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.
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
4.
LASER RECEIVING DEVICE, LIDAR, AND INTELLIGENT INDUCTION APPARATUS
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 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
G01S 7/4913 - Circuits de détection, d'échantillonnage, d'intégration ou de lecture des circuits
A laser radar and a laser radar control method, the laser radar comprising a frequency modulation light source (111), an optical amplifier (112), at least one circulator (113), a light beam control module (114) corresponding to each circulator, and a data processing module (115), the data processing module (115) being integrated with at least one detection optical path (1151). In the laser radar, devices comprised in the detection optical path (1151) are integrated into the data processing module (115), no longer using multiple individual devices and connecting the devices by means of optical fibers or spatial light as in the related art. Thus, the laser radar can achieve a highly integrated system architecture, thereby reducing the size of the laser radar and reducing costs.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/491 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails des systèmes non pulsés
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
G01S 17/58 - Systèmes de détermination de la vitesse ou de la trajectoire; Systèmes de détermination du sens d'un mouvement
8.
OBSTACLE RECOGNITION METHOD AND APPARATUS, STORAGE MEDIUM, AND ELECTRONIC DEVICE
Disclosed in embodiments of the present application are an obstacle recognition method and apparatus, a storage medium, and an electronic device. The method comprises: performing first obstacle detection on point cloud data corresponding to a blocked object, and determining a first confidence level of the type of the blocked object being a target obstacle type; performing blocking calculation on the point cloud data corresponding to the blocked object, and determining the blocking rate of the blocked object; according to the blocking rate of the blocked object and the first confidence level, determining a second confidence level of the type of the blocked object being the target obstacle type; and if the second confidence level is greater than a preset confidence level threshold, determining that the type of the blocked object is the target obstacle type. By using the embodiments of the present application, the accuracy of obstacle recognition can be enhanced.
Disclosed in the embodiments of the present application are a shielding relationship determination method and apparatus, and a storage medium and an electronic device. The method comprises: acquiring point cloud data of a target point cloud, and point cloud data which respectively corresponds to other point clouds in a neighborhood of the target point cloud, wherein each piece of point cloud data comprises a distance value; acquiring a shielding point cloud, the absolute value of the difference between the distance value of which and the distance value of the target point cloud is greater than or equal to a first threshold value, and which does not belong to the same object as the target point cloud, wherein the other point clouds in the neighborhood of the target point cloud comprise the shielding point cloud, and the number of shielding point clouds is greater than 0; and determining that there is a shielding relationship between an obstacle which corresponds to the shielding point cloud and a target obstacle which corresponds to the target point cloud. By using the embodiments of the present application, the determination of a shielding relationship can be more efficient and reliable, thereby reducing the possibility of missed judgement or misjudgement, and effectively improving the driving safety and reliability.
Disclosed in the present application are a laser radar and a control method therefor. The laser radar comprises a frequency-modulated light source, a beam-splitting module, a target detection module, a polarization beam-splitting rotator, and a balance detection module, wherein the frequency-modulated light source generates an input light beam; the beam-splitting module divides the input light beam into a detection light beam and a local oscillator light beam; the target detection module emits the detection light beam to a target object, and receives a reflected light beam, which is reflected by the target object; the polarization beam-splitting rotator converts the polarization state of the reflected light beam, so as to obtain a signal light beam, wherein the polarization state of the signal light beam is consistent with the polarization state of the local oscillator light beam; and the balance detection module performs balance detection on the local oscillator light beam and the signal light beam, and outputs a first detection signal, wherein the first detection signal is used for acquiring position information of the target object. By using the present application, the polarization state of a reflected light beam, which is reflected by a target object, is adjusted by means of a polarization beam-splitting rotator, and the situation of a detection failure caused by inconsistent polarization states is prevented, thereby improving the detection success rate of the laser radar.
A LiDAR performance detection method, a device, and a computer storage medium are provided. The method includes: acquiring a target signal in a target monitoring mode within a blanking interval; determining a measurement value in the target monitoring mode based on the target signal in the target monitoring mode within the blanking interval; and determining that the transceiver module of the LiDAR is abnormal when the measurement value in the target monitoring mode is not within a preset range.
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
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 - Réseaux des détecteurs, p.ex. portes de transfert de charge
H01L 31/107 - Dispositifs sensibles au rayonnement infrarouge, visible ou ultraviolet caractérisés par une seule barrière de potentiel ou de surface la barrière de potentiel fonctionnant en régime d'avalanche, p.ex. photodiode à avalanche
H04B 10/80 - Aspects optiques concernant l’utilisation de la transmission optique pour des applications spécifiques non prévues dans les groupes , p.ex. alimentation par faisceau optique ou transmission optique dans l’eau
H04B 10/112 - Transmission dans la ligne de visée sur une distance étendue
G01S 17/14 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues dans lesquels une impulsion de tension ou de courant est initiée et terminée en fonction respectivement de l'émission d'impulsions et de la réception d'écho, p.ex. en utilisant des compteurs
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 spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour la collecte d’informations de capteurs
H04W 4/46 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p.ex. communication véhicule-piétons pour la communication de véhicule à véhicule
H04L 67/12 - Protocoles spécialement adaptés aux environnements propriétaires ou de mise en réseau pour un usage spécial, p.ex. les réseaux médicaux, les réseaux de capteurs, les réseaux dans les véhicules ou les réseaux de mesure à distance
18.
RADAR CALIBRATION METHOD AND APPARATUS, AND TERMINAL DEVICE AND STORAGE MEDIUM
The present application is applicable to the technical field of radars. Provided are a radar calibration method and apparatus, and a terminal device and a storage medium. The calibration method comprises: acquiring radar point cloud data of N markers, wherein N is an integer greater than or equal to three, the markers are arranged around a radar, and any three of the markers are not located in the same straight line; extracting the three-dimensional coordinates of the markers from the radar point cloud data; acquiring coordinates, which correspond to the three-dimensional coordinates, in an earth-centered earth-fixed coordinate system; determining posture information of the radar in the earth-centered earth-fixed coordinate system according to the three-dimensional coordinates and the coordinates in the earth-centered earth-fixed coordinate system; and calibrating the radar according to the posture information. By means of the embodiments of the present application, a calibration process can be simplified.
A method, apparatus and device for processing a laser radar point cloud, and a storage medium. The method comprises: acquiring point cloud data detected by a laser radar (S101); determining whether the point cloud data includes a high-reflectivity object (S102); and when a determination result is that the point cloud data includes a high-reflectivity object, determining a pseudo point cloud in the point cloud data according to a preset discrimination condition, and position information and reflectivity corresponding to each point in the point cloud data (S103). On the basis of a preset discrimination condition, and position information and reflectivity corresponding to each point, a pseudo point cloud in point cloud data corresponding to a high-reflectivity object can be accurately determined, which facilitates the improvement of the quality of a point cloud, thereby improving the accuracy of laser radar measurement.
