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
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
14.
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
18.
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
20.
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
23.
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
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
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
25.
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
27.
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
30.
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
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
32.
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
38.
LIDAR PERFORMANCE DETECTION METHOD, RELATED DEVICE AND COMPUTER STORAGE MEDIUM
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
45.
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.
th 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
56.
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 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.
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
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
65.
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.
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
70.
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
71.
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
82.
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.
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
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.
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
89.
ANTI-INTERFERENCE PROCESSING METHOD AND APPARATUS FOR MULTI-PULSE LASER RADAR SYSTEM
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
90.
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.
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 7/4861 - Circuits for detection, sampling, integration or read-out
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
95.
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
100.
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.
patents
