公开(公告)号：US20200150242A1

公开(公告)日：2020-05-14

申请号：US16746896

申请日：2020-01-19

申请人： VELODYNE LIDAR, INC.

发明人： David S. Hall ,  Matthew Noel Rekow ,  Stephen S. Nestinger ,  Pieter J. Kerstens

IPC分类号： G01S7/481 ,  G01S17/10 ,  G01S17/89 ,  G01S17/06 ,  G01S7/4865

摘要： A plurality of beams of illumination light are emitted from a LIDAR device over a range of angles and scanned about an axis of rotation. The range of angles includes the axis of rotation. Intermediate electronics boards provide mechanical support and electrical connectivity between a rotating electronics board and various elements of a light emission and collection engine. One or more of the optical elements of the collection optics, the illumination optics, or both, is constructed from one or more materials that absorb light outside of a predetermined wavelength range. An overmolded lens is fixedly coupled to one or more of the light detecting elements to collect incoming light over a larger range of angles. A lens element is disposed in the light path between a light emitting element and the illumination optics to flatten the intensity distribution of light emitted from the light emitting element to reduce peak intensity.

公开(公告)号：US10048374B2

公开(公告)日：2018-08-14

申请号：US15464221

申请日：2017-03-20

申请人： Velodyne Lidar, Inc.

发明人： David S. Hall ,  Pieter J. Kerstens ,  Yupeng Cui ,  Mathew Noel Rekow ,  Stephen S. Nestinger

IPC分类号： G01S17/02 ,  G01S7/486 ,  G01S17/10 ,  G01S17/89 ,  H04N13/02

摘要： Methods and systems for performing three dimensional LIDAR measurements with different pulse repetition patterns are described herein. Each repetitive pattern is a sequence of measurement pulses that repeat over time. In one aspect, the repetition pattern of a pulsed beam of illumination light emitted from a LIDAR system is varied to reduce total energy consumption and heat generated by the LIDAR system. In some examples, the repetitive pattern is varied by skipping a number of pulses. In some examples, the repetitive pattern of pulses of illumination light emitted from the LIDAR system is varied by changing a repetition rate of the sequence of emitted pulses. In some examples, the pulse repetition pattern is varied based on the orientation of the LIDAR device. In some examples, the repetition pattern is varied based on an object detected by the LIDAR device or another imaging system.

公开(公告)号：US20170269197A1

公开(公告)日：2017-09-21

申请号：US15464234

申请日：2017-03-20

申请人： Velodyne Lidar, Inc.

发明人： David S. Hall ,  Pieter J. Kerstens ,  Yupeng Cui ,  Mathew Noel Rekow ,  Stephen S. Nestinger

IPC分类号： G01S7/484 ,  G01S17/02 ,  G01S17/10

CPC分类号： G01S7/484 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4868 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936

摘要： Methods and systems for performing three dimensional LIDAR measurements with different illumination intensity patterns are described herein. Repetitive sequences of measurement pulses each having different illumination intensity patterns are emitted from a LIDAR system. One or more pulses of each repetitive sequence have a different illumination intensity than another pulse within the sequence. The illumination intensity patterns are varied to reduce total energy consumption and heat generated by the LIDAR system. In some examples, the illumination intensity pattern is varied based on the orientation of the LIDAR device. In some examples, the illumination intensity pattern is varied based on the distance between a detected object and the LIDAR device. In some examples, the illumination intensity pattern is varied based on the presence of an object detected by the LIDAR device or another imaging system.

公开(公告)号：US20200319312A1

公开(公告)日：2020-10-08

申请号：US16909846

申请日：2020-06-23

申请人： VELODYNE LIDAR, INC.

发明人： David S. Hall ,  Pieter J. Kerstens

IPC分类号： G01S7/481 ,  G01S17/10 ,  G01S17/06 ,  G01S17/42 ,  G01S17/89 ,  G01S7/484

摘要： Methods and systems for performing multiple pulse LIDAR measurements are presented herein. In one aspect, each LIDAR measurement beam illuminates a location in a three dimensional environment with a sequence of multiple pulses of illumination light. Light reflected from the location is detected by a photosensitive detector of the LIDAR system during a measurement window having a duration that is greater than or equal to the time of flight of light from the LIDAR system out to the programmed range of the LIDAR system, and back. The pulses in a measurement pulse sequence can vary in magnitude and duration. Furthermore, the delay between pulses and the number of pulses in each measurement pulse sequence can also be varied. In some embodiments, the multi-pulse illumination beam is encoded and the return measurement pulse sequence is decoded to distinguish the measurement pulse sequence from exogenous signals.

公开(公告)号：US20200249321A1

公开(公告)日：2020-08-06

申请号：US16854755

申请日：2020-04-21

申请人： VELODYNE LIDAR, INC.

发明人： David S. Hall ,  Pieter J. Kerstens

IPC分类号： G01S7/481 ,  G01S17/89 ,  G01S17/06 ,  G01S7/484 ,  G01S17/42 ,  G01S17/10

摘要： Methods and systems for performing multiple pulse LIDAR measurements are presented herein. In one aspect, each LIDAR measurement beam illuminates a location in a three dimensional environment with a sequence of multiple pulses of illumination light. Light reflected from the location is detected by a photosensitive detector of the LIDAR system during a measurement window having a duration that is greater than or equal to the time of flight of light from the LIDAR system out to the programmed range of the LIDAR system, and back. The pulses in a measurement pulse sequence can vary in magnitude and duration. Furthermore, the delay between pulses and the number of pulses in each measurement pulse sequence can also be varied. In some embodiments, the multi-pulse illumination beam is encoded and the return measurement pulse sequence is decoded to distinguish the measurement pulse sequence from exogenous signals.

