ЛАЗЕРНАЯ СИСТЕМА НАБЛЮДЕНИЯ

Изобретение относится к оптико-электронным системам дистанционного зондирования, к лазерным системам наблюдения. Лазерная система наблюдения включает импульсный лазер, выходную оптическую систему передающего канала, формирующую с помощью дифракционной решетки коллимированные лазерные пучки, фотоприемное устройство однорядной линейки фотоприемных чувствительных элементов, однокоординатное сканирующее устройство, оптический объектив и вычислительное устройство, в передающий канал введены дополнительный дефлектор и управляющее устройство, дополнительный дефлектор установлен на выходе передающего канала, на вход управляющего устройства подаются сигналы, пропорциональные истинной геометрической высоте полета, частоте строчного сканирования и текущему значению угла сканирования, на основании которых управляющее устройство формирует управляющий сигнал u(α), где α - угол между направлением распространения лазерного излучения подсвета и направлением приема отраженного лазерного излучения, дополнительный ...

СПОСОБ КОНТРОЛЯ И ПОВЕРКИ МЕТЕОРОЛОГИЧЕСКОГО ЛИДАРНОГО ОБОРУДОВАНИЯ ТИПА ОБЛАКОМЕР И УСТРОЙСТВО ДЛЯ ЕГО ОСУЩЕСТВЛЕНИЯ

Изобретение относится к области метрологии и касается способа контроля и поверки метеорологического лидарного устройства. Способ включает в себя ввод оптического зондирующего импульса через приемную оптическую систему в оптоволоконную линию временной задержки калиброванной длины и вывод через передающую оптическую систему на фотоприемник поверяемого устройства. В оптоволоконной линии временной задержки производят разделение оптической энергии зондирующего импульса. Часть энергии через оптическое волокно калиброванной длины направляют на фотоприемник поверяемого устройства, а другую часть направляют в замкнутую оптоволоконную линию временной задержки. За каждый циклический проход светового импульса осуществляют отведение части оптической энергии импульса и направление ее на фотоприемник поверяемого устройства. Таким образом, посредством замкнутой оптоволоконной линии временной задержки калиброванной длины формируют последовательность затухающих оптических импульсов, отстоящих друг от друга ...

СПОСОБ ВЗАИМНОЙ КАЛИБРОВКИ ВИДЕОКАМЕРЫ И УСТРОЙСТВА ВЕЕРНОГО ЛАЗЕРНОГО ПОДСВЕТА

Изобретение относится к способам калибровки оптических устройств. Технический результат заключается в обеспечении возможности определения пространственных координат проекций точек лазерного подсвета с веерным расположением лучей с угловым расстоянием между соседними лучами в единицы градусов с абсолютной погрешностью не более единиц миллиметров. Технический результат достигается за счет того, что формируют массив снимков планарного тест-объекта с различных ракурсов и расстояний и определяют координаты точек тест-объекта в системах координат камеры и лазерного устройства; измеряют пространственные координаты проекций точек подсвета на плоскость тест-объекта в системе координат тест-объекта, вычисляют расстояния между данными точками, составляют переопределенную относительно неизвестных расстояний систему нелинейных уравнений, решают ее и определяют пространственные координаты проекций точек подсвета на плоскость тест-объекта в системе координат подсвета; далее выполняют репроекцию точек ...

СПОСОБ ВВОДА КАЛИБРОВОЧНОГО СИГНАЛА В ПРИЕМНЫЕ КАНАЛЫ МОНОИМПУЛЬСНОЙ РЛС, СОДЕРЖАЩЕЙ АНТЕННУ С СУММАРНО-РАЗНОСТНЫМ ГИБРИДНЫМ СОЕДИНЕНИЕМ И ГИБРИДНОЕ СОЕДИНЕНИЕ АНТЕННОЙ СИСТЕМЫ КАЛИБРУЕМОЙ МОНОИМПУЛЬСНОЙ РЛС

Использование: в антенных системах моноимпульсных радиолокаторов. Сущность: калибровочный сигнал ответвляют в одно из четырех ближайших к излучающей части антенны боковых плеч моноимпульсного суммарно-разностного гибридного соединения в сторону этого соединения, а затем с помощью системы листов суммарно-разностного гибридного соединения делят по соответствующим приемным каналом. 2 с.п.ф-лы, 1 ил.

Способ передискретизации зарегистрированных облаков точек в полярных координатах без потери изначальной структуры

Изобретение относится к области обработки и отображения пространственной информации и может быть использовано при обработке облаков точек, состоящих из большого количества точек стояния, в частности при сканировании больших промышленных и гражданских зданий и сооружений. Технический результат состоит в уменьшении количества точек, создающих излишнюю плотность отображения. Для этого при использовании данного способа происходит передискретизация для уменьшения количества точек, создающих излишнюю плотность в области перекрытия, с последующим разделением на первоначальные облака точек с учётом передискретизации и сохранением данных в полярных координатах. 7 ил., 4 табл.

Reflexionslichtschranke

Reflexionslichttaster zum Erfassen von Objekten in einem Überwachungsbereich mit einem Sendelichtstrahlen emittierenden Sender und einem Empfangslichtstrahlen empfangenden Empfänger mit einem Nahelement und einem Fernelement, wobei die am Ausgang des Nahelements und des Fernelements anstehenden Empfangssignale jeweils einem Verstärker zugeführt sind und zur Einstellung der den Überwachungsbereich begrenzenden Tastweite bei einem in dem der Tastweite entsprechenden Abstand angeordneten Testobjekt die Differenz der Signale an den Ausgängen der Verstärker auf den Wert null einstellbar ist, wodurch ein Schaltvorgang an einem Schaltausgang ausgelöst wird, welcher dem Schaltpunkt des Reflexionslichttasters entspricht, wobei der eine Verstärker an den einen Anschluss und der andere Verstärker an den anderen Anschluss ein und desselben einstellbaren Widerstandselements angeschlossen ist, an dessen Eingang INC ein Impulsgenerator angeschlossen ist, welcher über eine extern betätigbare Signalleitung ...

Optoelektronischer Sensor und Verfahren zur Veränderung von Sensoreinstellungen

Es wird ein optoelektronischer Sensor (10) zur Erfassung von Objekten (12) längs eines Überwachungsstrahls (14), insbesondere Lichttaster oder Lichtschranke, mit einem Lichtempfänger (26) zur Umwandlung von längs des Überwachungsstrahls (14) empfangenem Empfangslicht (22) in ein Empfangssignal, mit einer Auswertungseinheit (28) zur Gewinnung von Informationen über Objekte (12) in dem Überwachungsstrahl (14) aus dem Empfangssignal und mit einer Parametriereinheit (32) zur Veränderung von Sensoreinstellungen durch eine Benutzereingabe angegeben. Dabei ist die Parametriereinheit (32) dafür ausgebildet, eine Benutzereingabe aus einer Modulation des Empfangssignals zu erkennen.

Kompensationseinrichtung zur Kompensation der Einbautoleranzen eines Abstandssensors an einem Fahrzeug

Kompensationseinrichtung zur Kompensation der Einbautoleranzen eines Abstandssensors an einem Fahrzeug, mit einem geometrisch vorbestimmten Sollabstrahlwinkel (8a) wenigstens eines Strahles (8) des Abstandssensors (5) relativ zum Fahrzeug (2) und einem tatsächlich vorliegenden toleranzbehafteten Istabstrahlwinkel (8b), und mit einer an den Abstandssensor (5) angeschlossenen Auswerteelektronik (20) zur Bestimmung der aktuellen Objektabstände und aktuellen Objektwinkel erfasster Objekte (3) relativ zum Fahrzeug (2) während des Fahrbetriebs, dadurch gekennzeichnet, dass die Auswerteelektronik (20) weiter eine Einrichtung (15) zur Bildung eines Mittelwertes der aktuellen Objektwinkel über eine vorgebbare Zeit zu einem Objektwinkelmittelwert aufweist, wobei der Objektwinkelmittelwert dem Sollrichtungswinkel (8a) eines geradlinig vorausfahrenden Objekts (3) entspricht, und die Kompensationseinrichtung in der Weise ausgebildet ist, dass ein Korrekturdifferenzwinkel (16) zwischen dem ermittelten ...

Lichtlaufzeitkamerasystem

Lichtlaufzeitkamerasystem, mit einer Beleuchtung (12) zur Aussendung eines modulierten Lichts (Sp1), mit einem Lichtlaufzeitsensor (22), zur Demodulation eines empfangenen Lichts (Sp2), mit einem Modulator (30) zur Erzeugung eins Modulationssignals (Mod), wobei der Modulator (30) mit der Beleuchtung (12) verbunden ist, mit einem Phasenschieber (35) zur Veränderung der Phasenlage eines Referenzsignals (Ref) und Bereitstellung von Kanal-Referenzsignalen (RefA, RefB) für den Lichtlaufzeitsensor (35), wobei das Lichtlaufzeitkamerasystem derart ausgestaltet ist, dass ein Entfernungswert anhand einer Phasenverschiebung zwischen dem ausgesendeten (Sp1) und dem empfangenen Licht (Sp2) bestimmt wird, wobei der Phasenschieber (35) mit einem die Beleuchtung (12) versorgenden Strompfad oder mit einem Optokoppler der Beleuchtung zum Abgriff eines Referenzsignals (Ref) elektrisch verbunden ist, und dass die elektrische Verbindung im Strompfad bzw. der Optokoppler derart ausgewählt und angeordnete ist ...

VERFAHREN ZUR AUSRICHTUNG EINES BISTATISCHEN DOPPLERSENSORS

Verfahren und Vorrichtung zur Bestimmung ob ein von mehreren Sensoren detektiertes Objekt identisch ist und Verfahren und Vorrichtung zur Positionskorrektur in einem Multisensor-System

Verfahren zum optischen Abtasten und Vermessen einer Umgebung

Bei einem Verfahren zum optischen Abtasten und Vermessen einer Umgebung eines Laserscanners (10), welcher einen Messkopf (12) mit einem Lichtsender (17) und einem Lichtempfänger (21), einen Spiegel (16), der um eine erste Achse (A) relativ zum Messkopf (12) drehbar ist, einen Fuß (14), relativ zu diesem der Messkopf (12) um eine zweite Achse (B) drehbar ist, eine Steuer- und Auswertevorrichtung (22), und ein Zentrum (C10), welches für einen Scan das stationäre Bezugssystem des Laserscanners (10) und das Zentrum dieses Scans definiert, aufweist, wobei der Lichtsender (17) einen Sendelichtstrahl (18) aussendet, der Spiegel (16) den Sendelichtstrahl (18) in die Umgebung wirft und während der Drehung des Messkopfes (12) mehrere volle Umdrehungen ausführt, der Lichtempfänger (21) einen von einem Objekt (O) in der Umgebung des Laserscanners (10) reflektierten oder sonst irgendwie gestreuten Empfangslichtstrahl (20) über den Spiegel (16) empfängt, und die Steuer- und Auswertevorrichtung (22) für ...

Sicherheitslaserscanner zur Erfassung von Objekten in einem Überwachungsbereich

Sicherheitslaserscanner zur Erfassung von Objekten in einem Überwachungsbereich (18) mit- einem Lichtsender (12) zum Aussenden eines Sendelichtstrahls (14),- einer Ablenkeinheit (16) zur periodischen Ablenkung des Sendelichtstrahls (14) in den Überwachungsbereich (18),- einem Lichtempfänger (24) zum Erzeugen eines Empfangssignals aus dem von Objekten in dem Überwachungsbereich (18) remittierten Lichtstrahl (20),- einer Winkelmesseinheit (28) zur Bestimmung der Winkelposition der Ablenkeinheit (16) relativ zu dem Sensor (10),- sowie einer Auswertungseinheit (30), die dafür ausgebildet ist, anhand einer Lichtlaufzeit des Empfangssignals und der Winkelposition Messwerte zu erzeugen, die angeben, ob und wo im Überwachungsbereich ein Objekt erfasst ist und- die Auswertungseinheit (30) einen sicheren Ausgang (38) aufweist und- die Auswertungseinheit (30) ausgebildet ist, unzulässige Objekteingriffe in Schutzbereiche innerhalb des Überwachungsbereichs (18) zu erkennen und daraufhin ein Absicherungssignal ...

Ausrichthilfe für einen Sensor

Die erfindungsgemäße Ausrichthilfe dient für einen Sensorsignale generierenden Sensor und umfasst wenigstens einen Beschleunigungssensor (8), dessen Ausgangssignale in einer Auswerteeinheit (7) als Maß für die Güte der Ausrichtung des Sensors bezüglich einer Solllage verarbeitet werden.

Laser range finder, e.g. for driverless transport system

The laser appts. includes a pulse laser (11) which transmits controlled light pulses (12) to a measuring region (13). A photoreceiver (22) intercepts light reflected from an object (14) in the measuring region, and a processor circuit (23,30,34,36-40) delivers a distance signal according to the speed of light and the time between transmission and reception of the light pulses (12,12'). A light deflector (15), disposed between the pulsed laser and the measuring region, deflects successive light pulses into different angles in the measuring region. The deflector also sends corresp. angular position signals to the processor circuit. The processor uses the angle and distance signals to determine the object position within a 90 to 270 degree radius.

Sensor system to ensure vehicle reversing safety esp. for refuse collection vehicle

The sensor system consists of at least one sensor, so that one sensor consists of a receiver and a transmitter part (4, 5). Also at least one evaluation unit is provided for detecting persons in the rear region of eg. a refuse vehicle, or standing on a foot step (2). At least a second sensor part is connected fixed to parts of the vehicle. A transmitter-receiver stretch is formed by the two sensor parts (4, 5). In addition an electronic evaluation unit is provided, which cyclically switches on alternately the reference stretch and the personnel detection. A circuit is also provided, which signals the failure of the reference stretch.

Vorrichtung zur Entfernungsmessung mittels eines Halbleiterlasers im sichtbaren Wellenlängenbereich nach dem Laufzeitverfahren

Die Erfindung betrifft eine Vorrichtung zur Entfernungsmessung mittels eines Halbleiterlasers im sichtbaren Wellenlängenbereich, welche nach dem Laufzeitverfahren arbeitet. Es ist ein Kollimationsobjektiv zur Bündelung des ausgesandten Meßstrahlenbündels, eine Schaltungsanordnung zur Modulation der Meßstrahlung, ein Empfangsobjektiv zur Aufnahme und Abbildung des am entfernten Objektiv reflektierten Meßstrahlenbündels auf eine Empfangseinrichtung und eine Auswerteeinrichtung zur Ermittlung und Anzeige der zum Objekt gemessenen Entfernung vorgesehen. Erfindungsgemäß ist die Schaltungsanordnung zur Modulation der Meßstrahlung und die Auswerteeinrichtung auf zwei unterschiedliche Betriebsarten umstellbar. In der ersten Betriebsart wird mit einer ersten Frequenz (f¶1¶/n) moduliert und in der zweiten Betriebsart mit einer zweiten Frequenz (f¶1¶). Diese Frequenzen stehen in einem ganzzahligen Verhältnis n zueinander. Das reflektierte Signal wird in der ersten Betriebsart mit einer dritten Frequenz ...

Optoelektronische Vorrichtung

Optoelektronischer Sensor und Verfahren zur Erfassung von Objektinformationen

Es wird ein optoelektronischer Sensor (10) zur Erfassung von Objektinformationen aus einem Überwachungsbereich (12) mit einem Lichtempfänger (24), einer dem Lichtempfänger (24) zugeordneten Empfangsoptik (22) zum Erzeugen eines Lichtflecks auf dem Lichtempfänger (24) und einer Auswertungseinheit (26) zum Erzeugen der Objektinformationen aus einem Empfangssignal des Lichtempfängers (24) angegeben. Dabei ist eine Manipulationseinheit (30) vorgesehen, um Empfangsoptik (22), Lichtempfänger (24) und/oder Elemente der Empfangsoptik (22) so zu variieren, dass sich der Anteil des Lichtflecks ändert, der auf den Lichtempfänger (24) trifft.

VORRICHTUNG ZUR ENTFERNUNGSMESSUNG MITTELS EINES HALBLEITERLASERS IM SICHTBAREN WELLENLÄNGENBEREICH NACH DEM LAUFZEITVERFAHREN

Kalibriervorrichtung für ein Lichtlaufzeitkamerasystem

Die Erfindung betrifft eine Kalibriervorrichtung zum Kalibrieren von je eine Beleuchtung (12) und eine Lichtlaufzeitkamera (20) aufweisenden Lichtlaufzeitkamerasystemen (1). Es ist vorgesehen, dass die Kalibriervorrichtung die folgenden Komponenten umfasst: – ein Lichtleitsystem (52), das mehrere Lichtwellenleiter (58) unterschiedlicher Länge aufweist oder eingerichtet ist, einen Lichtwellenleiter (58) aus einem Satz von Lichtwellenleitern (58) unterschiedlicher Länge wahlweise integrativ aufzunehmen, – eine Einkoppelvorrichtung (54) zur Erfassung eines von der Beleuchtung (10) des Lichtlaufzeitkamerasystems (1) ausgesendeten Lichts und zur Einkopplung dieses Lichts in die Lichtwellenleiter (58) oder den Lichtwellenleiter (58) und – eine Ausleuchtungsvorrichtung (56) zur Beleuchtung eines Lichtlaufzeitsensors (22) der Lichtlaufzeitkamera (20) über deren Kameraoptik (25) mit dem Licht der Lichtwellenleiter (58) oder des Lichtwellenleiters (58), wobei die Ausleuchtungsvorrichtung (56) eine ...

Lichtlaufzeitzähler mit Korrekturschaltung

Lighting device for light transit time measuring system for photonic mixer detector camera, has evaluation unit and temperature sensors arranged on light source in close proximity, where temperature sensors differ in their active principles

The lighting device has a light source (12) having two temperature sensors (60,61) and an evaluation unit (100), which is connected with the temperature sensors by two interfaces (110,20). The temperature sensors are arranged on the light source in close proximity. The interface characteristics differ in their active principles or the two temperature sensors differ in their active principles. The temperature sensors have different temperature accuracy or temperature resolution. The interfaces have different analog to digital converters.

Prüfvorrichtung und Verfahren zur Ausrichtung einer Prüfvorrichtung

Die Erfindung betrifft eine Prüfvorrichtung (2) zur Überprüfung lichttechnischer Einheiten (1.7) oder von Abstandssensoren eines Fahrzeugs (1), umfassend zumindest eine, zur Positionierung vor zumindest einer lichttechnischen Einheit (1.7) oder zumindest einem Abstandssensor entlang zumindest einer Verfahrachse (V1, V2) verschiebbare Prüfeinheit (2.1), wobei die Prüfeinheit (2.1) zumindest ein erstes Erfassungsmittel (2.1.1) zur Erfassung und Überprüfung einer mittels der jeweiligen lichttechnischen Einheit (1.7) emittierten Lichtstrahlung (L) oder einer mittels des jeweiligen Abstandssensors emittierten Strahlung aufweist. Erfindungsgemäß ist eine Ausrichteinheit (2.2) zur Ausrichtung der Prüfeinheit (2.1) relativ zu der jeweiligen lichttechnischen Einheit (1.7) oder des jeweiligen Abstandssensors vorgesehen, wobei die Ausrichteinheit (2.2) zumindest eine Laserlichtquelle (2.2.1), zumindest eine Befestigungsvorrichtung (2.2.2) zur Befestigung der Laserlichtquelle (2.2.1) an einer Vorderachse ...

Verfahren zum Bestimmen einer Schwingung eines Mikrospiegelelements mittels einer Schallerfassungseinrichtung, elektronische Recheneinrichtung, Mikrospiegelanordnung sowie optoelektronischer Sensor

Die Erfindung betriff ein Verfahren zum Bestimmen einer mechanischen Schwingung (16) eines Mikrospiegelelements (13) einer Mikrospiegelanordnung (12) für einen optoelektronischen Sensor (5), bei welchem das Mikrospiegelelement (13) durch Anregung mit einem Anregungssignal (15) in die mechanische Schwingung (16) versetzt wird und die mechanische Schwingung (16) mittels einer Erfassungseinrichtung erfasst wird, wobei mittels einer als Schallerfassungseinrichtung (14) ausgebildeten Erfassungseinrichtung ein durch die mechanische Schwingung (16) erzeugtes Schallsignal (17) des Mikrospiegelelements (13) erfasst wird und mittels des erfassten Schallsignals (17) die Schwingung des Mikrospiegelelements (13) bestimmt wird. Ferner betrifft die Erfindung eine elektronische Recheneinrichtung (10), eine Mikrospiegelanordnung (12) und einen optoelektronischen Sensor (5).

