This application discloses a LiDAR and a device. The LiDAR includes: a receiving module and a plurality of emission modules, and a combination of emission fields of view of the plurality of emission modules matches the receiving field of view of the receiving module. Each emission module includes a laser and an emission optical component located on a light emission side of the laser. An area of a projection region of a light emission region of the laser of the emission module on a light-incident face of the emission optical component is smaller than an area of the light-incident face. Emission angles of view of the plurality of emission modules are overlapped.
This application provides a detection method of a laser detection apparatus and the laser detection apparatus, where the detection method includes: controlling two lasers with different emission power respectively to emit triangular wave signals with different sweep slopes and in opposite sweep directions to the target object in the same sweep period; then receiving local oscillator signals; and further based on a magnitude relationship of the power of the two lasers, a value of the sweep slope, and frequency of the local oscillator signals and the beat frequency signal of the corresponding echo signal, determining a moving direction and a speed of the target object.
A point cloud processing method and a radar. The point cloud processing method comprises: obtaining a point cloud, wherein points in the point cloud have reflectivities; in response to the point cloud, dividing the point cloud into first-type points and/or second-type points on the basis of the reflectivities of the points in the point cloud, wherein the reflectivity of the first-type points is higher than a first reflectivity threshold, and the reflectivity of the second-type points is lower than a second reflectivity threshold; and if the second-type points and the first-type points are connected and the second-type points meet a deletion condition, deleting the second-type points, wherein the deletion condition represents that the second-type points belong to swell noise.
A method for processing a point cloud, and a radar. The method for processing a point cloud comprises: acquiring a point cloud, the point cloud comprising outliers (S310); determining ground points in the point cloud, the ground points comprising a first type of points among the outliers, the first type of points meeting a height requirement, and the height requirement being determined on the basis of the height of ground points in the previous point cloud frame of the current point cloud frame (S320); and at least outputting the ground points (S330). The method for processing a point cloud can remove abnormal noise points in point clouds, and effectively identify ground points while meeting sensing requirements of LIDARs, thereby ensuring the accuracy of ground point identification.
The present application provides a transceiving module and a LiDAR. The transceiving module includes a substrate and multiple transceiving assemblies, where the multiple transceiving assemblies are arranged on the substrate in sequence along a first direction, each transceiving assembly includes an emission waveguide and a receiving waveguide, the emission waveguide is configured to transmit and emit a detection beam, and the receiving waveguide is configured to receive and transmit an echo beam.
An opto-mechanical system is provided. The opto-mechanical system includes a light emission assembly, a light receiving assembly, a mainboard, a light scanning assembly, and an electronic control board. The mainboard is electrically connected to the light emission assembly and configured to control the light emission assembly to emit an emission light signal to the target object, and is electrically connected to the light receiving assembly and configured to control the light receiving assembly to receive an echo light signal reflected by a target object. The emission light signal is transmitted by the light scanning assembly to the target object, and the echo light signal is transmitted by the light scanning assembly to the light receiving assembly. The electronic control board is disposed independently of the mainboard and electrically connected to the mainboard, and is electrically connected to the light scanning assembly to control movements of the light scanning assembly.
The present disclosure provides a scanning apparatus placement method, an apparatus and a storage medium. The method includes: establishing a calculation model of a receiving cross section of a second scanning surface; based on the calculation model of a receiving cross section, within a preset rotation range of a first scanning apparatus and an allowable range of a first distance, obtaining a distribution set of sizes of cross sections corresponding to a size of the receiving cross section, an angle of the first scanning apparatus, and a first distance; and selecting a corresponding first distance from the distribution set of sizes of cross sections, when the sizes of the receiving cross sections are symmetrically distributed relative to an angle of the first scanning apparatus.
Embodiments of this application disclose a LiDAR and a manufacturing method of the same, where the LiDAR includes a main body and a vibration damping structure, the main body includes a fixing base, and an optical system and a scanning system mounted on the fixing base, the vibration damping structure includes multiple vibration damping units, each vibration damping unit is connected to the fixing base, each vibration damping unit is configured to mount the fixing base onto a to-be-mounted member, and an elastic center of the vibration damping structure overlaps with a barycenter of the main body.
This application provides a detection method and a LiDAR detection apparatus. The detection method includes: outputting detection laser beams with a preset time delay between two adjacent emissions; receiving the detection laser beam and emitting the detection laser beam to a preset region, scanning the preset region in a preset scanning mode, and further receiving an echo laser beam reflected from the preset region, and outputting the echo laser beam; receiving the echo laser beam and converting the echo laser beam into an electrical signal; and collecting the electrical signal, and processing the electrical signal to obtain detection information of the preset region.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/88 - Lidar systems, specially adapted for specific applications
This application provides a LiDAR and a LiDAR design method. The LiDAR includes at least one laser beam emission module and at least one laser beam receiving module. Each laser beam emission module includes a light emission device and an emission lens, and each laser beam receiving module includes a detection device and a receiving lens. A focal length of an emission lens of the at least one laser beam emission module is set to be less than a first focal length value, so that a total emission angle of view of all laser beam emission modules is greater than a first preset value.
This application discloses a point cloud densification method and apparatus, a storage medium, and a LiDAR. The method is applied to the LiDAR, the LiDAR includes an emitter group and a scanning apparatus, and the method includes: obtaining a point cloud densification multiple of a detection field of view at each level; obtaining an interval between scanning lines corresponding to two adjacent emissions based on the point cloud densification multiple of the detection field of view at each level; and performing scanning based on the interval between the scanning lines corresponding to the two adjacent emissions.
This application discloses a LiDAR, where the LiDAR includes: an emission apparatus, configured to emit a detection laser beam; a scanning apparatus, configured to receive the detection laser beam and emit the detection laser beam to a detection field of view, and to receive an echo laser beam and deflect the echo laser beam to the receiving apparatus; and a receiving apparatus, configured to receive the echo laser beam.
This application provides a LiDAR including a laser beam emission module and a beam adjustment module. The laser beam emission module includes at least two emitters arranged at intervals, where the emitter is configured to emit the laser beam. The beam adjustment module is configured to adjust the laser beam. A diameter of a light spot formed by the laser beam within a first preset distance is greater than a first preset value, and an angle interval between emission channels of two adjacent emitters that simultaneously emit laser beams is greater than a preset angle.
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
A method and a device for adjusting parameters of LiDAR and a LiDAR are provided. The method includes: acquiring 3D environment information around the LiDAR; identifying a scenario type where the LiDAR is positioned and a drivable area based on the 3D environment information; determining a parameter adjusting strategy of the LiDAR based on the scenario type and the drivable area; and adjusting current operating parameters of the LiDAR based on the parameter adjusting strategy.
A control method and device for multichannel laser emission, and a computer readable storage medium are disclosed. The method includes: controlling the emission of secondary emergent lasers of a plurality of channels of a multichannel LiDAR in a time-sharing manner during an operation cycle of the multichannel LiDAR; and emitting a primary emergent laser at a preset reference moment of each channel or encoding and modulating the emission of the primary emergent laser according to the detection result of the secondary emergent lasers of the plurality of channels.
