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    Wide-view LIDAR with areas of special attention
    2.
    发明授权
    Wide-view LIDAR with areas of special attention 有权
    宽视野激光雷达与特别关注的领域

    公开(公告)号：US09383753B1

    公开(公告)日：2016-07-05

    申请号：US13627623

    申请日：2012-09-26

    Applicant: Google Inc.

    Inventor： Bradley Templeton ,  Pierre-yves Droz ,  Jiajun Zhu

    IPC: G01C23/00 ,  G05D1/02

    CPC classification number: G05D1/0231 ,  G01S7/4802 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0246 ,  G05D2201/0213

    Abstract: A light detection and ranging device with dynamically adjustable angular resolution for use as a sensor providing environmental information for navigating an autonomous vehicle is disclosed. A first region of a scanning zone is scanned while emitting light pulses at a first pulse rate, and a second region of the scanning zone is scanned while emitting light pulses at a second pulse rate different from the first pulse rate. Information from the LIDAR device indicative of the time delays between the emission of the light pulses and the reception of the corresponding returning light pulses is received. A three dimensional point map is generated where the resolution of the point map in the first region is based on the first pulse rate and is based on the second pulse rate in the second region.

    Abstract translation: 公开了一种具有动态可调角度分辨率的光检测和测距装置，用作提供用于导航自主车辆的环境信息的传感器。 在以第一脉冲速率发射光脉冲的同时扫描扫描区域的第一区域，扫描区域的第二区域被扫描，同时以不同于第一脉冲速率的第二脉冲速率发射光脉冲。 来自LIDAR装置的指示光脉冲的发射与相应的返回光脉冲的接收之间的时间延迟的信息被接收。 产生三维点图，其中第一区域中的点图的分辨率基于第一脉冲率，并且基于第二区域中的第二脉冲率。

    Laser diode firing system
    3.
    发明授权
    Laser diode firing system 有权
    激光二极管点火系统

    公开(公告)号：US09368936B1

    公开(公告)日：2016-06-14

    申请号：US14132219

    申请日：2013-12-18

    Applicant: Google Inc.

    Inventor： Samuel William Lenius ,  Pierre-yves Droz

    IPC: G01C3/08 ,  H01S5/06 ,  G01S17/32 ,  H01S5/062 ,  H05B33/08 ,  G01J1/46

    CPC classification number: G01S17/32 ,  G01J1/46 ,  G01S7/484 ,  G01S17/10 ,  G01S17/42 ,  G01S17/936 ,  H01S5/0428 ,  H01S5/062 ,  H01S5/06216 ,  H05B33/0842 ,  H05B33/0845

    Abstract: A laser diode firing circuit for a light detection and ranging device is disclosed. The firing circuit includes a laser diode coupled in series to a transistor, such that current through the laser diode is controlled by the transistor. The laser diode is configured to emit a pulse of light in response to current flowing through the laser diode. The firing circuit includes a capacitor that is configured to charge via a charging path that includes an inductor and to discharge via a discharge path that includes the laser diode. The transistor controlling current through the laser diode can be a Gallium nitride field effect transistor.

    Abstract translation: 公开了一种用于光检测和测距装置的激光二极管点火电路。 点火电路包括与晶体管串联耦合的激光二极管，使得通过激光二极管的电流由晶体管控制。 激光二极管被配置为响应于流过激光二极管的电流而发出光脉冲。 点火电路包括电容器，其配置为经由包括电感器的充电路径充电并经由包括激光二极管的放电路径放电。 控制通过激光二极管的电流的晶体管可以是氮化镓场效应晶体管。

    Methods and systems for detection of reflective markers at long range
    4.
    发明授权
    Methods and systems for detection of reflective markers at long range 有权
    用于检测远距离反射标记物的方法和系统

    公开(公告)号：US09080866B1

    公开(公告)日：2015-07-14

    申请号：US13927518

    申请日：2013-06-26

    Applicant: Google Inc.

    Inventor： Jonathan Baldwin Dowdall ,  Jiajun Zhu ,  Pierre-yves Droz ,  Luke Wachter ,  Dorel Ionut Iordache

    IPC: G01B11/00 ,  G01S17/10 ,  G01B11/28 ,  G01S17/02

    CPC classification number: G01S17/026 ,  G01C3/08 ,  G01S7/4802 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G06K9/00798 ,  G08G5/0026 ,  G08G5/065

    Abstract: Example methods and systems for detecting reflective markers at long range are provided. An example method includes receiving laser data collected from successive scans of an environment of a vehicle. The method also includes determining a respective size of the one or more objects based on the laser data collected from respective successive scans. The method may further include determining, by a computing device and based at least in part on the respective size of the one or more objects for the respective successive scans, an object that exhibits a change in size as a function of distance from the vehicle. The method may also include determining that the object is representative of a reflective marker. In one example, a computing device may use the detection of one reflective marker to help detect subsequent reflective markers that may be in a similar position.