The present application discloses a LiDAR occlusion detection method and apparatus, a storage medium, and a LiDAR. The method includes: obtaining detected echo data, obtaining distance information of each point in the echo data, comparing the distance information with a preset distance range, and in response to the distance information being within the preset distance range, determining that the LiDAR is occluded. In the present application, it can be detected in real time whether the LiDAR is occluded, without affecting transmittance of the LiDAR or increasing manufacturing costs of the LiDAR.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/487 - Extraction des signaux d'écho désirés
A waveform detection method. The waveform detection method comprises: acquiring echo waveform data; comparing the echo waveform data with standard waveform data to obtain a comparison result; and determining, according to the comparison result, an abnormal waveform in the echo waveform data. By means of the described means, embodiments of the present invention achieve the effect of accurately identifying an abnormal echo.
A packaging structure and a packaging method of edge couplers and a fiber array are provided. The packaging structure includes a silicon substrate, an edge coupler, and a fiber array. Multiple edge couplers are arranged in a main body portion of the silicon substrate, and an end of the edge coupler extends to a step groove of the silicon substrate. At least a part of the cover of the fiber array is accommodated in the step groove. Multiple fibers in the fiber array correspondingly pass through multiple lead channels of the cover and are then coupled with the edge couplers in the step groove. The edge couplers butt the fibers in the fiber array. The cover is moved until a part of the cover is accommodated in the step groove, so that the fibers can be aligned with the edge couplers in the step groove.
This application is applicable to the field of radar technologies, and provides a radar data processing method, a terminal device, and a computer-readable storage medium. The method includes: obtaining radar data collected by a receiving area array; if the radar data is saturated, performing data fusion processing based on a floodlight distance value to obtain a fusion result; and determining a distance of a target object based on the fusion result. The method can accurately obtain an actual distance of the target object, effectively reduce a measurement error, improve calculation accuracy, and resolve an existing problem of a large deviation of a measurement result when an actual echo waveform cannot be effectively restored because a signal received by the radar is over-saturated when a laser is directly irradiated on a target object with high reflectivity.
An optical phased array chip and laser radar. The optical phased array chip comprises a substrate layer (100), a buried oxide layer (200), a first waveguide layer (300), an oxide layer (400), a second waveguide layer (500) and upper cladding (600) that are arranged in sequence, wherein a phase shifter assembly (730) is formed on the first waveguide layer (300); and two inter-layer converter assemblies (800) are formed between the first waveguide layer (300) and the second waveguide layer (500). The laser radar comprises a laser radar transmitting system, a receiving system and a signal processing system, wherein the laser radar transmitting system comprises a laser device and the optical phased array chip. According to the optical phased array chip and the laser radar, the process requirements of the fabrication of various devices in the optical phased array chip are reduced, and the performance of the optical phased array chip is improved.
The present application discloses a LiDAR and an autonomous driving vehicle. The LiDAR includes a rotary device, a laser transceiving assembly, and a reflecting assembly. The rotary device has a first rotary part and a second rotary part that are configured to rotate relative to each other around a rotary axis. The laser transceiving assembly is connected to the first rotary part and configured to emit an emergent laser beam and receive a reflected laser beam. The reflecting assembly is connected to the second rotary part and has at least two reflectors. The at least two reflectors are arranged around the rotary axis, and at least two of included angles between the reflectors and a plane perpendicular to the rotary axis are different. In the present application, the same reflector can reflect both the emergent laser beam and the reflected laser beam.
A method for identifying an artifact point, a terminal device, and a computer-readable storage medium, which are applicable in the field of lidar technology. An embodiment comprises: performing sliding traversal on each point in point cloud data returned to a radar, and determining a data analysis area of each point; determining a statistical result of a point satisfying a preset statistical condition in a data analysis area according to a distance difference value of each point; and identifying an artifact point in the point cloud data on the basis of the statistical result. An artifact point in point cloud data can be effectively identified, and the current problem of being unable to effectively identify an artifact point in point cloud data is solved.
A magnetic ring and a magnetic-ring-based system are provided. The magnetic ring includes an inner magnetic ring including an inner coil and an outer magnetic ring corresponding to the inner magnetic ring and including an outer coil facing the inner coil along a circumference of the outer magnetic ring. The inner magnetic ring is connected with a stationary part in a range-finding system, and the outer magnetic ring is connected with a rotating part in the range-finding system. In response to a rotation of the rotating part with respect to the stationary part, the outer magnetic ring rotates with respect to the inner magnetic ring to generate a magnetic field between the inner coil and the outer coil to perform one of data transmission or power transmission in the range-finding system.
G01S 17/88 - Systèmes lidar, spécialement adaptés pour des applications spécifiques
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/487 - Extraction des signaux d'écho désirés
H04B 10/112 - Transmission dans la ligne de visée sur une distance étendue
H04B 10/40 - Systèmes de transmission utilisant des ondes électromagnétiques autres que les ondes hertziennes, p.ex. les infrarouges, la lumière visible ou ultraviolette, ou utilisant des radiations corpusculaires, p.ex. les communications quantiques Émetteurs-récepteurs
H04B 5/00 - Systèmes de transmission à induction directe, p.ex. du type à boucle inductive
H04B 5/02 - Systèmes de transmission à induction directe, p.ex. du type à boucle inductive utilisant un émetteur-récepteur
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 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
G01S 17/34 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées utilisant la transmission d'ondes continues modulées en fréquence, tout en faisant un hétérodynage du signal reçu, ou d’un signal dérivé, avec un signal généré localement, associé au signal transmis simultanément
G01S 17/58 - Systèmes de détermination de la vitesse ou de la trajectoire; Systèmes de détermination du sens d'un mouvement
The present disclosure describes a LiDAR and an automated driving device. The LiDAR includes an emission driving system, a laser transceiving system, and a control and signal processing system. The laser transceiving system includes an emission assembly and a receiving assembly. The emission assembly is configured to emit an outgoing laser. The receiving assembly includes an array detector, and the array detector includes a plurality of detection units. The array detector is configured to synchronously and sequentially turn on the detection units to receive an echo laser, and the echo laser is the laser returned after the outgoing laser is reflected by an object in a detection region. The emission driving system is used to drive the emission assembly. The control and signal processing driving is used to control the emission driving system to drive the emission assembly, and used to control the receiving assembly to receive the echo laser.