The present application relates to a method and device for laser detection, and a non-transitory computer-readable storage medium. The method includes: emitting a secondary emergent laser in a current detection cycle; receiving and analyzing an echo laser corresponding to the secondary emergent laser to obtain a detection result; determining an operation mode of a primary emergent laser in a next detection cycle according to the detection result; and emitting the primary emergent laser in the next detection cycle according to the operation mode of the primary emergent laser.
G01S 7/4861 - Circuits for detection, sampling, integration or read-out
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
Embodiments of this application disclose a laser diode drive circuit and a LiDAR. The laser diode drive circuit includes a laser diode and a charging and discharging circuit. A cathode of the laser diode is grounded. The charging and discharging circuit is in a one-to-one correspondence with the laser diode, and includes an energy storage element, a first switch element, and a second switch element. The energy storage element is connected to an anode of the laser diode via the first switch element, and the energy storage element is grounded via the first switch element and the second switch element in sequence.
Embodiments of this application disclose a laser beam emission module and a LiDAR. The laser beam emission module includes: multiple light emission modules, where each light emission module is configured to emit an emission laser beam group, and the emission laser beam group includes multiple emission laser beams; an emission lens module, located on a light outgoing side of the multiple light emission modules, configured to reduce a divergence angle of the emission laser beams emitted by the multiple light emission modules, and further configured to increase an emission angle of view of the emission laser beams; and a light beam adjustment module, located on a light outgoing side of the emission lens module and configured to adjust an interval between angles of view of emission laser beams output by the emission lens module.
The present application discloses an optical receiving device, including: a receiving sensor; an optical assembly arranged on a side where a photosensitive surface of the receiving sensor is located. The optical assembly includes a first prism having a first end surface, a second end surface, and a plurality of sides connected between the first end surface and the second end surface. The plurality of sides include a first side and a second side. At least a portion of laser signals reflected by a detecting target is refracted by the first side and enter the first prism. At least a portion of laser signals refracted by the first side is refracted by the second side and emitted from the first prism to reach the receiving sensor.
A lidar is provided. The lidar includes a lidar body, where the lidar body includes an axis connecting portion, a base plate, a lens bracket, a connecting vertical plate, a counterweight piece, a laser emitter board, and a laser receiver board.
This application discloses a receiving drive circuit, a laser beam receiving circuit, and a LiDAR. The receiving drive circuit includes a drive voltage output module, and the drive voltage output module includes: an anode drive voltage output terminal is configured to output a negative anode drive voltage; and a cathode drive voltage output terminal, connected to a cathode of the laser beam detector in the laser beam detection module and configured to output a positive cathode drive voltage, so that the laser beam detector converts the received laser beam signal into a current signal.
A LiDAR detection method, apparatus, and a LiDAR are provided. The LiDAR detection method includes: obtaining ambient information of the LiDAR; determining a detection mode of the LiDAR based on the ambient information; determining a target detection region of the LiDAR based on the detection mode; determining a working parameter of the LiDAR based on the target detection region; and running, by the LiDAR, the working parameter to perform regional detection.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
G01S 17/58 - Velocity or trajectory determination systems; Sense-of-movement determination systems
23.
LIDAR RECEIVING APPARATUS, LIDAR SYSTEM AND LASER RANGING METHOD
The present application provides a lidar receiving apparatus, a lidar system, a laser ranging method, a laser ranging controller, and a computer readable storage medium. The lidar receiving apparatus includes: a photodetector, which is configured to receive a reflected laser signal and to convert the reflected laser signal into a current signal when a bias voltage of the photodetector is greater than a breakdown voltage of the same; a ranging circuit, which is connected with the photodetector and configured to calculate distance data according to the current signal; and a power control circuit, which is connected with the photodetector and configured to control the bias voltage applied to the photodetector according to a predefined rule.
This application provides an optical device and a method of adjusting an optical device. The optical device includes an emitting assembly, a beam splitting assembly, and a receiving assembly. The emitting assembly is configured to emit an outgoing light signal. The beam splitting assembly is configured to pass the outgoing light signal from the emitting assembly to a detection region, receive a reflected light signal from the detection region, and modify a transmission direction of the reflected light signal. The receiving assembly is configured to receive the reflected light signal from the beam splitting assembly after the direction modification and generate an electrical signal in response to the reflected light signal.
The present disclosure provides a LiDAR device and a ranging adjustment method of the same. The ranging adjustment method includes: obtaining position information of a receiving unit corresponding to a to-be-scanned emission unit, and querying a table to obtain an attenuation coefficient matching the receiving unit; calculating a number of continuous laser beam emissions or an emission power of the emission unit corresponding to the receiving unit in a frame of a scanning image based on the attenuation coefficient; driving the emission unit to emit a laser beam based on the number of emissions or the emission power, simultaneously driving the receiving unit corresponding to the emission unit to receive a corresponding echo laser beam signal, and superimposing the echo laser beam signal into corresponding histogram data; and determining distance information of a to-be-detected object based on the histogram data.
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 7/4861 - Circuits for detection, sampling, integration or read-out
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
26.
METHOD, CIRCUIT AND RADAR FOR DETECTING A REGISTER
This application relates to a method, circuit, and radar for detecting a register. The method for detecting the register includes: performing a signature operation on a first data to obtain a first signature; storing the first data in a data register; performing a signature operation on a second data stored in the data register, to obtain a second signature; and comparing the first signature and the second signature to detect the data register.
G06F 21/78 - Protecting specific internal or peripheral components, in which the protection of a component leads to protection of the entire computer to assure secure storage of data
G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G06F 21/64 - Protecting data integrity, e.g. using checksums, certificates or signatures
This application discloses a laser emission module and a LIDAR. The laser emission module includes: a laser emitter, a heat conduction substrate including a first board surface, and a first support board including a third board surface facing toward the laser emitter. The first board surface is configured to connect the laser emitter. The third board surface has a mounting region. The heat conduction substrate corresponding to the mounting region is mounted on the first support board.
H01S 3/10 - Controlling the intensity, frequency, phase, polarisation or direction of the emitted radiation, e.g. switching, gating, modulating or demodulating
The present disclosure provides a galvanometer motor, including a stator, a rotor, and a sensor board. The stator includes a housing and a drive coil mounted inside the housing. The rotor includes a rotating shaft and a galvanometer lens. A pair of radially magnetized magnetic poles are at the middle of the rotating shaft, two ends of the rotating shaft are rotatably mounted inside the housing, and one end of the rotating shaft extends outside the housing and is connected to the galvanometer lens. The sensor board is fixed on an inner wall of the housing and is at one end of the housing farther away from the galvanometer lens. The sensor board is mounted with one or more magnetic sensors configured to sense a magnetic field signal generated by the pair of magnetic poles, to obtain absolute positions of the rotating shaft and the galvanometer lens.
G01R 5/04 - Moving-coil instruments with magnet external to the coil
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
H02K 21/20 - Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having windings each turn of which co-operates only with poles of one polarity, e.g. homopolar machine
H02P 6/16 - Circuit arrangements for detecting position
The present application discloses a laser emitting circuit and a LiDAR. The laser emitting circuit includes an energy charging circuit, an energy transfer circuit, and a plurality of energy release circuits. The plurality of energy release circuits are connected in parallel. The energy charging circuit is connected to the energy transfer circuit to store electrical energy. The energy transfer circuit is connected to the energy charging circuit and the plurality of energy release circuits to transfer the electrical energy stored in the energy charging circuit to the energy transfer circuit. The energy transfer circuit includes an energy storage capacitor and a floating-ground diode. Each energy release circuit is configured to drive a laser diode to emit light by using the electrical energy stored in the energy transfer circuit, and the energy release circuit includes an energy release switch element, the laser diode, and a clamping diode.
