Solid state light detection and ranging (LIDAR) system and system and method for improving solid state light detection and ranging (LIDAR) resolution

Patent metadata

Field	Value
Publication number	US-11675076-B2
Application number	US-202016801690-A
Country	US
Kind code	B2
Filing date	Feb 26, 2020
Priority date	Aug 31, 2017
Publication date	Jun 13, 2023
Grant date	Jun 13, 2023

Abstract

A sensor system can comprise a detector with a plurality of units, wherein the detector is configured to generate a first set of electrical signals based on received photon energy of a light beam that is reflected back from a first plurality of points on one or more objects, in a first configuration. Additionally, the detector is configured to generate a second set of electrical signals based on received photon energy of a light beam that is reflected back from a second plurality of points on one or more objects in a second configuration, wherein the first configuration and the second configuration are with a predetermined correlation. Furthermore, the detector can determine distance to each of the first plurality of points and the second plurality of points on the one or more objects based on the first set of electrical signals and the second set of electrical signals.

First claim

What is claimed is:

1. A method for sensing one or more objects using a detector with a plurality of subdetectors, comprising:
generating, via the detector, a first set of electrical signals based on photon energy of a first light beam received by the plurality of subdetectors in a first configuration, wherein the first light beam is reflected back from a first plurality of points on one or more objects:
generating, via the detector, a second set of electrical signals based on photon energy of a second light beam received by the plurality of subdetectors in a second configuration, wherein the second light beam is reflected back from a second plurality of points on the one or more objects, wherein the first configuration and the second configuration are different; and
determining, via a data processor, distance information of the first plurality of points and the second plurality of points on the one or more objects based on the first set of electrical signals and the second set of electrical signals,
wherein a planar plate lens is arranged in front of the detector, and the planar plate lens is configured to be at a first angle relative to incoming light in the first configuration and is configured to be at a second angle relative to incoming light in the second configuration.

2. The method of claim 1 , wherein the detector is configured at a first spatial location relative to received light in the first configuration, and the detector is configured at a second spatial location relative to received light in the second configuration, and wherein the first spatial location and the second spatial location are different.

3. The method of claim 1 , wherein the first set of electrical signals corresponds to a first set of pixels, and the second set of electrical signals corresponds to a second set of pixels.

4. The method of claim 3 , further comprising: switching the plurality of subdetectors between the first configuration and the second configuration to cause a pixel shift between the first set of pixels and the second set of pixels.

5. The method of claim 4 , wherein the pixel shift between the first set of pixels and the second set of pixels is about a fraction of a pixel size in at least one of a column direction or a row direction of the plurality of subdetectors.

6. The method of claim 3 , further comprising: generating, via the data processor, a resultant data frame with a higher resolution based on the first set of pixels and the second set of pixels.

7. The method of claim 3 , further comprising generating, via the data processor, a resultant data frame based on a first data frame associated with the first set of pixels and a second data frame associated with the second set of pixels.

8. The method of claim 7 , wherein the resultant data frame is generated using a data fusion technique.

9. The method of claim 7 , further comprising:
generating, via the data processor, the resultant data frame by averaging the distance information corresponding to overlapped pixels in the first data frame and the second data frame, when a pixel size of the first data frame is greater than a pixel pitch size of the first data frame; or
generating, via the data processor, the resultant data frame by merging the first data frame and the second data frame, when the pixel size of the first data frame is no greater than the pixel pitch size of the first data frame.

10. The method of claim 1 , wherein the first light beam and the second light beam are generated by one or more light sources.

11. The method of claim 10 , wherein the first light beam and the second light beam have wavelengths of about 905 nm or about 1550 nm.

12. The method of claim 10 , wherein the first light beam and the second light beam have different optical paths.

13. The method of claim 1 , wherein one of the first angle or the second angle is substantially a vertical angle.

14. The method of claim 1 , wherein the distance information of the first plurality of points and the second plurality of points on the one or more objects is measured based on time-of-flight (TOF) information or a time-frequency relationship.

15. A sensor system, comprising:
a detector with a plurality of subdetectors; and
a data processor,
wherein the detector is configured to
generate a first set of electrical signals based on photon energy of a first light beam received by the plurality of subdetectors in a first configuration, wherein the first light beam is reflected back from a first plurality of points on one or more objects; and
generate a second set of electrical signals based on photon energy of a second light beam received by the plurality of subdetectors in a second configuration, wherein the second light beam is reflected back from a second plurality of points on the one or more objects, wherein the first configuration and the second configuration have a predetermined correlation, and
wherein the data processor is configured to:
determine distance information for each of the first plurality of points and the second plurality of points on the one or more objects based on the first set of electrical signals and the second set of electrical signals, and
wherein the sensor system further comprises a planar plate lens arranged in front of the detector, and the planar plate lens is configured to be at a first angle relative to incoming light in the first configuration and is configured to be at a second angle relative to incoming light in the second configuration.

16. The sensor system of claim 15 , wherein one of the first angle and the second angle is substantially a vertical angle.

17. A non-transitory computer-readable medium with instructions stored thereon, that when executed by a processor, cause the processor to perform steps comprising:
generating, via a detector with a plurality of subdetectors, a first set of electrical signals based on photon energy of a first light beam received by the plurality of subdetectors in a first configuration, wherein the first light beam is reflected back from a first plurality of points on one or more objects;
generating, via the detector, a second set of electrical signals based on photon energy of a second light beam received by the plurality of subdetectors in a second configuration, wherein the second light beam is reflected back from a second plurality of points on the one or more objects, wherein the first configuration and the second configuration are different;
determining, via a data processor, distance information of the first plurality of points and the second plurality of points on the one or more objects based on the first set of electrical signals and the second set of electrical signals, and
causing a planar plate lens in front of the detector to be at a first angle relative to incoming light in the first configuration and to be at a second angle relative to incoming light in the second configuration.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Zheng Guoguang
• Hong Xiaoping
• Wang Mingyu

Classifications

• G01S7/4814

  of transmitters alone · CPC title

• G01S7/4914

  of detector arrays, e.g. charge-transfer gates · CPC title

• G01S7/4817

  relating to scanning · CPC title

• G01S17/10 Primary

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• G01S7/4816

  of receivers alone · CPC title