A laser radar ranging system, comprising: a photoelectric sensor (101), a differential driver (102), a collection unit (103), a control unit (105) and a processing unit (104), wherein the photoelectric sensor (101) is electrically connected to the differential driver (102), the differential driver (102) is electrically connected to the collection unit (103), the collection unit (103) is electrically connected to the processing unit (104), and the control unit (105) is electrically connected to the differential driver (102); and the differential driver (102) is used for receiving an analog signal and a first reference signal, converting the analog signal into a digital signal on the basis of a first threshold voltage value, and sending the digital signal to the collection unit (103). By means of the system, the influence of a laser test error brought about by non-linearity can be reduced, thereby reducing the power consumption cost of a ranging circuit, and improving the reliability while also improving the laser ranging precision.
A reflectivity correction method and apparatus, a computer readable storage medium, and a terminal device. According to the reflectivity correction method, after acquiring a distance measured value and a reflectivity measured value obtained by measuring a target object by a laser radar (S301), determining is performed for the distance measured value, and if the distance measured value is greater than a preset distance threshold (S302), it is considered that the degree of attenuation of laser light has affected the accuracy of the reflectivity measured value and the reflectivity measured value needs to be corrected; a correction coefficient corresponding to the distance measured value is queried in a preset parameter table (S304), and the reflectivity measured value is corrected according to the correction coefficient to obtain a reflectivity corrected value of the target object (S305). The reflectivity corrected value is closer to an actual reflectivity than the reflectivity measured value, and has high practicability.
A laser radar anti-interference method and apparatus, a computer readable storage medium, and a terminal device. The laser radar anti-interference method comprises: sequentially and respectively obtaining a first echo signal and a second echo signal of a laser radar, the first echo signal being an echo signal received by the laser radar at a kth point frequency, and the second echo signal being an echo signal received by the laser radar at a (k+1)th point frequency (S501); calculating the sum of the second echo signal and the first echo signal to obtain a third echo signal (S502); calculating an absolute value of a difference between the second echo signal and the first echo signal to obtain a fourth echo signal (S503); and calculating a difference between the third echo signal and the fourth echo signal to obtain a second echo signal after interference is filtered out (S504). The single-transmission-based anti-interference manner cannot perform filtering post-processing, but uses the correlation of the echo signals of adjacent point frequencies to filter out interference, thereby achieving an anti-interference effect.
A laser radar attitude calibration method and apparatus, a computer storage medium, and an electronic device. The method comprises: obtaining position information of a first calibration object and position information of a second calibration object which are detected by a laser radar to be calibrated (S401); when the position information of the first calibration object and the position information of the second calibration object do not satisfy a preset convergence condition, adjusting the attitude of said laser radar until the position information of the first calibration object and the position information of the second calibration object satisfy the preset convergence condition (S402); and completing the attitude calibration of said laser radar, and storing a current attitude of the laser radar (S403). Attitude parameters of the laser radar are adjusted by using the detected position information of the calibration objects, such that a measurement error possibly caused when laser radar hardware is assembled can be reduced.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
36.
TIME-OF-FLIGHT MEASUREMENT METHOD, CIRCUIT, APPARATUS, STORAGE MEDIUM AND ELECTRONIC DEVICE
A time-of-flight measurement method, comprising: performing delay processing on an echo signal to obtain a number N of delay signals (S301); on the basis of a multi-phase clock unit, generating a number X of clock signals having different phases (S302); on the basis of each clock signal, individually performing delay locking on the N delay signals (S303); combining a transmitted signal and the result of each delay lock to determine a time of flight to be processed corresponding to the result of each delay lock (S304); and determining a target time of flight according to X times of flight to be processed (S305), the target time of flight being the time difference between a transmitted reference signal and a received echo signal. The present method effectively increases the precision of measuring the time of flight of an echo signal, while saving costs and having simple computation.
G01S 17/14 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues dans lesquels une impulsion de tension ou de courant est initiée et terminée en fonction respectivement de l'émission d'impulsions et de la réception d'écho, p.ex. en utilisant des compteurs
37.
LASER TRANSCEIVER SYSTEM, LIDAR, AND AUTONOMOUS DRIVING APPARATUS
A laser transceiver system, a LiDAR, and an autonomous driving apparatus are provided. The laser transceiver system is applied to a LiDAR, including an emission module and a plurality of receiving modules corresponding to the emission module. The emission module is configured to emit an outgoing laser; the receiving module is configured to receive an echo laser; and the echo laser is a laser returning after the outgoing laser is reflected by an object in a detection region.
This application discloses a compensation method and apparatus for continuous wave ranging and a LiDAR. The compensation method includes: calculating a reflectivity of an object detected by a receiving unit, querying, based on a preset mapping relation, for a target distance response non-uniformity (DRNU) calibration compensation matrix associated with the reflectivity, and compensating, using the target DRNU calibration compensation matrix, for a distance of the object detected by the receiving unit.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
Disclosed in the present application are a point cloud processing method and apparatus for a laser radar, and a computer-readable storage medium and a terminal device. The point cloud processing method for a laser radar comprises: acquiring point cloud data which is collected by a laser radar, wherein each scanning point in the point cloud data comprises a distance measurement value and a reflectivity measurement value; according to distance measurement values and reflectivity measurement values of a target scanning point and an adjacent point, determining whether the target scanning point is an expansion point; and if the target scanning point is an expansion point, removing the target scanning point from the point cloud data. By means of the present application, the occurrence of the phenomenon of high reflectivity expansion is prevented, thereby ensuring the accuracy of laser radar recognition.
G01S 17/00 - Systèmes utilisant la réflexion ou la reradiation d'ondes électromagnétiques autres que les ondes radio, p.ex. systèmes lidar
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
40.
POSE DEVIATION ACQUISITION METHOD AND APPARATUS, STORAGE MEDIUM, AND ELECTRONIC DEVICE
Disclosed in the embodiments of the present application are a pose deviation acquisition method and apparatus, a storage medium, and an electronic device. The method comprises: acquiring first three-dimensional coordinates measured by a first laser radar for calibration plates under a reference pose of a calibration station, and second three-dimensional coordinates measured, for the calibration plates, by a laser radar to be calibrated that has been mounted to a structure; then, on the basis of the first three-dimensional coordinates and the second three-dimensional coordinates, acquiring a first pose deviation between the first laser radar and the laser radar to be calibrated; and determining the first pose deviation as a pose deviation between the current pose of the laser radar to be calibrated and the reference pose. By using the present application, by means of comparing the three-dimensional coordinates of the calibration plates that are measured by the laser radar under the reference pose and the three-dimensional coordinates of the calibration plates that are measured by the laser radar to be calibrated that has been mounted to the structure, the pose deviation between the current pose of the laser radar to be calibrated and the reference pose can be acquired.
