Design of a structured light sensor for in situ calibration

This paper highlights a ranging sensor that can be calibrated at stando�s of 1 to 3 feet with a depth of �eld of �1 ft. Tests at a 16" stando� have produced a 0.004 inch standard deviation in height measurement errors. The data density and �eld of view are p r ogrammable. The sensor is positioned r obotically, allowing it to provide accurate, short-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (� $10k) and is designed for in situ calibration. This approach is intended t o a l l o w r eplacement components to be installed, calibrated, and validated without decontamination. Calibration, validation and data acquisition are all designed t o b e p erformed r emotely and in a highly automated fashion. These in situ features of the design are t a r geted for the interest of industry with the aim of producing a sensor having a longer lifetime and a lower maintenance c ost.