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

<CIT> relates to a laser light illumination system coupled to a LIDAR system for combined integration into an automobile headlight, the illumination system being configured to selectively illuminate portions of an environment, for example to illuminate objects detected by the LIDAR system to warn a driver.

<CIT> relates to a safety laser scanner for monitoring a hazardous environment. The scanner comprises a light source and a light receiver located behind a window having a cylindrical and a frustoconical section. The scanner is configured to detect the presence of a person or object in a safety zone and to issue a visual warning upon a detection.

Certain example embodiments are summarized below for illustrative purposes. The embodiments are not limited to the specific implementations recited herein.

Various embodiments disclosed herein can relate to a laser scanner according to claim <NUM>.

Various embodiments disclosed herein can relate to a method of providing information regarding a presence or position of an object according to claim <NUM>. Advantageous embodiments are provided in the dependent claims.

Certain embodiments will be discussed in detail with reference to the following figures, wherein like reference numerals refer to similar features throughout. These figures are provided for illustrative purposes and the embodiments are not limited to the specific implementations illustrated in the figures.

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> shows a laser scanner <NUM> configured for guarding hazardous equipment <NUM> (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 scanner <NUM> can emit a pulse of light and receive light reflected from an object <NUM>, which can be measured and used to determine that the object <NUM> is present. In some applications, the laser scanner <NUM> can send pulses of light in multiple directions so that the direction to the object can be determined. For example, the laser scanner <NUM> can 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 scanner <NUM> can determine a distance to the object <NUM>, such as by determining a time-of-flight for the light to travel to the object and then back to the laser scanner <NUM>. 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 object <NUM> can 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 equipment <NUM> can be stopped if an object <NUM> (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 scanner <NUM> can 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 scanners <NUM> have a window that wraps around a field of view of the scanner <NUM> and enables the scanner <NUM> to emit and receive sensor light (e.g., laser light pulses and associated return reflections from objects <NUM>) 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 scanner <NUM>, without the added complexity, cost, and space that would come with adding a traditional beacon light to the scanner or associated system.

<FIG> is a block diagram showing components of an example embodiment of a laser scanner <NUM>. The laser scanner <NUM> has a light emitting system <NUM>, which can be configured to emit light, such as by producing pulses of light. The light emitting system <NUM> has a laser, such as a pulse laser that is configured to output discrete laser pulses. The laser scanner <NUM> has a detection system <NUM> configured to receive light (e.g., of the laser pulses) that is reflected from the object <NUM> back to the laser scanner <NUM>. The laser scanner <NUM> has a controller <NUM> configured to control operations of the laser scanner <NUM>, as described herein. The controller <NUM> includes 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 scanner <NUM> can have a machine interface <NUM>, which can output instructions to corresponding equipment <NUM> (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 scanner <NUM> can have input/output features <NUM>. 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 elements <NUM> can be used to configure, operate, and/or troubleshoot the laser scanner <NUM>. The output elements <NUM> can provide presence, direction, distance, and/or location information regarding an object. By way of example, the laser scanner <NUM> can 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 scanner <NUM>. The laser scanner <NUM> can 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> is a perspective view of an example embodiment of a laser scanner <NUM>. <FIG> is a cross-sectional view of another example embodiment of a laser scanner <NUM>. The laser scanner <NUM> can have a housing <NUM>, which can enclose or otherwise protect various components of the laser scanner <NUM>, such as electrical and/or optical components. The laser scanner <NUM> has a window <NUM>, which can enable light (e.g., from the light emitting system <NUM>) to exit the laser scanner <NUM> and/or can enable light (e.g., reflected from the object <NUM>) to enter the laser scanner <NUM>, so that the received light can be detected by the detection system <NUM>.

A port <NUM> can receive a corresponding plug to transfer information to or from the laser scanner <NUM>, such as to implement the machine interface <NUM>. Information can be communicated through a wired connection (e.g., via the port <NUM>), or the scanner <NUM> can have a wireless communication system for sending and/or receiving information wirelessly. A power cable (which not visible in <FIG> and <FIG>) can supply power to the laser scanner <NUM>, although other types of power sources can be used, such as a battery. The laser scanner <NUM> can have a display <NUM> which can output information and/or receive user input (e.g., a touchscreen). The display <NUM> can 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 indicators <NUM> can be illuminated to indicate a direction of a detected object, or to output other information.

