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
2.
LIDAR OCCLUSION DETECTION METHOD AND APPARATUS, STORAGE MEDIUM, AND LIDAR
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
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.
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 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 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
A LiDAR and a LiDAR scanning method are provided. The LiDAR includes a transceiving module, a control unit, a galvanometer, and a motor. The galvanometer is a one-dimensional galvanometer. The galvanometer is driven by the control signal to perform vertical scanning, and the galvanometer performs horizontal scanning as the motor rotates, so that the LiDAR performs scanning in the horizontal direction and the vertical direction. Through the present application, a scanning range of the LiDAR can be enlarged, a structure of the LiDAR can be simplified, and resolution and precision of the LiDAR can be improved.
This application provides an obstacle detection method and apparatus and a storage medium, where the method includes: obtaining point cloud data in an Nth detection sub-range of LiDAR in a preset sequence, wherein a detection range of the LiDAR in a detection cycle includes M detection sub-ranges, the Nth detection sub-range is any one of the M detection sub-ranges, M is an integer greater than or equal to 2, and N is an integer less than or equal to M; calculating confidence that the Nth detection sub-range includes a preset target object based on the obtained point cloud data in the Nth detection sub-range; and if the confidence is greater than or equal to the preset threshold, output an identification result of the preset target object. In the obstacle detection method provided in this application, real-time performance for detecting an obstacle by LiDAR is improved.
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
13.
LIDAR, METHOD FOR CONTROLLING THE SAME, AND APPARATUS INCLUDING LIDAR
This application discloses a LiDAR and an apparatus. The LiDAR includes: a casing, demarcating an emission chamber and a receiving chamber; a laser emission device, arranged in the emission chamber and configured to emit a laser beam to the first target region; and a plurality of laser receiving devices, arranged in the receiving chamber. The plurality of laser receiving devices receive a laser beam reflected from the second target region, and the first target region and the second target region are at least partially overlapped. The second target region includes a plurality of detection subregions, each detection subregion is smaller than the first target region and is at least partially overlapped with the first target region, and each laser receiving device receives, in a one-to-one correspondence manner, a laser beam reflected from each detection subregion.
Embodiments of this application disclose a method and a device thereof for converging sensed information of multiple sensors. The method includes: establishing a layered convergence topology structure based on a sensing range and a position relationship of at least one sensor; separately obtaining sensed information sensed by each sensor; and subjecting each piece of sensed information to layered convergence by using the layered convergence topology structure and generating target converged information. Applying the embodiments of this application can reduce a bandwidth need during convergence communication.
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
H04W 84/18 - Self-organising networks, e.g. ad hoc networks or sensor networks
15.
LASER RANGING METHOD, APPARATUS, STORAGE MEDIUM, AND LIDAR
Embodiments of this application disclose a laser ranging method, apparatus, and LiDAR, and pertain to the ranging field. The method includes: emitting a ranging laser signal; receiving a reflected laser signal formed after the ranging laser signal is reflected by a target object; determining a first measured distance value based on a time difference between an emitting time of the ranging laser signal and a receiving time of the reflected laser signal; determining a second measured distance value of an internal signal link; and obtaining an actual distance value of the target object based on the first measured distance value and the second measured distance value. In the embodiments of this application, stability of the measured actual distance value of the target object can be ensured when an environmental factor changes. Impact of the environmental factor on the laser ranging is reduced, and precision of the laser ranging is improved.
This application discloses a LiDAR and a device. The LiDAR includes: a casing, demarcating an emission chamber and a receiving chamber; a laser emission device, arranged in the emission chamber and configured to emit a laser beam to the first target region; and a plurality of laser receiving devices, arranged in the receiving chamber, where the plurality of laser receiving devices are configured to receive a laser beam reflected from the second target region, and the first target region and the second target region are at least partially overlapped. The second target region includes a plurality of detection subregions, each detection subregion is smaller than the first target region and is at least partially overlapped with the first target region, and each laser receiving device receives, in a one-to-one correspondence manner, a laser beam reflected from each detection subregion.
