VISUAL INDICATORS FOR PRESENCE SENSING SYSTEMS

A laser scanner can include a housing, a window, and a light emitting system, which can output laser pulses of a first wavelength through the window. A light detection system can receive light of the laser pulses that is reflected by an object through the window and direct the received light to an optical sensor that generates electrical signals from the received light. A controller can make a determination regarding a presence or position of the object based on the electrical signals. The scanner can have one or more light sources for illuminating the window with light of a second wavelength. The window can have diffusing features configured to diffuse the output light of the second wavelength. The controller can operate the one or more light sources in response to the determination regarding the presence or position of the object to provide a visual indication of the determination.

INCORPORATION BY REFERENCE

The entire contents of U.S. Pat. No. 6,753,776, issued Jun. 22, 2004, and titled PRESENCE SENSING SYSTEM AND METHOD, is hereby incorporated by reference herein and made part of this specification for all that it discloses.

BACKGROUND

Field of the Disclosure

Some embodiments disclosed herein relate to systems for determining a presence of an object, a distance to an object, a direction to an object, and/or a position of an objection, such as using a laser scanner or other optical device, and to visual indicators that can communicate information to a user.

Description of the Related Art

Although various systems exist for sensing a presence of an object and for communicating information, there remains a need for improved systems.

SUMMARY

Certain example embodiments are summarized below for illustrative purposes. The embodiments are not limited to the specific implementations recited herein. Embodiments may include several novel features, no single one of which is solely responsible for its desirable attributes or which is essential to the embodiments.

Various embodiments disclosed herein can relate to a laser scanner, which can include a housing, a window, and a light emitting system, which can be configured to output laser pulses of a first wavelength through the window. A light detection system can be configured to receive light of the laser pulses that is reflected by an object through the window. The light detection system can be configured to direct the light that is received through the window to an optical sensor that is configured to generate electrical signals from the received light. A controller can have at least one processor, and the controller can be configured to make a determination regarding a presence or position of the object based at least in part on the electrical signals. The scanner can have one or more light sources for illuminating at least a portion of the window with light of a second wavelength that is different from the first wavelength. The at least a portion of the window can have diffusing features configured to diffuse the light of the second wavelength and to output the diffused light from the window. The controller can be configured to operate the one or more light sources in response to the determination regarding the presence or position of the object to provide a visual indication of the determination.

The light of the second wavelength can be visible light. The light of the first wavelength can be non-visible light. The light of the first wavelength can be infrared or near infrared light. The diffusing features can be configured to diffuse the light of the second wavelength more than the light of the first wavelength. The at least a portion of the window having the diffusing features can be substantially transparent to the light of the first wavelength. A majority of the window can include the diffusing features and can output the diffused light to provide the visual indication. The entire window can include the diffusing features and can output the diffused light to provide the visual indication. In some embodiments, a first portion of the window can have the diffusing features, while a second portion of the window does not have the diffusing features. The light emitting system can be configured to output the laser pulses through the second portion of the window. The light detection system can be configured to receive light through the second portion of the window. The first portion of the window can have a generally cylindrical shape. The second portion of the window can have a generally frustoconical shape. The one or more light sources can be disposed on a flexible printed circuit board. The one or more light sources can have at least one light source to output light of a first color and least one light source to output light of a second color. The laser scanner can be configured to output the diffused light across an azimuthal angle range of at least about 270 degrees. The window can be configured to guide light from the one or more light sources to the at least a portion of the window with the diffusing features.

Various embodiments disclosed herein can relate to an object detection system, which can include a window, a light emitting system configured to output sensor light through the window, a light detection system configured to receive a portion of the sensor light reflected by an object, and a visual indicator configured to output visible light through the window.

The light emitting system can include a pulse laser. The sensor light can be non-visible light. The sensor light can be infrared light. The sensor light can be near-infrared light. The sensor light output by the emitter system can have a first wavelength of light. The visible light output by the visual indicator can have a second wavelength of light different from the first wavelength of light. The window can have light diffusing feature, which can be configured to diffuse the visible light more than the sensor light. The window and light diffusing features can be substantially transparent to the sensor light. The window can include light diffusing features configured to diffuse the visible light. The light diffusing features can include particles or voids dispersed in the window. The light diffusing features can include rough surface features on the window. The light diffusing features can include a pigment or film. A first portion of the window can have light diffusing features, while a second portion of the window does not have light diffusing features. The light emitting system can be configured to output light through the second portion of the window. The first portion of the window can have a generally cylindrical shape. The second portion of the window can have a generally frustoconical shape. The visual indicator can have one or more light sources disposed on a flexible printed circuit board. The visual indicator can have one or more light sources configured to emit a first color of light and one or more light sources configured to emit a second color of light different from the first color. The visual indicator can be configured to output the visible light across an angle range of at least about 270 degrees. The visual indicator can include one or more light sources, which can be configured to input light into the window so that the window guides the light by total internal reflection. The visual indicator can be configured to illuminate a majority of the window. The visual indicator can include a light pipe to guide light from a light source to the window.

