13results about How to "Improve ranging ability" patented technology

The embodiment of the invention discloses a receiving control method and device for a laser radar and the laser radar, and the method comprises the steps: firstly, determining an echo feature value of an echo signal in a response period, then determining a baseline voltage fluctuation quantity based on the echo feature value, determining a target sampling threshold value according to the baseline voltage fluctuation quantity and a sampling threshold value of the response period, and carrying out the calculation of the target sampling threshold value. And finally, adjusting the threshold value of the next response period according to the target sampling threshold value. According to the receiving control method, the sampling threshold value is compensated, the compensated target sampling threshold value is obtained, accurate sampling of echo signals is achieved, the distance measuring effect is improved, meanwhile, compared with fixed threshold value compensation, the receiving control method adjusts the sampling threshold value in real time based on the influence of the received echo signals on the baseline voltage, and the distance measuring accuracy is improved. Therefore, the adjusted sampling threshold value is consistent with the fluctuation trend of the baseline voltage, the target sampling threshold value is more matched with the echo signal, and the sampling accuracy is further improved.

The present invention belongs to the technical field of image sensors, and relates to a TOF image sensor pixel structure and a ranging system, wherein the TOF image sensor pixel structure includes a first reading control module, a second reading control module and at least two small light sensors of preset sizes. The first reading control module includes at least two first transmission transistors, and the first reading control module is connected to at least two small light sensors of preset sizes in a one-to-one correspondence through at least two first transmission transistors. The second reading control module includes at least two second transmission transistors, and the second reading control module is connected to at least two small light sensors of preset sizes in a one-to-one correspondence through at least two second transmission transistors. The first transmission transistor and the second transmission transistor connected to the same small light sensor are symmetrically arranged. Therefore, the present invention can improve the transmission efficiency of photogenerated charges, and thus can achieve the purpose of improving ranging capability and ranging accuracy.

The application is suitable for the field of radar technology, and provides a radar control method and device, a terminal equipment and a computer readable storage medium, which comprises: obtaining a transmission strategy of a current transmission block according to a current measurement scene; and a laser radar controls the current transmission block to transmit a laser detection signal according to the transmission strategy, so that the laser detection signal transmitted by the current transmission block can meet the requirements of the current measurement scene by adjusting the transmission times of the laser detection signal transmitted by the current transmission block and the transmission power of the laser detection signal transmitted each time, and the laser radar can meet the ranging performance, ranging accuracy, high reverse expansion and other performance requirements of multiple different measurement scenes, and the measurement performance of the laser radar is improved.

This application provides a parameter optimization method for a light-receiving path system, a light-receiving path system, and a lidar. The parameter optimization method includes: determining power characteristic parameters to represent the detection capability of the light-receiving path system; determining the size parameters of a via based on the power characteristic parameters, according to a preset spatial distribution of the light source and the transmit / receive area constraints of the light-receiving path system; determining the geometry of the via based on preset stray light suppression conditions; determining whether to install a first extinction sleeve at the via; and, given that a first extinction sleeve is installed at the via, determining whether to install a second extinction sleeve at a rotating reflector. This application, by determining the power characteristic parameters and combining them with the spatial distribution of the light source and the transmit / receive area constraints, accurately calculates the optimal size of the via; by combining the stray light suppression conditions, it derives the geometry of the via and decides whether to install the first and second extinction sleeves, thereby improving the efficiency of the light-receiving path and enabling the lidar to achieve greater ranging capability.

The application relates to an assembly method of a laser radar and the laser radar; the assembly method comprises the following steps: acquiring multiple filters, the combination of the wavelength ranges allowed to pass through the multiple filters covering an emission wavelength range; detecting an actual emission wavelength of the outgoing laser; and selecting a filter with a central wavelength matched with the actual emission wavelength from the multiple filters and assembling the filter at a preset position of a receiving module; the laser radar assembly method and the laser radar provided by the application can divide the emission wavelength range of an emission module into multiple small wavelength intervals through multiple filters, thereby reducing the bandwidth of the filters used, reducing the introduction of stray light and background light, and improving the ranging performance of the laser radar.

The application provides a laser ranging method and system based on boundary positioning, the method comprising: providing a first emitted laser beam, the first emitted laser beam being directed to a position close to a target boundary; calculating a detection distance of the first emitted laser beam at the target boundary position by adjusting horizontal movement of the first emitted laser beam at the target boundary position; generating boundary positioning information when the detection distance of the first emitted laser beam at the target boundary position changes suddenly; after the boundary positioning information is generated, further providing a second emitted laser beam on the same laser range finder and directing the second emitted laser beam to a target detection position; and calculating a straight-line distance between a current emission point and the target detection position according to the second emitted laser beam.