The scanner <NUM> has a light source, such as a laser light source <NUM>, which can emit light (e.g., laser pulses). One or more optical elements <NUM> can redirect the light (e.g., out of the laser scanner), or otherwise modified the emitted light. The optical elements <NUM> of the light emitting system <NUM> can 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 source <NUM>. Although some examples are discussed in connection with a laser scanner, in some cases the scanner <NUM> can use non-laser light, which can be collimated in some implementations. The scanner <NUM> can include a rotatable mirror <NUM>, which can redirect the light out of the scanner <NUM> at different azimuthal angles depending on the rotational position of the rotatable mirror <NUM>. The rotatable mirror <NUM> can be angled relative the path of the emitted light that impinges on the rotatable mirror <NUM> (e.g., by an angle between about <NUM> degrees and about <NUM> degrees, about <NUM> degrees and about <NUM> degrees, or about <NUM> degrees). A motor <NUM> can rotate the rotatable mirror <NUM> (e.g., about a vertical rotation axis). Light (e.g., laser pulses) can be emitted through the window <NUM>. The window has a generally inverted frustoconical shape. The window can extend across an angle of about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, or more, or any values or ranges therebetween. The scanner <NUM> can sweep or step laser pulses across a field of view or detection area, such as across an angle of about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, or more, or any values or ranges therebetween. A turning mirror <NUM> can redirect light from the light source <NUM>, such as to help turn or redirect the light out of the scanner <NUM>.

In some embodiments, a conduit <NUM> can extend from a lower housing portion to an upper housing portion, such as along a back side of the scanner <NUM>. The conduit <NUM> can house wires or other interconnections, such as between the scanner power source and/or controller and the light sources <NUM> or other components. The conduit <NUM> (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 <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, or more, or any values or ranges therebetween. The conduit <NUM> can be made of the same material, and/or can be integrally formed with, the window <NUM>. In some cases, the conduit <NUM> can form a break in the generally cylindrical and/or frustoconical shape of the window <NUM>. In some cases, the conduit <NUM> can be formed separate of the window <NUM>, and/or can be made of different material than the window <NUM>. The conduit <NUM> can be formed as a portion of the housing <NUM>, for example. In some embodiments, the conduit <NUM> can be omitted. In some embodiments, the window <NUM> can extend a full <NUM> degrees. Some scanner embodiments can emit light, and/or receive return reflections, across a full <NUM> degree range.

Light can be reflected from an object and the reflected light can return to the laser scanner <NUM>. Return reflections of the emitted light can be received through the window <NUM>. One or more optical elements <NUM> can redirect the received light and/or otherwise modify the received light before it is measured by an optical sensor <NUM>. The one or more optical elements <NUM> can include one or more lenses <NUM>, filters <NUM>, mirrors, etc. The optical sensor <NUM> can generate signals based at least in part on the light reflected by the object and received by the laser scanner <NUM>. The rotatable mirror <NUM> can direct the received light towards the optical sensor <NUM>. The optical sensor <NUM> can be a photodiode such as an avalanche photodiode, although any suitable type of image sensor can be used. The image sensor <NUM> can convert the received light to electrical signals. The scanner <NUM> can analyze the electrical signals to determine the presence, direction, distance, and/or location of an object <NUM>.

The scanner <NUM> can illuminate the window <NUM> to 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 window <NUM> is an easily visible component of the scanner <NUM>, 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> shows an example embodiment of a laser scanner <NUM> with the window <NUM> illuminated to provide a visual indicator. The illuminated window <NUM> can provide beacon-style lighting. In some embodiments, the full window <NUM> can be illuminated, as shown for example, in <FIG>. Light (e.g., diffused light) can be emitted (e.g., in various directions) from the full are of the window <NUM>. In some embodiments, a first portion of the window 122a can be illuminated while a second portion of the window 122b is not illuminated, as shown for example in <FIG>. The window has a first portion 122a that has a generally cylindrical shape. The window has a second portion 122b that has a generally frustaconical shape. The first portion 122a can be disposed above the second portion 122b. The window <NUM> can emit the visual indicator light across a field of view, such as across about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, or about <NUM> degrees, or any values or ranges therebetween. In some embodiments, the conduit <NUM> can impede the visual indicator light from being emitted in the conduit area. In some embodiments, the conduit <NUM> can be illuminated along with the window. In some embodiments, the conduit <NUM> can be omitted, as described herein, and the visual indicator light can be emitted via the window <NUM> across a full <NUM> degree field of view.

