b,923c, respectively, can compensate for the loss of signal from any given light source, such as921a. In one aspect, the number and/or arrangement of imaging devices and/or light sources can be configured to ensure that at least one light source will terminate on an imaging device throughout a desired range of motion of the sensor and in any degree of freedom of the sensor Thus, in this way, multiple light sources can be used to ensure that the sensor900is operable to determine relative position of the light component920and the imaging devices910a-feven when a light source is directing a beam of light to an area that is without an image sensor.

With reference toFIGS. 18A and 18B, illustrated are two additional exemplary sensors in accordance with the present disclosure. For example,FIG. 18Aillustrates a sensor1000having an elastic member1070,1071coupled to the imaging device1010and the light component1020to facilitate relative movement of the imaging device1010and the light component1020. The elastic member1070,1071can establish a nominal relative position for the imaging device1010and the light component1020and can facilitate relative movement of the imaging device1010and the light component1020in any suitable degree of freedom. The elastic member1070,1071can comprise a spring, which can be configured as any suitable metal spring or as an elastomeric spring. Thus, in one aspect, the elastic member1070,1071can act as a polymer suspension system for the imaging device1010and the light component1020.

In one aspect, the elastic member1070,1071can be disposed outboard of the light sources1021,1022. In another aspect, the elastic member can comprise a transparent layer disposed between the imaging device1010and the light component1020. In one embodiment, the elastic member can comprise a silicone layer that acts as a separator between the imaging device1010and the light component1020, which may provide a low displacement and high resolution sensor. In one aspect, the range of motion for the sensor1000can be limited by the size of the imaging device1010and the type of suspension or separation structure, which can depend on the magnitude of the desired range of motion and/or the application of the particular sensor.

For example, one application for the sensor1000can be as a strain gage. In this case, the imaging device1010can be anchored to a surface1013at location1014and the light component can be anchored to the surface1013at location1015. As the surface1013experiences strain, the imaging device1010and the light component1020will move relative to one another, which movement can serve to facilitate measurement of the strain in one or more degrees of freedom.

In a similar alternative sensor design, illustrated inFIG. 18B, the1100can comprise a light deflecting module1124designed to reflect light off of its surface onto the imaging device1110. The sensor1110can further comprise a light component1120positioned on a common side as the imaging device1110, wherein the light component1120supports a light source1121configured to direct a beam of light toward the light deflecting module1124for subsequent reflecting of the beam of light onto the imaging device1110. The light component1120can be located in the same plane as the imaging device1110, and coupled to the elastic member1170and the imaging device1110. The elastic member1171can be coupled to the imaging device1110as previously discussed. FIG.18B illustrates a light source1122supported about the light deflecting module1124. In an alternative design, the light reflecting module1124could be replaced with a light component as shown inFIG. 18A, wherein the light component is modified with a reflective surface (e.g., a coating) to facilitate reflection of the beam of light from the light source1121. Similar to the sensor1000discussed above, the light component1120(and indirectly the imaging device1110) of the sensor1100can be anchored to a surface1113at location1114and the light deflecting module1124can be anchored to the surface1113at location1115. It will be recognized by those skilled in the art that a strain gauge is merely one example type of sensor made possible by the technology discussed herein. As such, this particular application is not intended to be limiting in any way.

FIG. 18Cillustrates another example of a sensor1200having a mass1280associated with the light component1220, which can enable the sensor1200to measure acceleration and/or function as a navigation aid. The mass1280and the light component1220can be supported by an elastic member1270, such as a spring, to facilitate relative movement of the imaging device1210and the light component1220in one or more degrees of freedom. In one aspect, the elastic member1270can be coupled to a support structure1290, which can be coupled to the imaging device1210. Although the light component1220is shown in the figure as being associated with the mass1280and suspended by the elastic member1270, it should be recognized that the imaging device1210can be associated with the mass1280and suspended by the elastic member1270. Alternatively, as shown inFIG. 18D, a light deflecting module1324can be associated with the mass1380and elastic member1370, and the light component1320in support of a light source can be located on a common side with the imaging device1310. The elastic member1370can be coupled to the support structure1390, which can be coupled to the light component1320(and indirectly to the imaging device1310).

