32 results about "Lidar detector" patented technology

This application relates to the field of lidar, and discloses a lidar ranging method, device, lidar, and storage medium. The method includes: acquiring a spot pattern on a lidar detector and plotting a time-of-flight histogram; determining the distance type between the object to be measured and the lidar based on the spot pattern; determining the target time-of-flight region in the time-of-flight histogram based on the distance type; determining the target time-of-flight based on the target time-of-flight region; and determining the ranging result based on the target time-of-flight. This application does not require peak location for all regions of the time-of-flight histogram, effectively reducing the amount of peak calculation, improving the efficiency of peak position calculation and fitting accuracy, and eliminating the need to store excessive noise peak data.

A detector array, a chip, a light receiver, a LiDAR, and a detector array control method comprise: a plurality of detection unit groups, each of which comprises a plurality of detection units; a plurality of anode buses, each of which connects the plurality of detection units in the same detection unit group, and a number of anode buses corresponds to a number of detection unit groups; and a plurality of cathode buses, each of which connects the detection units in at least two of the detection unit groups, and the plurality of detection units in the same detection unit group are each connected to different cathode buses.The detection unit receives an optical signal when the anode bus and the cathode bus to which it is connected are activated simultaneously, and converts the optical signal into an electrical signal for output.

Embodiments of the present disclosure provide stray light filter structures in light detection and ranging (LiDAR) systems to attenuate stray light and reduce unwanted scattering. In some embodiments, a micro lens array is used together with a pinhole array to block stray light in the optical path just prior to the photodetector. In some embodiments, a bandpass optical filter is used in the optical path prior to the microlens array. In other embodiments, a slit filter is used further upstream in the optical path to block unwanted stray light and allow returning signal light to pass to imaging optics that provide a returning signal light image at a photodetector. In some embodiments, the imaging optics include a collimating lens and a focusing lens. In some embodiments, an optical bandpass filter is positioned on the optical path between the collimating lens and the focusing lens to reject light that is outside of a an expected wavelength range for returning signal light. These and other embodiments and details are further disclosed herein.

A sensor system comprises a LiDAR unit, a camera for visible light and a cover through which light arrives at the LiDAR unit and the camera. The cover comprises a layer containing dyes.The light transmission of the cover in the range from 380 nm to 780 nm is 3% to 25% and in the range from 380 nm to 1100 nm is 40% or more. The attenuation of the LiDAR signal by the cover is such that at least 65% of the original signal intensity reaches the LiDAR detector.The layer containing dyes contains a composition comprising i) at least 70% by weight of a transparent thermoplastic polymer, ii) at least one green and / or red dye and iii) at least one red and / or violet dye.The product of the sum of the weight % fractions of dyes ii) and iii) and the thickness of the layer containing dyes is 0.041 to 0.12 wt % mm.Finally, the composition contains 0% to 0.0005% by weight of IR absorbers.

Disclosed is a temporary pulse coding scheme for operating a pulse lidar system, in particular a pulse lidar system for use as a sensor of an autonomous vehicle. Pulse coding may be implemented for removing range ambiguity caused by aliasing effects. Alternatively, pulse coding may be used with periodic remapping to enlarge the maximum range of lidar detectors. Pulse coding may be further combined with lock coding to determine a range in a continuous range without dead zones.

This utility model discloses a lidar detection device and a self-propelled cleaning robot. The lidar detection device includes a base, a lidar detector, and a drive module. A first connector is provided on one side of the lidar detector in a first direction. The drive module is arranged side by side with the lidar detector in the first direction and includes a drive unit, a transmission mechanism, and a second connector. The second connector is fixedly connected to the first connector. The drive unit is driven by the transmission mechanism to drive the second connector to move, thereby moving the lidar detector relative to the base in a second direction. In this utility model, through the optimized design of the drive module layout, the overall size of the lidar detection device in the vertical direction is effectively reduced. The lidar detection device has a more compact structure and smaller size in the vertical direction, making it easier for the self-propelled cleaning robot to pass through low areas such as under furniture, thus expanding the cleaning area of ​​the self-propelled cleaning robot.