    Abstract translation: 提供了用于检测远距离反射标记的示例方法和系统。 示例性方法包括接收从车辆的环境的连续扫描收集的激光数据。 该方法还包括基于从相应的连续扫描收集的激光数据确定一个或多个对象的相应尺寸。 该方法可以进一步包括由计算设备确定并且至少部分地基于相应连续扫描的一个或多个对象的相应大小来确定作为与车辆距离的函数的尺寸变化的对象。 该方法还可以包括确定对象代表反射标记。 在一个示例中，计算设备可以使用一个反射标记的检测来帮助检测可能处于相似位置的后续反射标记。

    Methods and Systems for LIDAR Optics Alignment
    6.
    发明申请
    Methods and Systems for LIDAR Optics Alignment 有权
    LIDAR光学对准方法与系统

    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

    IPC: G01S7/497 ,  G01S17/06 ,  G01S7/51

    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。

    Light steering device with an array of oscillating reflective slats
    8.
    发明授权
    Light steering device with an array of oscillating reflective slats 有权
    具有振荡反射板条阵列的轻型转向装置

    公开(公告)号：US09128190B1

    公开(公告)日：2015-09-08

    申请号：US14090485

    申请日：2013-11-26

    Applicant: Google Inc.

    Inventor： Drew Ulrich ,  Pierre-yves Droz ,  Samuel Lenius

    IPC: G01C3/08 ,  G01S17/93 ,  G02B26/10 ,  G02B26/08

    CPC classification number: G05D1/0231 ,  G01S7/4815 ,  G01S7/4817 ,  G01S17/10 ,  G01S17/42 ,  G01S17/936 ,  G02B26/08 ,  G02B26/0825 ,  G02B26/0833 ,  G02B26/085 ,  G02B26/105

    Abstract: A light detection and ranging (LIDAR) device scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The LIDAR device scans the emitted light pulses through the scanning zone by reflecting the light pulses from an array of oscillating mirrors. The mirrors are operated by a set of electromagnets arranged to apply torque on the mirrors, and an orientation feedback system senses the orientations of the mirrors. Driving parameters for each mirror are determined based on information from the orientation feedback system. The driving parameters can be used to drive the mirrors in phase at an operating frequency despite variations in moments of inertia and resonant frequencies among the mirrors.

    Abstract translation: 光检测和测距（LIDAR）设备在发射光脉冲时扫描扫描区域并接收与光脉冲对应的反射信号。 激光雷达装置通过反射来自振荡镜阵列的光脉冲来扫描发射的光脉冲通过扫描区域。 这些反射镜由设置成在反射镜上施加扭矩的一组电磁体操作，并且定向反馈系统感测反射镜的取向。 基于来自定向反馈系统的信息来确定每个反射镜的驱动参数。 即使反射镜中的惯性矩和谐振频率发生变化，驱动参数也可以在工作频率下同步驱动反射镜。

    Contactless Electrical Coupling for a Rotatable LIDAR Device
    9.
    发明申请
    Contactless Electrical Coupling for a Rotatable LIDAR Device 有权
    用于可旋转激光雷达装置的非接触电耦合

    公开(公告)号：US20150091374A1

    公开(公告)日：2015-04-02

    申请号：US14042705

    申请日：2013-09-30

    Applicant: Google Inc.

    Inventor： Samuel William Lenius ,  Pierre-yves Droz

    IPC: B60L1/00 ,  H02J17/00

    CPC classification number: B60L11/182 ,  B60L3/0015 ,  B60L7/12 ,  B60L8/003 ,  B60L11/005 ,  B60L11/14 ,  B60L11/16 ,  B60L2240/12 ,  B60L2240/16 ,  B60L2240/18 ,  B60L2240/20 ,  B60L2240/421 ,  B60L2240/441 ,  B60L2240/461 ,  B60L2240/622 ,  G01S7/003 ,  G01S7/4817 ,  G01S17/42 ,  G01S17/936 ,  H02J7/025 ,  H02J17/00 ,  H02J50/10 ,  H02J50/80 ,  Y02T10/642 ,  Y02T10/70 ,  Y02T10/7022 ,  Y02T10/7077 ,  Y02T10/7083 ,  Y02T10/7291 ,  Y02T90/16 ,  Y02T90/162

    Abstract: A rotatable LIDAR device including contactless electrical couplings is disclosed. An example rotatable LIDAR device includes a vehicle electrical coupling including (i) a first conductive ring, (ii) a second conductive ring, and (iii) a first coil. The example rotatable LIDAR device further includes a LIDAR electrical coupling including (i) a third conductive ring, (ii) a fourth conductive ring, and (iii) a second coil. The example rotatable LIDAR device still further includes a rotatable LIDAR electrically coupled to the LIDAR electrical coupling. The first conductive ring and the third conductive ring form a first capacitor configured to transmit communications to the rotatable LIDAR, the second conductive ring and the fourth conductive ring form a second capacitor configured to transmit communications from the rotatable LIDAR, and the first coil and the second coil form a transformer configured to provide power to the rotatable LIDAR.

    Abstract translation: 公开了一种包括非接触电耦合的可旋转LIDAR装置。 一种示例性的可旋转LIDAR装置包括车辆电耦合，其包括（i）第一导电环，（ii）第二导电环和（iii）第一线圈。 该实例可旋转LIDAR装置还包括LIDAR电耦合，其包括（i）第三导电环，（ii）第四导电环和（iii）第二线圈。 该示例可旋转的LIDAR装置还包括电耦合到激光雷达电耦合的可旋转激光雷达。 第一导电环和第三导电环形成第一电容器，其被配置为将通信传输到可旋转的激光雷达，第二导电环和第四导电环形成第二电容器，其被配置为从可旋转激光雷达传输通信，第一线圈和 第二线圈形成被配置为向可旋转的激光雷达提供电力的变压器。

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