Various embodiments disclosed herein can relate to a method of providing information regarding a presence or position of an object. The method can include outputting sensor light through a window in a direction towards an object, receiving light of a return reflection of the sensor light from the object through the window, generating electrical signals from the received light, and determining a presence or position of the object based at least in part on the electrical signals. The method can include outputting visible light through the window in response to the determination of the presence or position of the object. In some embodiments, the method can further include diffusing the visible light output through the window.

DETAILED DESCRIPTION OF CERTAIN EMBODIMENTS

Laser scanners or other systems for sensing the presence and/or location of an object, for determining a direction to an object, and/or for measuring a distance to an object can be used in various applications, such as for guarding hazardous equipment (e.g., industrial machinery), for surveying, for security systems, for robot vision, robot guidance or pathfinding, etc.FIG. 1shows a laser scanner100configured for guarding hazardous equipment102(e.g., such as industrial machinery). Although various examples are provided herein with relation to laser scanners for machine guarding, the features and concepts disclosed herein can be applied to various other contexts such as range finders, surveying equipment, light curtains, motion detectors, navigation systems, autonomous vehicles, etc. A laser scanner100can emit a pulse of light and receive light reflected from an object104, which can be measured and used to determine that the object104is present. In some applications, the laser scanner100can send pulses of light in multiple directions so that the direction to the object can be determined. For example, the laser scanner100can step light pulses across an angular field of view, such as at sub-degree increments, although other increments or other configurations could be used, depending on the application. In some cases, the laser scanner100can determine a distance to the object104, such as by determining a time-of-flight for the light to travel to the object and then back to the laser scanner100. For example, the distance to the object can be ½·c·t, where c is the speed of light, and t is the time-of-flight. Using the direction and distance information, the location of the object104can be determined. Action can be taken in response to the determination of the location, direction, and/or distance of the object. For example, the hazardous equipment102can be stopped if an object104(e.g., a person) comes within a threshold distance, or an alarm or warning can be issued, etc.

In some cases, one or more visual indicators on the laser scanner100can be used to visually convey information, such as to a user. For example, one or more light sources can be illuminated, to provide an alarm or warning, to indicate the presence, direction, and/or distance to an object, to indicate the status of the scanner or of the associated equipment (e.g., active or disabled, or machine run or machine stop), to indicate an error or troubleshooting information, etc. It can be useful for the one or more visual indicators to be visible from a wide range of angle. Some scanners100have a window that wraps around a field of view of the scanner100and enables the scanner100to emit and receive sensor light (e.g., laser light pulses and associated return reflections from objects104) across a wide range of angles, as discussed herein. In some embodiments, the window, or portions thereof, can be illuminated to provide a visual indicator that can be visible across a wide range of angles. The window can be illuminated in a diffuse way, with one or more colors, in a solid color or pattern. Different colors, patterns, light locations, and lighting sequences can be used to communicate different things to a user. Using the existing window for the visual indicator can incorporate beacon-style indication lighting into the scanner100, without the added complexity, cost, and space that would come with adding a traditional beacon light to the scanner or associated system.

FIG. 2is a block diagram showing components of an example embodiment of a laser scanner100. The laser scanner100can have a light emitting system106, which can be configured to emit light, such as by producing pulses of light. The light emitting system106can have a laser, such as a pulse laser that is configured to output discrete laser pulses. The laser scanner100can have a detection system108that can be configured to receive light (e.g., of the laser pulses) that is reflected from the object104back to the laser scanner100. The laser scanner100can have a controller110configured to control operations of the laser scanner100, as described herein. The controller110can include one or more hardware processors, and can execute instructions that are stored in computer-readable memory (e.g., in a non-transitory computer readable medium). The laser scanner100can have a machine interface114, which can output instructions to corresponding equipment102(e.g., industrial machinery) or other external devices. For example, the laser scanner can stop the machinery or move the machinery to a safety configuration if an object (e.g., a person) is detected at a specified location or distance, etc. Other output signals can also be provided, such as for warnings or alarms or data logging, etc.

