公开(公告)号：US11647287B1

公开(公告)日：2023-05-09

申请号：US16701978

申请日：2019-12-03

Applicant: Waymo LLC

Inventor： Matthew Last ,  Benjamin Frevert ,  Matthew Rinehart ,  Shashank Sharma

IPC: G02B7/08 ,  H04N23/67 ,  G01S7/481 ,  G02B7/09 ,  B60R11/04

CPC classification number: H04N23/67 ,  B60R11/04 ,  G01S7/4816 ,  G02B7/09

Abstract: The present disclosure relates to systems, vehicles, and methods that include adjusting a position of an image sensor with respect to a lens assembly. An example optical system includes a lens assembly having at least one lens. The at least one lens defines an optical axis, a focal distance, and a focal plane. The optical system also includes a lens holder coupled to the lens assembly and a substrate having a first surface. The optical system additionally includes an image sensor attached to the first surface of the substrate. Furthermore, the optical system includes an active compensation system having a piezoelectric structure coupled between the lens holder and the first surface of the substrate. The active compensation system is configured to maintain the image sensor at the focal plane over a predetermined temperature range.

公开(公告)号：US20220308305A1

公开(公告)日：2022-09-29

申请号：US17841010

申请日：2022-06-15

Applicant: Waymo LLC

Inventor： Matthew Last ,  John Henrie ,  Chandra Kakani ,  Ralph Shepard ,  Drew Ulrich

IPC: G02B7/02

Abstract: The technology relates to lens assemblies for sensor units that provide a low but consistent preload force over the entire operational temperature range of the device. Consistent preloading helps to avoid cracking and plastic deformation. In particular, a compliant structure of a polymeric material is able to expand and contract across temperature extremes. In addition, the polymeric material is arranged in conjunction with a retainer ring to form a discontinuous seal with the lens. This provides in a leak path that is able to reduce condensation or contaminants. As a result, moisture within the sensor unit is permitted to escape, reducing or eliminating impairments on the lens or other parts of the sensor unit that could otherwise impair device operation.

公开(公告)号：US20220137230A1

公开(公告)日：2022-05-05

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

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.

公开(公告)号：US20220113419A1

公开(公告)日：2022-04-14

申请号：US17069364

申请日：2020-10-13

Applicant: Waymo, LLC

Inventor： Shashank Sharma ,  Matthew Last

IPC: G01S17/89 ,  G06T7/80 ,  B60R1/12 ,  G01S17/48

Abstract: One example system comprises an active sensor that includes a transmitter and a receiver, a first camera that detects external light originating from one or more external light sources to generate first image data, a second camera that detects external light originating from one or more external light sources to generate second image data, and a controller. The controller is configured to perform operations comprising determining a first distance estimate to a first object based on a comparison of the first image data and the second image data, determining a second distance estimate to the first object based on active sensor data, comparing the first distance estimate and the second distance estimate, and determining a third distance estimate to a second object based on the first image data, the second image data, and the comparison of the first and second distance estimates.

公开(公告)号：US11088127B2

公开(公告)日：2021-08-10

申请号：US16878821

申请日：2020-05-20

Applicant: Waymo LLC

Inventor： Matthew Last ,  Ajaya Chilumula

IPC: H01L25/16 ,  G01S7/481 ,  H01L31/02 ,  H01S5/0237 ,  H01S5/02253

Abstract: The present disclosure relates to optical systems and methods for their manufacture. An example optical system includes a first substrate having a mounting surface and a spacer structure having at least one cavity. The spacer structure is coupled to the mounting surface of the first substrate. The optical system also includes a light-emitter device that is coupled to the spacer structure and a detector device coupled to the first substrate such that the at least one detector device is disposed within the at least one cavity of the spacer structure. The optical system also includes a second substrate that mounts a lens and a waveguide and is coupled to the spacer structure. The optical system also includes a shim coupled between the second surface of the spacer structure and a mounting surface of the second substrate.

公开(公告)号：US12055632B2

公开(公告)日：2024-08-06

申请号：US17069364

申请日：2020-10-13

Applicant: Waymo, LLC

Inventor： Shashank Sharma ,  Matthew Last

IPC: G01S17/89 ,  B60R1/12 ,  G01S17/48 ,  G06T7/80

CPC classification number: G01S17/89 ,  B60R1/12 ,  G01S17/48 ,  G06T7/85 ,  B60R2001/1223

Abstract: One example system comprises an active sensor that includes a transmitter and a receiver, a first camera that detects external light originating from one or more external light sources to generate first image data, a second camera that detects external light originating from one or more external light sources to generate second image data, and a controller. The controller is configured to perform operations comprising determining a first distance estimate to a first object based on a comparison of the first image data and the second image data, determining a second distance estimate to the first object based on active sensor data, comparing the first distance estimate and the second distance estimate, and determining a third distance estimate to a second object based on the first image data, the second image data, and the comparison of the first and second distance estimates.

