公开(公告)号：US12196884B2

公开(公告)日：2025-01-14

申请号：US17366768

申请日：2021-07-02

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zach Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  William McCann ,  Daniel Gruver ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S7/48 ,  G01S7/481 ,  G01S13/931 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931

Abstract: Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

公开(公告)号：US20240345248A1

公开(公告)日：2024-10-17

申请号：US18603652

申请日：2024-03-13

Applicant: Luminar Technologies, Inc.

Inventor： Jason M. Eichenholz ,  Scott R. Campbell ,  John E. McWhirter ,  Matthew D. Weed ,  Lane A. Martin

IPC: G01S17/08 ,  G01S7/481 ,  G01S17/42 ,  G01S17/87 ,  G01S17/931 ,  G02B5/08 ,  G02B5/09 ,  G02B5/18 ,  G02B5/22 ,  G02B7/182 ,  G02B26/10 ,  G02B26/12 ,  G02B27/09 ,  G02B27/10 ,  G02B27/30 ,  H01L25/16 ,  H01L27/146

CPC classification number: G01S17/08 ,  G01S7/4813 ,  G01S7/4817 ,  G01S17/42 ,  G01S17/931 ,  G02B5/09 ,  G02B7/1821 ,  G02B26/101 ,  G02B26/105 ,  G02B26/123 ,  G02B26/125 ,  G02B27/0955 ,  G02B27/0977 ,  G02B27/1086 ,  G02B27/30 ,  H01L25/167 ,  H01L27/14643 ,  H01L27/14647 ,  G01S17/87 ,  G02B5/0841 ,  G02B5/1857 ,  G02B5/22 ,  H01L27/14694

Abstract: A lidar system includes one or more light sources configured to generate a first beam of light and a second beam of light, a scanner configured to scan the first and second beams of light across a field of regard of the lidar system, and a receiver configured to detect the first beam of light and the second beam of light scattered by one or more remote targets. The scanner includes a rotatable polygon mirror that includes multiple reflective surfaces angularly offset from one another along a periphery of the polygon mirror, the reflective surfaces configured to reflect the first and second beams of light to produce a series of scan lines as the polygon mirror rotates. The scanner also includes a pivotable scan mirror configured to (i) reflect the first and second beams of light and (ii) pivot to distribute the scan lines across the field of regard.

公开(公告)号：US20240337747A1

公开(公告)日：2024-10-10

申请号：US18746982

申请日：2024-06-18

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Moussab BENNEHAR ,  Dzmitry TSISHKOU ,  Nathan PIASCO

IPC: G01S17/86 ,  G01P21/00 ,  G01S7/497 ,  G01S17/87 ,  G06T7/73

CPC classification number: G01S17/86 ,  G01P21/00 ,  G01S7/497 ,  G01S17/87 ,  G06T7/73 ,  G06T2207/30244

Abstract: The present disclosure relates to a sensor apparatus for sensing data of an agent (for example a vehicle) performing a movement along an agent trajectory. An example sensor apparatus includes a motion sensor configured to obtain motion sensor data of the agent along the agent trajectory, a lidar sensor configured to obtain lidar data along the agent trajectory, and an imaging sensor configured to obtain image data along the agent trajectory. Furthermore, the sensor apparatus includes a processing circuitry configured to determine, based on the motion sensor data and the lidar data, a plurality of first poses of the lidar sensor along the agent trajectory and to determine, based on the motion sensor data and the image data, a plurality of second poses of the imaging sensor along the agent trajectory.

公开(公告)号：US20240326253A1

公开(公告)日：2024-10-03

申请号：US18740527

申请日：2024-06-12

Applicant: Clara VU ,  Scott DENENBERG ,  Patrick SOBALVARRO ,  Alberto MOEL

Inventor： Clara VU ,  Scott DENENBERG ,  Patrick SOBALVARRO ,  Alberto MOEL

IPC: B25J9/16 ,  G01S7/48 ,  G01S17/04 ,  G01S17/87 ,  G01S17/89 ,  G01V8/20 ,  G06T17/05 ,  G06T17/10

CPC classification number: B25J9/1694 ,  B25J9/1666 ,  B25J9/1676 ,  B25J9/1697 ,  G01S7/4808 ,  G01S17/04 ,  G01S17/87 ,  G01S17/89 ,  G06T17/10 ,  G01V8/20 ,  G05B2219/40202 ,  G06T17/05 ,  Y10S901/47 ,  Y10S901/49

Abstract: A method of safely operating machinery in a workspace includes recording images of a portion of a workspace. The method also includes generating a three-dimensional (3D) representation of the portion of the workspace based on the recorded images, where the 3D representation includes one or more volumes that correspond to the portion of the workspace. Additionally, the method includes identifying one or more of the volumes as being either occupied or unoccupied. Further, the method includes mapping one or more safe zones based on the one or more identified volumes, where the safe zones correspond to one or more regions within the portion of the workspace for safe operation of machinery.

