Light detection and ranging device

Abstract

A light detection and ranging device, a robot, and a method, the light detection and ranging device comprising: a light source; and a camera comprising at least one row of pixel sensors, wherein the camera comprises at least one row of pixel sensors, and wherein light emitted by the light source is on a same plane as a field of view of the at least one row of pixel sensors.

What is claimed is: 
     
         1 . A light detection and ranging device, comprising:
 at least one light source; and   at least one camera comprising at least one row of pixel sensors having a field of view; and   wherein light emitted by the light source is on a same plane as the field of view of the at least one row of pixel sensors.   
     
     
         2 . The device of  claim 1 , wherein the at least one row of pixel sensors is a vertical row of pixel sensors. 
     
     
         3 . The device of  claim 1 , wherein the light source is installed above or below the camera. 
     
     
         4 . The device of  claim 1 , wherein the light source and the camera are installed on a rotating member. 
     
     
         5 . The device of  claim 1 , wherein the light source and the camera are installed on a structure perpendicular to a rotation plane of a rotating member, wherein the rotating member rotates the light source and the camera. 
     
     
         6 . The device of  claim 1 , wherein the row of pixel sensors is perpendicular to a rotation plane of a rotating member, wherein the rotating member rotates the light detection and ranging device. 
     
     
         7 . The device of  claim 1 , wherein the camera is a line-scan camera. 
     
     
         8 . The device of  claim 1 , wherein the field of view that spans between two virtual rays. 
     
     
         9 . A robot comprising:
 a light source configured to emit a pattern of NIR light at a multiplicity of directions, thus forming a light pattern in an environment of the robot;   a camera comprising at least one row of pixel sensors having a field of view,   wherein light emitted by the light source is on a same plane as the field of view of the at least one row of pixel sensors; and   a processor configured to:
 determine a distance between the robot and a location at which light emitted by the light source hits an object, in accordance with which pixel of the at least one row of pixel sensors captured the location. 
   
     
     
         10 . The robot of  claim 9 , wherein the at least one row of pixel sensors is a vertical row of pixel sensors. 
     
     
         11 . The robot of  claim 9 , wherein the light source is installed above or below the camera. 
     
     
         12 . The robot of  claim 9 , wherein the light source and the camera are installed on a rotating member. 
     
     
         13 . The robot of  claim 9 , wherein the light source and the camera are installed on a structure perpendicular to a rotation plane of a rotating member, wherein the rotating member rotates the light source and the camera. 
     
     
         14 . The robot of  claim 9 , wherein the at least one row of pixel sensors is perpendicular to a rotation plane of a rotating member, wherein the rotating member rotates the light detection and ranging device. 
     
     
         15 . A method for determining a distance of an object from a device, comprising:
 emitting light at a direction by a light source associated with the device;   receiving an indication to which pixel from a row of pixel sensors of a camera which captures a location at which the light hit an object; and
 determining a distance of the object from the device, in accordance with the pixel, wherein the light emitted by the light source is on a same plane as a field of view of the row of pixel sensors. 
   
     
     
         16 . The method of  claim 15 , wherein the row of pixel sensors is a vertical row of pixel sensors. 
     
     
         17 . The method of  claim 15 , wherein the light source is installed above or below the camera. 
     
     
         18 . The method of  claim 15 , wherein the light source and the camera are installed on a rotating member. 
     
     
         19 . The method of  claim 15 , wherein the light source and the camera are installed on a structure perpendicular to a rotation plane of a rotating member, wherein the rotating member rotates the light source and the camera. 
     
     
         20 . The method of  claim 15 , wherein the row of pixel sensors is perpendicular to a rotation plane of a rotating member, wherein the rotating member rotates the light detection and ranging device.