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.

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

IPC: G01S17/93 ,  G01S7/483

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。

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：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：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。