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公开(公告)号：US12196884B2
公开(公告)日：2025-01-14
申请号：US17366768
申请日：2021-07-02
Applicant: Waymo LLC
Inventor： Pierre-yves Droz , Gaetan Pennecot , Anthony Levandowski , Drew Eugene Ulrich , Zach Morriss , Luke Wachter , Dorel Ionut Iordache , William McCann , Daniel Gruver , Bernard Fidric , Samuel William Lenius
IPC: G01S7/48 , G01S7/481 , G01S13/931 , G01S17/86 , G01S17/87 , G01S17/931
Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.
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公开(公告)号：US11269064B1
公开(公告)日：2022-03-08
申请号：US17316056
申请日：2021-05-10
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , Samuel William Lenius
IPC: H04N5/335 , G01S7/4861 , G01S17/42 , G01S7/497 , G01S17/10 , H04N5/341 , G01S7/484 , H04N5/3745 , G01S7/4865
Abstract: A light detection and ranging (LIDAR) system can emit light toward an environment and detect responsively reflected light to determine a distance to one or more points in the environment. The reflected light can be detected by a plurality of plurality of photodiodes that are reverse-biased using a high voltage. Signals from the plurality of reverse-biased photodiodes can be amplified by respective transistors and applied to an analog-to-digital converter (ADC). The signal from a particular photodiode can be applied to the ADC by biasing a respective transistor corresponding to the particular photodiode while not biasing transistors corresponding to other photodiodes. The gain of each photodiode/transistor pair can be controlled by adjusting the bias voltage applied to each photodiode using a digital-to-analog converter. The gain of each photodiode/transistor pair can be controlled based on the detected temperature of each photodiode.
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公开(公告)号：US10855129B1
公开(公告)日：2020-12-01
申请号：US15827762
申请日：2017-11-30
Applicant: Waymo LLC
Inventor： Samuel William Lenius , Paul Karplus , Alexander Danilo Zbrozek
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：US10141716B1
公开(公告)日：2018-11-27
申请号：US15416818
申请日：2017-01-26
Applicant: Waymo LLC
Inventor： Samuel William Lenius , Pierre-yves Droz
Abstract: A laser diode firing circuit for a light detection and ranging device is disclosed. The firing circuit includes a laser diode coupled in series to a transistor, such that current through the laser diode is controlled by the transistor. The laser diode is configured to emit a pulse of light in response to current flowing through the laser diode. The firing circuit includes a capacitor that is configured to charge via a charging path that includes an inductor and to discharge via a discharge path that includes the laser diode. The transistor controlling current through the laser diode can be a Gallium nitride field effect transistor.
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公开(公告)号：US20180231645A1
公开(公告)日：2018-08-16
申请号：US15947515
申请日：2018-04-06
Applicant: Waymo LLC
Inventor： Pierre-yves Droz , Samuel William Lenius
CPC classification number: G01S7/4861 , G01S7/484 , G01S7/4865 , G01S7/497 , G01S17/10 , G01S17/42 , H04N5/341 , H04N5/3745 , H04N5/37455
Abstract: A light detection and ranging (LIDAR) system can emit light toward an environment and detect responsively reflected light to determine a distance to one or more points in the environment. The reflected light can be detected by a plurality of plurality of photodiodes that are reverse-biased using a high voltage. Signals from the plurality of reverse-biased photodiodes can be amplified by respective transistors and applied to an analog-to-digital converter (ADC). The signal from a particular photodiode can be applied to the ADC by biasing a respective transistor corresponding to the particular photodiode while not biasing transistors corresponding to other photodiodes. The gain of each photodiode/transistor pair can be controlled by adjusting the bias voltage applied to each photodiode using a digital-to-analog converter. The gain of each photodiode/transistor pair can be controlled based on the detected temperature of each photodiode.
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Patent Agency Ranking
公开(公告)号：US20180149732A1
公开(公告)日：2018-05-31
申请号：US15881049
申请日：2018-01-26
Applicant: Waymo LLC
Inventor： Pierre-yves Droz , Gaetan Pennecot , Anthony Levandowski , Drew Eugene Ulrich , Zach Morriss , Luke Wachter , Dorel Ionut Iordache , William McCann , Daniel Gruver , Bernard Fidric , Samuel William Lenius
CPC classification number: G01S7/4802 , G01S7/4817 , G01S17/023 , G01S17/87 , G01S17/936 , G01S2013/9375 , G01S2013/9378 , G01S2013/9382 , G01S2013/9385
Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.
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公开(公告)号：US20220155425A1
公开(公告)日：2022-05-19
申请号：US17650342
申请日：2022-02-08
Applicant: Waymo LLC
Inventor： Pierre-Yves Droz , Samuel William Lenius
IPC: G01S7/4861 , G01S7/4865 , H04N5/341 , G01S7/484 , G01S17/10 , H04N5/3745 , G01S17/42 , G01S7/497
Abstract: A light detection and ranging (LIDAR) system can emit light toward an environment and detect responsively reflected light to determine a distance to one or more points in the environment. The reflected light can be detected by a plurality of plurality of photodiodes that are reverse-biased using a high voltage. Signals from the plurality of reverse-biased photodiodes can be amplified by respective transistors and applied to an analog-to-digital converter (ADC). The signal from a particular photodiode can be applied to the ADC by biasing a respective transistor corresponding to the particular photodiode while not biasing transistors corresponding to other photodiodes. The gain of each photodiode/transistor pair can be controlled by adjusting the bias voltage applied to each photodiode using a digital-to-analog converter. The gain of each photodiode/transistor pair can be controlled based on the detected temperature of each photodiode.
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公开(公告)号：US11303096B1
公开(公告)日：2022-04-12
申请号：US16356575
申请日：2019-03-18
Applicant: Waymo LLC
Inventor： Samuel William Lenius , Pierre-yves Droz
Abstract: A laser diode firing circuit for a light detection and ranging device is disclosed. The firing circuit includes a laser diode coupled in series to a transistor, such that current through the laser diode is controlled by the transistor. The laser diode is configured to emit a pulse of light in response to current flowing through the laser diode. The firing circuit includes a capacitor that is configured to charge via a charging path that includes an inductor and to discharge via a discharge path that includes the laser diode. The transistor controlling current through the laser diode can be a Gallium nitride field effect transistor.
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公开(公告)号：US20210333361A1
公开(公告)日：2021-10-28
申请号：US17366768
申请日：2021-07-02
Applicant: Waymo, LLC
Inventor： Pierre-yves Droz , Gaetan Pennecot , Anthony Levandowski , Drew Eugene Ulrich , Zach Morriss , Luke Wachter , Dorel Ionut Iordache , William McCann , Daniel Gruver , Bernard Fidric , Samuel William Lenius
IPC: G01S7/48 , G01S7/481 , G01S17/87 , G01S17/86 , G01S17/931
Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.
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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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