The present application discloses a method and device for measuring time of flight and a LiDAR, and belongs to the field of ranging. In the present application, because a shared device of a first transmission link and a second transmission link is a temperature-sensitive device, the delay time of the temperature-sensitive device may be eliminated according to the differential processing of first transmission time and second transmission time. Thus the measurement results of the time of flight are only related to the delay time of the non-temperature sensitive device, thereby reducing the problem of the inaccurate measurement of the time of flight of a target object caused by the temperature change of a device for measuring. Therefore, the accuracy of the measurement of the time of flight of the device for measuring is improved.
The present disclosure relates to a LiDAR. An embodiment of the present invention realizes a control function, a processing function, an emitting function, a receiving function, and an interface function of the LiDAR via each independent board to prevent components from causing a heat accumulation effect. In addition, according to the embodiments of the present disclosure, the digital plate for digital signal processing and the analog plate for analog signal processing are separately arranged to reduce electromagnetic interference between analog signals and digital signals, thereby further reducing the internal interference 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
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
H05K 7/20 - Modifications to facilitate cooling, ventilating, or heating
The present application discloses a LiDAR, which includes a base including a bearing surface, an adjusting structure located on the bearing surface, and a laser transceiving module including a plurality of laser transceiving devices. A galvanometer module of the LiDAR is fixed on the bearing surface. Each laser transceiving device is fixed on the adjusting structure, respectively. Each laser transceiving device is able to generate an outgoing laser emitted to the galvanometer module, respectively. The adjusting structure is configured so that each of the laser transceiving devices has a corresponding distance from the bearing surface, and therefore, the outgoing lasers generated by each of the laser transceiving devices form a preset laser detection field of view outside the LiDAR.
The present application discloses a laser emitting circuit and a LiDAR. In a one-driving-multiple emitting circuit, in an energy storage stage, a power supply stores energy for an energy storage element of the energy storage circuit, and a laser diode does not emit light. In an energy transfer stage, by setting a floating-ground diode D0, an energy charging current passes through an energy storage capacitor C2, the floating-ground diode D0 and the ground to form a loop. In an energy release stage, when the energy release switch element is in an off state, the energy release circuit where the energy release switch element is located is not the lowest impedance loop. A laser diode in the energy release circuit where the energy release switch element is located does not emit light.
Embodiments of the present disclosure disclose an antenna array applied to an optical phased array, the optical phased array, and a LiDAR. The antenna array includes N phase compensation groups and N antenna groups, where each phase compensation group includes M phase compensation units, and each antenna group includes M antenna units, and where N and M are positive integers. An input end of a phase compensation unit in the phase compensation group is configured to receive an optical signal. An output end is connected to an antenna unit in the antenna group, is configured to transmit the received optical signal to the antenna unit, and performs phase compensation on the optical signal based on a phase shift caused by the antenna unit. The antenna unit is configured to transmit the optical signal.
H01Q 3/26 - Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the distribution of energy across a radiating aperture
H01Q 15/00 - Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
22.
METHOD AND DEVICE FOR CONTROLLING MICRO GALVANOMETER OF SOLID-STATE LIDAR AND SOLID-STATE LIDAR
The present application discloses a method and a device for controlling a micro galvanometer of a solid-state LiDAR, and a solid-state LiDAR. The method includes acquiring a vertical angle range of a field of view scanned by the solid-state LiDAR, determining a first vertical angle of the field of view and a second vertical angle of the field of view corresponding to a preset ROI region of the solid-state LiDAR, reducing a slow axis scanning speed of the micro galvanometer to a first preset speed when it is monitored that the micro galvanometer scans the first vertical angle of the field of view, and adjusting the slow axis scanning speed of the micro galvanometer to a second preset speed when it is monitored that the micro galvanometer scans the second vertical angle of the field of view.
An embodiment of this application discloses a laser emitting circuit and a LiDAR, and belongs to the field of the LiDAR. The structure of the laser emitting circuit is changed so that for the laser emitting circuit in an energy transfer stage, the energy transfer current from an energy storage element does not pass through a laser diode, and the laser diode is in a reverse-biased state relative to the energy transfer current. Therefore, the parasitic capacitance of an energy releasing switch element does not cause the laser diode to emit light in advance during an energy transfer charging process, which prevents the laser diode from emitting light at an unanticipated time, thereby solving the problem of laser leakage.
