Patent Application
20220268895
The present disclosure relates to Light Detection and Ranging (LIDAR) systems and more specifically, detector devices in LIDAR systems.
LIDAR systems may be used for various purposes. For example, a LIDAR system may be incorporated with a vehicle (such as an autonomous or semi-autonomous vehicle) and may be used to provide range determinations for the vehicle. That is, the vehicle may traverse an environment and may use the LIDAR system to determine the relative distance of various objects in the environment relative to the vehicle. This may be accomplished by emitting light from an emitter device of the LIDAR system into the environment, and detecting return light from the environment (for example, after reflecting from an object in the environment) using a detector device of the LIDAR system. Based on an amount of time that elapses between the time at which the light is emitted and a time at which the return light is detected (for example, a “Time of Flight” of the light), it may be determined how far an object is from the LIDAR system. Additionally, the one or more emitter devices and one or more detectors may be housed in a rotating portion of the LIDAR system, such that light may be emitted and return light may be detected in various directions around the LIDAR system as the rotating portion of the LIDAR system rotates relative to the fixed portion. This may allow the vehicle to ascertain distance information for objects located within a full 360 degree field of view of the vehicle, rather than only in one direction that the one or more emitter devices and/or one or more detector devices are pointing. It may be important for information pertaining to the rotation of the rotating portion of the LIDAR system to be readily available for a number of reasons. For example, this may allow the vehicle to determine a direction in which any given light emission and/or any given detected return light was directed and/or originated from. Without this information associated with the rotation of the LIDAR system, the LIDAR system may produce inaccurate distance information that may impact the functionality of the vehicle.
In some cases, information associated with the rotation of the rotating portion of the LIDAR system may be obtained through the use of optical components. For example, this approach for obtaining this information may involve the use of a light emitter (such as a light emitting diode (LED)) and a light detector (such as a photodetector). The light emitter may be placed at a known location on a second portion the LIDAR assembly and the light detector may be placed on a first portion of the LIDAR assembly, where the second portion may rotate relative to the first portion. The light emitter may be continuously emitting light at a given rate, such that the photodetector may be able to determine when the light emitter is at the location of the photodetector by detecting the light emitted by the light emitter. This detection may provide information about times at which the known location of the light emitter on the first portion has reached the known location of the photodetector on the second portion. However, a downside of this optical system approach is that contaminants may enter the optical elements (for example, the light emitter or the photodetector), which may hinder the ability of the photodetector to detect emitter light, or the ability of the light emitter to emit light. This may result in inaccurate or suboptimal information relating to the rotation of the rotating assembly.
The detailed description is set forth with reference to the accompanying drawings. The use of the same reference numerals may indicate similar or identical items. Various embodiments may utilize elements and/or components other than those illustrated in the drawings, and some elements and/or components may not be present in various embodiments. Elements and/or components in the figures are not necessarily drawn to scale. Throughout this disclosure, depending on the context, singular and plural terminology may be used interchangeably.
This disclosure relates to, among other things, systems and methods for tracking a current position of a given point on a rotating platform in a LIDAR assembly. More particularly, the systems and methods described herein may pertain to tracking a current azimuth angle of a rotating portion of a LIDAR (which may also be referred to as a “LIDAR system,” “LIDAR assembly,” or the like herein). An azimuth angle may refer to an angle between two imaginary vectors on the LIDAR. For example, a first imaginary vector may be a reference vector that may represent a starting position of the rotating portion of the LIDAR. A second imaginary vector may be a vector representing a current position of the LIDAR after it has begun performing a rotation. The azimuth angle in this case may refer to a degree of separation between the two imaginary vectors. For example, if the reference vector is designated as a 0 degree point and the second vector represents the rotating portion having rotated by 15 degrees, then the azimuth angle may represent the 15 degrees of rotation. The systems and methods described herein may also pertain to tracking other operational parameters of the LIDAR based on this location information, such as a rotational speed of the LIDAR, among other operational parameters (these additional operational parameters may be described in additional detail below).
In some embodiments, the LIDAR may include at least a base, a sensor body, and a motor. The motor may include a stator, a rotor, and a shaft affixed to the rotor. The stator may be configured to drive the rotor in rotation. The motor may be affixed to the base and sensor body such that the motor may be able to rotate the sensor body with respect to the base. That is, the “rotating portion” of the LIDAR may refer to the rotor as well as any elements that may rotate along with the rotation of the rotor. The stator may also be affixed to a motor housing, which may be affixed to the base, while the shaft may be affixed to the sensor body (or in some cases, the sensor body may alternatively be affixed to the rotor instead of being affixed to the shaft). The sensor body may include one or more emitter devices and one or more detectors, such that light may be emitted and return light may be detected in various directions around the LIDAR system as the sensor body of the LIDAR system rotates relative to the base. This may allow the vehicle to ascertain distance information for objects located within a full 360 degree field of view of the vehicle, rather than only in one direction that the one or more emitter devices and/or one or more detector devices are pointing. In some cases, the sensor body may also include any other electronics associated with the LIDAR system as well. It may be important for information pertaining to the rotation of the rotating portion of the LIDAR system to be readily available for a number of reasons. For example, this may allow the vehicle to determine a direction in which any given light emission and/or any given detected return light was directed and/or originated from. Without this information associated with the rotation of the LIDAR system, the LIDAR system may produce inaccurate distance information that may impact the functionality of the vehicle. While the above example includes a specific application of the systems and methods described herein in association with a LIDAR assembly, the systems and methods described herein may also be used for purposes of tracking the position of a reference point on a rotating portion of a rotating assembly relative to a fixed portion of the rotating assembly in any other context as well (for example, in any motors that include a stator and a rotor, or any other types of rotating assemblies).
In some embodiments, the systems and methods described herein may utilize a combination of magnets and sensors capable of measuring magnetic fields to obtain data relating to the rotation of a rotating assembly as described above. The use of magnets for this purpose may be advantageous over other approaches for tracking the rotation of the rotating assembly, such as approaches that use optical components as described above. For example, these optical solutions may involve the use of a light emitter (such as a light emitting diode (LED)) and a light detector (such as a photodetector). The light emitter may be placed at a known location on a second portion the LIDAR assembly and the light detector may be placed on a first portion of the LIDAR assembly, where the second portion may rotate relative to the first portion. The light emitter may be continuously emitting light at a given rate, such that the photodetector may be able to determine when the light emitter is at the location of the photodetector by detecting the light emitted by the light emitter. This detection may provide information about times at which the known location of the light emitter on the first portion has reached the known location of the photodetector on the second portion. However, a downside of this optical system approach is that contaminants may enter the optical elements (for example, the light emitter or the photodetector), which may hinder the ability of the photodetector to detect emitter light, or the ability of the light emitter to emit light. This may result in inaccurate or suboptimal data relating to the rotation of the rotating assembly.
