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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
发明人： Michael Brickner , Hui Son , Chandra Kakani , Erin Eppard , Akio Yamakawa
IPC分类号： G01S17/10 , B60Q1/00 , G01S7/481 , G01S17/89 , G01S17/931 , G02B1/04 , G02B1/11 , G02B3/00 , G02B3/08
CPC分类号： G02B3/0068 , B60Q1/0023 , G01S7/4814 , G01S7/4817 , G01S17/10 , G01S17/89 , G01S17/931 , G02B1/041 , G02B1/11 , G02B3/08 , G02B2003/0093
摘要： 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：US20230194854A1
公开(公告)日：2023-06-22
申请号：US17644717
申请日：2021-12-16
申请人： Waymo LLC
发明人： David Duff , Michael Brickner , Hugh Ross
CPC分类号： G02B26/0816 , G01S7/4817 , G01S17/931
摘要： The present disclosure relates to systems and methods that involve a rotatable mirror assembly. An example system includes a shaft configured to rotate about a rotational axis. A portion of the shaft can be tapered, either in a stepped profile or a ramped profile. In the surface of the shaft can be one or more circumferentially-indented grooves. The system also includes a mirror body coupled to the tapered shaft via the at least one circumferentially-indented groove. The mirror body is configured to have a polygonal cross-section, and reflective surfaces can be disposed along at least one external surface of the mirror body. Example methods of manufacturing the rotatable mirror assembly are also disclosed.
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公开(公告)号：US20220120877A1
公开(公告)日：2022-04-21
申请号：US17565572
申请日：2021-12-30
申请人： Waymo LLC
发明人： Blaise Gassend , David Duff , Pierre-Yves Droz , Paul Karplus , Jason Watson , Michael Brickner , Alex Rivas
摘要： The present disclosure relates to devices, lidar systems, and vehicles that include optical redirectors. An example lidar system includes a transmitter and a receiver. The transmitter includes at least one light-emitter device configured to transmit emission light into an environment of the lidar system. The receiver is configured to detect return light from the environment and includes a plurality of apertures, a plurality of photodetectors, and a plurality of optical redirectors. Each optical redirector is configured to optically couple a respective portion of return light from a respective aperture to at least one photodetector of the plurality of photodetectors. At least one of the optical redirectors includes an optically isolating coating.
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公开(公告)号：US20240118391A1
公开(公告)日：2024-04-11
申请号：US18540486
申请日：2023-12-14
申请人： Waymo LLC
发明人： Blaise Gassend , David Duff , Pierre-Yves Droz , Paul Karplus , Jason Watson , Michael Brickner , Alex Rivas
IPC分类号： G01S7/481 , G01S17/931
CPC分类号： G01S7/4816 , G01S7/4814 , G01S17/931
摘要： The present disclosure relates to devices, lidar systems, and vehicles that include optical redirectors. An example lidar system includes a transmitter and a receiver. The transmitter includes at least one light-emitter device configured to transmit emission light into an environment. The receiver is configured to detect return light from the environment and includes a plurality of apertures, a plurality of photodetectors, and a plurality of optical redirectors. Each optical redirector is configured to optically couple a respective portion of return light from a respective aperture to at least one photodetector of the plurality of photodetectors. Each optical redirector also has a rotational orientation relative to other optical redirectors such that the redirection paths of optical redirectors that correspond to adjacent apertures are not coplanar with one another.
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公开(公告)号：US20210199770A1
公开(公告)日：2021-07-01
申请号：US17134277
申请日：2020-12-26
申请人： Waymo LLC
发明人： Blaise Gassend , David Duff , Pierre-Yves Droz , Paul Karplus , Jason Watson , Michael Brickner , Alex Rivas
IPC分类号： G01S7/481 , G01S17/931 , G01S7/4914 , G01S7/493
摘要： The present disclosure relates to devices, lidar systems, and vehicles that include optical redirectors. An example lidar system includes a transmitter and a receiver. The transmitter includes at least one light-emitter device configured to transmit emission light into an environment of the lidar system. The receiver is configured to detect return light from the environment and includes a plurality of apertures, a plurality of photodetectors, and a plurality of optical redirector elements. Each optical redirector element is configured to optically couple a respective portion of return light from a respective aperture to at least one photodetector of the plurality of photodetectors.
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公开(公告)号：US12055659B2
公开(公告)日：2024-08-06
申请号：US17134277
申请日：2020-12-26
申请人： Waymo LLC
发明人： Blaise Gassend , David Duff , Pierre-Yves Droz , Paul Karplus , Jason Watson , Michael Brickner , Alex Rivas
IPC分类号： G01S7/48 , G01S7/481 , G01S7/4914 , G01S7/493 , G01S17/931
CPC分类号： G01S7/4813 , G01S7/4817 , G01S7/4914 , G01S7/493 , G01S17/931
摘要： The present disclosure relates to devices, lidar systems, and vehicles that include optical redirectors. An example lidar system includes a transmitter and a receiver. The transmitter includes at least one light-emitter device configured to transmit emission light into an environment of the lidar system. The receiver is configured to detect return light from the environment and includes a plurality of apertures, a plurality of photodetectors, and a plurality of optical redirector elements. Each optical redirector element is configured to optically couple a respective portion of return light from a respective aperture to at least one photodetector of the plurality of photodetectors.
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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
申请人： Waymo LLC
发明人： Jason Watson , David Duff , Justin Andrade , Blaise Gassend , Alex Bogatko , Alex Rivas , Michael Brickner , Yeh-Jiun Tung , Hui Son
IPC分类号： G01S7/481
CPC分类号： G01S7/4813 , G01S7/4817 , G01S7/4812
摘要： 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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公开(公告)号：US20220196891A1
公开(公告)日：2022-06-23
申请号：US17125140
申请日：2020-12-17
申请人： Waymo LLC
发明人： Michael Brickner , Hui Son , Chandra Kakani , Erin Eppard
摘要： 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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