An opto-mechanical system is provided. The opto-mechanical system includes a light emission assembly, a light receiving assembly, and a light scanning assembly. The light emission assembly is configured to emit an emission light signal to a target object. The light receiving assembly is configured to receive an echo light signal reflected by the target object. The light scanning assembly includes a first light scanning element and a second light scanning element. The emission light signal emitted by the light emission assembly is sequentially transmitted by the first light scanning element and the second light scanning element to the target object, and the echo light signal reflected by the target object is sequentially transmitted by the second light scanning element and the first light scanning element to the light receiving assembly.
The present disclosure provides a LiDAR device and a ranging adjustment method of the same. The ranging adjustment method includes: turning off a laser beam emission module and turning on a laser beam receiving module, to obtain histogram data of ambient light; adjusting detection efficiency of the laser beam receiving module based on the histogram data of the ambient light; turning on the laser beam emission module and the laser beam receiving module, to obtain histogram data of a current optical signal; and comparing the histogram data of the current optical signal with the histogram data of the ambient light, and determining histogram data of an echo signal and distance information of a to-be-detected object, based on a result of the comparison.
G01S 7/295 - Means for transforming co-ordinates or for evaluating data, e.g. using computers
G01S 7/52 - 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 - Details of systems according to groups , , of systems according to group
Disclosed in the present application is a frequency-modulated continuous wave laser radar (1b), comprising a frequency modulation light source (100b), a transceiving module (200b) and an optical chip module. The frequency modulation light source (100b) is used for emitting a laser beam; the optical chip module is connected between the frequency modulation light source (100b) and the transceiving module (200b), and comprises a light splitting module and a coherent receiving module (400b), the light splitting module being used for splitting the received laser beam into at least one beam of detection light and at least one beam of local oscillation light; the transceiving module (200b) is used for receiving the detection light, shaping and collimating the detection light, and then controlling the detection light to scan a target object, and is also used for receiving an echo signal reflected by the target object, and transmitting the echo signal to the optical chip module; and the coherent receiving module (400b) is respectively connected to the light splitting module and the transceiving module (200b), and the coherent receiving module (400b) is used for receiving the local oscillation light output by the light splitting module and the echo signal output by the transceiving module (200b), combining the local oscillation light and the echo signal, and performing a coherent beat frequency. The frequency-modulated continuous wave laser radar (1b) provided in the present application has a small size and a high integration level.
G01S 17/00 - Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
This application provides a target detection method, a LiDAR; and a storage medium. The method includes: obtaining an echo signal, where the echo signal is obtained by sampling a reflected wave received by the LiDAR; performing a matching operation on the echo signal and a preamble signal, to obtain a valid echo signal for a target object, where the preamble signal is obtained by sampling a reflected wave corresponding to a window; determining a threshold for the valid echo signal; determining a leading edge moment and a trailing edge moment based on the threshold; and determining a distance between the LiDAR and the target object based on the leading edge moment and the trailing edge moment.
A laser receiving circuit and a LiDAR are provided. The laser receiving circuit includes a controller, a voltage switching circuit, n voltage sources, and a receiving sensor. The voltage switching circuit includes a control terminal, n power source input terminals, and a power source output terminal. The n voltage sources generate reverse bias signals of different voltage values, respectively, and are connected to the n power source input terminals in a one-to-one manner. The controller is connected to the control terminal of the voltage switching circuit and is configured to send voltage switching signals to the voltage switching circuit via the control terminal. The power source output terminal is connected to a cathode of the receiving sensor. The voltage switching circuit is configured to select one power source input terminal from the n power source input terminals to be turned on, in response to the voltage switching signals.
The present application discloses an optical signal processing circuit for a Lidar. The optical signal processing circuit includes an optical processing circuit, a gain control circuit connected to the optical processing circuit, and a controller connected to the gain control circuit. The optical processing circuit includes an optical sensor and an amplification circuit. The optical sensor is configured to convert an optical signal to a photocurrent signal, and the amplification circuit is configured to convert and amplify the photocurrent signal to a voltage signal. The controller adjusts a gain of the optical processing circuit via the gain control circuit and based on an amplitude of the voltage signal.
A detection circuit of clock anomaly and method, a clock circuit, a chip, and a radar are provided. The detection circuit of clock anomaly includes: a first clock frequency determining unit, configured to determine a first clock frequency of a received first clock signal; a reference determining unit, configured to determine a reference corresponding to the first clock signal, where the reference is determined based on a second clock signal or a timestamp; and a clock anomaly detection unit, connected to the first clock frequency determining unit and the reference determining unit separately and configured to perform anomaly detection on the first clock signal based on the first clock frequency and the reference. This application can improve reliability of the clock signal, thereby improving personal safety and property safety of a user.
This application relates to a calibration apparatus, a laser beam emission circuit and an electronic device. The calibration apparatus is applied to the laser beam emission circuit, where the laser beam emission circuit includes N lasers, and the calibration apparatus includes: a detection module, configured to detect optical power of an ith laser; and a control module, configured to adjust an ith control signal based on a detection result of the detection module. The control module is further configured to establish a mapping relationship between the ith laser and the ith control signal when the ith optical power is equal to the target optical power.
Embodiments of the present application disclose an optical grating disk, a method for identifying a Z-phase signal, a photoelectric encoder, and a LiDAR. At least two Z-phase etched lines are arranged on a circular disk of an optical grating disk. The method includes determining positions of a plurality of Z-phase signals collected within preset duration; identifying an abnormal Z-phase signal in the plurality of Z-phase signals based on position is of the at least two Z-phase etched lines and the positions of the Z-phase signals; and determining a position of an abnormal Z-phase etched line on the optical grating disk based on the position of the abnormal Z-phase signal when there is the abnormal Z-phase signal.
G01D 5/347 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
This application provides a laser receiving system, which includes a receiver, a transimpedance amplification circuit, and at least one measurement circuit. The at least one measurement circuit includes a first measurement circuit, where the receiver is connected to a terminal of the transimpedance amplification circuit, and is configured to receive an echo laser beam and output an echo signal. The transimpedance amplification circuit has a terminal connected to the receiver and another terminal separately connected to each of the at least one measurement circuit, and is configured to perform transimpedance amplification on the echo signal. The first measurement circuit is configured to output a sampling signal after shaping the echo signal.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
41.
DATA TRANSMISSION APPARATUS, LIDAR, AND INTELLIGENT DEVICE
A LiDAR system is provided. The LiDAR system includes a first data transmission apparatus, a second data transmission apparatus, a rotator, and a central shaft. The first data transmission apparatus and the second data transmission apparatus are located in the LiDAR system. The rotator is connected with the central shaft through a bearing, the rotator is connected to a bearing rotor, and the central shaft is connected to a bearing stator. The first data transmission apparatus includes a first optical module and a second optical module. The second data transmission apparatus includes a third optical module, a coupling optical system, and a fourth optical module.
