EP0656868A1 - Vorrichtung und verfahren zur steuerung eines containerkranes. - Google Patents
Vorrichtung und verfahren zur steuerung eines containerkranes.Info
- Publication number
- EP0656868A1 EP0656868A1 EP93919193A EP93919193A EP0656868A1 EP 0656868 A1 EP0656868 A1 EP 0656868A1 EP 93919193 A EP93919193 A EP 93919193A EP 93919193 A EP93919193 A EP 93919193A EP 0656868 A1 EP0656868 A1 EP 0656868A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- container
- crane
- loading
- sensor
- edge
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
Definitions
- the invention relates to a device and a method for controlling a container crane.
- a number of different types of cranes are used for handling containers. This includes common ship unloading cranes that can be moved freely or on rails, as well as gantry cranes or e.g. Jib cranes. What they all have in common is that they have a movable lifting device on which a loading tableware is suspended.
- the loading gear is designed in such a way that it can grip and hold the common types of containers.
- This destination can be a suitable parking area, e.g. the loading area of a truck or a freight wagon, but on the other hand also be another container that serves as a stacking base.
- the movement of the loading gear along the transport path is controlled manually under the sight of a crane operator.
- the crane operator usually works with so-called instructors who e.g. by radio to help set down the empty or loaded loading gear at the destination.
- the object is achieved by means of a device according to claim 1 and a method according to opening 9.
- the device according to the invention works with at least one sensor attached to the crane, which is able to scan surfaces located within the lifting range of the loading gear and to measure at least one point on edges located therein that have a minimum jump in height.
- the minimum jump in height is specified with regard to the selected edge to be scanned so that the sensor specifically recognizes this edge and applies it to further z.
- adjacent edges do not respond with a lower jump in height.
- the distance sensor can be e.g. act as a sensor described below, which scans a line or a surface in a predetermined angular range with resolution decreasing over the distance.
- the sensor is oriented in such a way that in any case it measures a point on a selected edge, in particular a horizontal edge, of the loading device or a point on a selected edge of the container accommodated in the loading device.
- the sensor When approaching a container that is to be gripped by the loading gear or serves as a stacking base for a container to be unloaded, the sensor also measures a point on a selected edge of this target container.
- the device is designed in such a way that it generates control signals for the crane drive for steering the loading gear into an engagement position with the target container from the measurement data determined by the sensor on the basis of the known dimensions of the loading gear or containers contained therein.
- the device according to the invention in particular enables automatic height control of the empty or loaded loading device.
- dishes related to a target container It can be assumed that the destination for the loading gear is often a destination container. However, it is just as well possible that a loaded load is brought up to an empty storage area, for example on a truck or freight wagon.
- Such shelves generally also have characteristic edges, which can be measured by means of the sensor in at least one point. If the term target container is used in the context of this application, then it always also includes those (container-free) destinations that have at least one edge that can be detected by the sensor and that clearly defines the position of the storage surface.
- edges with any orientation by means of the sensor. It is sensible, however, to select horizontally or essentially horizontally oriented edges for the measurement. With increased computing effort or the use of several sensors, of course, points on inclined, non-horizontal edges can also be measured and related to one another. For example, assume that a truck usually has a slightly beveled shelf with corresponding edges to be measured. Destination configurations of this type can also be detected and calculated with the device according to the invention.
- Embodiments of the invention are protected in the subclaims, with which further automation of the loading device control can be achieved.
- These configurations can in particular be implemented in cranes which can be moved overall parallel to one of the horizontal edges of the target container and whose lifting device (trolley) can be moved transversely thereto parallel to a further upper horizontal edge of the target container.
- the crane In the case of a ship crane, the crane can be moved on wheels or rails, for example, parallel to the longitudinal edges of target containers stacked in transverse rows on a ship.
- the lifting device is in the direction of the transverse rows movable with loading gear aligned parallel to the target containers.
- This type of crane is described in detail only because it is commonly used for handling larger quantities of containers and because of the given spatial dimensions in which the crane and lifting device move, sensor-controlled automation makes it particularly simple.
- any other crane for example a gantry or slewing crane, can of course also be equipped with the device according to the invention.
- any other crane for example a gantry or slewing crane, can of course also be equipped with the device according to the invention.
- only a greater amount of processing work has to be carried out when converting the determined measurement data into control signals.
- sensor-controlled automation of the loading harness movement is also easily possible here.