A data transmission apparatus is applied to a LiDAR. The data transmission apparatus includes a first optical module, a second optical module, and a coupling optical system. The coupling optical system is arranged between the first optical module and the second optical module. The first optical module is communicatively connected to a LiDAR front-end apparatus, and the second optical module is communicatively connected to an upper application apparatus. The first optical module is configured to receive a first digital signal output by the LiDAR front-end apparatus and convert the first digital signal into an optical signal. The coupling optical system is configured to transmit the optical signal output by the first optical module to the second optical module. The second optical module is configured to convert the optical signal into the first digital signal and output the first digital signal to the upper application apparatus for processing.
G01S 7/00 - 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 , ,
The present application provides a LiDAR. A baffle fixing structure of the LiDAR is set between an inner housing of the LiDAR and a second housing for fixing a baffle that isolates an emitting laser from a reflected device. An angular displacement measuring device of the LiDAR includes a reflecting part and a light emitting part, wherein the reflecting part includes a plurality of reflecting teeth that extend downwardly and are spaced from each other, the light emitting part obtains a rotation angle of the reflecting part relative to the light emitting part by obtaining the number of the reflecting teeth passed by the measurement light. A rotating system in the LiDAR is arranged on one side of the laser transceiver system and is detachably connected to the laser transceiver system, so that modular production can be carried out, and the production efficiency is improved.
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
Embodiments of this application disclose a mirror control method and device and a LiDAR, pertaining to the field of LiDAR. The method includes: outputting a control signal configured to control a mirror to scan; detecting a feedback signal of the scanning mirror; determining an actual amplitude gain of the mirror based on the feedback signal, and determining an error of the actual amplitude gain relative to a preset amplitude gain threshold; and determining a frequency adjustment based on the error, adjusting frequency based on the frequency adjustment, and obtaining an output signal. In the embodiments of this application, stability of a scanning angle of the mirror can be maintained when resonance frequency of the mirror deviates.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G05B 1/04 - Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values electric with sensing of the position of the pointer of a measuring instrument
G05D 3/20 - Control of position or direction using feedback using a digital comparing device
G05B 11/26 - Automatic controllers electric in which the output signal is a pulse-train
G05B 1/02 - Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values electric for comparing analogue signals
G05B 13/04 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
27.
LIDAR ECHO SIGNAL PROCESSING METHOD AND DEVICE, COMPUTER DEVICE, AND STORAGE MEDIUM
A LiDAR echo signal processing method is disclosed. The method includes: receiving an echo signal reflected by a to-be-detected object, where the echo signal includes multidimensional signal emission angles; buffering the echo signal based on the multidimensional signal emission angles to obtain buffered signals; when the number of buffered signals reaches a preset buffering number, extracting a target signal corresponding to a preset neighborhood window from the buffered signals; and performing non-coherent integration on the target signal and outputting the integrated target 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 17/08 - Systems determining position data of a target for measuring distance only
28.
METHOD AND DEVICE FOR CONTROLLING LASER EMISSION, AND RELATED APPARATUS
A method, a device, and an apparatus for controlling laser emission are provided. A secondary emergent laser is emitted at a first time of a detection period. A primary emergent laser emitted at a second time of the detection period is adjusted according to a first detection echo corresponding to the secondary emergent laser.
Embodiments of this application disclose a laser frequency modulation method and device, a storage medium, and a laser device. The method includes: obtaining the current sweep mode of the laser device in a timing manner; when the current sweep mode is the single-band sweep mode, controlling the laser device to perform continuous sweeping on the preset band; and when the current sweep mode is the multi-band switching mode, obtaining the next band for the laser device to perform sweeping, and controlling the laser device to switch from the band to the next band.
H01S 3/139 - Stabilisation of laser output parameters, e.g. frequency or amplitude by controlling the mutual position or the reflecting properties of the reflectors of the cavity
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
Embodiments of the present invention pertain to the technical field of a radar, and provide a LiDAR and an automated driving device. The LiDAR includes a transceiver component and a scanning component. The transceiver component includes n transceiver modules, where n is an integer and n>1, and each transceiver module includes an emission module and a receiving module that are correspondingly arranged. The emission module is configured to emit an outgoing laser. The receiving module is configured to receive an echo laser, which is a laser returning after the outgoing laser is reflected by an object in the detection region. The scanning component includes a rotation reflector that rotates around a rotation shaft. The rotation reflector includes at least two reflecting surfaces. The n transceiver modules correspond to the at least two reflecting surfaces.