公开(公告)号：US11942757B2

公开(公告)日：2024-03-26

申请号：US17152026

申请日：2021-01-19

Applicant: Waymo LLC

Inventor： Paul Karplus ,  Matthew Last

IPC: H01S5/022 ,  H01S5/02 ,  H01S5/02234 ,  H01S5/02253 ,  H01S5/02326 ,  H01S5/02355 ,  H01S5/042 ,  H01S5/02345

CPC classification number: H01S5/02326 ,  H01S5/0206 ,  H01S5/02234 ,  H01S5/02253 ,  H01S5/02355 ,  H01S5/042 ,  H01S5/02345

Abstract: The present disclosure relates to optical systems and methods for their manufacture. An example method includes coupling a first surface of a light-emitter substrate to a reference surface of a carrier substrate. The method also includes registering a mold structure with respect to the reference surface of the carrier substrate. Furthermore, the method includes using the mold structure to form an optical material over at least a portion of the light-emitter substrate. The optical material is shaped according to a shape of the mold structure and includes at least one registration feature. The method also includes coupling an optical lens element to the optical material such that the optical lens element is registered to the at least one registration feature.

公开(公告)号：US20230273305A1

公开(公告)日：2023-08-31

申请号：US18313741

申请日：2023-05-08

Applicant: Waymo LLC

Inventor： Ralph Shepard ,  Pierre-Yves Droz ,  Matthew Last ,  Bryce Remesch

IPC: G01S7/497 ,  G01S17/89

CPC classification number: G01S7/497 ,  G01S17/89 ,  G01S2007/4975

Abstract: The present disclosure relates to optical systems and methods of their operation. An example optical system includes an optical component and one or more light sources configured to emit a light signal. The light signal interacts with the optical component so as to provide an interaction light signal. The optical system also includes a detector configured to detect at least a portion of the interaction light signal as a detected light signal. The optical system additionally includes a controller configured to carry out operations including causing the one or more light sources to emit the light signal and receiving the detected light signal from the detector. The operations also include determining, based on the detected light signal, that one or more defects are associated with the optical component.

公开(公告)号：US11680786B2

公开(公告)日：2023-06-20

申请号：US17453748

申请日：2021-11-05

Applicant: Waymo LLC

Inventor： Shashank Sharma ,  Matthew Last ,  Prasanna Kalkura ,  Paul Schaefer

IPC: G02B7/10 ,  G01B7/00 ,  H04N23/55 ,  H04N23/67

CPC classification number: G01B7/003 ,  G02B7/102 ,  H04N23/55 ,  H04N23/67

Abstract: An apparatus includes a lens assembly that includes at least one lens that defines an optical axis. The apparatus also includes a substrate, an image sensor disposed on the substrate, and an actuator coupled to the substrate and configured to adjust a position of the substrate relative to the lens assembly to move the image sensor along the optical axis. The apparatus additionally includes a capacitive position sensor that includes a first capacitive plate coupled to the substrate and a second capacitive plate coupled to the lens assembly. The capacitive position sensor may be configured to generate a capacitance measurement indicative of the position of the substrate relative to the lens assembly. The apparatus further includes circuitry configured to control the actuator based on (i) the capacitance measurement and (ii) a target position of the image sensor relative to the lens assembly.

公开(公告)号：US11137485B2

公开(公告)日：2021-10-05

申请号：US16532688

申请日：2019-08-06

Applicant: Waymo LLC

Inventor： Ralph Shepard ,  Pierre-Yves Droz ,  Matthew Last ,  Bryce Remesch

IPC: G01S7/497 ,  G01S17/89

Abstract: The present disclosure relates to optical systems and methods of their operation. An example optical system includes an optical component and one or more light sources configured to emit a light signal. The light signal interacts with the optical component so as to provide an interaction light signal. The optical system also includes a detector configured to detect at least a portion of the interaction light signal as a detected light signal. The optical system additionally includes a controller configured to carry out operations including causing the one or more light sources to emit the light signal and receiving the detected light signal from the detector. The operations also include determining, based on the detected light signal, that one or more defects are associated with the optical component.