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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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2.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：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
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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Patent Agency Ranking
4.发明授权Light detection and ranging device with oscillating mirror driven by magnetically interactive coil 有权光检测和测距装置，由磁性交互线圈驱动的振荡镜公开(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
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。
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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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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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7.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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