- the empty or loaded loading gear hanging on the lifting device behaves like a dynamic system.
- the extent of this oscillation can already be measured by measuring a point e.g. determine a selected edge of the loading gear or the container accommodated therein, provided that the selected edge to be scanned is and remains oriented transversely to the plane of vibration.
- the expected pendulum motion cannot, of course, always be predicted.
- pendulum movements which are overlaid by a rotation of the hanging load, e.g. when moving a container with mass distribution, the measurement of a single edge point can no longer be sufficient to determine the degree of a possible deflection.
- An advantageous embodiment according to claim 2 therefore provides that two points located on parallel edges of the load harness or a container accommodated therein are measured by means of the sensor. In the case of continuous measurement, the measured values obtained in each case (which allow a specific statement about the deflection and angular position of the loading gear) the vibration movement can be determined. The device then automatically generates signals that control the crane drive to dampen the vibration.
- the last-mentioned device also permits a particularly simple parallel alignment of the empty or loaded loading gear to a target container.
- the sensors are furthermore arranged in a somewhat laterally arranged manner (so that they can look under the loading equipment or a container accommodated therein), then the empty or loaded loading equipment can be moved automatically into one position in which it is located above the target container and aligned parallel to it.
- the empty or loaded loading gear only has to be adjusted in the direction of the container longitudinal axis for a "flush" engagement position.
- the longitudinal edges of a loading gear can be automatically aligned with the longitudinal edges of a target container.
- the sensors scanning the longitudinal edges may be provided with further sensors which measure points on the transverse edges.
- a sensor is provided which is movably received on the crane in the direction of the edge to be scanned.
- Such a sensor can be moved along the edge to be scanned and its (or its) end points measured. Knowing at least one end point of an edge of the target container to be scanned, the exact position thereof can be determined and the crane can be moved accordingly.
- the alignment of the empty or loaded loading gear to the longitudinal and transverse edges can be done in the simplest case control the destination container. As a rule, it is sufficient to carry out this measurement process once per row of container transshipment.
- the containers e.g.
- the sensor is advantageously attached directly to the lifting device. In this way, an optimal overview of the transport process by means of the sensor is made possible.
- the sensor can be designed as a 2D distance image sensor.
- a 2D distance image sensor Such a sensor generates a measuring beam swiveling in one plane with constant determination of the outside angle and the beam travel time.
- Beam travel time is the time it takes, for example, a light pulse after emitting to reach an object after reflection on an object to be measured. catcher to return.
- the distance of an object to the sensor can be calculated via the beam travel time.
- a common example for such a distance measurement is, for example, the radar measurement.
- the spatial coordinates of a measured point can be defined in relation to the sensor.
- a laser beam or a microwave beam can serve as the measuring beam, for example.
- an area scan is obtained which, for example, Can provide information about the positions of points on a longitudinal and a transverse edge of the target container.
- a sensor (3D distance image sensor) supplies all three coordinates to the measured points.
- the measurement data determined by the sensors are converted into control signals in the device according to the invention.
- the computing processes required for this are part of the basic technical knowledge, as is their computer-controlled implementation in control signals for a crane drive.
- the sensor is movably arranged on the crane
- its respective position with respect to the crane is also recorded and included in the location calculations. This ensures that the necessary control signals can be generated regardless of the position of the sensor on the crane.
- the invention is not limited to a device for controlling container cranes. Rather, a corresponding method is also to be protected.
- the principle of the method according to the invention is to measure at least one point in each case of a selected upper, in particular horizontal, edge of the loading gear, a container possibly accommodated therein and, when approaching a destination, at least one point of a selected edge of this destination. Knowing the measured values, the height position and also the side position of the edges with respect to one another can be determined and, from the known dimensions of the loading gear and any container possibly accommodated therein, the difference in height and side to the destination (the configuration of which is also known) ) into the crane computer or into another computing unit that controls the crane drive.
- a destination can be represented both by a target container to be gripped or used as a stack base, but also by a storage space for containers, for example on a ship, freight wagon or truck. It is only essential for the method according to the invention that there is a avoidable edge in the destination area which is clearly geometrically related to the destination configuration. In the event that the destination is a container, this can be, for example, one of the upper horizontal edges of the container.
- the main areas of application of the method according to the invention relate to the approximation and alignment of the loading gear and any container contained therein to a destination and the automatic 1Ü matic damping of any vibrations of the loading gear.
