TW201932868A - Rain filtering techniques for autonomous vehicle - Google Patents

Abstract

The invention relates to a system and method for using lidar to navigate an autonomous vehicle during rain or snowy conditions. Two lidar units are used to concurrently scan an area near an autonomous vehicle. The reflected laser light from the two lidar devices is analyzed with an algorithm. Reflected laser light that is not detected by both units can be attributed to rain. The lidar units can use multi-echo scanning. Further, the lidar devices can scan a series of planes (i.e. multi-plane scanning) to improve the robustness of the system. The system improves the reliability of lidar navigation when rain, snow or other particles are present in the air.

Description

Rainwater filtration technology for driverless cars

The present invention relates to a system and method, and particularly to a system and method for navigating an unmanned vehicle using optical radar when particulate matter such as rain or snow is present in the air.

Unmanned vehicles can monitor the environment and navigate without human operation. Its advantages include better vehicle safety, better efficiency, lower costs, reduced traffic congestion, and provision for those who do not meet the driving qualification or have no driver's license. Excellent mobility.

Driverless vehicles can use sensors to monitor their location and environment. CMOS cameras, radar, and laser light can be used to detect objects and the surrounding environment. However, each type of sensor has its limitations. For example, CMOS cameras rely on proper light to detect objects. What's more, the camera may lose its own effect when the light coming from the headlight of the car comes back. Other disadvantages of using the camera include inappropriate Light, motion blur, field of view, or limited detection range. Radar does not rely on visible light but lacks a solution to identify small objects. Although laser light can be used to overcome the above shortcomings, it will be used in the event of rain or snow. Lose its effect.

Optical radar (Lidar, Light Imaging Detection and Ranging) measures the distance of an object by using laser light pulse illumination and using a sensor to detect reflected pulses. In a typical application, an optical radar system reflects a plurality of laser light pulses from surrounding vehicle objects. The difference in the time and wavelength of the laser light return can be used to make digital 3D objects.

However, it is difficult to penetrate snow, rain, fog, and dust in the air with optical radar. Rain and other particles in the air are like solid bodies. They can reflect the laser light back to the system. When the laser light pulse is reflected back to the optical radar system , Unmanned vehicles do not necessarily slow down or stop moving forward. This is due to the detection of false positives (false-positive false positives, hereinafter referred to as false positives).

Known methods have been proposed to improve the stability of optical radars in rainy or snowy conditions. For example, optical radar sensor technology with multiple or final echoes can filter reflections from dust, rain, or fog. The principle is It is a premise that part of the pulse energy will be reflected from the solid form, and the rest of the beam will continue to be transmitted and reflected back by the solid form. When this happens, the optical radar unit can ignore the rain or air. Closer and weaker reflections are produced by the particles, and although the conventional technology has been improved, this technology is not stable for filtering heavy rain or heavy rain.

U.S. Patent No. 9,097,800 describes a method for detecting objects by combining radar and optical radar. Optical radar is used to generate a three-dimensional map of the surrounding environment of the vehicle, and laser is used to confirm that the object or the risk is a solid substance rather than rain or water. For particles in the air, when the system is designed to prevent false detections by optical radar, it must use a separate radar system. Furthermore, the low resolution of the radar itself will miss objects with weak reflectivity.

U.S. Patent No. 14 / 576,265 also describes a method of using optical radar to confirm the existence of an object approaching an unmanned vehicle, and using optical radar to detect plural points (i.e., right, left, up, and down) of the same object to confirm an object Existence, this method is similar to multiple echo The form requires multiple pulses, and like US Patent No. 9,097,800, it may lose its effect on detecting small objects.

As a result, systems that allow unmanned vehicles to use optical radar to navigate when it is raining or snowing are urgently needed.

The present invention is based on the understanding of the need for improved systems for navigation and detection of objects and potential risks in unmanned vehicles. It must be possible to use unmanned vehicles in various climates and rely on their systems to drive. The invention also includes its systems and filtering rainwater. Algorithm to enable driverless vehicles to drive in rainy or snowy weather.