A flash LiDAR is provided and includes: an emitting assembly (3), a receiving assembly (4), a light blocking element (5), and a control assembly (6). The emitting assembly (3) includes at least one light-emitting element (31), configured to emit an outgoing laser to a detection region; the receiving assembly (4) is configured to receive a reflected laser returning after being reflected by an object in the detection region, where the emitting assembly (3) and the receiving assembly (4) are arranged abreast; and the light blocking element (5) is configured to block stray light directed to the receiving assembly (4).
This application pertains to the technical field of LiDAR, and discloses a phased array emission apparatus, a LiDAR, and an automated driving device. The phased array emission apparatus includes an edge coupler, an optical combiner, and a phased array unit. An output end of the edge coupler is connected to an input end of the optical combiner, and an output end of the optical combiner is connected to an input end of the phased array unit. The edge coupler is configured to input and couple a first optical signal. The optical combiner is configured to transmit, to the phased array unit, the first optical signal coupled by the edge coupler. The phased array unit is configured to split the first optical signal into several first optical sub-signals and emit the first optical sub-signals. In the foregoing method, coupling efficiency can be improved, thereby meeting a low-loss requirement.
Embodiments of the present disclosure provide an emission module and a mounting and adjustment method of the same, a LiDAR and a smart sensing device. An emission module includes an emission apparatus and a collimating element provided sequentially along an outgoing laser, where the emission apparatus is configured to generate the outgoing laser, and the collimating element is configured to collimate the outgoing laser generated by the emission apparatus and emit the outgoing laser; and the collimating element includes a fast-axis collimating element and a slow-axis collimating element provided sequentially along the outgoing laser, the fast-axis collimating element is configured to receive the outgoing laser generated by the emission apparatus and collimate the outgoing laser in a fast-axis direction, and the slow-axis collimating element is configured to receive the outgoing laser collimated in the fast-axis direction, collimate the outgoing laser in the slow-axis direction and emit the outgoing laser.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
This application pertains to the technical field of LiDAR, and discloses a receiving optical system, a laser receiving module, a LiDAR, and an optical adjustment method. The receiving optical system includes an optical receiving module and a first cylindrical lens. The optical receiving module is configured to receive a reflected laser and focus the received reflected laser. The first cylindrical lens is configured to receive the focused reflected laser and adjust the reflected laser in a first direction. Therefore, the receiving optical system can better perform matching on the photosensitive surface of the receiving sensor, and the energy receiving efficiency of the system is relatively high.
An optical antenna, an optical phased array transmitter, and a lidar system using the same are provided. The optical antenna includes a substrate that forms at least a portion of a reflector layer having a first material, a waveguide layer disposed above the reflector layer and having a second material, a separation layer disposed between the waveguide layer and the reflector layer and having a third material. The waveguide layer further has a first grating array. The reflector layer reflects the light emitted downwards from the waveguide layer. The refractive index of the third material is smaller than that of either the first material or the second material.
This application provides a multi-sensor-based state estimation method, an apparatus, and a terminal device. The method includes: in each cycle, extracting sensor messages and arranging the sensor messages into a queue; deleting a system state estimation value with a timestamp later than an initial timestamp; extracting the sensor messages from the queue; when prediction data is extracted, predicting a system state estimation value corresponding to the first timestamp according to a Kalman filter prediction algorithm; when the update data is extracted, obtaining the system state estimation value corresponding to the first timestamp, and updating the system state estimation value according to a Kalman filter update algorithm; after all the sensor messages in the queue are used, proceed to a next cycle; and detecting a system state estimation value with the latest timestamp in the state estimation queue, and outputting the system state estimation value.
The present disclosure relates to a laser receiving device and a LiDAR. An isolation component is provided between a plurality of parallel sensor groups, and an isolation component is provided between a plurality of amplifier groups in parallel, so that a plurality of parallel receiving channels each form an independent current loop, thereby reducing noise crosstalk among signal receiving channels and improving the signal-to-noise ratio of the laser receiving device.