- a further embodiment of the method according to the invention is to be dealt with, which relates in particular to the transport route of the loading harness between the destinations.
- containers are placed next to one another, in particular on ships in transverse rows, and further containers are stacked on top of these containers.
- the lifting device is moved over the row of (to be dismantled) containers. In the course of the transhipment, the height of the individual stack of containers in the row changes (depending on the loading plan).
- the loading harness is guided in a safe distance on its transport route over the upper containers in the row. Due to the constantly changing configuration of the row of container stacks to be set up or dismantled, manual control of the transport route requires a high degree of concentration. According to claim 10 it is therefore provided that at least one upper horizontal edge of each container crossed by the loading gear is measured in at least one point.
- the same sensor can be used that is also used to measure points on the load harness, a container possibly contained therein and the target container.
- the sensor is expediently attached to the lifting device and oriented essentially vertically looking downwards.
- a surface profile of the load configuration can be determined with a computing unit, for example in the crane computer, which can be taken into account when controlling the loading gear via the stack of containers to be set up or dismantled.
- the data entered into the computer are updated with each movement of the loading gear, whereby changes in the loading configuration during the handling, but also in the unloading or loading of the ship, for example, due to a change in the ship position caused by the tidal range are taken into account.
- Fig. 1 shows schematically a container crane with a
- Embodiment of the device according to the invention is equipped.
- FIG 3 shows the approach of a transported container to a destination container using a schematic drawing.
- a container crane 10 is shown when handling containers 12 stacked in a transverse row 11.
- the container crane 10 has a bridge 14 which can be moved on wheels 13 and on which a lifting device 15 which can be moved in the longitudinal direction of the bridge is accommodated.
- the lifting gear 16 can be moved by the lifting device 15 into any vertical position below the bridge 14.
- the container crane 10 shown in FIG. 1 corresponds to the prior art. According to the invention, however, a number of sensors 17a, b, 18a, b are now arranged on the lifting device 15.
- the sensors 17a, b are arranged in such a way that, as shown, points 170a, b of longitudinal edges 160a, b of the loading harness 16 are offset in the longitudinal direction, and points 170a ', b' of horizontal longitudinal edges 120a, b are also offset from one another Measure containers 120.
- points 170a, b of longitudinal edges 160a, b of the loading harness 16 are offset in the longitudinal direction
- points 170a ', b' of horizontal longitudinal edges 120a, b are also offset from one another Measure containers 120.
- the height difference between the loading harness 16 and the surface of the container 120 can in particular be easily calculated from the respectively determined point measurement values and a parallel alignment of the longitudinal axes of the loading harness 16 to the longitudinal axis of the container 120 can also be checked . If, as in the given case, the bridge 14 already leads to the container row 11 is aligned.
- the loading harness 16 can be automatically and easily controlled in a loading operation with one of the containers 12, for example the container 120.
- the alignment of the bridge 14 to the row of containers 11 can also be automated.
- the sensors 18a, b serve for this purpose, of which the sensor 18a sweeps a line parallel to the container row 11 with its viewing area 180a (the viewing area of the sensor 18b was not shown for reasons of clarity).
- the position of the row of containers 11 relative to the crane 10 can be clearly established on the basis of these measured values. It is then sufficient to move the crane 10 until the load harness 16 is arranged centrally over the row 11.
- This alignment of the crane can, however, also take place by means of the sensors 17a, b.
- the crane 10 must be moved in one direction until e.g. the sensor 17a reaches the closer end of the upper horizontal edge 120a of the container 120 which it scans. From the known relationship of the loading harness 16 to the crane 10 and the measured value, the position of the row 11 with respect to the crane 10 can then be determined unambiguously and aligned accordingly.
- Another possibility described above would be to assign the sensor (s) 17a, b to be movable in the direction of the scanned edge 120a, b in the lifting device 15. In this case, it would be sufficient to move the sensor 17a (and not the entire crane 10) accordingly in order to determine the corner point of the scanned edge of the container 120.
- FIG. 2 shows a container crane 20 which in principle corresponds to the crane 10 shown in FIG. 1.
- a bridge 22 which is movable on wheels 21 is provided, on which a lifting device 23 is accommodated so as to be movable in the longitudinal direction of the bridge 22.
- a driver's cab 50 is provided on bridge 22.
