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公开(公告)号：US11747453B1
公开(公告)日：2023-09-05
申请号：US16822481
申请日：2020-03-18
Applicant: Waymo LLC
Inventor： Ralph H. Shepard , Pierre-Yves Droz , Caner Onal , Hui Son
CPC classification number: G01S7/497 , G01S7/4913 , G01S17/08
Abstract: Example embodiments relate to calibration systems for light detection and ranging (lidar) devices. An example calibration system includes a calibration target that includes a surface having at least one characterized reflectivity. The surface is configured to receive one or more calibration signals emitted by a lidar device along one or more optical axes when the lidar device is separated from the calibration target by an adjustable distance. The calibration system also includes at least one lens that modifies the one or more calibration signals. In addition, the system includes an adjustable attenuator configured to attenuate each of the one or more calibration signals to simulate, in combination with the at least one lens, a distance that is greater than the adjustable distance. Further, the system includes a calibration controller configured to analyze data associated with detected reflections of the one or more calibration signals.
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公开(公告)号：US12130383B2
公开(公告)日：2024-10-29
申请号：US17134272
申请日：2020-12-26
Applicant: Waymo LLC
Inventor： Blaise Gassend , David Duff , Paul Karplus , Hui Son , Alex Rivas
CPC classification number: G01S7/4817 , G01D5/14 , G01S17/08
Abstract: The present disclosure relates to systems and devices having a rotatable mirror assembly. An example system includes a housing and a rotatable mirror assembly. The rotatable mirror assembly includes a plurality of reflective surfaces, a shaft defining a rotational axis, and a mirror body coupling the plurality of reflective surfaces to the shaft. The mirror body includes a plurality of flexible support members. The rotatable mirror assembly also includes a coupling bracket configured to removably couple the rotatable mirror assembly to the housing. The system also includes a transmitter configured to emit emission light into an environment of the system after interacting with at least one reflective surface of the plurality of reflective surfaces. The system additionally includes a receiver configured to detect return light from the environment after interacting with the at least one reflective surface of the plurality of reflective surfaces.
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公开(公告)号：US12032101B1
公开(公告)日：2024-07-09
申请号：US18308430
申请日：2023-04-27
Applicant: Waymo LLC
Inventor： Ralph H. Shepard , Pierre-Yves Droz , Caner Onal , Hui Son
CPC classification number: G01S7/497 , G01S7/4913 , G01S17/08
Abstract: Example embodiments relate to calibration systems for light detection and ranging (lidar) devices. An example calibration system includes a calibration target that includes a surface having at least one characterized reflectivity. The surface is configured to receive one or more calibration signals emitted by a lidar device along one or more optical axes when the lidar device is separated from the calibration target by an adjustable distance. The calibration system also includes at least one lens that modifies the one or more calibration signals. In addition, the system includes an adjustable attenuator configured to attenuate each of the one or more calibration signals to simulate, in combination with the at least one lens, a distance that is greater than the adjustable distance. Further, the system includes a calibration controller configured to analyze data associated with detected reflections of the one or more calibration signals.
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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：US20220196891A1
公开(公告)日：2022-06-23
申请号：US17125140
申请日：2020-12-17
Applicant: Waymo LLC
Inventor： Michael Brickner , Hui Son , Chandra Kakani , Erin Eppard
Abstract: The present disclosure relates to optical systems and vehicles, which may incorporate lidar sensors. An example optical system includes a light-emitter device configured to emit emission light. The optical system also includes an optical element including a first surface and an opposing second surface. The first surface includes a diffusing surface configured to diffuse the emission light to form diffused light. The second surface includes a focusing surface. A combination of the first surface and the second surface are configured to provide an intensity profile of light emitted within a field of view of the optical system.
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公开(公告)号：US20250044421A1
公开(公告)日：2025-02-06
申请号：US18895206
申请日：2024-09-24
Applicant: Waymo, LLC
Inventor： Blaise Gassend , David Duff , Paul Karplus , Hui Son , Alex Rivas
Abstract: The present disclosure relates to systems and devices having a rotatable mirror assembly. An example system includes a housing and a rotatable mirror assembly. The rotatable mirror assembly includes a plurality of reflective surfaces, a shaft defining a rotational axis, and a mirror body coupling the plurality of reflective surfaces to the shaft. The mirror body includes a plurality of flexible support members. The rotatable mirror assembly also includes a coupling bracket configured to removably couple the rotatable mirror assembly to the housing. The system also includes a transmitter configured to emit emission light into an environment of the system after interacting with at least one reflective surface of the plurality of reflective surfaces. The system additionally includes a receiver configured to detect return light from the environment after interacting with the at least one reflective surface of the plurality of reflective surfaces.
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公开(公告)号：US12210171B2
公开(公告)日：2025-01-28
申请号：US17125140
申请日：2020-12-17
Applicant: Waymo LLC
Inventor： Michael Brickner , Hui Son , Chandra Kakani , Erin Eppard
Abstract: The present disclosure relates to optical systems and vehicles, which may incorporate lidar sensors. An example optical system includes a light-emitter device configured to emit emission light. The optical system also includes an optical element including a first surface and an opposing second surface. The first surface includes a diffusing surface configured to diffuse the emission light to form diffused light. The second surface includes a focusing surface. A combination of the first surface and the second surface are configured to provide an intensity profile of light emitted within a field of view of the optical system.
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公开(公告)号：US12085732B1
公开(公告)日：2024-09-10
申请号：US17125223
申请日：2020-12-17
Applicant: Waymo LLC , Nissei Technology Corporation
Inventor： Michael Brickner , Hui Son , Chandra Kakani , Erin Eppard , Akio Yamakawa
IPC: G01S17/10 , B60Q1/00 , G01S7/481 , G01S17/89 , G01S17/931 , G02B1/04 , G02B1/11 , G02B3/00 , G02B3/08
CPC classification number: G02B3/0068 , B60Q1/0023 , G01S7/4814 , G01S7/4817 , G01S17/10 , G01S17/89 , G01S17/931 , G02B1/041 , G02B1/11 , G02B3/08 , G02B2003/0093
Abstract: The present disclosure relates to optical systems and vehicles, which may incorporate lidar sensors. An example optical system includes a light-emitter device configured to emit emission light. The optical system also includes an optical element including a first surface and an opposing second surface. The first surface includes a diffusing surface configured to diffuse the emission light to form diffused light. The second surface includes a focusing surface configured to focus the diffused light to provide an intensity profile of light emitted within a field of view of the optical system.
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公开(公告)号：US20210199779A1
公开(公告)日：2021-07-01
申请号：US17134272
申请日：2020-12-26
Applicant: Waymo LLC
Inventor： Blaise Gassend , David Duff , Paul Karplus , Hui Son , Alex Rivas
Abstract: The present disclosure relates to systems and devices having a rotatable mirror assembly. An example system includes a housing and a rotatable mirror assembly. The rotatable mirror assembly includes a plurality of reflective surfaces, a shaft defining a rotational axis, and a mirror body coupling the plurality of reflective surfaces to the shaft. The mirror body includes a plurality of flexible support members. The rotatable mirror assembly also includes a coupling bracket configured to removably couple the rotatable mirror assembly to the housing. The system also includes a transmitter configured to emit emission light into an environment of the system after interacting with at least one reflective surface of the plurality of reflective surfaces. The system additionally includes a receiver configured to detect return light from the environment after interacting with the at least one reflective surface of the plurality of reflective surfaces.
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