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DE10025511C1 - Object location device for surveillance system with integrated detection of soiling level of housing window - Google Patents

Object location device for surveillance system with integrated detection of soiling level of housing window

Info

Publication number
DE10025511C1
DE10025511C1 DE2000125511 DE10025511A DE10025511C1 DE 10025511 C1 DE10025511 C1 DE 10025511C1 DE 2000125511 DE2000125511 DE 2000125511 DE 10025511 A DE10025511 A DE 10025511A DE 10025511 C1 DE10025511 C1 DE 10025511C1
Authority
DE
Germany
Prior art keywords
window
measuring
receiver
mirror
housing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE2000125511
Other languages
German (de)
Inventor
Thomas Meinert
Hermann Jakob
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sick AG
Original Assignee
Schmersal EOT GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schmersal EOT GmbH and Co KG filed Critical Schmersal EOT GmbH and Co KG
Priority to DE2000125511 priority Critical patent/DE10025511C1/en
Application granted granted Critical
Publication of DE10025511C1 publication Critical patent/DE10025511C1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The object location device has a housing with a window (1) extending over an angle of more than 180 degrees, containing a transmitter and receiver for an optical radiation beam which is scanned across a monitored surveillance area via a driven rotary mirror (4). The soiling level of the window is detected via a series of measuring sensors (3), positioned along one window edge, for detecting optical radiation fed through the window via an angled planar mirror (10) located at the opposite window edge.

Description

Die Erfindung betrifft eine Vorrichtung zum Orten von in einen zu überwachenden Raumbereich eindringenden Objekten nach dem Oberbegriff des Anspruchs 1.The invention relates to a device for locating in one surveillance area intruding objects according to the generic term of Claim 1.

Eine derartige Vorrichtung ist aus DE 197 35 038 A1 bekannt, die ein mit einem sich über 180° erstreckenden Fenster versehenes Gehäuse umfaßt. Hierbei ist zur Verschmutzungsüberwachung des Fensters entlang der Unterseite hiervon eine Reihe von IR-Leuchtdioden als Referenzlichtquellen und entlang der Oberseite hiervon eine entsprechende Reihe von Referenzempfängern innerhalb des Gehäuses angeordnet, so daß eventuelle Verschmutzungen des Fensters, die die Durchstrahlbarkeit des Fensters beeinträchtigen, erkannt werden können. Allerdings wird auch der Ausfall einer Referenzlichtquelle letztlich als Verschmutzung erkannt und ferner erfolgt die Überwachung nur lückenhaft. Der Sender für optische Strahlung zur Raumüberwachung kann hierdurch nicht überwacht werden.Such a device is known from DE 197 35 038 A1, the one with includes a housing provided over 180 ° extending window. Here is for monitoring the contamination of the window along the underside thereof a series of IR light emitting diodes as reference light sources and along the top a corresponding number of reference receivers within the Housing arranged so that any contamination of the window that the Impair the radiability of the window, can be recognized. Indeed the failure of a reference light source is ultimately recognized as contamination and the surveillance is also incomplete. The transmitter for optical Radiation for room surveillance cannot be monitored in this way.

Aufgabe der Erfindung ist es, eine Vorrichtung nach dem Oberbegriff des Anspruchs 1 zu schaffen, die es ermöglicht, die Fensterverschmutzung lückenlos zu überwachen, ohne eine Vielzahl von Sender- und Empfängerpaaren über den Umfang der Frontscheibe anzuordnen.The object of the invention is a device according to the preamble of Claim 1 to create, which allows the window pollution to complete monitor without a variety of transmitter and receiver pairs over the Arrange the circumference of the windscreen.

Diese Aufgabe wird entsprechend dem kennzeichnenden Teil des Anspruchs 1 gelöst.This task is according to the characterizing part of the claim 1 solved.

Weitere Ausgestaltungen der Erfindung sind der nachfolgenden Beschreibung und den Unteransprüchen zu entnehmen.Further refinements of the invention are as follows Description and the dependent claims.