In contrast to this approach using optics, the use of magnetic and magnetic field sensors may be less susceptible to contaminants, as the contaminants may have less of an impact on the magnetic field of the magnets, and the ability of the sensors to detect the magnetic fields, than they may have on the ability of optical elements to emit and/or detect light. It should be noted that the use of the terms “first portion” and “second portion” may be used to describe either the rotating or the fixed portion of the LIDAR assembly. That is, the description provided herein may, for simplicity sake, refer to the first portion as the fixed portion of the LIDAR assembly, the first portion may also likewise refer to the rotating portion of the LIDAR assembly in some cases as well. The same may also apply for the second portion of the LIDAR assembly as well.
Turning to the LIDAR assembly itself, a first portion of the LIDAR assembly may include one or more magnets. The first portion of the LIDAR assembly may be a fixed portion of the LIDAR assembly (such as a stator of the LIDAR assembly). For simplicity purposes, this disclosure may primarily refer to a configuration in which the first portion of the rotating platform is fixed and the magnets are positioned on this fixed portion of the LIDAR assembly. However, it should be noted that this configuration is not intended to be limiting, and any other configuration may similarly apply. For example, the magnets may also be placed in the rotating portion of the LIDAR assembly as well. The one or more magnets may be arranged on the first portion of the rotating platform at known locations and at known spacing intervals with respect to one another. For example, the magnets may be arranged in a circular fashion around a circumference of the first portion as depicted in
In some embodiments, the magnets may be arranged with a first group of magnets having a magnetic north pole facing in a first direction and a second group of magnets having a magnetic south pole facing in the first direction. Likewise, the magnetic south pole of the first group of magnets may face a second direction and the magnetic north pole of the second group of magnets may face the second direction. For example, if the first portion of the LIDAR assembly is in the shape of a disc as depicted in the figures, then the first direction may be facing radially towards the center of the disc and the second direction may be facing radially away from the center of the disc. Magnets in the first group of magnets and magnets in the second group of magnets may be arranged such that every other magnet is in the first group of magnets. That is, the magnets may be arranged in an alternating fashion with every other magnet having a magnetic north pole facing in the first direction. This arrangement of magnets with alternating magnetic pole directions may influence the magnetic fields produced by the magnets, such that a sensor passing by the successive magnets in the arrangement would produce a magnetic field plot in the shape of a sine wave. This may be advantageous for a signal processing purposes as may be described in further detail below (for example, for purposes of identifying zero-crossings of magnetic field data associated with the magnets). Additionally the arrangement of the magnets may not necessarily be limited to every other magnet having a magnetic north pole facing in the first direction. For example, in some embodiments, the magnets may alternate in pairs or groups, such that more than one adjacent magnet has a magnetic north pole facing the first direction before a magnet with a magnet including a magnetic south pole facing the first direction is provided in the arrangement.
In some embodiments, the one or more magnets may be arranged in equal intervals such that the physical spacing between individual magnets on the first portion of the LIDAR assembly may be equivalent. Arranging the magnets in this manner may be advantageous because it may simplify signal processing of magnetic field data produced with respect to the magnets as the spacing intervals may be a fixed constant. However, in some cases, the physical spacing between individual magnets may not necessarily be equivalent. This may be a result of intentional unequal spacing, or may be the product of intrinsic irregularities that may naturally exist in such an arrangement.
In some embodiments, intentional unequal spacing may be provided between some or all of the magnets for a number of reasons. For example, a particular section of magnets may be physically spaced apart by a different distance than the remainder of the magnets in the LIDAR assembly in order to create a unique sector in the magnets. This unique sector may correspondingly produce a unique sector in the magnetic field waveforms measured by the sensors as they pass over the unique sector in the magnets. The unique sector may then be used to identify when the LIDAR assembly has made a complete rotation. That is, every time the unique magnet sector is identified through the unique sector of the magnetic field waveforms, it may be determined that a full rotation has been made. The use of this unique magnet sector to identify a full rotation of the LIDAR assembly may be an alternative to using the index magnet to identify when a full rotation has completed, as is described herein. In some cases, the unique magnet sector may be used in conjunction with the index magnet. For example, it may be desired to more easily be able to identify when the rotation of the LIDAR assembly has reached any amount of rotation before a full rotation has been made. In some cases, any number of unique sectors may be established by providing intentional unequal spacing in some of the magnets. In addition to intentional unequal spacing between some or all of the magnets, unintentional unequal spacing may occur because it may be difficult to provide an exactly equal spacing interval between all of the individual magnets (for example, due to manufacturing inconsistencies). Even if the spacing irregularities are minuscule, this may be problematic because data accuracy in contexts such as autonomous vehicle navigation may be critical. Thus, in cases where the spacing between magnets is not a constant value it may be advantageous for information about individual spacing intervals between some or all of the magnets to be stored. For example, a look-up table including some or all of the spacing intervals between individual magnets in a LIDAR assembly may be stored. The look-up table may be stored locally to the system associated with the LIDAR assembly (for example, in a LIDAR system), or may also be stored remotely from the system (for example, at a remote server). In this manner, the exact spacing between specific magnets included in the LIDAR assembly may be obtained, which may improve signal processing accuracy associated with magnetic field data ascertained from the magnets.