The laser scanner100can have input/output features112. For example, user input elements (e.g., one or more buttons, dials, switches, microphone, etc.) can be used to receive input from a user. User output elements (e.g., one or more lights, speakers, displays, printers, etc.) can be used to output information to a user. In some cases, user input and output elements can be combined, such as using a touchscreen display. The input and output elements112can be used to configure, operate, and/or troubleshoot the laser scanner100. The output elements112can provide presence, direction, distance, and/or location information regarding an object. By way of example, the laser scanner100can have multiple lights, which can be selectively illuminated to indicate a direction of an object. Different colors, light intensity, or numerical values can be output to indicate a distance of a detected object from the scanner100. The laser scanner100can output a first color of light (e.g., green) for a safe condition (e.g., in which no object is determined to be in a dangerous location or range) and can output a second color of light (e.g., red) for a danger conduction (e.g., in which an object is determined to be in a dangerous location or range). Many alternatives are possible.

FIG. 3is a perspective view of an example embodiment of a laser scanner100.FIG. 4is a cross-sectional view of another example embodiment of a laser scanner100. The laser scanner100can have a housing120, which can enclose or otherwise protect various components of the laser scanner100, such as electrical and/or optical components. The laser scanner100can have a window122, which can enable light (e.g., from the light emitting system106) to exit the laser scanner100and/or can enable light (e.g., reflected from the object104) to enter the laser scanner100, so that the received light can be detected by the detection system108.

A port124can receive a corresponding plug to transfer information to or from the laser scanner100, such as to implement the machine interface114. Information can be communicated through a wired connection (e.g., via the port124), or the scanner100can have a wireless communication system for sending and/or receiving information wirelessly. A power cable (which not visible inFIGS. 2 and 3) can supply power to the laser scanner100, although other types of power sources can be used, such as a battery. The laser scanner100can have a display126which can output information and/or receive user input (e.g., a touchscreen). The display126can display text, images, or in some cases can display light colors or patterns (e.g., green, red, flashing, etc.) to indicate information to a user. In some embodiments, a plurality of light indicators128can be illuminated to indicate a direction of a detected object, or to output other information.

The scanner100can have a light source, such as a laser light source130, which can emit light (e.g., laser pulses). One or more optical elements132can redirect the light (e.g., out of the laser scanner), or otherwise modified the emitted light. The optical elements132of the light emitting system106can include one or more lenses, filter, mirrors, etc. which can modify or redirect the light. In some cases, one or more collimating optical elements (e.g., collimating lenses) can be used to collimate light emitted by the light source130. Although some examples are discussed in connection with a laser scanner, in some cases the scanner100can use non-laser light, which can be collimated in some implementations. The scanner100can include a rotatable mirror134, which can redirect the light out of the scanner100at different azimuthal angles depending on the rotational position of the rotatable mirror134. The rotatable mirror134can be angled relative the path of the emitted light that impinges on the rotatable mirror134(e.g., by an angle between about 30 degrees and about 60 degrees, about 40 degrees and about 50 degrees, or about 45 degrees). A motor136can rotate the rotatable mirror134(e.g., about a vertical rotation axis). Light (e.g., laser pulses) can be emitted through the window122. The window can have a generally inverted frustoconical shape. The window can extend across an angle of about 90 degrees, about 120 degrees, about 150 degrees, about 180 degrees, about 210 degrees, about 240 degrees, about 270 degrees, about 300 degrees, about 330 degrees, or more, or any values or ranges therebetween. The scanner100can sweep or step laser pulses across a field of view or detection area, such as across an angle of about 90 degrees, about 120 degrees, about 150 degrees, about 180 degrees, about 210 degrees, about 240 degrees, about 270 degrees, about 300 degrees, about 330 degrees, or more, or any values or ranges therebetween. A turning mirror138can redirect light from the light source130, such as to help turn or redirect the light out of the scanner100.