Many different portions of the window <NUM> can be illuminated, in various different patterns and color combinations. <FIG> shows an example embodiment in which a portion of the generally frustoconical portion of the window <NUM> is illuminated, while the generally cylindrical portion of the window <NUM> is not illuminated. Alternatively, the entire frustoconical portion of the window <NUM> can be illuminated, while the generally cylindrical portion of the window <NUM> is not illuminated. A majority of the window <NUM> area can be illuminated, or a minority of the window <NUM> area can be illuminated. In various embodiments, about <NUM>%, about <NUM>%, about <NUM>%, about <NUM>%, about <NUM>%, about <NUM>%, about <NUM>%, about <NUM>%, about <NUM>%, about <NUM>%, or about <NUM>% of the window <NUM> area 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 window <NUM>. In some embodiments, distinct areas of the window <NUM> can be selectively illuminated, such as to provide an indication of a direction of an object. <FIG> shows an example scanner <NUM> having a plurality of illumination areas <NUM> distributed radially across at least a portion of the window <NUM>. In <FIG>, four illumination areas are shown illuminated simultaneously. In practice, a single illumination area <NUM> can be illuminated to indicate a directional position of a detected object. Multiple illumination areas <NUM> can 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 areas <NUM>). The scanner <NUM> can have more illumination areas than shown in <FIG>. For example, additional illumination areas can be between the illumination areas <NUM> that are shown illuminated in <FIG>. 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 areas <NUM>.

In some cases, the illumination areas <NUM> can have a hard edge that transitions sharply from being illuminated to not being illuminated (e.g., as can be seen in <FIG>). For example, an illumination area can have diffusing feature that can cause light to exit the window at the illumination area <NUM>, 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 area <NUM> can have a soft transition from the illuminated area to non-illuminated area. For example, diffusing features can be distributed throughout the window <NUM> or region thereof. A single light source, or a subset of light sources, can be illuminated to selectively illuminate an illumination area <NUM>. The portion of the illumination area <NUM> closest 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 of <FIG>, the distinct illumination areas <NUM> are provided on the top region of the window <NUM>, which in this example is generally cylindrical in shape. In the example of <FIG>, the illumination areas <NUM> can extend vertically across the full height of the window <NUM>. The illumination areas <NUM> could extend across the generally cylindrical portion of the window <NUM>, and at least partially down on the generally frustoconical portion of the window <NUM>. The illumination portion <NUM> can stop prior to the sensor light exit region, as discussed further herein. <FIG> shows an example, in which the window <NUM> can be illuminated with two colors. A first color can be used to illumination an illumination region 150a, which can indicate a directional position of a detected object, as discussed herein. A second color can be used to illumination at least a portion 150b, and in some cases the entire remaining portion, of the window <NUM>. For example, the illumination of the second color (e.g., region 150b) 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., region 150a) 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 scanner <NUM>, etc..

The scanner <NUM> can determine a direction of a detected object. The illumination area <NUM> that is closed in direction to the determined direction of the object can be illuminated.

Many different configurations of illumination areas <NUM> can 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> is a partial perspective cross-sectional view of an example embodiment of a scanner <NUM>. <FIG> shows a perspective view of an example embodiment of light sources <NUM> and flexible printed circuit board (PCB) <NUM> of <FIG>. The scanner <NUM> can have a plurality of light sources <NUM>, which can be light emitting diodes (LEDs) or any other suitable type of light source. The light sources <NUM> can be selectively illuminated to produce visual indicators of various different types, such as those specifically discussed herein. The light sources <NUM> can produce a single color of visible light, or multiple colors of visible light. By way of one specific example, the light sources <NUM> can include red and green light sources, which can be selectively illuminated to produce a red window <NUM> or a green window <NUM>. 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 in <FIG> can include a red light source element, a blue light source element, and a green light source element, so that each of the light sources <NUM> can emit various different colors. Different tricolor combinations can be used, or any other suitable combination of any number of light source elements, for the particular application or use.

The light sources <NUM> can be disposed on a flexible printed circuit board (PCB) <NUM>. The flexible PCB <NUM> can be an elongate PCB, which can wrap around a support structure <NUM>. The support structure can be part of the housing <NUM>, can be integrally formed with the housing <NUM>, or can be a rigid component that is coupled to the housing <NUM>. In some embodiments, a gasket <NUM> can be disposed between the window <NUM> and the housing <NUM>. Light sources <NUM> (e.g., and the associated flexible PCB) can extend around an azimuthal range of about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> degrees, about <NUM> 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 conduit <NUM>. A connector <NUM> can couple the power and/or control signals into the flexible PCB <NUM>, which can send the power and/or control signals to the respective light sources <NUM>. The light sources <NUM> can be oriented to face radially outward. As can be seen in <FIG>, the light sources can be disposed adjacent, near, or abutting the window <NUM>, so that the light sources <NUM> can input light into the window <NUM>. In some embodiments, the window can have diffusing features, as discussed herein, which can diffuse the light from the light sources <NUM>, and the window <NUM> can 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> shows an example embodiment with light sources (e.g., LEDs) <NUM> positioned on a rigid board <NUM> (e.g., PCB) with a light pipe <NUM> to guide the light (e.g., by total internal reflection) from the light source <NUM> to the window <NUM>. Although in the cross-section of <FIG>, only one light source <NUM> and light pipe <NUM> are shown, the scanner <NUM> can include a plurality of light sources <NUM> and associated light pipes <NUM> (e.g., arranged in a circle, arc, or other arrangement).