The invention relates to the technical field of laser radar scanning, in particular to an optical phased array laser radar system based on a beam splitting system and a scanning method thereof, and the system comprises the beam splitting system and an optical phased array laser radar. The laser radar comprises a laser, an optical phased array, a visible light area array detector, an optical filter, a laser radar detector, an image processing module, a data processing module and a control module. The laser emits laser beams; the optical phased array changes the direction and the shape of a laser beam; the visible light area array detector obtains a two-dimensional grey-scale map; the laser radar detector receives the light beam passing through the filter; the image processing module obtains a point cloud coordinate set; the data processing module generates a control parameter set; the control module is used for controlling the optical phased array laser radar to scan the to-be-scanned area to obtain point cloud data. The method has the advantages that through target identification or edge contour identification, redundant data is reduced, and the complexity of subsequent data processing is reduced.

The invention discloses a non-linear self-calibration method for a laser radar detector, and the method comprises the following steps: (1) collecting laser radar echo signal data, controlling the pulse energy emitted by a laser to be gradually increased from 0% to 100%, setting a plurality of energy levels, collecting atmosphere echo signals at different distances under each energy level, and obtaining an observation signal matrix; (2) establishing a laser radar atmospheric echo theoretical signal model and defining a nonlinear response model to deduct background noise; (3) performing singular value decomposition on the observation signal matrix, and extracting principal components to construct a rank-one approximation matrix; (4) calibrating a nonlinear response curve; according to the method, laser energy or atmospheric parameters do not need to be calibrated in advance, the intensity gradient is naturally formed based on distance-energy scanning only by depending on the characteristics of echo signals, and a linear region and a saturation region are synchronously calibrated; the measurement precision and stability of the laser radar system are effectively improved.

The present invention discloses a self - calibration method for the non - linearity of a lidar detector, comprising the following steps: (1) Collect lidar echo signal data, control the laser to emit pulse energy to increase step by step from 0% to 100%, set multiple energy levels, and collect atmospheric echo signals at different distances at each energy level to obtain an observation signal matrix; (2) Establish a theoretical signal model of lidar atmospheric echo and define a non - linear response model to deduct background noise; (3) Perform singular value decomposition on the observation signal matrix, extract the principal components to construct a rank - one approximation matrix; (4) Calibrate the non - linear response curve; The present invention does not require prior calibration of laser energy or atmospheric parameters, only depends on the characteristics of the echo signal itself, forms an intensity gradient naturally based on distance - energy scanning, and synchronously calibrates the linear region and the saturation region; effectively improving the measurement accuracy and stability of the lidar system.

The invention discloses an unmanned aerial vehicle airborne radar windproof stabilizing device and a using method thereof. The unmanned aerial vehicle airborne radar windproof stabilizing device comprises an unmanned aerial vehicle body, a dismounting and mounting mechanism and a windproof mechanism. The dismounting and mounting mechanism comprises a base and a support fixedly connected to the bottom of the unmanned aerial vehicle body, a laser radar detector is fixedly mounted at the bottom of the base, insertion grooves are formed in the two sides of the base, and a two-way lead screw is rotationally connected into the support; according to the unmanned aerial vehicle airborne radar windproof stabilizing device and the use method thereof, a dismounting mechanism and a windproof mechanism are arranged on an unmanned aerial vehicle body, so that a bidirectional screw rod can drive two movable plates to move oppositely after clockwise rotation, and an insertion block can be inserted into a groove to position a base and a laser radar detector; after the first windproof cover and the second windproof cover are spliced, the laser radar detector can operate on the unmanned aerial vehicle more stably; through the arrangement, the stability and the convenience of the airborne radar when the airborne radar is used on the unmanned aerial vehicle are improved.

The utility model provides an open-air stope slope monitoring three-dimensional laser scanning device which comprises an unmanned aerial vehicle, the bottom of the unmanned aerial vehicle is connected with a mounting mechanism, the mounting mechanism is provided with an inclined camera, and the top of the unmanned aerial vehicle is provided with a dazzling dispersing mechanism. The dazzling dispersing mechanism is used for dispersing birds around the unmanned aerial vehicle through reflected light of the natural environment, connecting arms are connected to the four corners of the unmanned aerial vehicle correspondingly, driving motors are connected to one ends of the connecting arms, fan blades are connected to output shafts of the driving motors, telescopic rods are connected to the two sides of the bottom of the unmanned aerial vehicle correspondingly, and landing supporting rods are connected to the bottoms of the telescopic rods. A laser radar detector is arranged on one side of the unmanned aerial vehicle. In the scheme, the reflected light generated by the dazzling dispersing mechanism irradiates the birds, and when the birds approach the unmanned aerial vehicle, as the reflected light can stimulate the eyes of the birds, the birds change the flying direction under the stimulation of the light and are far away from the unmanned aerial vehicle, so that the birds are prevented from colliding with the birds.