In some embodiments, the first portion of the LIDAR assembly may also include one magnet that is unique from the other magnets included in the arrangement. This magnet may be referred to herein as an “index magnet,” and may be used as a reference point to identify every time the first portion of the LIDAR assembly has made a complete 360 degree revolution. That is, every time a magnetic field of the index magnet is registered (for example, a magnetic field of the index magnet is detected at a certain level), it may be determined that the full rotation of the LIDAR assembly has been achieved. To allow the index magnet to be distinguished from the other magnets included in the arrangement in terms of its magnetic field data, the index magnet may be provided further outwards on the first portion of the LIDAR assembly than the other magnets (or otherwise spatially separated from the other magnets). Additionally, the index magnet may be positioned orthogonally relative to the other magnets. For example, if the north and south poles of the magnets are facing a lateral direction, the north and south poles of the index magnet may be vertically-facing (
In some embodiments, the second portion of the LIDAR assembly may include one or more sensors. The second portion of the LIDAR assembly may be the rotor, for example. The one or more sensors may include Hall effect sensors, for example, which may be sensors that are capable of measuring the magnitude of a magnetic field. The one or more sensors may be used to measure the magnetic fields of the magnets included on the first portion of the LIDAR assembly. Given that the locations of the one or more sensors on the second portion of the rotating platform may be fixed and the locations of the magnets on the first portion of the rotating platform may also be fixed, using the sensors to identify magnetic fields produced by specific magnets may provide an indication of a current location of a sensor relative to a location on the first portion of the LIDAR assembly. That is, the one or more sensors may be arranged such that when the second portion of the LIDAR assembly rotates relative to the first portion of the LIDAR assembly, the sensors positioned on the second portion of the LIDAR assembly detect the magnetic fields produced by the magnets positioned on the first portion of the LIDAR assembly.
The one or more sensors may also include any other type of sensor other than magnetic field sensors as well. For example, the one or more sensors may also include sensors used to measure temperature. Temperature sensors may be included to measure the ambient temperature of the environment of the LIDAR assembly. More particularly, the temperature sensors may be used to determine the temperature of any of the magnets included in the LIDAR assembly. Knowing the temperature of the magnets may be important because the magnetic fields produced by these magnets may be impacted based on the temperature of the magnets. For example, the amplitudes of the magnetic fields produced by the magnets may increase or decrease based on the temperature of the magnets. Thus, the temperature information may be used to account for any corresponding changes in amplitude (or other changes) that may occur in the magnetic fields based on temperature. This information may be used during analysis of the magnetic field waveforms produced by the magnetic field sensors measuring the magnetic fields of the magnets, as may be illustrated by
In some embodiments, one of the sensors, which may referred to herein as the “index sensor,” may be a sensor that may specifically be used to detect the magnetic field of the index magnet described above Similar to the other sensors, the index sensor may also be located on the second portion of the LIDAR assembly. The index sensor may also be of the same or a similar type of sensor as the other sensors arranged on the second portion of the LIDAR assembly. That is, the index sensor may be a Hall effect sensor or any other type of sensor capable of capturing magnetic field data. However, the index sensor may differ from the other sensors in that the index sensor may be positioned further away from the center of the second portion of the rotating platform than the other sensors arranged on the second portion of the LIDAR assembly (however, in some embodiments, the index sensor may also be positioned anywhere else on the second portion of the LIDAR assembly). Additionally, the index sensor may be oriented at a 90 degree offset from the orientation of the other sensors. That is, the physical orientation of the index sensor, and thus the orientation of the magnetic field produced by the index sensor, may be orthogonal relative to the other sensors of the LIDAR assembly. This may allow for the data produced by the index sensor to be distinguishable from the data produced by the other sensors, which may allow for the system to separately identify every instance in which the index magnet is passed by the index sensor. The magnetic field data produced by the index sensor may also have an amplitude that may be greater than the data produced by the other magnetic field sensors. This may be because the index magnet that the index sensor may be used to measure may produce an additive magnetic field due to the magnetic fields of other magnets that may exist nearby the index magnet. In this manner, the index sensor and index magnet may be used to identify when the LIDAR assembly has undergone a full 360 degree rotation. That is, if the index sensor is in a fixed position on the second portion of the LIDAR assembly and the index magnet is in a fixed position on the first portion of the LIDAR assembly, then every instance of the index sensor detecting the magnetic field of the index magnet may be indicative of a full rotation of the LIDAR assembly.
In some embodiments, the magnetic field data produced by the sensors may be analyzed by signal processing elements (these signal processing elements and the analysis they perform may be described in more detail with respect to
By the nature of the particular arrangement of the magnets and the sensors as described above, the output of the sensors may be in the form of sine waves (however, in other cases, the output may be in the shape of any other waveform as well). This may be because the arrangement of the magnets in alternate north/south pole directions may cause a sensor to measure positive and negative magnetic fields at every other magnet that the sensor passes. Thus, the magnetic field data produced by the sensor may alternate between positive and negative values, which may result in the sine wave output. For example, depending on the configuration of the sensors, when a sensor passes by a magnet with a north pole facing in one direction, the sensor may produce a positive magnitude magnetic field value. Likewise, when the sensor passes by a magnet with a south pole facing in the one direction, the sensor may produce a negative magnitude magnetic field value. This explanation is only intended to be exemplary, however, and the magnets with a north pole facing in the one direction may produce negative magnitude data (and/or the magnets with a south pole facing in the one direction may produce positive magnitude data). Additionally, this configuration of alternating north/south pole direction magnets may also merely be exemplary, and the form that the output data from the sensors takes may depend on the particular arrangement of the magnets and the sensors that is actually implemented.
In some embodiments, the analysis performed by the signal processing elements may involve identifying zero-crossings in the magnetic field data. This may be depicted in
In some embodiments, multiple sensors may be arranged on the second portion of the LIDAR assembly. The one or more sensors may be positioned on the second portion of the LIDAR assembly in line with the magnets on the first portion of the LIDAR assembly. That is, the one or more sensors may be positioned such that as the second portion rotates relative to the first portion, the one or more sensors pass over the magnets. This may allow the one or more sensors to effectively obtain magnetic field data from the magnets. In some cases, it may be desirable to place the one or more sensors as close to the magnets as possible. To accomplish this, the second portion may include one or more holes (for example, holes 1212 depicted in
In some embodiments, if the number of sine waves per revolution of a given sensor on the second portion of the LIDAR assembly is known, and the starting point at which the rotation of the first portion begins is also known, then the azimuth angle of the sensor relative to its starting position may also be ascertained by determining the number of zero-crossings that have taken place since the last instance at which the sensor was located at its starting position. For example, if there are 40 magnets in the second portion, then it may be determined that the sensor has made approximately a half revolution once 10 zero crossings have been identified. The accuracy of these sensor location determinations may further be improved as well. A first accuracy improvement may be possible by using an equal (or known) spacing between each of the magnets. A second accuracy improvement may be possible by increasing the number of magnets included in the second portion of the LIDAR assembly. By increasing the number of magnets, the data resolution (for example, the number of data points per revolution) may be increased, which may provide more data about the potential location of the sensor relative to its starting position. An increase in the number of magnets may also result in a decrease in the amount of spacing between each of the magnets, so the distance the sensor may travel before receiving a data point may be reduced.