In some embodiments, a conduit137can extend from a lower housing portion to an upper housing portion, such as along a back side of the scanner100. The conduit137can house wires or other interconnections, such as between the scanner power source and/or controller and the light sources128or other components. The conduit137(e.g., and/or the components contained therein) can impede the transmission of light, which can block output or input of light across an azimuthal angle range, such as of about 3 degrees, about 5 degrees, about 7 degrees, about 10 degrees, about 15 degrees, about 20 degrees, about 25 degrees, about 30 degrees, about 45 degrees, about 60 degrees, about 75 degrees, about 90 degrees, about 105 degrees, about 120 degrees, about 150 degrees, about 180 degrees, or more, or any values or ranges therebetween. The conduit137can be made of the same material, and/or can be integrally formed with, the window122. In some cases, the conduit137can form a break in the generally cylindrical and/or frustoconical shape of the window122. In some cases, the conduit137can be formed separate of the window122, and/or can be made of different material than the window122. The conduit137can be formed as a portion of the housing112, for example. In some embodiments, the conduit137can be omitted. In some embodiments, the window122can extend a full 360 degrees. Some scanner embodiments can emit light, and/or receive return reflections, across a full 360 degree range.

Light can be reflected from an object and the reflected light can return to the laser scanner100. Return reflections of the emitted light can be received through the window122. One or more optical elements140can redirect the received light and/or otherwise modify the received light before it is measured by an optical sensor142. The one or more optical elements140can include one or more lenses143, filters141, mirrors, etc. The optical sensor142can generate signals based at least in part on the light reflected by the object and received by the laser scanner100. The rotatable mirror134can direct the received light towards the optical sensor142. The optical sensor152can be a photodiode such as an avalanche photodiode, although any suitable type of image sensor can be used. The image sensor142can convert the received light to electrical signals. The scanner100can analyze the electrical signals to determine the presence, direction, distance, and/or location of an object104. The laser scanner100can utilize the additional details and features disclosed in the '776 Patent, which is incorporated herein by reference.

The scanner100can illuminate the window122to output information. It can be beneficial for the visual indication light to be easily visible, such as from a wide range of angles. For example, the visual indication light can be used to get a user's attention if there is a safety issue. The window122is an easily visible component of the scanner100, because the window is used to output and receive sensor light across a wide range of angles. Illuminating the window (e.g., with visible light) as a visual indicator can efficiently provide a high visibility visual indicator.

FIG. 5shows an example embodiment of a laser scanner100with the window122illuminated to provide a visual indicator. The illuminated window122can provide beacon-style lighting. In some embodiments, the full window122can be illuminated, as shown for example, inFIG. 5. Light (e.g., diffused light) can be emitted (e.g., in various directions) from the full are of the window122. In some embodiments, a first portion of the window122acan be illuminated while a second portion of the window122bis not illuminated, as shown for example inFIG. 6. The window can have a first portion122athat has a generally cylindrical shape. The window can have a second portion122bthat has a generally frustaconical shape. The first portion122acan be disposed above the second portion122b. The window122can emit the visual indicator light across a field of view, such as across about 90 degrees, about 120 degrees, about 150 degrees, about 180 degrees, about 210 degrees, about 240 degrees, about 270 degrees, about 300 degrees, about 330 degrees, or about 360 degrees, or any values or ranges therebetween. In some embodiments, the conduit137can impede the visual indicator light from being emitted in the conduit area. In some embodiments, the conduit137can be illuminated along with the window. In some embodiments, the conduit137can be omitted, as described herein, and the visual indicator light can be emitted via the window122across a full 360 degree field of view.

Many different portions of the window122can be illuminated, in various different patterns and color combinations.FIG. 7shows an example embodiment in which a portion of the generally frustoconical portion of the window122is illuminated, while the generally cylindrical portion of the window122is not illuminated. Alternatively, the entire frustoconical portion of the window122can be illuminated, while the generally cylindrical portion of the window122is not illuminated. A majority of the window122area can be illuminated, or a minority of the window122area can be illuminated. In various embodiments, about 5%, about 10%, about 20%, about 30%, about 40%, about 50%, about 60%, about 70%, about 80%, about 90%, or about 100% of the window122area can be illuminated, or any values or ranges therebetween.

As described in further detail herein, diffusing features and/or the distribution of light sources can produce a generally even distribution of light emitted from the illuminated area of the window122. In some embodiments, distinct areas of the window122can be selectively illuminated, such as to provide an indication of a direction of an object.FIG. 8shows an example scanner100having a plurality of illumination areas150distributed radially across at least a portion of the window122. InFIG. 8, four illumination areas are shown illuminated simultaneously. In practice, a single illumination area150can be illuminated to indicate a directional position of a detected object. Multiple illumination areas150can be illuminated to indicate the direction positions of multiple objects, or to indicate a directional position of a single object (e.g., if the object is directionally between two illumination areas150). The scanner100can have more illumination areas than shown inFIG. 8. For example, additional illumination areas can be between the illumination areas150that are shown illuminated inFIG. 8. In some cases, a continuous set of illumination areas can extend around the field of view of the scanner (e.g., with adjacent illumination areas abutting each other). Or the adjacent illumination areas can be separated by a space or gap, which can facilitate the illumination of distinct illumination areas150.