The present application discloses improvements that can be implemented in a laser detection and ranging (LiDAR) system to achieve accurate obstacle detection and to reduce measurement errors. A LiDAR system uses laser beams to scan a surrounding region to detect and identify objects. In some embodiments, the LiDAR control system is configured to adjust the mirror system based on the scanning result. The LiDAR control system may identify a selected object inside the scanning region from the scanning result, and report an error message when no object detected in the selected region.
A method, a device and a system for perceiving a multi-site roadbed network are provided. The method includes: constructing a global grid map of the roadbed network that is marked with a position of the system for perceiving at least two roadbed base stations and a perceived range of the system; receiving the detected target list transmitted by each of the systems for perceiving at least two roadbed base stations, where the detected target list is the set of the preset detected targets; according to the position of each system for perceiving the roadbed base station, indexing into the global grid map the detected target list transmitted by each system for perceiving the roadbed base station to generate a global tracking list; and tracking the preset detected target in the detected target list transmitted by the system for perceiving the roadbed base station according to the global tracking list.
This application discloses a galvanometer and a LiDAR. The galvanometer includes a first shaft and a second shaft. A first shaft drive voltage is used to control the galvanometer to vibrate around the first shaft, a second shaft drive voltage is used to control the galvanometer to vibrate around the second shaft, and the first shaft drive voltage and the second shaft drive voltage are superimposed to drive the galvanometer. There are N working intervals in a second shaft drive period, and in the N working intervals, the second shaft drive voltage and the first shaft drive voltage jointly drive the galvanometer to form N scanning tracks. The N scanning tracks do not coincide and N is a positive integer.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
46.
INTERFERENCE POINT DETERMINING METHOD AND APPARATUS, STORAGE MEDIUM, AND MULTI-CHANNEL LIDAR
An interference point determining method is provided. The method includes: obtaining a target point cloud corresponding to a highly reflective object from a target channel; obtaining a to-be-determined point cloud at the same pixel position as the target point cloud from each channel other than the target channel based on the target point cloud; based on a distance value and a reflectivity of each to-be-determined point cloud, and distance values and reflectivities respectively corresponding, to other point clouds in a neighborhood of each to-be-determined point cloud, determining whether each to-be-determined point cloud is a suspected interference point; and based on a variance between distance values of the other point clouds in the neighborhood of one to-be-determined point cloud and the one to-be-determined point cloud, or based on an interference point range determined for the one to-be-determined point cloud, determining whether the one to-be-determined point cloud is the interference point.
A waveguide assembly, an integrated chip, and a LiDAR are provided. The waveguide assembly includes a plurality of single-mode waveguides arranged with intervals. The effective refractive index of at least one single-mode waveguide is not equal to that of another adjacent single-mode waveguide.
G01S 17/02 - Systems using the reflection of electromagnetic waves other than radio waves
G02B 6/12 - Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind
48.
TIME-OF-FLIGHT MEASUREMENT METHOD, APPARATUS, AND SYSTEM
This application discloses a time-of-flight measurement method, apparatus, and system. The method includes obtaining histogram data of a target object. The histogram data includes m counts, m is an integer greater than 1, and each of the m counts is associated with a time. The method also includes performing digital filtering on the m counts to obtain m filtered values respectively corresponding to the m counts, and determining a time of flight of the target object based on a time corresponding to a peak value in the m filtered values.
This application discloses a LiDAR anti-interference method and apparatus, a storage medium, and a LiDAR. The method is applied to a LiDAR, and the LiDAR includes a laser emission array and a laser receiving array. The method includes determining at least two laser emission units to be turned on in a measurement period, controlling the at least two laser emission units to emit laser beams based on a preset rule, and controlling respectively corresponding laser receiving units of the at least two laser emission units to receive echo beams, to detect a target object. The at least two laser emission units to be turned on are in different laser emission groups, and the at least two laser emission units to be turned on satisfy a physical condition of no optical crosstalk.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
This application discloses an anode addressing drive circuit, an addressable drive circuit, and a laser emission circuit. The anode addressing drive circuit includes: an anode addressing switch circuit, including an anode addressing switch element, where a first end is connected to an emission power supply, a second end of the anode addressing switch element is connected to an anode energy storage circuit, an anode addressing enabling end of the anode addressing switch element receives an anode addressing signal, and the anode addressing switch element is turned on or off under the control of the anode addressing signal; and an anode energy storage circuit, including an anode energy storage element and a current limiting element, where the anode energy storage element is configured to be charged through an output current of the emission power supply when the anode addressing switch circuit is turned on, and the current limiting element is configured to limit a current for charging the anode energy storage element.
H03K 17/687 - Electronic switching or gating, i.e. not by contact-making and -breaking characterised by the use of specified components by the use, as active elements, of semiconductor devices the devices being field-effect transistors
51.
RANGING METHOD AND DEVICE, STORAGE MEDIUM, AND LIDAR
This application discloses a ranging method and device, a storage medium, and a LiDAR. The method includes: determining an edge field of view and a central field of view; acquiring a light emission power for the edge field of view and a light emission power for the central field of view; compensating the light emission power for the edge field of view based on a difference between the light emission power for the edge field of view and the light emission power for the central field of view, and detecting a target object based on the light emission power for the central field of view and the compensated light emission power for the edge field of view.
This application provides a data processing method and apparatus and a storage medium. The data processing method includes: obtaining K idle calculation blocks in real time, where K is greater than or equal to 1; invoking first K pieces of detected data from a cache stack in a preset priority sequence of detected data, and inputting the detected data into the K idle calculation blocks; sequentially processing K pieces of detected data on the K idle calculation blocks in the preset priority sequence; and integrating sensing calculation results of the K pieces of detected data in real time based on a boundary relationship between detection ranges of the K pieces of detected data, and outputting a sensing result.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
53.
METHOD AND APPARATUS FOR NONLINEARLY CALIBRATING LINEAR FREQUENCY MODULATION OF OPTICAL SIGNAL, AND MEDIUM AND DEVICE THEREOF
This disclosure provides a method for nonlinearly calibrating linear frequency modulation of an optical signal, an apparatus for nonlinearly calibrating linear frequency modulation of an optical signal, a computer-readable storage medium, and an electronic device. The method includes: in an ith frequency modulation cycle, obtaining a relationship between a modulation voltage signal Vi(t) input into a light source and an actual frequency signal fi(t) of an optical signal output by the light source, to obtain an actual association relationship fi(V) corresponding to the ith frequency modulation cycle, where i is a positive integer; based on a target frequency modulation signal fg(t) and the actual association relationship fi(V), determining a modulation voltage signal Vj(t) corresponding to a jth frequency modulation cycle, where j is i+1; and inputting a modulation voltage signal Vj(t) into the light source, to implement frequency modulation of the optical signal in the jth frequency modulation cycle.
Embodiments of this application disclose a LiDAR system, an echo signal processing method and apparatus, and an electronic device, pertaining to the field of LiDAR sensors. The system includes: M emission units, M receiving units, N×M comparison units. N×M timing units, and a processing unit. N is a positive integer greater than 1 and M is a positive integer greater than 0. The method includes: obtaining at least two digital signals and at least two timing results respectively corresponding to echo signals based on at least two thresholds, where the thresholds, the digital signals, and the timing results are in one-to-one correspondence; and processing the echo signal based on the at least two digital signals and the at least two timing results.
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
55.
