公开(公告)号：US10120079B2

公开(公告)日：2018-11-06

申请号：US15714326

申请日：2017-09-25

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William McCann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01C3/08 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/48 ,  G01S7/481 ,  G01C3/02 ,  G01S17/02

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US11569629B2

公开(公告)日：2023-01-31

申请号：US16943862

申请日：2020-07-30

Applicant: Waymo LLC

Inventor： Rahim Pardhan ,  William McCann ,  Drew Ulrich ,  Pierre-yves Droz

IPC: H01S3/04 ,  H01S3/067 ,  G01S7/481 ,  G01S17/931 ,  H02K9/22

Abstract: An example apparatus may include a first plate having a first side. A first plurality of fins may be integral with the first side of the first plate and protruding perpendicularly therefrom. The first plurality of fins may be arranged in first concentric circles separated radially by a first distance. The apparatus may also include a second plate having a first side. The second plate may be rotatably coupled to the first plate. A second plurality of fins may be integral with the first side of the second plate and protruding perpendicularly therefrom. The second plurality of fins may be arranged in second concentric circles separated radially by the first distance. Each fin of the second plurality of fins may interpose between adjacent fins of the first plurality of fins to transfer heat between the second plate and the first plate.

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：US20180109061A1

公开(公告)日：2018-04-19

申请号：US15295573

申请日：2016-10-17

Applicant: Waymo LLC

Inventor： Rahim Pardhan ,  William McCann ,  Drew Ulrich ,  Pierre-yves Droz

IPC: H01S3/04 ,  H01S3/067 ,  G01S17/88 ,  G01S7/481 ,  G01S17/08

Abstract: An example apparatus may include a first plate having a first side. A first plurality of fins may be integral with the first side of the first plate and protruding perpendicularly therefrom. The first plurality of fins may be arranged in first concentric circles separated radially by a first distance. The apparatus may also include a second plate having a first side. The second plate may be rotatably coupled to the first plate. A second plurality of fins may be integral with the first side of the second plate and protruding perpendicularly therefrom. The second plurality of fins may be arranged in second concentric circles separated radially by the first distance. Each fin of the second plurality of fins may interpose between adjacent fins of the first plurality of fins to transfer heat between the second plate and the first plate.

公开(公告)号：US20180017680A1

公开(公告)日：2018-01-18

申请号：US15715802

申请日：2017-09-26

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Dorel Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William Mccann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01S17/93 ,  G01S17/87 ,  G01S17/10 ,  G01S17/89 ,  G01S7/481

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936 ,  H05K999/99

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US12210207B2

公开(公告)日：2025-01-28

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：US11042164B1

公开(公告)日：2021-06-22

申请号：US15614148

申请日：2017-06-05

Applicant: Waymo LLC

Inventor： Drew Ulrich ,  Pierre-yves Droz ,  Samuel Lenius

IPC: G05D1/02 ,  G01S17/931

Abstract: A light detection and ranging (LIDAR) device scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The LIDAR device scans the emitted light pulses through the scanning zone by reflecting the light pulses from an array of oscillating mirrors. The mirrors are operated by a set of electromagnets arranged to apply torque on the mirrors, and an orientation feedback system senses the orientations of the mirrors. Driving parameters for each mirror are determined based on information from the orientation feedback system. The driving parameters can be used to drive the mirrors in phase at an operating frequency despite variations in moments of inertia and resonant frequencies among the mirrors.

公开(公告)号：US10976437B2

公开(公告)日：2021-04-13

申请号：US15715802

申请日：2017-09-26

Applicant: Waymo LLC

Inventor： Gaetan Pennecot ,  Zachary Morriss ,  Samuel Lenius ,  Dorel Ionut Iordache ,  Daniel Gruver ,  Pierre-Yves Droz ,  Luke Wachter ,  Drew Ulrich ,  William Mccann ,  Rahim Pardhan ,  Bernard Fidric ,  Anthony Levandowski ,  Peter Avram

IPC: G01C3/08 ,  G01S17/93 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S7/48 ,  G01S7/481 ,  G01S17/931 ,  G01C3/02 ,  G01S17/86

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

公开(公告)号：US10749308B2

公开(公告)日：2020-08-18

申请号：US15295573

申请日：2016-10-17

Applicant: Waymo LLC

Inventor： Rahim Pardhan ,  William McCann ,  Drew Ulrich ,  Pierre-yves Droz

IPC: H01S3/04 ,  H01S3/067 ,  G01S7/481 ,  G01S17/931

Abstract: An example apparatus may include a first plate having a first side. A first plurality of fins may be integral with the first side of the first plate and protruding perpendicularly therefrom. The first plurality of fins may be arranged in first concentric circles separated radially by a first distance. The apparatus may also include a second plate having a first side. The second plate may be rotatably coupled to the first plate. A second plurality of fins may be integral with the first side of the second plate and protruding perpendicularly therefrom. The second plurality of fins may be arranged in second concentric circles separated radially by the first distance. Each fin of the second plurality of fins may interpose between adjacent fins of the first plurality of fins to transfer heat between the second plate and the first plate.

公开(公告)号：US20220082660A1

公开(公告)日：2022-03-17

申请号：US17121918

申请日：2020-12-15

Applicant: Waymo LLC

Inventor： 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: G01S7/484 ,  G01S7/481 ,  G01F23/00 ,  G01S17/931 ,  G01S17/89

Abstract: 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.