Betriebsverfahren für ein LiDAR-System, Steuereinheit für ein LiDAR-System, LiDAR-System und Arbeitsvorrichtung

Die vorliegende Erfindung betrifft Betriebsverfahren für ein LiDAR-System (1) vom Flashtyp, bei welchem aufeinanderfolgend Pulse erzeugten Primärlichts (57) in ein Sichtfeld (50) zu dessen Beleuchtung ausgesandt werden, aus dem Sichtfeld (50) stammendes Sekundärlicht (58) empfangen, detektiert und ausgewertet wird und eine Abtastfrequenz, mit welcher Pulse oder Gruppen von Pulsen des Primärlichts (57) ausgesandt werden, eine Anzahl Pulsen des Primärlichts (57) in einer Gruppe von Pulsen und/oder ein oder mehrere einen jeweiligen Puls des Primärlichts (57) charakterisierende Pulsparameter zeitlich variiert werden.

Anordnung und Verfahren zur Entfernungsmessung

Lasermessvorrichtung zum Messen von Entfernungen und Verfahren zum Betreiben einer Lasermessvorrichtung zum Messen von Entfernungen

Offenbart ist eine Lasermessvorrichtung zum Messen von Entfernungen miteinem Pulslaser zum Aussenden von Laserpulsen;einer Photonendetektionseinrichtung mit wenigstens einer Detektionseinheit zum Detektieren von Photonen;einer Zeitmesseinrichtung zum Messen von Zeitspannen;einer Steuereinrichtung zur Steuerung von aufeinanderfolgenden Messvorgängen, bei denen jeweils ein Messwert für eine der Entfernungen erzeugt ist, wobei die Steuereinrichtung so ausgebildet ist,dass eine Anpassung eines Maximalwerts für eine Anzahl der Zeitspannen, welche während eines Messzyklus zur Erzeugung des Messwerts des jeweiligen Messvorgangs herangezogen sind, erfolgt, wobei zur Anpassung mehrere der vorher mittels der Zeitmesseinrichtung gemessenen Zeitspannen herangezogen sind.

Verfahren zur Erkennung einer Verschmutzung und/oder Blindheit bei einem nach dem Radar- oder Lidarprinzip arbeitenden Sensor

Optoelectronic device for object detection within surveillance zone

The optoelectronic device has a transmitter (2) providing a light pulse which is received by a receiver (3) coupled to an evaluation device, evaluating the light pulse propagation time for determining the distance of a detected object. The transmitted light pulses are used to scan the surveillance zone via a deflection device (10), with a reference object at a defined distance from the latter for correcting light signal propagation time measuring errors.

VERFAHREN UND VORRICHTUNG ZUM BESTIMMEN EINER FEHLFUNKTION UND SENSORSYSTEM

Ein Verfahren zum Bestimmen einer Fehlfunktion wird bereitgestellt. Das Verfahren umfasst das Empfangen eines 1D- oder 2D-Luminanzbildes einer Szene von einer Laufzeit-basierten 3D-Kamera. Das Luminanzbild umfasst ein oder mehrere Pixel, die Intensitäten des Hintergrundlichts, das durch einen Bildsensor der 3D-Kamera empfangen wird, darstellen. Das Verfahren umfasst ferner das Empfangen eines optischen 2D-Bildes der Szene von einer optischen 2D-Kamera und das Vergleichen des Luminanzbildes mit dem optischen Bild. Wenn das Luminanzbild nicht mit dem optischen Bild übereinstimmt, umfasst das Verfahren zusätzlich das Bestimmen einer Fehlfunktion von einer der 3D-Kamera und der 2D-Kamera.

Verfahren zum automatischen Kalibrieren eines Umfeldsensors, insbesondere eines Lidar-Sensors, eines Fahrzeugs auf Grundlage von Belegungskarten sowie Recheneinrichtung

Die Erfindung betrifft ein Verfahren zum Kalibrieren eines Umfeldsensors eines Fahrzeugs, umfassend die Schritte: Empfangen von Sensordaten von dem Umfeldsensor für zumindest zwei Zeitpunkte, wobei die Sensordaten eine Umgebung des Fahrzeugs beschreiben, Bestimmen von jeweiligen Belegungskarten für die zumindest zwei Zeitpunkte, wobei die Belegungskarten zumindest bereichsweise übereinstimmende Bereiche der Umgebung beschreiben, Empfangen von Positionsdaten für die zumindest zwei Zeitpunkte, wobei die Positionsdaten eine aktuellen Position des Fahrzeugs beschreiben, wobei eine Verschiebung von zumindest einem Punkt in den Belegungskarten und eine Änderung der Position des Fahrzeugs zwischen den zumindest zwei Zeitpunkten bestimmt werden und anhand eines Vergleichs der Verschiebung des zumindest einen Punkts und der Änderung der Position eine Abweichung eines Einbauwinkels des Umfeldsensors von einem Soll-Einbauwinkel geschätzt wird.

Verfahren zum Kalibrieren eines Umfeldsensors eines Fahrzeugs anhand von Daten eines Referenz-Umfeldsensors unter Berücksichtigung von Belegungskarten, Recheneinrichtung sowie Sensorsystem

Die Erfindung betrifft ein Verfahren zum Kalibrieren eines Umfeldsensors eines Fahrzeugs, umfassend die Schritte: Empfangen von Sensordaten von dem Umfeldsensor und Bestimmen einer Belegungskarte anhand der Sensordaten, wobei die Belegungskarte einen ersten Bereich einer Umgebung des Fahrzeugs beschreibt, Empfangen von Referenz-Sensordaten von einem Referenz-Umfeldsensor des Fahrzeugs und Bestimmen einer Referenz-Belegungskarte anhand der Referenz-Sensordaten, wobei die Referenz-Belegungskarte einen zweiten Bereich der Umgebung beschreibt, welcher mit dem ersten Bereich zumindest bereichsweise übereinstimmt, Bestimmen von zumindest einem Merkmal in der Belegungskarte, welches mit zumindest einem Merkmal in der Referenz-Belegungskarte übereinstimmt, Bestimmen einer räumlichen Verschiebung zwischen dem zumindest einen Merkmal in der Belegungskarte und dem zumindest einen Merkmal in der Referenz-Belegungskarte, und Schätzen einer Abweichung eines Einbauwinkels des Umfeldsensors von einem Soll-Einbauwinkel ...

Sicherheitssystem zur Absicherung der Umgebung eines Objekts

Sicherheitssystem zur Absicherung der Umgebung wenigstens eines Objekts (112, 114, 12, 14) mit einem ersten Sicherheitslaserscanner (116, 16), dem ein erstes definiertes Referenzziel zugeordnet ist und mit einem zweiten Sicherheitslaserscanner (118, 18), dem ein zweites definiertes Referenzziel zugeordnet ist, wobei ein Sicherheitslaserscanner aufweist: – einen Lichtsender (24), – eine Lichtablenkeinheit (28) zur periodischen Ablenkung des Lichtes in eine Scanebene, – einen Empfänger (34) zur Bereitstellung von Empfangssignalen in Abhängigkeit von an im Sichtbereich des Scanners vorhandenen Gegenständen remittiertem Licht – und eine Auswerteeinheit (42) zur Auswertung der Empfangssignale bezüglich Winkel und Abstand des Gegenstands und zur Bereitstellung eines Sicherheitssignals, dadurch gekennzeichnet, dass die Scanebenen (120, 20) beider Scanner (116, 118, 16, 18) koplanar sind und der erste Scanner (16, 116 bzw. 18, 118) das zweite Referenzziel bildet und der zweite Scanner (118, 18 ...

Laserentfernungsmessgerät

Laserentfernungsmessgerät mit zumindest einer Recheneinheit (12) und einem Laser (14), der bei einer Entfernungsmessung ein Messsignal (16) aussendet, gekennzeichnet durch zumindest eine Flüssigkeitslinse (18, 20), die in zumindest einem Betriebszustand von einer Steuerkenngröße der Recheneinheit (12) abhängig zumindest einen Anteil (22, 24) des Messsignals (16) beeinflusst.

Vorrichtung zur Erhöhung der Messgenauigkeit und -entfernung für ein scannendes Laserentfernungsmessgerät

Vorrichtung zur Erhöhung der Messgenauigkeit und -entfernung für ein scannendes Laserentfernungsmessgerät, gekennzeichnet dadurch, dass ein Umlenkelement für den Empfangskanal (4) an einer drehbaren Hohlwelle (6) angebracht ist und sich dabei zwischen einer Linse des Scanners (3) und einer Trennwand (7) befindet; in der Hohlwelle (6) vor der Trennwand (7) ein Umlenkelement für den Sendekanal (8) so positioniert ist, dass ein von einem Laserkollimator (12) austretender Laserstrahl (13) um 90° umlenkbar und aus einer an dieser Stelle der Hohlwelle (6) vorhandenen Öffnung aussendbar ist und die reflektierte Laserstrahlung (15) über die Fläche des Umlenkelementes für den Empfangskanal (4) mit der Linse des Scanners (3) in Wirkverbindung tritt und im Bildbereich derselben ein Fotoempfänger (1) angeordnet ist.

Modal-Verarbeitung zur Abstandsmessung mittels Multipulse-Multireturn-Signalen zur Clutter-Beseitigung

Vorrichtung zum Bestimmen und Korrigieren der Ablenkung der Hauptachse in einer Fahrzeug-Hinderniserkennungsvorrichtung, und System zum Regeln des Abstandes zu einem vorausfahrenden Fahrzeug

Distanzmeßapparatur

Distanzmessapparatur, umfassend: eine Strahlsendevorrichtung (1) zum Senden eines Strahls, eine Reflexionsvorrichtung (21) zum Senden des Strahls der Strahlsendevorrichtung (1) in eine festgelegte Richtung durch Reflexion und zum Reflektieren eines reflektierten Strahls, der sich durch Reflexion des Strahls an einem Hindernis ergibt, in eine festgelegte Richtung, eine Scannvorrichtung (2), die die Reflexionsvorrichtung (21) in einem festgelegten Bereich zum Scannen des Strahls verschwenkt, eine Strahlempfangsvorrichtung (3) zum Empfangen des von der Reflexionsvorrichtung (21) reflektierten Strahls, eine Entfernungsberechnungsvorrichtung (4) zum Berechnen einer Entfernung zu dem Hindernis auf der Grundlage einer verstrichenen Zeitdauer, bezogen auf den Zeitpunkt, in dem die Strahlsendevorrichtung (1) den Strahl sendet, bis zu dem Zeitpunkt, in dem die Strahlempfangsvorrichtung (3) den reflektierten Strahl empfängt, eine Ursprungspunkt-Detektorvorrichtung (5) zum Erfassen eines Ursprungspunkts ...

Abstandsmeßvorrichtung

DETEKTIONSSYSTEM MIT ERHÖHTER RAUSCHTOLERANZ

Optical system performs at least one reference measurement as transition time measurement for optical signal in two reference light conductors to determine distance measurement correction

The system has a measurement unit that emits an optical signal and detects a reflected signal and a control unit that determines the distance between reference and target objects based on a transition time measurement. The measurement unit is connected to two reference light conductors with defined different lengths and performs at least one transition time reference measurement in both reference light conductors to determine a correction value. The system has a measurement unit (3) that emits an optical signal (13) for distance measurement and detects a reflected signal (14) and a control unit (7) that determines the distance between a reference object (1) and target objects (2) in the observation region based on a transition time measurement. The measurement unit is connected to two reference light conductors (10,11) with predefined and different lengths and the measurement unit performs at least one reference measurement as a transition time measurement for the optical signal in both ...

Radareinrichtung

Radareinrichtung umfassend: Signalübertragungsmittel (7) zum Aussenden eines Signals; einen Scanner (6), der ein Zielobjekt zweidimensional unter Verwendung des von den Signalübertragungsmitteln (7) ausgesendeten Signals durch Schwingen in Längs- und Querrichtung scannt; Signalaufnahmemittel (3) zum Aufnehmen eines Reflektionssignals, das von dem ausgesendeten Signal hervorgerufen wurde; und Steuermittel (4, 5) zur Steuerung eines Längsschwingungssignals und eines Querschwingungssignals, die zum Schwingen des Scanners (6) in Längs- und Querrichtung in Abhängigkeit einer Scanbeobachtungsdauer (T), während welcher das zweidimensionale Scannen innerhalb einer vorbestimmten Größe eines zweidimensionalen Scanbereichs durch den Scanner (6) durchgeführt wird, verwendet werden, wobei die Steuermittel (4, 5) eine Frequenz des Längsschwingungssignals und eine Frequenz des Querschwingungssignals steuern, so dass die Taktfrequenzen der Wellenbewegung mit einer Längsschwingungsfrequenz und der Wellenbewegung ...

Verfahren und System zur Bewertung mindestens eines Umfeldsensors eines Fahrzeugs zum Erkennen mindestens eines Objekts

Verfahren zur Bewertung mindestens eines Umfeldsensors eines Fahrzeugs (12) zum Erkennen mindestens eines Objekts (14) folgende Schritte umfassend: a) Bereitstellen eines Funkpositionierungssystems, das eine Vielzahl von Sender/Empfänger-Einheiten (BS; TP) aufweist; b) Definition eines Messfelds durch mindestens drei Sender/Empfänger-Einheiten (BS; TP); c) Ausstatten des Fahrzeugs (12) mit mindestens einer Sender/Empfänger-Einheit (BS; TP); d) Ausstatten des mindestens einen Objekts (14) mit mindestens einer Sender/Empfänger-Einheit (BS; TP); e) Berechnen zumindest einer der Größen Position, Geschwindigkeit oder Ausrichtung des Fahrzeugs (12) und des mindestens einen Objekts aus den in einer Sender/Empfänger-Einheit (BS; TP) empfangenen Signalen; f) aus dem mindestens einen Ergebnis von Schritt e): Berechnen mindestens einer der Größen Abstand, relative Geschwindigkeit oder Winkel des Fahrzeugs (12) zu dem mindestens einen Objekt (14); und g) Vergleich des mindestens einen Ergebnisses von ...

Automatic measurement of dimensional data with a laser tracker

Doppler sensor apparatus

Lidar with interference detection

A distance measurement device comprising a light-sending unit for sending pulsed light toward an object of measurement where a distance thereto is measured, a light-receiving unit for receiving incident light including pulsed reflection light reflected by the object, a distance measurement unit for measuring the time from the sending of the pulsed light to the receiving of the incident light and calculating the distance to the object, and an interference detection unit for determining whether interference light exists in the incident light, based on the intensity of the incident light.

IMAGE PATTERN THREAD PROCESSOR

An electro-optical detection system for reflection free underwater images from aircraft

Device for optically scanning and measuring an environment

Calibration method for trigonometric-based ranging systems in multiple media

Robust index correction of an angular encoder using analog signals

A method for finding a reference correction value of an angular encoder index mark is given. The angular encoder has a first read head, a second read head, and a patterned element that includes incremental marks and an index mark. In a first instance, the first read head detects the presence of the index mark and, in response, the second read head generates a first analog signal. In a second instance, the first read head detects the presence of the index mark and, in response, the second read head generates a second analog signal. A processor determines the reference correction value based at least in part on the first analog signal and the second analog signal.

Systems and methods for improving vehicle operations using movable sensors

Among other things, we describe systems and method for improving vehicle operations using movable sensors. A vehicle can be configured with one or more sensors having the capability to be extended and/or rotated. The one or more movable sensors can be caused to move based on a determined context of the vehicle, to capture additional data associated with the environment in which the vehicle is operating.

Sensor alignment method and system

OPTICAL RANGE SIMULATOR DEVICES

ELECTRONIC DISTANCE MEASUREMENT

ARRANGEMENT FOR THE IMPROVEMENT OF THE VIEW IN VEHICLES

PROCEDURE FOR THE ADJUSTMENT COLLECTION FOR AN INFRARED DEAD ANGLE SENSOR SYSTEM

PROCEDURE FOR THE EXAMINATION OF THE FUNCTION MODE AND/OR ADJUSTMENT OF AN OPTO-ELECTRONIC SENSOR ARRANGEMENT AND OPTO-ELECTRONIC SENSOR ARRANGEMENT

OPTICAL COLLECTION MECHANISM

DEVICE AND PROCEDURE FOR MEASURING THE RECEIPT TIME OF AN IMPULSE

PROCEDURE FOR THE CALIBRATION OF A PHOTOELECTRIC CELL

COMBINED LASER EARLY WARNING SYSTEM

OPTICAL SENSOR ACCORDING TO THE RUN TIME PRINCIPLE

OPTO-ELECTRONIC SENSOR AND PROCEDURE FOR THE MEASUREMENT OF A DISTANCE OR A CHANGE OF DISTANCE

LICHTERKENNUNGSUND - RANGING SYSTEM

PROCEDURE FOR THE RANGING WITH AN OPTO-ELECTRONIC RANGEFINDER

ELECTRONIC ANZEIGEUND CONTROL DEVICE FOR A MEASURING INSTRUMENT

MEASURING INSTRUMENT

OPTO-ELECTRONIC SENSOR

ELECTROOPTICAL PARA AXIAL DISTANCE MEASURING SYSTEM

OPTO-ELECTRONIC MEASURING PROCEDURE AND OPTO ELECTRONIC ONE MESSEINRIGHTUNG

PROCEDURE FOR THE COLLECTION OF SMOKE OF MEANS OF AN EYELID ACRE SYSTEM

DEVICE FOR THE CALIBRATION OF DISTANCE MEASURING EQUIPMENTS

SYSTEM FOR AIRPLANE IDENTIFICATION

OPTO-ELECTRONIC DEVICE

LASER SPACER INVESTIGATION DEVICE

Systems and methods for modulating the range of a lidar sensor on an aircraft

A monitoring system (5) for an aircraft (10) can modulate the range of a LIDAR sensor (30) on the aircraft (10) by increasing or decreasing the power level of the LIDAR sensor (30) in response to particular conditions at the aircraft (10). When the aircraft (10) is operating in a takeoff or landing mode, the range of the LIDAR sensor (30) is reduced to avoid possible eye damage to surrounding people or animals. As the aircraft (10) transitions to a cruise mode, the range of the LIDAR sensor (30) can be increased since the expectation is that there are no people or animals in the vicinity of the aircraft. If the system (5) detects the presence of an object (15) near the aircraft (10) during operation in cruise mode, the system (5) can determine if there is an eye safety concern associated with the object (15) and reduce the range of the LIDAR sensor (30) in the area around the object (15).

Calibration method for a radar object detection system

Lidar system and method

Electro-optical method for measuring distance and detecting a non-ideal chirp profile

Highly accurate three-dimensional surface digitizing system and methods

Method and apparatus for probing objects in motion

LASER DISTANCE MEASURING DEVICE

INTEGRATED VEHICLE POSITIONING AND NAVIGATION SYSTEM, APPARATUS AND METHOD

DEVICE FOR MEASURING CLOUD HEIGHT

A ceilometer operating according to a gating method integrates output signals from a light receiver. The output signals are passed by analog gating means during consecutive time slots following each other at the transmitter frequency and being phase shifted relative to transmitted light pulses. The phase shift of the time slots is varied stepwise after preset time intervals. Signals integrated during a time interval are digitalized, processed in a microprocessor and stored in a memory according to height values determined by respective phase shifts of the time slots. The microprocessor forms a smooth function of the signals according to height values, differentiates the smooth function, computes maxima and minima, determines maxima differing from a preset threshold value, and selects a maximum which with increasing height value is followed by a minimum. The height corresponding to the selected maximum is indicated as a cloud height.

ELECTRO-OPTICAL RANGING SYSTEM FOR DISTANCE MEASUREMENTS TO MOVING TARGETS

ALIGNING SENSORS ON VEHICLES USING SENSOR OUTPUT

Systems and methods of aligning removable sensors mounted on a vehicle based upon sensor output of such sensors are described. Sensor output is collected from a removable sensor (e.g., a digital camera), and a representation of such sensor output is generated (e.g., a digital image). The representation of the sensor output is compared against a spatial template (e.g., a digital mask overlaid on the representation) to determine whether external references in the representation align with corresponding reference indicators in the spatial template. When alignment is required, the removable sensor is aligned by one or both of the following until the external references in a representation of sensor data at an updated current location align with the corresponding reference indicators in the spatial template: (i) adjusting the position of the removable sensor on the vehicle or (ii) adjusting the representation of the sensor output to simulate such repositioning.