The following overview provides examples of the innovative features of the present invention for easy understanding, but does not include all complete descriptions. The embodiments disclosed in the present specification, patent application scope, drawings, and abstract can be used for the present invention. The technical characteristics are quite well understood.

The invention includes a system that uses laser light (that is, optical radar) to detect objects or navigation, and can also identify solid objects in particles in the air. The system includes a first optical radar device for emitting laser light pulses. And detecting the reflection of the laser light to scan the area, and a second optical radar device for transmitting a laser light pulse and detecting the reflection of the laser light to scan the area or substantially the same area. The computer can use an algorithm to compare the reflected laser light emitted by the first optical radar device and detected laser light with the reflected laser light detected by the second optical radar device to confirm that The existence of solid forms. The existence of the solid form can be confirmed by detecting the laser light reflected from the solid form by the first optical radar device and the second optical radar device. The first optical radar device and the second optical radar device may be mounted on an unmanned vehicle such that the distance between them on the horizontal plane is 0.5 to 2.5 meters.

In addition to the dual optical radar unit technology, the first optical radar device and the second optical radar device may use a multiple echo technology to identify solid objects from particles suspended in the air. In addition, optical radar devices can perform complex plane scans to identify solid bodies suspended in air particles.

The invention also includes a method for driving an unmanned vehicle to detect objects or obstacles. The first optical radar device scans the area near the unmanned vehicle by emitting laser light and detects the reflected laser light (ie, the echo), and the second optical radar device scans the area near the unmanned vehicle by emitting laser light and detecting the echo. The area where the vehicle is driven. A computer and an algorithm are used to compare the pulses and detected echoes emitted by the first optical radar device with the pulses and detected echoes emitted by the second optical radar device to confirm the existence of the object or obstacle. The existence of the solid body can be confirmed by both the first optical radar unit and the second optical radar unit detecting echoes reflected from the solid body.

Echoes caused by rain or snow can be discerned by comparing the echoes received by the first optical radar device with the echoes received by the second optical radar device. The first optical radar device and the second optical radar device may use multiple echo scanning. Furthermore, the optical radar device can scan a plurality of layers or planes. The existence of a solid form can be confirmed by the presence of the solid form on one or more layers or planes.

The present invention also includes a method for detecting a solid body. The method includes the following steps: (a) transmitting a laser light pulse and detecting an echo by a first optical radar unit to scan an area near an unmanned vehicle, and (b) borrowing The second optical radar unit emits laser light pulses and detects echoes to scan substantially the same area. (C) Using an algorithm to compare the pulses and received echoes transmitted by the first optical radar unit with those of the second optical radar unit. Pulses and received echoes to identify objects or obstacles The existence of obstacles. When one optical radar unit detects an echo but the other optical radar unit does not detect an echo, it can be distinguished as a false alarm (ie, particulate matter in the air such as rain or snow).

Furthermore, the first optical radar unit and the second optical radar unit can use multiple echo scanning, and can also scan a series of planes. The existence of a solid form can be confirmed when the form appears in more than one plane. Moreover, the existence of a solid form can be confirmed by the final echo in a multiple echo scan.

The present invention also includes a method for detecting and / or confirming the existence of a solid body using an optical radar. The method includes the following steps: (a) using a first optical radar device to scan a plurality of planes, wherein the first optical radar device Transmit laser light pulses and detect reflected laser light, (b) collect data related to laser light emitted from the first optical radar device and detect reflected laser light with the first optical radar device, (c) compare with Presence or absence of reflected laser light in the plurality of planes to determine that the laser light reflected from the first optical radar was caused by particulate matter in the air, (d) scanning the plurality of planes using a second optical radar device, wherein, the The second optical radar device emits laser light pulses and detects reflected laser light, (e) collects data related to the laser light emitted from the second optical radar device and the reflected laser light detected by the second optical radar device, ( f) By comparing the presence or absence of laser light reflected in a plurality of planes to determine that the laser light reflected from the second optical radar device is caused by particulate matter in the air, (g) An algorithm is used to compare the data collected from the first optical radar device with the second optical radar device to confirm that the reflected laser light is caused by the solid form rather than the particulate matter in the air. The area of the plurality of planes scanned by the first optical radar device is substantially the same as the area of the plurality of planes scanned by the second optical radar device. When the reflected laser light is scanned by the first optical radar device or the second optical radar device, four of the plurality of planes and The presence of solid objects can be confirmed by detecting more than four planes. Further, the first optical radar device and the second optical radar device may use multiple echo scanning.

