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1. 发明授权

US09625582B2 Vehicle with multiple light detection and ranging devices (LIDARs) 有权
公开(公告)号：US09625582B2
公开(公告)日：2017-04-18
申请号：US14668452
申请日：2015-03-25
申请人： Google Inc.
发明人： 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分类号： G01C3/00 , G01S17/93 , G01S17/10 , G01S17/42 , G01S17/66 , G01S17/87 , G01S17/89 , G01S7/48 , G01S7/481 , G01S17/02
CPC分类号： 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
摘要： 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.

2. 发明授权

US08836922B1 Devices and methods for a rotating LIDAR platform with a shared transmit/receive path 有权
标题翻译：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
申请人： Google Inc.
发明人： Gaetan Pennecot , Pierre-Yves Droz , Drew Eugene Ulrich , Daniel Gruver , Zachary Morriss , Anthony Levandowski
IPC分类号： G01C3/08 , G01S17/02
CPC分类号： G01S7/4813 , G01S7/4812 , G01S7/4815 , G01S7/4816 , G01S7/4817 , G01S17/42 , G01S17/89 , G01S17/936
摘要： 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.
摘要翻译：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。

3. 发明授权

US09285464B2 Devices and methods for a rotating LIDAR platform with a shared transmit/receive path 有权
标题翻译：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
申请人： Google Inc.
发明人： Gaetan Pennecot , Pierre-Yves Droz , Drew Eugene Ulrich , Daniel Gruver , Zachary Morriss , Anthony Levandowski
IPC分类号： G01C3/08 , G01S7/481 , G01S17/89
CPC分类号： G01S7/4813 , G01S7/4812 , G01S7/4815 , G01S7/4816 , G01S7/4817 , G01S17/42 , G01S17/89 , G01S17/936
摘要： 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.
摘要翻译：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。

4. 发明授权

US09086273B1 Microrod compression of laser beam in combination with transmit lens 有权
标题翻译：激光束与发射透镜组合的微弧压缩
公开(公告)号：US09086273B1
公开(公告)日：2015-07-21
申请号：US13790251
申请日：2013-03-08
申请人： Google Inc.
发明人： Daniel Gruver , Pierre-Yves Droz , Gaetan Pennecot , Zachary Morriss , Dorel Ionut Iordache
IPC分类号： G01C3/08 , G01C3/02
CPC分类号： G01C3/02 , G01S7/481 , G01S7/4812 , G01S7/4815 , G01S7/4817 , G01S17/42 , G01S17/89 , G01S17/936
摘要： 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.
摘要翻译：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。

5. 发明申请

US20160282468A1 Vehicle with Multiple Light Detection and Ranging Devices (LIDARs) 有权
标题翻译：具有多光检测和测距设备（LIDAR）的车辆
公开(公告)号：US20160282468A1
公开(公告)日：2016-09-29
申请号：US14668452
申请日：2015-03-25
申请人： Google Inc.
发明人： 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分类号： G01S17/93 , G01S7/483
CPC分类号： 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
摘要： 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.
摘要翻译：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。

6. 发明申请

US20150055117A1 Devices and Methods for a Rotating LIDAR Platform with a Shared Transmit/Receive Path 有权
标题翻译：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
申请人： Google Inc.
发明人： Gaetan Pennecot , Pierre-Yves Droz , Drew Eugene Ulrich , Daniel Gruver , Zachary Morriss , Anthony Levandowski
IPC分类号： G01S7/481
CPC分类号： G01S7/4813 , G01S7/4812 , G01S7/4815 , G01S7/4816 , G01S7/4817 , G01S17/42 , G01S17/89 , G01S17/936
摘要： 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.
摘要翻译：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。

7. 发明申请

US20170176597A1 Vehicle with Multiple Light Detection and Ranging Devices (LIDARs) 有权
公开(公告)号：US20170176597A1
公开(公告)日：2017-06-22
申请号：US15455009
申请日：2017-03-09
申请人： Google Inc.
发明人： 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分类号： G01S17/93 , G01S17/89 , G01S17/66 , G01S17/10 , G01S17/87 , G01S7/481
CPC分类号： 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
摘要： 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.

8. 发明申请

US20160291134A1 Long Range Steerable LIDAR System 有权
标题翻译：长程指导激光雷达系统
公开(公告)号：US20160291134A1
公开(公告)日：2016-10-06
申请号：US14679683
申请日：2015-04-06
申请人： Google Inc.
发明人： 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分类号： G01S7/48 , G01S17/06 , G01S17/93 , G01S7/481
CPC分类号： G01S7/4802 , G01S7/4817 , G01S17/023 , G01S17/87 , G01S17/936 , G01S2013/9375 , G01S2013/9378 , G01S2013/9382 , G01S2013/9385
摘要： 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.
摘要翻译：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。

9. 发明授权

US09304203B1 Methods, devices, and systems for improving dynamic range of signal receiver 有权
标题翻译：用于改善信号接收机动态范围的方法，装置和系统
公开(公告)号：US09304203B1
公开(公告)日：2016-04-05
申请号：US13802593
申请日：2013-03-13
申请人： Google Inc.
发明人： Pierre-Yves Droz , Gaetan Pennecot , Daniel Gruver
IPC分类号： G01S7/48 , G01S13/06 , G01S17/06 , G01S17/88 , G01S17/10 , G01S7/02 , G01S7/486 , G01S7/489
CPC分类号： G01S7/489 , G01S7/34 , G01S7/48 , G01S7/4808 , G01S7/486 , G01S7/4868 , G01S13/06 , G01S17/06 , G01S17/42 , G01S17/88 , G01S17/89 , G01S17/936
摘要： Methods, devices, and systems that may help improve the dynamic range of a signal receiver. The method includes (i) causing a signal emitter to emit a signal during a first period of time; (ii) receiving, at the signal receiver, a reflected signal during a second period of time, where the received reflected signal corresponds to the emitted signal, and where the second period of time begins after a beginning of the first period of time; and (iii) increasing a signal gain that is applied to the received reflected signal during a third period of time, where the third period of time begins not earlier than a beginning of the second period of time.
摘要翻译：可能有助于改善信号接收机的动态范围的方法，设备和系统。该方法包括（i）使信号发射器在第一时间段期间发射信号; （ii）在信号接收器处在第二时间段期间接收反射信号，其中所接收的反射信号对应于所发射的信号，并且其中第二时间段在第一时间段开始之后开始; 以及（iii）在第三时间段期间增加施加到所接收的反射信号的信号增益，其中所述第三时间段不早于所述第二时间段的开始。

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