In some cases, the illumination areas150can have a hard edge that transitions sharply from being illuminated to not being illuminated (e.g., as can be seen inFIG. 8). For example, an illumination area can have diffusing feature that can cause light to exit the window at the illumination area150, and the area immediately surrounding the illumination area does not have diffusing features, so that the area immediately adjacent to the illumination area does not output substantial amounts of light. Some stray illumination light may exit the window at any area of the window, but the presence or lack of diffusing features at given areas can cause a sharp contrast between illumination areas and non-illumination areas.

In some embodiments, an illumination area150can have a soft transition from the illuminated area to non-illuminated area. For example, diffusing features can be distributed throughout the window122or region thereof. A single light source, or a subset of light sources, can be illuminated to selectively illuminate an illumination area150. The portion of the illumination area150closest to that light source, or subset of light sources, can have a brightest illumination, while the intensity of the illumination would reduce gradually as distance from that light source, or subset of light sources, increases.

In the example ofFIG. 8, the distinct illumination areas150are provided on the top region of the window122, which in this example is generally cylindrical in shape. In the example ofFIG. 9, the illumination areas150can extend vertically across the full height of the window122. The illumination areas150could extend across the generally cylindrical portion of the window122, and at least partially down on the generally frustoconical portion of the window122. The illumination portion150can stop prior to the sensor light exit region, as discussed further herein.FIG. 9shows an example, in which the window122can be illuminated with two colors. A first color can be used to illumination an illumination region150a, which can indicate a directional position of a detected object, as discussed herein. A second color can be used to illumination at least a portion150b, and in some cases the entire remaining portion, of the window122. For example, the illumination of the second color (e.g., region150b) can be visible across a broad field of view, such as to easily draw the attention of a user, while the illumination of the first color (e.g., region150a) can provide the specific indication of the direction of the detected object. Thus, once the user's attention has been directed to the laser scanner (e.g., by the second color), the user can quickly determine the direction of the detected object (e.g., by the first color), which can help the user determine whether an object needs to be moved, identify a potentially dangerous situation, quickly take remedial action, determine if a false positive determination was made, or otherwise troubleshoot the scanner100, etc.

The scanner100can determine a direction of a detected object. The illumination area150that is closed in direction to the determined direction of the object can be illuminated. Additional details regarding directional illumination, which can be incorporated into the scanners disclosed herein, are provided in U.S. Pat. No. 6,753,776, which is incorporated herein by reference.

Many different configurations of illumination areas150can be used, such as depending on the particular application or use. Multiple colors on the individual indicators and multiple lighting patterns could be used to convey various types of information. For example, a constant solid lighting approach can be used (e.g. when the area protected is clear the window stays green, and when the protected area is not clear the window can turn red). When the sensor is in a configuration state, the window color can flash in a single color (e.g. a flashing yellow color). When the sensor is in fault mode, the window color could alternate flashing in two colors and use a faster rate to better call for attention (e.g. light up in red for half a second, then light up in yellow for half, repeatedly). When the sensor is in interlock state, which means it is waiting for an operator to push a button, the window could light up in a stripe or area of light that spins around and around the window. This “spinning circle” can be an intuitive method to convey the concept of “waiting” (e.g., similar to a mouse pointer spinning circle while a computer system is busy).

FIG. 11Ais a partial perspective cross-sectional view of an example embodiment of a scanner100.FIG. 11Bshows a perspective view of an example embodiment of light sources156and flexible printed circuit board (PCB)158ofFIG. 11A. The scanner100can have a plurality of light sources156, which can be light emitting diodes (LEDs) or any other suitable type of light source. The light sources156can be selectively illuminated to produce visual indicators of various different types, such as those specifically discussed herein. The light sources156can produce a single color of visible light, or multiple colors of visible light. By way of one specific example, the light sources156can include red and green light sources, which can be selectively illuminated to produce a red window122or a green window122. In some cases, three or more colors of light sources (e.g., red, green, and blue) can be illuminated at various different intensities to provide a spectrum of different available colors. For example, each light source illustrated inFIG. 12can include a red light source element, a blue light source element, and a green light source element, so that each of the light sources156can emit various different colors. Different tri-color combinations can be used, or any other suitable combination of any number of light source elements, for the particular application or use.

