Calibration system for light detection and ranging (lidar) devices

    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

    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.

    Rotatable mirror device
    2.
    发明授权

    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

    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.

    Calibration system for light detection and ranging (lidar) devices

    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

    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.

    Split Window and Baffling
    4.
    发明公开

    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

    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.

    Combined Collimation and Diffuser Lens for Flood Illuminator

    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

    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.

    Rotatable Mirror Device
    6.
    发明申请

    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

    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.

    Rotatable Mirror Device
    9.
    发明申请

    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

    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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