A ridge waveguide (100), a micro-ring resonator (10), a tunable optical delay line (20) and a chip. The ridge waveguide (100) comprises: a bent portion (110), wherein the bent portion (110) comprises an arc section (111) and two arc transition sections (112), the two arc transition sections (112) respectively being located at two ends of the arc section (111) and being connected to the arc section (111); and in a direction from one end of each arc transition section (112) connected to the arc section (111) to the other end of the arc transition section away from the arc section (111), the radius of curvature of the arc transition section (112) being gradually changed to infinity from being equal to the radius of curvature of the arc section (111). The bent portion (110) of the ridge waveguide (100) is configured to comprise the arc transition sections (112), and the radii of curvature of the arc transition sections (112) are gradually changed, such that the transmission loss of the bent portion can be greatly reduced, and the size of the ridge waveguide (100) can be designed to be smaller at the same bending loss, and therefore an apparatus can be miniaturized.
G02B 6/125 - Courbures, branchements ou intersections
G02B 6/28 - Moyens de couplage optique ayant des bus de données, c. à d. plusieurs guides d'ondes interconnectés et assurant un système bidirectionnel par nature en mélangeant et divisant les signaux
42.
FREQUENCY MODULATION NONLINEAR CALIBRATION APPARATUS AND CALIBRATION METHOD
A frequency modulation nonlinear calibration apparatus (100) and calibration method. The calibration apparatus (100) comprises: a light source (110), a light splitting module (120), a delay module (130), and a control module (140). The delay module (130) comprises a ridge waveguide (133) for transmitting a first optical signal and/or a second optical signal; and the ridge waveguide (133) comprises a curved ridge waveguide (1331) and a straight ridge waveguide (1332) connected to the curved ridge waveguide (1331). Compared with the use of an optical fiber that is several meters long or even longer as the delay module (130) in the related art, the use of a waveguide as the delay module (130) can greatly reduce the size of the delay module (130), thereby reducing the size of the entire FMCW lidar, such that the FMCW lidar can be applied in more scenarios, and furthermore, the ridge waveguide (133) has lower transmission loss. In addition, compared with an overall linear distribution, configuring the ridge waveguide (133) to comprise the curved ridge waveguide (1331) and the straight ridge waveguide (1332) can further reduce the space occupied by the ridge waveguide (133), thereby achieving the miniaturization of a device.
Provided in the present application is a signal processing method, which is applied to a terminal device, and comprises: after receiving an indication signal sent by a laser receiving sensor, processing the indication signal, so as to obtain a target signal, wherein the delay of the target signal relative to the indication signal is a preset duration, the pulse width of the target signal is a target width value, and the target signal is used to trigger laser emission; and according to the target signal and the indication signal, determining a starting time for laser emission. By means of the method, the starting time for laser emission can be determined more accurately, so as to improve the laser measurement accuracy.
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 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p.ex. véhicules ou piétons; Reconnaissance des objets de la circulation, p.ex. signalisation routière, feux de signalisation ou routes
46.
LIDAR, METHOD FOR CONTROLLING THE SAME, AND APPARATUS INCLUDING LIDAR
This application discloses a LiDAR and an apparatus. The LiDAR includes: a casing, demarcating an emission chamber and a receiving chamber; a laser emission device, arranged in the emission chamber and configured to emit a laser beam to the first target region; and a plurality of laser receiving devices, arranged in the receiving chamber. The plurality of laser receiving devices receive a laser beam reflected from the second target region, and the first target region and the second target region are at least partially overlapped. The second target region includes a plurality of detection subregions, each detection subregion is smaller than the first target region and is at least partially overlapped with the first target region, and each laser receiving device receives, in a one-to-one correspondence manner, a laser beam reflected from each detection subregion.
Embodiments of this application disclose a method and a device thereof for converging sensed information of multiple sensors. The method includes: establishing a layered convergence topology structure based on a sensing range and a position relationship of at least one sensor; separately obtaining sensed information sensed by each sensor; and subjecting each piece of sensed information to layered convergence by using the layered convergence topology structure and generating target converged information. Applying the embodiments of this application can reduce a bandwidth need during convergence communication.
H04W 4/38 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour la collecte d’informations de capteurs
H04W 4/46 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p.ex. communication véhicule-piétons pour la communication de véhicule à véhicule
H04L 67/12 - Protocoles spécialement adaptés aux environnements propriétaires ou de mise en réseau pour un usage spécial, p.ex. les réseaux médicaux, les réseaux de capteurs, les réseaux dans les véhicules ou les réseaux de mesure à distance
H04W 84/18 - Réseaux auto-organisés, p.ex. réseaux ad hoc ou réseaux de détection
48.
LASER RANGING METHOD, APPARATUS, STORAGE MEDIUM, AND LIDAR
Embodiments of this application disclose a laser ranging method, apparatus, and LiDAR, and pertain to the ranging field. The method includes: emitting a ranging laser signal; receiving a reflected laser signal formed after the ranging laser signal is reflected by a target object; determining a first measured distance value based on a time difference between an emitting time of the ranging laser signal and a receiving time of the reflected laser signal; determining a second measured distance value of an internal signal link; and obtaining an actual distance value of the target object based on the first measured distance value and the second measured distance value. In the embodiments of this application, stability of the measured actual distance value of the target object can be ensured when an environmental factor changes. Impact of the environmental factor on the laser ranging is reduced, and precision of the laser ranging is improved.
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
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.
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
51.
LASER RADAR DETECTION METHOD AND APPARATUS, TERMINAL DEVICE AND STORAGE MEDIUM
A laser radar detection method and apparatus, a terminal device and a storage medium, which are applicable to the technical field of laser radar detection. The method comprises: acquiring echo data (S1); determining a peak point of an echo and the position and the amplitude of the peak point according to the echo data (S2); and when the position and amplitude of the peak point meet a preset condition, determining that the echo is absorbed (S3). The described method can detect echo absorption on the basis of echo data, which is beneficial in preventing the erroneous measurement of an object and ensuring the accuracy of distance measurement data, and can prevent measurement errors of a laser radar.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/487 - Extraction des signaux d'écho désirés
52.