In some embodiments, the analysis of the magnetic field data produced by the sensors may be performed using digital signal processing as described above. However, in some embodiments, the analysis of the magnetic field data may also be performed by analog circuitry as well. For example, one or more analog comparator circuits may be used to determine the zero-crossings of the magnetic field data. A first analog comparator circuit may be used to identify when a magnetic field signal is less than zero and a second analog comparator circuit may be used to identify when a magnetic field signal is greater than zero. The use of these two comparator circuits in combination may then be used to determine when the signal transitions between being less than zero and above zero. This transition time may correspond to the zero-crossing of the waveform that may otherwise be determined using digital signal processing as described herein. However, any other types of analog circuitry may also be used to achieve the same result.
In some embodiments, using the location information for a given sensor, and timing information associated with the time at which the sensor is at different locations relative to its starting position, other operational parameters relating to the operation of the LIDAR assembly may also be obtained. For example, using the position data and the time data at two or more data points, a rotational speed of the LIDAR assembly may be determined. Additional information about the operation of the LIDAR assembly may also be determined. For example, torque ripple (which may be a periodic increase or decrease in output torque as the rotor shaft rotates) may be detected. As a second example, the data produced by the magnetic field measurements may also be used to determine if any of the magnets are becoming less effective. This may be accomplished by analyzing the amplitude of the magnetic fields produced by the various magnets. A decreasing magnetic field may be an indicator that a particular magnet is weakening. These are just a few examples of the types of information that may be gleaned from the magnetic field data measured as described herein, and any other types of information may also be determined.
In some embodiments, a calibration of the system may also be performed to ensure that accurate calculations are performed using the magnetic field data obtained from the one or more sensors. Over time certain parameters associated with the magnets and/or the sensors in the system may change. For example, different poles of the magnets may get weaker over time, mechanical shifts may occur in the positioning of the magnets, or any other type of change may take place that may impact the properties of the magnets. These changes may impact the accuracy of the determinations being made based on the data produced by the sensors. To account for these changes, calibration of the system may be performed at certain intervals. This calibration may involve collecting data points for a given number of revolutions of the LIDAR assembly at a fixed speed. The data points may be used to determine a current angular interval between each of the magnets in the arrangement of magnets in the LIDAR assembly. An angular interval may refer to a degree of rotation that the LIDAR assembly may need to undergo for a reference point on the assembly to pass between two of the magnets. Additionally, if the rotational speed of the LIDAR assembly is kept fixed, time intervals between each of the magnets may also be obtained. A time interval, may refer to an amount of time that may elapse before the reference point on the assembly passes between the two magnets to continue the same example provided above. This time interval may only be applicable when the rotational speed of the LIDAR assembly is the same as the rotational speed during which the time interval was measured. That is, the time interval may change depending on the rotational speed of the LIDAR assembly. In some cases, if a look-up table is used. The data included within the look-up table may be updated after a new calibration is performed.
With reference to the figures,
In some embodiments, an emitting device 102 may be a laser diode for emitting a light pulse (for example, emitted light 106). A detector device 103 may be a photodetector, such as an Avalanche Photodiode (APD), or more specifically an APD that may operate in Geiger Mode (however any other type of photodetector may be used as well). The detector device 103 may be used to detect return light 120 from the environment 108. The return light 120 may be based on the emitted light 106. That is, the emitting device 102 may emit light into the environment 108, the light may reflect from an object in the environment, and may return to the LIDAR system 101 as return light 120. It should be noted that the terms “photodetector” and “detector device” may be used interchangeably herein. The computing system 104 (which may be the same as computing system 1600, and may also be referred to herein as “signal processing elements,” “signal processing systems,” or the like) that may be used to perform any of the operations associated with the LIDAR assembly or otherwise. For example, the computing system 104 may be used to perform signal processing on magnetic field data received by one or more sensors (for example, any of the sensors described with respect to
In some embodiments, any of the elements of the LIDAR system 101 (for example, the one or more emitting devices 102, one or more detector devices 103, and/or one or more computing systems 104, as well as any other elements of the LIDAR system 101) may be included within a LIDAR assembly 110 as described herein. The LIDAR assembly 110 may include at least a base, a sensor body, and a motor. The motor may include a stator, a rotor, and a shaft affixed to the rotor. The stator may be configured to drive the rotor in rotation. The motor may be affixed to the base and sensor body such that the motor may be able to rotate the sensor body with respect to the base. The stator may also be affixed to a motor housing, which may be affixed to the base, while the shaft may be affixed to the sensor body (however, in some cases, the sensor body may alternatively be affixed to the rotor instead of being directly affixed to the shaft).
In some embodiments, the second portion 202 as including one or more printed circuit boards (for example, printed circuit board 203, as well as any other printed circuit boards not depicted in the figure). The printed circuit board 203 may represent the sensor body (or a portion of the sensor body) of the LIDAR assembly as described above. That is, the sensor body of the LIDAR assembly may be affixed to the second portion 202 of the LIDAR assembly 200, and may rotate along with the second portion 202 relative to the first portion 204. Particularly, although not depicted in the figure, the printed circuit board 203 may include any number and/or type of electronic components used by the LIDAR assembly 200. For example, the printed circuit board 203 may include any of the emitting devices 102, one or more detector devices 103, and/or one or more computing systems 104 as described with respect to
Through the cross-section view it may be illustrated that the first portion 304 of the LIDAR assembly 300 may further include one or more magnets 308. The one or more magnets 308 may be provided on the first portion 304 in a circular arrangement, and may be permanently or removeably affixed to the first portion 304. The one or more magnets 308 may be arranged around a circumference of the first portion 304 such that elements of the second portion 302, such as the windings 306, may be provided adjacent to the one or more magnets 308, but located closer to a center point of the LIDAR assembly 300. The one or more magnets 308 may also be arranged such that they may be positioned in line with the one or more magnetic field sensors 312 included on the second portion 302 of the LIDAR assembly 300.