The present invention is directed to an article comprising an optical cover assembly. The optical cover assembly comprises: (A) a substrate comprising an outer surface and an opposing inner surface; (B) an optional first coating layer applied directly to at least the outer surface of the substrate; (C) an anti-reflective coating stack comprising at least one coating layer; and (D) a topmost coating layer comprising a fluorosilane polymer on the outer surface of the substrate. The optical cover assembly demonstrates hydrophobicity and extended UV durability, and serves as a component of at least one of a vehicle, a light sensor, a LiDAR detector, a motion sensor, a vision camera, a backup camera, a security camera, an IR camera, a headlight, a taillight, a signal light, a RADAR emitter, a RADAR detector, an aircraft landing light, and a gas detector.

A method including emitting, by an emitting device of an optical ranging system at a first time, a first light pulse; increasing, after the first time, a sensitivity of a photodetector of the optical ranging system from a first sensitivity at a second time to a second sensitivity at a third time; decreasing, after the third time, the sensitivity of the photodetector of the optical ranging system from the second sensitivity to the first sensitivity at a fourth time, wherein the fourth time is after the photodetector receives a return light based on the first light pulse; and emitting, by the optical ranging system at a fifth time after the fourth time, a second light pulse.

The utility model provides a laser radar receiving light adjusting device which comprises a hollow main shell frame, an adjusting seat capable of moving along the inner wall of the main shell frame is sleeved with the main shell frame, a collecting lens is arranged on one side of the adjusting seat, a light receiving plate is arranged on the other side of the adjusting seat, a detector is arranged in the center of the light receiving plate, and one end of the adjusting seat abuts against the light receiving plate. And the adjusting seat moves to change the relative distance between the light receiving plate and the collecting lens, so that the problem of focus position matching of the laser radar detector and the collecting lens is solved.

The utility model discloses a miniature laser radar detector, which comprises a diode assembly, a diode tube body, a tail fiber tube body, a collimator and a tail fiber, a lens is prefabricated at the front end of the diode assembly, the diode assembly is fixed in the diode tube body through 353 glue, the tail fiber is coupled and fixed at the front end part of the collimator, and the tail fiber is fixed at the front end part of the collimator. The collimator is fixed in the tail fiber tube body through 353 glue, the tail part of the diode tube body and the head part of the tail fiber tube body are welded and fixed at a lap joint through laser welding, and the outer diameter of the diode tube body is 1.9 mm; the pipe bodies are fixed through laser welding, bubbles are not generated, components are not affected, the product performance is stable, the use effect is good, the lens prefabricated in advance is simpler, more compact and smaller in structure, small in size, convenient to use and low in use cost, and the use requirement is effectively met.

Device comprising: - a convex lens (510, 615) with a first and a second side; - a first detector (520) mounted on the second side to receive a light pulse having a first angle of incidence on the first side; wherein the first detector (520) is operated to generate a first control signal in response to the first light pulse; - a second detector (520) mounted on the second side to receive a second light pulse having a second angle of incidence on the second side, the second detector (520) being operated to generate a second control signal in response to the second light pulse; and - a processor (440) for generating a range map in response to the first control signal and the second control signal.

The present application relates to the technical field of laser radar scanning, and particularly relates to an optical phased array laser radar system based on a light splitting system and a scanning method thereof, the system comprising: a light splitting system and an optical phased array laser radar.The laser radar comprises: a laser, an optical phased array, a visible light area array detector, a filter, a laser radar detector, an image processing module, a data processing module and a control module; the laser emits a laser beam; the optical phased array changes the direction and shape of the laser beam; the visible light area array detector obtains a two-dimensional gray scale image; the laser radar detector receives the light beam after filtering by the filter; the image processing module obtains a point cloud coordinate set; the data processing module generates a control parameter set; and the control module is used to control the optical phased array laser radar to scan a region to be scanned to obtain point cloud data.The present application has the advantages that, through target recognition or edge contour recognition, redundant data is reduced, and the complexity of subsequent data processing is reduced.

A kind of detector control method and device, storage medium, laser radar, detector control method includes: in response to receiving trigger signal, determining target instruction in instruction table, the instruction table includes multiple sequentially arranged instructions, each instruction includes first instruction part and second instruction part, the first instruction part indicates at least one operation object, and the second instruction part indicates multiple sequentially arranged operation steps;Determine the target time parameter corresponding to the operation step indicated by the target instruction, the target time parameter indicates each time interval between the operation step indicated by the target instruction;According to the target time parameter, at least one operation object is controlled to execute the target instruction, and the operation object is detector.The technical scheme of the present application can realize the flexibility of detector control.

