公开(公告)号：US20200088958A1

公开(公告)日：2020-03-19

申请号：US16669488

申请日：2019-10-30

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Schleuning ,  Augusto Tazzoli

IPC: G02B6/42 ,  G01S17/00

Abstract: The present disclosure relates to optical systems and methods for their manufacture. An example system includes a first substrate that has at least one bridge structure. The bridge structure has a first surface with one or more light-emitter devices disposed on it. The system also includes a second substrate that has a mounting surface that defines a reference plane. The second substrate includes a structure and an optical spacer on the mounting surface. The first and second substrates are coupled together such that the first surface of the first substrate faces the second substrate at an angle with respect to the reference plane. The system also includes at least one spacer coupled to the mounting surface. The at least one spacer is in physical contact with the one or more light-emitter devices.

公开(公告)号：US10473870B1

公开(公告)日：2019-11-12

申请号：US16406322

申请日：2019-05-08

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Schleuning ,  Augusto Tazzoli

IPC: G02B6/42 ,  F21K9/00

Abstract: The present disclosure relates to optical systems and methods for their manufacture. An example system includes a first substrate that has at least one bridge structure. The bridge structure has a first surface with one or more light-emitter devices disposed on it. The system also includes a second substrate that has a mounting surface that defines a reference plane. The second substrate includes a structure and an optical spacer on the mounting surface. The first and second substrates are coupled together such that the first surface of the first substrate faces the second substrate at an angle with respect to the reference plane. The system also includes at least one spacer coupled to the mounting surface. The at least one spacer is in physical contact with the one or more light-emitter devices.

公开(公告)号：US10310197B1

公开(公告)日：2019-06-04

申请号：US16133452

申请日：2018-09-17

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Schleuning ,  Augusto Tazzoli

IPC: F21K9/00 ,  G02B6/42

Abstract: The present disclosure relates to optical systems and methods for their manufacture. An example system includes a first substrate that has at least one bridge structure. The bridge structure has a first surface with one or more light-emitter devices disposed on it. The system also includes a second substrate that has a mounting surface that defines a reference plane. The second substrate includes a structure and an optical spacer on the mounting surface. The first and second substrates are coupled together such that the first surface of the first substrate faces the second substrate at an angle with respect to the reference plane. The system also includes at least one spacer coupled to the mounting surface. The at least one spacer is in physical contact with the one or more light-emitter devices.

公开(公告)号：US12032097B2

公开(公告)日：2024-07-09

申请号：US18171883

申请日：2023-02-21

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alex McCauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S7/48 ,  G01S7/481 ,  G01S7/4865 ,  G01S17/931

CPC classification number: G01S7/4865 ,  G01S7/4804 ,  G01S7/4816 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.

公开(公告)号：US11947048B2

公开(公告)日：2024-04-02

申请号：US17061003

申请日：2020-10-01

Applicant: Waymo LLC

Inventor： David Schleuning ,  Pierre-Yves Droz ,  Jason Watson ,  James Dunphy

IPC: G01S7/487 ,  G01S7/481 ,  G01S7/4863 ,  G01S17/931

CPC classification number: G01S7/487 ,  G01S7/4818 ,  G01S7/4863 ,  G01S17/931

Abstract: Example embodiments relate to crosstalk reduction for light detection and ranging (lidar) devices using wavelength locking. An example embodiment includes a lidar device. The lidar device includes a first light emitter configured to emit a first light signal and a second light emitter configured to emit a second light signal. The lidar device also includes a first light guide and a second light guide. In addition, the lidar device includes a first light detector and a second light detector. Further, the lidar device includes a first wavelength-locking mechanism configured to use a portion of the first light signal to maintain a wavelength of the first light signal and a second wavelength-locking mechanism configured to use a portion of the second light signal to maintain a wavelength of the second light signal. The wavelengths of the first light signal and the second light signal are different.