公开(公告)号：US20200233089A1

公开(公告)日：2020-07-23

申请号：US16842491

申请日：2020-04-07

申请人： VELODYNE LIDAR, INC.

发明人： David S. Hall ,  Pieter J. Kerstens ,  Matthew Rekow ,  Stephen Nestinger

IPC分类号： G01S17/89 ,  G01S7/481 ,  G01S17/10 ,  G01S17/87 ,  G01C1/06 ,  G01C3/08 ,  G01S7/487

摘要： Methods and systems for performing three-dimensional (3-D) LIDAR measurements with multiple illumination beams scanned over a 3-D environment are described herein. In one aspect, illumination light from each LIDAR measurement channel is emitted to the surrounding environment in a different direction by a beam scanning device. The beam scanning device also directs each amount of return measurement light onto a corresponding photodetector. In some embodiments, a beam scanning device includes a scanning mirror rotated in an oscillatory manner about an axis of rotation by an actuator in accordance with command signals generated by a master controller. In some embodiments, the light source and photodetector associated with each LIDAR measurement channel are moved in two dimensions relative to beam shaping optics employed to collimate light emitted from the light source. The relative motion causes the illumination beams to sweep over a range of the 3-D environment under measurement.

公开(公告)号：US20190302266A9

公开(公告)日：2019-10-03

申请号：US16030780

申请日：2018-07-09

申请人： Velodyne Lidar, Inc.

发明人： David S. Hall ,  Pieter J. Kerstens ,  Mathew Noel Rekow

IPC分类号： G01S17/89 ,  G01S7/481 ,  G01S17/10 ,  G01S17/42

摘要： Methods and systems for performing three dimensional LIDAR measurements with a highly integrated LIDAR measurement device are described herein. In one aspect, the illumination source, detector, and illumination drive are integrated onto a single printed circuit board. In addition, in some embodiments, the associated control and signal conditioning electronics are also integrated onto the common printed circuit board. Furthermore, in some embodiments, the illumination drive and the illumination source are integrated onto a common Gallium Nitride substrate that is independently packaged and attached to the printed circuit board. In another aspect, the illumination light emitted from the illumination source and the return light directed toward the detector share a common optical path within the integrated LIDAR measurement device. In some embodiments, the return light is separated from the illumination light by a beam splitter. In some other embodiments, the optical design avoids losses associated with a beam splitter.

公开(公告)号：US10197669B2

公开(公告)日：2019-02-05

申请号：US15464234

申请日：2017-03-20

申请人： Velodyne Lidar, Inc.

发明人： David S. Hall ,  Pieter J. Kerstens ,  Yupeng Cui ,  Mathew Noel Rekow ,  Stephen S. Nestinger

IPC分类号： G01J11/00 ,  G01S7/484 ,  G01S17/10 ,  G01S17/02

摘要： Methods and systems for performing three dimensional LIDAR measurements with different illumination intensity patterns are described herein. Repetitive sequences of measurement pulses each having different illumination intensity patterns are emitted from a LIDAR system. One or more pulses of each repetitive sequence have a different illumination intensity than another pulse within the sequence. The illumination intensity patterns are varied to reduce total energy consumption and heat generated by the LIDAR system. In some examples, the illumination intensity pattern is varied based on the orientation of the LIDAR device. In some examples, the illumination intensity pattern is varied based on the distance between a detected object and the LIDAR device. In some examples, the illumination intensity pattern is varied based on the presence of an object detected by the LIDAR device or another imaging system.

公开(公告)号：US20200319311A1

公开(公告)日：2020-10-08

申请号：US16905849

申请日：2020-06-18

申请人： VELODYNE LIDAR, INC.

发明人： David S. Hall ,  Pieter J. Kerstens

IPC分类号： G01S7/481 ,  G01S17/10 ,  G01S17/06 ,  G01S17/42 ,  G01S17/89 ,  G01S7/484

摘要： Methods and systems for performing multiple pulse LIDAR measurements are presented herein. In one aspect, each LIDAR measurement beam illuminates a location in a three dimensional environment with a sequence of multiple pulses of illumination light. Light reflected from the location is detected by a photosensitive detector of the LIDAR system during a measurement window having a duration that is greater than or equal to the time of flight of light from the LIDAR system out to the programmed range of the LIDAR system, and back. The pulses in a measurement pulse sequence can vary in magnitude and duration. Furthermore, the delay between pulses and the number of pulses in each measurement pulse sequence can also be varied. In some embodiments, the multi-pulse illumination beam is encoded and the return measurement pulse sequence is decoded to distinguish the measurement pulse sequence from exogenous signals.

公开(公告)号：US20200319310A1

公开(公告)日：2020-10-08

申请号：US16905843

申请日：2020-06-18

申请人： VELODYNE LIDAR, INC.

发明人： David S. Hall ,  Pieter J. Kerstens

IPC分类号： G01S7/481 ,  G01S17/10 ,  G01S17/06 ,  G01S17/42 ,  G01S17/89 ,  G01S7/484

摘要： Methods and systems for performing multiple pulse LIDAR measurements are presented herein. In one aspect, each LIDAR measurement beam illuminates a location in a three dimensional environment with a sequence of multiple pulses of illumination light. Light reflected from the location is detected by a photosensitive detector of the LIDAR system during a measurement window having a duration that is greater than or equal to the time of flight of light from the LIDAR system out to the programmed range of the LIDAR system, and back. The pulses in a measurement pulse sequence can vary in magnitude and duration. Furthermore, the delay between pulses and the number of pulses in each measurement pulse sequence can also be varied. In some embodiments, the multi-pulse illumination beam is encoded and the return measurement pulse sequence is decoded to distinguish the measurement pulse sequence from exogenous signals.