公开(公告)号：US12097625B2

公开(公告)日：2024-09-24

申请号：US17206626

申请日：2021-03-19

Applicant: Clara Vu ,  Scott Denenberg ,  Ilya A. Kriveshko ,  Paul Jakob Schroeder

Inventor： Clara Vu ,  Scott Denenberg ,  Ilya A. Kriveshko ,  Paul Jakob Schroeder

IPC: G05B19/4061 ,  B25J9/16 ,  G01S7/48 ,  G01S17/04 ,  G01S17/87 ,  G01S17/89 ,  G06T17/10 ,  G01V8/20 ,  G06T17/05

CPC classification number: B25J9/1694 ,  B25J9/1666 ,  B25J9/1676 ,  B25J9/1697 ,  G01S7/4808 ,  G01S17/04 ,  G01S17/87 ,  G01S17/89 ,  G06T17/10 ,  G01V8/20 ,  G05B2219/40202 ,  G06T17/05 ,  Y10S901/47 ,  Y10S901/49

Abstract: Systems and methods for identifying a robot end effector in a processing environment may utilize one or more sensors for digitally recording visual information and providing that information to an industrial workflow. The sensor(s) may be positioned to record at least one image of the robot including the end effector. A processor may determine the identity of the end effector from the recorded image(s) and a library or database stored digital models.

公开(公告)号：US20240310553A1

公开(公告)日：2024-09-19

申请号：US18402639

申请日：2024-01-02

Applicant: LaserMotive, Inc.

Inventor： Jordin T. Kare ,  Thomas J. Nugent ,  David Bashford ,  Carsten Casey Erickson ,  Thomas W. Bashford

IPC: G01V8/22 ,  G01S7/00 ,  G01S7/484 ,  G01S17/04 ,  G01S17/06 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  H01S5/00 ,  H01S5/062 ,  H01S5/42 ,  H02J50/10 ,  H02J50/30 ,  H02J50/60 ,  H02J50/90 ,  H04B10/114 ,  H04B10/80

CPC classification number: G01V8/22 ,  G01S7/003 ,  G01S7/006 ,  G01S7/484 ,  G01S17/04 ,  G01S17/06 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  H01S5/005 ,  H01S5/0085 ,  H01S5/06216 ,  H01S5/423 ,  H02J50/10 ,  H02J50/30 ,  H02J50/60 ,  H02J50/90 ,  H04B10/1141 ,  H04B10/807

Abstract: A system to detect obstacles includes a power beam transmission circuit, a power beam reception circuit arranged to receive a power beam from the power beam transmission circuit, an emitter module, and a detector module arranged to distinguish between a first characteristic and a second characteristic. The emitter module includes a first emitter arranged to emit a first signal having the first characteristic, the first signal emitted in proximity to the power beam, and a second emitter arranged to emit a second signal having the second characteristic, the second characteristic different from the first characteristic. The detector module includes a first detector arranged to respond to the first signal emitted by the first emitter, the detector module being arranged to determine when an obstacle is in or near a line-of-sight transmission path between the first emitter and the first detector.

公开(公告)号：US20240246232A1

公开(公告)日：2024-07-25

申请号：US18594225

申请日：2024-03-04

Applicant: Veo Robotics, Inc.

Inventor： Lev PERSITS ,  Gene Malkin ,  Scott Denenberg ,  Karia Haiat Sasson

IPC: B25J9/16 ,  G01S7/48 ,  G01S17/04 ,  G01S17/87 ,  G01S17/89 ,  G01V8/20 ,  G06T17/05 ,  G06T17/10

CPC classification number: B25J9/1666 ,  B25J9/1676 ,  B25J9/1697 ,  G01S7/4808 ,  G01S17/04 ,  G01S17/87 ,  G01S17/89 ,  G06T17/10 ,  G01V8/20 ,  G05B2219/40202 ,  G06T17/05 ,  Y10S901/47 ,  Y10S901/49

Abstract: Crosstalk mitigation among cameras in neighboring monitored workcells is achieved by computationally defining a noninterference scheme that respects the independent monitoring and operation of each workcell. The scheme may involve communication between adjacent cells to adjudicate non-interfering camera operation or system-wide mapping of interference risks and mitigation thereof. Mitigation strategies can involve spread-spectrum techniques.

