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公开(公告)号：US09628170B1
公开(公告)日：2017-04-18
申请号：US15006844
申请日：2016-01-26
Applicant: Google Inc.
Inventor： Daniel L. Rosenband , Pierre-Yves Droz , Min Wang , Etai Bruhis , Adam Brown , Samuel William Lenius
Abstract: A device is provided that includes a first platform having a first side, and a second platform having a second side positioned within a predetermined distance to the first side. The device also includes an actuator configured to cause a relative rotation between the first platform and the second platform such that the first side of the first platform remains within the predetermined distance to the second side of the second platform. The device also includes a probe mounted to the first platform, and a plurality of probes mounted to the second platform. The device also includes a signal conditioner coupled to the plurality of probes. The signal conditioner may select one of the plurality of probes based on an orientation of the first platform relative to the second platform. The signal conditioner may then to use the selected probe for wireless communication with the probe on the first platform.
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2.发明授权公开(公告)号：US09069060B1
公开(公告)日：2015-06-30
申请号：US13802561
申请日：2013-03-13
Applicant: Google Inc.
Inventor： Alexander Zbrozek , Pierre-Yves Droz , Asheem Linaval
CPC classification number: G01S7/481 , G01S7/4861 , G01S17/42 , H03F3/08
Abstract: A circuit architecture for a sensing component of a Light Detection and Ranging (LIDAR) device can provide a wide dynamic range. The circuit architecture includes at least one photosensor, each photosensor including an input that is configured to receive an optical signal; a respective diode corresponding to each photosensor, each respective diode including an input that is coupled to an output of the corresponding photosensor; a multiplexer including an input that is coupled to the output of each of the at least one photosensors; and an amplifier including an input that is coupled to the output of the multiplexer.
Abstract translation: 用于光检测和测距（LIDAR）设备的感测部件的电路架构可以提供宽的动态范围。 电路结构包括至少一个光电传感器，每个光电传感器包括被配置为接收光信号的输入; 对应于每个光电传感器的相应二极管，每个相应的二极管包括耦合到相应的光电传感器的输出的输入; 多路复用器，包括耦合到所述至少一个光电传感器中的每一个的输出的输入; 以及放大器，其包括耦合到多路复用器的输出的输入。
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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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公开(公告)号：US20180106900A1
公开(公告)日：2018-04-19
申请号：US15292251
申请日：2016-10-13
Applicant: Google Inc.
Inventor： Pierre-Yves Droz , Blaise Gassend , Caner Onal , David Hutchison
CPC classification number: G01S17/08 , G01J1/0411 , G01J1/0414 , G01J1/0422 , G01J1/0437 , G01J1/0448 , G01J1/0474 , G01J1/0488 , G01J1/4228 , G01J1/44 , G01J3/0208 , G01J3/0229 , G01J2001/442 , G01J2001/4466 , G01S7/481 , G01S7/4816 , G01S7/4863 , G01S7/4868 , G01S17/10
Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example embodiment includes a system. The system includes a lens disposed relative to a scene and configured to focus light from the scene onto a focal plane. The system also includes an aperture defined within an opaque material disposed at the focal plane of the lens. The aperture has a cross-sectional area. In addition, the system includes an array of light detectors disposed on a side of the focal plane opposite the lens and configured to intercept and detect diverging light focused by the lens and transmitted through the aperture. A cross-sectional area of the array of light detectors that intercepts the diverging light is greater than the cross-sectional area of the aperture.
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公开(公告)号：US09071763B1
公开(公告)日：2015-06-30
申请号：US13627080
申请日：2012-09-26
Applicant: Google Inc.
Inventor： Bradley Templeton , Pierre-Yves Droz
CPC classification number: H04N5/2354 , G03B7/17 , G03B15/05
Abstract: Methods and systems are provided for capturing an image having uniform illumination over a range of distances. The system may include a light source, a light sensing array, and an electronic circuit. The method may involve selecting a range of distances from the system, causing the light source to generate a light pulse with a modulated decay, and using the light sensing array to sense an integrated intensity of a reflected light pulse during an exposure time. The reflected light pulse may be provided by the generated light pulse reflecting from an object located at an object distance within the range of distances. The exposure time may be controlled based on the range of distances and the modulated decay such that the integrated intensity of the reflected light pulse is substantially independent of the object distance.
Abstract translation: 提供了用于捕获在一定距离范围内具有均匀照明的图像的方法和系统。 该系统可以包括光源，光感测阵列和电子电路。 该方法可以包括从系统选择距离范围，使光源产生具有调制衰减的光脉冲，并且使用光感测阵列在曝光时间期间感测反射光脉冲的积分强度。 可以通过从位于距离范围内的物距的物体反射的产生的光脉冲来提供反射光脉冲。 可以基于距离的范围和调制衰减来控制曝光时间，使得反射光脉冲的积分强度基本上不依赖于物体距离。
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Patent Agency Ranking
6.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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8.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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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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