(Introduction of invention)

The first aspect of the present invention is the improvement of the method and system of using optical radar to detect obstacles in unmanned vehicles.

The second aspect of the present invention is a method and system improvement for driving an unmanned vehicle using a plurality of optical radar systems.

A third aspect of the present invention is a method and system improvement for unmanned vehicles using multiple optical radar systems to travel and using algorithms to avoid water or particles in the air from being mistakenly identified as solid bodies.

The fourth aspect of the present invention is a method and system improvement for unmanned vehicles using multiple echo technology to scan multiple layers and adopt algorithms to reduce the interference of rain or particles in the air.

The fifth aspect of the present invention is a method and system improvement for unmanned vehicles using a dual optical radar system, multiple echo technology, and multiple-layer plane scanning with algorithms to reduce interference from rain or particles in the air and improve stability.

110‧‧‧Optical Radar Unit

115‧‧‧ rain

120‧‧‧Object / Solid Form

130‧‧‧First echo / stacked surface

140‧‧‧ final echo

210‧‧‧first optical radar unit / left optical radar unit

215‧‧‧First Object

220‧‧‧Second Optical Radar Unit / Right Optical Radar Unit

225‧‧‧Second Object

235‧‧‧Middle area

305‧‧‧final echo filter

310, 320‧‧‧final echo filtering

315, 330‧‧‧Filtering rain algorithm

325, 340‧‧‧ obstacle and feature detection

400‧‧‧ Detection area

410‧‧‧unmanned vehicle

505‧‧‧Raindrops

The drawings of the present invention are only used to describe selected embodiments but not all possible implementation modes, and are not limited to the scope covered by the present invention.

Accordingly, the following description of the drawings for the embodiments is easy to understand at the time of reading. The exemplary structure of the present invention is disclosed in the drawings, but the following disclosure is not limited to the specific disclosure methods or means, and the drawings are not limited to the disclosure display. Ratio.

Fig. 1A is a schematic diagram of a conventional multi-echo optical radar system, Fig. 1B is a schematic diagram of an optical radar with multiple layer scanning with each scanning layer superimposed on a grid chart, and Fig. 2 is an optical radar with multiple layer scanning A schematic diagram of the grid obtained and the solid form existing in multiple layers. Figure 3A is a flowchart of an embodiment of the optical radar sensor using the final echo filtering and filtering rain algorithm to detect obstacle characteristics. A schematic diagram of an embodiment of a dual optical radar unit for detecting obstacles. FIG. 3C is a flow chart of the dual optical radar unit of the present invention using a final echo filtering and filtering rain algorithm to identify signals returned by rain or particles in the air in a solid body Figure 4A is a schematic diagram of an unmanned vehicle with dual optical radar sensors with a distance "d", Figure 4B is a schematic diagram of dual optical radar sensors and individual area detection, and Figure 5A is a single-plane sensor. A picture of the implementation status of the optical radar. Figure 5B is a picture of the implementation status of the optical radar with a single plane using a dual optical radar system. The screen diagrams of the implementation status of the optical radar of the plurality of planes, and FIG. 5D are the screen diagrams of the implementation status of the optical radar with the plurality of planes using the dual optical radar system.

Although the present invention is mainly used for the navigation of unmanned vehicles, it should be understood that the present invention is not limited to this, and can also assist others in their efforts to use optical radar. For example, other applications such as using the invention on other vehicles such as Robots, drones, or unmanned aircraft systems. The present invention can also be used to improve the stability of optical radar's landscape imaging and map applications when particles such as rain or snow are present in the air.