METHOD AND DEVICE FOR OPTICAL DISTANCE MEASUREMENT

The invention relates to a method (100) for optically measuring distances, which comprises the emission (107) of pulses by means of a transmission matrix comprising a plurality of transmission elements, the reflection (108) of emitted measurement pulses on at least one object and the reception (109) of reflected measurement pulses by means of a reception matrix (11). The reception matrix (11) comprises a plurality of receiving elements (12), each comprising a plurality of receiving sub-elements (13). The method according to the invention comprises monitoring (101) receiving rates of receiving sub-elements (13) of the reception matrix (11) in order to determine (112) a misalignment between the transmission matrix and the reception matrix (11), wherein the transmission matrix and the reception matrix define a visual field, and wherein the method (100) is used for navigation of a vehicle. According to the invention, the monitoring (101) is carried out during travel of the vehicle, wherein ...

PULSED-LASER BEAM DETECTOR WITH IMPROVED SUN AND TEMPERATURE COMPENSATION

The invention discloses the pulsed-laser beam detector with the improved sun and temperature compensation. The detector consists of plurality of the photo detectors 101, the ambient temperature sensor 105, the sun exposure filter and mirroring circuit 103, microcontroller unit 104 that comprises pre- stored values in the database and the algorithm - decision logic, the time base circuit 106 that feed microcontroller 104, the amplifier 102 with the adjustable gain, the threshold setting circuit 107, the peak detector circuit 108, the comparator circuit 109, and the noise cancellation circuit 110. The core of invention is the amplifier 102 with the gain adjustable in real time to predetermined values, and where said gain depends of the measured values from the detectors 101, and temperature sensor 105, that are pre-processed if necessary, and compared with the values already stored in the microcontroller unit 104 and subjected to the program logic stored in said microcontroller 104 that finally ...

NOISE SENSITIVE, PHOTOELECTRIC TRANSCEIVER INCLUDING A DIGITAL STABILITY INDICATOR

This invention provides a photoelectric transceiver (10) for detecting the presence and absence of objects (16) in a selected region (12). The transceiver (10) includes a light source (18), a light sensor (22), and electronic circuitry (13) . The transceiver (10) generates a timing signal (MDCLK) that synchronizes its ope ration. In synchrony with the timing signal, the transceiver emits pulses of light (14) into the selected region (12) and senses light (24) coming from the selected region. When an object (16) is present in the selected region (12), the emitted light pulses (14 ) are reflected back to the transceiver (20). Based upon the light sensed, the transceiver generates an output (OUTOD) indicating whether or not an object is present. The transceiver includes three features that reduce the effect of inter fering noise on the output (OUTOD). First, the output (OUTOD) is generated by a digital count hysteresis process to reduce the effect of random noise. Second, the transceiver timing ...

SCANNING OPTICAL RANGEFINDER

A scanning optical rangefinder including an optical scanner and a light source. The optical scanner includes a rotating scan disc with a circular array of conave reflectors thereon. Mirrors are provided for directing light from the light source towards the concave reflectors on the rotating scan disc and then to direct light from the concave reflectors on the scan disc towards a target. Light received from the target is directed towards the concave reflectors on the scan disc by mirrors along a plurality of channels. A detector adapted to receive light reflected from the concave reflectors is provided for each channel, along with error correction for parallax data from the detector. The light is directed towards the target along a channel laterally displaced from a channel for light received from the target.

LASER RANGE FINDER RECEIVER AND CALIBRATION SYSTEM

A laser range finder receiver (16) for detecting a return pulse and providing an output signal indicative thereof and a single-chip microcontroller (13) for controlling receiver operation and, in particular, for automatically recalibrating the receiver (16). The receiver (16) is responsive to up and downcurrent control signals (IUP, IDN) from the microcontroller (13) to adjust the bias of an APD photodetector (315). An offset voltage and receiver false alarm rateare monitored with no light on the photodetector (315) while a calibration voltage (VVAL) is adjusted to recalibrate the receiver (16). The microcontroller (13) further monitors photodetector temperature via a temperature sensor (319), and can perform APD bias adjustment and receiver recalibration in response to temperature changes, providing operation over a wide temperature range).

LIGHT WAVE DISTANCE MEASURING APPARATUS AND METHOD FOR DETERMINING DISTANCE OF AN OBJECT

A light wave distance measuring apparatus. The light wave distance measuring apparatus includes a light-sending optical system and a light-receiving optical system, which is preferably arranged to be parallel to each other. Intensity-modulated light of the light-sending optical system is transformed into parallel rays of light and projected towards a target, reflected back towards the measuring apparatus and detected by the light-receiving optical system in order to calculate the distance of the target from a reference point.

SYSTEM AND METHOD FOR DISCRIMINATING BETWEEN DIRECT AND REFLECTED ELECTROMAGNETIC ENERGY

An energy beam threat discrimination system (110) adapted for use with laser beam energy (134). The system (110) includes a first detector (114) for detecting a first laser signal. A second detector (112) detects a coherent laser signal. A timer circuit (124, 126) establishes a time interval between the detection of the first laser signal and the detection of the coherent laser signal and provides an output (130) in response thereto. A control circuit (128, 130) determines, based on the output (130), if the first laser signal and/or the second laser signal is threatening. In a specific embodiment, the first detector (114) provides an event detection flag (118) as an output in response to the detection of a first laser signal. The first detector (114) includes a high sensitivity laser light detector (142), a preamplifier (144), and an analog threshold circuit (146). The coherent detector (112) provides a coherent detection flag (116) as an output in response to the detection of the coherent ...

SYSTEM AND METHOD FOR DISCRIMINATING BETWEEN DIRECT AND REFLECTED ELECTROMAGNETIC ENERGY

An energy beam threat dis- crimination system (110) adapted for use with laser beam energy (134). The system (110) includes a first detector (114) for detecting a first laser signal. A second detec- tor (112) detects a coherent laser signal. A timer circuit (124, 126) establishes a time interval between the detection of the first laser sig- nal and the detection of the coher- ent laser signal and provides an output (130) in response thereto. A control circuit (128, 130) deter- mines, based on the output (130), if the first laser signal and/or the second laser signal is threatening. In a specific embodiment, the first detector (114) provides an event detection flag (118) as an output in response to the detection of a first laser signal. The first detector (114) includes a high sensitivity laser light detector (142), a pre-amplifie r (144), and an analog threshold circuit (146). The coherent detector (112) provides a coherent detection flag (116) as an output in response to the detection ...

Dispositif de contrôle du fonctionnement correct d'un détecteur de lumière

Dispositif permettant de vérifier le fonctionnement correct d'un télémètre laser

DEVICE FOR THE RANGE FINDING OF MEANS OF ELECTROMAGNETIC WAVES.

Laser rangefinder

Method and system to reduce stray light reflection error in time-of-flight sensor arrays

Haze-type phase shift error due to stray light reflections in a phase-type TOF system is reduced by providing a windowed opaque coating on the sensor array surface, the windows permitting optical energy to reach light sensitive regions of the pixels, and by reducing optical path stray reflection. Further haze-type error reduction is obtained by acquiring values for a plurality (but not necessarily all) of pixel sensors in the TOF system pixel sensor array. Next, a correction term for the value (differential or other) acquired for each pixel in the plurality of pixel sensors is computed and stored. Modeling response may be made dependent upon pixel (row,column) location within the sensor array. During actual TOF system runtime operation, detection data for each pixel, or pixel groups (super pixels) is corrected using the stored data. Good optical system design accounts for correction, enabling a simple correction model.

Optical Touch Display System

Optical touch display system includes a light source, a reflector, an image sensor, and a processing device. The light source emits light to at least one object directly and emits light to the at least one object via the reflector at the same time. Then the image sensor receives light reflected from the at least one object directly and light reflected via the reflector simultaneously to form a set of imaging objects which have similar color parameters on an image. Then the processing device produces a set of still image parameters of the image objects such as gravity centers and border boundaries. Based on the still image parameters, the processing device determines the coordinates of the least one object on the optical touch display.

Method for operating at least one sensor of a vehicle and vehicle having at least one sensor

A method is provided for operating a sensor of a vehicle. The sensor is configured to detect objects within a detection range and the method includes, but is not limited to detecting an object with the sensor. In addition, a position of the object is determined with data from the sensor. Furthermore, position data emitted by the object is received with a receiving apparatus of the vehicle and the position of the object is determined with the position data. Moreover, the position determined with the sensor is compared with the position of the object and comparative data is determined and an automatic adjustment of the sensor and/or output of a message inside the vehicle is made depending on the comparative data.

Laser scanning sensor

A laser scanning sensor ( 100 ) of an embodiment of the present invention includes a laser range finder ( 110 ), a scanning mechanism ( 120 ), a data acquisition portion ( 130 ), a dirt determination portion ( 140 ), an alert output control portion ( 150 ) and a memory ( 160 ). The laser range finder ( 110 ) is arranged inside a housing ( 101 ) having an opening portion, and the opening portion is covered with a lens cover ( 116 ) that can transmit laser light. In the dirt determination portion ( 140 ), a predetermined threshold to be compared with a received light level is changed based on maximum detection distance information in each measurement direction.

Energy-saving 3-d sensor

A 3-D sensor for controlling a control process comprising a light source that includes at least one illumination source, a reception matrix for receiving a complete image of light reflected from areas from a spatial section, an evaluation device for determining the distance between the areas and the reception matrix, and a supervisory device for recognizing an object, in which the light source illuminates a partial region of the spatial section which has at least one interspace.

Phase Measurement Calibrating Method And Calibrating Device Based on Liquid Crystal Light Valve Principle

Phase measurement calibrating method, calibrating device and ranging device based on the liquid crystal shutter principle are disclosed. A light wave is emitted by a light wave emitter ( 1 ) to a tested target through a first liquid crystal shutter ( 3 ). The light wave is reflected and returned from the tested target to be focused by an optical device, and is received by a receiver ( 7 ). The received light wave is used as the external light path beam of the measurement system. While the light wave is passing through the first liquid crystal shutter ( 3 ), a part of the light wave is reflected by the first liquid, crystal shutter ( 3 ) to pass through a second liquid crystal shutter ( 4 ). The light wave passing through the second liquid crystal shutter ( 4 ) is received directly by the receiver ( 7 ) and used as the internal light path beam for fundamental reference of the system phase measurement. The first liquid crystal shutter ( 3 ) and the second liquid crystal shutter ( 4 ) are switched respectively while the system operates so that the receiver ( 7 ) is utilized for comparing phases of the internal light path beam and the external light path beam received respectively to output phase shift for eliminating a fundamental reference. The calibrating method achieves phase compensation and calibration, increases measurement accuracy of a laser ranging operation, and enhances ranging stability of the system.

Distance detecting induction device

A distance detection induction device 100 comprises a housing 1, a condensing lens 2, a circuit board 3 having multiple electronic components, an infrared light emitting means 4, a light receiving means 5 for receiving and sensing the reflected infrared light. The housing 1 comprises a main body 10 and two round openings 11 and 12 on the top of the main body 10. The condensing lens 2 has an emitting lens 21 and a receiving lens 22 respectively located at the two round openings 11 and 12. The circuit board 3 bearing multiple electronic components for processing signal is mounted inside the main body 10. The infrared light emitting means 4 is to be infrared light-emitting diodes, emitting the infrared light to the emitting lens 21. The infrared light receiving means 5 is to be distance detecting sensing module, sensing the reflected light focused by the receiving lens 22. A connection part 23 having at least a bending part is set between the emitting lens 21 and the receiving lens 22. The distance detection induction device of the present invention has higher positioning precision and can enhance the induction performance of the whole device.

Test auxiliary device

A test auxiliary device for testing a portable data terminal having a plurality of sensors includes a base, a carrying unit, a driving unit, and a controlling unit. The carrying unit is disposed on the base and includes a carrying platform and a carrying base. The carrying platform and the carrying base form a first angle and a second angle with the base, respectively, and thereby together form a compound slope. The driving unit drives the carrying unit to move, allowing the carrying platform to move with acceleration and at an angular velocity. The controlling unit receives sensing values generated by the sensors, respectively. The test auxiliary device further includes a test matching unit for testing the sensors in operation. Accordingly, the test auxiliary device assists users in determining whether the sensors of the portable data terminal are functioning well.

Optoelectric sensor and a method for the detection and distance determination of objects

An optoelectronic sensor ( 10 ) for the detection and distance determination of objects in a monitored area ( 18 ) transmits a transmission light beam ( 14 ), generates a reception signal from remitted transmission light ( 20 ), and determines an object distance from a light time of flight. A reception path between light receiver ( 24 ) and evaluation unit ( 30 ) is divided into a first and a second partial reception path ( 46, 48, 50, 52 ) at a splitter element ( 44 ) comprising filtering properties to pass higher frequency parts of the reception signal on to the first partial reception path ( 46, 48 ) and lower frequency parts on to the second partial reception path ( 50, 52 ). An object's distance is determined from the first and an opacity from the second partial reception signal.

Method for detecting and evaluating a plane

A method for detecting and evaluating a plane for recognition of an object includes detecting the object using a sensor disposed on a vehicle, the object being present in a direction of a relative direction of movement of the vehicle and the sensor being directed onto the plane. A distance of the sensor from at least one measuring point is determined using a control unit. A value of the determined distance is compared with a reference value so as to obtain a difference value. The difference value is delivered to an evaluation unit as at least one of an object, an obstacle, a hole, a floating particle, a defect in the plane and a measurement error.

Proximity sensor calibration

The subject matter disclosed herein relates to proximity sensors to measure distance from a surface, and more particularly, calibrating proximity sensors to adjust for various reflecting surfaces.

Micro-radian class line of sight and centration stabilization system

This document discusses apparatus and methods for aligning and centering an articulated laser projection system. In an example, a laser projection system can include an alignment stabilization system configured to align an optical path to a reference and a centration stabilization system configured to center the optical path within an aperture. The alignment stabilization system can have an alignment stabilization processing path configured to receive alignment information from an alignment sensor, and the centration stabilization system can have a centration stabilization processing path configured to receive centration information from a centration sensor.

Radiation sensor

A radiation sensor of the type having a packaged radiation source and detector, which includes an isolator that blocks propagation within the package of radiation from the source to the detector, in order to improve signal to noise ratio of the sensor. The isolator is formed by appropriately formed surfaces of the package.

Apparatus for measuring a distance

The invention relates to an apparatus for measuring a distance. A self-mixing interference (SMI) unit ( 2 ) generates an SMI signal, wherein the SMI unit comprises a laser ( 3 ) emitting a first laser beam ( 4 ) for being directed to an object ( 5 ) and wherein the SMI signal depends on an interference of the first laser beam and a second laser beam ( 6 ) reflected by the object. A peak width determination unit ( 8 ) determines a peak width of the SMI signal, and a distance determination unit ( 9 ) determines a distance between the object and the SMI unit depending on the determined peak width of the SMI signal. Since the distance is determined depending on the peak width of the SMI signal, without requiring a laser driving current modulation, advanced electronics for modulating the driving current of the laser are not needed. This reduces the technical efforts needed for determining the distance.

Distance estimation system and method for a railway vehicle

There is provided a ranging system for a railway vehicle. The system includes a reflector disposed along a railway relative to a stopping point and a ranging unit disposed on the railway vehicle. The ranging unit includes a transceiver configured to transmit an outbound signal and receive a corresponding reflected signal from the reflector. The ranging unit also includes a data storage unit configured to store a reference distance between the reflector and the stopping point. The ranging unit also includes a processor configured to determine a measured distance between the railway vehicle and the reflector based on an elapsed time between the transmitting the outbound signal and receiving the reflected signal. The processor determines a distance between the railway vehicle and the stopping point based on the measured distance and the reference distance.

Method for determining object sensor misalignment

A vehicle system and method that can determine object sensor misalignment while a host vehicle is being driven, and can do so without requiring multiple sensors with overlapping fields-of-view. In an exemplary embodiment where the host vehicle is traveling in generally a straight line, the present method uses an object sensor to track the path of a stationary object as it moves through the sensor's field-of-view and compares the sensed object path to an expected object path. If the sensed and expected paths of the stationary object deviate by more than some amount, then the method determines that the object sensor is skewed or otherwise misaligned.

Attachment for placement onto an optical sensor and method of operating an optical sensor

The invention relates to an attachment for placement onto an optical sensor having a housing with an inlet opening for the entry of detection light into the attachment, a test light receiver for receiving light incident at the test light receiver and for a power measurement of the light incident at the test light receiver as test light and having a signal outputting device for outputting an output signal correlated to the test light power. The invention moreover relates to a combination of an optical sensor and such an attachment and to a method for operating an optical sensor which method can be carried out with such an attachment.

Apparatus and method to compensate bearing runout in laser tracker

An apparatus and method for correcting errors in measurement of three-dimensional coordinates of a retroreflector by a coordinate measurement device is provided. The method includes measuring a plurality of first angles, a plurality of first and second displacements along an axis, sending a beam of light to the retroreflector target, measuring two angles and a distance to the retroreflector, and determining the three-dimensional coordinates of the retroreflector.

Development of a Contrast Phantom for Active Millimeter Wave Imaging Systems

A contrast phantom for an active millimeter wave imaging system is made from different materials or sections having different reflectivities. The reflectivities incrementally increase in discrete steps so that the phantom is useable to calibrate the active millimeter wave imaging system. The reflectivities preferably range from 0% to 100% and incrementally and linearly increase in equal steps. A method of producing the contrast phantom for the active millimeter wave imaging system is also described. 1. A contrast phantom for calibrating an active millimeter wave imaging system comprising:a first section with a first reflectivity;a second section with a second reflectivity; anda third section with a third reflectivity, with the first, second and third reflectivities incrementally increasing in discrete steps, when used.2. The contrast phantom of claim 1 , wherein the first section contains air a first material with a desired first dielectric constant and the second section contains a second material with a desired second dielectric constant.3. The contrast phantom of claim 1 , wherein the first claim 1 , second and third reflectivities range from 0% to 100% and incrementally and linearly increase in equal steps.4. The contrast phantom of claim 3 , further comprising:a fourth section with a fourth reflectivity; anda fifth section with a fifth reflectivity.5. The contrast phantom of claim 4 , wherein the first reflectivity is 0% and the fifth reflectivity is 100%.6. The contrast phantom of claim 5 , wherein the fifth section contains a metal.7. The contrast phantom of claim 4 , further comprising:a sixth section with a sixth reflectivity.8. The contrast phantom of claim 1 , further comprising:a container provided in at least one of said first, second and third sections, said container being transparent to millimeter waves and holding a liquid with a first dielectric constant and a liquid with a second dielectric constant in relative amounts selected to set a desired ...

System and Method for Field Calibrating Video and Lidar Subsystems Using Facial Features

A system uses range and Doppler velocity measurements from a lidar subsystem and images from a video subsystem to estimate a six degree-of-freedom trajectory of a target. The video subsystem and the lidar subsystem may be aligned with one another by mapping the measurements of various facial features obtained by each of the subsystems to one another. 1. A system for calibrating a lidar subsystem , the system comprising: direct at least two beams toward a target, wherein the at least two beams comprises a first beam directed toward the target via a first scanning mirror and a second beam directed toward the target via a second scanning mirror,', 'generate a first set of three-dimensional measurements for a plurality of points on the target for the first beam, and', 'generate a second set of three-dimensional measurements for a plurality of points on the target for the second beam; and, 'a lidar subsystem configured to receive, from the lidar subsystem, the first set of three-dimensional measurements and the second set of three-dimensional measurements,', 'compare the first set of three-dimensional measurements with the second set of three-dimensional measurements;', 'determine one or more offsets in locations of a plurality of facial features between the first set of three-dimensional measurements and the second set of three-dimensional measurements based on the comparison; and', 'determine one or more calibration adjustments to be made between the first scanning mirror and the second scanning mirror based on the one or more offsets., 'a processor configured to2. The system of claim 1 , wherein the one or more offsets are determined at a plurality of scanning positions.3. The system of claim 1 , wherein the processor is further configured to:adjust one or more transformation parameters that transform a coordinate system of the first set of three-dimensional measurements to a coordinate system of the second set of three-dimensional measurements based on the one or ...

