Example aspects are directed to operating a SPAD receiver such as may be used in a light detection and ranging (Lidar) system. In one example, the SPAD receiver has SPAD circuitry for multiple photon detections using a single-channel TDC (time-to-digital converter), and such photon detection is quenched after detection so as to establish an effective pre-defined OFF period. In response, the SPAD circuitry is recharged for a subsequent ON period during which the SPAD circuitry is unquenched (or armed) for further photon detection and processing.

A method of time of flight sensing. The method comprises using an emitter to emit pulses of radiation and using an array of photo-detectors to detect radiation reflected from an object. For a given group of photo-detectors of the array, the method determines based upon measured times of flight of the radiation, whether to use a first mode of operation in which outputs from individual photo-detectors of the group are combined together or to use a second mode of operation in which outputs from individual photo-detectors are processed separately. The array of photo-detectors comprises a plurality of groups of photo-detectors. One or more groups of photo-detectors operate in the first mode whilst in parallel one or more groups of photo-detectors operate in the second mode.

A method of time of flight sensing. The method comprises using an emitter to emit pulses of radiation and using an array of photo-detectors to detect radiation reflected from an object. For a given group of photo-detectors of the array, the method determines based upon measured times of flight of the radiation, whether to use a first mode of operation in which outputs from individual photo-detectors of the group are combined together or to use a second mode of operation in which outputs from individual photo-detectors are processed separately. The array of photo-detectors comprises a plurality of groups of photo-detectors. One or more groups of photo-detectors operate in the first mode whilst in parallel one or more groups of photo-detectors operate in the second mode.

A laser ranging device and a robot. The laser ranging device comprises an emitting unit and a receiving unit. The emitting unit comprises an emitter configured to emit a laser pulse to a target object that is to be ranged, and an emitting lens configured for the laser pulse to pass through. The receiving unit comprises a photodetector configured to receive a reflected laser pulse by the target object, and a receiving lens configured for the reflected laser pulse to pass through. The photodetector is encapsulated in an encapsulation module, the encapsulation module is disposed aft of and faces the receiving lens, and a side surface of the encapsulation module facing the receiving lens is constructed as an extinction surface.

A laser ranging device and a robot. The laser ranging device comprises an emitting unit and a receiving unit. The emitting unit comprises an emitter configured to emit a laser pulse to a target object that is to be ranged, and an emitting lens configured for the laser pulse to pass through. The receiving unit comprises a photodetector configured to receive a reflected laser pulse by the target object, and a receiving lens configured for the reflected laser pulse to pass through. The photodetector is encapsulated in an encapsulation module, the encapsulation module is disposed aft of and faces the receiving lens, and a side surface of the encapsulation module facing the receiving lens is constructed as an extinction surface.

Provided is an object recognition device including a prediction processing unit, a temporary setting unit, and a association processing unit. The prediction processing unit predicts, as a prediction position on an object model obtained by modeling a tracking target, a position of a movement destination of the tracking target based on a trajectory formed by movement of at least one object of a plurality of objects as the tracking target. The temporary setting unit sets, based on specifications of a sensor that has detected the tracking target, a position of at least one candidate point on the object model. The association processing unit sets, based on the position of the candidate point and the prediction position, a reference position on the object model. The association processing unit determines whether the position of the detection point and the prediction position associate with each other based on a positional relationship between a association range which is set so that the association range has a reference position on the object model as a reference and a detection point at a time when the sensor has detected the at least one object of the plurality of objects.

Provided is an object recognition device including a prediction processing unit, a temporary setting unit, and a association processing unit. The prediction processing unit predicts, as a prediction position on an object model obtained by modeling a tracking target, a position of a movement destination of the tracking target based on a trajectory formed by movement of at least one object of a plurality of objects as the tracking target. The temporary setting unit sets, based on specifications of a sensor that has detected the tracking target, a position of at least one candidate point on the object model. The association processing unit sets, based on the position of the candidate point and the prediction position, a reference position on the object model. The association processing unit determines whether the position of the detection point and the prediction position associate with each other based on a positional relationship between a association range which is set so that the association range has a reference position on the object model as a reference and a detection point at a time when the sensor has detected the at least one object of the plurality of objects.

A rangefinder includes a light emitting part, a light receiving part, a calculating part that calculates the distance from a reflective object, and a control part. The calculating part has a received light intensity determining part, a peak detecting part, and a distance calculating part, and a distance determining part. The control part controls at least one of the intensity of the pulsed light, the sensitivity of the light receiving part to received light, and a position of the region of interest so that a first received light intensity is obtained as the received light intensity of each of the plurality of times of flight at least once, and a second received light intensity having a higher S/N ratio is obtained as the received light intensity of each of the plurality of times of flight at least once. The distance determining part determines the measurement target distance by using the first distance based on the first received light intensity and the second distance based on the second received light intensity.

A rangefinder includes a light emitting part, a light receiving part, a calculating part that calculates the distance from a reflective object, and a control part. The calculating part has a received light intensity determining part, a peak detecting part, and a distance calculating part, and a distance determining part. The control part controls at least one of the intensity of the pulsed light, the sensitivity of the light receiving part to received light, and a position of the region of interest so that a first received light intensity is obtained as the received light intensity of each of the plurality of times of flight at least once, and a second received light intensity having a higher S/N ratio is obtained as the received light intensity of each of the plurality of times of flight at least once. The distance determining part determines the measurement target distance by using the first distance based on the first received light intensity and the second distance based on the second received light intensity.

In one example, an apparatus includes a TLT (Time of Flight (TOF)/LiDAR tool) with one or more optical transmitters and optical receivers that are operable to cooperate to obtain data concerning a downhole feature when the apparatus is deployed in a downhole environment. This apparatus further includes a first device operable to determine a position, speed, and/or orientation, of the TLT, when the TLT is deployed in the downhole environment, a second device configured to store locally and/or transmit the data to a location on a surface, a power source connected to the TLT, the first device, and the second device, and a housing within which the TLT, first device, second device, and power source are disposed, and the housing includes a connector configured to interface with a piece of downhole equipment.