公开(公告)号：US20210165082A1

公开(公告)日：2021-06-03

申请号：US17173128

申请日：2021-02-10

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-Yves Droz ,  Benjamin T. Ingram

IPC: G01S7/481 ,  G01S17/42 ,  G02B26/12

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

公开(公告)号：US20190154808A1

公开(公告)日：2019-05-23

申请号：US16229182

申请日：2018-12-21

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-Yves Droz ,  Benjamin T. Ingram

IPC: G01S7/481 ,  G01S17/89 ,  G02B26/12 ,  G01S17/42

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

公开(公告)号：US11550039B2

公开(公告)日：2023-01-10

申请号：US17173128

申请日：2021-02-10

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-Yves Droz ,  Benjamin T. Ingram

IPC: G02B26/08 ,  G01S7/481 ,  G01S17/42 ,  G02B26/12 ,  G01S17/89

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

公开(公告)号：US20240111054A1

公开(公告)日：2024-04-04

申请号：US18194758

申请日：2023-04-03

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Nicholas Armstrong-Crews ,  Andreas Wendel ,  Benjamin T. Ingram ,  Clayton Kunz

IPC: G01S17/89 ,  G01S7/481 ,  G01S17/10

CPC classification number: G01S17/89 ,  G01S7/4817 ,  G01S17/10

Abstract: One example system includes a first light detection and ranging (LIDAR) device that scans a first field-of-view defined by a first range of pointing directions associated with the first LIDAR device. The system also includes a second LIDAR device that scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device. The second FOV at least partially overlaps the first FOV. The system also includes a first controller that adjusts a first pointing direction of the first LIDAR device. The system also includes a second controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device.

公开(公告)号：US10948573B2

公开(公告)日：2021-03-16

申请号：US16229182

申请日：2018-12-21

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-Yves Droz ,  Benjamin T. Ingram

IPC: G02B26/08 ,  G01S7/481 ,  G01S17/89 ,  G01S17/42 ,  G02B26/12

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

公开(公告)号：US20180172804A1

公开(公告)日：2018-06-21

申请号：US15383842

申请日：2016-12-19

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-yves Droz ,  Benjamin T. Ingram

IPC: G01S7/481 ,  G02B26/12

CPC classification number: G01S7/4817 ,  G01S7/4814 ,  G01S7/4816 ,  G01S17/42 ,  G01S17/89 ,  G02B26/122 ,  G02B26/125

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

公开(公告)号：US11879998B2

公开(公告)日：2024-01-23

申请号：US18145158

申请日：2022-12-22

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-Yves Droz ,  Benjamin T. Ingram

IPC: G02B26/08 ,  G01S7/481 ,  G01S17/42 ,  G02B26/12 ,  G01S17/89

CPC classification number: G01S7/4817 ,  G01S7/4814 ,  G01S7/4816 ,  G01S17/42 ,  G01S17/89 ,  G02B26/122 ,  G02B26/125

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

公开(公告)号：US10001551B1

公开(公告)日：2018-06-19

申请号：US15383842

申请日：2016-12-19

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-yves Droz ,  Benjamin T. Ingram

IPC: G02B26/08 ,  G01S7/481 ,  G02B26/12

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

公开(公告)号：US20230131634A1

公开(公告)日：2023-04-27

申请号：US18145158

申请日：2022-12-22

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-Yves Droz ,  Benjamin T. Ingram

IPC: G01S7/481 ,  G01S17/42 ,  G02B26/12 ,  G01S17/89

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.

公开(公告)号：US10191146B2

公开(公告)日：2019-01-29

申请号：US15951491

申请日：2018-04-12

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Pierre-Yves Droz ,  Benjamin T. Ingram

IPC: G02B26/08 ,  G01S7/481 ,  G02B26/12 ,  G01S17/42 ,  G01S17/89

Abstract: The present disclosure relates to optical systems, specifically light detection and ranging (LIDAR) systems. An example optical system includes a laser light source operable to emit laser light along a first axis and a mirror element with a plurality of reflective surfaces. The mirror element is configured to rotate about a second axis. The plurality of reflective surfaces is disposed about the second axis. The mirror element and the laser light source are coupled to a base structure, which is configured to rotate about a third axis. While the rotational angle of the mirror element is within an angular range, the emitted laser light interacts with both a first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.