Panosense Inc.

Zoox, Inc.

Brian Pilnick

Adam Berger

Denis Nikitin

Ryan McMichael

Riley Andrews

Brian Alexander Pesch

A LIDAR system emits laser bursts, wherein each burst has at least a pair of pulses. The pulses of each pair are spaced by a time interval having a variable duration to reduce effects of cross-talk. For example, certain embodiments may have multiple emitter/sensor channels that are used sequentially, and each channel may use a different duration for inter-pulse spacing to reduce the effects of cross-talk between channels. The durations may also be varied over time. The emitters and sensors are physically arranged in a two-dimensional array to achieve a relatively fine vertical pitch. The array has staggered rows that are packed using a hexagonal packing arrangement. The channels are used in a sequential order that is selected to maximize spacing between consecutively used channels, further reducing possibilities for inter-channel cross-talk.

Lidar system

A support assembly for supporting a rotating body may include first and second supports defining first and second longitudinal support axes and configured to support the rotating body, such that the rotating body is rotatable relative to the first and second supports. A rotation axis about which the rotating body rotates may be transverse to the first and second longitudinal support axes. The support assembly may also include a spine coupled to the first and second supports. The support assembly may also include a motor associated with at least one of the first or second supports and configured to supply torque to rotate the rotating body. At least one of the spine, the first support, or the second support may define a recess configured to receive at least one of an electrical conductor or a data signals link associated with operation of the rotating body.

Support assembly for rotating body

A LIDAR system includes one or more LIDAR sensor assemblies, which may be mounted to a vehicle or other object. Each LIDAR sensor assembly includes a laser light source to emit laser light, and a light sensor to produce a light signal in response to sensing reflected light corresponding to reflection of the laser light emitted by the laser light source from a reference surface that is fixed in relation to the LIDAR sensor assembly. A controller of the LIDAR sensor assembly may calibrate the LIDAR sensor assembly based at least in part on a signal from the light sensor indicating detection of reflected light corresponding to reflection of a pulse of laser light reflected from the reference surface.

LIDAR sensor assembly calibration based on reference surface

Techniques are described for aligning optical components within a LIDAR assembly. The techniques may be performed to align the optical components during manufacturing or assembly of the LIDAR assembly. For example, a first optical element (e.g., one of a light source or light sensor) may be installed in the LIDAR assembly. An optimal alignment for a second optical element (e.g., the other of the light source or light sensor) may be determined and the second optical element may be installed at the optimal alignment. The optimal alignment for the second optical element may be determined based on detected signals, for example, which may correspond to an alignment resulting in a strongest return signal, highest quality return signal, and/or minimal interference. Additionally or alternatively, techniques may be used to align optical components at runtime by using an actuator to move one or more components of the LIDAR assembly during operation.

Aligning optical components in LIDAR systems

A LIDAR system emits laser pulses, wherein each pulse is associated with a power level. A laser emitter is adjusted during operation of a LIDAR system using power profile data associated with the laser. The power profile data is obtained during a calibration procedure and includes information that associates charge duration for a laser power supply with the actual power output by laser. The power profiles can be used during operation of the LIDAR system. A laser pulse can be emitted, the reflected light from the pulse received and analyzed, and the power of the next pulse can be adjusted based on a lookup within the power profile for the laser. For instance, if the power returned from a pulse is too high (e.g., above some specified threshold), the power of the next pulse is reduced to a specific value based on the power profile.

Laser power cailibration and correction

LIDAR system

Laser power calibration and correction

Lidar sensor assembly calibration based on reference surface

Techniques are described for aligning optical components within a LIDAR assembly. The techniques may be performed to align the optical components during manufacturing or assembly of the LIDAR assembly. For example, a first optical element (e.g., one of a light source or light sensor) may be installed in the LIDAR assembly. An optimal alignment for a second optical element (e.g., the other of the light source or light sensor) may be determined and the second optical element may be installed at the optimal alignment. The optimal alignment for the second optical element may be determined based on detected signals, for example, which may correspond to an alignment resulting in a strongest return signal, highest quality return signal, and/or minimal interference. Additionally, or alternatively, techniques may be used to align optical components at runtime by using an actuator to move one or more components of the LIDAR assembly during operation.

An interface for transferring power and data between a non-rotating body and a rotating body may include a power transfer device coupled to the non-rotating body, and a power receiver coupled to the rotating body and configured to receive electrical power from the power transfer device. The interface may further include a first data transmitter coupled to the rotating body, and a first data receiver coupled to the non-rotating body and configured to receive data signals from the first data transmitter. The interface may also include a second data transmitter coupled to the non-rotating body, and a second data receiver coupled to the rotating body and configured to receive data signals from the second data transmitter. The wireless coupling between the power transfer device and the power receiver may include an inductive coupling, and the first data transmitter and the first data receiver may each include an optical communication device.

Growing community of inventors

East Palo Alto, CA, United States of America

Brian Pilnick