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公开(公告)号：US11323599B1
公开(公告)日：2022-05-03
申请号：US17132667
申请日：2020-12-23
Applicant: Waymo LLC
Inventor： Shashank Sharma
Abstract: A camera includes a camera focus adjustment device, a lens, and an image sensor coupled to the camera focus adjustment device. The camera focus adjustment device includes a flexure structure. The flexure structure includes an outer framework of structural members continuously interconnected by flexure notch hinges. The flexure structure also includes two inner structural members oriented in parallel and extending from the outer framework of structural members. A gap is between the two inner structural members. The camera focus adjustment device also includes a piezoelectric material within the gap and a pair of wedges within the gap. The pair of wedges is affixed to the piezoelectric material and to one inner structural member of the two inner structural members. Based on temperature-based piezoelectric activity associated with the piezoelectric material, the camera focus adjustment device is operable to move the image sensor relative to the lens.
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公开(公告)号：US20250063242A1
公开(公告)日：2025-02-20
申请号：US18937705
申请日：2024-11-05
Applicant: Waymo LLC
Inventor： Shashank Sharma
Abstract: A camera includes a camera focus adjustment device, a lens, and an image sensor coupled to the camera focus adjustment device. The camera focus adjustment device includes a flexure structure. The flexure structure includes an outer framework of structural members continuously interconnected by flexure notch hinges. The flexure structure also includes two inner structural members oriented in parallel and extending from the outer framework of structural members. A gap is between the two inner structural members. The camera focus adjustment device also includes a piezoelectric material within the gap and a pair of wedges within the gap. The pair of wedges is affixed to the piezoelectric material and to one inner structural member of the two inner structural members. Based on temperature-based piezoelectric activity associated with the piezoelectric material, the camera focus adjustment device is operable to move the image sensor relative to the lens.
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公开(公告)号：US20230273006A1
公开(公告)日：2023-08-31
申请号：US18143214
申请日：2023-05-04
Applicant: Waymo LLC
Inventor： Shashank Sharma , Matthew Last , Prasanna Kalkura , Paul Schaefer
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.
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公开(公告)号：US20230148358A1
公开(公告)日：2023-05-11
申请号：US17453748
申请日：2021-11-05
Applicant: Waymo LLC
Inventor： Shashank Sharma , Matthew Last , Prasanna Kalkura , Paul Schaefer
CPC classification number: G01B7/003 , G02B7/102 , H04N5/23212 , H04N5/2254
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.
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公开(公告)号：US11457204B1
公开(公告)日：2022-09-27
申请号：US17091147
申请日：2020-11-06
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Shashank Sharma
IPC: H04N5/225 , H04N17/00 , B60S1/04 , B60S1/46 , B60S1/54 , G06T5/00 , G01N21/94 , G01S17/931 , G01S7/481 , H04N5/232
Abstract: The present disclosure relates to contaminant detection systems and related optical systems and methods. An example contaminant detection system includes an optical coupler configured to couple light into and/or out of an optical element. The contaminant detection system also includes a plurality of light-emitter devices configured to emit emission light toward the optical coupler. The contaminant detection system additionally includes a plurality of detector devices configured to detect at least a portion of the emission light by way of the optical element and the optical coupler. The plurality of detector devices is also configured to provide detector signals indicative of a presence of a contaminant on the optical element.
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Patent Agency Ranking
公开(公告)号：US20240085693A1
公开(公告)日：2024-03-14
申请号：US17943387
申请日：2022-09-13
Applicant: Waymo LLC
Inventor： Shashank Sharma
CPC classification number: G02B27/0006 , B60S1/023 , B60S1/04 , G08G1/04
Abstract: Example embodiments relate to replaceable, heated, and wipeable apertures for optical systems. An example embodiment includes an apparatus that includes an optical system (e.g., a camera) with a lens. The apparatus also includes a housing in which the lens is disposed. The housing has a sealing surface and a threated portion. The apparatus further includes a chamfered window that provides a protective aperture for the lens. The apparatus also includes a retainer ring that has a retaining portion and a threaded portion. The retaining portion contacts the chamfer of the window while the threaded portion of the retainer ring threads onto the threaded portion of the housing to hold the window against the sealing surface of the housing and form a watertight seal.
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公开(公告)号：US20230276113A1
公开(公告)日：2023-08-31
申请号：US18311577
申请日：2023-05-03
Applicant: Waymo LLC
Inventor： Shashank Sharma
Abstract: A camera includes a camera focus adjustment device, a lens, and an image sensor coupled to the camera focus adjustment device. The camera focus adjustment device includes a flexure structure. The flexure structure includes an outer framework of structural members continuously interconnected by flexure notch hinges. The flexure structure also includes two inner structural members oriented in parallel and extending from the outer framework of structural members. A gap is between the two inner structural members. The camera focus adjustment device also includes a piezoelectric material within the gap and a pair of wedges within the gap. The pair of wedges is affixed to the piezoelectric material and to one inner structural member of the two inner structural members. Based on temperature-based piezoelectric activity associated with the piezoelectric material, the camera focus adjustment device is operable to move the image sensor relative to the lens.
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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
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.
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公开(公告)号：US20220116522A1
公开(公告)日：2022-04-14
申请号：US17557653
申请日：2021-12-21
Applicant: Waymo LLC
Inventor： Shashank Sharma
IPC: H04N5/225
Abstract: An apparatus includes a lens assembly that includes at least one lens that defines an optical axis, a lens holder coupled to the lens assembly, a substrate, an image sensor disposed on the substrate, and an actuator coupled between the lens holder and the substrate and configured to adjust a position of the substrate relative to the lens assembly to reposition the image sensor along the optical axis. The apparatus also includes a position sensor that includes a magnet and a magnetic field sensor. The position sensor is coupled to the substrate and the lens holder. The magnetic field sensor is configured to generate magnetic field data indicating a position of the substrate relative to the lens holder. The apparatus additionally includes circuitry configured to control the actuator based on the magnetic field data to place the image sensor within a depth of focus of the lens assembly.
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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
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.
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