Distributed Optoelectronic Proximity Sensor
Optoelectronic proximity sensor comprises seven identical units functioning together to provide partially redundant data on spatial relationship between sensor and nearby diffusely reflecting surface. Provides data on distance, relative orientation, and curvature of surface. Sensor called "Hexeye" because its units exhibit hexagonal symmetry when viewed along optical axes and mounted together in hexagonal close packing. Because all six arrays of photodetectors in unit measure essentially identical distributions of light in operating mode, each provides redundant information averaged to increase accuracy or used to verify operation of others. Malfunctioning photodector identified, and output ignored or replaced by interpolated value. Developed for use in such robotic applications as noncontact probing or scanning of surfaces, localization and recognition of objects, and guiding "smart" robot hands in grasping objects.