Die Erfindung wird nachstehend anhand eines in der beigefügten Abbildung schematisch dargestellten Ausführungsbeispiels näher erläutert.The invention is illustrated below with the aid of one in the attached figure schematically illustrated embodiment explained in more detail.

Die dargestellte Vorrichtung umfaßt ein (nicht dargestelltes) Gehäuse mit einem Fenster 1, das sich über einen vorbestimmten Winkel, vorzugsweise 180°, entsprechend dem zu überwachenden Raum erstreckt und kugelausschnittförmig ist. Das Fenster 1 besitzt Ober- und Unterrandabschnitte 1', 1", die winkelförmig mit einem eingeschlossenen Winkel von mehr als etwa 100° ausgebildet sind, damit die Ansammlung von Verschmutzungspartikeln dort zumindest erschwert wird, und deren im Gehäuse eingespannte Schenkel etwa parallel zur Kugelausschnittebene verlaufen.The device shown comprises a housing (not shown) with a window 1 which extends over a predetermined angle, preferably 180 °, in accordance with the space to be monitored and is spherical in section. The window 1 has upper and lower edge sections 1 ', 1 ", which are angular in shape with an included angle of more than about 100 °, so that the accumulation of dirt particles is at least made more difficult there, and whose legs clamped in the housing run approximately parallel to the spherical cut-out plane .

In dem Gehäuse sind ein Meßsender (Impulslaserdiode) 2, Meßempfänger 3 und eine Drehspiegelanordnung 4 vorgesehen. Letztere ist über einen Motor umlaufend drehbar und umfaßt einen Sendespiegel 5 in einem Winkel von 45° zur Drehachse der Drehspiegelanordnung 4. Der Sendespiegel 5 empfängt optische Strahlung vom Meßsender 2, so daß ein durch das Fenster 1 reflektiertes Strahlenbündel zum Meßempfänger 3 gelangt.A measuring transmitter (pulse laser diode) 2 , measuring receiver 3 and a rotating mirror arrangement 4 are provided in the housing. The latter can be rotated circumferentially by a motor and comprises a transmission mirror 5 at an angle of 45 ° to the axis of rotation of the rotating mirror arrangement 4 . The transmitting mirror 5 receives optical radiation from the measuring transmitter 2 , so that a beam of rays reflected by the window 1 reaches the measuring receiver 3 .

Die Drehspiegelanordnung 4 umfaßt einen Empfangsspiegel 8, der um 180° gegenüber dem Sendespiegel 5 verdreht ist, diesen umgibt und ein von einem Objekt im zu überwachenden Raumbereich durch das Fenster 1 reflektiertes Strahlenbündel zu einem Meßempfänger 3 umlenkt.The rotating mirror arrangement 4 comprises a receiving mirror 8 , which is rotated by 180 ° relative to the transmitting mirror 5 , surrounds it and deflects a beam of rays reflected by an object in the area to be monitored through the window 1 to a measuring receiver 3 .