Embodiments of a laser transceiving module and a LiDAR are disclosed. The laser transceiving module includes a housing; an emitting module configured to emit emergent laser signals; a laser splitting module; and a receiving module. The emergent laser signals emit, through the laser splitting module, outwards and are reflected by a target object in a detection region to return reflected laser signals. The laser splitting module is configured to deflect the reflected laser signals. The receiving module is configured to receive the deflected reflected laser signals. The emitting module, the laser splitting module, and the receiving module are fixed at the housing. An extinction structure is arranged between the emitting module and the laser splitting module and is configured to prevent the emergent laser signals that are reflected by the laser splitting module from emitting to the receiving module.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/499 - 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 using polarisation effects
G01S 17/46 - Indirect determination of position data
39.
LASER TRANSCEIVING MODULE AND LIGHT ADJUSTMENT METHOD THEREOF, LIDAR, AND AUTOMATIC DRIVE APPARATUS
Embodiments of a laser transceiving module, a light adjustment method, a LiDAR, and an automatic drive apparatus are disclosed. The laser transceiving module includes a base, a side cover, a laser emitting module, an emitting optical system, a laser splitting module, a receiving optical system, and a laser receiving module.
An optical phased array, a method for reducing a phase error thereof, a LiDAR, and an intelligent apparatus are provided. The optical phased array includes an optical signal output unit, a waveguide unit, and an antenna transmitting unit. The optical signal output unit is configured to output M optical signals. The waveguide unit includes M waveguide pipes, each waveguide pipe includes at least one connection waveguide, and each of the at least one connection waveguide includes an input mode converter, a wide waveguide, and an output mode converter that are connected in sequence. The antenna transmitting unit is configured to transmit M optical signals outputted from the waveguide unit.
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
G01S 17/08 - Systems determining position data of a target for measuring distance only
A lidar and an intelligent sensing device are provided. The lidar includes at least one counterweight tray connected with a portion of the lidar. Each of the at least one counterweight tray includes a counterweight edge having a ring shape. The counterweight edge includes a plurality of fixing holes. A counterweight block is moved relative to the counterweight edge to be fixed through the plurality of fixing holes, thereby achieving a balance adjustment of the lidar.
This application provides an optical device, including an emitting assembly configured to emit an outgoing light signal, a beam splitting assembly 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, a receiving assembly 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. Also disclosed is a method of adjusting an optical device as described herein.
A lidar and a lidar adjustment method are provided. The lidar includes at least one transceiver component. The at least one transceiver component includes an emitting assembly, a beam splitting assembly, and a receiving assembly. The emitting assembly is configured to emit an outgoing light signal. The outgoing light signal is emitted, through the beam splitting assembly, towards a detection region and reflected by a target object to form a reflected light signal. The receiving assembly is configured to receive the reflected light signal after being deflected by the beam splitting assembly.
The present disclosure provides a multi-beam LiDAR system. The multi-beam LiDAR system includes a transmitter having an array of laser emitters. Each laser emitter is configured to emit a laser beam. The multi-beam LiDAR system also includes a receiver having an array of photodetectors. Each photodetector is configured to receive at least one return beam that is reflected by an object from one of the laser beams. The laser emitter array includes a plurality of laser emitter boards perpendicular to a horizontal plane. Each laser emitter board has a plurality of laser emitters. The plurality of laser emitters in the laser emitter array are staggered along a vertical direction. The photodetector array includes a plurality of columns of photodetectors. One of the laser emitter boards corresponds to one column of photodetectors.
An apparatus in the field of optics technology, can include a reflector, a reflector substrate, and an extinction component. The reflector can be mounted on the reflector substrate. The extinction component can be arranged on a front surface of the reflector substrate. The reflector can be configured to reflect incident light signals. The extinction component can be configured to reduce the scattered light produced by the incident light signal on the reflector substrate. An optical scanning device (for example, lidar) having such features may greatly reduce the scattered light inside the lidar, reduce the detection blind area caused by the stray light, and greatly improve the receiving and detecting capabilities of the lidar.
This application relates to a multi-pulse anti-interference signal processing apparatus. The multi-pulse anti-interference signal processing apparatus includes a detection pulse sending unit and a pulse receiving unit. The detection pulse sending unit is configured to emit a plurality of laser pulses to a target object based on a preset emission interval within a cycle. The pulse receiving unit is configured to receive a plurality of external signals within the cycle, obtain a reception interval between any two external signals, and determine, in the plurality of external signals based on the emission interval and the reception interval, an echo signal corresponding to the emitted laser pulses. A false echo pulse resulting from optical-to-electrical conversion and an interfering echo pulse fed back by other radar are effectively eliminated. Therefore, a signal-to-noise ratio of a target echo pulse is increased, mutual interference between a plurality of radars is effectively eliminated, and accuracy of ranging performed by a radar by using a laser pulse is improved.
