公开(公告)号：US20220155450A1

公开(公告)日：2022-05-19

申请号：US17435288

申请日：2020-03-05

申请人： WAYMO LLC

发明人： Blaise GASSEND ,  Stephen OSBORN ,  Peter MORTON

IPC分类号： G01S17/88 ,  G01S7/481 ,  G01S7/484 ,  G01S7/4865

摘要： One example method involves repeatedly scanning a range of angles in a field-of-view (FOV) of a light detection and ranging (LIDAR) device. The method also involves detecting a plurality of light pulses intercepted for each scan of the range of angles. The method also involves comparing a first scan of the range of angles with a second scan subsequent to the first scan. The method also involves detecting onset of a saturation recovery period of the light detector during the first scan or the second scan based on the comparison.

公开(公告)号：US20240151934A1

公开(公告)日：2024-05-09

申请号：US18415819

申请日：2024-01-18

申请人： Waymo LLC

发明人： Blaise GASSEND ,  Ryan DAVIS ,  David DUFF

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

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

摘要： 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：US20220413260A1

公开(公告)日：2022-12-29

申请号：US17896814

申请日：2022-08-26

申请人： Waymo LLC

发明人： Blaise GASSEND ,  Ryan DAVIS ,  David DUFF

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

摘要： 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：US20220357451A1

公开(公告)日：2022-11-10

申请号：US17434942

申请日：2020-03-05

申请人： WAYMO LLC

发明人： Blaise GASSEND ,  Zachary MORRISS ,  Drew ULRICH ,  Pierre-Yves DROZ ,  Ryan DAVIS

IPC分类号： G01S17/86 ,  G01S7/481 ,  G01S17/931 ,  G01S7/497

摘要： A light detection and ranging (LIDAR) device includes a transmitter, a receiver, and a minor. The transmitter emits collimated transmit light toward the minor for reflection into an environment. The receiver includes a receive lens, an aperture, a holder, and a light sensor. The receive lens is configured to receive, via the minor, reflections of the collimated transmit light from the environment and focus the received light at a point within the aperture. The holder is configured to position the light sensor to receive light that diverges from the aperture. The holder and aperture can be moved together relative to the receive lens as an assembly. To align the receiver with the transmitter, a light source emits light through the aperture toward the receive lens, and the assembly is adjusted so that the light emitted by the transmitter and receiver overlap m an image obtained by a camera.

公开(公告)号：US20180356500A1

公开(公告)日：2018-12-13

申请号：US16030514

申请日：2018-07-09

申请人： Waymo LLC

发明人： Benjamin INGRAM ,  Pierre-Yves DROZ ,  Luke WACHTER ,  Scott MCCLOSKEY ,  Blaise GASSEND ,  Gaetan PENNECOT

IPC分类号： G01S7/481 ,  G01S17/10 ,  H01S3/11

CPC分类号： G01S7/4815 ,  G01S7/484 ,  G01S17/10 ,  G01S17/936 ,  H01S3/11 ,  H01S3/2308 ,  H01S5/4025 ,  H01S5/4056

摘要： The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.