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1.发明公开公开(公告)号：US20240319378A1
公开(公告)日：2024-09-26
申请号：US18731976
申请日：2024-06-03
Applicant: Waymo LLC
Inventor： David Schleuning , James Dunphy , Augusto Tazzoli , Matthew Last
IPC: G01S17/931 , G01S7/481 , H01S5/183 , H01S5/42
CPC classification number: G01S17/931 , G01S7/4815 , H01S5/183 , H01S5/423
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.
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公开(公告)号：US12072422B2
公开(公告)日：2024-08-27
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
CPC classification number: G01S17/931 , G01S7/4815 , H01S5/183 , H01S5/423
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.
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公开(公告)号：US20230194681A1
公开(公告)日：2023-06-22
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: G01S7/4865 , G01S7/48 , G01S7/481 , 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.
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公开(公告)号：US20230058317A1
公开(公告)日：2023-02-23
申请号：US17901545
申请日：2022-09-01
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , David Schleuning
IPC: G02B6/42
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.
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公开(公告)号：US20220244362A1
公开(公告)日：2022-08-04
申请号：US17659764
申请日：2022-04-19
Applicant: Waymo LLC
Inventor： Ralph H. Shepard , Pierre-Yves Droz , David Schleuning , Mark Shand , Luke Wachter
Abstract: Example embodiments relate to arrays of light detectors with a corresponding array of optical elements. An example embodiment includes a light detection and ranging (LIDAR) system. The LIDAR system includes an array of light detectors. The LIDAR system also includes a shared imaging optic. Further, the LIDAR system includes an array of optical elements positioned between the shared imaging optic and the array of light detectors. Each light detector in the array of light detectors is configured to detect a respective light signal from a respective region of a scene. Each respective light signal is transmitted via the shared imaging optic and modified by a respective optical element in the array of optical elements based on at least one aspect of the scene.
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Patent Agency Ranking
公开(公告)号：US11609313B2
公开(公告)日：2023-03-21
申请号：US16229193
申请日：2018-12-21
Applicant: Waymo LLC
Inventor： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex McCauley , Brandyn White , Ury Zhilinsky
IPC: G01S7/48 , G01S17/89 , G06T1/00 , G01S7/4865 , G01S7/481 , 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.
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公开(公告)号：US11333748B2
公开(公告)日：2022-05-17
申请号：US16133231
申请日：2018-09-17
Applicant: Waymo LLC
Inventor： Ralph H. Shepard , Pierre-Yves Droz , David Schleuning , Mark Shand , Luke Wachter
Abstract: Example embodiments relate to arrays of light detectors with a corresponding array of optical elements. An example embodiment includes a light detection and ranging (LIDAR) system. The LIDAR system includes an array of light detectors. The LIDAR system also includes a shared imaging optic. Further, the LIDAR system includes an array of optical elements positioned between the shared imaging optic and the array of light detectors. Each light detector in the array of light detectors is configured to detect a respective light signal from a respective region of a scene. Each respective light signal is transmitted via the shared imaging optic and modified by a respective optical element in the array of optical elements based on at least one aspect of the scene.
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公开(公告)号：US20220019034A1
公开(公告)日：2022-01-20
申请号：US16928621
申请日：2020-07-14
Applicant: Waymo LLC
Inventor： Michael Matthews , David Schleuning , Carolyn Wozniak
Abstract: The present disclosure relates to transmitter modules, vehicles, and methods associated with lidar sensors. An example transmitter module could include a light-emitter die and a plurality of light-emitter devices coupled to the light-emitter die. Each light-emitter of the plurality of light-emitter devices is configured to emit light from a respective emitter surface. The transmitter module also includes a cylindrical lens optically coupled to the plurality of light-emitter devices and arranged along an axis. The light-emitter die is disposed such that the respective emitter surfaces of the plurality of light-emitter devices form a non-zero yaw angle with respect to the axis.
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公开(公告)号：US20200088859A1
公开(公告)日：2020-03-19
申请号：US16133231
申请日：2018-09-17
Applicant: Waymo LLC
Inventor： Ralph H. Shepard , Pierre-Yves Droz , David Schleuning , Mark Shand , Luke Wachter
Abstract: Example embodiments relate to arrays of light detectors with a corresponding array of optical elements. An example embodiment includes a light detection and ranging (LIDAR) system. The LIDAR system includes an array of light detectors. The LIDAR system also includes a shared imaging optic. Further, the LIDAR system includes an array of optical elements positioned between the shared imaging optic and the array of light detectors. Each light detector in the array of light detectors is configured to detect a respective light signal from a respective region of a scene. Each respective light signal is transmitted via the shared imaging optic and modified by a respective optical element in the array of optical elements based on at least one aspect of the scene.
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公开(公告)号：US10534143B1
公开(公告)日：2020-01-14
申请号：US16136429
申请日：2018-09-20
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , David Schleuning
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.
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