Object-sensing systems and robotic systems including the same
AssigneeMeta Platforms, Inc.
InventorsKarthik Yogeeswaran, Andrew Todd Grier
Life of this patent
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Abstract
Object-sensing systems including a light transmitter subsystem and a light receiver subsystem. The light transmitter subsystem main be configured to generate a collimated linear beam of light at a predetermined wavelength and having a length of at least 3 inches. The light receiver subsystem may include a linear sensor array having a length of at least 3 inches. The linear sensor array may be positioned to receive the collimated linear beam of light and to detect shadows caused by objects blocking at least a portion of the collimated linear beam of light. Various other systems and methods are also disclosed.
Claims18
An object-sensing system, comprising:
- a light transmitter subsystem configured to generate a collimated linear beam of light at a predetermined wavelength and having a length of at least 3 inches, the light transmitter subsystem comprising:
- a laser light source;
- a collimator positioned and configured to collimate laser light from the laser light source into a collimated laser light beam;
- a Powell lens positioned and configured to form a linear fan of light from the collimated laser light beam;
- and
- a linear lens positioned and configured to convert the linear fan of light from the Powell lens into the collimated linear beam of light;
- and
- a light receiver subsystem comprising a linear sensor array having a length of at least 3 inches, the light receiver subsystem positioned to receive the collimated linear beam of light from the linear lens, to detect shadows caused by objects blocking at least a portion of the collimated linear beam of light, and to determine a presence of obstacles based at least in part on the shadows caused by the objects exceeding a predetermined threshold size.
A robotic system for suspending cable from an overhead powerline, the system comprising:
- a drive subsystem for driving the robotic system along the powerline;
- an obstacle detection subsystem for detecting obstacles along the powerline, the obstacle detection subsystem comprising:
- a light transmitter subsystem positioned on a first side of the powerline and configured to generate a collimated linear beam of light having a length of at least 3 inches, the light transmitter subsystem comprising:
- a laser light source;
- a collimator positioned and configured to collimate laser light from the laser light source into a collimated laser light beam;
- a Powell lens positioned and configured to form a linear fan of light from the collimated laser light beam;
- and
- a linear lens positioned and configured to convert the linear fan of light from the Powell lens into the collimated linear beam of light;
- a light receiver subsystem positioned on a second, opposite side of the powerline and comprising a linear sensor array having a length of at least 3 inches, the light receiver subsystem positioned to receive the collimated linear beam from the linear lens, to detect shadows caused by the obstacles blocking at least a portion of the collimated linear beam of light, and to determine a presence of obstacles based at least in part on the shadows caused by the objects exceeding a predetermined threshold size, wherein the predetermined threshold size is defined by a width of the powerline;
- and
- an extension subsystem for moving at least a portion of the robotic system to avoid the obstacles detected by the obstacle detection subsystem.
A method of fabricating an object-sensing system, the method comprising:
- operatively coupling a collimator to a laser light source such that the collimator forms a collimated beam of light from laser light from the laser light source;
- positioning a Powell lens to receive the collimated beam of light and to form a linear fan of light from the collimated beam of light;
- positioning a linear lens to receive the linear fan of light and to form a collimated linear beam of light from the linear fan of light, the collimated linear beam of light having a length of at least 3 inches;
- positioning a linear sensor array having a length of at least 3 inches to receive the collimated linear beam of light from the linear lens, and to detect shadows caused by objects blocking at least a portion of the collimated linear beam of light;
- operatively coupling a signal processor to the linear sensor array, the signal processor configured to determine a presence of obstacles based at least in part on the shadows caused by the objects exceeding a predetermined threshold size.
Dependencies are inferred from the claim text.