LIDAR sensor assembly calibration based on reference surface

Patent metadata

Field	Value
Publication number	US-11397253-B2
Application number	US-201916518903-A
Country	US
Kind code	B2
Filing date	Jul 22, 2019
Priority date	Dec 30, 2016
Publication date	Jul 26, 2022
Grant date	Jul 26, 2022

Abstract

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.

First claim

What is claimed is:

1. A method comprising:
transmitting a firing signal to a laser light source of a LIDAR sensor assembly to cause the laser light source to emit light toward a reference surface mechanically coupled to the LIDAR sensor assembly, the reference surface being part of a stationary portion of the LIDAR sensor assembly, the stationary portion comprising:
a first support rib and a second support rib; and
an elongated spine extending between and coupled to the first support rib and the second support rib, the elongated spine serving as the reference surface;
wherein the LIDAR sensor assembly further includes a rotatable assembly mechanically coupled to, and rotatable relative to, the stationary portion, the stationary portion configured to remain stationary as the rotatable assembly rotates, the rotatable assembly comprising:
an elongated chassis having an axis of rotation about which the rotatable assembly is rotatable, wherein the first support rib is coupled to a first end of the elongated chassis and the second support rib is coupled to a second end of the elongated chassis;

receiving a signal from a light sensor of the LIDAR sensor assembly; and
detecting, based at least in part on the received signal, reflected light corresponding to reflection of the emitted light from the reference surface.

2. The method of claim 1 , further comprising causing rotation of the rotatable assembly about the axis of rotation.

3. The method of claim 2 , further comprising repeating the transmitting, the receiving, and the detecting at least once per revolution of the rotatable assembly.

4. The method of claim 2 , wherein the transmitting, the receiving, and the detecting are performed responsive to a triggering event.

5. The method of claim 1 , wherein the elongated spine comprises a mount for mounting the LIDAR sensor assembly to a vehicle.

6. A LIDAR sensor assembly comprising:
a rotatable assembly comprising:
a chassis having an axis of rotation about which the rotatable assembly is rotatable;
a light source to emit light;
a light sensor configured to produce a light signal in response to sensing reflected light corresponding to reflection of the light emitted by the light source; and

a stationary portion to which the rotatable assembly is mechanically coupled, the rotatable assembly being rotatable through an angle of 360 degrees relative to the stationary portion, the stationary portion having an opaque surface disposed in at least a portion of a path of the light source and configured to remain stationary as the rotatable assembly rotates, wherein the stationary portion comprises:
a first support coupled to a first end of the chassis;
a second support coupled to a second end of the chassis; and
an elongated member extending between and coupled to the first support and the second support, wherein:
the elongated member serves as the opaque surface; and
the elongated member is substantially parallel to the axis of rotation of the chassis;

a controller communicatively coupled to the light source and the light sensor, the controller being operative to:
transmit a firing signal to the light source to cause the light source to emit light; and
receive a signal from the light sensor.

7. The LIDAR sensor assembly of claim 6 , wherein the opaque surface comprises a light diffuser.

8. The LIDAR sensor assembly of claim 6 , further comprising a mount for mounting the LIDAR sensor assembly, wherein the opaque surface comprises at least a portion of the mount.

9. The LIDAR sensor assembly of claim 6 , wherein the elongated member comprises a mount for mounting the LIDAR sensor assembly to a vehicle.

10. The LIDAR sensor assembly of claim 6 , wherein the stationary portion comprises a housing at least partially enclosing the rotatable assembly, the housing including a ring lens at least partially encircling a portion of the rotatable assembly.

11. The LIDAR sensor assembly of claim 6 , further comprising an outer housing at least partially enclosing the rotatable assembly, the outer housing comprising:
a cap;
a main body; and
a ring lens interposed between the cap and the main body.

12. The LIDAR sensor assembly of claim 11 , further comprising one or more trim pieces disposed between the ring lens and the opaque surface.

13. A LIDAR sensor assembly comprising:
a rotatable assembly comprising:
a chassis having an axis of rotation about which the rotatable assembly is rotatable;
a light source to emit light; and
a light sensor configured to produce a light signal in response to sensing reflected light corresponding to reflection of the light emitted by the light source;

a stationary portion to which the rotatable assembly is mechanically coupled, the rotatable assembly being rotatable through an angle of 360 degrees relative to the stationary portion, the stationary portion having an opaque surface disposed in at least a portion of a path of the light source and configured to remain stationary as the rotatable assembly rotates, wherein the stationary portion comprises a housing at least partially enclosing the rotatable assembly, the housing including a ring lens at least partially encircling a portion of the rotatable assembly; and
a controller communicatively coupled to the light source and the light sensor, the controller being operative to:
transmit a firing signal to the light source to cause the light source to emit light; and
receive a signal from the light sensor.

14. The LIDAR sensor assembly of claim 13 , wherein the opaque surface comprises a light diffuser.

15. The LIDAR sensor assembly of claim 13 , further comprising a mount for mounting the LIDAR sensor assembly, wherein the opaque surface comprises at least a portion of the mount.

16. The LIDAR sensor assembly of claim 13 , wherein the stationary portion comprises:
a first support coupled to a first end of the chassis;
a second support coupled to a second end of the chassis; and
an elongated member extending between and coupled to the first support and the second support; and
wherein the elongated member serves as the opaque surface.

17. The LIDAR sensor assembly of claim 16 , wherein the elongated member is substantially parallel to the axis of rotation of the chassis.

18. The LIDAR sensor assembly of claim 16 , wherein the elongated member comprises a mount for mounting the LIDAR sensor assembly to a vehicle.

19. The LIDAR sensor assembly of claim 13 , further comprising an outer housing at least partially enclosing the rotatable assembly, the outer housing comprising:
a cap;
a main body; and
the ring lens interposed between the cap and the main body.

20. The LIDAR sensor assembly of claim 19 , further comprising one or more trim pieces disposed between the ring lens and the opaque surface.

Assignees

• Zoox Inc

Inventors

• Berger Adam
• Andrews Riley
• Mcmichael Ryan
• Nikitin Denis
• Pesch Brian Alexander
• Pilnick Brian

Classifications

• G01S17/42 Primary

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S17/10

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• G01S7/497 Primary

  Means for monitoring or calibrating · CPC title

• G01S17/931

  of land vehicles · CPC title