The light sources156can be disposed on a flexible printed circuit board (PCB)158. The flexible PCB158can be an elongate PCB, which can wrap around a support structure160. The support structure can be part of the housing120, can be integrally formed with the housing120, or can be a rigid component that is coupled to the housing120. In some embodiments, a gasket161can be disposed between the window122and the housing120. Light sources156(e.g., and the associated flexible PCB) can extend around an azimuthal range of about 90 degrees, about 135 degrees, about 180 degrees, about 225 degrees, about 270 degrees, about 315 degrees, about 360 degrees, or any values or ranges therebetween. In some embodiments, power and/or control signals can be delivered to the light sources through one or more wires that extend through the conduit137. A connector162can couple the power and/or control signals into the flexible PCB158, which can send the power and/or control signals to the respective light sources156. The light sources156can be oriented to face radially outward. As can be seen inFIG. 11A, the light sources can be disposed adjacent, near, or abutting the window122, so that the light sources156can input light into the window122. In some embodiments, the window can have diffusing features, as discussed herein, which can diffuse the light from the light sources156, and the window122can then output the diffused light as a visual indicator. Various other implementations are possible, which can position or orient the light sources in different manners, depending on the particular application or use. For example,FIG. 12shows an example embodiment with light sources (e.g., LEDs)156positioned on a rigid board159(e.g., PCB) with a light pipe157to guide the light (e.g., by total internal reflection) from the light source156to the window122. Although in the cross-section ofFIG. 12, only one light source156and light pipe157are shown, the scanner100can include a plurality of light sources156and associated light pipes157(e.g., arranged in a circle, arc, or other arrangement).

FIG. 13shows a schematic cross-sectional view of an example embodiment of a light source156and window122of a scanner. The light source156can be oriented emit light into the window122. The window122can have light diffusing features166, which can be configured to diffuse the light, so that the window outputs diffused light. The diffusing features166can include light diffusing particles, voids, pigment, diffraction gratings, or rough surface features. In the example ofFIG. 13, diffusing particles are shown dispersed in an illumination portion150of the window. InFIG. 13, the diffusing features are limited to the illumination portion150, and the rest of the window122does not have light diffusing features. In some embodiments, the region of the window122through which sensor light (e.g., laser pulses) is emitted does not include light diffusing features. This can impede or prevent unintended diffusion of the sensor light that is output by the sensor100, which could interfere with the presence or position sensing functionality. In some embodiments, a return reflection receiving portion of the window does not have diffusing features, which can facilitate collection of reflected light for delivery to the optical sensor142.

In some cases, reflected light can be collected by various portions of the window122, which can include portions with diffusing features and/or portions without diffusing features. If return reflections pass through a portion of the window with diffusing features, in some implementations, the diffusing features can diffuse the returning light. At least a portion of the diffused returning light can still enter the scanner100, and can still be directed to the light sensor142. Accordingly, in some cases, it can be more beneficial to impede diffusion of the emitted sensor light, than to impede diffusion of the returning sensor light. In some cases, the diffusing features166ofFIG. 13can extend further downward, such to until the location168, near the sensor light output region (which can be defined by the position of the light source130, the turning mirror138, and/or the rotatable mirror134). The sensor light output region can be a horizontal stripe that extends across the field of view of the window122. An upper region of the window can be used as the visual indicator (e.g., extending downward until the sensor light output region). In some cases, the light sourced can be on the bottom of the window. A lower region of the window122can be used as the visual indicator (e.g., extending upward until the sensor light output region). In some cases, light sources can be disposed at the upper portion and at the lower portion of the window122. Both the upper region and lower region of the window can be used as the visual indicator (e.g., with a stripe therebetween that corresponds to the sensor light output region and is not used as the visual indicator). In some embodiments, vertical stripes of areas with diffusing features can alternate with vertical stripes of areas without diffusing features. The sensor light can be output through the areas without diffusing features. The visual indicator light can be diffused by the areas of the window with the diffusing features.

The window122can be used to guide light, such as by total internal reflection (TIR), which can be seen inFIG. 14, for example. The light source156can be configured to input light into the window122. For example, the light source156can be optically coupled to the window, such as using an index matching adhesive or material. The light source156can input at least some of the light into the window at angle sufficient to produce total internal reflection of the light. The window122can include light diffusing features166, which can diffuse the light propagating in the window122. At least some of the diffused light can be redirected at angles that overcome TIR and exit the window (e.g., in a radially outward direction). InFIG. 14, the light diffusing features166can be dispersed particles or voids.