The term “one embodiment / situation” in the specification of the present invention means that a specific feature, structure, or characteristic described in relation to the embodiment / situation is included in at least one disclosed embodiment / situation. The words "in one embodiment / position" or "in another embodiment / position" used throughout this specification do not refer to all references to the exact same embodiment / position, nor do they intersect with other embodiments / positions. Excluded individual or alternative embodiments / positions. In addition, various features shown in some embodiments / positions are not shown in other embodiments / positions. Similarly, the essential features described in some embodiments / positions are not essential features in other embodiments / positions. The embodiments and situations can be used interchangeably in some specific examples.

The terms disclosed in this specification and in specific narratives have general meanings in the art. Some terms used to describe the disclosure will be discussed below or elsewhere to provide parties with more guidance on the narrative of the disclosure. For ease of understanding, some terms may be highlighted, for example, in italics or quotes. Prominence has no effect on the scope and meaning of a term. Whether or not a term is prominent in the same context means the same scope and meaning, it should be understood that the same thing can be said in more than one way.

Therefore, alternative languages and synonyms may be used in the discussion of any one or more terms herein, whether or not a term is elaborated or discussed in the text. In some Certain terms use synonyms. One or more synonyms do not exclude the use of other synonyms. The terminology used in the examples used in this specification is for expression only, and is not intended to limit the scope and meaning of the disclosure or any exemplified term. Similarly, the disclosed embodiments are not limited to the embodiments listed in this specification.

The following describes the related instruments, devices, and methods based on the embodiments disclosed in this specification, and does not limit the scope of the disclosure. The subject names or subtitles used are for the convenience of the reader and are not intended to limit the scope of the disclosure. Unless otherwise defined, all technical or special terms disclosed herein have the meaning commonly understood by any ordinary artisan in this field. If there is any discrepancy, it is defined by the specification of the present invention including its definition.

Directional or related terms relative to each other, such as left, right, lowest point, highest point, top, bottom, vertical, horizontal, back, front, side, etc. but not only these terms are relative to each other, It is used according to the specific orientation of the elements or objects in this application to assist the description of various embodiments and the appended claims in the description, and is not intended to limit interpretation.

The terms "approximately" and "usually" used appropriately in this specification and the claims, unless otherwise indicated, indicate a margin of 20%. In addition, the term "substantially" also used in the specification and the claims, unless otherwise indicated, indicates a margin of 10%. It should be understood that not all of the above terms are quantifiable in the scope of citations to be applicable.

The term "multi-echo capability" refers to the ability of an optical radar unit to gather and evaluate a plurality of (eg, three) echoes from each emitted laser pulse. Once an echo reaches the receiver of the optical radar unit, its reception intensity is converted into a voltage. Echoes from solid forms usually form a high voltage for a long period of time, however, echoes of raindrops form a very low voltage for a short period of time.

The term “multi-layer technology” refers to an optical radar unit that allows pitch angle compensation by means of scan planes having different vertical angles. A preferred photodiode receiver designed as an optical radar unit includes a plurality of (eg, four) receivers arranged independently in a line. Each receiver scans a single plane, so the vertical hole is divided into multiple planes.

The term "SLAM" refers to a simultaneous localization and mapping (Simultaneous Localization And Mapping), which enables accurate mapping when GPS positioning is not available, such as indoor spaces. The SLAM algorithm uses optical radar and IMU (Inertial Measurement Unit) data to simultaneously locate the sensor and generate a coherent map of the surrounding environment.

The term "Time-of-Flight Principle" refers to a method for measuring the distance between a sensor and an object based on the time difference between the emission of a signal and its return to the sensor after reflection from the object.

Other technical terms used herein have their ordinary meaning in the art, as explained in various technical dictionaries. The specific numerical values and configurations discussed in these non-limiting examples may vary and are only used to quote at least one embodiment, and are not intended to limit its scope.