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 7/499 - 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 using polarisation effects
47.
LIDAR RECEIVING APPARATUS, LIDAR SYSTEM AND LASER RANGING METHOD
A lidar receiving apparatus, a lidar system, a laser ranging method, a laser ranging controller and a computer readable storage medium are provided. The lidar receiving apparatus includes a photodetector (11), 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 (11) is greater than a breakdown voltage of the same; a ranging circuit (12), which is connected with the photodetector (11) and configured to calculate distance data according to the current signal; and a power control circuit (13), which is connected with the photodetector (11) and configured to control the bias voltage applied to the photodetector (11) according to a predefined rule, wherein the predefined rule includes: at a receiving time of a stray reflected signal, the bias voltage of the photodetector (11) is smaller than the breakdown voltage; and the receiving time of the stray reflected signal is a time at which a transmitted laser signal reaches the photodetector (11) through a stray light path other than a ranging light path. The lidar receiving apparatus may be employed to decrease a short-range blind area.
The present application relates to a Lidar that includes a laser transmitter to emit a laser beam; an optical processing circuit. The optical processing circuit is configured to receive the laser beam reflected from a target object and convert the reflected laser beam to a photocurrent signal, and convert the photocurrent signal from an optical receiver to a voltage signal. The Lidar also includes a gain control circuit, connecting to the optical processing circuit; and a controller, connecting to the gain control circuit, to adjust a gain of the optical processing circuit via the gain control circuit and based on an amplitude of the voltage signal.
This application provides a sensor, including a rotating component rotatably mounted to a base and configured to rotate about a central shaft and an optical component mounted on the rotating component. The optical component has an optical axis that is oblique with respect to the central shaft.
This application relates to the field of radar technologies, and in particular, to a laser radar and an intelligent sensing device. The laser radar includes a radar body, a laser emitter board, a laser receiver board, and a counterweight structure. The laser emitter board and the laser receiver board are separately disposed on the laser body. The laser emitter board is configured to emit an emergent laser toward a detection target. The laser receiver board is configured to receive a reflected laser reflected by the detection target, and convert an optical signal into an electrical signal, so as to analyze a position, a three-dimensional image, a speed, and the like of the detection target. The radar body is connected to a power apparatus, and the power apparatus drives the entire radar body and the laser emitter board and the laser receiver board that are located on the radar body to rotate, so that the laser radar can detect a range of 360° around. In the present disclosure, the counterweight structure is disposed on the radar body, so that the radar body rotates more stably, thereby effectively ensuring precision of the radar and extending a service life of the radar.
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
A phased array lidar includes: a laser generator (100) configured to generate original laser; an optical transmitting medium (400); an optical splitting apparatus (200) coupled to the laser generator (100) through the optical transmitting medium (400); the optical splitting apparatus (200) including a device configured to receive the original laser; and Z radiation units (300), each being respectively coupled to the optical splitting apparatus (200), where Z is a natural number greater than 1. The optical splitting apparatus (200) is configured to split the original laser into Z first optical signals, and send each of the Z first optical signals respectively to the radiation units (300), so that electromagnetic waves radiated by all of the radiation units (300) are combined into a beam of radar waves. The laser generator (100), the device, and the optical transmitting medium (400) are made of a material capable of transmitting laser having power greater than a set power value.
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
52.
Lidar ranging method, device, computer apparatus and storage medium
The present disclosure provides, for example, a lidar ranging method. The method may include calling a sequencer to generate a preset sequence with the sequencer. The method may also include determining a pulse transmission interval of double pulses according to the preset sequence and a preset value. The method may further include transmitting a probing signal to an object to be ranged according to the pulse transmission interval of the double pulses. The method may additionally include receiving, from the object to be ranged, an echo signal returned according to the probing signal. The method may also include extracting a valid echo signal from the echo signal. The method may further include calculating a distance from the object to be ranged according to a time difference between the valid echo signal and the probing signal.