LiDAR controlling method and device, electronic apparatus and storage medium
The present application discloses a LiDAR controlling method and device, an electronic apparatus, and a storage medium. The method includes: in a measurement period, determining an emitting group to be started in the measurement period from a laser emitting array, where the emitting group includes at least two emitting units, and physical positions of the at least two emitting units meet a condition of no optical crosstalk; controlling the at least two emitting units to emit laser beams asynchronously based on a preset rule; and controlling a receiving unit group of the laser receiving array corresponding to the emitting group to receive laser echoes, where the laser echoes refer to echoes formed after the laser beams are reflected by a target object.
G01S 17/14 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/4861 - Circuits for detection, sampling, integration or read-out
The present application is applicable to the technical field of a LiDAR, and provides a LiDAR control method, a terminal apparatus, and a computer-readable storage medium. The LiDAR control method includes the following steps: acquiring first echo data; when an oversaturated region is determined to exist according to the first echo data, controlling LiDAR to measure a scanning region according to a second preset scanning mode to obtain second echo data; performing data fusion processing based on the first echo data and the second echo data to obtain target data. The LiDAR is controlled to measure according to the first preset scanning mode and a second preset scanning mode, and then fusion is performed based on the measured first echo data and second echo data, thereby effectively eliminating a problem of signal crosstalk caused by too high reflection energy of an object with high reflectivity, and effectively improving measurement accuracy.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
The present disclosure provides a laser emitting module and a LiDAR apparatus. The laser emitting module includes at least two groups of laser emitting circuits. Each group of the laser emitting circuits includes one charging energy storage circuit and at least one energy releasing circuit. The energy releasing circuit includes an energy releasing switch and at least one laser. The energy releasing switch is turned on to drive at least one laser to work correspondingly. The charging energy storage circuit and the energy releasing circuit are arranged one-to-one or one-to-multiple. Any two adjacent emissions correspond to different groups of the laser emitting circuits.
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
58.
Optical receiving device and optical sensing device comprising a reflecting surface having a second portion arranged along an outer boundary of a first portion with different reflectivity
The present application discloses an optical receiving device and an optical sensing device. The optical receiving device includes a lens assembly, a reflecting member, and a photosensitive member. The lens assembly includes at least one lens. The reflecting member is located on a transmission path of light passing through the lens assembly. The reflecting member has a reflecting surface. The reflecting surface is configured to reflect the light passing through the lens assembly. The photosensitive member has a photosensitive surface. The photosensitive surface is configured to receive light reflected by the reflecting surface. After passing through the lens assembly, a detecting echo light beam reflected back from a target object is reflected by the reflecting surface of the reflecting member, so that the light is transmitted to the photosensitive surface of the photosensitive member intensively.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01J 1/42 - Photometry, e.g. photographic exposure meter using electric radiation detectors
59.
Laser receiving circuit and LiDAR wherein the reverse DC voltage signals from a DC bias circuit and the AC voltage signals from an amplifier circuit are superimposed
The present application discloses a laser receiving circuit and a LiDAR. The laser receiving circuit includes an amplifying circuit, a DC bias circuit, and an analog-to-digital converter. The amplifying circuit is connected to the analog-to-digital converter and configured to amplify input first voltage signals to obtain second voltage signals, and the second voltage signals are AC voltage signals. The DC bias circuit is connected to the analog-to-digital converter and configured to generate reverse DC voltage signals, and the reverse DC voltage signals and the second voltage signals are superimposed to obtain third voltage signals. The analog-to-digital converter is configured to sample the third voltage signals.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
60.
METHOD AND DEVICE FOR IMPROVING LASER RANGING CAPABILITY OF RADAR SYSTEM AND STORAGE MEDIUM
A method and device for improving laser ranging capability of a radar system and a storage medium. The method comprises: acquiring a first current signal output by a receiving sensor and a second current signal output by a reference sensor (S401); determining a cancellation residual on the basis of the first current signal and the second current signal (S402); determining, on the basis of the cancellation residual, whether there is strong light noise in echo light (S403); and when there is strong light noise in the echo light, adjusting a bias voltage of a receiving end of the radar system (S404). In the method, whether there is strong light noise in the echo light can be detected by providing the receiving sensor and the reference sensor on the receiving end of the radar system, and if there is strong light noise, the bias voltage of the receiving end is reduced, so as to reduce the average current of the receiving sensor and reduce noise excitation, thereby improving the accuracy of ranging capability of the radar system.
G01S 7/483 - 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 - Details of systems according to groups , , of systems according to group - Details of pulse systems
61.
Method and device for adjusting parameters of LiDAR, and LiDAR
An embodiment of the present application relates to the field of radar technology, and discloses a method and a device for adjusting parameters of LiDAR, and a LiDAR. The method includes: acquiring 3D environment information around the LiDAR; identifying a scenario type where the LiDAR is positioned and a drivable area based on the 3D environment information; determining a parameter adjusting strategy of the LiDAR based on the scenario type and the drivable area; and adjusting current operating parameters of the LiDAR based on the parameter adjusting strategy.
A mirror adjusting device, a reflecting assembly, a LiDAR, and an intelligent driving apparatus are provided. The mirror adjusting device includes a mounting bracket, a fixing bracket, and an elastic assembly. The mounting bracket includes a mirror mounting structure for mounting a mirror at one side and an adjusting part at the opposite side. The adjusting part includes a first curved wall protruding in a direction away from the mirror mounting structure, and the middle of the first curved wall is provided with a connecting structure. The fixing bracket includes a groove at one side and a through hole on the other side. The groove includes a second curved wall recessed toward the other side of the fixing bracket, and the first curved wall abuts against the second curved wall. The elastic assembly includes an elastic member and a connecting member.
A method and apparatus for improving laser beam ranging capability of a LiDAR system and a storage medium are provided. The method includes: acquiring a first current signal output by a receiving sensor and a second current signal output by a reference sensor; determining a cancellation residue based on the first current signal and the second current signal; determining whether glare noise exists in echo lights based on the cancellation residue; and adjusting a bias voltage at a receiving end of the LiDAR system in a case that the glare noise exists in the echo lights.
A laser receiving device includes a laser receiving plate, a laser receiving unit, and a first emitting optical adjustment unit. The laser receiving unit is arranged on the surface of the laser receiving plate for receiving echo laser signals. The first emitting optical adjustment unit is arranged on one side of the laser receiving unit for adjusting emission directions of laser beams entering an optical surface of the first receiving optical adjustment unit to the laser receiving unit.
This application discloses a point cloud motion compensation method and apparatus, a storage medium, and a LiDAR. The method includes: obtaining a millimeter-wave point cloud data frame by a millimeter-wave radar through scanning a preset working region, where each millimeter-wave point cloud data frame includes multiple pieces of millimeter-wave point cloud data, and each piece of millimeter-wave point cloud data includes a timestamp and a motion parameter of a target object; obtaining a LiDAR point cloud data frame by the LiDAR through scanning a preset working region, where each LiDAR point cloud data frame includes multiple pieces of LiDAR point cloud data, and each piece of LiDAR point cloud data includes a timestamp and spatial position coordinates of the target object; fusing the millimeter-wave point cloud data with the LiDAR point cloud data; and performing attitude compensation on the LiDAR point cloud data based on the fused data.
