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公开(公告)号：US11936845B2
公开(公告)日：2024-03-19
申请号：US17930564
申请日：2022-09-08
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Shashank Sharma
IPC: H04N7/18 , B60S1/04 , B60S1/46 , B60S1/54 , G01N21/94 , G01S7/481 , G01S17/931 , G06T5/00 , H04N17/00 , H04N23/56 , H04N23/80
CPC classification number: H04N17/002 , B60S1/04 , B60S1/46 , B60S1/54 , G01N21/94 , G01S7/4817 , G01S17/931 , G06T5/003 , H04N23/56 , H04N23/80 , G06T2207/30168 , G06T2207/30248
Abstract: The present disclosure relates to contaminant detection systems and related optical systems and methods. An example contaminant detection system includes an optical coupler configured to couple light into and/or out of an optical element. The contaminant detection system also includes a plurality of light-emitter devices configured to emit emission light toward the optical coupler. The contaminant detection system additionally includes a plurality of detector devices configured to detect at least a portion of the emission light by way of the optical element and the optical coupler. The plurality of detector devices is also configured to provide detector signals indicative of a presence of a contaminant on the optical element.
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公开(公告)号：US11927440B2
公开(公告)日：2024-03-12
申请号：US18143214
申请日：2023-05-04
Applicant: Waymo LLC
Inventor： Shashank Sharma , Matthew Last , Prasanna Kalkura , Paul Schaefer
Abstract: An apparatus includes a lens assembly that includes at least one lens that defines an optical axis. The apparatus also includes a substrate, an image sensor disposed on the substrate, and an actuator coupled to the substrate and configured to adjust a position of the substrate relative to the lens assembly to move the image sensor along the optical axis. The apparatus additionally includes a capacitive position sensor that includes a first capacitive plate coupled to the substrate and a second capacitive plate coupled to the lens assembly. The capacitive position sensor may be configured to generate a capacitance measurement indicative of the position of the substrate relative to the lens assembly. The apparatus further includes circuitry configured to control the actuator based on (i) the capacitance measurement and (ii) a target position of the image sensor relative to the lens assembly.
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公开(公告)号：US11606517B1
公开(公告)日：2023-03-14
申请号：US17340522
申请日：2021-06-07
Applicant: Waymo LLC
Inventor： Shashank Sharma , Ralph H. Shepard
Abstract: Example embodiments relate to enhanced depth of focus cameras using variable apertures and pixel binning. An example embodiment includes a device. The device includes an image sensor. The image sensor includes an array of light-sensitive pixels and a readout circuit. The device also includes a variable aperture. Additionally, the device includes a controller that is configured to cause: the variable aperture to adjust to a first aperture size when a high-light condition is present, the variable aperture to adjust to a second aperture size when a low-light condition is present, the readout circuit to perform a first level of pixel binning when the high-light condition is present, and the readout circuit to perform a second level of pixel binning when the low-light condition is present. The second aperture size is larger than the first aperture size. The second level of pixel binning is greater than the first level of pixel binning.
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公开(公告)号：US20230007235A1
公开(公告)日：2023-01-05
申请号：US17930564
申请日：2022-09-08
Applicant: Waymo LLC
Inventor： Benjamin Frevert , Shashank Sharma
IPC: H04N17/00 , B60S1/04 , B60S1/46 , B60S1/54 , H04N5/225 , G06T5/00 , G01N21/94 , G01S17/931 , G01S7/481 , H04N5/232
Abstract: The present disclosure relates to contaminant detection systems and related optical systems and methods. An example contaminant detection system includes an optical coupler configured to couple light into and/or out of an optical element. The contaminant detection system also includes a plurality of light-emitter devices configured to emit emission light toward the optical coupler. The contaminant detection system additionally includes a plurality of detector devices configured to detect at least a portion of the emission light by way of the optical element and the optical coupler. The plurality of detector devices is also configured to provide detector signals indicative of a presence of a contaminant on the optical element.
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公开(公告)号：US12253740B2
公开(公告)日：2025-03-18
申请号：US17114808
申请日：2020-12-08
Applicant: Waymo LLC
Inventor： Shashank Sharma , Matthew Last
IPC: B60R11/04 , B60S1/02 , G01J5/02 , G01J5/061 , G01J5/08 , G01J5/0806 , G01J5/0875 , G02B7/18
Abstract: The present disclosure relates to optical systems, vehicles, and methods for providing improved mechanical performance of a camera and corresponding optical elements. An example optical system includes an outer housing and an inner support member. The optical system also includes an optical window coupled to the outer housing and the inner support member. The optical window is configured to be temperature-controllable. The optical system also includes a camera coupled to the inner support member. The camera is optically coupled to the optical window. Additionally, the outer housing, the optical window, and the camera are configured to be impact resistant.