A lidar, and an anti-interference method therefor, may modulate a transmitting time of the lidar by injecting random time jitter at a time interval in a sequence of the transmitting time, and cause the lidar to transmit a laser pulse according to a modulated transmitting time. When an echo received by the lidar includes an expected echo of the local lidar and an unexpected echo from other lidars, because the transmitting time and the expected receiving time of the echo are correlated, injecting random time jitter in the transmitting time of the lidar may disrupt the correlation between the transmitting time of the local lidar and the transmitting time of other lidars. Thus, when a plurality of lasers are used together in one scenario and cause crosstalk, the anti-interference method for the lidar above can be used to fight against crosstalk to some extent.
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
A multiline lidar includes: a laser emitting array (110) configured to emit multi-beam laser; a laser receiving array (120) configured to receive multiplexed laser echoes reflected by a target object; an echo sampling device (130) configured to sample the multiplexed laser echo in a time division multiplexing manner and output a sampling data stream; a control system (140) coupled to the laser emitting array (110), the laser receiving array (120), and the echo sampling device (130), respectively; the control system (140) is configured to control operations of the laser emitting array (110) and the laser receiving array (120), and determine measurement data according to the sampling data stream; and an output device (150) configured to output the measurement data.
An apparatus in the field of optics technology, can include a reflector, a reflector substrate, and an extinction component. The reflector can be mounted on the reflector substrate. The extinction component can be arranged on a front surface of the reflector substrate. The reflector can be configured to reflect incident light signals. The extinction component can be configured to reduce the scattered light produced by the incident light signal on the reflector substrate. An optical scanning device (for example, lidar) having such features may greatly reduce the scattered light inside the lidar, reduce the detection blind area caused by the stray light, and greatly improve the receiving and detecting capabilities of the lidar.
G01L 9/00 - Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
Embodiments of the disclosure provide a LiDAR assembly. The LiDAR assembly includes a central LiDAR device configured to detect an object at or beyond a first predetermined distance from the LiDAR system and an even number of multiple auxiliary LiDAR devices configured to detect an object at or within a second predetermined distance from the LiDAR system. The LiDAR assembly also includes a mounting apparatus configured to mount the central and auxiliary LiDAR devices. Each of the central and auxiliary LiDAR devices is mounted to the mounting apparatus via a mounting surface. A first mounting surface between the central LiDAR device and the mounting apparatus has an angle with a second mounting surface between one of the auxiliary LiDAR devices and the mounting apparatus.
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
57.
Range-finding system and method for data communication within the same
The present disclosure provides a range-finding system capable of data communication. The range-finding system includes a rangefinder for acquiring ranging data, a magnetic ring unit having at least two communication channels, and a data processing and control unit. Each communication channel includes a magnetic ring. The magnetic ring unit transmits the ranging data as downlink data from the rangefinder to the data processing and control unit via one or more of the communication channels.
Embodiments of the disclosure provide a LiDAR assembly. The LiDAR assembly includes a central LiDAR device configured to detect an object at or beyond a first predetermined distance from the LiDAR system and an even number of multiple auxiliary LiDAR devices configured to detect an object at or within a second predetermined distance from the LiDAR system. The LiDAR assembly also includes a mounting apparatus configured to mount the central and auxiliary LiDAR devices. Each of the central and auxiliary LiDAR devices is mounted to the mounting apparatus via a mounting surface. A first mounting surface between the central LiDAR device and the mounting apparatus has an angle with a second mounting surface between one of the auxiliary LiDAR devices and the mounting apparatus.
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
59.
Multi-beam LiDAR systems with two types of laser emitter boards and methods for detection using the same
The present disclosure provides a multi-beam LiDAR system. The multi-beam LiDAR system includes a transmitter having an array of laser emitters. Each laser emitter is configured to emit a laser beam. The laser emitter array includes a first type of laser emitter board and a second type of laser emitter board. The second type of laser board includes two or more laser emitters. The second type of laser emitter board is not parallel to a predefined plane.
The present application discloses a laser detection and ranging (LIDAR) device that includes: a laser emitter configured to emit an outgoing laser and a two-dimensional tilting mirror configured to change an optical path direction of the outgoing laser in a vertical dimension and a horizontal dimension. A LIDAR control method is also disclosed. The method include the steps of emitting, by a laser emitter, outgoing laser and changing, by a two-dimensional tilting mirror, an optical path direction of the outgoing laser in a vertical dimension and a horizontal dimension.