(Description of the preferred embodiment)

Optical radar (Lidar) is a technology for measuring distance. Optical radar systems transmit light energy to the ground or to objects, and their emitted light can be referred to as "beams" or "pulses." The optical radar unit measures the light reflected back to the sensor. This reflected light can be called "echo" or "return". The spatial distance between the optical radar system and the measurement point is calculated based on the delay between the comparison pulse and the return.

Optical radar (Lidar) is generally a better system for unmanned vehicles, because optical radar can accurately map three-dimensionally around the vehicle with high resolution. However, rain or particulate matter in the air can make the optical radar ineffective, as if the laser light hits the object and is reflected back to the optical radar unit. When light is reflected, suspended solids in the air cannot recognize solid bodies, and unmanned vehicles will slow down or stop.

Figure 1A shows that the optical radar unit 110 uses the final echo to detect the object 120. This technique is also called multiple echo scanning. The rain 115 is depicted between the optical radar unit 110 and the object 120. One pulse can generate multiple echoes of the laser light (ie, the first echo, the middle echo, and the final echo) and return them to the optical radar unit. This occurs when an object in the air, such as rain, reflects the laser light back to the optical radar unit 110. The figure shows the first echo of a signal reflected from particles in the air. Mid-echo echoes can also behave like particles in the air. The figure also shows the final echo 140 reflected by the signal (ie, the echo) from the object 120.

This system can analyze echoes to identify echoes caused by rain or particles in the air. With "final echo filtering", the first and middle echoes are attributed to rain or particles in the air, and the final echoes are attributed to the solid form. However, this technology has its limitations and fails when exposed to heavy rain or large particles in the air.

Figure 1B shows multiple echo scanning, another technique used to identify the return of rain 115 or particulate matter in the air. The optical radar unit 110 scans a plurality of angles. An angle scan can detect layers, faces, or stack faces 130. This system can compare the data from each layer to confirm the existence of the object. Objects that appear on a single layer may be attributed to particulate matter in the air. A better method is to confirm the existence of a solid body when echoes are detected in four or more adjacent layers.

The scan of each angle / layer can be superimposed on the grid as shown in Figure 2. The figure shows the results of scanning four layers. Of the four scanning angles, each angle is depicted in a horizontal grid. Each shaded square indicates an echo detected by the lidar unit. A conventional optical radar system would present the presence of two objects 215, 225. Plural layers of data analysis can identify false positive interpretations from true interpretations.

If the obstacle is detected by scanning layer 1 instead of scanning layer 2 or scanning layer N at a specific position, the obstacle will be regarded as particles in the air such as rain. Although the first object 215 exists in the multiple layers, it does not exist in the intermediate layer (scanning layer 3). In addition, the object exists in the layer in different positions. In this case, the system determines that the echo is attributable. Compared to rain or particles in the air, the second object 225 exists in the same position in a plurality of continuous layers. With this data, the system can confirm that the signal is attributed to a solid body. A better method is that the echo system of four units is used to confirm the presence of an object or obstacle. If an object exists in three or fewer units, it can be attributed to suspended particles in rain or air.

Figure 3A shows a flowchart of the optical radar unit using the final echo and rainwater filtering algorithm. The optical radar unit may use the final echo filter 305 and the filtered rain algorithm 315 to analyze the data from scanning the obstacle feature from the multiple layers and detecting 325. This can improve the reliability and stability of optical radar when there are suspended particles such as rain in the air.

FIG. 3B shows an embodiment in which two optical radar units of the present invention function at the same time to improve the stability of the navigation system of the unmanned vehicle and allow it to operate under rain or snow. This system may include a first (i.e. left) optical radar unit 210 and a second (i.e. right) optical radar unit 220 to scan substantially the same area. The data collected from each optical radar unit can be compared using algorithms to confirm that the signal is caused by a solid form.

