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公开(公告)号：US09625582B2
公开(公告)日：2017-04-18
申请号：US14668452
申请日：2015-03-25
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: G01C3/00 , G01S17/93 , G01S17/10 , G01S17/42 , G01S17/66 , G01S17/87 , G01S17/89 , G01S7/48 , G01S7/481 , G01S17/02
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.
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公开(公告)号：US20160282453A1
公开(公告)日：2016-09-29
申请号：US14671085
申请日：2015-03-27
Applicant: Google Inc.
Inventor： Gaetan Pennecot , Pierre-yves Droz
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.
Abstract translation: 提供了一种方法，其涉及将发射块和接收块安装在激光雷达装置中以提供发射块和接收块之间的相对位置。 该方法还涉及将相机定位在给定位置处，在该位置处相机可以对发射块发射的光束进行成像，并且可以对接收块进行成像。 该方法还涉及使用相机获取指示发送块中的一个或多个光源的光源位置的第一图像和指示接收块中的一个或多个检测器的检测器位置的第二图像。 该方法还涉及基于第一图像和第二图像确定至少一个偏移。 该方法还包括至少部分地基于至少一个偏移来调整发送块和接收块之间的相对位置。
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3.发明授权Devices and methods for a rotating LIDAR platform with a shared transmit/receive path 有权具有共享发送/接收路径的旋转LIDAR平台的设备和方法公开(公告)号：US08836922B1
公开(公告)日：2014-09-16
申请号：US13971606
申请日：2013-08-20
Applicant: Google Inc.
Inventor： Gaetan Pennecot , Pierre-Yves Droz , Drew Eugene Ulrich , Daniel Gruver , Zachary Morriss , Anthony Levandowski
CPC classification number: G01S7/4813 , G01S7/4812 , G01S7/4815 , G01S7/4816 , G01S7/4817 , G01S17/42 , G01S17/89 , G01S17/936
Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.
Abstract translation: 激光雷达装置可以发射源自一个或多个光源的光脉冲，并且可以接收然后由一个或多个检测器检测的反射光脉冲。 激光雷达装置可以包括以下（i）对来自一个或多个光源的光进行准直以提供准直光以透射到激光雷达装置的环境中的透镜，以及（ii）将反射光聚焦到一个或多个检测器上。 透镜可以在来自一个或多个光源的光的发射路径中以及在一个或多个检测器的接收路径中的弯曲焦点表面限定弯曲的焦点表面。 一个或多个光源可以沿着发射路径中的弯曲焦点表面布置。 一个或多个检测器可以沿着接收路径中的弯曲焦点表面布置。
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4.发明授权Devices and methods for a rotating LIDAR platform with a shared transmit/receive path 有权具有共享发送/接收路径的旋转LIDAR平台的设备和方法公开(公告)号：US09285464B2
公开(公告)日：2016-03-15
申请号：US14462075
申请日：2014-08-18
Applicant: Google Inc.
Inventor： Gaetan Pennecot , Pierre-Yves Droz , Drew Eugene Ulrich , Daniel Gruver , Zachary Morriss , Anthony Levandowski
CPC classification number: G01S7/4813 , G01S7/4812 , G01S7/4815 , G01S7/4816 , G01S7/4817 , G01S17/42 , G01S17/89 , G01S17/936
Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.
Abstract translation: 激光雷达装置可以发射源自一个或多个光源的光脉冲，并且可以接收然后由一个或多个检测器检测的反射光脉冲。 激光雷达装置可以包括：（i）对来自一个或多个光源的光进行准直以提供用于传输到激光雷达装置的环境中的准直光，以及（ii）将反射的光聚焦到一个或多个检测器上的透镜。 透镜可以在来自一个或多个光源的光的发射路径中以及在一个或多个检测器的接收路径中的弯曲焦点表面限定弯曲的焦点表面。 一个或多个光源可以沿着发射路径中的弯曲焦点表面布置。 一个或多个检测器可以沿着接收路径中的弯曲焦点表面布置。
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公开(公告)号：US09086273B1
公开(公告)日：2015-07-21
申请号：US13790251
申请日：2013-03-08
Applicant: Google Inc.
Inventor： Daniel Gruver , Pierre-Yves Droz , Gaetan Pennecot , Zachary Morriss , Dorel Ionut Iordache
CPC classification number: G01C3/02 , G01S7/481 , G01S7/4812 , G01S7/4815 , G01S7/4817 , G01S17/42 , G01S17/89 , G01S17/936
Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. Each light source may include a respective laser diode and cylindrical lens. The laser diode may emit an uncollimated laser beam that diverges more in a first direction than in a second direction. The cylindrical lens may pre-collimate the uncollimated laser beam in the first direction to provide a partially collimated laser that diverges more in the second direction than in the first direction.
