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公开(公告)号：US20240361433A1
公开(公告)日：2024-10-31
申请号：US18759024
申请日：2024-06-28
发明人： Jie CHEN , Shaoqing XIANG
IPC分类号： G01S7/481 , G01S7/4911 , G01S7/4914
CPC分类号： G01S7/481 , G01S7/4911 , G01S7/4914
摘要： Embodiments of this disclosure provide a light emitter and receiver module and a LiDAR. The light emitter and receiver module includes: a light emitter module and a light receiver module. The light emitter module is configured to emit a detection beam; the light receiver module is configured to receive an echo beam of the detection beam reflected by a target object and convert the echo beam into an electrical signal; and a field of view of the light emitter module configured to overlap vertically with a field of view of the light receiver module. In a first direction, a size of the field of view of the light emitter module is larger than a size of the field of view of the light receiver module, in a second direction, a size of the field of view of the light emitter module is smaller than a size of the field of view of the light receiver module, and the first direction is perpendicular to the second direction. The above solution can increase the design margin of a light-emitting surface of the light emitter module and a light-sensing surface of the light receiver module. In such a case, the light alignment accuracy can be improved, and the consistency and stability of the distance measurement capabilities of various channels can be ensured.
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公开(公告)号：US20240337734A1
公开(公告)日：2024-10-10
申请号：US18745499
申请日：2024-06-17
发明人： Congbo SHI , Kangping LI , Shaoqing XIANG
IPC分类号： G01S7/484 , G01S7/481 , G01S7/4865 , G01S17/10
CPC分类号： G01S7/484 , G01S7/4815 , G01S7/4865 , G01S17/10
摘要： This disclosure provides a control method for a LiDAR, where the LiDAR includes n channels, n≥32, each channel being formed by at least one laser and at least one detector, the control method including: S11: determining a light emission mode of lasers that are to emit light; and S12: controlling the channels to emit light in groups, lasers of channels within each group emitting light in parallel, where pulses emitted by the lasers of the group of channels are encoded in accordance with the light emission mode, at least one of pulses emitted by each laser serving as a ranging pulse, where the light emission mode is configured to cause ranging echo pulses of at least part of channels emitting light in parallel to be temporally staggered from each other. This disclosure sets the light emission mode and controls pulse emitting based on the ranging result, to cause the ranging echo pulses of the channels emitting light in parallel to fall in different intervals of the flight window to reduce crosstalk between multiple channels of the same LiDAR and crosstalk between different LiDARs, thereby improving the precision of detection.
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公开(公告)号：US12019187B2
公开(公告)日：2024-06-25
申请号：US17032192
申请日：2020-09-25
发明人： Shaoqing Xiang , Na Li , Yancong Lu
CPC分类号： G01S7/4817 , G01S7/4815 , G01S7/4816 , G01S17/42 , G01S17/931 , G02B26/105 , G02B27/106 , G02B27/1086 , G02B5/1871
摘要： A multiline LiDAR includes a rotor, a stator, a plurality of lasers, a light collimator arranged in the rotor, and one or more carriers arranged in the rotor. The plurality of lasers are arranged on the one or more carriers in n rows, n≥2, and lasers in different rows are staggered from each other. The multiline LiDAR is configured such that, when detection light emitted by each laser is reflected by objects, reflected light is converged on a detector after passing through an optical receiver, and detection beams emitted by the plurality of lasers are configured to be driven by the rotor to scan around a central axis to generate a scanning point cloud having a sparse-dense distribution in a vertical direction to obtain information about objects in a central field of view. A number of lines of the multiline LiDAR is equal to or greater than 16.
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公开(公告)号：US20240159903A1
公开(公告)日：2024-05-16
申请号：US18412164
申请日：2024-01-12
发明人： Shuaiqi XU , Jin YANG , Hongyan ZHANG , Shaoqing XIANG
IPC分类号： G01S17/10 , G01S7/481 , G01S7/4865 , G01S7/497
CPC分类号： G01S17/10 , G01S7/4816 , G01S7/4865 , G01S7/497
摘要： The present disclosure provides data processing methods and apparatuses related to LiDAR technologies. In an implementation, a method includes: performing k detection sweeps by using an original detection window to obtain a first set of detection data as a result of the k detection sweeps, wherein k is a positive integer, determining, based on the first set of detection data, a position of an echo pulse at an arrival time point within the original detection window, adjusting, based on the position of the echo pulse, a detection window, performing n detection sweeps by using the adjusted detection window to obtain a second set of detection data as a result of the n detection sweeps, wherein n is a positive integer, and determining, based on the first set of detection data and the second set of detection data or based on the second set of detection data, at least one of a distance or a reflectivity of an object.
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公开(公告)号：US20240061116A1
公开(公告)日：2024-02-22
申请号：US18496394
申请日：2023-10-27
发明人： Xuezhou ZHU , Jin YANG , Zhaoming ZENG , Jun TAO , Shaoqing XIANG , Kai SUN
CPC分类号： G01S17/10 , G01S7/4815 , G01S7/4816 , G01S7/487 , G01S7/484
摘要： Methods, devices, and systems for light detection are provided. In one aspect, a light detection device includes a light emitter array, a light detector array, and a controller. The light emitter array includes a plurality of light emitters configured to output transmission signals. The light detector array includes a plurality of light detectors configured to detect echo signals of the transmission signals reflected off an obstacle. The light emitter array and the light detector array are configured to form a plurality of detection channels, and each detection channel includes at least one light emitter and at least one light detector. The controller is configured to, during a signal transmission process, select multiple light emitters to emit light in parallel. Fields of view (FOVs) of the multiple light emitters that emit light in parallel are separate from each other within a detection distance.