公开(公告)号：US20240192370A1

公开(公告)日：2024-06-13

申请号：US18553737

申请日：2022-02-22

Applicant: SONY SEMICONDUCTOR SOLUTIONS CORPORATION

Inventor： TOMONORI MASUNO ,  TOMOO MITSUNAGA

IPC: G01S17/87 ,  G01S7/4913 ,  G01S17/36 ,  G01S17/48 ,  G01S17/894

CPC classification number: G01S17/87 ,  G01S7/4913 ,  G01S17/36 ,  G01S17/48 ,  G01S17/894

Abstract: An error in distance measurement is reduced. The distance measuring sensor generates multiple images by receiving light in light reception periods that are synchronized with pulse train pattern light, which repeats a light emission period and a non-light emission period of two types of luminance of a bright portion and a dark portion, and have different phases from each other. A bright region detecting unit detects a bright region which is a region generated by receiving reflected light corresponding to the bright portion of the pattern light in each of the multiple images. A first distance measuring unit detects a phase difference between the emitted pattern light and the reflected light on the basis of the bright regions detected in the multiple images and calculates a first distance measurement value that is a distance to the object on the basis of the detected phase difference. A bright region selecting unit selects among the bright regions, detected in the multiple images, on the basis of image signals constituting the images. A second distance measuring unit calculates a second distance measurement value that is a distance to the object by triangulation using a position of the selected bright region in the image. A fusion unit generates a fused distance measurement value by fusing the first distance measurement value and the second distance measurement value.

公开(公告)号：US12007228B2

公开(公告)日：2024-06-11

申请号：US17520496

申请日：2021-11-05

Applicant: Zoox, Inc.

Inventor： Derek Adams ,  Ian Baldwin ,  Bertrand Robert Douillard ,  Jesse Sol Levinson

IPC: G01B21/16 ,  G01C21/16 ,  G01C21/36 ,  G01C25/00 ,  G01S7/497 ,  G01S17/06 ,  G01S17/87 ,  G01S17/88 ,  G01S7/40 ,  G01S13/06 ,  G01S13/86

CPC classification number: G01B21/16 ,  G01C21/1652 ,  G01C21/1656 ,  G01C21/3602 ,  G01C25/00 ,  G01S7/4972 ,  G01S17/06 ,  G01S17/87 ,  G01S17/88 ,  G01S7/4026 ,  G01S13/06 ,  G01S13/86

Abstract: Perception sensors of a vehicle can be used for various operating functions of the vehicle. A computing device may receive sensor data from the perception sensors, and may calibrate the perception sensors using the sensor data, to enable effective operation of the vehicle. To calibrate the sensors, the computing device may project the sensor data into a voxel space, and determine a voxel score comprising an occupancy score and a residual value for each voxel. The computing device may then adjust an estimated position and/or orientation of the sensors, and associated sensor data, from at least one perception sensor to minimize the voxel score. The computing device may calibrate the sensor using the adjustments corresponding to the minimized voxel score. Additionally, the computing device may be configured to calculate an error in a position associated with the vehicle by calibrating data corresponding to a same point captured at different times.

公开(公告)号：US20240184296A1

公开(公告)日：2024-06-06

申请号：US18542837

申请日：2023-12-18

Applicant: Waymo LLC

Inventor： William Grossman ,  Benjamin Pitzer

IPC: G05D1/00 ,  B60R1/12 ,  G01S7/481 ,  G01S13/86 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931 ,  G05D1/247 ,  G05D1/249 ,  G01S13/931

CPC classification number: G05D1/0231 ,  B60R1/12 ,  G01S7/4813 ,  G01S13/865 ,  G01S13/867 ,  G01S17/86 ,  G01S17/87 ,  G01S17/931 ,  G05D1/247 ,  G05D1/249 ,  B60R2001/1223 ,  G01S2013/93274

Abstract: The technology relates to autonomous vehicles for transporting cargo and/or people between locations. Distributed sensor arrangements may not be suitable for vehicles such as large trucks, busses or construction vehicles. Side view mirror assemblies are provided that include a sensor suite of different types of sensors, including LIDAR, radar, cameras, etc. Each side assembly is rigidly secured to the vehicle by a mounting element. The sensors within the assembly may be aligned or arranged relative to a common axis or physical point of the housing. This enables self-referenced calibration of all sensors in the housing. Vehicle-level calibration can also be performed between the sensors on the left and right sides of the vehicle. Each side view mirror assembly may include a conduit that provides one or more of power, data and cooling to the sensors in the housing.