A radar data processing method, a terminal device, and a computer-readable storage medium are provided. The method includes: obtaining a target receiving unit group corresponding to an emission unit; obtaining echo data received by the target receiving unit group; converging the echo data to obtain a convergence result; and determining a distance of a target object based on the convergence result.
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 7/4913 - Circuits for detection, sampling, integration or read-out
A laser radar and a laser radar control method, the laser radar comprising a frequency modulation light source (111), an optical amplifier (112), at least one circulator (113), a light beam control module (114) corresponding to each circulator, and a data processing module (115), the data processing module (115) being integrated with at least one detection optical path (1151). In the laser radar, devices comprised in the detection optical path (1151) are integrated into the data processing module (115), no longer using multiple individual devices and connecting the devices by means of optical fibers or spatial light as in the related art. Thus, the laser radar can achieve a highly integrated system architecture, thereby reducing the size of the laser radar and reducing costs.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/491 - 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 - Details of systems according to groups , , of systems according to group - Details of non-pulse systems
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 17/58 - Velocity or trajectory determination systems; Sense-of-movement determination systems
68.
OBSTACLE RECOGNITION METHOD AND APPARATUS, STORAGE MEDIUM, AND ELECTRONIC DEVICE
Disclosed in embodiments of the present application are an obstacle recognition method and apparatus, a storage medium, and an electronic device. The method comprises: performing first obstacle detection on point cloud data corresponding to a blocked object, and determining a first confidence level of the type of the blocked object being a target obstacle type; performing blocking calculation on the point cloud data corresponding to the blocked object, and determining the blocking rate of the blocked object; according to the blocking rate of the blocked object and the first confidence level, determining a second confidence level of the type of the blocked object being the target obstacle type; and if the second confidence level is greater than a preset confidence level threshold, determining that the type of the blocked object is the target obstacle type. By using the embodiments of the present application, the accuracy of obstacle recognition can be enhanced.
Disclosed in the embodiments of the present application are a shielding relationship determination method and apparatus, and a storage medium and an electronic device. The method comprises: acquiring point cloud data of a target point cloud, and point cloud data which respectively corresponds to other point clouds in a neighborhood of the target point cloud, wherein each piece of point cloud data comprises a distance value; acquiring a shielding point cloud, the absolute value of the difference between the distance value of which and the distance value of the target point cloud is greater than or equal to a first threshold value, and which does not belong to the same object as the target point cloud, wherein the other point clouds in the neighborhood of the target point cloud comprise the shielding point cloud, and the number of shielding point clouds is greater than 0; and determining that there is a shielding relationship between an obstacle which corresponds to the shielding point cloud and a target obstacle which corresponds to the target point cloud. By using the embodiments of the present application, the determination of a shielding relationship can be more efficient and reliable, thereby reducing the possibility of missed judgement or misjudgement, and effectively improving the driving safety and reliability.
Disclosed in the present application are a laser radar and a control method therefor. The laser radar comprises a frequency-modulated light source, a beam-splitting module, a target detection module, a polarization beam-splitting rotator, and a balance detection module, wherein the frequency-modulated light source generates an input light beam; the beam-splitting module divides the input light beam into a detection light beam and a local oscillator light beam; the target detection module emits the detection light beam to a target object, and receives a reflected light beam, which is reflected by the target object; the polarization beam-splitting rotator converts the polarization state of the reflected light beam, so as to obtain a signal light beam, wherein the polarization state of the signal light beam is consistent with the polarization state of the local oscillator light beam; and the balance detection module performs balance detection on the local oscillator light beam and the signal light beam, and outputs a first detection signal, wherein the first detection signal is used for acquiring position information of the target object. By using the present application, the polarization state of a reflected light beam, which is reflected by a target object, is adjusted by means of a polarization beam-splitting rotator, and the situation of a detection failure caused by inconsistent polarization states is prevented, thereby improving the detection success rate of the laser radar.
A LiDAR performance detection method, a device, and a computer storage medium are provided. The method includes: acquiring a target signal in a target monitoring mode within a blanking interval; determining a measurement value in the target monitoring mode based on the target signal in the target monitoring mode within the blanking interval; and determining that the transceiver module of the LiDAR is abnormal when the measurement value in the target monitoring mode is not within a preset range.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
An optical emitting device and an optical sensor are provided. The optical emitting device includes a body, a light source, and a first light-blocking structure. The body has an emitting cavity extending in a first preset direction. The emitting cavity has an incident light port and an emergent light port that are arranged in the first preset direction. An inner wall of the emitting cavity has a first inner wall portion and a second inner wall portion. The first inner wall portion and the second inner wall portion are oppositely arranged. The light source and the body are arranged in the first preset direction. The first light-blocking structure is arranged in the first inner wall portion of the emitting cavity. A light-transmitting channel is arranged between the first light-blocking structure and the second inner wall portion. The first light-blocking structure includes a plurality of first light-blocking sheets.
The present application discloses an abnormal field of view recognition method and device, a storage medium, and a MEMS LiDAR. The method includes respectively adjusting angles of a galvanometer in an X axis and a Y axis when the MEMS LiDAR is started; acquiring echo data from scanning a window at the adjusted angles of the galvanometer in the X axis and the Y axis; acquiring distances, from the echo data, between an upper edge, a lower edge, a left edge, and a right edge of the window and the MEMS LiDAR; and determining whether a field of view of the galvanometer is abnormal or not based on the distances between the upper edge, the lower edge, the left edge, and the right edge of the window and the MEMS LiDAR.
This application discloses a LiDAR adjustment method, circuit, and apparatus, a LiDAR, and a storage medium. The method is applied to the LiDAR having a photoelectric sensor, and the method includes: obtaining an operating temperature of the photoelectric sensor; determining a target bias voltage based on the operating temperature, where the target bias voltage is a difference between voltages applied to a cathode and an anode of the photoelectric sensor; and based on the target bias voltage, adjusting the voltages applied to at least one of the anode and the cathode of the photoelectric sensor.
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
H01L 31/107 - Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier or surface barrier the potential barrier working in avalanche mode, e.g. avalanche photodiode
H04B 10/80 - Optical aspects relating to the use of optical transmission for specific applications, not provided for in groups , e.g. optical power feeding or optical transmission through water
H04B 10/112 - Line-of-sight transmission over an extended range
G01S 17/14 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
A radar data transceiver, a ranging method, and a LiDAR are provided. The transceiver includes: a synchronization module, configured to generate a synchronization signal and send the synchronization signal to an emission module and a receiving module separately; the emission module, connected with the synchronization module and configured to delay the synchronization signal according to a preset delay policy, generate a first emission signal, and emit the first emission signal; and the receiving module, connected with the synchronization module and configured to receive a reflected signal, generate a first histogram according to the reflected signal and the synchronization signal, and superimpose histograms obtained by n measurements to generate an echo signal.
A LiDAR is provided. The LiDAR includes two laser emission modules and one laser receiving module. The two laser emission modules are located separately on opposite sides of the laser receiving module, and a combination of emission fields of view of the two laser emission modules matches a receiving field of view of the laser receiving module.
A layered convergence topology structure for a plurality of sensors is established based on a sensing range and a position relationship of at least one sensor from the sensors. A plurality of pieces of first sensed information, respectively captured through each sensor of the sensors, are divided into at least two first groups based on the layered convergence topology structure. Each piece of first sensed information in respective first group of the at least two first groups is converged to obtain at least two pieces of first converged information. The at least two pieces of first converged information are determined as at least two pieces of second sensed information for convergence to obtain second converged information. When a piece number of the second converged information is one, the second converged information is determined as target converged information.