Distance measuring methods

A distance measuring method includes: emitting a pulse of measuring light towards an object; receiving a pulse measuring light from the object and generating a pulse signal corresponding to the pulse of measuring light received from the object; delaying a first portion of the generated pulse signal for a predetermined time; generating an intensity signal indicative of an intensity of the generated pulse signal, while delaying the first portion of the generated pulse signal; amplifying the delayed first portion of the generated pulse signal using a gain dependent on the generated intensity signal; and determining a value representing a distance based on the amplified delayed first portion of the generated pulse signal.

Method for measuring 3d coordinates of a spherically mounted retroreflector from multiple stations

A method of measuring spherically mounted retroreflector (SMR) with a 3D coordinate measurement device such as a laser tracker. The SMR includes an open-air cube corner retroreflector having a vertex point located near a sphere center of the SMR. Measurements of the SMR to the vertex point are corrected to indicate 3D coordinates of the SMR sphere center by accounting for SMR depth error and SMR runout error.

CLEANER-EQUIPPED SENSOR SYSTEM FOR VEHICLE

A cleaner-equipped sensor system for a vehicle includes: an external sensor capable of acquiring information on an outside of a vehicle; a cleaner unit including a liquid cleaner capable of discharging a cleaning liquid toward the external sensor, and an air cleaner capable of discharging air toward the external sensor; and an electronic processing device configured to output an output of the external sensor to a vehicle control unit controlling the vehicle, and to control the cleaner unit depending on an output of the vehicle control unit. The external sensor and the electronic processing device are integrated. 1. A cleaner-equipped sensor system for a vehicle , comprising:an external sensor capable of acquiring information on an outside of a vehicle;a cleaner unit including a liquid cleaner capable of discharging a cleaning liquid toward the external sensor, and an air cleaner capable of discharging air toward the external sensor; andan electronic processing device configured to output an output of the external sensor to a vehicle control unit controlling the vehicle, and to control the cleaner unit depending on an output of the vehicle control unit, whereinthe external sensor and the electronic processing device are integrated.2. The cleaner-equipped sensor system according to claim 1 , whereinthe external sensor and the electronic processing device are attached to a common attachment member so as to be integrated.3. The cleaner-equipped sensor system according to claim 1 , whereina wiring connecting the external sensor and the electronic processing device is shorter than a wiring connecting the vehicle control unit and the electronic processing device.4. The cleaner-equipped sensor system according to claim 1 , whereinthe electronic processing device is configured to operate the air cleaner after operating the liquid cleaner.5. The cleaner-equipped sensor system according to claim 1 , whereinthe electronic processing device is configured to operate the cleaner ...

Method and a device for testing a lighting driving assistance system

The invention relates to a method and an apparatus for checking a lighting driving assistance system of vehicles. In this case, a vehicle is positioned in front of a body and a light of the vehicle is aimed at this body. Brightness distributions are obtained by adjusting the light in the horizontal and vertical directions in a plurality of angular positions and are recorded by an image capture unit. The recorded brightness distributions are used to calculate the distance and angular offset as well as the position of the body and actual values of the angular positions. These actual values are compared with preset desired values, and recommended settings for minimizing a difference between desired and actual values are output.

Systems and methods for using piezoelectric sensors to detect alignment anomaly

Systems and methods are provided for detecting an enclosure alignment anomaly. Pressure data of a set period can be obtained from one or more piezoelectric sensors. The one or more piezoelectric sensors are installed in between an enclosure and a fixture of an autonomous vehicle. The pressure data of the set period can be processed over a period of time. One or more trends can be identified based on the processed pressure data.

INDUSTRIAL VEHICLE DISTANCE AND RANGE MEASUREMENT DEVICE CALIBRATION

Processes and systems for calibrating a distance and range measurement device coupled to an industrial vehicle are disclosed. The calibration requires no physical movement of the distance and range measurement device. Instead, actual measurements from the device are used with nominal detection zones and nominal measurements to create modified detection zones to detect objects within the modified detection zones. 1. A process for calibrating a distance and range measurement device coupled to an industrial vehicle , the process comprising:determining a nominal height above ground to end a nominal detection zone;determining a device height of the distance and range measurement device above the ground;taking a measurement of an emission from the distance and range measurement device at a pitch angle; andcreating a modified detection zone based on the nominal height, the device height, and the measurement.2. The process of claim 1 , wherein taking a measurement of an emission from the distance and range measurement device at a pitch angle comprises taking a measurement of the emission from the distance and range measurement device at a yaw angle of zero degrees with reference to a roll axis of the distance and range measurement device.3. The process of claim 1 , wherein taking a measurement of an emission from the distance and range measurement device at a pitch angle comprises taking a measurement of the emission from the distance and range measurement device at a yaw angle other than zero degrees with reference to a roll axis of the distance and range measurement device.4. The process of claim 1 , wherein creating a modified detection zone based on the nominal height claim 1 , the device height claim 1 , and the measurement comprises:determining that the pitch angle is correct by determining that the measurement is within a pitch tolerance of a length of the nominal detection zone; andusing the nominal detection zone as the modified detection zone if the pitch angle is ...

CALIBRATION OF LASER AND VISION SENSORS

Automatic calibration between laser and vision sensors carried by a mobile platform, and associated systems and methods are disclosed herein. A representative method includes evaluating depth-based feature points obtained from the laser sensor with edge information obtained from the vision sensor and generating calibration rules based thereon. 1106-. (canceled)107. A computer-implemented method for generating a point cloud , the method comprising:obtaining observation data generated by at least one vision sensor, wherein the observation data corresponds to a time period;evaluating states associated with a laser unit at different points in time within the time period based at least on the observation data;determining one or more transformation rules for transforming between one or more reference systems and a target reference system associated with the laser unit, wherein the one or more reference systems are associated with the laser unit at the different points in time within the time period and the target reference system is associated with the laser unit at a target point in time within the time period;transforming data obtained by the laser unit based at least on the one or more transformation rules to the target reference system, the data obtained by the laser unit corresponding to the different points in time within the time period; andgenerating the point cloud using at least a portion of the transformed data.108. The method of claim 107 , wherein determining the one or more transformation rules further comprises:computing transformation matrices for the laser unit at the different points in time with respect to the target point in time, wherein each transformation matrix is computed using a corresponding state associated with the laser unit at a corresponding point in time.109. The method of claim 108 , wherein transforming data obtained by the laser unit based at least on the one or more transformation rules to the target reference system further comprises: ...

SYSTEM AND METHOD FOR CONTROLLING AN AIRFLOW INTO A SENSOR ENCLOSURE

Provided herein is a system and method for heat exchange of a vehicle. The system comprises an enclosure disposed on the vehicle and a vent at a base of the enclosure. The enclosure houses one or more sensors. The heat exchange system comprises an adjustable deflector disposed on the vehicle outside the enclosure and configured to direct an airflow into the vent of the enclosure. The heat exchange system further comprises a controller configured to adjust the adjustable deflector. 1. A heat exchange system of a vehicle , comprising:an enclosure disposed on the vehicle and comprising a vent at a base of the enclosure, the enclosure housing one or more sensors;an adjustable deflector disposed on the vehicle outside the enclosure and configured to direct an airflow into the vent of the enclosure; anda controller configured to adjust the adjustable deflector.2. The heat exchange system of claim 1 , wherein:the adjustable deflector is retractable; andthe controller is configured to retract the adjustable deflector.3. The heat exchange system of claim 1 , wherein the controller is configured to adjust a length of the adjustable deflector based on a speed of the vehicle claim 1 , an internal temperature of the enclosure claim 1 , an external temperature claim 1 , or a wind speed.4. The heat exchange system of claim 1 , wherein the controller is configured to pivot the adjustable deflector about a point based on a wind direction and a direction of the vehicle.5. The heat exchange system of claim 1 , wherein the controller is configured to adjust a shape of the adjustable deflector based on a speed of the vehicle claim 1 , an internal temperature of an enclosure claim 1 , an external temperature claim 1 , and a wind speed.6. The heat exchange system of claim 1 , wherein the controller is configured to adjust a length of the adjustable deflector and to pivot the adjustable deflector about a point simultaneously.7. The heat exchange system of claim 1 , further comprising a ...

SENSOR CALIBRATION PARAMETER SENSITIVITY ANALYSIS

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining that prediction outputs generated by a prediction system are sensitive to variations in the values of one or more of a set of target sensor calibration parameters. In one aspect, a sensitivity analysis system is configured to perform operations comprising updating the values of one or more target sensor calibration parameters of each sensor data tuple of a plurality sensor data tuples, comprising, for each sensor data tuple: providing the sensor data tuple with the current values of the target sensor calibration parameters to the prediction subsystem to generate a current prediction output; determining a gradient of a function of the current prediction output with respect to the target sensor calibration parameters; and updating the current values of the target sensor calibration parameters of the sensor data tuple using the gradient. 1. A system comprising: receiving an input sensor data tuple comprising: (i) a given set of raw sensor data, and (ii) values of a set of sensor calibration parameters; and', 'processing the input sensor data tuple to generate a prediction output; and, 'a prediction subsystem configured to perform operations comprising obtaining a plurality of sensor data tuples, wherein each sensor data tuple comprises: (i) a set of raw sensor data, and (ii) actual values of a set of sensor calibration parameters of a sensor that generated the set of raw sensor data;', providing the sensor data tuple with the current values of the target sensor calibration parameters to the prediction subsystem to generate a current prediction output;', 'determining a gradient of a function of the current prediction output with respect to the target sensor calibration parameters; and', 'updating the current values of the target sensor calibration parameters of the sensor data tuple using the gradient; and, 'at each of one or more iterations, updating the ...

INTERACTIVE SENSOR CALIBRATION FOR AUTONOMOUS VEHICLES

A method includes obtaining first user input identifying at least one LIDAR point in a set of LIDAR points associated with an object in an image, and obtaining second user input identifying the object in the image. The method may also include generating a constraint on a relationship between a LIDAR sensor used to capture the set of LIDAR points and a camera used to capture the image. The method may additionally include reducing a cost associated with the LIDAR point being inconsistent with the object in the image subject to the constraint. 1. A computer-implemented method , comprising:obtaining first user input identifying at least one light detection and ranging sensor (LIDAR) point in a set of LIDAR points associated with an object in an image;obtaining second user input identifying the object in the image;generating a constraint on a relationship between a LIDAR sensor used to capture the set of LIDAR points and a camera used to capture the image; andreducing a cost associated with the LIDAR point being inconsistent with the object in the image subject to the constraint.2. The computer-implemented method of claim 1 , further comprising:capturing the set of LIDAR points using the LIDAR sensor while driving; andcapturing the image using the camera while driving.3. The computer-implemented method of claim 1 , further comprising overlaying a user guidance on the image to facilitate at least one of the first user input and the second user input.4. The computer-implemented method of claim 3 , wherein the user guidance includes visual indicators of whether a given point of the set of LIDAR points is within the object or outside of the object.5. The computer-implemented method of claim 3 , wherein the user guidance includes visual indicators of regions within a view of a user interface claim 3 , and for which of the regions additional constraints are requested.6. The computer-implemented method of claim 1 , further comprising at least one of:enhancing the identifying of ...

Portable Apparatus, System, and Method for Calibrating a Vehicular Electromagnetic Sensor

An apparatus, system, and method for calibrating an electromagnetic sensor of a vehicle. Calibration is performed by positioning a calibration apparatus at known positions relative to the electromagnetic sensor of the vehicle, and taking measurements with respect to each known position. The calibration apparatus disclosed herein further comprises adjustable components. 1. An electromagnetic sensor calibration apparatus operable to calibrate an electromagnetic sensor of a vehicle in conjunction with a diagnostic tool configured to place the vehicle's electromagnetic sensor system into a calibration mode , the apparatus comprising:a tracking-alignment reference structure configured to provide a transverse axis to a wheel-tracking of the vehicle;a primary alignment structure having a first sub-structure configured to be substantially horizontal during calibration, a second sub-structure coupled to the first sub-structure and configured to be substantially upright during calibration, a reflective-surface plate coupled to the second sub-structure and operable to reflect electromagnetic waves emitted from the electromagnetic sensor, and a verticality instrument configured to measure the alignment of the reflective-surface plate with respect to a horizontal plane; anda linear-distance instrument operable to align the reflective-surface plate to be substantially parallel to the transverse axis.2. The apparatus of claim 1 , wherein the first sub-structure further comprises a plurality of foot structures claim 1 , wherein at least one of the plurality of foot structures is height-adjustable.3. The apparatus of claim 2 , wherein the at least one adjustable foot structure is height-adjustable such that the vertical angle of the reflective-surface plate is finely adjusted during calibration.4. The apparatus of claim 1 , wherein the second sub-structure is coupled to the first sub-structure using a connective joint claim 1 , the connective joint operable to permit angle ...

COMMUNICATION MANAGEMENT SYSTEM OF SURVEYING INSTRUMENT

An object is to provide a communication management system that prevents a surveying instrument from being used in an environment exceeding a guaranteed range of specifications. To achieve the above-described object, a communication management system includes a surveying instrument including a survey unit, a temperature sensor, a control unit, and a communication unit, a management server, and a remote terminal, wherein the remote terminal sets a usable temperature of the surveying instrument, sets a determination on the usable temperature and a temperature acquired by the temperature sensor, and an operation responsive to results of the determination, and makes the management server store these, the surveying instrument transmits its own temperature information to the management server, and the management server makes the determination by comparing the usable temperature and a temperature acquired by the temperature sensor, and executes the operation based on results of the determination. 1. A communication management system comprising:a surveying instrument including a survey unit that surveys a target, a temperature sensor, a control unit that controls the survey unit, and a communication unit that enables communication between the control unit and a communication network;a management server capable of communicating with the surveying instrument via the communication network; anda remote terminal capable of communicating with the management server, whereinthe remote terminal sets a usable temperature of the surveying instrument, sets a determination on the usable temperature and a temperature acquired by the temperature sensor, and an operation responsive to results of the determination, and makes the management server store the usable temperature, the determination, and the operation,the surveying instrument transmits its own temperature information to the management server, andthe management server makes the determination by comparing the usable temperature and ...

EXTRINSIC STATIC NOISE CHARACTERIZATION AND REMOVAL

Computer-implemented methods and systems for at least partially removing extrinsic static noise from data obtained by an optical time-of-flight sensor using full-waveform analysis. The method comprises finding a mathematical representation of the electromagnetic crosstalk present in victim calibration traces and caused by aggressor photosensitive element using aggressor calibration traces and victim calibration traces, determining a predetermined threshold for the amplitude of the aggressor calibration trace at which the electromagnetic crosstalk is present in the victim calibration traces, predicting the extrinsic static noise generated by the aggressor signal on the synchronized victim operation trace using the mathematical representation to generate a predicted crosstalk signal, removing the predicted crosstalk signal from the synchronized victim operation trace to output a denoised signal. The system comprises an identification and parameter estimation unit, a peak detection unit and a crosstalk prediction unit. An optional saturated summit completion unit can be provided. 1. A computer-implemented method for at least partially removing extrinsic static noise from full-waveform data obtained using an optical time-of-flight sensor having a plurality of synchronized photosensitive elements , at least some of said synchronized photosensitive elements being positioned in proximity thereby allowing electromagnetic crosstalk caused by an aggressor photosensitive element of said plurality to affect at least one victim photosensitive element of said plurality , the computer-implemented method comprising use of at least one processing unit for:receiving a plurality of aggressor calibration traces from said aggressor photosensitive element and a plurality of victim calibration traces from said at least one victim photosensitive element, the aggressor calibration traces and the victim calibration traces being obtained in a controlled environment wherein an amplitude of a ...

STAGING SYSTEM TO VERIFY ACCURACY OF A MOTION TRACKING SYSTEM

A staging system has to be calibrated to determine a location of a horizontal pivot axis of a target frame. A stage calibration light beam is generated and reflected from a target frame mirror. The target frame is pivoted between first and second positions and the locations of the stage calibration light beam are detected. The locations of the stage calibration light beam provide a value representing an orientation of the target frame mirror relative to the horizontal pivot axis. The orientation of the target frame mirror is then adjusted based on the value so that the target frame mirror is more normal to the horizontal pivot axis. 1. A method of detecting and object comprising: generating a stage calibration light beam;', 'reflecting the stage calibration light beam from a target frame mirror;', 'pivoting a target frame about a pivot axis between a first pivot angle and a second pivot angle relative to a mobile platform;', 'detecting first and second locations of the stage calibration light beam after the stage calibration light beam is reflected from the target frame mirror when the target frame is in the first pivot angle and in the second pivot angle respectively;', 'determining, based on the first and second locations, a value representing an orientation of the target frame mirror relative to the pivot axis; and', 'adjusting, based on the determination of the value representing the orientation of the target frame mirror, the orientation of the target frame mirror relative to the target frame so that the target frame mirror is more normal to the pivot axis., '(i) calibrating a staging system, including2. The method of claim 1 , wherein the stage calibration light beam is a laser beam.3. The method of claim 1 , further comprising:generating a primary calibration light beam;splitting the primary calibration light beam into a reference calibration light beam and the stage calibration light beamdetecting a location of the reference calibration light beam and a ...

REAL TIME CALIBRATION FOR TIME-OF-FLIGHT DEPTH MEASUREMENT

A method for determining a distance to a target object includes transmitting light pulses to illuminate the target object and sensing, in a first region of a light-sensitive pixel array, light provided from an optical feedback device that receives a portion of the transmitted light pulses. The feedback optical device includes a preset reference depth. The method includes calibrating time-of-flight (TOF) depth measurement reference information based on the sensed light in the first region of the pixel array. The method further includes sensing, in a second region of the light-sensitive pixel array, light reflected from the target object from the transmitted light pulses. The distance of the target object is determined based on the sensed reflected light and the calibrated TOF measurement reference information. 1. (canceled)2. A time-of-flight (TOF) imaging system , comprising:an illuminator to transmit light pulses to illuminate a target object for determining a distance to the target object;an image sensor having a light-sensitive pixel array to receive optical signals from the light pulses, the pixel array including an active region and a feedback region; andan optical feedback device for directing a portion of the light from the illuminator to the feedback region of the pixel array, the optical feedback device including a preset reference depth;wherein the imaging system is configured to: transmit a group of calibration light pulses to illuminate the target object;', 'sense, in the feedback region of the pixel array, light from the optical feedback device, using a sequence of calibration shutter windows characterized by delay times representing a range of depth; and', 'calibrate TOF depth measurement reference information based on the sensed light in the feedback region of the pixel array;, 'in a calibration period,'} transmit a first measurement light pulse to illuminate the target object;', 'sense, in the active region of the light-sensitive pixel array, light ...

Vehicle sensor calibration using sensor calibration targets

Sensors coupled to a vehicle are calibrated using a dynamic scene with sensor targets around a motorized turntable that rotates the vehicle to different orientations. The sensors capture data at each vehicle orientation along the rotation. The vehicle's computer identifies representations of the sensor targets within the data captured by the sensors, and calibrates the sensor based on these representations, for example by comparing these representations to previously stored information about the sensor targets and generating a correction based on differences, the correction applied to post-calibration sensor data.

Multifunctional micro sensor system

A measurement device relates to a Halios system for measuring an optical transmission path, in which at least one receiver and a compensation transmitter are optically separated from each other by an optical barrier in such a matter that a direct irradiation of said receiver by said compensation transmitter is not possible. Said compensation transmitter and a transmitter are of the same type and/or have at least a common electric optical working point in an optical working point. Said optical barrier has a compensation path, characterized by a compensation window, which attenuates the light of the compensation transmitter before it hits the receiver in such a manner that the compensation transmitter and said transmitter are operated at least in an optical working point by a controller in said identical electro-optical working point.

DISTANCE MEASUREMENT DEVICE, DISTANCE MEASUREMENT CONTROL METHOD, AND DISTANCE MEASUREMENT CONTROL PROGRAM

A distance measurement device includes a detection unit, an optical path forming unit, a first reduction unit, based on a detection result of the detection unit, influence of variation of the optical axis of the image formation optical system, a second reduction unit that is disposed in a different part from a common optical path and reduces variation of the optical axis of the directional light with respect to the subject based on the detection result of the detection unit, and a control unit that, in the case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation of an irradiation position of the directional light in the subject image received as light by the light receiving section. 1. A distance measurement device comprising:a light receiving section that receives reflective light from a subject as a subject image through an image formation optical system;an emission unit that has a light emitting element emitting directional light which is light having directivity, and emits the directional light toward the subject;a detection unit that detects variation exerted on the device;an optical path forming unit that forms a common optical path on which an optical axis of the image formation optical system coincides with an optical axis of the directional light, a reflective light optical path which branches off from the common optical path and guides the reflective light to the light receiving section, and a directional light optical path which joins the common optical path and guides the directional light to the common optical path;a first reduction unit that has at least two of a subject image processing unit or a plurality of mechanisms disposed in different parts from the common optical path and reduces, based on a detection result of the detection unit, influence of variation of the optical axis of the image formation optical system on the subject ...

