Using Cleaning Protocols to Monitor Defects Associated with Light Detection and Ranging (Lidar) Devices

Patent metadata

Field	Value
Publication number	US-2024219538-A1
Application number	US-202218148619-A
Country	US
Kind code	A1
Filing date	Dec 30, 2022
Priority date	Dec 30, 2022
Publication date	Jul 4, 2024
Grant date	—

Abstract

Example embodiments relate to using cleaning protocols to monitor defects associated with light detection and ranging (lidar) devices. An example embodiment includes a method. The method includes applying, using a cleaning device, a cleaning protocol to one or more optical components of a light detection and ranging (lidar) device. The method also includes emitting, from a light emitter of the lidar device, one or more light signals. Additionally, the method includes detecting, by a light detector of the lidar device, reflections of the one or more light signals. Further, the method includes determining, by a controller of the lidar device based on the detected reflections of the one or more light signals, that one or more defects are present within the one or more optical components or within the cleaning device.

First claim

What is claimed is:

1 . A method comprising:
applying, using a cleaning device, a cleaning protocol to one or more optical components of a light detection and ranging (lidar) device; emitting, from a light emitter of the lidar device, one or more light signals; detecting, by a light detector of the lidar device, reflections of the one or more light signals; and determining, by a controller based on the detected reflections of the one or more light signals, that one or more defects are present within the one or more optical components or within the cleaning device.

2 . The method of claim 1 , wherein applying the cleaning protocol comprises:
spraying, from a sprayer of the cleaning device, a cleaning solution onto at least one of the one or more optical components; and applying, by a pressurized air supply of the cleaning device, pressurized air onto the at least one optical component.

3 . The method of claim 1 , wherein the one or more defects comprise a degradation of a hydrophobic coating, and wherein the degradation corresponds to a reduced hydrophobicity of the hydrophobic coating.

4 . The method of claim 1 , wherein emitting the one or more light signals comprises emitting a series of light signals, and wherein detecting the reflections of the one or more light signals comprises detecting a series of reflections of the one or more light signals.

5 . The method of claim 4 , wherein determining that one or more defects are present within the one or more optical components or within the cleaning device comprises:
generating a plot of intensities of the series of reflections of the one or more light signals over time; and fitting the generated plot to a function.

6 . The method of claim 5 , wherein determining that one or more defects are present within the one or more optical components or within the cleaning device further comprises comparing the function to which the generated plot is fitted with a calibration function generated during a calibration of the lidar device.

7 . The method of claim 5 , wherein the function to which the generated plot is fitted comprises an exponential function, and wherein a peak value and a time constant of the exponential function represent figures of merit.

8 . The method of claim 5 , wherein determining that one or more defects are present within the one or more optical components or within the cleaning device comprises accounting for a weather condition in a surrounding environment of the lidar device.

9 . The method of claim 8 , wherein accounting for the weather condition in the surrounding environment of the lidar device comprises applying one or more offsets to the plot of intensities based on the weather condition.

10 . The method of claim 1 , further comprising performing remedial action based on the determined one or more defects present.

11 . The method of claim 1 , wherein applying the cleaning protocol comprises:
spraying, from a sprayer of the cleaning device, a cleaning solution onto at least one of the one or more optical components; and wiping, by a wiper of the cleaning device, the at least one optical component to remove the cleaning solution.

12 . A system comprising:
a light detection and ranging (lidar) device comprising:
one or more optical components;
a light emitter configured to emit one or more light signals; and
a light detector configured to detect reflections of the one or more light signals;
a cleaning device configured to apply a cleaning protocol to the one or more optical components; and a controller configured to determine, based on the detected reflections of the one or more light signals, that one or more defects are present within the one or more optical components or within the cleaning device.

13 . The system of claim 12 ,
wherein the cleaning device comprises a sprayer and a pressurized air supply, and wherein applying the cleaning protocol comprises:
spraying, from a sprayer of the cleaning device, a cleaning solution onto at least one of the one or more optical components; and
applying, by a pressurized air supply of the cleaning device, pressurized air onto the at least one optical component.

14 . The system of claim 12 , wherein the one or more defects comprise a degradation of a hydrophobic coating, and wherein the degradation corresponds to a reduced hydrophobicity of the hydrophobic coating.

15 . The system of claim 12 , wherein emitting the one or more light signals comprises emitting a series of light signals, and wherein detecting the reflections of the one or more light signals comprises detecting a series of reflections of the one or more light signals.

16 . The system of claim 15 , wherein determining that one or more defects are present within the one or more optical components or within the cleaning device comprises:
generating a plot of intensities of the series of reflections of the one or more light signals over time; and fitting the generated plot to a function.

17 . The system of claim 16 , wherein determining that one or more defects are present within the one or more optical components or within the cleaning device further comprises comparing the function to which the generated plot is fitted with a calibration function generated during a calibration of the lidar device.

18 . The system of claim 16 , wherein the function to which the generated plot is fitted comprises an exponential function, and wherein a peak value and a time constant of the exponential function represent figures of merit.

19 . The system of claim 16 , wherein determining that one or more defects are present within the one or more optical components or within the cleaning device comprises accounting for a weather condition in a surrounding environment of the lidar device.

20 . A computing device configured to:
receive data corresponding to reflections of one or more light signals detected by a light detector of a light detection and ranging (lidar) device, wherein the one or more light signals were emitted by a light emitter of the lidar device in response to a cleaning device applying a cleaning protocol to one or more optical components of the lidar device; and determine, based on the received data, that one or more defects are present within the one or more optical components or within the cleaning device.

Assignees

• Waymo Llc

Inventors

• Peeters Lucas
• Salsbury Chase
• Sachdev Kanika
• Wachter Luke
• Pudlik Tadeusz
• Onal Caner
• Su Logan

Classifications

• G01S17/931

  of land vehicles · CPC title

• G01S7/497 Primary

  Means for monitoring or calibrating · CPC title

• G01S7/4813

  Housing arrangements · CPC title

• G01S2007/4975

  of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen · CPC title

• G01S2007/4977

  including means to prevent or remove the obstruction · CPC title