Disclosed are a multi-line lidar and a control method therefor. The multi-line lidar comprises: a laser emitter (110) for emitting outgoing lasers, comprising a plurality of laser emitting boards (111, 211, 212, 211, 212, 213, 310 and 320), and an optical collimating unit (120) for collimating the outgoing lasers. Light-emitting surfaces of the plurality of laser emitting boards (111) are located in a focal plane (130) of the optical collimating unit (120).
The present disclosure provides a lidar and a lidar control method. The lidar includes a plurality of laser transmitters configured to transmit laser light, and an oscillating mirror configured to change a direction of a light path of the transmitted laser light. The lidar control method includes transmitting, by a plurality of transmitters, laser light; and changing, by an oscillating mirror, a direction of a light path of the transmitted laser light. The plurality of laser transmitters constitute a laser transmitter array of M rows and N columns, where M is an integer greater than or equal to 2 and N is an integer greater than or equal to 2.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 17/66 - Tracking systems using electromagnetic waves other than radio waves
G01S 17/02 - Systems using the reflection of electromagnetic waves other than radio waves
A pToF sensor, a pToF pixel array and an operation method therefor are provided. The pToF pixel array includes a plurality of pToF pixels distributed in an array, a control circuit, and a conversion circuit. Each of the pToF pixels includes a photo sensitive unit configured to detect a return signal of a light pulse signal, and a first conversion unit configured to convert a time signal corresponding to each of the pToF pixels to an analog signal. The control circuit is connected to each of the pToF pixels, and configured to control an operation mode of each of the pToF pixels. The conversion circuit is connected to each of the pToF pixels, and configured to calculate a time-of-fight corresponding to each of the pToF pixels according to the analog signal corresponding to each of the pToF pixels.
H04N 5/374 - Addressed sensors, e.g. MOS or CMOS sensors
H04N 5/3745 - Addressed sensors, e.g. MOS or CMOS sensors having additional components embedded within a pixel or connected to a group of pixels within a sensor matrix, e.g. memories, A/D converters, pixel amplifiers, shared circuits or shared components
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
H04N 5/341 - Extracting pixel data from an image sensor by controlling scanning circuits, e.g. by modifying the number of pixels having been sampled or to be sampled
A target detection method, system and controller. The method comprises: receiving first scan data transmitted by a radar, the first scan data being obtained after the radar performs a first type of scanning on a first target region; receiving image data transmitted by a digital image device, the image data being obtained after the digital image device images a second target region, an overlapping region existing between the second target region and the first target region; according to the first scan data, finding image information corresponding to obstacle targets from the image data so as to identify the types of the target obstacles; when it is determined according to the types of the target obstacles that an obstacle target that needs to be avoided exists, controlling the radar to perform a second type of scanning on the obstacle target that needs to be avoided and tracking same, the precision of the second type of scanning being greater than the precision of the first type of scanning.
Provided are a pulse laser ranging system and method employing a time domain waveform matching technique. The system comprises a software part and a hardware part. The hardware part comprises an optical collimation system, an FPGA, a filter, a photoelectric conversion system, an analog amplifier circuit, a laser transmitter, a signal combination system, an ADC sampling system and a narrow pulse laser transmitting circuit. When transmitting a control signal to control laser transmission, the FPGA sends a time reference pulse to the signal combination system. The signal combination system integrates the time reference pulse with a fixed amplitude analog echo signal to form an echo signal with a time reference. The echo signal with a time reference is quantified into a digital detection signal in the ADC sampling system. The digital detection signal is sent to the FPGA to undergo data analysis. The software part is used to perform time domain waveform matching analysis to obtain a ranging result. The ranging result is output by the FPGA.
A multiline lidar includes: a laser emitting array configured to emit multi-beam laser; a laser receiving array configured to receive multiplexed laser echoes reflected by a target object; an echo sampling device configured to sample the multiplexed laser echo in a time division multiplexing manner and output a sampling data stream; a control system coupled to the laser emitting array, the laser receiving array, and the echo sampling device, respectively; the control system is configured to control operations of the laser emitting array and the laser receiving array, and determine measurement data according to the sampling data stream; and an output device configured to output the measurement data.
patents