DISTANCE MEASUREMENT DEVICE, DISTANCE MEASUREMENT CONTROL METHOD, AND DISTANCE MEASUREMENT CONTROL PROGRAM

A distance measurement device includes an emission unit, a detection unit, a first reduction unit that reduces, based on a detection result of the detection unit, influence of variation of an optical axis of the image formation optical system on the subject image received as light by the light receiving section, a second reduction unit that reduces variation of an optical axis of the directional light with respect to the subject based on the detection result of the detection unit, and a control unit that, in the case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation of an irradiation position of the directional light in the subject image received as light by the light receiving section. 1. A distance measurement device comprising:a light receiving section that receives reflective light from a subject as a subject image through an image formation optical system;an emission unit that has a light emitting element emitting directional light which is light having directivity, and emits the directional light toward the subject on a different optical path from an optical path of the image formation optical system;a detection unit that detects variation exerted on the device;a first reduction unit that is any of a single mechanism and a subject image processing unit and reduces, based on a detection result of the detection unit, influence of variation of an optical axis of the image formation optical system on the subject image received as light by the light receiving section;a second reduction unit that reduces variation of an optical axis of the directional light with respect to the subject based on the detection result of the detection unit; anda control unit that, in a case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation of an ...

DISTANCE MEASUREMENT DEVICE, DISTANCE MEASUREMENT CONTROL METHOD, AND DISTANCE MEASUREMENT CONTROL PROGRAM

A distance measurement device includes an emission unit, a detection unit, a first reduction unit that reduces, based on a detection result of the detection unit, influence of variation of an optical axis of the image formation optical system on a subject image received as light by a light receiving section, a second reduction unit that reduces variation of an optical axis of the directional light with respect to the subject based on the detection result of the detection unit, and a control unit that, in the case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation of an irradiation position of the directional light in the subject image received as light by the light receiving section. 1. A distance measurement device comprising:a light receiving section that receives reflective light from a subject as a subject image through an image formation optical system;an emission unit that has a light emitting element emitting directional light which is light having directivity, and emits the directional light toward the subject on a different optical path from an optical path of the image formation optical system;a detection unit that detects variation exerted on the device;a first reduction unit that has at least two of a subject image processing unit or a plurality of mechanisms and reduces, based on a detection result of the detection unit, influence of variation of an optical axis of the image formation optical system on the subject image received as light by the light receiving section;a second reduction unit that reduces variation of an optical axis of the directional light with respect to the subject based on the detection result of the detection unit; anda control unit that, in a case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation ...

DISTANCE MEASUREMENT DEVICE, DISTANCE MEASUREMENT CONTROL METHOD, AND DISTANCE MEASUREMENT CONTROL PROGRAM

A distance measurement device includes a detection unit, an optical path forming unit, a first reduction unit that reduces, based on a detection result of the detection unit, influence of variation of the optical axis of the image formation optical system, a second reduction unit that is disposed in a different part from the common optical path and reduces variation of the optical axis of the directional light based on the detection result of the detection unit, and a control unit that, in the case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation of an irradiation position of the directional light in the subject image received as light by the light receiving section. 1. A distance measurement device comprising:a light receiving section that receives reflective light from a subject as a subject image through an image formation optical system;an emission unit that has a light emitting element emitting directional light which is light having directivity, and emits the directional light toward the subject;a detection unit that detects variation exerted on the device;an optical path forming unit that forms a common optical path on which an optical axis of the image formation optical system coincides with an optical axis of the directional light, a reflective light optical path which branches off from the common optical path and guides the reflective light to the light receiving section, and a directional light optical path which joins the common optical path and guides the directional light to the common optical path;a first reduction unit that is any of a subject image processing unit and a single mechanism disposed in a different part from the common optical path and reduces, based on a detection result of the detection unit, influence of variation of the optical axis of the image formation optical system on the subject image received as light by the ...

Calibration apparatus, calibration method, program, and calibration system and calibration target

A calibration unit 60 acquires detection signals each generated by one of a plurality of sensors in a sensor unit 40 and indicating detection results of a calibration target. A state detection unit 61 detects a state of the calibration target by using the detection signals. A time difference correction amount setting unit 65 calculates a time difference between the detection signals each generated by one of the sensors of the sensor unit 40 by using state detection results of the calibration target obtained by the state detection unit 61, and sets a time difference correction amount on the basis of a calculation result. Temporal misalignment between pieces of information acquired by the plurality of sensors of the sensor unit 40 can be corrected on the basis of the time difference correction amount set by the time difference correction amount setting unit 65.

DISTANCE MEASUREMENT DEVICE, DISTANCE MEASUREMENT METHOD, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM

A distance measurement device includes the plurality of laser sensors and a processor. The plurality of laser sensors configured to project a laser beam and receive reflected light from a measurement target that moves within a measurement region. The processor configured to drive, based on the measurement region and a provision position of the plurality of laser sensors, each of the laser sensors at a light emission cycle in which a light receiving window that receives reflected light of own light and an interference risk range are included the interference risk range being a range in which an interference is caused by a laser beam from another laser sensor. The processor controls to laser beam emission timings of the plurality of laser sensors so as to be different from each other. 1. A distance measurement device comprising:a plurality of laser sensors configured to project a laser beam and receive reflected light from a measurement target that moves within a measurement region; anda processor configured to drive, based on the measurement region and a provision position of the plurality of laser sensors, each of the laser sensors at a light emission cycle in which a light receiving window that receives reflected light of own light and an interference risk range are included the interference risk range being a range in which an interference is caused by a laser beam from another laser sensor, whereinthe processor controls to laser beam emission timings of the plurality of laser sensors so as to be different from each other.2. The distance measurement device according to claim 1 , whereinthe processor controls to the laser beam emission timings being deviated by light emission delay times different from each other with respect to a laser sensor to be a reference.3. The distance measurement device according to claim 1 , whereinthe processor is further configured to:define the measurement region by an XYZ coordinate system,{'b': 1', '1', '1, 'sup': 2', '2', '2', '1/2, ...

APPARATUS COMPRISING A TIME-OF-FLIGHT SENSOR AND METHOD FOR CHARACTERIZING A TIME-OF-FLIGHT SENSOR

A method for characterizing a time-of-flight sensor is provided. The time-of-flight sensor is covered by a cover exhibiting an adjustable transmittance. The method includes selectively adjusting the transmittance of the cover such that the cover is opaque for light emittable by the time-of-flight sensor. Further, the method includes performing at least one time-of-flight measurement with the time-of-flight sensor while the cover is opaque for obtaining measurement data for light reflected from the cover back to the time-of-flight sensor. The method additionally includes determining characterization data based on the measurement data. The characterization data indicate a quantity related to the time-of-flight sensor. 1. A method for characterizing a time-of-flight sensor , wherein the time-of-flight sensor is covered by a cover exhibiting an adjustable transmittance , the method comprising:selectively adjusting the transmittance of the cover such that the cover is opaque for light emittable by the time-of-flight sensor;performing at least one time-of-flight measurement with the time-of-flight sensor while the cover is opaque, for obtaining measurement data for light reflected from the cover back to the time-of-flight sensor; anddetermining characterization data based on the measurement data, wherein the characterization data indicate a quantity related to the time-of-flight sensor.2. The method of claim 1 , wherein an illumination element of the time-of-flight sensor configured to emit the light and a light capturing element of the time-of-flight sensor configured to measure the light reflected from the cover are arranged in a common cavity that is covered by the cover.3. The method of claim 1 , further comprising:modifying, based on the characterization data, image data of an image determined based on time-of-flight measurements performed by the time-of-flight sensor while the transmittance of the cover is adjusted such that the cover is transparent for light ...

SYSTEM AND METHOD FOR DETERMINING WHEN A SENSOR IS POLLUTED

A system includes a processor and a memory in communication with the processor having one or more modules. The modules include instructions that cause the processor to receive first sensor information from a first sensor and second sensor information of a shared field of view. The instructions cause the processor to detect one or more objects within the shared field of view using the first sensor information and the second sensor information. When one or more discrepancies are identified between the one or more objects detected using the first sensor information and the one or more objects detected using the second sensor information are detected, the instructions that cause the processor to determine that the first sensor or the second sensor needs cleaning. 1. A system comprising:a processor;a memory in communication with the processor, the memory including a receiver module, an object detection module, and a pollution detection module; receive first sensor information from a first sensor mounted to a vehicle having a first field of view, and', 'receive second sensor information from a second sensor mounted to the vehicle having a second field of view, wherein at least a portion of the second field of view overlaps at least a portion of the first field of view to define a shared field of view;, 'wherein the receiver module includes instructions that, when executed by the processor, cause the processor to detect one or more objects within the shared field of view using the first sensor information, and', 'detect one or more objects within the shared field of view using the second sensor information; and, 'wherein the object detection module includes instructions that, when executed by the processor, cause the processor to determine one or more discrepancies between the one or more objects detected using the first sensor information and the one or more objects detected using the second sensor information, and', 'determine when one of the first sensor and the second ...

MAINTENANCE AND REPAIR SYSTEM FOR ADVANCED DRIVER ASSISTANCE FEATURES

A calibration and repair system for advanced driver assistance systems (“ADAS”) and features is configured to provide secure, automated workflow management related to the calibration of ADAS. Automated workflows include steps and interfaces to aid in preparation of a vehicle for calibration, local-remote collaboration during calibration, customer interactions, workflow and event notification, user authentication, remote system management, and other tasks. The system is also capable of automatically and dynamically adding new and updated calibration specifications that are usable during local-remote collaboration. 1. A calibration system , comprising a processor , a memory in communication with the processor , and an advanced driver assistance system (“ADAS”) diagnostic scanner in communication with the processor , the memory being encoded with programming instructions executable by the processor to:present a technician interface via a technician device, where the technician interface generates technician output and accepts technician input;control the diagnostic scanner to calibrate an ADAS of a vehicle having a vehicle identifier, the controlling being performed as a function of the technician input, and wherein the calibration produces output from the diagnostic scanner;store a repair history in the memory, where the repair history comprises the vehicle identifier, the technician input, and the output from the diagnostic scanner; andin response to a query containing the vehicle identifier, retrieve the repair history from the memory.2. The calibration system of claim 1 , wherein the vehicle identifier comprises a VIN.3. The calibration system of claim 1 , wherein the output from the diagnostic scanner comprises first data characterizing an ADAS software version utilized by the ADAS of the vehicle.4. The calibration system of claim 1 , wherein the output from the diagnostic scanner comprises pre-calibration and post-calibration electrical control unit (“ECU”) ...

Sensor cleaning devices and systems

Sensor cleaning devices, methods, and systems are provided. Output from sensors of a vehicle may be used to describe an environment around the vehicle. In the event that a sensor is obstructed by dirt, debris, or detritus the sensor may not sufficiently describe the environment for autonomous control operations. In response to receiving an indication of an obstructed sensor, the sensor cleaning devices, methods, and systems described herein may proceed to remove the obstruction from the sensor.

LOW SEVERITY IMPACT DETECTION SENSOR SYSTEM FOR A VEHICLE

A crash sensor system for a vehicle capable of operating in an autonomous mode includes an electronic control unit (ECU) having a processor circuit. The ECU triggers an occupant restraint system of the vehicle in the event of a severe impact event with the vehicle. Satellite sensors are electrically connected to the ECU and are mounted at the front end, the rear end, the right side and the left side of the vehicle near or on an outer surface thereof to detect low severity impact event with the vehicle that does not cause activation of the occupant restraint system. The processor circuit executes an algorithm to confirm, via data from the plurality of satellite sensors, whether the low severity impact event with the vehicle occurred and if so, the ECU triggers a brake controller and a steering controller to cause the vehicle, while in the autonomous mode, to pull over and stop. 1. A crash sensor system for a vehicle that can operate in an autonomous mode , the vehicle having a front end , a rear end , a left side and a right side , the system comprising: a first accelerometer constructed and arranged to measure longitudinal acceleration of the vehicle during a severe impact event with the vehicle,', 'a second accelerometer constructed and arranged to measure lateral acceleration of the vehicle during a severe impact event with the vehicle, and', 'a processor circuit,, 'an electronic control unit (ECU) comprisingwherein the ECU is constructed and arranged to trigger an occupant restraint system of the vehicle in the event of a severe impact event with the vehicle as detected by at least the first and second accelerometers, anda plurality of satellite sensors electrically connected to the ECU and mounted at the front end, the rear end, the right side and the left side of the vehicle near or on an outer surface thereof to detect low severity impact event with the vehicle that does not cause activation of the occupant restraint system,wherein the processor circuit is ...

VEHICLE-MOUNTED SENSOR CLEANING DEVICE

A vehicle-mounted sensor cleaning device cleans a sensing surface of a vehicle-mounted sensor. The vehicle-mounted sensor cleaning device includes a gas nozzle spraying a gas toward the sensing surface, a gas supply device supplying the gas to the gas nozzle, and a control section controlling operation of the gas supply device. A predetermined value is set in the control section, for indicating an abnormal state of detection accuracy of the vehicle-mounted sensor based on detection accuracy information of an object which is obtained from the vehicle-mounted sensor. A gas supply threshold value is also set, for use in operating the gas supply device to direct a supply of the gas toward the sensing surface before the detection accuracy information becomes equal to or lower than the predetermined value. If the detection accuracy information has become lower than the gas supply threshold value, the control section operates the gas supply device. 1. A vehicle-mounted sensor cleaning device that cleans a sensing surface of a vehicle-mounted sensor , comprising:a gas nozzle that sprays a gas toward the sensing surface;a gas supply device that supplies the gas to the gas nozzle; anda control section that controls operation of the gas supply device, wherein:the control section has a predetermined value set, for indicating an abnormal state of detection accuracy of the vehicle-mounted sensor, based on detection accuracy information on an object which is obtained from the vehicle-mounted sensor, and has a gas supply threshold value set, which is used in operating the gas supply device to direct a supply of the gas toward the sensing surface before the detection accuracy information becomes equal to or lower than the predetermined value, andif the detection accuracy information becomes lower than the gas supply threshold value, the control section operates the gas supply device.2. The vehicle-mounted sensor cleaning device according to claim 1 , wherein after the gas supply ...

METHOD AND DEVICE FOR MONITORING AND/OR DETECTING A SENSOR SYSTEM OF A VEHICLE

A method for monitoring and/or detecting a sensor system of a vehicle comprises a step of identifying a parameter value using a response signal, and a step of determining a monitoring signal that can be allocated to the sensor system, said determination being carried out using the parameter value and a predetermined reaction value. 1. A method for monitoring and/or detecting a sensor system of a vehicle , wherein the method comprises the following steps:calculating a parameter value using a response signal; anddetermining a monitoring signal able to be assigned to the sensor system using the parameter value and a predetermined reaction value.2. The method as claimed in claim 1 , in which claim 1 , in the determination step claim 1 , the monitoring signal comprises a calibration value for calibrating the sensor system and/or indicates a state of the sensor system and/or presence of the sensor system.3. The method as claimed in claim 1 , having a step of providing an excitation signal in order to cause an excitation event that triggers a response reaction of the vehicle that involves the sensor system of the vehicle claim 1 , wherein the parameter value represents a recorded value of a parameter of the response reaction.4. The method as claimed in claim 3 , having a step of emitting at least one acoustic and/or electromagnetic signal causing the excitation event using the excitation signal.5. The method as claimed in claim 4 , in which claim 4 , in the emission step claim 4 , a light pulse is emitted in the direction of the vehicle or a light or radiation wave curtain appearing in front of the vehicle is emitted as the signal.6. The method as claimed in claim 3 , having a step of performing a change of state claim 3 , which causes the excitation event of an object located in the surroundings of the vehicle using the excitation signal.7. The method as claimed in claim 6 , in which claim 6 , in the performance step claim 6 , a braking procedure and/or another excitation ...

Bin level monitoring system

A bin level monitoring system bin level monitoring system comprising an optical sensor for sensing a feed level inside a feed bin, a circuit board communicatively connected to the sensor for receiving a level signal from the sensor and for processing the level signal to generate bin level data, a battery for powering the circuit board and sensor, an enclosure for enclosing the circuit board and a radio transmitter for transmitting the bin level data. The sensor may be a LIDAR sensor or a time-of-flight (ToF) sensor.

TIME OF FLIGHT SENSOR CAPABLE OF COMPENSATING TEMPERATURE DEVIATION AND TEMPERATURE COMPENSATION METHOD THEREOF

There is provided a time of flight sensor including a light source, a first pixel, a second pixel and a processor. The first pixel generates a first output signal without receiving reflected light from an external object illuminated by the light source. The second pixel generates a second output signal by receiving the reflected light from the external object illuminated by the light source. The processor calculates deviation compensation and deviation correction associated with temperature variation according to the first output signal to accordingly calibrate a distance calculated according to the second output signal. 1. A time-of-flight (TOF) sensor , comprising:a light source, configured to illuminate light according to a light source driving signal; [ generate, at a reference temperature, a first reference output signal when the sampling signal and the light source driving signal have a first time delay therebetween, and generate a second reference output signal when the sampling signal and the light source driving signal have a second time delay therebetween, and', 'generate, at an operating temperature, a first operation output signal when the sampling signal and the light source driving signal have the first time delay therebetween, and generate a second operation output signal when the sampling signal and the light source driving signal have the second time delay therebetween; and, 'a first pixel, configured to receive a sampling signal,'}, 'generate an operation detected signal at the operating temperature when the sampling signal and the light source driving signal have the first time delay therebetween; and', 'a second pixel, configured to receive the sampling signal, and'}], 'a light sensor, comprising obtain a first reference phase-distance relationship according to the first reference output signal and the second reference output signal, and obtain an operation phase-distance relationship according to the first operation output signal and the second ...

AUTOMATIC CALIBRATION METHOD AND SYSTEM FOR SPATIAL POSITION OF LASER RADAR AND CAMERA SENSOR

An automatic calibration method and system for spatial positions of a laser radar and a camera sensor is provided. The method includes: adjusting a spatial position of the laser radar relative to the camera sensor to obtain a plurality of spatial position relationships of the laser radar and the camera sensor; for a spatial position relationship, calculating a gray value of each laser radar point conforming to the line features after projection as a score, and accumulating scores of all laser radar points as a total score; traversing all the spatial position relationships to obtain a plurality of total scores; and selecting a spatial position relationship of the laser radar and the camera sensor corresponding to a highest total score from the plurality of total scores to serve as a calibrated position relationship of the laser radar and the camera sensor. 1. An automatic calibration method for spatial positions of a laser radar and a camera sensor , comprising:adjusting a spatial position of the laser radar relative to the camera sensor to obtain a plurality of spatial position relationships of the laser radar and the camera sensor;for a spatial position relationship, screening out data conforming to line features from laser radar point cloud data, screening out data conforming to the line features from image data of the camera sensor, projecting laser radar data conforming to the line features onto a pixel coordinate system of the camera sensor to calculate a gray value of a laser radar point conforming to the line features after projection as a score, and accumulating scores of all laser radar points as a total score;traversing all the spatial position relationships to obtain a plurality of total scores; andselecting a spatial position relationship of the laser radar and the camera sensor corresponding to a highest total score from the plurality of total scores to serve as a calibrated position relationship of the laser radar and the camera sensor; acquiring a ...

PATTERNED ILLUMINATION FOR THREE DIMENSIONAL IMAGING

A method of operating a time-of-flight system includes projecting a light pattern from an illumination source into an environment; by an array of light sensors of a time-of-flight sensor of the time-of-flight system, detecting the light pattern reflected by an object in an environment; and generating a signal based on the light detected by a subset of the light sensors of the array of light sensors, the signal being provided to one or more processors for generation of a representation of the environment. 1. A method of operating a time-of-flight system , the method comprising:projecting a light pattern from an illumination source into an environment;by an array of light sensors of a time-of-flight sensor of the time-of-flight system, detecting the light pattern reflected by an object in an environment; andgenerating a signal based on the light detected by a subset of the light sensors of the array of light sensors, the signal being provided to one or more processors for generation of a representation of the environment.2. The method of any claim 1 , comprising activating the light sensors of the subset of light sensors.3. The method of claim 2 , comprising disabling the light sensors of the array of light sensors that are not included in the subset of the light sensors.4. The method of claim 2 , wherein the array of light sensors is grouped into macropixels claim 2 , each macropixel including one or more of the activated light sensors claim 2 , and in which generating the signal comprises generating a signal corresponding to each macropixel based on the light detected by the activated light sensors of the macropixel.5. The method of claim 4 , in which generating a signal corresponding to each macropixel comprises integrating a light signal based on the light detected by the activated light sensors of the macropixel over at least some of the light sensors of the macropixel.6. The method of claim 3 , in which activating a subset of the light sensors of the array of ...