H04W 4/38 - Services specially adapted for particular environments, situations or purposes for collecting sensor information
H04W 4/46 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
The present application is applicable to the technical field of radars. Provided are a radar calibration method and apparatus, and a terminal device and a storage medium. The calibration method comprises: acquiring radar point cloud data of N markers, wherein N is an integer greater than or equal to three, the markers are arranged around a radar, and any three of the markers are not located in the same straight line; extracting the three-dimensional coordinates of the markers from the radar point cloud data; acquiring coordinates, which correspond to the three-dimensional coordinates, in an earth-centered earth-fixed coordinate system; determining posture information of the radar in the earth-centered earth-fixed coordinate system according to the three-dimensional coordinates and the coordinates in the earth-centered earth-fixed coordinate system; and calibrating the radar according to the posture information. By means of the embodiments of the present application, a calibration process can be simplified.
A method, apparatus and device for processing a laser radar point cloud, and a storage medium. The method comprises: acquiring point cloud data detected by a laser radar (S101); determining whether the point cloud data includes a high-reflectivity object (S102); and when a determination result is that the point cloud data includes a high-reflectivity object, determining a pseudo point cloud in the point cloud data according to a preset discrimination condition, and position information and reflectivity corresponding to each point in the point cloud data (S103). On the basis of a preset discrimination condition, and position information and reflectivity corresponding to each point, a pseudo point cloud in point cloud data corresponding to a high-reflectivity object can be accurately determined, which facilitates the improvement of the quality of a point cloud, thereby improving the accuracy of laser radar measurement.
The present application discloses a LiDAR occlusion detection method and apparatus, a storage medium, and a LiDAR. The method includes: obtaining detected echo data, obtaining distance information of each point in the echo data, comparing the distance information with a preset distance range, and in response to the distance information being within the preset distance range, determining that the LiDAR is occluded. In the present application, it can be detected in real time whether the LiDAR is occluded, without affecting transmittance of the LiDAR or increasing manufacturing costs of the LiDAR.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
09 - Scientific and electric apparatus and instruments
Goods & Services
Data processing equipment; scanners being data processing equipment; computer programs, namely, downloadable computer software for controlling robots, namely, obtaining, displaying, analyzing and visualizing digital map data and information; downloadable computer software program for controlling robots, namely, controlling a lidar apparatus; radar apparatus; photographic viewfinder; a tripod for the camera; measuring apparatus for measuring distance; distance measuring equipment; photography camera; precision measuring instrument, namely, a lidar apparatus.
83.
RANGING METHOD, WAVEFORM DETECTION METHOD, APPARATUS, AND RELATED DEVICE
A waveform detection method. The waveform detection method comprises: acquiring echo waveform data; comparing the echo waveform data with standard waveform data to obtain a comparison result; and determining, according to the comparison result, an abnormal waveform in the echo waveform data. By means of the described means, embodiments of the present invention achieve the effect of accurately identifying an abnormal echo.
A packaging structure and a packaging method of edge couplers and a fiber array are provided. The packaging structure includes a silicon substrate, an edge coupler, and a fiber array. Multiple edge couplers are arranged in a main body portion of the silicon substrate, and an end of the edge coupler extends to a step groove of the silicon substrate. At least a part of the cover of the fiber array is accommodated in the step groove. Multiple fibers in the fiber array correspondingly pass through multiple lead channels of the cover and are then coupled with the edge couplers in the step groove. The edge couplers butt the fibers in the fiber array. The cover is moved until a part of the cover is accommodated in the step groove, so that the fibers can be aligned with the edge couplers in the step groove.
This application is applicable to the field of radar technologies, and provides a radar data processing method, a terminal device, and a computer-readable storage medium. The method includes: obtaining radar data collected by a receiving area array; if the radar data is saturated, performing data fusion processing based on a floodlight distance value to obtain a fusion result; and determining a distance of a target object based on the fusion result. The method can accurately obtain an actual distance of the target object, effectively reduce a measurement error, improve calculation accuracy, and resolve an existing problem of a large deviation of a measurement result when an actual echo waveform cannot be effectively restored because a signal received by the radar is over-saturated when a laser is directly irradiated on a target object with high reflectivity.
An optical phased array chip and laser radar. The optical phased array chip comprises a substrate layer (100), a buried oxide layer (200), a first waveguide layer (300), an oxide layer (400), a second waveguide layer (500) and upper cladding (600) that are arranged in sequence, wherein a phase shifter assembly (730) is formed on the first waveguide layer (300); and two inter-layer converter assemblies (800) are formed between the first waveguide layer (300) and the second waveguide layer (500). The laser radar comprises a laser radar transmitting system, a receiving system and a signal processing system, wherein the laser radar transmitting system comprises a laser device and the optical phased array chip. According to the optical phased array chip and the laser radar, the process requirements of the fabrication of various devices in the optical phased array chip are reduced, and the performance of the optical phased array chip is improved.
The present application discloses a LiDAR and an autonomous driving vehicle. The LiDAR includes a rotary device, a laser transceiving assembly, and a reflecting assembly. The rotary device has a first rotary part and a second rotary part that are configured to rotate relative to each other around a rotary axis. The laser transceiving assembly is connected to the first rotary part and configured to emit an emergent laser beam and receive a reflected laser beam. The reflecting assembly is connected to the second rotary part and has at least two reflectors. The at least two reflectors are arranged around the rotary axis, and at least two of included angles between the reflectors and a plane perpendicular to the rotary axis are different. In the present application, the same reflector can reflect both the emergent laser beam and the reflected laser beam.
A method for identifying an artifact point, a terminal device, and a computer-readable storage medium, which are applicable in the field of lidar technology. An embodiment comprises: performing sliding traversal on each point in point cloud data returned to a radar, and determining a data analysis area of each point; determining a statistical result of a point satisfying a preset statistical condition in a data analysis area according to a distance difference value of each point; and identifying an artifact point in the point cloud data on the basis of the statistical result. An artifact point in point cloud data can be effectively identified, and the current problem of being unable to effectively identify an artifact point in point cloud data is solved.
A magnetic ring and a magnetic-ring-based system are provided. The magnetic ring includes an inner magnetic ring including an inner coil and an outer magnetic ring corresponding to the inner magnetic ring and including an outer coil facing the inner coil along a circumference of the outer magnetic ring. The inner magnetic ring is connected with a stationary part in a range-finding system, and the outer magnetic ring is connected with a rotating part in the range-finding system. In response to a rotation of the rotating part with respect to the stationary part, the outer magnetic ring rotates with respect to the inner magnetic ring to generate a magnetic field between the inner coil and the outer coil to perform one of data transmission or power transmission in the range-finding system.