Various types of light diffusing features can be used. For example,FIG. 15shows an example embodiment having light diffusing surface features166. For example, the front and/or back surfaces of the window122can be rough so that light is scattered (e.g., by reflection or refraction at the rough surface features). Periodic or randomized surface features can be used. The diffusing features166can be turning features, which can be configured to turn light (e.g., that can be propagating in the window122by TIR) so that it is emitted out of the window (e.g., at randomized directions). The surface light diffusing features166can be formed by etching, sand blasting, injection molding with rough mold surfaces, or any other suitable manner. The window122can be frosted glass, in some cases.

In some cases, the window122can have a pigment or film, which can impede visibility through the glass into the internal components of the scanner100. The pigment or film can also diffuse visible light for the visual indicator feature. In some embodiments, the light diffusing features166can be omitted, and the visual indicator light can be emitted through the window with diffusion of the light.

The light used for detecting the presence or position of the object can be different from the light used for the visual indicators. The sensor light (e.g., emitted by the pulse laser130) can have a first wavelength (or range), and the visual indicator light can have a second wavelength (or range). For example, the sensor light can be infrared (IR) or near-infrared (NIR) light. The light source130can be an IR or NIR laser. The sensor light can have a wavelength of about 700 nm to about 8,000 nm; 700 nm to about 3,000 nm; about 750 nm to about 1,400 nm; about 750 nm to about 950 nm; or any values or ranges between any of these wavelengths. Other wavelengths of sensor light can be used in other implementations, such as visible light, ultraviolet light, etc. The visual indicator light can be visible light. The visual indicator light can one or more wavelengths between about 380 nm and about 750 nm, between about 400 nm and about 700 nm, or any values or ranges between any of these wavelengths. The sensor light and the visual indicator light can be different wavelengths, which can prevent or impede interference between the two types of light.

In some embodiments, the diffusing features166can diffuse the sensor light less than the visual indicator light. For example, wavelength specific diffusing features can be used. For example, the window122and/or the diffusing features166can be made of material that is relatively transparent to the sensor light (e.g., IR or NIR) as compared to the visual indicator light (e.g., visible light). In some cases, the diffusing particles can have an index of refraction difference relative to the window material that is greater for the visual indicator light than for the sensor light. Accordingly, the sensor light can pass through the window and diffusing features without substantial refraction or scattering, while the visual indicator light can be scattered (e.g., by refraction) by the window122and diffusing feature166. For example, with reference toFIG. 14, the output sensor light170can pass through the window122and through one or more light diffusing features166without substantially diffusing or redirecting the output sensor light170. The returning sensor light172(e.g., reflected from an object) can pass through the window122and through one or more light diffusing features166without substantially diffusing or redirecting the output sensor light170.

In some embodiments, the light receiving system can include a filter (e.g., a bandpass filter), which can permit the sensor light (e.g., the first wavelength or range, such as IR or NIR light) to reach the optical sensor142, while impeding other light such as the visual indicator light (e.g., of the second wavelength or range, such as visible light) from reaching the optical sensor142.

In some embodiments, the light sources156of the visual indicator can be off while the sensor system is operating, and can be turned on when the sensor system is not operating. Accordingly, the scanner100can use the sensor light and visual indicator light at different times. This can impede interference between the sensor light and the visual indicator light. In some embodiments, the same or overlapping wavelengths of light can be used for the sensor light and the visual indicator light. The alternating of the sensor and visual indicator systems can also impede electrical interference, or other complications that could arise from both systems operating simultaneously. As a first operation during a first time, the scanner100can emit light, receive return reflections, and/or process signals from the received light. As a second operation during a second time, the scanner can emit visible light to provide a visual indication of information (e.g., about the sensor or the detected object). For example, at the second time, the system can output a visual indication of the presence or position (e.g., directional position and/or distance) of the object that was determined during the first time or during a previous operation. The first and second operations can be performed at different, alternating times.

In some embodiments, the methods, techniques, microprocessors, and/or controllers described herein are implemented by one or more special-purpose computing devices. The special-purpose computing devices may be hard-wired to perform the techniques, or may include digital electronic devices such as one or more application-specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs) that are persistently programmed to perform the techniques, or may include one or more general purpose hardware processors programmed to perform the techniques pursuant to program instructions in firmware, memory, other storage, or a combination thereof. The instructions can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of a non-transitory computer-readable storage medium. Such special-purpose computing devices may also combine custom hard-wired logic, ASICs, or FPGAs with custom programming to accomplish the techniques. The special-purpose computing devices may be desktop computer systems, server computer systems, portable computer systems, handheld devices, networking devices or any other device or combination of devices that incorporate hard-wired and/or program logic to implement the techniques.

