公开(公告)号：US20170176597A1

公开(公告)日：2017-06-22

申请号：US15455009

申请日：2017-03-09

Applicant: Google Inc.

Inventor： Daniel Gruver ,  Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S17/93 ,  G01S17/89 ,  G01S17/66 ,  G01S17/10 ,  G01S17/87 ,  G01S7/481

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US09651658B2

公开(公告)日：2017-05-16

申请号：US14671085

申请日：2015-03-27

Applicant: Google Inc.

Inventor： Gaetan Pennecot ,  Pierre-yves Droz

IPC: G01S7/497 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S7/481 ,  G02B27/62

CPC classification number: G01S7/4972 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S17/89 ,  G02B5/20 ,  G02B27/62

Abstract: A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.

公开(公告)号：US20160291134A1

公开(公告)日：2016-10-06

申请号：US14679683

申请日：2015-04-06

Applicant: Google Inc.

Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zach Morriss ,  Luke Wachter ,  Dorel Ionut Iordach ,  William McCann ,  Daniel Gruver ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S7/48 ,  G01S17/06 ,  G01S17/93 ,  G01S7/481

CPC classification number: G01S7/4802 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/87 ,  G01S17/936 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9382 ,  G01S2013/9385

Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

Abstract translation: 描述了与光检测和测距（LIDAR）设备相关的系统和方法。 激光雷达装置包括被配置为发射波长范围内的光的光纤激光器，被配置为以围绕第一轴线往复运动的方式引导发射的光的扫描部分和被配置为感测波长范围内的光的多个检测器。 该装置还包括被配置为接收可以指示对象，位置，位置或角度范围的目标信息的控制器。 响应于接收到目标信息，控制器可以使旋转安装座旋转，以便调节激光雷达的指示方向。 控制器被进一步配置成使激光雷达扫描环境的视场（FOV）。 控制器可以基于来自扫描FOV的数据来确定环境的三维（3D）表示。

公开(公告)号：US09304203B1

公开(公告)日：2016-04-05

申请号：US13802593

申请日：2013-03-13

Applicant: Google Inc.

Inventor： Pierre-Yves Droz ,  Gaetan Pennecot ,  Daniel Gruver

IPC: G01S7/48 ,  G01S13/06 ,  G01S17/06 ,  G01S17/88 ,  G01S17/10 ,  G01S7/02 ,  G01S7/486 ,  G01S7/489

CPC classification number: G01S7/489 ,  G01S7/34 ,  G01S7/48 ,  G01S7/4808 ,  G01S7/486 ,  G01S7/4868 ,  G01S13/06 ,  G01S17/06 ,  G01S17/42 ,  G01S17/88 ,  G01S17/89 ,  G01S17/936

Abstract: Methods, devices, and systems that may help improve the dynamic range of a signal receiver. The method includes (i) causing a signal emitter to emit a signal during a first period of time; (ii) receiving, at the signal receiver, a reflected signal during a second period of time, where the received reflected signal corresponds to the emitted signal, and where the second period of time begins after a beginning of the first period of time; and (iii) increasing a signal gain that is applied to the received reflected signal during a third period of time, where the third period of time begins not earlier than a beginning of the second period of time.

Abstract translation: 可能有助于改善信号接收机的动态范围的方法，设备和系统。 该方法包括（i）使信号发射器在第一时间段期间发射信号; （ii）在信号接收器处在第二时间段期间接收反射信号，其中所接收的反射信号对应于所发射的信号，并且其中第二时间段在第一时间段开始之后开始; 以及（iii）在第三时间段期间增加施加到所接收的反射信号的信号增益，其中所述第三时间段不早于所述第二时间段的开始。

公开(公告)号：US09285474B2

公开(公告)日：2016-03-15

申请号：US14265583

申请日：2014-04-30

Applicant: Google Inc.

Inventor： Pierre-Yves Droz ,  Gaetan Pennecot ,  Timothy John Prachar

IPC: G01S17/02 ,  G01J1/04 ,  G01J1/42

CPC classification number: G01S17/02 ,  G01J1/0411 ,  G01J1/0448 ,  G01J1/4228

Abstract: In some applications, it may be desirable to position multiple photodetectors at precise locations on a curved focal surface defined by an optical system. To achieve this positioning, the photodetectors may be mounted at desired locations on a flexible substrate that is in a flat configuration. The flexible substrate with mounted photodetectors can then be shaped to substantially conform to the shape of the curved focal surface. This shaping can be accomplished by clamping the flexible substrate between at least two clamping pieces. The curved flexible substrate clamped between the at least two clamping pieces can be positioned relative to the optical system such that the photodetectors are positioned at desired three-dimensional locations on the curved focal surface.

Abstract translation: 在一些应用中，可能需要将多个光电检测器放置在由光学系统限定的弯曲焦点表面上的精确位置处。 为了实现这种定位，光电检测器可以安装在处于平坦配置的柔性基板上的期望位置处。 具有安装的光电检测器的柔性基板然后可以被成形为基本上符合弯曲焦面的形状。 这种成形可以通过将柔性基板夹在至少两个夹紧件之间来实现。 夹紧在至少两个夹持件之间的弯曲柔性基板可以相对于光学系统定位，使得光电检测器被定位在弯曲焦面上的期望的三维位置处。

公开(公告)号：US09063549B1

公开(公告)日：2015-06-23

申请号：US13787107

申请日：2013-03-06

Applicant: Google Inc.

Inventor： Gaetan Pennecot ,  Pierre-yves Droz ,  Zachary Morriss ,  William McCann

IPC: G05D1/00 ,  G05D1/02 ,  G02B26/10 ,  G01S17/02 ,  G01S17/93

CPC classification number: G05D1/0231 ,  G01S7/4811 ,  G01S7/4817 ,  G01S7/4972 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/026 ,  G01S17/42 ,  G01S17/93 ,  G01S17/936 ,  G02B26/105 ,  G05D1/0257 ,  G05D1/0259

Abstract: A light detection and ranging (LIDAR) device that scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses is disclosed. The LIDAR device scans the scanning zone by directing light toward a rotating mirror to direct the light pulses through the scanning zone. The rotating mirror is driven by a conductive coil in the presence of a magnetic field. The conductive coil is coupled to the rotating mirror and arranged in a plane perpendicular to the axis of rotation of the mirror. The axis of rotation of the mirror is oriented substantially parallel to a reflective surface of the mirror and passes between the reflective surface and the conductive coil.

Abstract translation: 公开了一种在发出光脉冲时扫描扫描区域并接收与光脉冲对应的反射信号的光检测和测距（LIDAR）装置。 激光雷达装置通过将光引向旋转镜来扫描扫描区域，以将光脉冲引导通过扫描区域。 在存在磁场的情况下，旋转镜由导电线圈驱动。 导电线圈耦合到旋转镜并且布置在垂直于反射镜的旋转轴线的平面中。 反射镜的旋转轴基本上平行于反射镜的反射表面定向并且在反射表面和导电线圈之间通过。