COMPENSATED DISTANCE MEASUREMENT METHODS AND APPARATUS

A transmit light signal is emitted toward a target at an emission time. An optical subsystem of a receiving system receives a return light signal which is converted to a return electrical signal. At least one attenuator applies an attenuation to at least one of the return light signal and the return electrical signal. The attenuation varies, as time passes, after emission of the transmit light signal, according to a time-dependent attenuation function such that the attenuation is maximum at a critical time elapsed since an emission time of the transmit light signal. The critical time is dependent on at least one geometrical parameter of the optical subsystem. A receive time is determined from the return electrical signal. The emission time and the receive time are used to calculate a measured distance. 1. Apparatus for measuring distance , comprising:a transmitter operative to emit a transmit light signal toward a target at an emission time, an optical subsystem to receive a return light signal, and', 'an opto-electrical converter to convert the return light signal to a return electrical signal,, 'a receiving system comprisingat least one attenuator to apply an attenuation to at least one of the return light signal and the return electrical signal, the attenuation varying, as time passes, after emission of the transmit light signal, according to a time-dependent attenuation function such that the attenuation is maximum at a critical time elapsed since the emission time of said transmit light signal, said critical time being dependent on at least one geometrical parameter of the optical subsystem,a detection unit to determine a receive time from the return electrical signal, anda processor unit to calculate a measured distance based on at least the emission time and the receive time.2. The apparatus of claim 1 , wherein the optical subsystem includes a first aperture and a detection aperture claim 1 , the critical time being dependent on at least one of a size of the ...

Method for Calibrating a Plurality of Environment Sensors in a Vehicle

The invention relates to a method and a device for calibrating a plurality of environment sensors in a vehicle. To this end, traffic light signals are detected and identified from the data of at least one environment sensor. The plurality of environment sensors are calibrated when it has been determined that a traffic light signal that is relevant for the vehicle has turned red (R). 1. A method for calibrating a plurality of environment sensors in a vehicle , comprising performing detection and identification of a traffic light signal that is relevant for the vehicle from data of at least one environment sensor , evaluating the data to determine whether the traffic light signal has turned red , and performing a calibration of a plurality of environment sensors when it has been determined that the traffic light signal relevant for the vehicle has turned red.2. A method according to claim 1 , further comprising sensing whether the vehicle is stationary claim 1 , and performing the calibration only after the vehicle is stationary.3. A method according to claim 2 , wherein the calibration is performed based on data regarding at least one stationary object in an environment of the vehicle claim 2 , which is detected by at least two different environment sensors.4. A method according to claim 1 , wherein the at least one environment sensor which provides the data for the detection and identification of the traffic light signal comprises a camera sensor.5. A method according to claim 1 , wherein the detection and identification of the traffic light signal is performed from data of a vehicle communication unit (Car-2-X).6. A method according to claim 1 , further comprising preparing to perform the calibration already when it has been determined that the traffic light signal relevant for the vehicle has completed a green phase and will turn red in the near future.7. A method according to claim 1 , wherein during the calibration the environment sensors are functional to a ...

LASER TRACKER CALIBRATION SYSTEM AND METHODS

A system and method of calibrating a laser tracker is provided. The system includes a support system for quickly and easily moving an artifact to a desired position and orientation and for holding the artifact in the position and orientation. An adjustable alignment mirror is coupled to a first end of the artifact so that the more accurate ranging system of the laser tracker can be isolated to determine a reference length of the artifact. Additional measurements are then taken to exercise one or more error source within the tracker. The support system includes a positioner and a support beam for positioning and supporting the artifact. The artifact is coupled to the support beam using kinematic clamps that are designed to reduce or eliminate errors associated with over-constraining the artifact. 1. A laser tracker calibration system comprising:a support system including a positioner;a support beam selectively coupled to the positioner of the support system;a first kinematic mount selectively coupled to a first end of the support beam;a second kinematic mount selectively coupled to a second end of the support beam; andan artifact selectively coupled to said first and second kinematic mounts so as to cause said artifact to be supported by said support system,wherein said support system is configured to hold said artifact relative to a laser tracker during calibration of the laser tracker, andwherein said positioner of said support system is configured to selectively orient said artifact relative to said laser tracker.2. The laser tracker calibration system of claim 1 , wherein said first and second kinematic mounts are configured to constrain the artifact in six degrees of freedom so as to minimize or eliminate adverse effects associated with over-constraining the artifact.3. The laser tracker calibration system of claim 1 , further comprising a ring brake coupled to a rear wall of said support beam and a yoke coupled to a front end of said positioner claim 1 , said ...

CLUTTER FILTER CONFIGURATION FOR SAFETY LASER SCANNER

A clutter filter configuration tool for a safety laser scanner. The clutter filter configuration tool may first operate the safety laser scanner in an environment to learn the environmental clutter level and present the same to a user. Subsequent to this “teach-in” phase, the configuration tool may provide a clutter filter selection process which presents the environmental clutter level to the user and allows the user to select a suitable configuration for a clutter filter. The configuration tool may also provide a clutter filter simulation process wherein the clutter filter chosen by the user is verified and a test is performed using the selected clutter filter. The results may be reported on a visualized graph. The configuration tool may also determine a real area to be monitored utilizing a floor projection area and an orientation of the laser scanner. 1. A method of operating a laser scanner configuration system to configure a clutter filter of a laser scanner , the method comprising:receiving, by at least one processor via a user interface, operational parameters for the laser scanner, the operational parameters comprising at least a maximum detection distance, a response time, and a detection capability of the laser scanner;receiving, by the at least one processor via the user interface, an indication of whether at least one of the operational parameters of the laser scanners is permitted to be autonomously modified; and causing, by at least one processor, the laser scanner to operate in an environment for a period of time;', 'receiving, by the at least one processor, detection data from the laser scanner, the detection data obtained by the laser scanner during operation thereof during the period of time; and', 'optimizing, by the at least one processor, clutter filter parameters of a clutter filter of the laser scanner utilizing the received detection data, wherein optimizing the clutter filter parameters of the clutter filter comprises modifying at least one ...

Optical proximity sensors with reconfigurable photo diode array

Optical proximity sensors, methods for use therewith, and systems including optical proximity sensor are described herein. Such an optical proximity sensor includes a light source and a light detector, wherein the light detector includes a plurality of individually selectable photodiodes (PDs). During a calibration mode, individual PDs of the plurality of PDs of the light detector are tested to identify which PDs are crosstalk dominated. During an operation mode, the PDs of the light detector that were not identified as being crosstalk dominated are used to produce a light detection value or signal that is useful for detecting the presence, proximity and/or motion of an object within the sense region of the optical proximity sensor. By not using the PDs that were identified as being crosstalk dominated, the signal-to-noise ratio of the light detection value or signal is improved compared to if the crosstalk dominated PDs were also used.

Method for Operating a Sensor Arrangement Having at least Two LIDAR Sensors and Sensor Arrangement

The disclosure relates to a method for operating a sensor arrangement including a first LIDAR and at least a second LIDAR sensor, wherein the first LIDAR sensor and the second LIDAR sensor(s) each repeatedly carry out measurements, wherein the measurements of the first and the second LIDAR sensors are carried out in respective first and second measuring time windows, at the beginning of which respective measurement beams are emitted by the first and the second LIDAR sensors and a check is made as to whether at least one reflected beam portion of the respective measurement beams is detected within the respective measuring first or second time windows.

Lidar with malfunction detection

In one embodiment a LIDAR can comprise two similar photodetector arrays and a malfunction indicator circuit operable to generate a malfunction signal when a measure of difference between range data from similar directions reported by each of the photodetectors exceeds a threshold value. A challenge associated with LIDARs is malfunction detection and failsafe operation in the event of a malfunction. Embodiments provide for two photodetectors in a shared remote ranging subassembly to address the challenges of malfunction detection. The two photodetector arrays can each receive light reflections from overlapping angular ranges in one or more FOVs (e.g. transferred using CFOBs) and thereby function to provide redundancy and confirmation of reflection distances. Within embodiments a reflection splitter can serve to uniformly distribute laser reflections from a common field of view among two photodetectors, thereby providing each with a half-resolution image for range comparison. 1. A light detection and ranging system with malfunction indication capability comprising:a. one or more emitters configured to produce an outgoing set of light pulses in a field of view,b. a first detector configured to detects a first plurality of light reflections corresponding to at least some of the outgoing set of light pulses and thereby generate first reflection signals,c. a second detector configured to detect a second plurality of light reflections and thereby generate second reflection signals, andd. electronic circuitry, configured to process at least some of the first and second reflection signals and to generate a difference value indicating a measure of difference between the at least some of the first and second reflection signals, and configured to generate a malfunction signal when the difference value is greater than a threshold value.2. The light detection and ranging system of wherein the first detector is configured such that the first plurality of light reflections has a ...

Method and apparatus for measuring angular resolution of multi-beam lidar

The present disclosure discloses a method and apparatus for measuring an angular resolution of a multi-beam lidar. The method comprises: acquiring, when a checkerboard calibration plate is scanned by a multi-beam lidar, an image of the checkerboard calibration plate photographed by a camera; identifying a checkerboard in the image, and determining a physical length characterized by a unit pixel of the image based on shape and length information of each checker in the checkerboard calibration plate; determining a center light spot and a light spot pair in the image; determining an angle between a laser beam corresponding to each light spot of the light spot pair and a laser beam corresponding to the center light spot based on the physical length characterized by the unit pixel, the center light spot and the light spot pair; and determining the angular resolution of the multi-beam lidar based on the determined angle. 1. A method for measuring an angular resolution of a multi-beam lidar , the multi-beam lidar comprising a center axis and at least one laser emitter , each laser emitter of the at least one laser emitter rotating around the center axis , the method comprising:acquiring, when a checkerboard calibration plate is scanned by the multi-beam lidar, an image of the checkerboard calibration plate photographed by a camera;identifying a checkerboard in the image, and determining a physical length characterized by a unit pixel of the image based on shape and length information of each checker in the checkerboard calibration plate;determining a center light spot and a light spot pair in the image, the center light spot being an image of a laser beam perpendicular to the checkerboard calibration plate among laser beams emitted by the at least one laser emitter in the image, and the light spot pair being two images of two laser beams emitted by two adjacent laser emitters of the at least one laser emitter in the image;determining an angle between a laser beam ...

INTRINSIC STATIC NOISE CHARACTERIZATION AND REMOVAL

A computer-implemented method and a system for at least partially removing intrinsic static noise from data obtained by an optical time-of-flight sensor using full-waveform analysis. The method includes receiving a plurality of calibration traces, the calibration traces being obtained in a controlled environment wherein no object is present in a field of view of the optical time-of-flight sensor; determining a noise template using the calibration traces by performing a statistical analysis on the calibration traces to determine a shape and an amplitude of the intrinsic static noise in the calibration traces; receiving a normal operation trace, the normal operation trace being obtained in an uncontrolled environment wherein a presence of the object in the field of view is unknown; subtracting the noise template from the normal operation trace, obtaining and outputting a denoised signal. 1. A computer-implemented method for at least partially removing intrinsic static noise from data obtained by an optical time-of-flight sensor using full-waveform analysis , said intrinsic static noise being caused by electrical and/or optical interference produced by components of the optical time-of-flight sensor , said computer-implemented method comprising use of at least one processing unit for:receiving a plurality of calibration traces from the optical time-of-flight sensor, the calibration traces being obtained in a controlled environment wherein no object is present in a field of view of the optical time-of-flight sensor;determining a noise template using the calibration traces by performing a statistical analysis on the calibration traces to determine a shape and an amplitude of said intrinsic static noise in said calibration traces;receiving a normal operation trace from the optical time-of-flight sensor, the normal operation trace being obtained in an uncontrolled environment wherein a presence of said object in said field of view is unknown;subtracting the noise template ...

OPTICAL DISTANCE MEASUREMENT DEVICE AND MACHINING DEVICE

The optical distance measurement device is configured to include an optical interference unit for separating the reflected light into a reflected light of a first polarized wave and a reflected light of a second polarized wave, extracting first and second components orthogonal to each other from an interference light of the reflected light of the first polarized wave and the reference light, and extracting third and fourth components orthogonal to each other from an interference light of the reflected light of the second polarized wave and the reference light, and a polarization rotation unit for acquiring one or more components of horizontal and vertical components of a polarized wave by rotating a polarization angle of a first complex signal having the first and second components and a polarization angle of a second complex signal having the third and fourth components, so that a distance calculation unit calculates, on the basis of the components acquired by the polarization rotation unit, a difference between a frequency of the reflected light and a frequency of the reference light, and calculates a distance to a measurement target from the difference. 1. An optical distance measurement device , comprising:an optical output generator to output frequency-swept light whose frequency changes with lapse of time as reference light, to multiplex polarized waves of the frequency-swept light, and to output frequency-swept light of first and second polarized waves orthogonal to each other;an optical receiver-transmitter to irradiate the frequency-swept light of first and second polarized waves toward a measurement target, and to receive frequency-swept light reflected by the measurement target as reflected light;an optical interferometer to separate the reflected light into a reflected light of a first polarized wave and a reflected light of a second polarized wave, to extract first and second components orthogonal to each other from an interference light of the ...

LIGHT RANGING DEVICE WITH MEMS SCANNED EMITTER ARRAY AND SYNCHRONIZED ELECTRONICALLY SCANNED SENSOR ARRAY

Embodiments describe a solid state electronic scanning LIDAR system that includes a scanning focal plane transmitting element and a scanning focal plane receiving element whose operations are synchronized so that the firing sequence of an emitter array in the transmitting element corresponds to a capturing sequence of a photosensor array in the receiving element. During operation, the emitter array can sequentially fire one or more light emitters into a scene and the reflected light can be received by a corresponding set of one or more photosensors through an aperture layer positioned in front of the photosensors. Each light emitter can correspond with an aperture in the aperture layer, and each aperture can correspond to a photosensor in the receiving element such that each light emitter corresponds with a specific photosensor in the receiving element. 1. An optical system for performing distance measurements , the optical system comprising:an illumination source comprising a column of light emitters aligned to project discrete beams of light into a field external to the optical system;a MEMS device configured to tilt along a scanning axis oriented perpendicular to the column of light emitters and reflect radiation from the column into the field to produce a two-dimensional illumination pattern in which the discrete beams from the column of light emitters are repeated multiple times forming multiple non-overlapping columns within the pattern;a light detection system configured to detect photons emitted from the illumination source and reflected from surfaces within the field, the light detection system comprising a photosensor layer including a two-dimensional array of photosensors having a sensing pattern in the field that substantially matches, in size and geometry across a range of distances from the system, the two-dimensional illumination pattern created by the MEMS device;circuitry coupled to the MEMS device and the column of light emitters and configured to ...

Sensor having a wireless heating system

A sensor is disclosed. The sensor may comprise: a housing, comprising a transmitting coil; and an optic assembly, comprising a body supporting at least one receiving coil and a conductive film that is in electrical contact with the at least one receiving coil, wherein, when the transmitting coil is energized, the at least one receiving coil is wirelessly energized causing a temperature of the film to increase.

SYSTEM AND METHOD FOR TRACKING A TARGET AND FOR COMPENSATING FOR ATMOSPHERIC TURBULENCE

A system and a method for tracking a target and for compensating for atmospheric turbulence, the system comprising at least two light sources with each emitting a light beam to the target, at least two collimators to collimate the light beam of the associated light source, a reference device to reflect a portion of the light beam exiting from all the collimators, at least two targeting modules to lead the light beam from the light source to reach a predetermined zone of the target, at least two detection modules to receive and detect the portion of the beam reflected by the reference device, a module for determining angle of deviation, a module for determining phase deviation and an adjustment module for adjusting each of the light sources in order to compensate for atmospheric turbulence. 1. A system for tracking a target and for compensating for atmospheric turbulence , comprising:at least two light sources each configured to emit a light beam to the target along an axis of propagation in an emission direction;at least two collimators, with each of the collimators being respectively associated with one of the light sources, with each of the collimators being configured to collimate the light beam of the associated light source;a reference device arranged downstream of all the collimators in the emission direction, the reference device comprising a reflecting plane configured to reflect a portion of the light beam exiting from all the collimators;at least two targeting modules, with each of the targeting modules being associated respectively and integrally with one of the light sources, with each of the targeting modules being configured to lead the light beam from the light source to reach a predetermined zone of the target;at least two detection modules, with each of the detection modules being associated respectively and integrally with one of the light sources, with each of the detection modules comprising a first detection surface configured to receive the ...

DETECTION AND COMPENSATION OF MEMS OSCILLATING STRUCTURE ASYMMETRIES AND PERIODIC JITTERS

Systems and methods are provided for compensating errors. A system includes a microelectromechanical systems (MEMS) oscillating structure configured to oscillate about a rotation axis; a phase error detector configured to generate a phase error signal based on measured event times and expected event times of the MEMS oscillating structure oscillating about the rotation axis; and a compensation circuit configured to receive the phase error signal, remove periodic jitter components in the phase error signal to generate a compensated phase error signal, and output the compensated phase error signal. 1. A system , comprising:a microelectromechanical systems (MEMS) oscillating structure configured to oscillate about a rotation axis;a phase error detector configured to generate a phase error signal based on measured event times and expected event times of the MEMS oscillating structure oscillating about the rotation axis; anda compensation circuit configured to receive the phase error signal, remove periodic jitter components in the phase error signal to generate a compensated phase error signal, and output the compensated phase error signal.2. The system of claim 1 , wherein the compensation circuit is configured to detect first periodic jitter components in the phase error signal resulting from a mechanical asymmetry of the MEMS oscillating structure claim 1 , extract the detected first periodic jitter components from the phase error signal claim 1 , and generate an asymmetry error signal based on the extracted first periodic jitter components.3. The system of claim 2 , further comprising:an asymmetry monitoring circuit configured to receive the asymmetry error signal from the compensation circuit, compare a value of the asymmetry error signal to a threshold value, and generate an failure prediction signal on a condition that the value of the asymmetry error signal exceeds the threshold value, wherein the failure prediction signal indicates a failure prediction of the ...

METHOD AND DEVICE FOR OPTIMIZING THE USE OF MULTIPLE EMITTERS AND A DETECTOR IN AN ACTIVE REMOTE SENSING APPLICATION

The invention relates to a method of tin optimal arrangement in time and space of nmultiple laser emitters and a detector for a remote sensing application, comprising setting a target time unit integration time t; translating said time unit integration time into a reduced time τand its corresponding power increase factor η; repeating for every emitter k of said plurality of nemitters the steps of: waiting for a given offset duration t: activating both the laser emitter k, with a power output corrected by η, and the detector for a duration of τ; deactivating said emitter k and detector after duration τ: flagging emitter k to be kept off for the subsequent duration t=t−τ. The invention further relates to a device implementing said method. 1. A method for remote sensing by means of a plurality of n>1 independent emitters and at least one detector , comprising:{'sub': 'p', 'setting a target time unit integration time t;'}{'sub': 'p', 'sup': '−1', 'translating said time unit integration time into a reduced time τand its corresponding power increase factor η;'}{'sub': 'src', 'claim-text': [{'sub': 'offset,k', 'waiting for a given offset duration t;'}, {'sup': '−1', 'sub': 'p', 'activating both the laser emitter k, with a power output corrected by η, and the detector for a duration of τ, {'sub': 'p', 'deactivating said emitter k and detector after duration τ;'}, {'sub': off', 'p', 'p, 'flagging emitter k to be kept off for the subsequent duration t=t−τ.'}], 'repeating for every emitter k of said plurality of nemitters the steps of2. A method according to in which said target integration time unit tresults from a target frame rate.314. A method according to claim 1 , wherein during the off-time t=t−τcommunication is exchanged with an external device ().4. A method according to wherein said communication updates configurations.5. A method according to wherein the independence of the plurality of emitters is given by their geometrical arrangement around the detector such that ...

