High definition lidar system

• US 7,969,558 B2
• Filed: 07/13/2007
• Issued: 06/28/2011
• Est. Priority Date: 07/13/2006
• Status: Active Grant

• Current Assignee: Velodyne Lidar USA, Inc. (Ouster, Inc.)
• Original Assignee: Velodyne Acoustics Incorporated
• Inventors: Hall, David S.
• Primary Examiner(s): ALSOMIRI, ISAM A
• Application Number:
  US11/777,802
• Publication Number:
  US 20100020306A1
• Time in Patent Office: 1,446 Days
• Field of Search: 356/3.1, 356/4.01, 356/5.15, 356/28, 356/139.09, 356/141.1, 356/141.3, 356/141.5
• US Class Current: 356/5.01
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: H01S 5/0428 for applying pulses to the laser
• CPC Class Codes: H01S 5/06216 Pulse modulation or generation

Abstract

A lidar-based 3-D point cloud measuring system and method. An example system includes a base, a housing, a plurality of photon transmitters and photon detectors contained within the housing, a rotary motor that rotates the housing about the base, and a communication component that allows transmission of signals generated by the photon detectors to external components. The rotary component includes a rotary power coupling configured to provide power from an external source to the rotary motor, the photon transmitters, and the photon detectors. In another embodiment, the photon transmitters and detectors of each pair are held in a fixed relationship with each other. In yet another embodiment, a single detector is “shared” among several lasers by focusing several detection regions onto a single detector, or by using a single, large detector.

Claims

1. A lidar-based 3-D point cloud system comprising:

a support structure;

a plurality of laser emitters supported by the support structure;

a plurality of avalanche photodiode detectors supported by the support structure; and

a rotary component configured to rotate the plurality of laser emitters and the plurality of avalanche photodiode detectors at a speed of at least 200 RPM.

2. The system of claim 1, further comprising a rotary power coupling configured to provide power from an external source to the plurality of laser emitters and the plurality of avalanche photodiode detectors.

3. The system of claim 1, wherein each one of the plurality of laser emitters is paired with a separate one of the plurality of photon detectors in a fixed position to form a plurality of pairs of laser emitters and avalanche photodiode detectors.

4. The system of claim 3, wherein each one of the plurality of pairs of laser emitters and avalanche photodiode detectors is aligned in a direction that is angularly separated from each other one of the pairs of laser emitters and avalanche photodiode detectors.

5. The system of claim 4, wherein the angular separation between each one of the plurality of pairs of laser emitters and avalanche photodiode detectors is ⅓

°

.

6. The system of claim 3, wherein the support structure is mountable to a vehicle, and further wherein each one of the plurality of pairs of laser emitters and avalanche photodiode detectors is aligned in a direction that is angularly separated from each other one of the pairs of laser emitters and avalanche photodiode detectors, the plurality of pairs of laser emitters and avalanche photodiode detectors being aligned to locations between 20 feet and 500 feet from the vehicle.

7. The system of claim 1, wherein the rotary power coupling is further configured to transmit signals to and from the plurality of laser emitters and the plurality of avalanche photodiode detectors.

8. The system of claim 1, wherein the rotary component is configured to rotate the support structure through a full 360 degree rotation at the rotation speed of at least 200 RPM.

9. The system of claim 1, further comprising a communication component configured to allow transmission of signals generated by the avalanche photodiode detectors to an external component.

10. The system of claim 1, wherein the support structure further comprises a housing and a base, the plurality of laser emitters and the plurality of avalanche photodiode detectors being secured within the housing, the rotary component further being configured to rotate the housing about the base.

11. The system of claim 10, further comprising a rotary encoder configured to determine rotational location of the housing relative to the base.

12. The system of claim 1, wherein the plurality of laser emitters comprises sixteen laser emitters and the plurality of avalanche photodiode detectors comprises at least sixteen avalanche photodiode detectors.

13. The system of claim 1, wherein at least one of the avalanche photodiode detectors is configured to receive reflections from more than one laser emitter.

14. The system of claim 1, wherein the plurality of laser emitters is configured to pulse at a rate of more than about 1 million pulses per second.

15. The system of claim 1, wherein the support structure is mounted to a vehicle.

16. The system of claim 1, further comprising a processor in signal communication with the plurality of avalanche photodiode detectors and the plurality of laser emitters, the processor being configured to cause the laser emitters to emit pulses of a reduced power level when at least one of the avalanche photodiode detectors detects a return signal above a threshold level.

17. The system of claim 1, further comprising a processor in signal communication with the plurality of laser emitters, the processor being configured to prevent the laser emitters from firing when the rotary component is not rotating.

18. The system of claim 1, further comprising a processor in signal communication with the plurality of laser emitters, the processor being configured to prevent the laser emitters from firing when the rotary component is rotating below a threshold level.

19. A method of generating a 3-D point cloud comprising:

providing a lidar system having;

a support structure, a plurality of laser emitters supported by the support structure;

a plurality of avalanche photodiode detectors supported by the support structure, and a rotary component configured to rotate the plurality of laser emitters and the

plurality of avalanche photodiode detectors at a speed of at least 200 RPM;

rotating the plurality of laser emitters and the plurality of avalanche photodiode detectors at a speed of at least 200 RPM; and

emitting light from the plurality of laser emitters.

20. The method of claim 19, further comprising mounting the support structure to a vehicle, and further wherein each one of the laser emitters is aligned in a direction that is angularly separated from each other one of the laser emitters, the laser emitters being aligned to locations substantially evenly spaced between 20 feet and 500 feet from the vehicle.

21. The method of claim 19, wherein the support structure further comprises a housing and a base, the method further comprising determining a rotational location of the housing relative to the base.

22. The method of claim 19, wherein the step of emitting light further comprises pulsing the laser emitters at a rate of more than about 1 million pulses per second.

23. The method of claim 19, wherein the lidar system further comprises a processor in signal communication with the plurality of avalanche photodiode detectors and the plurality of laser emitters, the processor being configured to cause the laser emitters to emit pulses of a reduced power level when at least one of the avalanche photodiode detectors detects a return signal above a threshold level, the step of emitting light from the plurality of laser emitters further comprising causing the laser emitters to emit pulses of a reduced power level when at least one of the avalanche photodiode detectors detects a return signal above a threshold level.

24. The method of claim 19, wherein the lidar system further comprises a processor in signal communication with the plurality of avalanche photodiode detectors and the plurality of laser emitters, the processor being configured to prevent the laser emitters from firing when the rotary component is not rotating, the step of emitting light from the plurality of laser emitters further comprising causing the laser emitters to emit light only when the rotary component is rotating.

25. The method of claim 19, wherein the lidar system further comprises a processor in signal communication with the plurality of avalanche photodiode detectors and the plurality of laser emitters, the processor being configured to control the firing of the laser emitters in relation to the rotation of the rotary component, the step of emitting light from the plurality of laser emitters further comprising causing the laser emitters to emit light only when the rotary component is rotating above a threshold level.