Abstract: A detection apparatus may include a light source to emit a light pulse sequence, a first scanner and a second scanner disposed in an optical path of the light pulse sequence to change propagation direction of the light pulse sequence. The first scanner alone may be capable of causing an outgoing light beam to scan along a first path, and the second scanner alone may be capable of causing the outgoing light beam to scan along a second path. The first scanner may include a reflector and a first driver; and the second scanner may include a reflective structure and a second driver, the reflective structure including at least two reflective surfaces. The second driver may drive the reflective structure to rotate so that the at least two reflective surfaces are rotated sequentially onto the optical path of the light pulse sequence.

Abstract: A ranging device includes a transmitter, a scanner including an optical element, and a detector. Working states of the ranging device after power-on include a normal state and a standby state. In the normal state, the transmitter transmits a light pulse sequence, the optical element is kept in a motion state to change the light pulse sequence to different directions to emit at different moments, and the detector receives at least part of reflected light reflected by an object and converts the at least part of the reflected light into an electrical signal, and determines at least one of a distance or an orientation of the object with respect to the ranging device according to the electrical signal. In the normal state, the transmitter suspends transmitting the light pulse sequence and the optical element is kept in the motion state.

Abstract: The present disclosure provides a light emission method. The method includes emitting a light pulse sequence; changing a propagation direction of the light pulse sequence to scan a surrounding environment; and controlling an emission frequency and/or emission power of the light pulse sequence based on a scanning speed of the light pulse sequence.

Abstract: A detection method includes obtaining first count data and second count data during rotation of an encoder disc mounted at and configured to rotate together with a rotation object and determining a rotation parameter of the rotation object according to the first count data and the second count data. The encoder disc includes N detection target portions arranged along a circumferential direction of the encoder disc. The N detection target portions include N?K first detection target portions and K second detection target portions. Along the circumferential direction of the encoder disc, a width of one of the N?K first detection target portions is different from a width of one of the K second detection target portions. The first count data is obtained when one detection target portion of the N detection target portions is detected. The second count data is recorded between two neighboring detection target portions.

Abstract: A scan mechanism of a ranging apparatus includes a plurality of optical elements, a plurality of motors, and a controller or a plurality of controllers. The plurality of motors correspond to the plurality of optical elements. A motor includes a hollow rotor. An optical element is arranged at the rotor of a corresponding motor. The controller controls the plurality of motors. At least one of the plurality of controllers controls at least two of the plurality of motors. When one controller controls at least two motors, the controller controls the at least two motors to rotate at a predetermined angle difference based on a first synchronization strategy. When one controller controls one motor, the controller controls the motor and another at least one motor to rotate at the predetermined angle difference based on a second synchronization strategy.

Abstract: A ranging system includes a plurality of ranging apparatuses. Each of the plurality of ranging apparatuses is configured to emit a laser pulse sequence, receive a laser pulse sequence reflected by an object, and detect the object according to the laser pulse sequence emitted and the laser pulse sequence received. The two or more ranging apparatuses of the plurality of ranging apparatuses are configured to emit laser pulse sequence with different time sequences and/or to emit different laser pulse sequences.

Abstract: A ranging apparatus includes an emitter, a scanner, a detector, and a controller. The emitter is configured to emit a light pulse sequence. The scanner is configured to change a transmission direction of the light pulse sequence to transmit in different directions in sequence to form a scan field. The detector is configured to receive a reflected light pulse sequence formed by an object reflecting the light pulse sequence and determine at least one of a distance or an orientation of the object relative to the ranging apparatus according to the reflected light pulse sequence. The controller is configured to control the emitter to emit the light pulse sequence at a first emission frequency when scanning the first region and at a second emission frequency higher than the first emission frequency when scanning the second region.

Abstract: Disclosed herein are techniques for implementing a distributed sensor (LIDAR) system with a management system (e.g., a controller) that controls and interfaces with multiple sensors in the distributed sensor system. A representative management system can control an operational state (e.g., power on, reset, over-current protection, etc.), an operating mode (e.g., modes corresponding to varying levels of performance), etc. The management system can combine separate outputs from the individual sensors into a combined output (e.g., point cloud). The management system can assist installation of the sensors, manage a self-test and/or a self-calibration of the sensors, or a combination thereof.