If the first optical radar unit receives the reflected light from the object, the system uses the second optical radar unit to confirm the existence of the object. This system can use algorithms to analyze data from various optical radar units including emitted light, reflected light (ie, echoes), and reflection angles and movements of objects. In this way, the second optical radar unit confirms whether the reflected light received by the first optical radar unit is caused by a solid body. The reflected pulses (ie echoes) detected by one of the two optical radar units will be attributed to particles in the air and classified as false positives without confirmation by the other optical radar unit. The principles listed below can be applied to this method: ● a solid body / obstacle is detected by two optical radar units (210, 220); ● an echo is detected by the left optical radar unit 210 but not detected by the right optical radar unit 220 It can be attributed to particles in the air such as rain; ● An echo is detected by the right optical radar unit 220 but not detected by the left optical radar unit 210, which can be attributed to particles in the air such as rain.

This dual optical radar unit method can be combined with other filtering techniques such as final echo and / or multiple layer scanning techniques to improve stability and reliability. FIG. 3B shows that the first echo 130 is accompanied by the final echo 140.

FIG. 3C is a flowchart showing a system of a dual optical radar unit according to an embodiment of the present invention. The first optical radar unit 210 and the second optical radar unit 220 may use final echo filtering (310, 320). Data from each optical radar unit is collected, processed, and analyzed using a filtered rain algorithm 330. For example, this algorithm can attribute an echo detected by one of the non-paired optical radar units to rainwater, which will cause obstacles and feature detection 340 to be more stable. Unmanned vehicles avoid obstacles / dangers and do not slow down or stop due to false alarms from rain or particles in the air.

FIG. 4A shows a preferred arrangement of the system. The first optical radar unit 210 and the second optical radar unit 220 are installed on the roof of the unmanned vehicle 410 and are separated from each other by a distance d. This distance d can be determined empirically, and the preferred distance is between 0.5 and 2.5 meters. However, the separation distance between optical radar units can be based on variables such as the size of the vehicle, the resolution of the optical radar unit, the preset distance of obstacles / dangers, and the preset amount of particulate matter in the air. For example, the ideal distance It can range from a centimeter of a small robot to a few meters of a large unmanned aircraft. It can be understood that the first optical radar unit 210 and the second optical radar unit 220 may be installed at other external positions on the vehicle (for example, a bumper on the hood). A better arrangement is that the optical radar units are arranged on a horizontal plane with each other, so that the laser beams will be emitted on the same plane.

FIG. 4B shows detection areas 400 of the first (ie, left) optical radar 210 and the second (ie, right) optical radar unit 220. Each system scans a substantially circular area to detect the object 120. The scans overlap in the central area 235. The number and direction of beams emitted by each sensor will vary depending on the optical radar unit and settings.

When the optical radar unit scans substantially the same area, the data collected from the overlapping areas can be analyzed by the algorithm to confirm whether the signal is caused by a solid body. Rain or particles in the air can reflect the laser light back to the optical radar unit, and the solid body 120 will be detected by the reflected laser light to the two optical radar units.

Two simultaneous lidar units and echoes are analyzed. Multiple echo technology can be combined with final echo filtering technology and multiple layer scanning to improve the stability of unmanned vehicle navigation and allow operation in the presence of particles such as rain or snow in the air.

(Operation example) (Using optical radar for vehicle navigation on rainy days)

The unmanned vehicle system was tested in a rainwater tunnel with a stable rainwater flow of ten millimeters per hour. The optical radar units are mounted on the roof of the vehicle at a distance of about one meter. Two types of optical radar are used: single-plane (LMS151 optical radar unit) and quad-plane (LDMRS optical radar unit). The optical radar unit uses multiple echo technology.

Figures 5A-5D are top views of the surroundings of an unmanned vehicle. The horizontal axis represents the distance away from the front and back of the vehicle in meters, and the vertical axis represents the distance away from both sides of the vehicle in meters. Each distance is a distance of five meters.