The cross-section view of the LIDAR assembly 300 may also illustrate that the second portion 302 may include one or more windings 306. In some embodiments, the one or more windings 306 may be arranged more internally than the one or more magnets 308 provided on the first portion 304 of the LIDAR assembly 300. The one or more windings 306 may be used to interact with the one or more magnets 308 to produce a rotation of the second portion 302 of the LIDAR assembly 300 relative to the first portion 304 of the LIDAR assembly 300. That is, the LIDAR assembly 300 may operate by providing a current to the one or more windings 306 on the second portion 302 of the LIDAR assembly 300. The current may cause the one or more windings 306 to produce a corresponding magnetic field, which may interact with the magnetic fields produced by the one or more magnets 308. This interaction may cause a rotation of the second portion 302 of the LIDAR assembly 300 relative to the first portion 304. However, this is merely one example of a mechanism by which the rotation of the second portion 302 of the LIDAR assembly 300 may be produced.
In some embodiments, the one or more magnets may be arranged on the first portion 600 of the LIDAR assembly at known locations and at known spacing intervals (for example, the first magnet 604 and the second magnet 606 may be separating by spacing 611) with respect to one another. For example, the magnets may be arranged around a circumference 610 of the first portion 600. The circle formed by the arrangement of the magnets may be of any varying diameter. Additionally, the magnets may also be arranged in any other physical arrangement as well besides a circular arrangement as well. In some embodiments, the one or more magnets may be arranged with a first group of magnets having a magnetic north pole facing in a first direction 612 and a second group of magnets having a magnetic south pole facing in the first direction 612. Likewise, the magnetic south pole of the first group of magnets may face a second direction 614 and the magnetic north pole of the second group of magnets may face the second direction 614. For example, if the first portion 600 of the LIDAR assembly is in the shape of a disc as depicted in the figure, then the first direction 612 may be facing radially towards the center of the disc and the second direction 614 may be facing radially away from the center of the disc. Magnets in the first group of magnets and magnets in the second group of magnets may be arranged such that every other magnet is in the first group of magnets. That is, the magnets may be arranged in an alternating fashion with every other magnet having a magnetic north pole facing in the first direction 612. For example, a first magnet 604 may have a magnetic north pole facing in the first direction 612, and a second magnet 606 adjacent to the first magnet 604 may have a magnetic south pole facing in the first direction 612. This may be illustrated by the “N” and “S” included on the first magnet 604 and the second magnet 606. This arrangement of magnets with alternating magnetic pole directions may influence the magnetic fields produced by the magnets, such that a sensor measuring the magnetic fields of successive magnets in the arrangement may produce a magnetic field plot in the shape of a sine wave. This may be advantageous for a signal processing purposes as may be described in further detail below. However, the arrangement of the magnets may not necessarily be limited to every other magnet having a magnetic north pole facing in the first direction. For example, in some embodiments, the magnets may alternate in pairs or groups, such that more than one adjacent magnet has a magnetic north pole facing the first direction before a magnet with a magnet including a magnetic south pole facing the first direction is provided in the arrangement.
In some embodiments, the one or more magnets may be arranged in equal intervals such that the physical spacing (for example, spacing 611 in between the first magnet 604 and the second magnet 606) between individual magnets on the first portion of the LIDAR assembly may be equivalent. Arranging the magnets in this manner may be advantageous because it may simplify signal processing of magnetic field data produced with respect to the magnets as the spacing intervals may be a fixed constant. However, in some cases, the physical spacing between individual magnets may not necessarily be equivalent. This may be a result of intentional unequal spacing, or may be the product of intrinsic irregularities that may naturally exist in such an arrangement.
In some embodiments, intentional unequal spacing may be provided between some or all of the magnets for a number of reasons. For example, a particular section of magnets may be physically spaced apart by a different distance than the remainder of the magnets in the LIDAR assembly in order to create a unique sector in the magnets. This unique sector may correspondingly produce a unique sector in the magnetic field waveforms measured by the sensors as they pass over the unique sector in the magnets. The unique sector may then be used to identify when the LIDAR assembly has made a complete rotation. That is, every time the unique magnet sector is identified through the unique sector of the magnetic field waveforms, it may be determined that a full rotation has been made. The use of this unique magnet sector to identify a full rotation of the LIDAR assembly may be an alternative to using the index magnet to identify when a full rotation has completed, as is described herein. In some cases, the unique magnet sector may be used in conjunction with the index magnet. For example, it may be desired to more easily be able to identify when the rotation of the LIDAR assembly has reached any amount of rotation before a full rotation has been made. In some cases, any number of unique sectors may be established by providing intentional unequal spacing in some of the magnets. In addition to intentional unequal spacing between some or all of the magnets, unintentional unequal spacing may occur because it may be difficult to provide an exactly equal spacing interval between all of the individual magnets (for example, due to manufacturing inconsistencies). For example, it may be difficult to provide an exactly equal spacing interval between all of the individual magnets, or the spacing may change over time (for example, due to natural wear of the LIDAR assembly). Even if the spacing irregularities are minuscule, this may be problematic because data accuracy in contexts such as autonomous vehicle navigation may be critical. Thus, in cases where the spacing between magnets is not a constant value it may be advantageous for information about individual spacing intervals between some or all of the magnets to be stored. For example, a look-up table including some or all of the spacing intervals between individual magnets in a LIDAR assembly may be stored. The look-up table may be stored locally to the system associated with the LIDAR assembly (for example, in a LIDAR system), or may also be stored remotely from the system (for example, at a remote server). The look-up table may also be updated at particular intervals to mitigate the impact of potential changes in the spacing of the magnets. In this manner, the exact spacing between specific magnets included in the LIDAR assembly may be obtained, which may improve signal processing accuracy associated with magnetic field data ascertained from the magnets.