The microprocessors or controllers described herein can be coordinated by operating system software, such as iOS, Android, Chrome OS, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 10, Windows Server, Windows CE, Unix, Linux, SunOS, Solaris, macOS, Blackberry OS, VxWorks, or other compatible operating systems. In other embodiments, the computing device may be controlled by a proprietary operating system. Conventional operating systems control and schedule computer processes for execution, perform memory management, provide file system, networking, I/O services, and provide a user interface functionality, such as a graphical user interface (“GUI”), among other things.

The microprocessors and/or controllers described herein may implement the techniques described herein using customized hard-wired logic, one or more ASICs or FPGAs, firmware and/or program logic which causes microprocessors and/or controllers to be a special-purpose machine. According to one embodiment, parts of the techniques disclosed herein are performed a controller in response to executing one or more sequences instructions contained in a memory. Such instructions may be read into the memory from another storage medium, such as storage device. Execution of the sequences of instructions contained in the memory causes the processor or controller to perform the process steps described herein. In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions.

Moreover, the various illustrative logical blocks and modules described in connection with the embodiments disclosed herein can be implemented or performed by a machine, such as a processor device, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A processor device can be a microprocessor, but in the alternative, the processor device can be a controller, microcontroller, or state machine, combinations of the same, or the like. A processor device can include electrical circuitry configured to process computer-executable instructions. In another embodiment, a processor device includes an FPGA or other programmable device that performs logic operations without processing computer-executable instructions. A processor device can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Although described herein primarily with respect to digital technology, a processor device may also include primarily analog components. For example, some or all of the techniques described herein may be implemented in analog circuitry or mixed analog and digital circuitry.

Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise,” “comprising,” “include,” “including,” and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to.” The words “coupled” or connected,” as generally used herein, refer to two or more elements that can be either directly connected, or connected by way of one or more intermediate elements. Additionally, the words “herein,” “above,” “below,” and words of similar import, when used in this application, shall refer to this application as a whole and not to any particular portions of this application. Where the context permits, words in the Detailed Description using the singular or plural number can also include the plural or singular number, respectively. The words “or” in reference to a list of two or more items, is intended to cover all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list. All numerical values provided herein are intended to include similar values within a range of measurement error.

Although this disclosure contains certain embodiments and examples, it will be understood by those skilled in the art that the scope extends beyond the specifically disclosed embodiments to other alternative embodiments and/or uses and obvious modifications and equivalents thereof. In addition, while several variations of the embodiments have been shown and described in detail, other modifications will be readily apparent to those of skill in the art based upon this disclosure. It is also contemplated that various combinations or sub-combinations of the specific features and aspects of the embodiments may be made and still fall within the scope of this disclosure. It should be understood that various features and aspects of the disclosed embodiments can be combined with, or substituted for, one another in order to form varying modes of the embodiments. Any methods disclosed herein need not be performed in the order recited. Thus, it is intended that the scope should not be limited by the particular embodiments described above.

Further, while the devices, systems, and methods described herein may be susceptible to various modifications and alternative forms, specific examples thereof have been shown in the drawings and are herein described in detail. It should be understood, however, that the disclosure is not to be limited to the particular forms or methods disclosed, but, to the contrary, this disclosure covers all modifications, equivalents, and alternatives falling within the spirit and scope of the various implementations described. Further, the disclosure herein of any particular feature, aspect, method, property, characteristic, quality, attribute, element, or the like in connection with an implementation or embodiment can be used in all other implementations or embodiments set forth herein. Any methods disclosed herein need not be performed in the order recited. The methods disclosed herein may include certain actions taken by a practitioner; however, the methods can also include any third-party instruction of those actions, either expressly or by implication.

The ranges disclosed herein also encompass any and all overlap, sub-ranges, and combinations thereof. Language such as “up to,” “at least,” “greater than,” “less than,” “between,” and the like includes the number recited. Numbers preceded by a term such as “about” or “approximately” include the recited numbers and should be interpreted based on the circumstances (e.g., as accurate as reasonably possible under the circumstances, for example ±5%, ±10%, ±15%, etc.). For example, “about 3.5 mm” includes “3.5 mm.” Phrases preceded by a term such as “substantially” include the recited phrase and should be interpreted based on the circumstances (e.g., as much as reasonably possible under the circumstances). For example, “substantially constant” includes “constant.” Unless stated otherwise, all measurements are at standard conditions including ambient temperature and pressure.