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Patent Agency Ranking
公开(公告)号：US12143734B1
公开(公告)日：2024-11-12
申请号：US18169532
申请日：2023-02-15
Applicant: Waymo LLC
Inventor： Shashank Sharma , Ralph H. Shepard
Abstract: Example embodiments relate to enhanced depth of focus cameras using variable apertures and pixel binning. An example embodiment includes a device. The device includes an image sensor. The image sensor includes an array of light-sensitive pixels and a readout circuit. The device also includes a variable aperture. Additionally, the device includes a controller that is configured to cause: the variable aperture to adjust to a first aperture size when a high-light condition is present, the variable aperture to adjust to a second aperture size when a low-light condition is present, the readout circuit to perform a first level of pixel binning when the high-light condition is present, and the readout circuit to perform a second level of pixel binning when the low-light condition is present. The second aperture size is larger than the first aperture size. The second level of pixel binning is greater than the first level of pixel binning.
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公开(公告)号：US11902648B2
公开(公告)日：2024-02-13
申请号：US17557653
申请日：2021-12-21
Applicant: Waymo LLC
Inventor： Shashank Sharma
Abstract: An apparatus includes a lens assembly that includes at least one lens that defines an optical axis, a lens holder coupled to the lens assembly, a substrate, an image sensor disposed on the substrate, and an actuator coupled between the lens holder and the substrate and configured to adjust a position of the substrate relative to the lens assembly to reposition the image sensor along the optical axis. The apparatus also includes a position sensor that includes a magnet and a magnetic field sensor. The position sensor is coupled to the substrate and the lens holder. The magnetic field sensor is configured to generate magnetic field data indicating a position of the substrate relative to the lens holder. The apparatus additionally includes circuitry configured to control the actuator based on the magnetic field data to place the image sensor within a depth of focus of the lens assembly.
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公开(公告)号：US20220232149A1
公开(公告)日：2022-07-21
申请号：US17658041
申请日：2022-04-05
Applicant: Waymo LLC
Inventor： Shashank Sharma
Abstract: A camera includes a camera focus adjustment device, a lens, and an image sensor coupled to the camera focus adjustment device. The camera focus adjustment device includes a flexure structure. The flexure structure includes an outer framework of structural members continuously interconnected by flexure notch hinges. The flexure structure also includes two inner structural members oriented in parallel and extending from the outer framework of structural members. A gap is between the two inner structural members. The camera focus adjustment device also includes a piezoelectric material within the gap and a pair of wedges within the gap. The pair of wedges is affixed to the piezoelectric material and to one inner structural member of the two inner structural members. Based on temperature-based piezoelectric activity associated with the piezoelectric material, the camera focus adjustment device is operable to move the image sensor relative to the lens.
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公开(公告)号：US20220187687A1
公开(公告)日：2022-06-16
申请号：US17117534
申请日：2020-12-10
Applicant: Waymo LLC
Inventor： Shashank Sharma , Matthew Last , Ralph Shepard
Abstract: The present disclosure relates to optical systems, vehicles, and methods for providing improved thermal images. An example optical system includes a housing, a thermal camera disposed inside the housing, and an optical window coupled to an opening of the housing. The optical system also includes a heater assembly. The heater assembly includes a window heater and at least one connector extending from the window heater. The window heater is thermally coupled to an inner surface of the optical window. The window heater is configured to maintain the optical window at a desired temperature.
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公开(公告)号：US20220176892A1
公开(公告)日：2022-06-09
申请号：US17114808
申请日：2020-12-08
Applicant: Waymo LLC
Inventor： Shashank Sharma , Matthew Last
Abstract: The present disclosure relates to optical systems, vehicles, and methods for providing improved mechanical performance of a camera and corresponding optical elements. An example optical system includes an outer housing and an inner support member. The optical system also includes an optical window coupled to the outer housing and the inner support member. The optical window is configured to be temperature-controllable. The optical system also includes a camera coupled to the inner support member. The camera is optically coupled to the optical window. Additionally, the outer housing, the optical window, and the camera are configured to be impact resistant.
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