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公开(公告)号：US11789123B2
公开(公告)日：2023-10-17
申请号：US18054611
申请日：2022-11-11
Applicant: Waymo LLC
Inventor： Blaise Gassend , Ralph H. Shepard , Jason Watson
CPC classification number: G01S7/4811 , G01S7/4815 , G01S17/10 , G02B5/0252 , G02B5/0278 , G02B26/12 , G02B27/30
Abstract: Example embodiments relate to beam homogenization for occlusion avoidance. One embodiment includes a light detection and ranging (LIDAR) device. The LIDAR device includes a transmitter and a receiver. The transmitter includes a light emitter. The light emitter emits light that diverges along a fast-axis and a slow-axis. The transmitter also includes a fast-axis collimation (FAC) lens optically coupled to the light emitter. The FAC lens is configured to receive light emitted by the light emitter and reduce a divergence of the received light along the fast-axis of the light emitter to provide reduced-divergence light. The transmitter further includes a transmit lens optically coupled to the FAC lens. The transmit lens is configured to receive the reduced-divergence light from the FAC lens and provide transmit light. The FAC lens is positioned relative to the light emitter such that the reduced-divergence light is expanded at the transmit lens.
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公开(公告)号：US20230194669A1
公开(公告)日：2023-06-22
申请号：US17645615
申请日：2021-12-22
Applicant: Waymo LLC
Inventor： Jason Watson , David Duff , Justin Andrade , Blaise Gassend , Alex Bogatko , Alex Rivas , Michael Brickner , Yeh-Jiun Tung , Hui Son
IPC: G01S7/481
CPC classification number: G01S7/4813 , G01S7/4817 , G01S7/4812
Abstract: An example lidar system includes a housing defining an interior space. The housing includes at least one optical window. The lidar system also includes a rotatable mirror assembly disposed within the interior space. The rotatable mirror assembly includes a transmit mirror portion and a receive mirror portion. The lidar system additionally includes a transmitter disposed within the interior space. The transmitter is configured to emit emission light into an environment of the lidar system along a transmit path. The lidar system also includes a receiver disposed within the interior space. The receiver is configured to detect return light that is received from the environment along a receive path. The lidar system additionally includes at least one optical baffle configured to minimize stray light in the interior space.
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Patent Agency Ranking
公开(公告)号：US20230076303A1
公开(公告)日：2023-03-09
申请号：US18054611
申请日：2022-11-11
Applicant: Waymo LLC
Inventor： Blaise Gassend , Ralph H. Shepard , Jason Watson
Abstract: Example embodiments relate to beam homogenization for occlusion avoidance. One embodiment includes a light detection and ranging (LIDAR) device. The LIDAR device includes a transmitter and a receiver. The transmitter includes a light emitter. The light emitter emits light that diverges along a fast-axis and a slow-axis. The transmitter also includes a fast-axis collimation (FAC) lens optically coupled to the light emitter. The FAC lens is configured to receive light emitted by the light emitter and reduce a divergence of the received light along the fast-axis of the light emitter to provide reduced-divergence light. The transmitter further includes a transmit lens optically coupled to the FAC lens. The transmit lens is configured to receive the reduced-divergence light from the FAC lens and provide transmit light. The FAC lens is positioned relative to the light emitter such that the reduced-divergence light is expanded at the transmit lens.
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公开(公告)号：US11525892B2
公开(公告)日：2022-12-13
申请号：US16456508
申请日：2019-06-28
Applicant: Waymo LLC
Inventor： Blaise Gassend , Ralph H. Shepard , Jason Watson
Abstract: Example embodiments relate to beam homogenization for occlusion avoidance. One embodiment includes a light detection and ranging (LIDAR) device. The LIDAR device includes a transmitter and a receiver. The transmitter includes a light emitter. The light emitter emits light that diverges along a fast-axis and a slow-axis. The transmitter also includes a fast-axis collimation (FAC) lens optically coupled to the light emitter. The FAC lens is configured to receive light emitted by the light emitter and reduce a divergence of the received light along the fast-axis of the light emitter to provide reduced-divergence light. The transmitter further includes a transmit lens optically coupled to the FAC lens. The transmit lens is configured to receive the reduced-divergence light from the FAC lens and provide transmit light. The FAC lens is positioned relative to the light emitter such that the reduced-divergence light is expanded at the transmit lens.
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公开(公告)号：US20220308175A1
公开(公告)日：2022-09-29
申请号：US17211292
申请日：2021-03-24
Applicant: Waymo LLC
Inventor： Jason Watson , Gregory Hall , Blaise Gassend
Abstract: The present disclosure relates to systems and methods that provide an accurate angle measurement of a rotatable mirror. An example method includes receiving, from a detector device, a reflected light signal. The reflected light signal is indicative of primary reflection light and secondary reflection light. The primary reflection light corresponds to a first portion of emission light that reflects directly from the reflective surface of the rotatable mirror toward the detector device. The secondary reflection light corresponds to a second portion of emission light that: 1) reflects from the reflective surface of the rotatable mirror toward a secondary mirror surface; 2) reflects from the secondary mirror surface toward the reflective surface of the rotatable mirror; and 3) reflects from the reflective surface of the rotatable mirror toward the detector device. The method also includes determining, based on the reflected light signal, the rotational angle of the rotatable mirror.
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16.发明申请公开(公告)号：US20210349185A1
公开(公告)日：2021-11-11
申请号：US17061003
申请日：2020-10-01
Applicant: Waymo LLC
Inventor： David Schleuning , Pierre-Yves Droz , Jason Watson , James Dunphy
IPC: G01S7/487 , G01S7/481 , G01S7/4863
Abstract: Example embodiments relate to crosstalk reduction for light detection and ranging (lidar) devices using wavelength locking. An example embodiment includes a lidar device. The lidar device includes a first light emitter configured to emit a first light signal and a second light emitter configured to emit a second light signal. The lidar device also includes a first light guide and a second light guide. In addition, the lidar device includes a first light detector and a second light detector. Further, the lidar device includes a first wavelength-locking mechanism configured to use a portion of the first light signal to maintain a wavelength of the first light signal and a second wavelength-locking mechanism configured to use a portion of the second light signal to maintain a wavelength of the second light signal. The wavelengths of the first light signal and the second light signal are different.
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公开(公告)号：US20210199780A1
公开(公告)日：2021-07-01
申请号：US17134282
申请日：2020-12-26
Applicant: Waymo LLC
Inventor： Blaise Gassend , Jason Watson
Abstract: The present disclosure relates to systems and methods that utilize an internal optical path in lidar applications. An example method includes causing at least one light-emitter device to emit a plurality of light pulses toward a rotatable mirror. The rotatable mirror (i) reflects at least a first light pulse of the plurality of light pulses into an external environment; and (ii) reflects at least a second light pulse of the plurality of light pulses into an internal optical path. The method also includes receiving, by a photodetector, (i) a reflected light pulse comprising a reflection of the first light pulse caused by an object in the external environment; and (ii) the second light pulse received via the internal optical path. The internal optical path is defined at least in part by one or more internal reflectors that reflect the second light pulse toward the rotatable mirror such that the rotatable mirror reflects the second light pulse toward the photodetector.
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