Abstract: This disclosure provides a diagnostic method for a position and orientation of a LiDAR, where the LiDAR is fixed to an apparatus, the diagnostic method including: determining a first reference data of scanning a calibration object by the LiDAR when it is in a standard position and orientation; controlling the LiDAR to scan the calibration object in a current position and orientation and collect a first measurement data of the LiDAR; and determining, based on the first reference data and the first measurement data, whether the current position and orientation of the LiDAR deviates from the standard position and orientation. In embodiments of this disclosure, using the characteristics of point cloud data of the LiDAR, the LiDAR diagnoses by itself an abnormal change in its relative position and orientation to the apparatus during the normal operation without the cooperation of other detector devices. Calculations of the diagnostic method are simple, and results are accurate.

Abstract: Systems, devices, and methods for light cover stain detection for LiDARs are provided. In one aspect, a method for stain detection on a light cover of a LiDAR includes: transmitting a laser pulse to the light cover of the LiDAR, receiving a stray light pulse generated by the laser pulse incident on the light cover of the LiDAR, and determining, based on a characteristic of the stray light pulse, whether a stain is on the light cover of the LiDAR.

Abstract: A detection method for stain on a light cover of a LiDAR, including: transmitting a multi-pulse sequence with pulse coding; receiving an echo; obtaining an echo pulse sequence in the echo corresponding to the multi-pulse sequence; determining whether the light cover of the LiDAR has a stain based on a time of flight (TOF) of the echo pulse sequence. The present disclosure utilizes light beams generated by a transmitter unit of the LiDAR to detect a stain on the light cover, without the necessity to add an extra light source and/or detector device. The present disclosure provides a simple structure, which saves internal space of the LiDAR. In this application, the detection is completed by using the coded time, TOF and the number of echo points, and the detection accuracy is high and the misjudgment can be avoided.

Abstract: An inspection system for inspecting optical assemblies of a LiDAR which includes a transmitting optical assembly at a transmitting end and a receiving optical assembly at a receiving end. The inspection system includes: a detection laser and a detection probe. The detection laser is configured to emit a detection laser beam that passes through the transmitting optical assembly and/or the receiving optical assembly, and exits the LiDAR or is incident to the detection probe. The detection probe is configured to receive the detection laser beam or an echo of the detection laser beam after being reflected off an object, and convert it into an electrical detection signal. The inspection system further includes a signal processing unit that communicates with the detection probe to receive the electrical detection signal, and is configured to determine an operation state of the optical assemblies based on the electrical detection signal.

Abstract: A state detection device for a LIDAR is provided. The state detection device includes: a fault diagnostic unit, configured to perform a fault diagnosis on a component of the LIDAR, and when a fault is diagnosed, output a fault diagnosis signal; and a diagnostic management unit, communicating with the fault diagnostic unit to receive the fault diagnosis signal, and configured to determine a state of the LIDAR according to the fault diagnosis signal. The present disclosure also provides a LIDAR and a state detection method for a LIDAR.