Embodiments of the present disclosure provide stray light filter structures in light detection and ranging (LiDAR) systems to attenuate stray light and reduce unwanted scattering. In some embodiments, a micro lens array is used together with a pinhole array to block stray light in the optical path just prior to the photodetector. In some embodiments, a bandpass optical filter is used in the optical path prior to the microlens array. In other embodiments, a slit filter is used further upstream in the optical path to block unwanted stray light and allow returning signal light to pass to imaging optics that provide a returning signal light image at a photodetector. In some embodiments, the imaging optics include a collimating lens and a focusing lens. In some embodiments, an optical bandpass filter is positioned on the optical path between the collimating lens and the focusing lens to reject light that is outside of a an expected wavelength range for returning signal light. These and other embodiments and details are further disclosed herein.

The present invention relates to the field of laser radar technology, and discloses an optical signal processing method for laser radar and a laser radar, the method comprising: obtaining an echo optical signal of a close-range target; the echo optical signal is an optical signal reflected by the close-range target when the laser radar emits a laser beam to the close-range target; and regulating the light field distribution of the echo optical signal in a receiving optical system so that a detector receives part of the energy of the echo optical signal. In this way, by regulating the light field distribution of the echo light of the close-range target in the receiving optical system, the energy received by the detector is reduced, and the light collecting ability of the receiving optical system during close-range ranging is weakened, thereby solving the problem of oversaturation of the laser radar detector when a close-range strong signal is present.

The utility model discloses a waterproof shell of a multifunctional laser detection comprehensive rod, which relates to the technical field of laser warning columns and comprises a warning column shell consisting of a stand column shell, a laser transmitter mounting port, a laser radar detector mounting hole and a warning lamp mounting port, and a sealing cover assembly, an access hole is formed in the vertical end face, away from the laser transmitter installation opening and the laser radar detector installation hole, of the stand column shell, and a butt joint sealing assembly is arranged on the inner side of the access hole and used for achieving sealed installation of the sealing cover assembly and the warning column shell. According to the shell structure, the sealing cover assembly and the stand column shell can be rapidly installed through the butt joint sealing assembly, the good sealing effect is kept, rainwater can be prevented from being accumulated in the gap between the triangular cover plate and the access hole through the arrangement of the first drainage groove and the second drainage groove, and then the waterproof effect of the shell structure is further improved.

A method for selecting targets for a LIDAR involves generating a digital image of the surrounding environment using a device (3) for generating a wide-field environmental image record for LIDAR measurements. The device (3) is coordinated with a LIDAR detector (1). Objects suitable for reflecting a LIDAR laser beam are then detected on the digital image of the surrounding environment. The detected objects are then grouped into object groups that are physically close to each other. The detection and grouping of objects suitable for reflecting the LIDAR laser beam is performed by software processing of the digital image. The LIDAR then measures the distance to a designated object group. If the distance to the object group is measured, the object group is selected as a group of targets suitable for detection and measurement by the LIDAR. If the distance to the object group is not measured, the object group is excluded from the group of targets suitable for detection and measurement by the LIDAR.

Sensor device 10 for mounting on a vehicle (e.g. locomotive 12,Fig.1) has an encasement 14 containing electronic navigation sensors (e.g. GPS, INS 32, 34); a sensor array including a multi-spectral da

The utility model relates to the technical field of optics, discloses an optical assembly for linkage of distance measurement and multispectral imaging, and lays a foundation for integration of multispectral imaging and distance measurement in the same system. According to the utility model, a second B / S beam splitter is arranged right above a first B / S beam splitter; the laser transmitter is positioned on the left side of the first B / S beam splitter; the laser radar detector and the CCD are located in the transmission direction and the reflection direction of the second B / S beam splitter respectively. A tunable light filter is arranged between the CCD and the second B / S beam splitter; wherein the detection wavelength of the laser radar detector is matched with the wavelength of the laser transmitter; a lens which shares the same optical axis with the laser transmitter and the first B / S beam splitter and can focus is reserved on the right side of the first B / S beam splitter; the optical distances between the first B / S beam splitter and the laser emitter, the CCD and the laser radar detector are equal; and a communication interface connected with the linkage controller is reserved on each electric control component.