<FIG> shows a schematic cross-sectional view of an example embodiment of a light source <NUM> and window <NUM> of a scanner. The light source <NUM> can be oriented emit light into the window <NUM>. The window <NUM> can have light diffusing features <NUM>, which can be configured to diffuse the light, so that the window outputs diffused light. The diffusing features <NUM> can include light diffusing particles, voids, pigment, diffraction gratings, or rough surface features. In the example of <FIG>, diffusing particles are shown dispersed in an illumination portion <NUM> of the window. In <FIG>, the diffusing features are limited to the illumination portion <NUM>, and the rest of the window <NUM> does not have light diffusing features. In some embodiments, the region of the window <NUM> through 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 sensor <NUM>, 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 sensor <NUM>.

In some cases, reflected light can be collected by various portions of the window <NUM>, 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 scanner <NUM>, and can still be directed to the light sensor <NUM>. 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 features <NUM> of <FIG> can extend further downward, such to until the location <NUM>, near the sensor light output region (which can be defined by the position of the light source <NUM>, the turning mirror <NUM>, and/or the rotatable mirror <NUM>). The sensor light output region can be a horizontal stripe that extends across the field of view of the window <NUM>. 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 window <NUM> can 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 window <NUM>. 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 window <NUM> can be used to guide light, such as by total internal reflection (TIR), which can be seen in <FIG>, for example. The light source <NUM> can be configured to input light into the window <NUM>. For example, the light source <NUM> can be optically coupled to the window, such as using an index matching adhesive or material. The light source <NUM> can input at least some of the light into the window at angle sufficient to produce total internal reflection of the light. The window <NUM> can include light diffusing features <NUM>, which can diffuse the light propagating in the window <NUM>. 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). In <FIG>, the light diffusing features <NUM> can be dispersed particles or voids.

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

In some cases, the window <NUM> can have a pigment or film, which can impede visibility through the glass into the internal components of the scanner <NUM>. The pigment or film can also diffuse visible light for the visual indicator feature. In some embodiments, the light diffusing features <NUM> can 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 laser <NUM>) 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 source <NUM> can be an IR or NIR laser. The sensor light can have a wavelength of about <NUM> to about <NUM>,<NUM>; <NUM> to about <NUM>,<NUM>; about <NUM> to about <NUM>,<NUM>; about <NUM> to about <NUM>; 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 <NUM> and about <NUM>, between about <NUM> and about <NUM>, 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 features <NUM> can diffuse the sensor light less than the visual indicator light. For example, wavelength specific diffusing features can be used. For example, the window <NUM> and/or the diffusing features <NUM> can 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 window <NUM> and diffusing feature <NUM>. For example, with reference to <FIG>, the output sensor light <NUM> can pass through the window <NUM> and through one or more light diffusing features <NUM> without substantially diffusing or redirecting the output sensor light <NUM>. The returning sensor light <NUM> (e.g., reflected from an object) can pass through the window <NUM> and through one or more light diffusing features <NUM> without substantially diffusing or redirecting the output sensor light <NUM>.

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 sensor <NUM>, 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 sensor <NUM>.

In some embodiments, the light sources <NUM> of 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 scanner <NUM> can 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 scanner <NUM> can 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. 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 <NUM>, Windows <NUM>, Windows <NUM>, 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.

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 of protection conferred shall be determined by the claims.

Conditional language, such as, among others, "can," "could," "might," or "may," unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or steps. Thus, such conditional language is not generally intended to imply that features, elements and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment. Any headings used herein are for the convenience of the reader only and are not meant to limit the scope.

Claim 1:
A laser scanner (<NUM>) comprising:
a housing (<NUM>);
a window (<NUM>);
a light emitting system (<NUM>) configured to output laser pulses of a first wavelength through the window;
a light detection system (<NUM>) configured to receive light of the laser pulses that is reflected by an object (<NUM>) through the window, wherein the light detection system is configured to direct the light that is received through the window to an optical sensor (<NUM>) that is configured to generate electrical signals from the received light;
a controller (<NUM>) comprising at least one processor, wherein the controller is configured to make a determination regarding a presence or position of the object based at least in part on the electrical signals; and
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,
wherein the at least a portion of the window comprises diffusing features configured to diffuse the light of the second wavelength and to output the diffused light from the window,
wherein the controller is 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,
wherein a first portion (122a) of the window has a cylindrical shape and has the diffusing features,
wherein a second portion (122b) of the window has a frustoconical shape and does not have the diffusing features,
wherein a large diameter portion of the second portion of the window is connected to the first portion of the window,
wherein the light emitting system is configured to output the laser pulses through the second portion of the window, and
wherein the light detection system is configured to receive light through the second portion of the window.