In some embodiments, the first portion of the LIDAR assembly may also include one magnet (for example, magnet 608) that may be unique from the other magnets included in the arrangement. This magnet may be referred to herein as an “index magnet,” and may be used as a reference point to identify every time the first portion of the LIDAR assembly has made a complete 360 degree revolution. That is, every time a magnetic field of the index magnet is registered, it may be determined that the full rotation of the LIDAR assembly has been achieved. To allow the index magnet to be distinguished from the other magnets included in the arrangement in terms of its magnetic field data, the index magnet may be provided further outwards on the first portion of the LIDAR assembly than the other magnets (or otherwise spatially separated from the other magnets). Additionally, the index magnet may be rotated orthogonally relative to the other magnets. For example, if the north and south poles of the magnets are facing a lateral direction, the north and south poles of the index magnet may be vertically-facing (
In some embodiments, the one or more sensors may include Hall effect sensors, for example, which may be sensors that are capable of measuring the magnitude of a magnetic field. The one or more sensors may also include any other type of sensor that is capable of detecting a magnetic field as well. The one or more sensors may be used to measure the magnetic fields of the magnets included on the first portion (for example, first portion 202, first portion 302, first portion 402, and/or any other first portion described herein) of the LIDAR assembly. Given that the locations of the one or more sensors on the second portion 902 of the rotating platform may be fixed and the locations of the magnets on the first portion of the rotating platform may also be fixed, using the sensors to identify magnetic fields produced by specific magnets on the first portion may provide an indication of a current location of a sensor relative to a location on the first portion of the LIDAR assembly. That is, the one or more sensors may be arranged such that when the second portion 902 of the LIDAR assembly rotates relative to the first portion of the LIDAR assembly, the sensors positioned on the second portion 902 of the LIDAR assembly detect the magnetic fields produced by the magnets positioned on the first portion of the LIDAR assembly. As a more specific example, the first sensor 904 may rotate along with the rotation of the second portion 902. The first sensor 904 may pass by any of the magnets depicted in the first portion of the LIDAR assembly, and may consequentially produce magnetic field data every time the first sensor 904 passes by one of the magnets on the first portion. This data may then be used to determine the location of the first sensor 904 with respect to a reference point at any given time (the manner in which this determination is made may be described in additional detail below with respect to the signal processing aspect of the disclosure).
In some embodiments, one of the sensors (for example, sensor 918), which may referred to herein as the “index sensor,” may be a sensor that may be used to detect the index magnet described above (for example, index magnet 208, index magnet 308, index magnet 408, or any other index magnet described herein). An orthogonal depicting of the second portion 902 including the index sensor may be depicted in
In some embodiments, the magnetic field data produced by the sensors may be analyzed by signal processing element(s) (for example, the one or more computing element 104 described with respect to
By the nature of the particular arrangement of the magnets and the sensors as described above, the output of the sensors may be in the form of a sine wave. This may be because the arrangement of the magnets in alternate north/south pole directions may cause a sensors to measure positive and negative magnetic fields at every other magnet that the sensor passes. Thus, the magnetic field data produced by the sensors may alternate between positive and negative values, which may result in a sine wave output. For example, depending on the configuration of the sensors, when a sensor passed by a magnet with a north pole facing in one direction, the sensor may produce a positive magnitude magnetic field value. Likewise, when the sensor passes by a magnet with a south pole facing in the one direction, the sensor may produce a negative magnitude magnetic field value. This explanation is only intended to be exemplary, however, and the magnets with a north pole facing in the one direction may produce negative magnitude data (and/or the magnets with a south pole facing in the one direction may produce positive magnitude data). Additionally, this configuration of alternating north/south pole direction magnets may also merely be exemplary, and the form that the output data from the sensors takes may depend on the particular arrangement of the magnets and the sensors that is actually implemented.
In some embodiments, the magnetic field data produced by the sensors may be analyzed by signal processing elements (these signal processing elements and the analysis they perform may be described in more detail with respect to
By the nature of the particular arrangement of the magnets and the sensors as described above, the output of the sensors may be in the form of sine waves. This may be because the arrangement of the magnets in alternate north/south pole directions may cause the sensors to measure positive and negative magnetic fields at every other magnet that the sensor passes. Thus, the magnetic field data produced by the sensors may alternate between positive and negative values, which may result in a sine wave output. For example, depending on the configuration of the sensors, when a sensor passed by a magnet with a north pole facing in one direction, the sensor may produce a positive magnitude magnetic field value. Likewise, when the sensor passes by a magnet with a south pole facing in the one direction, the sensor may produce a negative magnitude magnetic field value. This explanation is only intended to be exemplary, however, and the magnets with a north pole facing in the one direction may produce negative magnitude data (and/or the magnets with a south pole facing in the one direction may produce positive magnitude data). Additionally, this configuration of alternating north/south pole direction magnets may also merely be exemplary, and the form that the output data from the sensors takes may depend on the particular arrangement of the magnets and the sensors that is actually implemented.
In some embodiments, the analysis performed by the signal processing elements may involve identifying zero-crossings in the magnetic field data. A zero-crossing may refer to a point at which a plot of the magnetic field data versus time crosses the x-axis of the plot. This may also be referred to as a “null point.” The zero-crossing may represent a point at which a given sensor is located in between two different magnets of opposite polarities. The magnetic field data produced by the sensor shifts from either positive to negative or negative to positive magnetic field data as the sensor readings shift from a magnet of one polarity to a magnet of another polarity (for example, from a magnet with a magnetic north pole facing in one direction to a magnet with a magnetic south pole facing the one direction). Examples of zero-crossings may be illustrated in
By identifying the location of the zero-crossings of the magnetic field data, it may be possible to determine when a sensor is located in a space between two alternating magnets. If information pertaining to the magnets and their arrangement on the first portion of the LIDAR assembly is known (for example, the number of magnets, their spacing relative to one another, etc.), then an amount of distance that the sensor has rotated relative to a starting position may be determined using the zero-crossing information. As one non-limiting example, if the second portion of the LIDAR assembly includes an arrangement of 30 total magnets, with half being oriented with their north poles facing in one direction, and half being oriented with their south poles facing in the one direction, then a full 360 rotation of the sensor may produce a total of 15 sine waves (that is 15 sine waves may be produced per revolution of the first portion of the LIDAR assembly. These numbers are merely exemplary, and the same determinations may be made regardless of the number of magnets. For example, if 40 magnets are used, then the sensor may produce a total of 20 sine waves per revolution instead of 15.
