US 12,724,132 B2 · Light cover stain detection method and light cover stain detection system for LiDAR

Abstract

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

Claims17

Dependent claims

A detection method for detecting a stain on a light cover of a LIDAR, comprising:

transmitting a multi-pulse sequence with a pulse coding;
receiving a LiDAR echo;
obtaining an echo pulse sequence in the LiDAR echo corresponding to the multi-pulse sequence;
and
determining whether the light cover of the LiDAR has a stain based on a time of flight (TOF) of the echo pulse sequence,
wherein the determining whether the light cover has a stain further comprises:
counting a number of echo points corresponding to the stain on the light cover in a single frame of point cloud data;
determining whether the light cover has a stain based on the number of the echo points;
and
determining that the light cover has a stain when the number of the echo points is greater than a point threshold for the number of the echo points.

7 more elements

Dependencies are inferred from the claim text.

Light cover stain detection method and light cover stain detection system for LiDAR

Life of this patent

Light cover stain detection method and light cover stain detection system for LiDAR

Life of this patent

Abstract

Claims17