LIDAR Dual-Window Occlusion Detection via Rotating Housing
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Solution Overview
Problem
Active sensors like LIDAR face challenges in detecting occlusions within their field-of-view, which can be caused by objects, obstacles, debris, or accumulated dirt on the sensor itself, leading to incomplete or inaccurate scans.
Innovation Solution
A LIDAR device with two optical windows that rotate simultaneously to obtain overlapping scans, allowing for the identification of occlusions by comparing the scans and determining if they affect one or both windows, enabling the activation of cleaning mechanisms or waiting for occlusions to clear.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single optical window is used for scanning, then the device structure is simple, but occlusions cannot be detected
Solution Approach 1:
The patent divides the single optical window into multiple segments (first optical window and second optical window) that can be independently scanned. By segmenting the scanning function across multiple windows, the system gains the ability to detect occlusions by comparing scans from different windows, thereby improving reliability without requiring a completely different system architecture.
Solution Approach 2:
The patent combines multiple scans from different optical windows to achieve occlusion detection. By merging the scanning functions of the first and second optical windows and comparing their respective scans, the system identifies occlusions that affect one or both windows, enabling reliable detection while maintaining a relatively simple dual-window structure.
2Measurement precision
If multiple scans are performed to detect occlusions, then detection accuracy is improved, but scanning time increases
Solution Approach 1:
The patent implements periodic scanning through multiple optical windows, where the first and second optical windows are scanned in alternating or sequential periods. This periodic action allows the system to accumulate data from multiple scans over time, improving occlusion detection accuracy through statistical analysis while managing the time penalty through efficient scan scheduling and overlapping scan patterns.
Solution Approach 2:
The patent performs preliminary scans with the first optical window to establish baseline data before detecting occlusions. By conducting preliminary scanning actions and storing reference scan data, the system can quickly compare subsequent scans against these baselines, improving detection accuracy while minimizing the time required for actual occlusion identification through efficient comparison algorithms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method effectively detects and manages occlusions, ensuring continuous and accurate scanning by distinguishing between occlusions affecting one or both optical windows, thereby maintaining the sensor's performance and reliability.
Implementation Method 1
transmitting a first plurality of light pulses through the first optical window to obtain a first scan of a field-of-view (FOV) of the LIDAR device
Implementation Method 2
determining a distance to the object according to a time delay between the transmission of the pulse and the reception of the reflected pulse
Data Source
AI summary
One example method involves rotating a housing of a light detection and ranging (LIDAR) device about a first axis. The housing includes a first optical window and a second optical window. The method also involves transmitting a first plurality of light pulses through the first optical window to obtain a first scan of a field-of-view (FOV) of the LIDAR device. The method also involves transmitting a second plurality of light pulses through the second optical window to obtain a second scan of the FOV. The method also involves identifying, based on the first scan and the second scan, a portion of the FOV that is at least partially occluded by an occlusion.