# US 11,029,713 B2 · Method and system for expanding the range of working environments in which a 3-D or depth sensor can operate without damaging or degrading the measurement performance of the sensor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,713 B2 - Document ID: US11029713B2 - Status: Granted - Kind: B2 - Application number: 15/822,683 - Filed: 2017-11-27 - Published: 2019-05-30 - Granted: 2021-06-08 - Earliest claimed: 2017-11-27 - Assignees: Liberty Reach Inc. - Applicants: Liberty Reach Inc. - Inventors: G. Neil Haven; David J. Witalka - Web page: https://patentgrep.com/patent/US11029713B2 ## CPC - G05D 23/1917: {using digital means} - G01B 5/0011: {Arrangements for eliminating or compensation of measuring errors due to temperature or weight} - G01B 11/00: Measuring arrangements characterised by the use of optical techniques - G01B 11/25: by projecting a pattern, e.g. {one or more lines,} moiré fringes on the object (G01B11/255 takes precedence {; image analysis for depth or shape recovery G06T7/50}) - G01D 3/10: with provision for switching-in of additional or auxiliary indicators or recorders - G01D 11/245: {Housings for sensors} - G01D 11/30: Supports specially adapted for an instrument; Supports specially adapted for a set of instruments - G01S 7/4813: {Housing arrangements} - G05D 23/1919: {characterised by the type of controller} - G01S 17/89: for mapping or imaging - G06T 2207/10028: Range image; Depth image; 3D point clouds - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G01D: MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A method and system for expanding the range of working environments in which a 3-D or depth sensor can operate without damaging or degrading the measurement performance of the sensor are provided. The sensor has a rigid support structure and a plurality of optoelectronic components fixedly supported on the support structure. The system includes an enclosure for enclosing the support structure and the supported optoelectronic components within an interior of the enclosure. A temperature control circuit includes a controller to monitor interior temperature within the enclosure and to regulate temperature within the enclosure to be within an operational temperature range of the sensor based on the monitored temperature. ## Claims ### Claim 1 A method of expanding the range of working environments in which a 3-D or active depth sensor can operate without damaging or degrading the measurement performance of the sensor, the sensor having a rigid, thermally conductive, sensor rail and a plurality of optoelectronic components including a pattern emitter capable of projecting a known pattern of radiation and one or more cameras or detectors configured to view the projected known pattern of radiation, each of the components being mounted on and in thermal contact with the sensor rail which distributes heating or cooling to the components, the method comprising the steps of: providing an airtight, thermally-insulated enclosure for the sensor, wherein the enclosure includes an optically transparent window through which the pattern emitter projects and the one or more cameras or detectors receive visible and near-visible radiation; receiving an electrical signal indicative of a temperature of an interior of the enclosure; determining whether the temperature of the interior is within an operational temperature range of the sensor; activating at least one thermoelectric device disposed outside the enclosure to either cool or heat the interior of the enclosure based on whether the determined temperature is above or below the range, respectively; and pumping heat either into or out of the enclosure between the sensor rail and the at least one thermoelectric device to either heat or cool the interior of the enclosure, respectively, based on whether the determined temperature is below or above the range, respectively, to regulate the internal temperature of the sensor. ### Claim 2 A system for expanding the range of working environments in which a 3-D or active depth sensor can operate without damaging or degrading the measurement performance of the sensor, the sensor having a rigid, thermally-conductive sensor rail and a plurality of optoelectronic components including a pattern emitter configured to project a known pattern of radiation and one or more cameras or detectors configured to view the projected known pattern of radiation, each of the components being mounted on and in thermal contact with the sensor rail which distributes heating or cooling to the components, the system comprising: an airtight, thermally-insulated enclosure for enclosing the support structure and the optoelectronic components within an interior of the enclosure, wherein the enclosure includes an optically transparent window through which the patterns emitter projects and the one or more cameras or detectors receive visible and near-visible radiation; and a temperature control circuit including a controller to actively monitor interior temperature within the enclosure and to regulate temperature within the enclosure to be within an operational temperature range of the sensor based on the monitored temperature, wherein the control circuit further includes at least one thermoelectric device disposed outside the enclosure and controlled by the controller and at least one heat transfer pipe or bar in direct thermal contact with the at least one thermoelectric device, extending through the enclosures and forming an airtight seal with the outside of the enclosure and configured to be in direct thermal contact with the sensor rail to pump heat either into or out of the enclosure to either heat or cool the interior of the enclosure, respectively, wherein heat is transferred between the at least one thermoelectric device and the sensor rail based on whether the monitored interior temperature is below or above the range. ### Claim 3 (depends on 2) The system as claimed in claim 2, wherein the at least one thermoelectric device comprises at least one Peltier device supported by the enclosure. ### Claim 4 (depends on 2) The system as claimed in claim 2, wherein the control circuit includes a temperature transducer positioned within the interior of the enclosure to monitor the temperature within the enclosure. ### Claim 5 (depends on 4) The system as claimed in claim 4, wherein the temperature transducer comprises a temperature probe. ### Claim 6 (depends on 2) The system as claimed in claim 2, wherein the control circuit includes a heat dissipation structure connected to a thermoelectric device to dissipate heat from the thermoelectric device to atmosphere external to the enclosure. ### Claim 7 (depends on 6) The system as claimed in claim 6, wherein the control circuit includes at least one element to direct air to flow across the heat dissipation structure. ### Claim 8 (depends on 2) The system as claimed in claim 2, wherein the control circuit includes control logic to determine when the interior temperature is within the operational temperature range. ### Claim 9 (depends on 2) The system as claimed in claim 2, wherein the window is double-paned. ### Claim 10 (depends on 2) The system as claimed in claim 2, wherein the pattern emitter includes an IR laser diode source or other laser source configured to operate at visible or near-visible wavelengths. ### Claim 11 (depends on 10) The system as claimed in claim 10, wherein the optoelectomeric components include a camera configured to view a scene at visible wavelengths. ### Claim 12 (depends on 11) The system as claimed in claim 11, wherein the camera is configured to reject light originating from the laser source. ### Claim 13 (depends on 10) The system as claimed in claim 10, wherein the one or more cameras or detectors is configured to view the projected known pattern of radiation at a wavelength emitted by the laser source.