In some embodiments, multiple sensors may be arranged on the second portion of the LIDAR assembly. For example, the sensors may be arranged equally-spaced apart from one another around the circumference of the second portion of the LIDAR assembly. However, the sensors may also be arranged in any other manner, such as in non-equal spacing intervals or in locations other than the circumference of the first portion. Including multiple of these sensors may allow for multiple sine waves to be produced for a full rotation of one of the sensors. This may provide additional data resolution and may also allow for enhanced confidence in the magnetic field data being produced by any given sensor. For example, if one only sensor is used, then it may be difficult to ascertain whether the data being produced by the one sensor is accurate. However, by introducing multiple sensors, the data produced by each of the sensors may be compared to identify any faulty data being produced by any of the individual sensors. In some embodiments, the sensors may be equally-spaced apart in order to produce a phase relationship between the sine waves formed by the output magnetic field measurements of the individual sensors. That is, if the individual sensors are equally spaced apart physically, then the sine waves produced by the individual sensors may be equally time shifted along an x-axis of the plots. This, in turn, may provide an equal interval between each of the zero-crossings of the sine waves associated with the individual sensors.
In some embodiments, it may also be possible to process the output sine wave of the sensors using data points other than the zero crossings of the sine waves. For example, data points such as the amplitudes, slopes, minimum and maximum points, or any other arbitrary reference points along the plots may also be used. However, using the zero-crossing instead of these other potential data points may be advantageous because the strength of the magnets and the corresponding magnitude of the magnetic fields they produce may vary depending on various factors, such as the temperatures the magnets are exposed to. That is, the magnetic fields of the magnetics may weaken depending on the temperature. Consequentially, the amplitude value of one magnet at a first temperature may be different than the amplitude value of the same magnet at a different temperature. Thus, if data points such as amplitude were used, the signal processing may need to take these changes into account. Even if the signal processing were able to accurately take into account the effect of the temperature changes on the amplitude of the measured magnetic fields, this would also have the downside of increasing signal processing complexity required to make the same determinations with respect to location tracking. In contrast, using the zero-crossings of the data output plots may mitigate or eliminate these magnet-specific variations. For example, if a threshold were used to identify various amplitudes of the sine waves, then a temperature variation in one magnet may cause an amplitude to fall below the threshold and result in that particular magnet not being registered. However, regardless of any magnetic field variations based on temperature or otherwise, based on the alternating polarity configuration described herein (for example, one magnet with magnetic north facing one direction and an adjacent magnet with magnetic south facing that direction), the number of zero-crossings may remain constant because the magnetic field data may always transition from one polarity to another.
In some embodiments, if the number of sine waves per revolution of a given sensor on the second portion of the LIDAR assembly is known, and the starting point at which the rotation of the first portion begins is also known, then the position of the first sensor relative to a starting point of the first sensor relative to the first portion of the rotating platform may also be ascertained by determining the number of zero-crossings that have taken place since the last instance at which the sensor was located at its starting position. For example, if there are 40 magnets in the second portion, then it may be determined that the sensor has made approximately a half revolution once 10 zero crossings have been identified. The accuracy of these sensor location determinations may further be improved as well. A first accuracy improvement may be possible by using an equal (or known) spacing between each of the magnets. A second accuracy improvement may be possible by increasing the number of magnets included in the second portion of the LIDAR assembly. By increasing the number of magnets, the data resolution (for example, the number of data points per revolution) may be increased, which may provide more data about the potential location of the sensor relative to its starting position. An increase in the number of magnets may also result in a decrease in the amount of spacing between each of the magnets, so the distance the sensor may travel before receiving a data point may be reduced.
The processor(s) 1600 can access the memory 1604 by means of a communication architecture 1606 (e.g., a system bus). The communication architecture 1606 may be suitable for the particular arrangement (localized or distributed) and type of the processor(s) 1600. In some embodiments, the communication architecture 1606 can include one or many bus architectures, such as a memory bus or a memory controller; a peripheral bus; an accelerated graphics port; a processor or local bus; a combination thereof, or the like. As an illustration, such architectures can include an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA (EISA) bus, a Video Electronics Standards Association (VESA) local bus, an Accelerated Graphics Port (AGP) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express bus, a Personal Computer Memory Card International Association (PCMCIA) bus, a Universal Serial Bus (USB), and/or the like.
Memory components or memory devices disclosed herein can be embodied in either volatile memory or non-volatile memory or can include both volatile and non-volatile memory. In addition, the memory components or memory devices can be removable or non-removable, and/or internal or external to a computing device or component. Examples of various types of non-transitory storage media can include hard-disc drives, zip drives, CD-ROMs, digital versatile disks (DVDs) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, flash memory cards or other types of memory cards, cartridges, or any other non-transitory media suitable to retain the desired information and which can be accessed by a computing device.
As an illustration, non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in many forms such as synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The disclosed memory devices or memories of the operational or computational environments described herein are intended to include one or more of these and/or any other suitable types of memory. In addition to storing executable instructions, the memory 1604 also can retain data.
Each computing system 1600 also can include mass storage 1608 that is accessible by the processor(s) 1600 by means of the communication architecture 1606. The mass storage 1608 can include machine-accessible instructions (e.g., computer-readable instructions and/or computer-executable instructions). In some embodiments, the machine-accessible instructions may be encoded in the mass storage 1608 and can be arranged in components that can be built (e.g., linked and compiled) and retained in computer-executable form in the mass storage 1608 or in one or more other machine-accessible non-transitory storage media included in the computing system 1600. Such components can embody, or can constitute, one or many of the various modules disclosed herein. Such modules are illustrated as modules 1614. In some instances, the modules may also be included within the memory 1604 as well.
Execution of the modules 1614, individually or in combination, by at least one of the processor(s) 1600, can cause the computing system 1600 to perform any of the operations described herein (for example, the operations described with respect to
Each computing system 1600 also can include one or more input/output interface devices 1610 (referred to as I/O interface 1610) that can permit or otherwise facilitate external devices to communicate with the computing system 1600. For instance, the I/O interface 1610 may be used to receive and send data and/or instructions from and to an external computing device.
The computing system 1600 also includes one or more network interface devices 1612 (referred to as network interface(s) 1612) that can permit or otherwise facilitate functionally coupling the computing system 1600 with one or more external devices. Functionally coupling the computing system 1600 to an external device can include establishing a wireline connection or a wireless connection between the computing system 1600 and the external device. The network interface devices 1612 can include one or many antennas and a communication processing device that can permit wireless communication between the computing system 1600 and another external device. For example, between a vehicle and a smart infrastructure system, between two smart infrastructure systems, etc. Such a communication processing device can process data according to defined protocols of one or several radio technologies. The radio technologies can include, for example, 3G, Long Term Evolution (LTE), LTE-Advanced, 5G, IEEE 800.11, IEEE 800.16, Bluetooth, ZigBee, near-field communication (NFC), and the like. The communication processing device can also process data according to other protocols as well, such as vehicle-to-infrastructure (V2I) communications, vehicle-to-vehicle (V2V) communications, and the like. The network interface(s) 512 may also be used to facilitate peer-to-peer ad-hoc network connections as described herein.