公开(公告)号：US20240071093A1

公开(公告)日：2024-02-29

申请号：US17821535

申请日：2022-08-23

Applicant: Waymo LLC

Inventor： Georges Goetz ,  James Dunphy ,  Augusto Tazzoli ,  David Schleuning

IPC: G06V20/58 ,  B60W60/00

CPC classification number: G06V20/58 ,  B60W60/0015 ,  B60W2420/52 ,  B60W2554/4049

Abstract: Example embodiments relate to time-division multiple access scanning for crosstalk mitigation in light detection and ranging (lidar) devices. An example embodiment includes a method. The method includes emitting a first group of light signals into a surrounding environment. The first group of light signals corresponds to a first angular resolution. The method also includes detecting, during a first listening window, a first group of reflected light signals. Additionally, the method includes emitting a second group of light signals into the surrounding environment. The second group of light signals corresponds to a second angular resolution with respect to the surrounding environment. The second angular resolution is lower than the first angular resolution. Further, the method includes detecting a second group of reflected light signals from the surrounding environment. In addition, the method includes synthesizing, by a controller of the lidar device, a dataset usable to generate one or more point clouds.

公开(公告)号：US11460648B2

公开(公告)日：2022-10-04

申请号：US17234960

申请日：2021-04-20

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Schleuning

IPC: G02B6/42 ,  G01S7/481

Abstract: Systems and methods described herein relate to the manufacture of optical elements and optical systems. An example method includes providing a first substrate that has a plurality of light-emitter devices disposed on a first surface. The method includes providing a second substrate that has a mounting surface defining a reference plane. The method includes forming a structure and an optical spacer on the mounting surface of the second substrate. The method additionally includes coupling the first and second substrates together such that the first surface of the first substrate faces the mounting surface of the second substrate at an angle with respect to the reference plane.

公开(公告)号：US20220276384A1

公开(公告)日：2022-09-01

申请号：US17739064

申请日：2022-05-06

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alexander McCauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S17/89 ,  G06T7/521 ,  G01S7/497 ,  G01S7/481 ,  G01S7/48 ,  G01S7/4865 ,  G01S17/08 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide information about a scene based on a time-of-flight (ToF) sensor and a structured light pattern. In an example embodiment, a sensor system could include at least one ToF sensor configured to receive light from a scene. The sensor system could also include at least one light source configured to emit a structured light pattern and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with the structured light pattern and causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the structured light pattern.

公开(公告)号：US20220137230A1

公开(公告)日：2022-05-05

申请号：US17513973

申请日：2021-10-29

Applicant: Waymo LLC

Inventor： David Schleuning ,  James Dunphy ,  Augusto Tazzoli ,  Matthew Last

IPC: G01S17/931 ,  G01S7/481 ,  H01S5/183 ,  H01S5/42

Abstract: Example embodiments relate to light detection and ranging (lidar) devices having vertical-cavity surface-emitting laser (VCSEL) emitters. An example lidar device includes an array of individually addressable VCSELs configured to emit light pulses into an environment surrounding the lidar device. The lidar device also includes a firing circuit configured to selectively fire the individually addressable VCSELs in the array. In addition, the lidar device includes a controller configured to control the firing circuit using a control signal. Further, the lidar device includes a plurality of detectors. Each detector in the plurality of detectors is configured to detect reflections of light pulses that are emitted by one or more individually addressable VCSELs in the array and reflected by one or more objects in the environment surrounding the lidar device.

公开(公告)号：US10989886B2

公开(公告)日：2021-04-27

申请号：US16705406

申请日：2019-12-06

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  David Schleuning

IPC: G02B6/32 ,  G02B6/42 ,  G01S7/481

Abstract: Systems and methods described herein relate to the manufacture of optical elements and optical systems. An example method includes providing a first substrate that has a plurality of light-emitter devices disposed on a first surface. The method includes providing a second substrate that has a mounting surface defining a reference plane. The method includes forming a structure and an optical spacer on the mounting surface of the second substrate. The method additionally includes coupling the first and second substrates together such that the first surface of the first substrate faces the mounting surface of the second substrate at an angle with respect to the reference plane.