Außerdem umfaßt die Drehspiegelanordnung 4 zusätzlich benachbart zum Sendespiegel 5 einen kleineren, in einem vorbestimmten, spitzen Winkel hierzu angeordneten Spiegel 9. Dieser lenkt einen Teil des vom Meßsender 2 kommenden Strahlenbündels auf eine im Gehäuse unterhalb des Unterrandabschnitts 1" angeordnete, sich entlang des Fensters 1 erstreckende, kreisförmige Spiegelfläche 10. Letztere lenkt die hierauf fallende Strahlung 11 zweifach durch das Fenster 1 sowie durch den Unter- und den Oberrandabschnitt 1", 1' hindurch auf Meßempfänger 3 für die Verschmutzungsüberwachung, die entlang des Oberrandabschnitts 1' angeordnet sind, so daß bei Drehung der Drehspiegelanordnung 4 die Spiegelfläche 10 und damit das Fenster 1 fortschreitend überstrichen werden. Dadurch reicht eine begrenzte Anzahl von Meßempfängern 3 entlang des Oberrandabschnitts 1 aus, da durch den Öffnungswinkel der Meßempfänger 3 der vom Meßsender 2 über die Drehspiegelanordnung 4 und die kreisförmige Spiegelfläche 10 abgeleitete Lichtstrahl ein kontinuierliches analoges Signal in den Meßempfängern 3 erzeugt, wodurch eine lückenlose Überwachung der Frontscheibe 1 ermöglicht wird.In addition, the rotating mirror arrangement 4 also comprises, adjacent to the transmitting mirror 5, a smaller mirror 9 arranged at a predetermined, acute angle thereto. This directs part of the beam of rays coming from the measuring transmitter 2 onto a circular mirror surface 10 arranged in the housing below the lower edge section 1 "and extending along the window 1. The latter directs the radiation 11 falling thereon twice through the window 1 and through the lower and lower the upper edge portion 1 ", 1 'pass on measurement receiver 3 for pollution monitoring, along the top edge portion 1', so that the mirror surface 10 and hence the window 1 swept progressively are arranged upon rotation of the rotating mirror assembly. 4 As a result, a limited number of measuring receivers 3 along the upper edge section 1 are sufficient, since the opening angle of the measuring receivers 3 means that the light beam derived from the measuring transmitter 2 via the rotating mirror arrangement 4 and the circular mirror surface 10 generates a continuous analog signal in the measuring receivers 3 , thereby ensuring complete monitoring the front window 1 is enabled.

Die Meßempfänger 3 sind an eine Auswerteschaltung (nicht dargestellt) angeschlossen, die beispielsweise einen Mikroprozessor umfaßt. Für jeden Meßpunkt können in einem Abgleichmodus die Transmissionswerte des sauberen Fensters 1 ermittelt und abgespeichert werden. Bei der eigentlichen Überwachung wird durch Bildung der Verhältnisse der aktuellen Meßwerte zum Abgleichswert die Transmission und damit die Verschmutzung bestimmt, so daß man eine im wesentlichen lückenlose Überwachung des Fensters 1 erzielen kann.The measuring receivers 3 are connected to an evaluation circuit (not shown) which comprises, for example, a microprocessor. The transmission values of the clean window 1 can be determined and stored for each measuring point in an adjustment mode. During the actual monitoring, the transmission and thus the contamination are determined by forming the ratios of the current measured values to the comparison value, so that essentially seamless monitoring of the window 1 can be achieved.

Claims (5)