MOTOR DETECTION METHOD AND APPARATUS, COMPUTER READABLE STORAGE MEDIUM, AND TERMINAL DEVICE
A motor detection method and apparatus, a computer readable storage medium, and a terminal device, the motor detection method comprising: acquiring a first sampling value, a second sampling value, and a third sampling value of the rotation angle of a motor (S101); calculating a difference value between the first sampling value and the third sampling value (S102); calculating a product value of the difference value and a preset gain factor (S103); calculating a sum of squares of the product value and the second sampling value (S104); and, on the basis of the sum of squares, determining a detection result of the motor (S105). By means of the present technical solution, the detection result of the motor can be determined by only calculation and analysis of the specific three sampling values, having strong timeliness and being capable of effectively preventing the occurrence of safety accidents.
G01D 5/245 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques produisant des impulsions ou des trains d'impulsions utilisant un nombre variable d'impulsions dans un train
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 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
H05K 7/20 - Modifications en vue de faciliter la réfrigération, l'aération ou le chauffage
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.
A signal processing method and apparatus, and a readable storage medium. The method comprises: performing N-level decomposition on a signal to be processed, to obtain 2N components (S901), wherein N ≥ 2, and said signal is a signal having noise; determining a target component layer according to a frequency band to be filtered, and performing wavelet threshold denoising on the components in the target component layer within said frequency band, to obtain a processed filtered signal (S902); and outputting the filtered signal (S903). The distance measurement accuracy can be improved.
G01S 7/41 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cible; Signature de cible; Surface équivalente de cible
56.
SIGNAL PROCESSING METHOD AND APPARATUS, AND READABLE STORAGE MEDIUM
A signal processing method and apparatus, and a readable storage medium. The method comprises: performing N levels of decomposition on a signal to be processed, so as to obtain 2N components; according to a frequency band to be subjected to filtering, determining a number of target component layers, and performing wavelet threshold denoising on a component, which is located in said frequency band, in the number of target component layers, so as to obtain a processed filter signal, wherein said frequency band is any one of M frequency bands, which cover the full frequency band range, and M ≥ 2; if the filter signal satisfies a preset condition, outputting the filter signal; and if the filter signal does not satisfy the preset condition, determining, according to a preset sequence, the next frequency band to be subjected to filtering to be said frequency band, determining a filter signal corresponding to said frequency band, and until the filter signal corresponding to the last frequency band in the M frequency bands does not satisfy the preset condition, outputting the filter signal corresponding thereto. The distance measurement precision within the full frequency band range can be improved.
G01S 7/41 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cible; Signature de cible; Surface équivalente de cible
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 - Dispositifs pour changer ou faire varier l'orientation ou la forme du diagramme de directivité des ondes rayonnées par une antenne ou un système d'antenne faisant varier la distribution de l’énergie à travers une ouverture rayonnante
H01Q 15/00 - Dispositifs pour la réflexion, la réfraction, la diffraction ou la polarisation des ondes rayonnées par une antenne, p.ex. dispositifs quasi optiques
A laser radar detection method and apparatus, and a laser radar (10). The laser radar detection method comprises: acquiring information of the environment where a laser radar (10) is located (S301); determining a detection mode of the laser radar (10) on the basis of the environment information (S302); determining a target detection area of the laser radar (10) according to the detection mode (S303); determining operating parameters of the laser radar (10) on the basis of the target detection area (S304); and the laser radar (10) running the operating parameters to perform area detection. Operating parameters of a laser radar (10) can be adjusted according to a detection mode, thereby improving the flexibility of detection of the laser radar (10), and also improving the accuracy of the radar (10) performing detection on the target detection area and the operating efficiency of the radar (10).
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.
Provided is a micro-galvanometer control method for a solid-state laser radar. The method comprises: acquiring a vertical field angle range of scanning performed by a solid-state laser radar; determining a first vertical field angle and a second vertical field angle corresponding to a preset ROI of the solid-state laser radar, wherein a region between the first vertical field angle and the second vertical field angle is a vertical field range corresponding to the preset ROI; when it is detected that a micro-galvanometer performs scanning to reach the first vertical field angle, reducing a slow-axis scanning speed of the micro-galvanometer to be a first preset speed; and when it is detected that the micro-galvanometer performs scanning to reach the second vertical field angle, adjusting the slow-axis scanning speed of the micro-galvanometer to be a second preset speed, wherein the first preset speed is less than the second preset speed. By controlling a slow-axis scanning speed of a MEMS micro-galvanometer, the vertical resolution of an ROI is effectively improved, and a laser radar can achieve precise scanning in the ROI. Further provided are a micro-galvanometer control apparatus and a solid-state laser radar.
A galvanometer control method apparatus, a computer-readable storage medium, and a terminal device. In the method, a same galvanometer is driven to perform scanning in the horizontal and vertical directions by means of the superposition of two driving signals, wherein a first driving signal is used for controlling the galvanometer to perform scanning in the vertical direction, and a second driving signal is used for controlling the galvanometer to scan in the horizontal detection field-of-view direction. By means of the present method, only a single galvanometer is required to perform scanning in the horizontal and vertical directions, the cost is low, occupied space is reduced, the miniaturization of a device is facilitated, and the problem that the scanning areas of two galvanometers block and limit each other is avoided, thus facilitating scanning at a large angle.
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.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
H02J 7/34 - Fonctionnement en parallèle, dans des réseaux, de batteries avec d'autres sources à courant continu, p.ex. batterie tampon
64.
DATA TRANSMISSION APPARATUS, LIDAR, AND INTELLIGENT DEVICE
A data transmission apparatus is applied to a LiDAR. The data transmission apparatus includes a first optical module, a second optical module, and a coupling optical system. The coupling optical system is arranged between the first optical module and the second optical module. The first optical module is communicatively connected to a LiDAR front-end apparatus, and the second optical module is communicatively connected to an upper application apparatus. The first optical module is configured to receive a first digital signal output by the LiDAR front-end apparatus and convert the first digital signal into an optical signal. The coupling optical system is configured to transmit the optical signal output by the first optical module to the second optical module. The second optical module is configured to convert the optical signal into the first digital signal and output the first digital signal to the upper application apparatus for processing.
G01S 7/00 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , ,
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 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
A laser radar (10) and a device having the laser radar (10). The laser radar (10) comprises: a detection assembly (110) comprising a first laser emitting apparatus (1111) and a second laser emitting apparatus (1112); and a laser receiving apparatus (112) located between the first laser emitting apparatus (1111) and the second laser emitting apparatus (1112) to receive a first laser beam reflected by a first detection region and a second laser beam reflected by a second detection region. The transmit power of the first laser emitting apparatus (1111) is greater than that of the second laser emitting apparatus (1112). By configuring the laser radar (10) to comprise a plurality of laser emitting apparatuses (111) having different transmit power, the transmit power of each laser emitting apparatus (111) matches the energy requirements of the detection regions, thereby increasing the detection distance of a system and reducing the total power consumption of the system; moreover, the detection field-of-view angle of the laser radar (10) can be increased, thereby achieving a wide-angle detection function.
