Waymo LLC

Google Inc.

Drew Eugene Ulrich

Samuel William Lenius

Pierre-yves Droz

Anthony Scott Levandowski

Gaetan Pennecot

Daniel Gruver

Zachary Morriss

William McCann

Pierre-Yves Droz

Bernard G Fidric

Luke Wachter

Rahim Pardhan

Dorel Ionut Iordache

Peter Avram

William Mccann

Anthony Levandowski

Bernard Fidric

Ralph Hamilton Shepard

Chandra Kakani

Zach Morriss

Matthew Emanuel Last

John Henrie

James C Dunphy

David Neil Hutchison

Caner Onal

Kelvin Kwong

Augusto Tazzoli

Robert J Lockwood

David Schleuning

Simon Ellgas

Nathaniel Golshan

Justin Matthew Andrade

Andrew Abo

Erin Eppard

Ionut Iordache

Nathaniel Quillin

Michael Tom

Daiwei Li

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.

Light steering device with a plurality of beam-steering optics

Example embodiments relate to light detection and ranging (lidar) devices having a light-guide manifold. An example lidar device includes a transmit subsystem. The transmit subsystem includes a light emitter. The transmit subsystem also includes a light-guide manifold optically coupled to the light emitter. Further, the transmit subsystem includes a telecentric lens assembly optically coupled to the light-guide manifold. The lidar device also includes a receive subsystem. The receive subsystem includes the telecentric lens assembly. The receive subsystem also includes an aperture plate having an aperture defined therein. The aperture plate is positioned at a focal plane of the telecentric lens assembly. Further, the receive subsystem includes a silicon photomultiplier (SiPM) positioned to receive light traveling through the aperture.

Light detection and ranging (lidar) device having a light-guide manifold

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.

Vehicle with multiple light detection and ranging devices (LIDARs)

A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.

Devices and methods for a rotating LIDAR platform with a shared transmit/receive path

The technology relates to lens assemblies for sensor units that provide a low but consistent preload force over the entire operational temperature range of the device. Consistent preloading helps to avoid cracking and plastic deformation. In particular, a compliant structure of a polymeric material is able to expand and contract across temperature extremes. In addition, the polymeric material is arranged in conjunction with a retainer ring to form a discontinuous seal with the lens. This provides in a leak path that is able to reduce condensation or contaminants. As a result, moisture within the sensor unit is permitted to escape, reducing or eliminating impairments on the lens or other parts of the sensor unit that could otherwise impair device operation.

Lens retainer ring with compliant element

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.

Long range steerable LIDAR system

Light steering device with an array of oscillating reflective slats

An example apparatus may include a first plate having a first side. A first plurality of fins may be integral with the first side of the first plate and protruding perpendicularly therefrom. The first plurality of fins may be arranged in first concentric circles separated radially by a first distance. The apparatus may also include a second plate having a first side. The second plate may be rotatably coupled to the first plate. A second plurality of fins may be integral with the first side of the second plate and protruding perpendicularly therefrom. The second plurality of fins may be arranged in second concentric circles separated radially by the first distance. Each fin of the second plurality of fins may interpose between adjacent fins of the first plurality of fins to transfer heat between the second plate and the first plate.

Thermal rotary link

Rotatable mirror assemblies and light detection and ranging systems containing rotatable mirror assemblies are described herein. An example rotatable mirror assembly may include (1) a housing having a top end, a bottom end, and a longitudinal axis intersecting the top and bottom ends, and (2) a set of reflective surfaces, where each reflective surface in the set is coupled to the top end of the housing and the bottom end of the housing such that each reflective surface possesses limited freedom of movement with respect to the housing.

Rotatable mirror assemblies

Growing community of inventors

San Francisco, CA, United States of America

Drew Eugene Ulrich