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公开(公告)号：US09935514B1
公开(公告)日：2018-04-03
申请号：US14568479
申请日：2014-12-12
Applicant: Waymo LLC
Inventor： Samuel William Lenius , Paul Karplus , Alexander Danilo Zbrozek
CPC classification number: H02K3/26 , G01S7/4817 , G01S17/42
Abstract: A printed circuit board (PCB) includes a first plurality of conductive paths having first ends at an inner radius of the PCB and second ends at an outer radius of the PCB. The PCB further includes a second plurality of conductive paths having first ends at an outer radius of the PCB and second ends at an inner radius of the PCB. The PCB further includes a first plurality of conductive vias that pass through the PCB at the outer radius of the PCB and couple second ends of the first plurality of conductive paths to first ends of the second plurality of conductive paths. The PCB further includes a second plurality of conductive vias that pass through the PCB at the inner radius of the PCB and electrically couple second ends of the second plurality of conductive paths to first ends of the first plurality of conductive paths.
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公开(公告)号：US20180081361A1
公开(公告)日：2018-03-22
申请号：US15271140
申请日：2016-09-20
Applicant: Waymo LLC
Inventor： Craig Robinson , John Tisdale , Seth LaForge , Paul Karplus
Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.
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公开(公告)号：US12055659B2
公开(公告)日：2024-08-06
申请号：US17134277
申请日：2020-12-26
Applicant: Waymo LLC
Inventor： Blaise Gassend , David Duff , Pierre-Yves Droz , Paul Karplus , Jason Watson , Michael Brickner , Alex Rivas
IPC: G01S7/48 , G01S7/481 , G01S7/4914 , G01S7/493 , G01S17/931
CPC classification number: G01S7/4813 , G01S7/4817 , G01S7/4914 , G01S7/493 , G01S17/931
Abstract: The present disclosure relates to devices, lidar systems, and vehicles that include optical redirectors. An example lidar system includes a transmitter and a receiver. The transmitter includes at least one light-emitter device configured to transmit emission light into an environment of the lidar system. The receiver is configured to detect return light from the environment and includes a plurality of apertures, a plurality of photodetectors, and a plurality of optical redirector elements. Each optical redirector element is configured to optically couple a respective portion of return light from a respective aperture to at least one photodetector of the plurality of photodetectors.
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公开(公告)号：US11909263B1
公开(公告)日：2024-02-20
申请号：US16355672
申请日：2019-03-15
Applicant: Waymo LLC
Inventor： Paul Karplus
Abstract: One example device includes a rotor platform that rotates about an axis of rotation. The device also includes a rotor coil comprising a first plurality of conductive loops disposed along a planar mounting surface of the rotor platform. The device also includes a stator platform and a stator coil comprising a second plurality of conductive loops disposed along a planar mounting surface of the stator platform. The rotor coil and the stator coil are coaxially arranged about the axis of rotation. The stator coil remains within a first predetermined distance to the rotor coil in response to rotation of the rotor platform. The device also includes a magnetic core extending along the axis of rotation and through the stator coil. The magnetic core remains within a second predetermined distance to the stator coil in response to rotation of the rotor platform.
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公开(公告)号：US11474211B2
公开(公告)日：2022-10-18
申请号：US16660980
申请日：2019-10-23
Applicant: WAYMO LLC
Inventor： Paul Karplus , Blaise Gassend , David Duff
Abstract: Aspects of the technology employ sensors having high speed rotating mirror assemblies. For instance, the sensors may be Lidar sensors configured to detect people and other objects in an area of interest. A given mirror assembly may have a triangular or other geometric cross-sectional shape. The reflective faces of the mirror assembly may connect along edges or corners. In order to minimize wind drag and torque issues, the corners are rounded, filleted, beveled, chamfered or otherwise truncated. Such truncation may extend the length of the mirror side. The mirror assembly may employ one or more beam stops, light baffles and/or acoustic/aerodynamic baffles. These sensors may be employed with self-driving or manual driven vehicles or other equipment. The sensors may also be used in and around buildings.
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Patent Agency Ranking
公开(公告)号：US20220187448A1
公开(公告)日：2022-06-16
申请号：US17376611
申请日：2021-07-15
Applicant: Waymo LLC
Inventor： Mark Alexander Shand , Lucas Peeters , Rui Wu , Blaise Gassend , Stephen Osborn , Paul Karplus , Georges Goetz
IPC: G01S13/931 , G06K9/00 , G01S7/4861
Abstract: Computing devices, systems, and methods described in various embodiments herein may relate to a light detection and ranging (lidar) system. An example computing device could include a controller having at least one processor and at least one memory. The at least one processor is configured to execute program instructions stored in the at least one memory so as to carry out operations. The operations include receiving information identifying an environmental condition surrounding a vehicle, the environmental condition being at least one of fog, mist, snow, dust, or rain. The operations also include determining a range of interest within a field of view of the lidar system based on the received information. The operations also include adjusting at least one of: a return light detection time period, sampling rate, or filtering threshold, for at least a portion of the field of view based on the determined range of interest.
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公开(公告)号：USD944667S1
公开(公告)日：2022-03-01
申请号：US29699959
申请日：2019-07-30
Applicant: WAYMO LLC
Designer： YooJung Ahn , David Gordon Duff , Joshua Newby , Paul Karplus , Candace Marbury
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公开(公告)号：US11209276B2
公开(公告)日：2021-12-28
申请号：US16674159
申请日：2019-11-05
Applicant: Waymo LLC
Inventor： Craig Robinson , John Tisdale , Seth LaForge , Paul Karplus
Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.
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公开(公告)号：US20200083956A1
公开(公告)日：2020-03-12
申请号：US16682850
申请日：2019-11-13
Applicant: Waymo LLC
Inventor： Paul Karplus , Jeffrey Rogers
IPC: H04B10/116 , B60Q1/50
Abstract: In one example, a device includes a first platform having a first side and a second platform having a second side that overlaps the first side. The device also includes an actuator that rotates the first platform relative to the second platform. The device also includes a plurality of light sources mounted to the first platform in a substantially circular arrangement around the axis of rotation of the first platform. The plurality of light sources emit a plurality of light beams such that respective adjacent light beams intersect at least at a predetermined distance to the first side. The first side remains at least at the predetermined distance to the second side in response to the actuator rotating the first platform. The device also includes a light detector mounted to the second platform and positioned to at least partially overlap at least one of the plurality of light beams.
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公开(公告)号：US20200072612A1
公开(公告)日：2020-03-05
申请号：US16674159
申请日：2019-11-05
Applicant: Waymo LLC
Inventor： Craig Robinson , John Tisdale , Seth LaForge , Paul Karplus
Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.
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