Figure 5A is a grid map of single-plane optical radar using multiple echo scanning. The area in the circle is the location of the known solid body (the pillar of the rainwater tunnel). The solid body was detected by other areas from the false positives of the raindrops 505. Most of the false positives were detected in the area in front of the vehicle 505.

This test was repeated using a (single plane) dual optical radar system that scanned the area with a first optical radar system and a second optical radar system. Figure 5B is a grid diagram of the single-plane optical radar and the data from the dual-optic radar system. As shown in Figure 5A, the horizontal axis represents the distance from the front and rear of the vehicle, and the vertical axis represents the distance from both sides of the vehicle.

The return signal due to rain can be identified by comparing Figures 5A and 5B. Without a dual optical radar system, false positives would exist and be attributed to echoes from raindrops 505 in the air. These false alarms do not exist when using the dual optical radar system. The circled area is the existing structural objects (such as pillars) and was detected in both tests.

Figures 5C and 5D show the use of complex planar optical radar filters to detect false positive echoes. Figure 5C is a grid map of a complex planar optical radar (unfiltered). Horizontal axis generation The distance from the front and rear of the vehicle. The vertical axis represents the distance from the sides of the vehicle. Each pitch is a distance of five meters. The points on the vertical axis are false alarms detected due to rain.

This test uses a (complex plane) dual system to repeat the test, which scans the area with a first optical radar system and a second optical radar system. Fig. 5D is a grid diagram of a dual optical radar system for a complex planar optical radar. Many points on the grid do not exist when using dual optical radar filters. These points are attributed to raindrops in the air, and these points exist in the 5C and 5D maps can be attributed to the physical object (ie, characteristics) .

Additional modifications / components can improve the stability of the system in heavy rain (for example: more than twenty millimeters per hour). One method is to use an optical radar unit capable of analyzing additional layers (eg, five or more layers) to make the radar better penetrate rainwater. Optical radar units with higher update rates can be used to filter raindrops. A mechanical blower can be used to provide an air curtain with a specific range (for example, less than one meter) to reduce the amount of raindrops detected by the optical radar unit.

It should be understood that various changes and other features and functions of the content disclosed above, or alternatives thereof may be combined with other systems or applications. In addition, those skilled in the art may subsequently carry out unforeseen or unexpected alternatives, modifications, changes or improvements, all of which are covered by the scope of the accompanying patent application.

Although this embodiment has described in considerable detail the possible aspects that can be covered, those skilled in the art will appreciate that other aspects of the invention are also possible.

Claims (17)

