# US 2024/0201342 A1 · Method for identification of a noise point used for lidar, and lidar system

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- Number: US 2024/0201342 A1
- Document ID: US20240201342A1
- Status: Published application
- Kind: A1
- Application number: 18/588,305
- Filed: 2024-02-27
- Published: 2024-06-20
- Earliest claimed: 2019-04-22
- Assignees: Hesai Technology Co., Ltd.
- Applicants: Hesai Technology Co., Ltd.
- Inventors: Xiaotong ZHOU; Shaoqing XIANG; Zhaoming ZENG; Zhenlei SHAO
- Web page: https://patentgrep.com/patent/US20240201342A1

## CPC

- G01S 7/4873: {by deriving and controlling a threshold value}
- G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section}
- G01S 7/487: Extracting wanted echo signals {, e.g. pulse detection}
- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- G01S 17/89: for mapping or imaging
- G01S 7/4815: {using multiple transmitters}
- G01S 7/4865: Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak (peak detection in noise, signal conditioning G01S7/487)
- Y02A 90/10: Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- Y02A: TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE

## Abstract

A method for processing a point cloud generated by a light detection and ranging system, includes: receiving a first measurement generated by the light detection and ranging system; retrieving a plurality of second measurements that are adjacent to the first measurement; calculating a first parameter by using distances of the first measurement and the plurality of the second measurements, the first parameter indicating a degree of continuum of the first measurement relative to the plurality of the second measurements; and determining whether the first measurement represents a measurement of noises by using the first parameter.

## Claims

### Claim 1

A Lidar system comprising:
an emitting apparatus comprising a plurality of lasers arranged in a plurality of columns and configured to emit laser beams;
a receiving apparatus comprising a plurality of detectors configured to receive echo beams of emitted laser beams; and
a rotor configured to rotate the emitting apparatus and the receiving apparatus about a rotating shaft;
wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner that are parallel with the rotating shaft, lasers of the first and second groups are spaced by a same interval; and
wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers.

### Claim 2 (depends on 1)

The Lidar system of claim 1, wherein the plurality of lasers are non-uniformly disposed along a vertical field of view of the Lidar system.

### Claim 3 (depends on 2)

The Lidar system of claim 2, wherein lasers disposed at a middle part of the emitting apparatus are denser than lasers disposed at an upper part of the emitting apparatus.

### Claim 4 (depends on 3)

The Lidar system of claim 3, wherein a concentration of the plurality of lasers first increases and then decreases along a vertical direction from a highest laser to a lowest laser of the plurality of lasers.

### Claim 5 (depends on 2)

The Lidar system of claim 2, wherein the laser beams emitted by the emitting apparatus include a sparser concentration of emitted laser beams at each of two ends of the vertical field of view and a denser concentration of emitted laser beams towards a center of the vertical field of view.

### Claim 6 (depends on 1)

The Lidar system of claim 1, further comprising a supporting body vertically disposed within the Lidar and configured to support the plurality of lasers.

### Claim 7 (depends on 1)

The Lidar system of claim 1, further comprising a focusing lens assembly configured to converge the echo beams onto the plurality of detectors; and a distance between the receiving apparatus and a focal point of the focusing lens assembly is smaller than a half of a focal depth of the focusing lens assembly.

### Claim 8 (depends on 1)

The Lidar system of claim 1, further comprising a collimating lens assembly configured to expand a spot diameter of an emitted laser beam and reduce a divergence angle of the emitted laser beam.

### Claim 9 (depends on 8)

The Lidar system of claim 8, further comprising a focusing lens assembly configured to converge the echo beams onto the plurality of detectors,
wherein the emitting apparatus and the receiving apparatus are disposed symmetrically about a mid-vertical plane of a line that connecting a center of the collimating lens assembly to a center of the focusing lens assembly.

### Claim 10 (depends on 1)

The Lidar system of claim 1, wherein the plurality of lasers are configured to simultaneously emit a plurality of laser beams with different propagation directions.

### Claim 11 (depends on 10)

The Lidar system of claim 10, wherein the plurality of laser beams have a uniform angular distribution.

### Claim 12 (depends on 1)

The Lidar system of claim 1, wherein the plurality of lasers are configured to simultaneously emit a plurality of laser beams with a same propagation direction.

### Claim 13 (depends on 1)

The Lidar system of claim 1, further comprising a rotation cavity containing the emitting apparatus and the receiving apparatus.

### Claim 14 (depends on 13)

The Lidar system of claim 13, further comprising a first circuit board disposed at a bottom part of the rotation cavity and a second circuit board disposed below the first circuit board.

### Claim 15 (depends on 14)

The Lidar system of claim 14, wherein a rotary encoder is disposed on the first circuit board.

