公开(公告)号：US20200014086A1

公开(公告)日：2020-01-09

申请号：US16533519

申请日：2019-08-06

Applicant: Waymo LLC

Inventor： Zhe Li ,  Jamal Izadian ,  Pierre-yves Droz ,  Min Wang ,  Samuel Lenius ,  Paul Karplus ,  Kyla Purvis

IPC: H01P3/12 ,  H01Q1/32 ,  H01P5/08 ,  G01S13/06 ,  G01S13/93

Abstract: A vehicle having a communication system is disclosed. The system includes two electrical couplings, coupled by way of a rotary joint having a bearing waveguide. Each electrical coupling includes an interface waveguide configured to couple to external signals. Each electrical coupling also includes a waveguide section configured to propagate electromagnetic signals between the interface waveguide and the bearing waveguide of the rotary joint. Additionally, the rotary joint is configured to allow one electrical coupling to rotate with respect to the other electrical coupling. An axis of rotation of the rotary joint is defined by a center of a portion of the waveguides. Yet further, the rotary joint allows electromagnetic energy to propagate between the waveguides of the electrical couplings.

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：US12210073B2

公开(公告)日：2025-01-28

申请号：US18514182

申请日：2023-11-20

Applicant: WAYMO LLC

Inventor： Paul Thomas Hansen Karplus ,  Samuel Lenius

IPC: H02K1/22 ,  G01R33/07 ,  G01S7/481 ,  H01F38/18 ,  H02K1/14 ,  H02K1/18 ,  H02K1/2791 ,  H02K11/215

Abstract: An integrated hybrid rotary assembly is configured to provide power, torque and bi-directional communication to a rotatable sensor, such as a lidar, radar or optical sensor. A common ferrite core is shared by a motor, rotary transformer and radio frequency communication link. This hybrid configuration reduces cost, simplifies the manufacturing process, and can improve system reliability by employing a minimum number of parts. The assembly can be integrated with the sensor unit, which may be used in vehicles and other systems.

公开(公告)号：US11536845B2

公开(公告)日：2022-12-27

申请号：US16235564

申请日：2018-12-28

Applicant: Waymo LLC

Inventor： Blaise Gassend ,  Ralph H. Shepard ,  Samuel Lenius ,  Ryan Davis

IPC: G01S17/931 ,  G01C3/06 ,  G01S17/10 ,  G01S17/42 ,  G01S7/481 ,  G01S7/48 ,  G01S17/89

Abstract: Example embodiments relate to LIDAR systems with multi-faceted mirrors. An example embodiment includes a LIDAR system. The system includes a multi-faceted mirror that includes a plurality of reflective facets, which rotates about a first rotational axis. The system also includes a light emitter configured to emit a light signal toward one or more regions of a scene. Further, the system includes a light detector configured to detect a reflected light signal. In addition, the system includes an optical window positioned between the multi-faceted mirror and the one or more regions of the scene such that light reflected from one or more of the reflective facets is transmitted through the optical window. The optical window is positioned such that the optical window is non-perpendicular to the direction toward which the light emitted along the optical axis is directed for all angles of the multi-faceted mirror.

公开(公告)号：US11506731B2

公开(公告)日：2022-11-22

申请号：US16692291

申请日：2019-11-22

Applicant: WAYMO LLC

Inventor： Paul Thomas Hansen Karplus ,  Samuel Lenius

IPC: H02K1/22 ,  G01R33/07 ,  H01F38/18 ,  G01S7/481 ,  H02K11/215 ,  H02K1/18 ,  H02K1/14 ,  H02K1/2786

Abstract: An integrated hybrid rotary assembly is configured to provide power, torque and bi-directional communication to a rotatable sensor, such as a lidar, radar or optical sensor. A common ferrite core is shared by a motor, rotary transformer and radio frequency communication link. This hybrid configuration reduces cost, simplifies the manufacturing process, and can improve system reliability by employing a minimum number of parts. The assembly can be integrated with the sensor unit, which may be used in vehicles and other systems.

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：US20240085498A1

公开(公告)日：2024-03-14

申请号：US18514182

申请日：2023-11-20

Applicant: WAYMO LLC

Inventor： Paul Thomas Hansen Karplus ,  Samuel Lenius

IPC: G01R33/07 ,  G01S7/481 ,  H01F38/18 ,  H02K1/14 ,  H02K1/18 ,  H02K1/22 ,  H02K1/2791 ,  H02K11/215

CPC classification number: G01R33/072 ,  G01S7/4811 ,  H01F38/18 ,  H02K1/146 ,  H02K1/187 ,  H02K1/22 ,  H02K1/2791 ,  H02K11/215 ,  H02K2211/00

Abstract: An integrated hybrid rotary assembly is configured to provide power, torque and bi-directional communication to a rotatable sensor, such as a lidar, radar or optical sensor. A common ferrite core is shared by a motor, rotary transformer and radio frequency communication link. This hybrid configuration reduces cost, simplifies the manufacturing process, and can improve system reliability by employing a minimum number of parts. The assembly can be integrated with the sensor unit, which may be used in vehicles and other systems.

公开(公告)号：US20230275333A1

公开(公告)日：2023-08-31

申请号：US18312267

申请日：2023-05-04

Applicant: Waymo LLC

Inventor： Zhe Li ,  Jamal Izadian ,  Pierre-yves Droz ,  Min Wang ,  Samuel Lenius ,  Paul Karplus ,  Kyla Purvis

IPC: H01P1/06 ,  H01P3/12 ,  H01Q1/32 ,  G01S13/931 ,  G01S13/06 ,  H01P5/08 ,  G01S13/86 ,  H01P11/00

CPC classification number: H01P1/067 ,  G01S13/06 ,  G01S13/865 ,  G01S13/931 ,  H01P3/12 ,  H01P5/08 ,  H01P11/002 ,  H01Q1/32

Abstract: A vehicle having a communication system is disclosed. The system includes two electrical couplings, coupled by way of a rotary joint having a bearing waveguide. Each electrical coupling includes an interface waveguide configured to couple to external signals. Each electrical coupling also includes a waveguide section configured to propagate electromagnetic signals between the interface waveguide and the bearing waveguide of the rotary joint. Additionally, the rotary joint is configured to allow one electrical coupling to rotate with respect to the other electrical coupling. An axis of rotation of the rotary joint is defined by a center of a portion of the waveguides. Yet further, the rotary joint allows electromagnetic energy to propagate between the waveguides of the electrical couplings.

公开(公告)号：US11152675B2

公开(公告)日：2021-10-19

申请号：US16533519

申请日：2019-08-06

Applicant: Waymo LLC

Inventor： Zhe Li ,  Jamal Izadian ,  Pierre-yves Droz ,  Min Wang ,  Samuel Lenius ,  Paul Karplus ,  Kyla Purvis

IPC: H01P1/06 ,  H01P3/12 ,  H01Q1/32 ,  G01S13/931 ,  G01S13/06 ,  H01P5/08 ,  G01S13/86 ,  H01P11/00

Abstract: A vehicle having a communication system is disclosed. The system includes two electrical couplings, coupled by way of a rotary joint having a bearing waveguide. Each electrical coupling includes an interface waveguide configured to couple to external signals. Each electrical coupling also includes a waveguide section configured to propagate electromagnetic signals between the interface waveguide and the bearing waveguide of the rotary joint. Additionally, the rotary joint is configured to allow one electrical coupling to rotate with respect to the other electrical coupling. An axis of rotation of the rotary joint is defined by a center of a portion of the waveguides. Yet further, the rotary joint allows electromagnetic energy to propagate between the waveguides of the electrical couplings.