A system for identifying solid bodies from air particles using laser light, comprising: a first optical radar device that scans an area by transmitting laser light pulses and detecting reflections of the laser light; a second optical radar device that emits laser light Shooting a light pulse and detecting the reflection of the laser light to scan the area or substantially the same area; and a processor, comparing the laser light pulse emitted by the first optical radar device and detecting the reflection of the laser light And the laser light pulse transmitted by the second optical radar device and the reflection of the laser light detected; wherein when the first optical radar device and the second optical radar device detect the reflected from the solid object The existence of the solid object is confirmed during the laser light; wherein, when the optical radar device of the first optical radar device and the second optical radar device detects the reflected laser light, the reflected laser light is not detected by the first Both the radar optical device and the second optical radar device detect that the reflection of the laser light is attributed to particles in the air. The system according to item 1 of the scope of patent application, wherein the first optical radar device and the second optical radar device use a multiple echo technique to distinguish particles in the air from solid objects. The system according to item 1 of the scope of patent application, wherein the first optical radar device and the second optical radar device scan a plurality of planes and compare echoes from one or more planes to confirm that one or more The above echoes are echoes from the solid body and not the air particles. The system according to item 1 of the patent application scope, wherein the first optical radar device and the second optical radar device are positioned on a horizontal plane at a distance of 0.5 to 2.5 meters from each other. A method for identifying particles and solid bodies in the air, comprising: transmitting a laser light pulse with a first optical radar unit and detecting an echo to scan an area adjacent to an unmanned vehicle; transmitting the laser light pulse with a second optical radar unit and detecting The echo is measured to scan the area that is substantially the same; an algorithm is used to compare the laser light pulse transmitted to the first optical radar unit with the echo received by the first optical radar unit and the laser light pulse transmitted by the second optical radar unit with An echo received by the second optical radar unit; confirming the existence of the solid body when the first optical radar unit and the second optical radar unit detect an echo from the solid body; wherein, when the first optical radar One of the optical radar device of the device and the second optical radar device detects the reflected laser light, and the reflected laser light is not detected by both the first radar optical device and the second optical radar device, the laser light The reflection is attributed to particles in the air. The method according to item 5 of the patent application, wherein the first optical radar unit and the second optical radar unit use multiple echo scanning. The method according to item 5 of the scope of patent application, wherein the first optical radar unit and the second optical radar unit scan a plurality of planes and compare echoes from one or more planes to distinguish suspended in air Particles and solid forms in. The method according to item 7 of the scope of patent application, wherein when the echo is detected in more than one plane, the existence of a solid body is confirmed. The method according to item 5 of the scope of patent application, wherein the first optical radar unit and the second optical radar unit are arranged on a horizontal plane with a distance of 0.5 to 2.5 meters from each other. A method for distinguishing particles in the air from solid objects or obstacles, comprising the following steps: a) using a first optical radar device to emit laser light pulses and detecting the reflection of the laser light to scan an area; b) using a second optical radar device Emit a laser light pulse and detect the reflection of the laser light to scan the area that is substantially the same; c) collect data related to the emitted laser light pulse and the reflection of the laser light from the first optical radar device; d) from the The second optical radar device collects data related to the emitted laser light pulse and the reflection of the laser light; and e) when the optical radar device of the first optical radar device and the second optical radar device detects the reflected light, When the laser light and the reflected laser light are not detected by both the first optical radar device and the second optical radar device, it is determined that the reflection of the laser light is due to particles in the air. The method of claim 10, wherein the first optical radar device and the second optical radar device use multiple echo scanning. The method of claim 10, wherein the first optical radar device and the second optical radar device scan a plurality of planes and compare echoes of one or more planes to distinguish particles in the air. With solid form. The method according to item 12 of the patent application, wherein the existence of the solid body is confirmed when the echo is detected in more than one plane. A method for confirming the existence of a solid body by using an optical radar device, comprising the following steps: a) scanning a plurality of planes using a first optical radar device, wherein a pulse of laser light is emitted and reflected by the laser light is detected; b) Collect data related to the laser light pulses emitted from the first optical radar device and the reflected laser light detected by the first optical radar device; c) comparing whether there is reflected laser light to the plurality of planes, and Confirming whether the reflected laser light detected from the first optical radar device is attributed to particles in the air; d) scanning a plurality of planes using the second optical radar device, in which pulses of the laser light are emitted and reflected by the laser The light is detected; e) collecting data related to the laser light pulse emitted from the second optical radar device and the reflected laser light detected by the second optical radar device; f) comparing whether the plurality of planes are If there is reflected laser light, confirm whether the reflected laser light detected by the second optical radar device is attributed to particles in the air; and g) compare the first laser light through the algorithm to the first Data Science radar apparatus and the second data of the optical radar apparatus; Wherein, the plurality of planes scanned by the first optical radar device and the plurality of planes scanned by the second optical radar device are the same or substantially the same; wherein, when the first optical radar device and the second optical radar device are at When the plurality of planes detect the laser light reflected from the solid body, the existence of the solid body is confirmed. The method according to item 14 of the scope of patent application, wherein when four or more than four planes of the first optical radar device or four or more than four plurals of the second optical radar device The reflection of the laser light detected by each plane confirms the existence of the solid form. The method according to item 14 of the scope of patent application, wherein the first optical radar device and the second optical radar device use multiple echo scanning. The method according to item 14 of the scope of patent application, wherein the first optical radar device and the second optical radar device are disposed on a horizontal plane with a distance of 0.5 to 2.5 meters from each other.