The invention discloses a multi-modal fusion-based target detection system, which is characterized in that an image detector, a LiDAR detector and an RADAR detector respectively extract candidate target proposals, a proposal optimizer optimizes and screens the candidate target proposals, an ROI alignment module performs multi-modal feature space alignment processing on the candidate target proposals subjected to optimization and screening, and the candidate target proposals are subjected to multi-modal feature space alignment processing. The image feature map processing module extracts a bounding box coordinate vector and a feature vector of each image candidate target proposal according to the image feature map, the feature vector comprises a classification vector and a confidence score, and the point cloud feature map processing module extracts a confidence score of each point cloud candidate target according to the point cloud feature map; and the confidence fusion module fuses the confidence scores of the modals to obtain a global confidence score and replaces the confidence score in the feature vector, and finally, the target regression module obtains a final target detection result. According to the invention, the accuracy of target detection is improved by fusing the candidate target proposal of the image and the radar point cloud data.

The application discloses a kind of test device of the stability of stripe tube laser radar detector with time, the device includes pulse signal trigger, host computer, laser collimation device and laser signal stripe tube imaging device, wherein: laser collimation device is constituted by laser and collimation system, and laser signal stripe tube imaging device is constituted by stripe tube detector and CCD camera.By the laser beam after collimation through stripe tube detector, the laser spot image obtained is stored into host computer using CCD camera, a large number of image data is stored by long-time running of the device, and then the offset of the centroid position of spot image with the working time of test device is analyzed by centroid extraction and other processing methods to achieve the purpose of testing the stability of stripe tube detector with time.The application can accurately collimate light beam, realize mode switching, ensure normal operation of each device of the system, and effectively test the stability of stripe tube detector.

A detector array, a LiDAR, and a detector array control method are provided. The detector array includes: a plurality of detector units being divided into a plurality of detector unit groups; a plurality of anode buses, each of which connecting a plurality of detection units in a same detector unit group, and a number of the anode buses corresponding to a number of the detector unit groups; and a plurality of cathode buses, each of which connecting a plurality of detector units in at least two detector unit groups of the plurality of detector unit groups, and the plurality of detector units in a same detector unit group being connected to different cathode buses. A detector unit receives an optical signal when both its anode bus and cathode bus are activated, and converts the optical signal into an electrical signal for output.

The present application relates to the field of optomechanical and electrical integration equipment, and specifically discloses a laser radar optical system and its installation method, which includes a sequentially arranged transmission reflector, a correction plate, a secondary mirror, a primary mirror that forms a self-collimation system with the secondary mirror, and a laser radar detector, wherein the correction plate is set as an aspheric surface, and the transmission reflector, the secondary mirror, and the primary mirror are all set as spherical surfaces, focusing on the first focal position of the secondary mirror, reflecting through the secondary mirror, and then focusing through the middle aperture of the primary mirror to the position of the laser radar detector. The present application reduces the overall size of the radar, corrects the system spherical aberration, improves the utilization rate of the echo signal of the receiving system, and meets the requirements of compactness and low cost.

The utility model relates to the technical field of laser radar installation, and discloses a mounting rack assembly of a laser radar detector, which comprises a base, a sleeve is fixedly arranged at the top of the base, a telescopic rod capable of stretching and retracting is inserted in the sleeve in a sliding manner, and a top plate is fixedly arranged at the top end of the telescopic rod. A mounting shell assembly is arranged on the bottom side of the top plate, and a detector body is mounted in the mounting shell assembly; according to the mounting frame assembly of the laser radar detector, the detector body is conveniently mounted and dismounted through the mounting shell assembly, a supporting rod is shifted into a sliding groove from a clamping groove, then the supporting rod is pulled upwards, a telescopic rod can be driven to move upwards from the interior of a sleeve, and then the detector body located at the top of the telescopic rod can synchronously move upwards; and the supporting rod is prevented from accidentally sliding out through the spring pin, so that the height of the laser radar detector can be adjusted according to actual conditions, and the practicability of the laser radar detector is improved.

Embodiments of the present disclosure provide stray light filter structures in light detection and ranging (LiDAR) systems to attenuate stray light and reduce unwanted scattering. In some embodiments, a microlens array is used with a pinhole array to block stray light in the optical path before the photodetector. In some embodiments, a bandpass filter is used in the optical path before the microlens array. In other embodiments, a slit filter is used more upstream in the optical path to block undesired stray light and allow return signal light to pass through imaging optics that provide a return signal light image at the photodetector. In some embodiments, the imaging optics include a collimating lens and a focusing lens. In some embodiments, an optical bandpass filter is positioned on the optical path between the collimating lens and the focusing lens to reject light outside the expected wavelength range of return signal light. These and other embodiments and details are further disclosed herein.