- a crane driver can control the loading activities from the driver's cab 50.
- a vertically movable loading gear 24 is suspended from the lifting device 23 and is currently in loading engagement with a container 25.
- the container 25 belongs to a whole series of further containers, also designated by the reference numeral 25, which are arranged in a transverse row 26 in stacks 27 arranged side by side. In the case shown, the container 25 gripped by the loading gear 24 is to be reloaded onto a truck 28.
- sensors 29a and 29b are provided on the lifting device 23, the sensor areas 290b, 290a of which each measure a point of the upper horizontal longitudinal edges of the loading gear 24.
- the empty loading gear 24 was first lowered onto the container 25 in a targeted manner (shown state). Now the loading gear 24 loaded with the container 25 is moved to the truck 28, with the sensors 29a, 29b additionally sweeping over the surfaces of the container stack 27 and in each case measuring a point on the longitudinal edges of the containers 25 delimiting the surfaces becomes. On the basis of the measured values, a profile of the surfaces defined by the container stack is created in the crane computer, which can be updated with each loading movement of the loading gear 24 or the lifting device 23. The crane computer can thus automatically provide a collision-free route to the desired destination for each container transport, in this case the truck 28.
- the truck in turn has upper horizontal edges 30, 31 which can be measured by the sensors 29a, 29b in at least one point.
- the container 25 gripped by the loading tackle 24 can be lowered precisely onto the loading area of the truck 28.
- 3 roughly schematically shows a typical handling situation in which a container 40 is to be placed flush on a target container 41. All other components of the crane transporting the container 40 have been omitted for reasons of clarity.
- the reference symbols 42 and 43 denote points which were measured by means of a sensor 60 fastened to the crane (not shown) on one of the upper longitudinal edges of the container 40 and the container 41.
- a measuring beam 600 is pivoted by the sensor 60 over an angular range 61 in one plane.
- the beam travel time is determined at a defined beam angle. From the beam travel time, the distance between the sensor and a point reflecting the beam can be determined from the outside angle of the beam, its angular position to the sensor. In this way, coordinates can be calculated for each point measured by the sensor, which indicate the vertical and horizontal position of the point in relation to the sensor.
- points 42 and 43 were measured on the upper horizontal longitudinal edges of the containers 40 and 41 by means of the measuring beam 600 in the angular positions A ⁇ and A2.
- the vertical distance ⁇ h and the horizontal distance ⁇ X between points 42 and 43 can be determined from the corresponding coordinates.
- the container 40 and with it the measuring point 42 must be moved so far that the value ⁇ X goes to zero and the value ⁇ h becomes equal to the known height of the container 40 ⁇ C. Knowing the continuously determined and checked position of the measured values 42 and 43, the corresponding control signals for the crane drive can be generated without problems.
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4228732 | 1992-08-28 | ||
DE4228732 | 1992-08-28 | ||
PCT/EP1993/002312 WO1994005586A1 (de) | 1992-08-28 | 1993-08-26 | Vorrichtung und verfahren zur steuerung eines containerkranes |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0656868A1 true EP0656868A1 (de) | 1995-06-14 |
EP0656868B1 EP0656868B1 (de) | 1997-01-22 |
Family
ID=6466694
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP93919193A Expired - Lifetime EP0656868B1 (de) | 1992-08-28 | 1993-08-26 | Vorrichtung und verfahren zur steuerung eines containerkranes |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0656868B1 (de) |
DE (1) | DE59305281D1 (de) |
SG (1) | SG52219A1 (de) |
WO (1) | WO1994005586A1 (de) |
Cited By (9)
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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 |
US11703569B2 (en) | 2017-05-08 | 2023-07-18 | Velodyne Lidar Usa, Inc. | LIDAR data acquisition and control |
