公开(公告)号：US12133005B2

公开(公告)日：2024-10-29

申请号：US18150249

申请日：2023-01-05

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Benjamin Ingram ,  Andreas Wendel ,  Mark Alexander Shand

IPC: H04N5/353 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G06T7/521 ,  G06T7/90 ,  G06T17/05 ,  H04N5/225 ,  H04N5/232 ,  H04N5/235 ,  H04N5/247 ,  H04N5/341 ,  H04N23/45 ,  H04N23/698 ,  H04N23/71 ,  H04N23/73 ,  H04N23/90 ,  H04N25/40 ,  H04N25/531

CPC classification number: H04N25/531 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G06T7/521 ,  H04N23/45 ,  H04N23/698 ,  H04N23/71 ,  H04N23/73 ,  H04N23/90 ,  H04N25/40 ,  G06T7/90 ,  G06T17/05 ,  G06T2207/10028 ,  G06T2207/10144 ,  G06T2207/10152

Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

公开(公告)号：US12130389B2

公开(公告)日：2024-10-29

申请号：US17198020

申请日：2021-03-10

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Nicholas Armstrong-Crews ,  Scott McCloskey

IPC: G01S7/00 ,  G01S7/481 ,  G01S7/497 ,  G02B27/00

CPC classification number: G01S7/497 ,  G01S7/4813 ,  G02B27/0006 ,  G01S2007/4977

Abstract: One example method involves rotating a housing of a light detection and ranging (LIDAR) device about a first axis. The housing includes a first optical window and a second optical window. The method also involves transmitting a first plurality of light pulses through the first optical window to obtain a first scan of a field-of-view (FOV) of the LIDAR device. The method also involves transmitting a second plurality of light pulses through the second optical window to obtain a second scan of the FOV. The method also involves identifying, based on the first scan and the second scan, a portion of the FOV that is at least partially occluded by an occlusion.

公开(公告)号：US20240118391A1

公开(公告)日：2024-04-11

申请号：US18540486

申请日：2023-12-14

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  David Duff ,  Pierre-Yves Droz ,  Paul Karplus ,  Jason Watson ,  Michael Brickner ,  Alex Rivas

IPC: G01S7/481 ,  G01S17/931

CPC classification number: G01S7/4816 ,  G01S7/4814 ,  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. 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 redirectors. Each optical redirector 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. Each optical redirector also has a rotational orientation relative to other optical redirectors such that the redirection paths of optical redirectors that correspond to adjacent apertures are not coplanar with one another.

公开(公告)号：US11906813B2

公开(公告)日：2024-02-20

申请号：US17896814

申请日：2022-08-26

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Ryan Davis ,  David Duff

IPC: G02B7/18 ,  G02B7/182 ,  G01S17/06 ,  H01S3/081 ,  G02B26/10 ,  G02B6/26 ,  G01S7/481

CPC classification number: G02B7/1821 ,  G01S7/4817 ,  G01S17/06 ,  G02B6/26 ,  G02B26/105 ,  H01S3/0811

Abstract: The present disclosure relates to optical devices and systems, specifically those related to light detection and ranging (LIDAR) systems. An example device includes a shaft defining a rotational axis. The shaft includes a first material having a first coefficient of thermal expansion. The device also includes a rotatable mirror disposed about the shaft. The rotatable mirror includes a multi-sided structure having an exterior surface and an interior surface. The multi-sided structure includes a second material having a second coefficient of thermal expansion. The second coefficient of thermal expansion is different from the first coefficient of thermal expansion. The multi-sided structure also includes a plurality of reflective surfaces disposed on the exterior surface of the multi-sided structure. The multi-sided structure yet further includes one or more support members coupled to the interior surface and the shaft.

公开(公告)号：US11841463B2

公开(公告)日：2023-12-12

申请号：US17941118

申请日：2022-09-09

Applicant: WAYMO LLC

Inventor： Paul Karplus ,  Blaise Gassend ,  David Duff

IPC: G02F1/295 ,  G01S7/481 ,  G02B26/12

CPC classification number: G01S7/4817 ,  G02B26/12

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.

公开(公告)号：US11662465B2

公开(公告)日：2023-05-30

申请号：US16237427

申请日：2018-12-31

Applicant: Waymo LLC

Inventor： Ryan Davis ,  Blaise Gassend

IPC: G01S17/26 ,  G02B27/09 ,  G02B26/12 ,  G01S17/00

CPC classification number: G01S17/26 ,  G01S17/00 ,  G02B26/12 ,  G02B27/0955 ,  G02B27/0972 ,  G02B27/0977

Abstract: The present disclosure relates to systems and methods that facilitate a scanning light detection and ranging (LIDAR) device configured to provide an asymmetric illumination pattern. An example system includes a rotatable base configured to rotate about a first axis and a mirror assembly. The mirror assembly is configured to rotate about a second axis, which is substantially perpendicular to the first axis. The system also includes an optical cavity coupled to the rotatable base. The optical cavity includes a photodetector and a photodetector lens arranged so as to define a light-receiving axis. The optical cavity also includes a light-emitter device and a light-emitter lens arranged so as to define a light-emission axis. At least one of the light-receiving axis or the light-emission axis forms a tilt angle with respect to the first axis.

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：US11585909B2

公开(公告)日：2023-02-21

申请号：US16227156

申请日：2018-12-20

Applicant: Waymo LLC

Inventor： Rahim Pardhan ,  Blaise Gassend

IPC: G01S7/497 ,  G01S7/484 ,  G01S17/10

Abstract: The present disclosure relates to systems and methods that facilitate compliance of a laser device with a laser safety threshold. An example method includes receiving, from a sensing circuit, an operating voltage that is indicative of a charge of a capacitive element of a laser pulser circuit. The method also includes comparing a first voltage indicative of the operating voltage and a second voltage indicative of a reference voltage. The method additionally includes providing an output value based on the comparing. The method yet further includes evaluating compliance with the laser safety threshold based on the output value.

公开(公告)号：US11102882B2

公开(公告)日：2021-08-24

申请号：US16204882

申请日：2018-11-29

Applicant: Waymo LLC

Inventor： Augusto Tazzoli ,  Blaise Gassend

IPC: H05K1/02 ,  H05K1/11 ,  G01S17/42 ,  G01S7/481 ,  G01S17/931

Abstract: A Printed Circuit Board (PCB) includes a via extending through at least one layer of the PCB. The PCB may also include a first catch pad connected to the via and located within a first metal layer of the PCB. The first catch pad may have a first size. The PCB may further include a second catch pad connected to the via and located within a second metal layer of the PCB. The second catch pad may have a second size greater than the first size. The second catch pad may overlap horizontally with a portion of a metallic feature in the first metal layer to obstruct light incident on a first side of the PCB from transmission to a second side of the PCB through a region of dielectric material near the via.

公开(公告)号：US20210199806A1

公开(公告)日：2021-07-01

申请号：US17134283

申请日：2020-12-26

Applicant: Waymo LLC

Inventor： Jason Watson ,  Blaise Gassend

IPC: G01S17/89 ,  G06K9/00 ,  G06T7/246 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods for occlusion detection. An example system includes a primary reflective surface and a rotatable mirror configured to rotate about a rotational axis. The rotatable mirror includes a plurality of secondary reflective surfaces. The system also includes an optical element and a camera that is configured to capture at least one image of the optical element by way of the primary reflective surface and at least one secondary reflective surface of the rotatable mirror.