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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
申请人： Waymo LLC
发明人： Pierre-Yves Droz , David Schleuning
IPC分类号： G02B6/42
摘要： 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
申请人： Waymo LLC
摘要： 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：US20230003852A1
公开(公告)日：2023-01-05
申请号：US17363658
申请日：2021-06-30
申请人： Waymo LLC
发明人： James Dunphy , Caner Onal , David Schleuning
IPC分类号： G01S7/497 , G01S7/48 , G01S17/931
摘要： The present disclosure relates to light detection and ranging (lidar) systems, lidar-equipped vehicles, and associated methods. An example method includes causing a firing circuit to trigger emission of an initial group of detection pulses from at least one light-emitter device of a lidar system in accordance with an initial set of one or more light-emission parameters. The method also includes causing the firing circuit to trigger emission of one or more test pulses and receiving, from at least one detector, information indicative of one or more return test pulses. The method yet further includes determining, based on the received information, a presence of a retroreflector based on an intensity of the return test pulse. The method additionally includes determining a subsequent set of light-emission parameters and causing the firing circuit to trigger emission of a subsequent group of detection pulses in accordance with the subsequent set of light-emission parameters.
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公开(公告)号：US11353588B2
公开(公告)日：2022-06-07
申请号：US16177626
申请日：2018-11-01
申请人： Waymo LLC
发明人： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex Mccauley , Brandyn White , Ury Zhilinsky
IPC分类号： G01S17/89 , G06T7/521 , G01S7/497 , G01S7/481 , G01S7/48 , G01S7/4865 , G01S17/08 , G01S17/931
摘要： The present disclosure relates to systems and methods that provide information about a scene based on a time-of-flight (ToF) sensor and a structured light pattern. In an example embodiment, a sensor system could include at least one ToF sensor configured to receive light from a scene. The sensor system could also include at least one light source configured to emit a structured light pattern 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 the structured light pattern and causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the structured light pattern.
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公开(公告)号：US20220137185A1
公开(公告)日：2022-05-05
申请号：US17516798
申请日：2021-11-02
申请人： Waymo LLC
IPC分类号： G01S7/484 , G01S17/08 , G01S17/931 , H01S5/042
摘要： Example embodiments relate to light detection and ranging (lidar) devices or other apparatus that incorporate laser light emitters capable of increased pulse energies and decreased pulse durations. These laser light emitters include a gain medium having two portions to which a pump electrode and a switch electrode, respectively, are coupled. The pump electrode is configured to apply a current through the gain medium that provides energy for lasing and the switch electrode is configured to apply a current through the gain medium that controls a transparency of the second portion of the gain medium. Thus the switch electrode, which controls the timing of emitted light pulses, can be driven by a lower current and thus have shorter pulse widths, rise time, and/or fall times, thereby allowing for shorter, higher-energy laser pulses to be emitted.
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公开(公告)号：US20220082660A1
公开(公告)日：2022-03-17
申请号：US17121918
申请日：2020-12-15
申请人： Waymo LLC
发明人： Pierre-Yves Droz , Ralph H. Shepard , Augusto Tazzoli , David Hutchison , David Schleuning , Nathaniel Golshan , Nathaniel Quillin , Andrew Abo , Caner Onal , Michael Tom , Robert Lockwood , Kelvin Kwong , Daiwei Li , Drew Ulrich , Simon Ellgas , Chandra Kakani , Erin Eppard , Samuel Lenius , Justin Andrade , James Dunphy
IPC分类号： G01S7/484 , G01S7/481 , G01F23/00 , G01S17/931 , G01S17/89
摘要： Example embodiments relate to light detection and ranging (lidar) devices having a light-guide manifold. An example lidar device includes a transmit subsystem. The transmit subsystem includes a light emitter. The transmit subsystem also includes a light-guide manifold optically coupled to the light emitter. Further, the transmit subsystem includes a telecentric lens assembly optically coupled to the light-guide manifold. The lidar device also includes a receive subsystem. The receive subsystem includes the telecentric lens assembly. The receive subsystem also includes an aperture plate having an aperture defined therein. The aperture plate is positioned at a focal plane of the telecentric lens assembly. Further, the receive subsystem includes a silicon photomultiplier (SiPM) positioned to receive light traveling through the aperture.
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公开(公告)号：US11609313B2
公开(公告)日：2023-03-21
申请号：US16229193
申请日：2018-12-21
申请人： Waymo LLC
发明人： Caner Onal , David Schleuning , Brendan Hermalyn , Simon Verghese , Alex McCauley , Brandyn White , Ury Zhilinsky
IPC分类号： G01S7/48 , G01S17/89 , G06T1/00 , G01S7/4865 , G01S7/481 , G01S17/931
摘要： 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
申请人： Waymo LLC
摘要： 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
申请人： Waymo LLC
摘要： 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
申请人： Waymo LLC
摘要： 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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