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 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G05B 1/04 - Eléments de comparaison, c. à d. éléments pour effectuer la comparaison directement ou indirectement entre une valeur désirée et des valeurs existantes ou prévues électriques avec détermination de la position de l'aiguille d'un instrument de mesure
G05D 3/20 - Commande de la position ou de la direction utilisant la contre-réaction utilisant un dispositif de comparaison numérique
G05B 11/26 - Commandes automatiques électriques dans lesquelles le signal de sortie est un train d'impulsions
G05B 1/02 - Eléments de comparaison, c. à d. éléments pour effectuer la comparaison directement ou indirectement entre une valeur désirée et des valeurs existantes ou prévues électriques pour comparer des signaux analogiques
G05B 13/04 - Systèmes de commande adaptatifs, c. à d. systèmes se réglant eux-mêmes automatiquement pour obtenir un rendement optimal suivant un critère prédéterminé électriques impliquant l'usage de modèles ou de simulateurs
A laser receiving circuit and a laser radar, relating to the field of laser radars. By pre-providing a plurality of voltage sources (1, 2, ..., n) having different voltage values, when a voltage value of a reverse bias signal of a receiving sensor (13) needs to be adjusted, a corresponding power input interface can be turned on to load the reverse bias signal having a formulated voltage value onto the receiving sensor (13), and a response time for the adjustment is mainly the time of turning on the corresponding power input interface, thereby achieving a higher response speed relative to passing a voltage conversion time.
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 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 17/08 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement
70.
DETECTION METHOD FOR LASER RADAR, COMPUTER READABLE STORAGE MEDIUM, AND LASER RADAR
A detection method for a laser radar (100), a computer readable storage medium, and a laser radar (100). A detection window time of a detection unit (11) comprises multiple integration periods. The detection method for a laser radar (100) comprises: correspondingly selecting any photon number threshold in a first threshold set within each integration period, wherein the first threshold set comprises at least two photon number thresholds, and the photon number thresholds corresponding to at least two integration periods within the detection window time are different (101); when the number of photons received by the detection unit (11) within one integration period is greater than the photon number threshold corresponding to the integration period, the detection unit (11) responding and outputting a sampling signal (102); and fusing the sampling signals within the detection window time to obtain a detection signal (103), wherein the photon number thresholds corresponding to at least two integration periods within the detection window time are different. Objects having different reflectivity can be detected respectively.
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.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
H05B 47/115 - Commande de la source lumineuse en réponse à des paramètres détectés en détectant la présence ou le mouvement d'objets ou d'êtres vivants
72.
LASER EMISSION CONTROL METHOD AND APPARATUS, AND RELATED DEVICE
A laser emission control method. The method comprises: emitting secondary-emission laser at a first moment of a detection period (S110); and according to a first detection echo corresponding to the secondary-emission laser, adjusting primary-emission laser emitted at a second moment of the detection period (S120). The method is beneficial for the safety of human eyes.
G01S 7/4911 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails des systèmes non pulsés Émetteurs
G01S 17/02 - Systèmes utilisant la réflexion d'ondes électromagnétiques autres que les ondes radio
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
73.
LASER EMISSION CONTROL METHOD AND APPARATUS, AND RELATED DEVICE
A laser emission control method and a laser emission control apparatus (500) for facilitating eye safety. The laser emission control method comprises: emitting a secondary emission laser at a first time of a detection period (S110); and adjusting, according to a first detection echo corresponding to the secondary emission laser, a primary emission laser emitted at a second time of the detection period (S120). The invention achieves the beneficial effect of facilitating eye safety.
G01S 7/4911 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails des systèmes non pulsés Émetteurs
G01S 17/02 - Systèmes utilisant la réflexion d'ondes électromagnétiques autres que les ondes radio
74.
LASER FREQUENCY MODULATION METHOD AND DEVICE, STORAGE MEDIUM, AND LASER DEVICE
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 de paramètres de sortie de laser, p.ex. fréquence ou amplitude par commande de la position relative ou des propriétés réfléchissantes des réflecteurs de la cavité
G01S 17/34 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées utilisant la transmission d'ondes continues modulées en fréquence, tout en faisant un hétérodynage du signal reçu, ou d’un signal dérivé, avec un signal généré localement, associé au signal transmis simultanément
75.
CURRENT LIMITING PROTECTION CIRCUIT, CURRENT LIMITING PROTECTION METHOD, AND DEVICE
Disclosed in embodiments of the present application are a current limiting protection circuit, a current limiting protection method, and a device. The current limiting protection circuit comprises a power source, a first photoelectric sensor, a receiving and outputting circuit, a current limiting protection circuit, and a controller, wherein the current limiting protection circuit is used for receiving an initial voltage signal and amplifying same to obtain a negative bias signal, and loading the negative bias signal to an anode of the first photoelectric sensor to decrease the current value of the first photoelectric sensor. By using the embodiments of the present application, the working current of the photoelectric sensor can be limited, thereby preventing the photoelectric sensor from working abnormally or even being damaged due to excessive current, and remarkably improving the reliability of working of the photoelectric sensor in the case of receiving highly reflective energy.
H01L 31/107 - Dispositifs sensibles au rayonnement infrarouge, visible ou ultraviolet caractérisés par une seule barrière de potentiel ou de surface la barrière de potentiel fonctionnant en régime d'avalanche, p.ex. photodiode à avalanche
76.
MOTOR STARTING METHOD AND APPARATUS, STORAGE MEDIUM, AND ELECTRONIC DEVICE
A motor (11) starting method and apparatus, a storage medium, and a system; when monitoring that a motor (11) is unable to start normally at a low temperature, heating the coil of the motor (11); the heat produced by the coil of the motor (11) will be rapidly transferred to the various components of the motor (11), such that the various components of the motor (11) return to a temperature enabling normal starting; in addition, the heat produced by the coil being conducted to a rotating shaft of the motor broke (11) can melt lubricating oil solidified on the rotating shaft due to the low temperature. The present motor starting apparatus uses the heat produced by the coil of the motor to heat the motor, and does not require additional heating components to implement heating, reducing hardware design costs and making the structure of the motor more compact.
H02P 1/16 - Dispositions de démarrage de moteurs électriques ou de convertisseurs dynamo-électriques pour faire démarrer des machines dynamo- électriques ou des convertisseurs dynamo-électriques
77.