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 |
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FI111243B (fi) * | 1994-03-30 | 2003-06-30 | Samsung Heavy Ind | Menetelmä nosturin käyttämiseksi |
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DE19519741A1 (de) * | 1995-06-02 | 1996-12-05 | Siemens Ag | Sensorik für einen Kran, insbesondere einen schienengebundenen Stapelkran oder Brückenkran |
DE19841570C2 (de) * | 1998-09-11 | 2001-04-12 | Telerob Ges Fuer Fernhantierun | Kaikran zum Be- und Entladen von Containern |
SE513174C2 (sv) * | 1998-10-22 | 2000-07-24 | Abb Ab | Förfarande för hantering av containrar samt anordning för utförande av förfarandet |
US7261351B1 (en) | 2000-04-24 | 2007-08-28 | Nsl Engineering Pte Ltd | Spreader including a detection system |
DE10039629B4 (de) * | 2000-08-09 | 2007-01-11 | Railion Deutschland Ag | Verfahren zur automatischen Be- und Entladung von Transporteinheiten, insbesondere von Einheiten zum Transportieren von Gütern |
DE10233943A1 (de) * | 2002-07-25 | 2004-02-19 | Siemens Ag | Containerkran |
DE10233872A1 (de) * | 2002-07-25 | 2004-02-19 | Siemens Ag | Verfahren zum Betrieb eines Containerkrans |
DE10251910B4 (de) | 2002-11-07 | 2013-03-14 | Siemens Aktiengesellschaft | Containerkran |
DE10323642A1 (de) * | 2003-05-26 | 2005-01-05 | Daimlerchrysler Ag | Bildsensor für ein autonomes Flurförderfahrzeug mit großem Erfassungsbereich |
DE10323643B4 (de) * | 2003-05-26 | 2021-02-04 | Still Gesellschaft Mit Beschränkter Haftung | Sensorsystem für ein autonomes Flurförderfahrzeug |
DE10323641A1 (de) * | 2003-05-26 | 2005-01-05 | Daimlerchrysler Ag | Bewegliche Sensoreinrichtung am Lastmittel eines Gabelstaplers |
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DE102016219522A1 (de) * | 2016-10-07 | 2018-04-26 | Siemens Aktiengesellschaft | Verfahren und Anordnung zum Platzieren von stapelbaren Lagerungsvorrichtungen |
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- 1993-08-26 DE DE59305281T patent/DE59305281D1/de not_active Expired - Lifetime
- 1993-08-26 EP EP93919193A patent/EP0656868B1/de not_active Expired - Lifetime
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Cited By (21)
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USRE48490E1 (en) | 2006-07-13 | 2021-03-30 | 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 |
USRE48491E1 (en) | 2006-07-13 | 2021-03-30 | Velodyne Lidar Usa, Inc. | High definition lidar system |
USRE48666E1 (en) | 2006-07-13 | 2021-08-03 | Velodyne Lidar Usa, Inc. | High definition LiDAR system |
USRE48688E1 (en) | 2006-07-13 | 2021-08-17 | Velodyne Lidar Usa, Inc. | High definition LiDAR system |
US11550036B2 (en) | 2016-01-31 | 2023-01-10 | Velodyne Lidar Usa, Inc. | Multiple pulse, LIDAR based 3-D imaging |
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US11698443B2 (en) | 2016-01-31 | 2023-07-11 | 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 |
US11073617B2 (en) | 2016-03-19 | 2021-07-27 | Velodyne Lidar Usa, Inc. | Integrated illumination and detection for LIDAR based 3-D imaging |
US11550056B2 (en) | 2016-06-01 | 2023-01-10 | Velodyne Lidar Usa, Inc. | Multiple pixel scanning lidar |
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US11808854B2 (en) | 2016-06-01 | 2023-11-07 | Velodyne Lidar Usa, Inc. | Multiple pixel scanning LIDAR |
US10983218B2 (en) | 2016-06-01 | 2021-04-20 | Velodyne Lidar Usa, Inc. | Multiple pixel scanning LIDAR |
US11874377B2 (en) | 2016-06-01 | 2024-01-16 | Velodyne Lidar Usa, Inc. | Multiple pixel scanning LIDAR |
US11808891B2 (en) | 2017-03-31 | 2023-11-07 | Velodyne Lidar Usa, Inc. | Integrated LIDAR illumination power control |
US11703569B2 (en) | 2017-05-08 | 2023-07-18 | Velodyne Lidar Usa, Inc. | LIDAR data acquisition and control |
US11082010B2 (en) | 2018-11-06 | 2021-08-03 | Velodyne Lidar Usa, Inc. | Systems and methods for TIA base current detection and compensation |
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 |
Also Published As
Publication number | Publication date |
---|---|
EP0656868B1 (de) | 1997-01-22 |
SG52219A1 (en) | 1998-09-28 |
DE59305281D1 (de) | 1997-03-06 |
WO1994005586A1 (de) | 1994-03-17 |
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