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公开(公告)号：US20240061114A1
公开(公告)日：2024-02-22
申请号：US18385065
申请日：2023-10-30
发明人： Xuezhou ZHU , Shaoqing XIANG
IPC分类号： G01S17/08 , G01S7/481 , G01S7/484 , G01S7/4863 , G01S7/487
CPC分类号： G01S17/08 , G01S7/4815 , G01S7/4816 , G01S7/484 , G01S7/4863 , G01S7/487
摘要： This disclosure provides a light detection device and a driving vehicle. The light detection device includes: a window; a light transmission end configured to output an transmission signal; a light detecting end configured to detect the echo signal of the transmission signal; and optical signal redirection component configured to deflect the transmission signal through movement, so that the transmission signal emerges from the window of the light detection device to enable scanning of the field of view in the second direction and redirect the echo signal, whereby the echo signal is transmitted to the light detecting end. The optical path for transmission signal and the optical path for echo signal overlap at least between the window and the optical signal redirection component. In the embodiment of this disclosure, by arranging the emission end and receiving end to the left and right relative to each other instead of stacking them on top of each other, the height of the device can be maintained or even decreased without affecting the detection performance, and the short-range blind zone can be reduced.
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公开(公告)号：US11899137B2
公开(公告)日：2024-02-13
申请号：US17223230
申请日：2021-04-06
发明人： Xuezhou Zhu , Kai Sun , Shaoqing Xiang , Jin Yang , Chenluan Wang , Xugang Liu , Wenyi Zhu , Tingyu Yao , Shixiang Wu , Hui Yin
IPC分类号： G01C3/08 , G01S7/4863 , G01S17/894 , G01S7/484 , G01S7/481
CPC分类号： G01S7/4863 , G01S7/484 , G01S7/4815 , G01S17/894
摘要： A Lidar system and method is provided for adaptive control. The Lidar system comprises: an array of emitters each of which is individually addressable and controlled to emit a multi-pulse sequence, at least a subset of the emitters are activated to emit multi-pulse sequences concurrently according to an emission pattern; an array of photosensors each of which is individually addressable, at least a subset of the photosensors are enabled to receive light pulses according to a sensing pattern, each of the subset of photosensors is configured to detect returned light pulses returned and generate an output signal indicative of an amount of optical energy associated with at least a subset of the light pulses; and one or more processors electrically coupled to the array of emitters and the array of photosensors and configured to generate the emission pattern and the sensing pattern based on one or more real-time conditions.
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公开(公告)号：US20240036202A1
公开(公告)日：2024-02-01
申请号：US18482307
申请日：2023-10-06
发明人： Jin YANG , Tianchang GU , Chongyang WANG , Shaoqing XIANG
IPC分类号： G01S17/48 , G01S7/487 , G01S7/484 , G01S7/4865
CPC分类号： G01S17/48 , G01S7/487 , G01S7/484 , G01S7/4865
摘要： LiDARs and distance measuring methods are provided. In one aspect, a LiDAR includes: a laser emitting device, a control device, a detection device, and a data processing device. The control device is configured to generate a trigger signal based on a time sequence random number. The laser emitting device includes at least one laser and at least one driver coupled with the at least one laser, and a driver is configured to drive a laser coupled to the driver to emit a laser pulse signal according to the trigger signal. The detection device is configured to receive an echo signal of the laser pulse signal reflected by an object and convert the echo signal into an electrical signal. The data processing device is configured to determine distance information of the object based on an emission time of the laser pulse signal and a reception time of the echo signal.
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公开(公告)号：US20230184901A1
公开(公告)日：2023-06-15
申请号：US18081002
申请日：2022-12-14
发明人： Jie CHEN , Shaoqing XIANG
CPC分类号： G01S7/4814 , G01S7/4816 , G01S17/08
摘要： A laser emitting unit for a lidar includes a light emitting surface and provides an emission light directed to a target object. The emission light forms an echo light by a target object, and is received by a light receiving apparatus. The light emitting surface includes: a first end arranged close to the light receiving apparatus and a second end arranged away from the light receiving apparatus, a direction from the first end to the second end representing a first direction, and a direction vertical to the first direction representing a second direction. The light emitting surface includes: an effective light emitting region in which light emitting sources are arranged and an ineffective light emitting region in which no light emitting source is arranged, the effective light emitting region including, along the first direction, a plurality of light emitting sub-regions, respectively configured to detect target objects at different distances.
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公开(公告)号：US11668802B2
公开(公告)日：2023-06-06
申请号：US16738242
申请日：2020-01-09
发明人： Yongfeng Gao , Shengping Mao , Liangchen Ye , Shaoqing Xiang
CPC分类号： G01S7/4817 , G01S7/484 , G01S17/10 , G02B26/0816 , G02B26/101
摘要： A scanner and a method for controlling the scanner for a Lidar system are provided. The method comprises: producing a trigger signal by a positional sensor of the scanner; generating a single drive signal comprising a first component at a first frequency and a second component at a second frequency, the first component and the second component are superposed with a fixed phase relationship with aid of the trigger signal; transmitting the single drive signal to the scanner, and the scanner has resonant responses at the first frequency; and actuating the scanner to move in a first periodic motion at the first frequency about a first axis, and move in a second periodic motion at the second frequency about a second axis.
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