The present application relates to an optical-electro system, which includes a substrate; at least one photo-detecting unit at least partially formed on the substrate to detect a signal light; at least one optical waveguide at least partially formed on the substrate, each of the at least one optical waveguide connected to one of the at least one photo-detecting unit to input a local light; and at least one electronic output port connected to the at least one photo-detecting unit to transmit at least one electronic output signal from the at least one photo-detecting unit, wherein the at least one electronic output signal is associated with the signal light and the local light.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/34 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
G01S 17/58 - Velocity or trajectory determination systems; Sense-of-movement determination systems
The present disclosure describes a LiDAR and an automated driving device. The LiDAR includes an emission driving system, a laser transceiving system, and a control and signal processing system. The laser transceiving system includes an emission assembly and a receiving assembly. The emission assembly is configured to emit an outgoing laser. The receiving assembly includes an array detector, and the array detector includes a plurality of detection units. The array detector is configured to synchronously and sequentially turn on the detection units to receive an echo laser, and the echo laser is the laser returned after the outgoing laser is reflected by an object in a detection region. The emission driving system is used to drive the emission assembly. The control and signal processing driving is used to control the emission driving system to drive the emission assembly, and used to control the receiving assembly to receive the echo laser.
A laser radar ranging system, comprising: a photoelectric sensor (101), a differential driver (102), a collection unit (103), a control unit (105) and a processing unit (104), wherein the photoelectric sensor (101) is electrically connected to the differential driver (102), the differential driver (102) is electrically connected to the collection unit (103), the collection unit (103) is electrically connected to the processing unit (104), and the control unit (105) is electrically connected to the differential driver (102); and the differential driver (102) is used for receiving an analog signal and a first reference signal, converting the analog signal into a digital signal on the basis of a first threshold voltage value, and sending the digital signal to the collection unit (103). By means of the system, the influence of a laser test error brought about by non-linearity can be reduced, thereby reducing the power consumption cost of a ranging circuit, and improving the reliability while also improving the laser ranging precision.
A reflectivity correction method and apparatus, a computer readable storage medium, and a terminal device. According to the reflectivity correction method, after acquiring a distance measured value and a reflectivity measured value obtained by measuring a target object by a laser radar (S301), determining is performed for the distance measured value, and if the distance measured value is greater than a preset distance threshold (S302), it is considered that the degree of attenuation of laser light has affected the accuracy of the reflectivity measured value and the reflectivity measured value needs to be corrected; a correction coefficient corresponding to the distance measured value is queried in a preset parameter table (S304), and the reflectivity measured value is corrected according to the correction coefficient to obtain a reflectivity corrected value of the target object (S305). The reflectivity corrected value is closer to an actual reflectivity than the reflectivity measured value, and has high practicability.
A laser radar anti-interference method and apparatus, a computer readable storage medium, and a terminal device. The laser radar anti-interference method comprises: sequentially and respectively obtaining a first echo signal and a second echo signal of a laser radar, the first echo signal being an echo signal received by the laser radar at a kth point frequency, and the second echo signal being an echo signal received by the laser radar at a (k+1)th point frequency (S501); calculating the sum of the second echo signal and the first echo signal to obtain a third echo signal (S502); calculating an absolute value of a difference between the second echo signal and the first echo signal to obtain a fourth echo signal (S503); and calculating a difference between the third echo signal and the fourth echo signal to obtain a second echo signal after interference is filtered out (S504). The single-transmission-based anti-interference manner cannot perform filtering post-processing, but uses the correlation of the echo signals of adjacent point frequencies to filter out interference, thereby achieving an anti-interference effect.
A laser radar attitude calibration method and apparatus, a computer storage medium, and an electronic device. The method comprises: obtaining position information of a first calibration object and position information of a second calibration object which are detected by a laser radar to be calibrated (S401); when the position information of the first calibration object and the position information of the second calibration object do not satisfy a preset convergence condition, adjusting the attitude of said laser radar until the position information of the first calibration object and the position information of the second calibration object satisfy the preset convergence condition (S402); and completing the attitude calibration of said laser radar, and storing a current attitude of the laser radar (S403). Attitude parameters of the laser radar are adjusted by using the detected position information of the calibration objects, such that a measurement error possibly caused when laser radar hardware is assembled can be reduced.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
96.
TIME-OF-FLIGHT MEASUREMENT METHOD, CIRCUIT, APPARATUS, STORAGE MEDIUM AND ELECTRONIC DEVICE
A time-of-flight measurement method, comprising: performing delay processing on an echo signal to obtain a number N of delay signals (S301); on the basis of a multi-phase clock unit, generating a number X of clock signals having different phases (S302); on the basis of each clock signal, individually performing delay locking on the N delay signals (S303); combining a transmitted signal and the result of each delay lock to determine a time of flight to be processed corresponding to the result of each delay lock (S304); and determining a target time of flight according to X times of flight to be processed (S305), the target time of flight being the time difference between a transmitted reference signal and a received echo signal. The present method effectively increases the precision of measuring the time of flight of an echo signal, while saving costs and having simple computation.
G01S 17/14 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
97.
LASER TRANSCEIVER SYSTEM, LIDAR, AND AUTONOMOUS DRIVING APPARATUS
A laser transceiver system, a LiDAR, and an autonomous driving apparatus are provided. The laser transceiver system is applied to a LiDAR, including an emission module and a plurality of receiving modules corresponding to the emission module. The emission module is configured to emit an outgoing laser; the receiving module is configured to receive an echo laser; and the echo laser is a laser returning after the outgoing laser is reflected by an object in a detection region.
This application discloses a compensation method and apparatus for continuous wave ranging and a LiDAR. The compensation method includes: calculating a reflectivity of an object detected by a receiving unit, querying, based on a preset mapping relation, for a target distance response non-uniformity (DRNU) calibration compensation matrix associated with the reflectivity, and compensating, using the target DRNU calibration compensation matrix, for a distance of the object detected by the receiving unit.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
Disclosed in the present application are a point cloud processing method and apparatus for a laser radar, and a computer-readable storage medium and a terminal device. The point cloud processing method for a laser radar comprises: acquiring point cloud data which is collected by a laser radar, wherein each scanning point in the point cloud data comprises a distance measurement value and a reflectivity measurement value; according to distance measurement values and reflectivity measurement values of a target scanning point and an adjacent point, determining whether the target scanning point is an expansion point; and if the target scanning point is an expansion point, removing the target scanning point from the point cloud data. By means of the present application, the occurrence of the phenomenon of high reflectivity expansion is prevented, thereby ensuring the accuracy of laser radar recognition.
G01S 17/00 - Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
100.
POSE DEVIATION ACQUISITION METHOD AND APPARATUS, STORAGE MEDIUM, AND ELECTRONIC DEVICE
Disclosed in the embodiments of the present application are a pose deviation acquisition method and apparatus, a storage medium, and an electronic device. The method comprises: acquiring first three-dimensional coordinates measured by a first laser radar for calibration plates under a reference pose of a calibration station, and second three-dimensional coordinates measured, for the calibration plates, by a laser radar to be calibrated that has been mounted to a structure; then, on the basis of the first three-dimensional coordinates and the second three-dimensional coordinates, acquiring a first pose deviation between the first laser radar and the laser radar to be calibrated; and determining the first pose deviation as a pose deviation between the current pose of the laser radar to be calibrated and the reference pose. By using the present application, by means of comparing the three-dimensional coordinates of the calibration plates that are measured by the laser radar under the reference pose and the three-dimensional coordinates of the calibration plates that are measured by the laser radar to be calibrated that has been mounted to the structure, the pose deviation between the current pose of the laser radar to be calibrated and the reference pose can be acquired.