1. Vorrichtung zum Orten von in einen zu überwachenden Raumbereich eindringenden Objekten, mit einem mit einem sich im wesentlichen über 180° erstreckenden Fenster (1) versehenen Gehäuse, in dem ein Sender und ein Empfänger für optische Strahlung sowie eine von einem Motor zum Umlauf antreibbare Drehspiegelanordnung (4) zum Lenken eines Strahlenbündels durch das Fenster (1) in den zu überwachenden Raumbereich und zum Lenken eines von einem in dem zu überwachenden Raumbereich befindlichen Objekt reflektierten, durch das Fenster (1) in das Gehäuse eingetretenen Strahlenbündels auf den Empfänger vorgesehen sind, wobei eine Verschmutzungsüberwachungseinrich­ tung für das Fenster (1) vorgesehen ist, die eine Reihe von entlang eines Randes des Fensters (1) angeordneten Meßempfängern (3) für durch das Fenster (1) gesandte Meßstrahlung und eine Auswerteeinrichtung hierfür umfaßt, dadurch gekennzeichnet, daß an der den Meßempfängern (3) abgekehrten Seite des Fensters (1) eine sich über die Länge des Fensters (1) erstreckende Spiegelfläche (10) angeordnet ist, der Meßstrahlung von einem Meßsender (2) über einen sich mit der Drehspiegelanordnung (4) drehenden Spiegel (9) empfängt und durch das Fenster (1) aufeinanderfolgend an die Meßempfänger (3) reflektiert.1. Device for locating objects penetrating into a room area to be monitored, with a housing provided with a window ( 1 ) extending essentially over 180 °, in which a transmitter and a receiver for optical radiation as well as one that can be driven by a motor for circulation Rotary mirror arrangement ( 4 ) for directing a beam of rays through the window ( 1 ) into the area to be monitored and for directing a beam of rays reflected into the housing from the object to be monitored and through the window ( 1 ) into the housing are provided to the receiver , wherein a pollution monitoring device for the window ( 1 ) is provided, which comprises a row of measuring receivers ( 3 ) arranged along an edge of the window ( 1 ) for measuring radiation transmitted through the window ( 1 ) and an evaluation device therefor, characterized in that on the side facing away from the measuring receivers ( 3 ) the window ( 1 ) has a mirror surface ( 10 ) extending over the length of the window ( 1 ), which receives measuring radiation from a measuring transmitter ( 2 ) via a mirror ( 9 ) rotating with the rotating mirror arrangement ( 4 ) and through the window ( 1 ) successively reflected on the measuring receiver ( 3 ). 2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß das Fenster (1) kugelausschnittförmig ist, wobei der Mittelpunkt des Fensters (1) der Schnittpunkt der Drehachse (7) der Drehspiegelanordnung (4) mit den optischen Achsen des ein- und ausfallenden Strahlenbündels ist.2. Apparatus according to claim 1, characterized in that the window ( 1 ) is spherical, wherein the center of the window ( 1 ) is the intersection of the axis of rotation ( 7 ) of the rotating mirror arrangement ( 4 ) with the optical axes of the incident and emerging rays . 3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß das Fenster (1) ober- und unterseitig schräg verlaufende Schenkel aufweist, benachbart zu denen die Spiegelfläche (10) bzw. die Meßempfänger (3) angeordnet sind.3. Apparatus according to claim 1 or 2, characterized in that the window ( 1 ) has obliquely extending legs on the top and bottom, adjacent to which the mirror surface ( 10 ) and the measuring receiver ( 3 ) are arranged. 4. Vorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß das Fenster (1) eine Form aufweist, durch sie es von der Meßstrahlung zweifach durchstrahlbar ist.4. Device according to one of claims 1 to 3, characterized in that the window ( 1 ) has a shape through which it can be irradiated twice by the measuring radiation. 5. Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß das vom Meßsender (2) ausgesandte Strahlenbündel über einen Umlenkspiegel (6) senkrecht zur Drehachse (7) der Drehspiegelanordnung (4) abgelenkt wird.5. Device according to one of claims 1 to 4, characterized in that the beam emitted by the measuring transmitter ( 2 ) is deflected via a deflecting mirror ( 6 ) perpendicular to the axis of rotation ( 7 ) of the rotating mirror arrangement ( 4 ).
DE2000125511 2000-05-23 2000-05-23 Object location device for surveillance system with integrated detection of soiling level of housing window Expired - Lifetime DE10025511C1 (en)

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DE2000125511 DE10025511C1 (en) 2000-05-23 2000-05-23 Object location device for surveillance system with integrated detection of soiling level of housing window

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Cited By (23)

