# US 9,880,263 B2 · Long range steerable LIDAR system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,880,263 B2 - Document ID: US9880263B2 - Status: Granted - Kind: B2 - Application number: 14/679,683 - Filed: 2015-04-06 - Published: 2016-10-06 - Granted: 2018-01-30 - Earliest claimed: 2015-04-06 - Assignees: Waymo LLC - Applicants: Waymo LLC - Inventors: Pierre-yves Droz; Gaetan Pennecot; Anthony Levandowski; Drew Eugene Ulrich; Zach Morriss; Luke Wachter; Dorel Ionut Iordache; William McCann; Daniel Gruver; Bernard Fidric; Samuel William Lenius - Web page: https://patentgrep.com/patent/US9880263B2 ## CPC - G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section} - G01S 7/4817: {relating to scanning} - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/931: of land vehicles - G01S 2013/93271: {in the front of the vehicles} - G01S 2013/93272: {in the back of the vehicles} - G01S 2013/93273: {on the top of the vehicles} - G01S 2013/93274: {on the side of the vehicles} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV. ## Claims ### Claim 1 A device comprising: a light detection and ranging (LIDAR) device, wherein the LIDAR device comprises: a light source configured to emit light within a wavelength range, wherein the light source comprises a fiber laser; a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis; and a plurality of detectors configured to sense light within the wavelength range; a housing, wherein at least the scanning portion is disposed within the housing, and wherein a wall of the housing comprises a light filter configured to allow light within the wavelength range to propagate through the light filter; a rotational mount configured to rotate about a second axis; and a controller configured to: receive target information based on an initial three-dimensional (3D) representation of the environment of the device, wherein the target information is indicative of at least one of: a type of object, a size of an object, a shape of an object, a position, a location, or an angle range; in response to receiving the target information, cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR; cause the LIDAR to scan a field-of-view (FOV) of the environment, wherein the FOV extends away from the LIDAR along the pointing direction; and determine a 3D representation of the environment based on data from scanning the FOV. ### Claim 2 (depends on 1) The device of claim 1 wherein a wavelength of the emitted light comprises 1550 nm. ### Claim 3 (depends on 1) The device of claim 1 wherein the housing is positioned at a top side of a vehicle, wherein the second axis comprises an axis passing through the top side of the vehicle, and wherein the rotational mount is configured to rotate within a 360 degree range of motion about the second axis. ### Claim 4 (depends on 1) The device of claim 1 wherein the light filter has a dome shape. ### Claim 5 (depends on 1) The device of claim 1 wherein the light filter is configured to reduce an amount of visible light propagating through the light filter. ### Claim 6 (depends on 1) The device of claim 1 wherein the controller is further configured to identify at least one object in the environment based on the 3D representation. ### Claim 7 (depends on 1) The method of claim 1, wherein the first axis is normal to the second axis. ### Claim 8 (depends on 1) The device of claim 1, further comprising a further LIDAR device, wherein the further LIDAR device is configured to rotate independent from the LIDAR device, wherein the LIDAR device is configured to obtain data within a first region, wherein the further LIDAR device is configured to obtain data within a second region, and wherein the first and second regions do not fully overlap. ### Claim 9 (depends on 1) The device of claim 1, further comprising a further LIDAR device, wherein the further LIDAR device is configured to rotate independent from the LIDAR device, wherein the LIDAR device is associated with a first data resolution, and the further LIDAR device is associated with a second data resolution, wherein the first data resolution is higher than the second data resolution. ### Claim 10 A system comprising: a vehicle; a sensing device configured to provide environmental data indicative of an environment around the vehicle, wherein the sensing device is coupled to the vehicle; a light detection and ranging (LIDAR) device, wherein the LIDAR device is coupled to the vehicle; a controller configured to: receive the environmental data; determine, based on the environmental data, target information indicative of an initial three-dimensional (3D) representation of the environment of the vehicle, wherein the target information is further indicative of at least one of: a type of object, a size of an object, a shape of an object, a position, a location, or an angle range; cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR based at least on the target information; cause the LIDAR to scan a field-of-view (FOV) of the environment, wherein the FOV extends away from the LIDAR along the pointing direction; and determine a 3D representation of the environment based on data from scanning the FOV. ### Claim 11 (depends on 10) The system of claim 10 wherein the LIDAR comprises a light source configured to emit light within a wavelength range, wherein the laser light source comprises a fiber laser, and wherein causing the LIDAR to scan a FOV comprises causing the LIDAR to emit light comprising light at least at 1550 nm. ### Claim 12 (depends on 11) The system of claim 11 wherein the LIDAR further comprises a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis. ### Claim 13 (depends on 12) The system of claim 12 wherein at least the scanning portion of the LIDAR is disposed within a housing, wherein the housing is positioned at a top side of the vehicle, wherein a second axis comprises an axis passing through the top side of the vehicle, and wherein the rotational mount is configured to rotate within a 360 degree range of motion about the second axis. ### Claim 14 (depends on 13) The system of claim 13 wherein the housing comprises a light filter, wherein the light filter has a dome shape, and wherein the light filter is configured to reduce an amount of visible light propagating through the light filter. ### Claim 15 (depends on 10) The system of claim 10 wherein the controller is further configured to identify at least one object in the environment based on the 3D representation. ### Claim 16 A method comprising: receiving target information by a controller of a light detection and ranging (LIDAR) device, wherein the target information is based on an initial three-dimensional (3D) representation of the environment of the LIDAR and is indicative at least one of: a type of object, a size of an object, a shape of an object, a distance, a position, or an angle range; causing a light source of the LIDAR to emit light within a wavelength range, wherein the light source comprises a fiber laser; causing a scanning portion of the LIDAR to direct the emitted light in a reciprocating manner about a first axis; in response to receiving the target information, causing a rotational mount coupled to the LIDAR to rotate so as to adjust a pointing direction of the LIDAR, wherein the rotational mount is configured to rotate about a second axis; causing the LIDAR to scan a field-of-view (FOV) of the environment, wherein the FOV extends away from the LIDAR along the pointing direction; and determining a 3D representation of the environment based on data from scanning the FOV. ### Claim 17 (depends on 16) The method of claim 16 wherein at least the scanning portion of the LIDAR is disposed within a housing, and wherein a wall of the housing comprises a light filter configured to allow light within the wavelength range to propagate through the light filter, wherein the housing is positioned at a top side of a vehicle, wherein the second axis comprises an axis passing through the top side of the vehicle, and wherein the rotational mount is configured to rotate within a 360 degree range of motion about the second axis. ### Claim 18 (depends on 17) The method of claim 17 wherein the light filter has a dome shape, wherein the light filter is configured to reduce an amount of visible light propagating through the light filter. ### Claim 19 (depends on 16) The method of claim 16 wherein the controller is further configured to identify at least one object in the environment based on the 3D representation.