GRATING DISC, METHOD FOR RECOGNIZING Z-PHASE SIGNALS, PHOTOELECTRIC ENCODER AND LASER RADAR
A grating disc (1004), a photoelectric encoder (1000), a laser radar and a method for recognizing Z-phase signals (Z1, Z2, Z3); the grating disc (1004) comprises a disc (11), at least two Z-phase grooves are distributed on the disc (11) in the radial direction, and when the Z-phase grooves (21, 22, 23,…,2n) on the disc (11) is anomalous due to contamination, a Z-phase signal (Z3) generated by an anomalous Z-phase groove (23) can be quickly recognized by means of the preset distribution positions of the Z-phase grooves (21, 22, 24,..., 2n), and then zero calibration can be realized by using the remaining normal Z-phase grooves (21, 22, 24,..., 2n), thereby improving the reliability of zero calibration.
G01D 5/347 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c. à d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques en utilisant le déplacement d'échelles de codage
78.
METHOD AND APPARATUS FOR IMPROVING LASER RANGING CAPABILITY OF RADAR SYSTEM, AND STORAGE MEDIUM
A method and apparatus for improving the laser ranging capability of a radar system, and a storage medium. The method comprises: obtaining the current operating temperature, a preset operating temperature range, and a center wavelength temperature change rate of a laser (S301); determining the bandwidth of an optical filter on the basis of the preset operating temperature range and the center wavelength temperature change rate of the laser, and establishing a radar system on the basis of the bandwidth of the optical filter (S302); determining the current center wavelength of the laser on the basis of the current operating temperature of the laser (S303); and when the current operating temperature of the laser is less than a minimum critical value of the preset operating temperature range, heating the laser until the current operating temperature of the laser reaches at least the minimum critical value of the preset operating temperature range (S304). According to the method, optical noise such as ambient light incident to the radar system can be reduced by maintaining the operating temperature of the laser, thereby improving the anti-interference capability and the ranging capability of the radar system.
H01S 3/137 - Stabilisation de paramètres de sortie de laser, p.ex. fréquence ou amplitude par commande de dispositifs placés dans la cavité pour la stabilisation de la fréquence
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 distance measurement method and apparatus, an electronic device, and a storage medium. The method comprises: obtaining a plurality of pieces of histogram data (S201); performing smooth interpolation on a plurality of pieces of histogram data and generating a histogram (S202); determining the time of flight of a signal photon according to the histogram, and determining the distance between a measurement device and a target being measured according to the time of flight of the signal photon (S203). Consequently, processing can be performed on a plurality of pieces of histogram data by means of smooth interpolation, so as to filter out a noise photon event, and improve signal photon detection accuracy. In addition, optimized improvement is performed on the basis of an existing photoelectric sensor and time-to-digital converter, and it is not necessary to change an existing hardware structure, and saves design costs.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
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.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
83.
EMISSION MODULE AND MOUNTING AND ADJUSTMENT METHOD OF THE SAME, LIDAR AND SMART SENSING DEVICE
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 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
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 etching depth acquisition method and apparatus, a storage medium, and a laser radar. The method comprises: acquiring a target coupling length ratio corresponding to a target etching depth under the center wavelength of an optical signal, wherein the target etching depth is any metric value, which is selected from a plurality of etching depths, for etching a waveguide; and when the target coupling length ratio is the coupling length ratio, which has the smallest numerical value, in a ratio set, determining the target etching depth to be a waveguide etching depth for performing etching processing on the waveguide, wherein the ratio set comprises coupling length ratios corresponding to each etching depth from among the plurality of etching depths; and the coupling length ratio is obtained by means of an optical refractive index corresponding to each etching depth, and a sensitivity level value of changes in the optical refractive index along with the shift of the center wavelength. By using the method, the working stability of an optical coupler can be ensured, thereby ensuring the stability of a laser radar system.
A phase shifter (100), an optical phased array (10), and a method for preparing the optical phased array (10). The phase shifter (100) comprises a signal generator (110) and a waveguide (120), wherein the signal generator (110) is used for generating an electromagnetic wave signal; and the waveguide (120) is located on a transmission path of the electromagnetic wave signal, such that the phase of light transmitted in the waveguide (120) can be changed under the action of the electromagnetic wave signal, and the preparation material of the waveguide (120) comprises aluminum nitride. The preparation material of the waveguide (120) is set as aluminum nitride. Aluminum nitride is compatible with a CMOS process and can be deposited on a substrate (130), in the form of a thin film and by means of a magnetron sputtering method, a formed aluminum nitride thin film has a lattice structure and an electro-optical effect, and a phase modulation speed which is faster than that based on a thermo-optical effect can be realized.
G02F 1/035 - Dispositifs ou dispositions pour la commande de l'intensité, de la couleur, de la phase, de la polarisation ou de la direction de la lumière arrivant d'une source lumineuse indépendante, p.ex. commutation, ouverture de porte ou modulation; Optique non linéaire pour la commande de l'intensité, de la phase, de la polarisation ou de la couleur basés sur des céramiques ou des cristaux électro-optiques, p.ex. produisant un effet Pockels ou un effet Kerr dans une structure de guide d'ondes optique
G02B 6/12 - OPTIQUE ÉLÉMENTS, SYSTÈMES OU APPAREILS OPTIQUES - Détails de structure de dispositions comprenant des guides de lumière et d'autres éléments optiques, p.ex. des moyens de couplage du type guide d'ondes optiques du genre à circuit intégré
87.
OPTICAL ANTENNA, OPTICAL PHASED ARRAY TRANSMITTER, AND LIDAR SYSTEM USING THE SAME
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.
A method and apparatus for filtering signal noise, a storage medium, and a lidar. The method comprises: performing ensemble empirical mode decomposition on an initial difference frequency signal generated by the lidar to obtain a noise-containing component set corresponding to the initial difference frequency signal (S101); respectively obtaining a noise position in each noise-containing component according to a filtering frequency range and an instantaneous frequency value corresponding to each noise-containing component in the noise-containing component set (S102); respectively setting a noise amplitude corresponding to the noise position in each noise-containing component as zero to obtain a denoised component set (S103); and performing combined reconstruction processing on the denoised component set to obtain a denoised time-domain difference frequency signal (S104). The method can improve the signal-to-noise ratio of a difference frequency signal and improve the success rate of effective difference frequency signal extraction.
A signal noise filtering method and apparatus, and a storage medium and a laser radar. The method comprises: acquiring an initial difference frequency signal generated by a laser radar (S101), the initial difference frequency signal being a difference frequency signal containing a noise signal; performing at least one instance of autocorrelation processing on the initial difference frequency signal, so as to obtain a useful signal from the initial difference frequency signal (S102); and determining the useful signal as a denoised time-domain difference frequency signal (S103). Thus, the signal-to-noise ratio of a difference frequency signal can be improved, and the success rate of effective difference frequency extraction can be increased.