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Publication number Priority date Publication date Assignee Title
EP1378763A1 (en) * 2002-07-05 2004-01-07 Sick AG Laser scanning apparatus with function monitoring
EP2251709A1 (en) * 2009-05-08 2010-11-17 Sick Ag Optoelectronic sensor assembly for monitoring objects
EP2508914A1 (en) 2011-04-05 2012-10-10 Sick AG Optical detection device
EP2631669A1 (en) * 2012-02-24 2013-08-28 Sick AG Optical system
EP2642314A1 (en) * 2012-03-21 2013-09-25 Sick Ag Optoelectronic sensor and method for testing the transparency of a windshield
EP3511739A1 (en) * 2018-01-12 2019-07-17 Sick Ag Testing device for optical measuring system
USRE48491E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition lidar system
US10983218B2 (en) 2016-06-01 2021-04-20 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11073617B2 (en) 2016-03-19 2021-07-27 Velodyne Lidar Usa, Inc. Integrated illumination and detection for LIDAR based 3-D imaging
US11082010B2 (en) 2018-11-06 2021-08-03 Velodyne Lidar Usa, Inc. Systems and methods for TIA base current detection and compensation
US11137480B2 (en) 2016-01-31 2021-10-05 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11294041B2 (en) 2017-12-08 2022-04-05 Velodyne Lidar Usa, Inc. Systems and methods for improving detection of a return signal in a light ranging and detection system
EP4086661A1 (en) 2021-05-04 2022-11-09 Sick Ag Optoelectronic sensor and method for monitoring a windshield
US11703569B2 (en) 2017-05-08 2023-07-18 Velodyne Lidar Usa, Inc. LIDAR data acquisition and control
US11796648B2 (en) 2018-09-18 2023-10-24 Velodyne Lidar Usa, Inc. Multi-channel lidar illumination driver
US11808891B2 (en) 2017-03-31 2023-11-07 Velodyne Lidar Usa, Inc. Integrated LIDAR illumination power control
US11885958B2 (en) 2019-01-07 2024-01-30 Velodyne Lidar Usa, Inc. Systems and methods for a dual axis resonant scanning mirror
US11933967B2 (en) 2019-08-22 2024-03-19 Red Creamery, LLC Distally actuated scanning mirror
US12061263B2 (en) 2019-01-07 2024-08-13 Velodyne Lidar Usa, Inc. Systems and methods for a configurable sensor system
US12123950B2 (en) 2016-02-15 2024-10-22 Red Creamery, LLC Hybrid LADAR with co-planar scanning and imaging field-of-view
EP4468026A1 (en) 2023-05-25 2024-11-27 Sick Ag Optoelectronic sensor and method for measuring soiling of a windshield
US12399279B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Enhanced hybrid LIDAR with high-speed scanning
US12399278B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Hybrid LIDAR with optically enhanced scanned laser

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DE10230397A1 (en) * 2002-07-05 2004-01-15 Sick Ag laser scanning
US7041962B2 (en) 2002-07-05 2006-05-09 Sick Ag Laser scanning apparatus
EP1378763A1 (en) * 2002-07-05 2004-01-07 Sick AG Laser scanning apparatus with function monitoring
USRE48491E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition lidar system
USRE48688E1 (en) 2006-07-13 2021-08-17 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48666E1 (en) 2006-07-13 2021-08-03 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48504E1 (en) 2006-07-13 2021-04-06 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48503E1 (en) 2006-07-13 2021-04-06 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48490E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition LiDAR system
EP2251709A1 (en) * 2009-05-08 2010-11-17 Sick Ag Optoelectronic sensor assembly for monitoring objects
EP2508914A1 (en) 2011-04-05 2012-10-10 Sick AG Optical detection device
US8873058B2 (en) 2012-02-24 2014-10-28 Sick Ag Optical sensor
EP2631669A1 (en) * 2012-02-24 2013-08-28 Sick AG Optical system
US9476828B2 (en) 2012-03-21 2016-10-25 Sick Ag Optoelectronic sensor for testing transmissivity of a front screen
EP2642314A1 (en) * 2012-03-21 2013-09-25 Sick Ag Optoelectronic sensor and method for testing the transparency of a windshield
US11822012B2 (en) 2016-01-31 2023-11-21 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11698443B2 (en) 2016-01-31 2023-07-11 Velodyne Lidar Usa, Inc. Multiple pulse, lidar based 3-D imaging
US11550036B2 (en) 2016-01-31 2023-01-10 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11137480B2 (en) 2016-01-31 2021-10-05 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US12399279B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Enhanced hybrid LIDAR with high-speed scanning
US12399278B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Hybrid LIDAR with optically enhanced scanned laser
US12123950B2 (en) 2016-02-15 2024-10-22 Red Creamery, LLC Hybrid LADAR with co-planar scanning and imaging field-of-view
US11073617B2 (en) 2016-03-19 2021-07-27 Velodyne Lidar Usa, Inc. Integrated illumination and detection for LIDAR based 3-D imaging
US11874377B2 (en) 2016-06-01 2024-01-16 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
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