Abstract translation: 激光雷达装置可以发射源自一个或多个光源的光脉冲，并且可以接收由一个或多个检测器检测的反射光脉冲。 激光雷达装置可以包括：（i）对来自一个或多个光源的光进行准直以提供用于传输到激光雷达装置的环境中的准直光，以及（ii）将反射的光聚焦到一个或多个检测器上的透镜。 每个光源可以包括相应的激光二极管和柱面透镜。 激光二极管可以发射在第一方向上比在第二方向上发散更多的未被准直的激光束。 柱面透镜可以在第一方向上预先准直未经准直的激光束，以提供在第二方向上比在第一方向上更多地发散的部分准直激光。
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Patent Agency Ranking
公开(公告)号：US08742325B1
公开(公告)日：2014-06-03
申请号：US13955583
申请日：2013-07-31
Applicant: Google Inc.
Inventor： Pierre-Yves Droz , Gaetan Pennecot , Timothy John Prachar
IPC: H01J5/02
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。
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公开(公告)号：US20160282468A1
公开(公告)日：2016-09-29
申请号：US14668452
申请日：2015-03-25
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
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.
Abstract translation: 提供一种车辆，其包括位于车辆底部的一个或多个车轮。 车辆还包括位于与底侧相对的车辆顶侧的第一光检测和测距装置（LIDAR）。 第一激光雷达被配置为基于关于轴的第一激光雷达的旋转扫描车辆周围的环境。 第一个激光雷达具有第一个分辨率。 该车辆还包括第二激光雷达装置，其被配置成沿着第二激光雷达的观察方向扫描远离车辆的环境的视场。 第二个激光雷达具有第二个分辨率。 车辆还包括控制器，该控制器被配置为基于第一激光雷达和第二激光雷达对环境的扫描来操作车辆。
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公开(公告)号：US09059649B1
公开(公告)日：2015-06-16
申请号：US13784412
申请日：2013-03-04
Applicant: Google Inc.
Inventor： Pierre-yves Droz , Gaetan Pennecot
CPC classification number: H02P6/16
Abstract: Methods and systems are provided for determining a position of a rotor in a motor at a particular time based on the non-uniform (imperfect) angular position of coils in the motor. In one example, a method may be implemented for light detection and ranging (LIDAR) applications. The method may involve rotating a rotor of a motor at a substantially constant angular velocity, receiving from Hall-effect sensors in the motor data representative of which coils in the plurality of coils are active during the substantially constant rotation of the rotor, correlating a reference angular position of the rotor, receiving subsequent data from the Hall-effect sensors indicating which coils are active at a particular time, correlating the particular time to a position of the rotor in the substantially constant rotation of the rotor, and determining an angular position of the rotor at the particular time.
Abstract translation: 提供了用于基于马达中的线圈的不均匀（不完美）角位置在特定时间确定马达中的转子的位置的方法和系统。 在一个示例中，可以实现用于光检测和测距（LIDAR）应用的方法。 该方法可以包括以基本上恒定的角速度旋转电动机的转子，从马达数据中的霍尔效应传感器接收代表多个线圈中的哪些线圈在转子的基本上恒定的旋转期间是有效的，将参考 转子的角度位置，接收来自霍尔效应传感器的后续数据，指示哪些线圈在特定时间是有效的，将特定时间与转子在转子的基本上恒定的旋转中的位置相关联，并且确定转子的角位置 转子在特定的时间。
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9.发明申请Devices and Methods for a Rotating LIDAR Platform with a Shared Transmit/Receive Path 有权具有共享发送/接收路径的旋转LIDAR平台的设备和方法公开(公告)号：US20150055117A1
公开(公告)日：2015-02-26
申请号：US14462075
申请日：2014-08-18
Applicant: Google Inc.
Inventor： Gaetan Pennecot , Pierre-Yves Droz , Drew Eugene Ulrich , Daniel Gruver , Zachary Morriss , Anthony Levandowski
IPC: G01S7/481
CPC classification number: G01S7/4813 , G01S7/4812 , G01S7/4815 , G01S7/4816 , G01S7/4817 , G01S17/42 , G01S17/89 , G01S17/936
Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.
Abstract translation: 激光雷达装置可以发射源自一个或多个光源的光脉冲，并且可以接收然后由一个或多个检测器检测的反射光脉冲。 激光雷达装置可以包括：（i）对来自一个或多个光源的光进行准直以提供用于传输到激光雷达装置的环境中的准直光，以及（ii）将反射的光聚焦到一个或多个检测器上的透镜。 透镜可以在来自一个或多个光源的光的发射路径中以及在一个或多个检测器的接收路径中的弯曲焦点表面限定弯曲的焦点表面。 一个或多个光源可以沿着发射路径中的弯曲焦点表面布置。 一个或多个检测器可以沿着接收路径中的弯曲焦点表面布置。
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公开(公告)号：US20150034809A1
公开(公告)日：2015-02-05
申请号：US14265583
申请日：2014-04-30
Applicant: Google Inc.
Inventor： Pierre-Yves Droz , Gaetan Pennecot , Timothy John Prachar
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。
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