INJECTING AN RF LOCAL OSCILLATOR SIGNAL INTO AN AVALANCHE PHOTO DIODE USING PHOTONS EMITTED FROM A LIGHT EMITTING DIODE

The present disclosure generally relates to laser range finders. In one embodiment, a shallow-trench isolation diode operates in a reverse-biased mode. In another embodiment, a poly-defined diode operates in a forward-biased mode. In both embodiments, the diode emits photons in response to a radio frequency current, and the photons are received by an avalanche photo diode during a calibration process. 1. A laser range finder comprising an integrated circuit , the integrated circuit comprising:a laser;a shallow trench isolation diode operating in a reverse-biased mode for outputting a first set of photons in response to an RF local oscillator signal; andan avalanche photo detector for generating an electrical output in response to the first set of photons and a second set of photons generated by the laser and reflected off of a target.2. The laser range finder of claim 1 , wherein a first terminal of the avalanche photo detector is coupled to a high voltage DC bias signal through a first resistor.3. The laser range finder of claim 2 , wherein a second terminal of the avalanche photo detector is coupled to an amplifier through a second resistor.4. A laser range finder comprising an integrated circuit claim 2 , the integrated circuit comprising:a poly-defined diode operating in a forward-biased mode for outputting a first set of photons in response to an RF local oscillator signal; andan avalanche photo detector for generating an electrical output in response to the first set of photons and a second set of photons received from a target.5. The laser range finder of claim 4 , wherein a first terminal of the avalanche photo detector is coupled to a high voltage DC bias signal through a first resistor.6. The laser range finder of claim 5 , wherein a second terminal of the avalanche photo detector is coupled to an amplifier through a second resistor. This application is a continuation-in-part of U.S. patent application Ser. No. 15/458,969, filed on Mar. 14, 2017, and ...

Photonic devices with redundant components and their applications

Embodiments include apparatuses, methods, and systems for a photonic device including a first optical component, a second optical component, and a third component, where the first optical component or the second optical component is a redundant component of the photonic device. When the first optical component is enabled, the first optical component is to provide a first input to the third component, or to receive a second input from the third component. Similarly, when the second optical component is enabled, the second optical component is to provide the first input to the third component, or to receive the second input from the third component. The first optical component and the second optical component are arranged to perform a same function. Only one of the first optical component or the second optical component is enabled at a time. Other embodiments may also be described and claimed.

System and Method for Increasing Coherence Length in Lidar Systems

Various implementations of the invention compensate for “phase wandering” in tunable laser sources. Phase wandering may negatively impact a performance of a lidar system that employ such laser sources, typically by reducing a coherence length/range of the lidar system, an effective bandwidth of the lidar system, a sensitivity of the lidar system, etc. Some implementations of the invention compensate for phase wandering near the laser source and before the output of the laser is directed toward a target. Some implementations of the invention compensate for phase wandering in the target signal (i.e., the output of the laser that is incident on and reflected back from the target). Some implementations of the invention compensate for phase wandering at the laser source and in the target signal. 1. A system for compensating for phase variance in a laser source comprising:a phase difference detector configured to receive a reference arm signal and to detect a phase difference of the reference arm signal, the phase difference corresponding to a difference in the phase of the reference arm signal at two points in time;a phase correction estimator configured to receive the phase difference from the phase detector and to estimate a phase correction to be applied to a target arm signal, wherein the phase correction compensates for the phase variance of the laser source;a phase modulator configured to receive the phase correction from the phase correction estimator, to modulate the target arm signal with the phase correction, and to output a phase corrected target arm signal; anda delay coupled either to either the reference arm signal and configured to introduce a delay time into the reference arm signal prior to being received by the phase difference detector or to the target arm signal prior to being received by the phase modulator, wherein the delay time comprises at least a round trip path delay.2. The system of claim 1 , wherein the delay is coupled to the target arm ...

FMCW LIDAR METHODS AND APPARATUSES INCLUDING EXAMPLES HAVING FEEDBACK LOOPS

Methods and apparatuses are described for frequency-modulated continuous-wave (FMCW) light detection and ranging (LiDAR). Examples are provided where high-closed-loop bandwidth, active feedback applied to laser frequency chirps may provide increases in the free-running laser coherence length for long-range FMCW distance measurements. Examples are provided that use an asymmetric sideband generator within an active feedback loop for higher closed-loop bandwidth. Examples of using a single shared reference interferometer within multiple active feedback loops that may be used for increasing the coherence length of multiple chirped lasers are described. Example calibrators are also described. 1. A method comprising:applying an actuator signal to a laser source to provide a laser beam having a frequency and a free-running coherence length; andcontrolling the actuator signal using a feedback loop to control a chirp of the frequency of the laser beam; andwherein the feedback loop has a closed-loop bandwidth selected to cause the laser beam to be having an actual coherence length, wherein the actual coherence length is longer than the free running coherence length.2. The method of claim 1 , wherein controlling the actuator signal comprises controlling the actuator signal to chirp the frequency of the laser beam linearly.3. The method of claim 1 , wherein the feedback loop comprises splitting the laser beam into at least two optical paths and generating an interference signal based on the at least two optical paths.4. The method of claim 1 , wherein the actual coherence length is greater than a coherence length determined by a Schawlow Townes linewidth limit of the laser source.5. The method of claim 1 , wherein the closed-loop bandwidth is greater than a free-running laser linewidth of the laser beam divided by 10.6. The method of claim 1 , wherein the feedback loop comprises splitting the laser beam into at least two optical paths and generating an interference signal based ...

Time-of-flight apparatus

A time-of-flight apparatus includes a transmitter and a receiver. The transmitter includes a laser for providing a laser pulse and an optical phased array coupled to the laser for receiving the laser pulse and providing a plurality of beams which fan out from the optical phased array. The receiver includes an optical receiving unit for receiving scattered light from the plurality of beams and a photodetector array coupled to the optical receiving unit. The photodetector array includes a plurality of photodetectors such that at least one particular photodetector of the photodetector array is disposed for receiving scattered light from each particular beam of the plurality of beams.

SENSOR FAILURE DETECTION DEVICE AND CONTROL METHOD FOR SAME

A sensor failure detection device includes an input circuit and an output circuit and is installable on a vehicle. The input circuit is configured to connect with a sensor disposed on the vehicle and to receive reference information and location information on the vehicle. When a predetermined relation is found among a detection result of the sensor, the reference information, and the location information that have been input to the input circuit, the output circuit outputs that the sensor has failed. 1. A sensor failure detection device installable on a vehicle , the sensor failure detection device comprising:an input circuit configured to connect with a sensor disposed on the vehicle and to receive reference information and location information on the vehicle; andan output circuit,wherein the reference information includes at least a type of an object, and location information indicating where the object is placed, andwhen a predetermined relation is found among a detection result of the sensor, the reference information, and the location information that have been input to the input circuit, the output circuit outputs that the sensor has failed.2. The sensor failure detection device according to claim 1 , further comprising a control circuit claim 1 ,wherein when the predetermined relation is found among the detection result of the sensor, the reference information, and the location information that have been input to the input circuit, the control circuit performs control to cause the output circuit to output that the sensor has failed.3. The sensor failure detection device according to claim 2 , whereinthe control circuit includes a processor, andwhen the predetermined relation is found among the detection result of the sensor, the reference information, and the location information that have been input to the input circuit, the control circuit causes the processor to execute a predetermined program to perform control to cause the output circuit to output that ...

INFRA-RED SENSOR ASSEMBLIES WITH BUILT-IN TEST EQUIPMENT

An infra-red sensor assembly may comprise a substrate and an infra-red transmitter electrically coupled to the substrate. An infra-red receiver may be electrically coupled to the substrate. A testing infra-red transmitter may be electrically coupled to the substrate. An infra-red transmission channel may optically couple the testing infra-red transmitter and the infra-red receiver. 1. An infra-red sensor assembly , comprising:a substrate;a first infra-red transmitter electrically coupled to the substrate;an infra-red receiver electrically coupled to the substrate;a testing infra-red transmitter electrically coupled to the substrate; andan infra-red transmission channel optically coupling the testing infra-red transmitter and the infra-red receiver.2. The infra-red sensor assembly of claim 1 , further comprising:a controller operably coupled to the first infra-red transmitter, the infra-red receiver, and the testing infra-red transmitter;a first metal-oxide-semiconductor field-effect transistor coupled between the controller and the first infra-red transmitter; anda second metal-oxide-semiconductor field-effect transistor coupled between the controller and the testing infra-red transmitter.3. The infra-red sensor assembly of claim 2 , wherein the controller is configured to turn on the first metal-oxide-semiconductor field-effect transistor and turn off the second metal-oxide-semiconductor field-effect transistor when the infra-red sensor assembly is in an object detection mode.4. The infra-red sensor assembly of claim 3 , wherein the controller is configured to turn off the first metal-oxide-semiconductor field-effect transistor and turn on the second metal-oxide-semiconductor field-effect transistor when the infra-red sensor assembly is in a self-test mode.5. The infra-red sensor assembly of claim 4 , wherein the infra-red transmission channel defines an optical pathway claim 4 , the optical pathway being configured to reflect infra-red radiation emitted from the ...

FAST NUMERICAL SIMULATION METHOD FOR LASER RADAR RANGING CONSIDERING SPEED FACTOR

The present disclosure relates to a fast numerical simulation method for laser radar ranging considering a speed factor. According to the method, the motion of the laser radar itself and the motion of an object in the surrounding environment are fully considered in the simulation process. The motion of the laser radar itself not only includes the overall motion of the device, but also includes the rotary scanning motion of a laser emitter, so that accurate numerical simulation is provided. In addition, the amount of calculation is simplified by introducing a sampling point set, and the effect of improving the accuracy of simulation by using a small amount of calculation is achieved. The method is especially suitable for a scenario where the laser radar itself and/or surrounding objects are in a high-speed motion state, and can achieve a significantly higher simulation precision than that achieved by existing methods. 1. A fast numerical simulation method for laser radar ranging considering a speed factor , comprising the following steps:{'sub': 0', '1', '2', 'NL−1', '1', 'j', 'max', 'max, '(1) assuming a mechanical rotary laser radar to be simulated as Lidar, setting a working mode and parameters of Lidar as follows: Lidar comprises NL laser emitters, the laser emitters are configured to synchronously emit laser rays at a frequency f, each of the laser emitters emits one beam of laser ray, starting points of the beams are a same point on the Lidar which is defined as a reference point, all the laser emitters are configured for fixed-axis rotation about a straight line passing through the reference point, and the straight line is defined as a rotation axis; a plane perpendicular to the rotation axis is defined as a reference plane, and NL laser rays emitted by the laser emitters at a same moment are located in a plane perpendicular to the reference plane; a direction of either side of the rotation axis is taken as a rotation axis direction, and included angles formed ...

SYSTEM AND METHOD FOR GENERATING AND INTERPRETING POINT CLOUDS OF A RAIL CORRIDOR ALONG A SURVEY PATH

An autonomous system for generating and interpreting point clouds of a rail corridor along a survey path while moving on a railroad corridor assessment platform. The system includes two LiDAR sensors configured to scan along scan planes that intersect but not at all points. The LiDAR sensors are housed in autonomously controlled and temperature controlled protective enclosures. 1. A system for generating and interpreting point clouds of a rail corridor along a survey path while moving on a railroad corridor assessment platform , the system comprising:a. a railroad corridor assessment platform;b. a first LiDAR sensor configured to scan along a first scan plane, the first LiDAR sensor attached to the railroad corridor assessment platform;c. a second LiDAR sensor configured to scan along a second scan plane, the second LiDAR sensor attached to the railroad corridor assessment platform;d. a first sensor enclosure housing for protecting the first LiDAR sensor, the first sensor enclosure further comprising a first sensor enclosure LiDAR sensor cap configured to move from a first sensor enclosure LiDAR sensor cap open position in which the first LiDAR sensor is exposed to a first sensor enclosure LiDAR sensor cap closed position in which the first LiDAR sensor is not exposed, and from the first sensor enclosure LiDAR sensor cap closed position to the first sensor enclosure LiDAR sensor cap open position; ande. a second sensor enclosure for housing for protecting the second LiDAR sensor, the second sensor enclosure further comprising a second sensor enclosure LiDAR sensor cap configured to move from a second sensor enclosure LiDAR sensor cap open position in which the second LiDAR sensor is exposed to a second sensor enclosure LiDAR sensor cap closed position in which the second LiDAR sensor is not exposed, and from the second sensor enclosure LiDAR sensor cap closed position to the second sensor enclosure LiDAR sensor cap open position.2. The system for generating and ...

Methods and Systems for Clearing Sensor Occlusions

A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

High-precision, high-accuracy, single-hub laser scanner

A laser scanner determines the direction and distance of one or more targets by emitting two substantially parallel beams and receiving respective return beams. Components for handling the received beams are affixed to a monolithic block to ensure fixed relative placement. The direction of the target is determined using an optical encoder to reduce the timing window for interpolation to a fraction of the time it takes for the scanner to make a full revolution. A PLL trained by recent segment timing further improves accuracy and precision. A detection algorithm adapts detection thresholds for the different signatures of return signals depending on the distance to the target. Distance calculations are also adjusted for thermal expansion of the scanner components by including a temperature-variant thermometer output signal in the distance calculation algorithm.

DISTANCE MEASURING APPARATUS HAVING DISTANCE CORRECTION FUNCTION

A distance measuring apparatus includes a reference object distance calculation section which calculates a distance to a reference object based on a two-dimensional image in which the reference object, which includes a plurality of feature points having obvious three-dimensional coordinate correlations, is captured, and a correction amount calculation section which calculates a correction amount for correcting a distance image by comparing the calculated distance to the reference object with a distance measurement value to the reference object in the distance image. 1. A distance measuring apparatus , comprising a light emitting section which emits reference light to a target measurement space at a predetermined light emission timing , and a plurality of light receiving elements which are two-dimensionally arranged and which receive incident light from the target measurement space at a predetermined image capture timing , wherein the distance measuring apparatus outputs a distance image to an object in the target measurement space based on light reception amounts of the light receiving elements , and a two-dimensional image corresponding to the distance image , the distance measuring apparatus further comprising:a reference object distance calculation section which calculates a distance to the reference object based on the two-dimensional image in which a reference object including a plurality of feature points having obvious three-dimensional coordinate correlations is captured, anda correction amount calculation section which calculates a correction amount for correcting the distance image by comparing the calculated distance to the reference object with a distance measurement value to the reference object in the distance image.2. The distance measuring apparatus according to claim 1 , wherein the reference object is a reference marker comprising a plurality of feature points having known three-dimensional coordinate correlations.3. The distance measuring ...

ELECTROMAGNETIC WAVE DETECTION APPARATUS, PROGRAM, AND ELECTROMAGNETIC WAVE DETECTION SYSTEM

An electromagnetic wave detection apparatus () includes an irradiator (), a first detector (), a memory (), and a controller (). The irradiator () irradiates electromagnetic waves. The first detector () includes detection elements. The detection elements detect, by irradiation position, reflected waves of the electromagnetic waves irradiated onto an object (ob). The memory () stores related information. The related information is information associating any two of the emission direction of the electromagnetic waves and elements defining two points on a path. The path refers to a path of the electromagnetic waves emitted from the irradiator () to the first detector () via the object (ob). The controller () updates the related information based on the emission direction of the electromagnetic waves and the position of the detection element, among the detection elements, that detects the reflected waves of the electromagnetic waves. 1. An electromagnetic wave detection apparatus comprising:an irradiator configured to emit electromagnetic waves;a first detector comprising a plurality of detection elements configured to detect, each of irradiation position, reflected waves of the electromagnetic waves irradiated onto an object;a memory configured to store related information associating an emission direction of the electromagnetic waves and, elements defining two points on a path of the electromagnetic waves emitted from the irradiator to the first detector via the object; anda controller configured to update the related information based on the emission direction of the electromagnetic waves and, a position of a detection element, among the plurality of detection elements, that detects the reflected waves of the electromagnetic waves.2. The electromagnetic wave detection apparatus of claim 1 ,wherein the related information comprises first related information associating the emission direction and the position of the detection element that detects the reflected waves of ...

SCANNING LIDAR SYSTEM AND METHOD WITH UNITARY OPTICAL ELEMENT

A LiDAR apparatus includes a first substrate and a unitary optical element mounted thereon. The unitary optical element includes: (i) a fast axis collimator (FAC) lens receiving light from a laser diode source and generating therefrom a collimated light beam; (ii) a polarizing beam splitter optically coupled to the FAC lens, at least a portion of the collimated light beam passing through the polarizing beam splitter to a region being observed by the LiDAR apparatus; (iii) an aperture element optically coupled to the polarizing beam splitter; and (iv) an opaque coating formed on a back side of the aperture element, the opaque coating being patterned to provide a transparent aperture. At least of portion of light returning to the LiDAR apparatus from the region being observed is directed by the polarizing beam splitter, through the transparent aperture in the opaque coating on the aperture element, to an optical detector. 1. A LiDAR apparatus , comprising:a first substrate; a fast axis collimator (FAC) lens receiving light from a laser diode source and generating therefrom a collimated light beam,', 'a polarizing beam splitter optically coupled to the FAC lens, at least a portion of the collimated light beam passing through the polarizing beam splitter to a region being observed by the LiDAR apparatus,', 'an aperture element optically coupled to the polarizing beam splitter, and', 'an opaque coating formed on a back side of the aperture element, the opaque coating being patterned to provide a transparent aperture; wherein, 'a unitary optical element mounted on the first substrate, the unitary optical element comprisingat least of portion of light returning to the LiDAR apparatus from the region being observed is directed by the polarizing beam splitter, through the transparent aperture in the opaque coating on the aperture element, to an optical detector.2. The LiDAR apparatus of claim 1 , further comprising a second substrate in fixed spatial relation to the first ...

Method and Apparatus for Determining Relative Motion between a Time-of-Flight Camera and an Object in a Scene Sensed by the Time-of-Flight Camera

A method for determining relative motion between a time-of-flight camera and an object in a scene sensed by the time-of-flight camera is provided. The method includes receiving at least two sets of raw images of the scene from the time-of-flight camera, each set including at least one raw image. The raw images are based on correlations of a modulated reference signal and measurement signals of the time-of-flight camera. The measurement signals are based on a modulated light signal emitted by the object. The method includes determining, for each set of raw images, a value indicating a respective phase difference between the modulated light and reference signals based on the respective set of raw images, and determining information about relative motion between the time-of-flight camera and object based on the values indicating the phase differences. The method includes outputting the information about relative motion between the time-of-flight camera and the object. 1. A method for determining relative motion between a time-of-flight camera and an object in a scene sensed by the time-of-flight camera , wherein the object emits a modulated light signal , the method comprising:receiving at least two sets of raw images of the scene from the time-of-flight camera, wherein the at least two sets of raw images each comprise at least one raw image, wherein the raw images are based on correlations of a modulated reference signal and measurement signals of the tune-of-flight camera, and wherein the measurement signals are based on the modulated light signal emitted by the object;determining, for each set of raw images, a value indicating a respective phase difference between the modulated light signal and the modulated reference signal based on the respective set of raw images;determining information about relative motion between the time-of-flight camera and the object based on the values indicating the phase differences; andoutputting the information about relative motion ...

Angle Measurement System For Automotive Collision Avoidance Sensors

A system for measuring the orientation angle of automotive collision avoidance sensors. An adaptive spacer is supported to conformably interengage the collision avoidance sensor module of a vehicle being repaired. The adaptive spacer extends outwardly from the sensor module and the orientation angle of the sensor module is transposed by the adaptive spacer to form an angular guideline on an underlying calibration board, mat or other surface. The angle between the angular guideline and a base guideline parallel to the center line of the vehicle and the angular guideline is measured to provide the orientation angle of the vehicle's sensor module. 1. A system for measuring the angular orientation of an automotive collision avoidance sensor module mounted to a motor vehicle , said system comprising:a spacer component having an inner end configured for generally flushly and conformably engaging an outer face of the sensor module such that said spacer component extends outwardly from the sensor module;means attached to a distal end of said spacer component for forming an angular guideline, which extends, across a generally horizontal underlying surface below the sensor module and has an angular orientation corresponding to the angular orientation of the sensor module, said angular guideline intersecting a base guideline formed on said underlying surface substantially parallel to the longitudinal centerline of the motor vehicle; andan angle measuring guide for determining the angle between said base guideline and said angular guideline, which determined angle corresponds to the angular orientation of the sensor module.2. The system of further comprising a frame assembly that includes a lower frame for mounting of said underlying surface and an upper frame adjustably mounted on said lower frame and being selectively movable thereon in opposing directions substantially parallel to the longitudinal centerline of the motor vehicle.32. The system of claim claim 1 , in which ...