Abstract: A method of monitoring a system status of a LIDAR includes obtaining M pieces of present status information corresponding to N devices of the LIDAR, determining system status information of the LIDAR according to the M pieces of present status information, and outputting the system status information of the LIDAR and the M pieces of present status information through a preset field. Each of the N devices corresponds to at least one of the M pieces of present status information. N is an integer greater than or equal to 2, and M is an integer greater than or equal to N.

Abstract: A method of monitoring a connection status of a LIDAR includes receiving address information and port identification of a host computer transmitted by the host computer, transmitting a connection confirmation message to the host computer, transmitting a data packet to the host computer according to the address information and the port identification of the host computer, and determining whether the connection between the LIDAR and the host computer is normal through a heartbeat packet or a heartbeat return packet. The connection confirmation message is used to indicate that the connection between the LIDAR and the host computer is established successfully.

Abstract: Techniques, systems, and devices relating to conducting calibration of LIDAR systems are disclosed. In one exemplary aspect, a light detection and ranging (LIDAR) device is disclosed. The device comprises a light beam emitter operable to emit a light beam; a prism set positioned in an optical path of the light beam to refract the light beam onto a surface of a surrounding object; a light detector to detect light reflected by the surface of the surrounding object; a controller configured to estimate the surface of the surrounding object based on the detected light. The controller is operable to (1) determine a relative bias in the prism set, and (2) cause, based on the relative bias in the prism set, a compensation for an estimation error in the controller's estimation of the surface of the surrounding object.

Abstract: Techniques, systems, and devices relating to conducting calibration of LIDAR systems are disclosed. In one exemplary aspect, a light detection and ranging (LIDAR) device is disclosed. The device comprises a light beam emitter operable to emit a light beam; a prism set positioned in an optical path of the light beam to refract the light beam onto a surface of a surrounding object; a light detector to detect light reflected by the surface of the surrounding object; a controller configured to estimate the surface of the surrounding object based on the detected light. The controller is operable to (1) determine a relative bias in the prism set, and (2) cause, based on the relative bias in the prism set, a compensation for an estimation error in the controller's estimation of the surface of the surrounding object.

Abstract: Techniques, systems, and devices relating to conducting calibration of LIDAR systems are disclosed. In one exemplary aspect, a light detection and ranging (LIDAR) device is disclosed. The device comprises a light beam emitter operable to emit a light beam; a prism set positioned in an optical path of the light beam to refract the light beam onto a surface of a surrounding object; a light detector to detect light reflected by the surface of the surrounding object; a controller configured to estimate the surface of the surrounding object based on the detected light. The controller is operable to (1) determine a relative bias in the prism set, and (2) cause, based on the relative bias in the prism set, a compensation for an estimation error in the controller's estimation of the surface of the surrounding object.

Abstract: Techniques, systems, and devices relating to conducting calibration of LIDAR systems are disclosed. In one exemplary aspect, a light detection and ranging (LIDAR) device is disclosed. The device comprises a light beam emitter operable to emit a light beam; a prism set positioned in an optical path of the light beam to refract the light beam onto a surface of a surrounding object; a light detector to detect light reflected by the surface of the surrounding object; a controller configured to estimate the surface of the surrounding object based on the detected light. The controller is operable to (1) determine a relative bias in the prism set, and (2) cause, based on the relative bias in the prism set, a compensation for an estimation error in the controller's estimation of the surface of the surrounding object.

Abstract: Techniques, systems, and devices relating to conducting calibration of LIDAR systems are disclosed. In one exemplary aspect, a light detection and ranging (LIDAR) device is disclosed. The device comprises a light beam emitter operable to emit a light beam; a prism set positioned in an optical path of the light beam to refract the light beam onto a surface of a surrounding object; a light detector to detect light reflected by the surface of the surrounding object; a controller configured to estimate the surface of the surrounding object based on the detected light. The controller is operable to (1) determine a relative bias in the prism set, and (2) cause, based on the relative bias in the prism set, a compensation for an estimation error in the controller's estimation of the surface of the surrounding object.