In another example of a sensor (not shown), a whisker can be coupled to an imaging device or a light component and placed in a flow field to determine boundary layer thickness. In yet another example of a sensor (not shown), an imaging sensor and a light component can be configured for continuous relative rotation to measure rotary position.

With reference toFIGS. 19A and 19B, illustrated is a sensor in accordance with another example of the present disclosure. The sensor1400comprises an imaging device1410having an image sensor1411and a support structure1440, wherein the imaging device is positioned proximate the support structure1440. The support structure1440and the imaging device can be moveable relative to one another in one or more degrees of freedom (e.g., translational and/or rotational degrees of freedom as discussed herein with other sensors). The sensor further comprises a fiduciary1448disposed about the support structure1440, in this example about the surface1445of the support structure1440. The fiduciary1448can comprise anything that can be identified by the imaging device1410, wherein a characteristic or aspect of the fiduciary (e.g., all or part of a size of the fiduciary, a position of the fiduciary relative to the imaging device, a color of the fiduciary, an intensity of the fiduciary, etc.) is determinable upon the relative movement of the imaging device1410and the fiduciary1448, one or more of these characteristics or aspects effectively changing due to the relative movement. In the example shown, the fiduciary comprises an object having a cross shape that is supported on the support structure1440, and that comprises identifiable dimensions operative to provide or facilitate an image detectable by the imaging device1410. The sensor1400can be operable within ambient light conditions, meaning that it is somewhat different from other sensors discussed herein that describe and utilize a beam of light that is used for measurements that is caused to be emitted from a light source dedicated for that purpose. Here, in this example, the sensor1400is operable in ambient light (light that is dispersive and not necessarily directional in nature or supplied specifically for the purpose of facilitating operation of the sensor), wherein the ambient light illuminates the fiduciary such that the fiduciary is viewable by the imaging device under the ambient light. The ambient light1421can comprise natural light (e.g., the sun) or artificial light (powered light). Although the ambient light1421is shown in the example ofFIG. 19Aas being above the imaging device, this is not to be limiting in any way. The source of the ambient light can be located anywhere relative to the sensor. The intensity of the ambient light should be such that the fiduciary1448and the associated image indicia are detectable.

The image that is detected or seen by the imaging device1410, as based on the presence of the fiduciary1448, can have some image indicia, such as a patter or spectra or levels of contrast or brightness, whether for one or more colors (or black or white), intensities of one or more colors (or black or white) and/or whether in one or both dimensions of the imaging device1410(i.e., X or Y, or some or all of X+Y). At any given starting point of the fiduciary1448relative to the imaging device1410, that starting point can be made the “zero” and then used as the reference for determining the relative movement of the imaging device1410and the support structure1440, and the fiduciary1448. In determining a measurement, the end point of the fiduciary1448can be compared to the starting point and the distance the fiduciary1448traveled about the imaging device1410can provide a measurement. For example, the starting point or “zero” can be known. Upon relative movement between the imaging device1410and the support structure and the fiduciary1448, the second or end point of the fiduciary1448relative to the imaging device1410will be offset from the starting point. Based on the distance and direction traveled by the fiduciary, or the change in position, various measurements can be determined to facilitate operation of the sensor as intended. In short, a starting image with its image fiduciaries can be compared to a subsequent image with its image fiduciaries and these compared to obtain the desired measurements.

In one aspect, one or more characteristics or aspects of the fiduciary1448can be known beforehand. For example, the various dimensions of the fiduciary1448can be known and stored in a memory operative with the position module and wherein a change in size of the fiduciary1448is determinable upon relative movement of the support structure1440and the imaging device1410in a given degree of freedom, and comparison of the change in size of the fiduciary1448to the actual size of the fiduciary1440provides a determinable degree of relative movement between the support structure1440and the imaging device1410.

In another aspect, a dimension of the fiduciary1448along a first axis can be different than a dimension of the fiduciary1448along a second axis (see dotted lines inFIG. 17where in one example the length of the fiduciary along the X axis can be greater than the length of the fiduciary along the Y axis), thus facilitating measurements about a z-axis upon relative movement of the support structure1440and the imaging device1410.