Vehicle Sensor Verification and Calibration

An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison. 1. A method comprising:detecting, by a vehicle, a sensor-testing trigger, wherein detecting the sensor-testing trigger comprises determining that the vehicle is within a threshold distance to a target in an environment of the vehicle;obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger, wherein the sensor data is indicative of a scan of a region of the environment that includes the target;comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment; andbased on at least the comparison, generating performance metrics related to the sensor of the vehicle.2. The method of claim 1 , wherein detecting the sensor-testing trigger further comprises determining that the sensor is not occluded from viewing the target by one or more objects between the vehicle and the target.3. The method of claim 1 , further comprising:based on at least the generated performance metrics, operating the sensor of the vehicle to perform subsequent scans of the environment.4. The method of claim 1 , wherein obtaining the sensor data comprises:in response to detecting the ...

TARGET APPARATUS AND METHOD

A target is provided having a retroreflector. A body is provided having a spherical exterior portion, the body containing a cavity. The cavity is sized to hold the retroreflector, the cavity open to the exterior of the body and having at least one surface opposite the opening, the retroreflector at least partially disposed in the cavity, wherein the retroreflector and at least one surface define a space therebetween. A transmitter is configured to emit an electromagnetic signal. A first actuator is configured to initiate emission of the electromagnetic signal, wherein the transmitter and the first actuator are affixed to the body. 1. A target , comprising:a body;a contact element having a region of spherical curvature;a retroreflector;a transmitter configured to emit an electromagnetic signal; anda temperature sensor configured to measure an air temperature and configured to send the measured air temperature to the transmitter, wherein the contact element, the retroreflector, the transmitter, and the temperature sensor are coupled to the body.2. The target of wherein the temperature sensor is a thermistor claim 1 , RTD or a thermocouple.3. The target of wherein the temperature sensor is disposed within a protector member claim 1 , the protector member being coupled to the body.4. The target of wherein the protector member includes an open end.5. The target of wherein the protector member includes perforations.6. The target of further comprising an insulation member disposed between the body and the temperature sensor.7. The target of further comprising an interface member coupled to the body claim 1 , wherein the temperature sensor is coupled to the body by the interface member. The present application is a divisional application of U.S. patent application Ser. No. 13/832,658 filed Mar. 15, 2013, which is a continuation application of U.S. patent application Ser. No. 13/407,983 filed Feb. 29, 2012, which claims the benefit of provisional application No. 61/448,823 ...

LIDAR AND CAMERA SYNCHRONIZATION

A method and system for synchronizing a lidar and a camera on an autonomous vehicle. The system instructs the camera to detect light columns transmitted by the lidar. The system iterates through various start times for the camera. The system instructs the lidar to emit a plurality of light columns at a lidar frequency. The system instructs the camera to capture images at a camera frequency starting at each start time. The system analyzes the image data received from the cameras to identify light columns captured in the images. The system calculates an alignment score for each of the many start times based on the identified light columns. The start time with the optimal alignment score is selected and used to synchronize the lidar and the camera. With lidar data detected by the synchronized lidar and image data captured by the synchronized camera, the system may navigate the autonomous vehicle. 1. A method for synchronizing a light detection and ranging sensor (lidar) and a camera on an autonomous vehicle , comprising:transmitting, via the lidar, a plurality of light columns at a lidar frequency within a field of view (FOV) of the camera; capturing, via the camera, a plurality of images at a camera frequency, each image captured over an exposure time,', 'for each image of the plurality of images, identifying a number of light columns in the image, and', 'calculating an alignment score based on the identified number of light columns in each of the plurality of images;, 'for each start time of a plurality of start timesselecting a start time with the highest alignment score;synchronizing the lidar and the camera according to the selected start time; andnavigating the autonomous vehicle with lidar data detected by the synchronized lidar and image data captured by the synchronized camera.2. The method of claim 1 , wherein the plurality of light columns comprises at least three light columns within the FOV of the camera.3. The method of claim 1 , wherein the lidar emits ...

FLUID SYSTEM FOR VEHICLE SENSOR

A fluid system includes a one-way check valve including a check-valve inlet and a check-valve outlet; a Y-connector including a Y-connector inlet, a first Y-connector outlet, a second Y-connector outlet, and a pressure-sensor connector; an inlet hose fluidly connecting the check-valve outlet and the Y-connector inlet; and a pressure sensor fluidly connected to the Y-connector via the pressure-sensor connector. The Y-connector inlet, Y-connector outlets, and pressure-sensor connector are fluidly connected to each other inside the Y-connector. 1. A fluid system comprising:a one-way check valve including a check-valve inlet and a check-valve outlet;a Y-connector including a Y-connector inlet, a first Y-connector outlet, a second Y-connector outlet, and a pressure-sensor connector;an inlet hose fluidly connecting the check-valve outlet and the Y-connector inlet; anda pressure sensor fluidly connected to the Y-connector via the pressure-sensor connector;wherein the Y-connector inlet, Y-connector outlets, and pressure-sensor connector are fluidly connected to each other inside the Y-connector.2. The fluid system of claim 1 , wherein flow directions defined by the Y-connector inlet and Y-connector outlets are in a plane claim 1 , and the flow direction of each Y-connector outlet is at least 90° from the flow direction of the Y-connector inlet in the plane.3. The fluid system of claim 2 , wherein the flow direction of each Y-connector outlet is more than 90° from the flow direction of the Y-connector inlet in the plane.4. The fluid system of claim 2 , wherein a flow direction of the pressure-sensor connector is in the plane.5. The fluid system of claim 4 , wherein the flow direction of each Y-connector outlet is less than 90° from the flow direction of the pressure-sensor connector in the plane.6. The fluid system of claim 1 , wherein the pressure sensor is directly mounted to the pressure-sensor connector.7. The fluid system of claim 6 , wherein the pressure sensor ...

System and method for monitoring optical subsystem performance in cloud lidar systems

A method of detecting optical subsystem failures includes emitting a pulsed light beam from a laser through a window. A reflection signal indicative of a portion of the beam reflected by the window is compared to an expected signal to monitor for degradation of an optical component.

LASER PHASE ESTIMATION AND CORRECTION

In one general aspect, a non-transitory computer-readable storage medium can be configured to store instructions that when executed cause a processor to perform a process. The process can include producing a segment of a laser signal where the segment of the laser signal has a duration, and producing a first reference signal based on the laser signal. The process can include calculating a first phase deviation corresponding with a first portion of the duration based on the first reference signal, and producing a second reference signal based on the laser signal. The process can include calculating a second phase deviation corresponding with a second portion of the duration based on the second reference signal, and calculating a phase deviation of the segment of the laser signal based on a combination of the first phase deviation and the second phase deviation. 1. A non-transitory computer-readable storage medium storing instructions that when executed cause a processor to perform a process , the process comprising:producing a segment of a laser signal, the segment of the laser signal having a duration;producing a first reference signal based on the laser signal;calculating a first phase deviation corresponding with a first portion of the duration based on the first reference signal;producing a second reference signal based on the laser signal;calculating a second phase deviation corresponding with a second portion of the duration based on the second reference signal; andcalculating a phase deviation of the segment of the laser signal based on a combination of the first phase deviation and the second phase deviation.2. The non-transitory computer-readable storage medium of claim 1 , wherein the duration corresponds with a round-trip time period of the laser signal to a target object.3. The non-transitory computer-readable storage medium of claim 1 , wherein the first portion of the duration and the second portion of the duration occur during mutually exclusive time ...

System and Method for Increasing Resolution of Images Obtained from a Three-Dimensional Measurement System

A system uses range and Doppler velocity measurements from a lidar system and images from a video system to estimate a six degree-of-freedom trajectory (6DOF) of a target. The 6DOF transformation parameters are used to transform multiple images to the frame time of a selected image, thus obtaining multiple images at the same frame time. These multiple images may be used to increase a resolution of the image at each frame time, obtaining the collection of the superresolution images. 1. A system for increasing resolution of a three-dimensional image of a target , the system comprising:a lidar subsystem configured to direct at least two beams toward the target and generate a plurality of three-dimensional (3D) measurements for a plurality of points on the target for each of the at least two beams;a video subsystem configured to provide a plurality of two-dimensional (2D) images of the target; and receive, from the lidar subsystem, the 3D measurements for the plurality of points on the target,', 'receive, from the video subsystem, the plurality of 2D images of the target,', 'generate a plurality of three-dimensional (3D) images of the target based on the 3D measurements for the plurality of points on the target and the 2D images of the target, wherein each of the 3D images is generated at a frame time associated with each of the 2D images of the target,', 'remove motion blur in each of the plurality of 3D images;', 'transform each of the plurality of 3D images to a frame time of an original 3D image based on a plurality of transformation parameters, and', 'determine enhanced information for the original 3D image based on each of the transformed plurality of 3D images., 'a processor configured to2. The system of claim 1 , wherein the target is a moving target.3. The system of claim 1 , wherein the target is a stationary target claim 1 , and wherein the lidar subsystem and the video subsystem move relative to the stationary target.4. The system of claim 1 , wherein the ...

DETERMINING COORDINATES OF A POINT IN THREE-DIMENSIONAL SPACE

A method of determining 3D coordinates of a reference point comprises positioning a targeting device comprising an elongated rigid rod having an end point and first and second scanning targets affixed to the rod, the targeting device positioned such that the end point contacts the reference point; scanning the targeting device; determining, using the scan data, (i) 3D coordinates of the center point of the first target and (ii) 3D coordinates of the center point of the second target; and calculating 3D coordinates of the end point based on (i) the 3D coordinates of the center point of the first target, (ii) the 3D coordinates of the center point of the second target, (iii) a distance between the center point of the first target and the end point, and (iv) a distance between the center point of the second target and the end point. 1. A method of determining 3D coordinates of a reference point , the method comprising:positioning a targeting device, the targeting device comprising (i) an elongated rigid rod having an end point, (ii) a first scanning target affixed to the rod such that the rod is aligned with a center point of the first scanning target, and (iii) a second scanning target affixed to the rod such that the rod is aligned with a center point of the second scanning target, the targeting device positioned such that the end point contacts the reference point;scanning the targeting device;determining, using scan data from the scanning of the targeting device, (i) 3D coordinates of the center point of the first scanning target and (ii) 3D coordinates of the center point of the second scanning target; andcalculating 3D coordinates of the end point based on (i) the 3D coordinates of the center point of the first scanning target, (ii) the 3D coordinates of the center point of the second scanning target, (iii) a distance between the center point of the first scanning target and the end point, and (iv) a distance between the center point of the second scanning target ...

SYSTEM AND METHOD FOR OPERATOR GUIDED IDENTIFICATION OF VEHICLE REFERENCE LOCATIONS FOR ADAS SENSOR ALIGNMENT

A vehicle service system incorporating a pair of gimbal-mounted optical projection systems enables an operator to selectively orient each optical emitter of the optical projection system to illuminate a location on a vehicle surface in proximity to the system. Signals indicative of an orientation of each optical emitter about three-axes of rotation are received at a controller programmed with software instructions to utilize the received signals, together with known locations for the systems, to calculate a three-dimensional coordinate for the illuminated location within an established frame of reference. The controller is further programmed to utilize the calculated three-dimensional coordinate of the illuminated location as an origin point for determining one or more placement locations within the established frame of reference for ADAS sensor calibration or alignment targets. 1. A vehicle measurement system instrumentation structure , comprising:a base unit;a camera support structure affixed to said base unit, said camera support structure carrying a set of camera modules configured to acquire images associated with a vehicle within a vehicle service area which is undergoing measurement;a pair of optical projection systems carried in a spaced arrangement by said camera support structure, said optical projection systems each including at least one optical projector defining an associated projection axis within a common reference frame, and a mounting structure for rotational movement of said at least one optical projector about at least two axes (X, Y, Z), said mounting structures each responsive to commands to direct orientation of said associated projection axis of each optical projector about said at least two axes (X, Y, Z);a processing system operatively coupled to said pair of optical projection systems, said processing system having a processor configured with a set of instructions to evaluate data received from each of said optical projection systems ...

RANGING SYSTEM, CALIBRATION METHOD, PROGRAM, AND ELECTRONIC APPARATUS

Ranging systems, calibration methods, programs, and electronic apparatus with lower cost calibration are disclosed. In one example, a ranging system includes a light source, a sensor that detects reflection light of light emitted from the light source and reflected on a target object, a determination unit that determines whether or not a peripheral object is usable as a reflection object on the basis of a predetermined determination condition, and a generation unit that generates a correction table for correcting an offset value between a true value of a range value and a measured value on the basis of a detection result received from the sensor and obtained by detecting reflection light of light applied from the light source to a target object usable as the reflection object in a case where the peripheral object is determined to be usable as the reflection object. 1. A ranging system comprising:a light source unit that emits light;a sensor unit that detects reflection light of light emitted from the light source unit and reflected on a target object;a determination unit that determines whether or not a peripheral object is usable as a reflection object on a basis of a predetermined determination condition; anda generation unit that generates a correction table for correcting an offset value between a true value of a range value and a measured value on a basis of a detection result received from the sensor unit and obtained by detecting reflection light of light applied from the light source unit to a target object usable as the reflection object in a case where the peripheral object is determined to be usable as the reflection object.2. The ranging system according to claim 1 , wherein the determination unit determines that a second surface that is included in the given target object and has unknown reflectance is usable as the reflection object in a case where a first surface on a side where the light source unit and the sensor unit are provided is in contact with ...

PROCESSING TIME-SERIES MEASUREMENTS FOR LIDAR ACCURACY

An optical measurement system may include a light source and corresponding photosensor configured to emit and detect photons reflected from objects in a surrounding environment for optical measurements. An initial peak can be identified as resulting from reflections off a housing of the optical measurement system. This peak can be removed or used to calibrate measurement calculations of the system. Peaks resulting from reflections off surrounding objects can be processed using on-chip filters to identify potential peaks, and the unfiltered data can be passed to an off-chip processor for distance calculations and other measurements. A spatial filtering technique may be used to combine values from histograms for spatially adjacent pixels in a pixel array. This combination can be used to increase the confidence for distance measurements. 1. An optical measurement system comprising:a housing of the optical measurement system;a light source configured to transmit one or more pulse trains over one or more time intervals as part of an optical measurement, wherein each of the one or more first time intervals includes one of the one or more pulse trains;a photosensor configured to detect photons from the one or more pulse trains that are reflected off of a housing of the optical measurement system, and to detect photons from the one or more pulse trains that are reflected off of objects in an environment surrounding the optical measurement system;a plurality of registers configured to accumulate photon counts from the photosensor received during the one or more time intervals, wherein each of the one or more time intervals is subdivided into a plurality of time bins, and each of the plurality of registers is configured to accumulate photon counts received during a corresponding one of the plurality of time bins in each of the one or more time intervals to represent a histogram of photon counts received during the one or more time intervals; anda circuit configured to ...

Optoelectronic sensor and method for front window monitoring

An optoelectronic sensor for detecting objects in a monitoring area, the sensor comprising a light transmitter for transmitting a scanning beam, a movable deflection unit for periodically scanning the monitoring area with the scanning beam, a light receiver for generating a received signal from the scanning beam remitted by the objects, a front window, and a control and evaluation unit configured to obtain information about the objects in the monitoring area from the received signal and to detect impaired light transmissivity of the front window in a front window monitoring that evaluates a front window reflection that is generated at the front window by the scanning beam, wherein the control and evaluation unit is further configured to increase the sensitivity of the detection for the front window monitoring.

SETTING VALUE ADJUSTMENT DEVICE FOR DISPLACEMENT METER

A setpoint adjustment apparatus for a displacement meter () includes a determiner () to determine whether a measurement value acquired by an acquirer () in measurement of a reference workpiece using an applying setpoint, to be used in measurement of the reference workpiece, is within the range of a desired measurement value (), and a changer () to change the applying setpoint. When the measurement value is within the range of the desired measurement value (), the applying setpoint used in acquisition of the measurement value is employed as an applying setpoint for inspection of a measurement target (). When the measurement value is out of this range, the applying setpoint used in acquisition of the measurement value is changed to a different applying setpoint, and whether the measurement value from the reference workpiece using this applying setpoint is within the range of the desired measurement value () is determined. 1. A setpoint adjustment apparatus for a displacement meter , the setpoint adjustment apparatus comprising:an acquirer to acquire a measurement value indicating a displacement of a reference workpiece on basis of a reception light signal received from a displacement meter, the displacement meter comprising a light source to emit light to the reference workpiece and a light receiver to receive reflected light from the reference workpiece and output the reception light signal, the reference workpiece serving as a standard of a measurement target;a storage comprising a storage area for storing an applying setpoint to be used in measurement of the reference workpiece, the storage being configured to store setpoints defining measurement conditions for measurement of the reference workpiece and store a desired measurement value to be compared with the measurement value;a determiner to determine whether the measurement value acquired by the acquirer in measurement of the reference workpiece using the applying setpoint is within a range of the desired ...

MEASURING DEVICE AND MEASURING METHOD

The present invention provides a measuring apparatus and a measuring method in which a relative moving velocity of a target to be measured or a separation displacement of the target to be measured can be accurately measured even in a case where the target to be measured is moved. In a measuring apparatus, a relative moving velocity of a target to be measured and a separation displacement of the target to be measured can be measured in consideration of the influence of Doppler shift that occurs due to the movement of the target to be measured in an in-plane direction, and thus, even in a case where the target to be measured is moved in the in-plane direction, the relative moving velocity of the target to be measured and the separation displacement of the target to be measured can be accurately measured. 1. A measuring apparatus for measuring at least any one of a separation displacement that is a displacement of a target to be measured that is moved in a predetermined direction and a moving velocity that is a relative velocity in a direction orthogonal to the predetermined direction , the apparatus comprising:an optical splitter splitting laser light that is modulated with respect to time by a predetermined frequency modulation velocity into reference light and measurement light;one or two or more measuring heads including an irradiation and light receiving surface that irradiates the measurement light and receives reflection light obtained by reflection of the measurement light;a light detection unit outputting a beat signal by light interference between the reflection light and the reference light; andan arithmetic processing unit to which the beat signal is input,wherein in the measuring head, an optical axis of the laser light that is irradiated from the irradiation and light receiving surface is disposed to be inclined with respect to the predetermined direction, andthe arithmetic processing unit detects a beat frequency based on the beat signal,calculates a ...

OBJECT DETECTION AND TRACKING WITH A DEEP NEURAL NETWORK FUSED WITH DEPTH CLUSTERING IN LIDAR POINT CLOUDS

Object detection and tracking techniques for a vehicle include accessing a deep neural network (DNN) trained for object detection, receiving, from a light detection and ranging (LIDAR) system of the vehicle, LIDAR point cloud data external to the vehicle, running the DNN on the LIDAR point cloud data at a first rate to detect a first set of objects and a region of interest (ROI) comprising the first set of objects, and depth clustering, by the controller, the LIDAR point cloud data for the detected ROI at a second rate to detect and track a second set of objects comprising the first set of objects and any objects that subsequently appear in a field of view of the LIDAR system, wherein the second rate is greater than the first rate, wherein the depth clustering continues until a subsequent second iteration of the DNN is run. 1. An object detection and tracking system for an autonomous driving feature of a vehicle , the system comprising:a light detection and ranging (LIDAR) system configured to capture LIDAR point cloud data external to the vehicle; and access a deep neural network (DNN) trained for object detection;', 'run the DNN on the LIDAR point cloud data at a first rate to detect a first set of objects and a region of interest (ROI) comprising the first set of objects; and', 'depth cluster the LIDAR point cloud data for the detected ROI at a second rate to detect and track a second set of objects comprising the first set of objects and any new objects that subsequently appear in a field of view of the LIDAR system, wherein the second rate is greater than the first rate,', 'wherein the depth clustering continues until a subsequent second iteration of the DNN is run to thereby accurately detect and track the second set of objects with robustness to noise while also reducing hardware requirements corresponding to the DNN., 'a controller configured to2. The system of claim 2 , wherein the depth clustering to detect and track the second set of objects comprises ...