G01S 7/41 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cible; Signature de cible; Surface équivalente de cible
92.
SIGNAL NOISE FILTERING METHOD, APPARATUS, STORAGE MEDIUM, AND LIDAR
A signal noise filtering method, an apparatus, a storage medium, and a lidar. The method comprises: performing ensemble empirical mode decomposition on an initial difference frequency signal generated by a lidar, and obtaining a component set corresponding to the initial difference frequency signal (S101); acquiring an autocorrelation function energy value corresponding to each noise-containing component in the component set, and acquiring a boundary component corresponding to a largest autocorrelation function energy value among the noise-containing components (S102); performing wavelet threshold denoising on adjacent high order noise-containing components of the boundary component, and obtaining a denoise component corresponding to the adjacent high order noise-containing components (S103); performing signal reconstruction on the basis of a spectrum band region in the frequency spectrum where the initial difference frequency signal is located and on the basis of the denoise component and the boundary component, and obtaining a denoised time domain difference frequency signal (S104). The present method can improve the signal-to-noise ratio of a difference frequency signal, and improve the success rate of active difference frequency frequency extraction.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
93.
MULTI-SITE ROADBED NETWORK PERCEPTION METHOD, APPARATUS AND SYSTEM, AND TERMINAL
The embodiments of the present invention relate to the technical field of sensing. Disclosed are a multi-site roadbed network perception method, apparatus and system, and a terminal. The method comprises: constructing a global grid map of a roadbed network, wherein the global grid map is marked with the positions and perception ranges of at least two roadbed base station perception systems; receiving a detection target list transmitted by each of the at least two roadbed base station perception systems, wherein the detection target list is a set of preset detection targets; indexing, into the global grid map and according to the position of each roadbed base station perception system, the detection target list transmitted by each roadbed base station perception system, so as to generate a global tracking list; and tracking, according to the global tracking list, the preset detection targets in the detection target list transmitted by the roadbed base station perception system. By means of the embodiments of the present invention, global tracking of targets can be realized.
H04W 4/021 - Services concernant des domaines particuliers, p.ex. services de points d’intérêt, services sur place ou géorepères
H04W 4/44 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p.ex. communication véhicule-piétons pour la communication entre véhicules et infrastructures, p.ex. véhicule à nuage ou véhicule à domicile
G06F 16/29 - Bases de données d’informations géographiques
G16Y 20/10 - Information détectée ou collectée par les objets relative à l’environnement, p.ex. la température; relative à l’emplacement
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 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/499 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant des effets de polarisation
G01S 17/46 - Détermination indirecte des données relatives à la position
95.
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 - OPTIQUE ÉLÉMENTS, SYSTÈMES OU APPAREILS OPTIQUES - Détails de structure de dispositions comprenant des guides de lumière et d'autres éléments optiques, p.ex. des moyens de couplage du type guide d'ondes optiques du genre à circuit intégré
G01S 17/08 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement
97.
LASER RADAR AND DETECTION METHOD THEREFOR, STORAGE MEDIUM, AND DETECTION SYSTEM
A detection method for a laser radar (100), a storage medium, a detection system (2, 700), and a laser radar (100). Said method comprises: a detection array (701) being divided into N detection units, a detection window time being divided into N sub-window times, N being an integer greater than 1, in a detection window time, starting an ith detection unit at a first sub-window time to receive an echo laser, and starting the detection units according to a preset sequence at continuous sub-window time to obtain a group of original point cloud data, i being a positive integer less than or equal to N (101); traversing all values of i, and executing the step of starting an ith detection unit at a first sub-window time to receive an echo laser, and starting the detection units according to a preset sequence at continuous sub-window time to obtain a group of original point cloud data, so as to obtain N groups of original point cloud data (102); and splicing the original point cloud data to obtain a frame of detection point cloud data (103). The present invention improves environmental immunity to solar light background radiation.
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.
Provided are a phase calibration method and apparatus for a phased array, and a computer storage medium and a phased array system. The phase calibration method comprises: in at least one included phase modulation unit, acquiring at least three first circuit values corresponding to the current phase modulation unit, and on the basis of each first circuit value, acquiring a radiation intensity of far-field radiation at a desired angle (S101); determining a first-order differential value and a second-order differential value corresponding to each radiation intensity (S102); performing phase calibration on the current phase modulation unit according to the first-order differential value and the second-order differential value, acquiring the next phase modulation unit, determining the next phase modulation unit to be the current phase modulation unit and executing the step of acquiring at least three first circuit values corresponding to the current phase modulation unit (S103); and when there is no next phase modulation unit, determining that the phase calibration of a phased array has been completed (S104). By using the method, the amount of calculation performed during a phase calibration process can be reduced, thereby improving the efficiency of phase calibration.
H01Q 3/34 - Dispositifs pour changer ou faire varier l'orientation ou la forme du diagramme de directivité des ondes rayonnées par une antenne ou un système d'antenne faisant varier la distribution de l’énergie à travers une ouverture rayonnante faisant varier la phase par des moyens électriques
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G02F 1/01 - Dispositifs ou dispositions pour la commande de l'intensité, de la couleur, de la phase, de la polarisation ou de la direction de la lumière arrivant d'une source lumineuse indépendante, p.ex. commutation, ouverture de porte ou modulation; Optique non linéaire pour la commande de l'intensité, de la phase, de la polarisation ou de la couleur
A laser radar (100) and an autonomous driving device. The laser radar comprises a transmission drive system (1), a transmission system (2), a receiving system (3) and a signal processing system (4), wherein the transmission system (2) comprises multiple light-emitting units (21a), which are used for transmitting an emitted laser, and the transmission system (2) is used to turn on the light-emitting units (21a) according to a first sequence, such that the emitted laser traverses a detection region in a scanning manner; the receiving system (3) comprises multiple detection units (31a), which are used for receiving an echo laser, and the receiving system (3) is used to turn on selected detection units (31a) so as to receive the echo laser, and to detect the detection region scanned by the emitted laser that is transmitted by the light-emitting units (21a); the transmission drive system (1) is used to drive the transmission system (2); the signal processing system (4) is used to calculate distance information of an object in the detection region on the basis of the emitted laser and the echo laser; and the detection units (31a) comprise a photosensitive zone, and the ratio of the area of the photosensitive zone to the pixel area of the detection units (31a) is less than or equal to 0.5, such that the ability of the laser radar (100) to resist ambient light is improved.
G01S 7/00 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , ,