Up to three translational degrees of freedom along the X, Y and Z axes can be obtained and up to three rotational degrees of freedom about the X, Y and Z axes can be obtained by comparing the position of the fiduciary1448relative to the imaging device1410. For example, translation along the X and Y axes can be obtained by measuring the change in position of the fiduciary relative to the imaging device1410. The path of travel can also be identifiable and determinable. Translation in the Z direction can be determined and detectable as there will be a change in the overall size of the fiduciary1418relative to the imaging device. Similarly, rotational degrees of freedom about the X and Y axes can be obtained by comparing the size of the fiduciary (or portions thereof. Indeed, certain sides of the fiduciary1448will appear larger or smaller depending upon the direction of rotation from the starting point to the ending point. Rotation in the Z axis can be determined by measuring the change in position (or identifying and determining the path traveled) of the fiduciary1448.

In one aspect, the range of the useful measurement can be limited by the size of the image sensor1411. However, in another aspect, if the update rate is sufficient with respect to the relative movement speed, then up to the entire imaging device (or the image sensor1411) can be used as the sensing element. This will provide extremely high resolution, as well as provide, in some instances, a sensor with a range of motion that is limited only by the continuity of the surface it is on (i.e., the given location and associated “pattern” can be the reference image for a subsequent displacement measurement). In short, the signal generated by the imaging device1410can be based substantially on the fiduciary1448and the image it facilitates (it is noted that there may be some portion of the signal generated from incremental motion at the edges). This signal can then be processed in a similar manner as discussed herein.

Although a single fiduciary1448is shown in the example ofFIGS. 19A and 19B, it is contemplated that a plurality of fiduciaries can be used within a single sensor to provide more complex or unique image indicia identifiable by the imaging device. The fiduciaries can be the same or different in their type, characteristics, etc. as will be apparent to those skilled in the art.

In another aspect, the sensor can comprise a fiduciary capable of luminescing or one being caused to luminesce, wherein light emitted by the fiduciary1448is caused to be received on the imaging device, such that the fiduciary1448effectively functions in a similar manner as the dedicated light sources discussed above with respect to the other sensor embodiments, and wherein relative movement within the sensor in one or more degrees of freedom is determinable based on the light emitted by the fiduciary1448caused to disperse across different pixels of the imaging device1410. In one example embodiment, the sensor1400can further comprise a light source1462supported by a light component1460, wherein the light source1462is operative to generate and direct a beam of light1464onto the fiduciary1448capable of causing the fiduciary1448to emit light, such that the resulting emission is detectable by the imaging device1410for the purpose of determining relative movement between the imaging device1410and the support structure1440and the fiduciary1448thereon in one or more degrees of freedom. In this example, the fiduciary1448can be excitable. In one example, the fiduciary1448can comprise a fluorescent, wherein the light source1462operative within the sensor1400directs a beam of light (e.g., UV light) toward and onto the fiduciary1448causing the fiduciary1448to fluoresce and emit light detectable by the imaging device1410. The fiduciary1448can be formed of a fluorescing material, or it can comprise a fluorescing coating. The light source1462can be located about a side of the sensor1400common with the imaging device1410, such that the light source1462and the imaging device1410can be powered from the same common side. In one aspect, the structure in support of the light source1462can comprise the same structure supporting the imaging device1410. In another aspect, these can comprise different structures.

In one aspect of the technology described herein, the light source1462can comprise a UV light operative to propagate light at a wavelength ranging from approximately 315 to 400 nanometers. In another aspect, the light source1462can emit UV light at wavelengths in the mid (290-315 nm) or far (190-290 nm) UV fields.

Other types of luminescence methods and systems are contemplated for use on or with the fiduciary, such as phosphorescence, and chemiluminescence.