The embodiment of the present application discloses a light beam receiving device and a light beam receiving method, wherein the light beam receiving device includes a local oscillator optical path and at least one echo optical path, each echo optical path includes a mode conversion device, at least two mixers, and a balanced detector corresponding to each mixer, the local oscillator optical path is connected to each mixer, the mode conversion device is connected to each mixer, and each mixer is respectively connected to a balanced detector corresponding to each mixer. The embodiment of the present application utilizes the echo optical path to transmit a first echo light, converts the first echo light into at least two second echo lights of a preset mode, and determines multiple detection information of a detection target based on the second echo light and the second local oscillator light, which can improve the utilization rate of the received echo signal in exchange for a very small mode conversion loss, thereby reducing the influence of the walk-off effect on the receiving system, and improving the ranging capability of the receiving system.

The invention relates to the technical field of laser radars, in particular to a laser radar system, a light path structure and an obstacle information acquisition method, in the light path structure of the laser radar, a light splitting element is used for receiving light emitted by a laser emitter, and the light passing through the light splitting element irradiates a first deflection element; the light reaches the scanning element through the first deflection element, and the light reaching the scanning element is reflected to the surface of the obstacle through the scanning element to form reflected light; the reflected light enters the light splitting element through the scanning element and the first deflection element, reaches the second deflection element through the light splitting element, and reaches the first light detector through the second deflection element; according to the light path structure of the laser radar, single-transmitting and double-receiving signal processing can be realized, and the ranging performance of the laser radar is improved on the premise of ensuring that the light path structure is simple and the integration level is high.

The present application provides a laser radar including: a laser array arranged in a linear array or a planar array, arranged in the focal plane of a first optical component, and a first optical component arranged in the transmitting optical path, forming an equivalent focal length greater than the focal length of the main lens group unit at the transmitting end; and / or, a light detector array arranged in a linear array or a planar array, arranged in the focal plane of a second optical component, and the second optical component arranged in the receiving optical path, forming an equivalent focal length greater than the focal length of the main lens group unit at the receiving end. In the embodiment of the present application, the power density within the point cloud field of view angle area is increased by setting the first optical component at the light transmitting end, and / or the background light noise power within the point cloud field of view angle area is reduced by setting the second optical component at the receiving end, thereby improving the ranging capability of the radar.

The application provides a multi-echo signal processing method, device and equipment and a storage medium. The multi-echo signal processing method comprises: obtaining a plurality of echo signals in a preset time period, and then obtaining a first echo signal, a last echo signal, a strongest echo signal and a second strongest echo signal in the plurality of echo signals. Finally, the first echo signal and the second echo signal used for target object ranging are determined from the first echo signal, the last echo signal, the strongest echo signal and the second strongest echo signal. In the application, more accurate and diversified initial data is provided for the subsequent ranging data generation process, and the performance of the laser radar ranging is improved.

The application is suitable for the field of radar technology, and provides a signal receiving device, a signal processing method and a radar system.The signal receiving device comprises a photosensitive array; a data selection module connected with the photosensitive array, used for determining target pixels outputting sampling data in each scan according to a current scanning mode of the radar system; and transmitting the sampling data output by the target pixels to an operation processing module; and the operation processing module connected with the data selection module, used for processing and operating the sampling data output by the target pixels to obtain pixel detection results corresponding to the target pixels. By setting different arrangement conditions of pixels in the photosensitive array in different scanning modes, point clouds obtained through multiple scans can meet the requirements of equal resolution distribution, high resolution detection in a specified area and high detection performance in the specified area, so that the resolution of the specified area and the ranging capability and detection rate of the specified area are improved in the case of using less operation resources.

The embodiment of the application discloses an optical-mechanical system, which comprises a light emitting assembly, a light receiving assembly and a light scanning assembly. The light scanning assembly comprises a first light scanning element and a second light scanning element. The emitted light signal is transmitted by the first light scanning element and the second light scanning element in sequence and then emitted to a target object. Along a first straight line direction, the second light scanning element is located between the first light scanning element and the light emitting assembly. And / or, the echo light signal is transmitted by the second light scanning element and the first light scanning element in sequence and then reaches the light receiving assembly. Along the first straight line direction, the second light scanning element is located between the first light scanning element and the light receiving assembly. The optical-mechanical system can make the emission position of the emitted light signal and / or the incidence position of the echo light signal be located in the middle of the optical-mechanical system, which is beneficial to realize the calibration of the optical-mechanical system and the symmetry of the close-range point cloud.

The invention relates to the technical field of camera shooting, and provides a TOF module and an electronic device. The TOF module comprises a transmitting module used for transmitting a first composite frequency optical signal and a second composite frequency optical signal to a target object, the first composite frequency optical signal comprises at least two optical signals with different frequencies, and the second composite frequency optical signal comprises an optical signal with at least one frequency; and the receiving module is used for obtaining a first depth image corresponding to the first composite frequency optical signal and a second depth image corresponding to the second composite frequency optical signal so as to detect a target object at a far and near distance. According to the transmitting module, the optical signal of the first composite frequency is mainly used for detecting an object in a closer distance, and the optical signal of the second composite frequency is mainly used for detecting an object in a farther distance, so that optimal measurement in different distance ranges is realized; the problems of wrong depth flying spots, over-cycle information, large precision error and the like of the obtained depth image can be avoided, and the detection quality of the depth image is ensured.