It should further be appreciated that the LiDAR system 600 may include alternate and/or additional hardware, software, or firmware components beyond those described or depicted without departing from the scope of the disclosure. More particularly, it should be appreciated that software, firmware, or hardware components depicted as forming part of the computing device 600 are merely illustrative and that some components may not be present or additional components may be provided in various embodiments. While various illustrative program modules have been depicted and described as software modules stored in data storage, it should be appreciated that functionality described as being supported by the program modules may be enabled by any combination of hardware, software, and/or firmware. It should further be appreciated that each of the above-mentioned modules may, in various embodiments, represent a logical partitioning of supported functionality. This logical partitioning is depicted for ease of explanation of the functionality and may not be representative of the structure of software, hardware, and/or firmware for implementing the functionality. Accordingly, it should be appreciated that functionality described as being provided by a particular module may, in various embodiments, be provided at least in part by one or more other modules. Further, one or more depicted modules may not be present in certain embodiments, while in other embodiments, additional modules not depicted may be present and may support at least a portion of the described functionality and/or additional functionality. Moreover, while certain modules may be depicted and described as sub-modules of another module, in certain embodiments, such modules may be provided as independent modules or as sub-modules of other modules.
Although specific embodiments of the disclosure have been described, one of ordinary skill in the art will recognize that numerous other modifications and alternative embodiments are within the scope of the disclosure. For example, any of the functionality and/or processing capabilities described with respect to a particular device or component may be performed by any other device or component. Further, while various illustrative implementations and architectures have been described in accordance with embodiments of the disclosure, one of ordinary skill in the art will appreciate that numerous other modifications to the illustrative implementations and architectures described herein are also within the scope of this disclosure.
Certain aspects of the disclosure are described above with reference to block and flow diagrams of systems, methods, apparatuses, and/or computer program products according to example embodiments. It will be understood that one or more blocks of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and the flow diagrams, respectively, may be implemented by execution of computer-executable program instructions. Likewise, some blocks of the block diagrams and flow diagrams may not necessarily need to be performed in the order presented, or may not necessarily need to be performed at all, according to some embodiments. Further, additional components and/or operations beyond those depicted in blocks of the block and/or flow diagrams may be present in certain embodiments.
Accordingly, blocks of the block diagrams and flow diagrams support combinations of means for performing the specified functions, combinations of elements or steps for performing the specified functions, and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and flow diagrams, may be implemented by special-purpose, hardware-based computer systems that perform the specified functions, elements or steps, or combinations of special-purpose hardware and computer instructions.
What has been described herein in the present specification and annexed drawings includes examples of systems, devices, techniques, and computer program products that, individually and in combination, permit the automated provision of an update for a vehicle profile package. It is, of course, not possible to describe every conceivable combination of components and/or methods for purposes of describing the various elements of the disclosure, but it can be recognized that many further combinations and permutations of the disclosed elements are possible. Accordingly, it may be apparent that various modifications can be made to the disclosure without departing from the scope or spirit thereof. In addition, or as an alternative, other embodiments of the disclosure may be apparent from consideration of the specification and annexed drawings, and practice of the disclosure as presented herein. It is intended that the examples put forth in the specification and annexed drawings be considered, in all respects, as illustrative and not limiting. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
As used in this application, the terms “environment,” “system,” “unit,” “module,” “architecture,” “interface,” “component,” and the like refer to a computer-related entity or an entity related to an operational apparatus with one or more defined functionalities. The terms “environment,” “system,” “module,” “component,” “architecture,” “interface,” and “unit,” can be utilized interchangeably and can be generically referred to functional elements. Such entities may be either hardware, a combination of hardware and software, software, or software in execution. As an example, a module can be embodied in a process running on a processor, a processor, an object, an executable portion of software, a thread of execution, a program, and/or a computing device. As another example, both a software application executing on a computing device and the computing device can embody a module. As yet another example, one or more modules may reside within a process and/or thread of execution. A module may be localized on one computing device or distributed between two or more computing devices. As is disclosed herein, a module can execute from various computer-readable non-transitory storage media having various data structures stored thereon. Modules can communicate via local and/or remote processes in accordance, for example, with a signal (either analogic or digital) having one or more data packets (for example data from one component interacting with another component in a local system, distributed system, and/or across a network such as a wide area network with other systems via the signal).
As yet another example, a module can be embodied in or can include an apparatus with a defined functionality provided by mechanical parts operated by electric or electronic circuitry that is controlled by a software application or firmware application executed by a processor. Such a processor can be internal or external to the apparatus and can execute at least part of the software or firmware application. Still in another example, a module can be embodied in or can include an apparatus that provides defined functionality through electronic components without mechanical parts. The electronic components can include a processor to execute software or firmware that permits or otherwise facilitates, at least in part, the functionality of the electronic components.
In some embodiments, modules can communicate via local and/or remote processes in accordance, for example, with a signal (either analog or digital) having one or more data packets (for example data from one component interacting with another component in a local system, distributed system, and/or across a network such as a wide area network with other systems via the signal). In addition, or in other embodiments, modules can communicate or otherwise be coupled via thermal, mechanical, electrical, and/or electromechanical coupling mechanisms (such as conduits, connectors, combinations thereof, or the like). An interface can include input/output (I/O) components as well as associated processors, applications, and/or other programming components.
Further, in the present specification and annexed drawings, terms such as “store,” “storage,” “data store,” “data storage,” “memory,” “repository,” and substantially any other information storage component relevant to the operation and functionality of a component of the disclosure, refer to memory components, entities embodied in one or several memory devices, or components forming a memory device. It is noted that the memory components or memory devices described herein embody or include non-transitory computer storage media that can be readable or otherwise accessible by a computing device. Such media can be implemented in any methods or technology for storage of information, such as machine-accessible instructions (for example computer-readable instructions), information structures, program modules, or other information objects.
Conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain implementations could include, while other implementations do not include, certain features, elements, and/or operations. Thus, such conditional language generally is not intended to imply that features, elements, and/or operations are in any way required for one or more implementations or that one or more implementations necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or operations are included or are to be performed in any particular implementation.