FIG. 19Cillustrates an alternative example of a fiduciary operable within the sensor1400, wherein the fiduciary comprises a plurality of fiduciaries1548in the form of bars disposed about the surface1545of the support structure1540in a specific pattern. In one aspect, the fiduciaries1548can each comprise a different dimension, such that each of the different fiduciaries1448(and the image indicia formed by these) are individually identifiable by the imaging device1410. In another aspect, a characteristic or aspect about all or a certain collection of the fiduciaries1448can also be identified and used in the measurements. For example, in the example shown, the slope of a line defined by the terminal ends of the various fiduciaries1448can be known and tracked. Knowing the characteristics or aspects of each individual fiduciary1448(or the characteristics or aspects of all or a collection of fiduciaries) being used facilitates comparison of each fiduciary1448as a result of relative movement between them and the imaging device1410, similar to how comparison and measurement of a single fiduciary is achieved as discussed above.

Again, the sensor1400can further comprise a position module and any other components for facilitating functionality in a similar manner as discussed herein.

With reference toFIGS. 20A and 20B, illustrated is a sensor in accordance with another example of the present disclosure. The sensor1600is similar in many respects to the sensor1400ofFIGS. 19A and 19B, except that the support structure1640comprises or is the actual object being sensed (or at least a portion thereof) rather than a separate component of the sensor that is attached or otherwise supported by the object being sensed. In addition, in one aspect, the fiduciary (or fiduciaries)1648can comprise a dedicated fiduciary applied to or disposed about the surface1645, similar to those discussed above. In another aspect, the fiduciary1648can comprise one or more existing features or part of the surface1645itself. Keeping in mind that in this example the support structure1640is the object being sensed, and thus the surface1645comprises a surface of the object being sensed, identifying one or more fiduciaries that are actually a part of the object being sensed can facilitate functionality of the sensor1600, particularly if the surface1645comprises various surface irregularities. In the example shown, the surface1645comprises a plurality of surface irregularities that can be identified and used as fiduciaries1648. The imaging device1610having an image sensor1611can be supported relative to the support structure1640to be sensed (the object in this case, or a portion thereof), such that relative movement between the imaging device1610and the support structure1640is facilitated. The imaging device1610can be placed proximate to the fiduciaries1648. Measurements in the various degrees of freedom in the sensor1600can be determinable in a similar manner as discussed above with respect to the sensor ofFIGS. 19A and 19B.

Again, the sensor1400can further comprise a position module and any other components for facilitating functionality in a similar manner as discussed herein.

Similar to the example shown inFIG. 17, it is contemplated herein that a plurality of sensors like those shown inFIGS. 19A-20Bwith a plurality of imaging devices and fiduciaries can be used together to obtain images across the plurality of sensors, wherein the images can be stitched together. In one example, the plurality of imaging devices can be arranged in a manner so as to ensure a usable signal to at least one imaging device at any given time. In another example using a plurality of imaging devices, respective measurements from two or more of the plurality of imaging devices can be combined to determine relative movement.

In accordance with one embodiment of the present disclosure, a method for facilitating a displacement measurement is disclosed. The method can comprise providing an imaging device operative with a support structure; facilitating association of a fiduciary with the support structure, wherein the fiduciary is identifiable by the imaging device; facilitating relative movement between the support structure and the imaging device in at least one degree of freedom; and facilitating determination of a change in a characteristic or aspect of the fiduciary relative to the imaging device upon the relative movement of the support structure and the imaging device. Facilitating determination of a change in a characteristic or aspect of the fiduciary can comprise facilitating determination of one or both of a change in a size and a change in position of the fiduciary relative to the imaging device. Facilitating association of a fiduciary with the support structure can comprise disposing a fiduciary on a surface of the support structure, or identifying one or more surface irregularities in the support structure as the fiduciary or fiduciaries, wherein the support structure comprises a surface of an object to be sensed. The method can further comprise configuring the fiduciary to luminesce. In one example, this can comprise coating the fiduciary with a material that fluoresces (or forming the fiduciary from a material that fluoresces), and subjecting the fiduciary to light from a light source configured to cause the fiduciary to excite and fluoresce (emit light), wherein light emitted from the upon fiduciary can be used to determine relative movement between the imaging device and the support structure (and the fiduciary).