### Claim 16 (depends on 14)

The Lidar system of claim 14, further comprising a wireless power receiver fixedly connected to the bottom part of the rotation cavity.

### Claim 17 (depends on 14)

The Lidar system of claim 14, further comprising a stator, wherein the second circuit board is fixed on the stator.

### Claim 18 (depends on 1)

The Lidar system of claim 1, wherein the second group of lasers are disposed at positions corresponding to middle points of intervals of the first and second group of lasers.

### Claim 19 (depends on 18)

The Lidar system of claim 18, wherein the second group of lasers has a fewer number of lasers than the first group of lasers.

### Claim 20 (depends on 1)

The Lidar system of claim 1, further comprising a light filter disposed of an upstream of the plurality of detectors.

### Claim 21 (depends on 1)

The Lidar system of claim 1, further comprising a third column comprising a third group of lasers, wherein the third group of lasers crisscross both the first and second groups of lasers.

### Claim 22

A Lidar system comprising:
an emitting apparatus comprising:
a supporting body disposed along a vertical direction of the Lidar system;
a plurality of lasers disposed on the supporting body and configured to emit laser beams respectively, wherein the plurality of lasers are arranged in a plurality of columns; and
a collimating lens assembly configured to reduce a divergence angle of emitted laser beams;
a receiving apparatus comprising a plurality of detectors and a focusing lens assembly configured to converge an echo beams onto the plurality of detectors; and
a rotor configured to rotate the emitting apparatus and the receiving apparatus about a rotating shaft;
wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner that are parallel with the rotating shaft, lasers of the first and second groups are spaced by a same interval; and
wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers.

### Claim 23 (depends on 22)

The Lidar system of claim 22, wherein the emitting apparatus and the receiving apparatus are disposed symmetrically about a mid-vertical plane of a line that connecting a center of the collimating lens assembly to a center of the focusing lens assembly.

### Claim 24 (depends on 23)

The Lidar system of claim 23, wherein the plurality of lasers are non-uniformly disposed along a vertical field of view of the Lidar system.

### Claim 25 (depends on 24)

The Lidar system of claim 24, wherein lasers disposed at a middle part of the emitting apparatus are denser than lasers disposed at an upper part of the emitting apparatus.

### Claim 26 (depends on 25)

The Lidar system of claim 25, wherein a concentration of the plurality of lasers first increases and then decreases along a vertical direction from a highest laser to a lowest laser of the plurality of lasers.

### Claim 27 (depends on 23)

The Lidar system of claim 23, wherein the plurality of columns further comprises a third column comprising a third group of lasers, wherein the third group of lasers crisscross both the first and second groups of lasers.

### Claim 28

A Lidar system comprising:
an emitting apparatus comprising a supporting body disposed along a vertical direction of the Lidar system and a plurality of lasers disposed on the supporting body and configured to emit laser beams respectively, wherein the plurality of lasers are arranged in a plurality of columns;
a receiving apparatus comprising a plurality of detectors and a focusing lens assembly configured to converge an echo beams into the plurality of detectors;
a rotor configured to rotate the supporting body and the receiving apparatus about a rotating shaft;
a rotation cavity containing the emitting apparatus and the receiving apparatus;
a first circuit board disposed at a bottom part of the rotation cavity;
a second circuit board disposed below the first circuit board; and
a base to which the second circuit board is fixed;
wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner that are parallel with the rotating shaft, lasers of the first and second groups are separated by a same interval; and
wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers.

### Claim 29 (depends on 28)

The Lidar system of claim 28, wherein the plurality of lasers are non-uniformly disposed along a vertical field of view of the Lidar system.

### Claim 30

A Lidar system comprising:
an emitting apparatus comprising:
a supporting body disposed along a vertical direction of the Lidar system;
a plurality of lasers disposed on the supporting body and configured to emit laser beams respectively, wherein the plurality of lasers are arranged in a plurality of columns; and
a collimating lens assembly configured to reduce a divergence angle of the emitted laser beam;
a receiving apparatus comprising a plurality of detectors and a focusing lens assembly configured to converge an echo beams into the plurality of detectors, wherein the emitting apparatus and the receiving apparatus are disposed symmetrically about a mid-vertical plane of a line that connecting a center of the collimating lens assembly to a center of the focusing lens assembly; and
a rotor configured to rotate the supporting body and the receiving apparatus about a rotating shaft,
wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner that are parallel with the rotating shaft, lasers of the first and second groups are separated by a same interval;
wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers; and
wherein the plurality of columns further comprises a third column comprising a third group of lasers, wherein the third group of lasers crisscross both the first and second groups of lasers.