WO2020092120A1 - Ensemble miroir - Google Patents

Ensemble miroir Download PDF

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Publication number
WO2020092120A1
WO2020092120A1 PCT/US2019/057843 US2019057843W WO2020092120A1 WO 2020092120 A1 WO2020092120 A1 WO 2020092120A1 US 2019057843 W US2019057843 W US 2019057843W WO 2020092120 A1 WO2020092120 A1 WO 2020092120A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
laser light
mirror element
reflective surfaces
rotate
Prior art date
Application number
PCT/US2019/057843
Other languages
English (en)
Inventor
Blaise Gassend
Pierre-Yves Droz
Benjamin T. Ingram
Original Assignee
Waymo Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/229,182 external-priority patent/US10948573B2/en
Application filed by Waymo Llc filed Critical Waymo Llc
Priority to CN201980086911.1A priority Critical patent/CN113227825A/zh
Publication of WO2020092120A1 publication Critical patent/WO2020092120A1/fr
Priority to IL282694A priority patent/IL282694A/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/101—Scanning systems with both horizontal and vertical deflecting means, e.g. raster or XY scanners
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/12—Scanning systems using multifaceted mirrors

Definitions

  • LIDAR Light detection and ranging
  • LIDAR systems utilize laser light to provide information about objects in an environment.
  • LIDAR systems can provide map data about a physical environment.
  • Some LIDAR systems include a scanning assembly configured to direct the laser light around the environment.
  • Such scanning assemblies may include one or more moving mirrors.
  • the present disclosure generally relates to an optical system with a moving mirror assembly.
  • the moving mirror assembly may be configured to rotate so as to direct laser light around an environment of the optical system.
  • some arrangements of the laser light source and the mirror assembly may provide a very broad scanning angle (e.g., greater than 230 degrees), which may allow for more comprehensive object mapping within a given environment.
  • a system in a first aspect, includes a laser light source operable to emit laser light along a first axis.
  • the system also includes a mirror element with a plurality of reflective surfaces.
  • the mirror element is configured to rotate about a second axis.
  • the plurality of reflective surfaces is disposed about the second axis.
  • the mirror element and the laser light source are coupled to a base structure.
  • the base structure is configured to rotate about a third axis.
  • the system further includes a controller configured to carry out operations.
  • the operations include causing the mirror element to rotate about the second axis.
  • the rotation about the second axis includes a first angular range and a second angular range.
  • the operations include causing the laser light source to emit laser light along the first axis such that the emitted laser light interacts with the mirror element. While the rotational angle of the mirror element is within the first angular range, the emitted laser light interacts with a first reflective surface of the plurality of reflective surfaces and is reflected into an environment by the first reflective surface. While the rotational angle of the mirror element is within the second angular range, the emitted laser light interacts with both the first reflective surface and a second reflective surface of the plurality of reflective surfaces and is reflected into the environment by the first and second reflective surfaces.
  • the operations further include causing the base structure to rotate about the third axis.
  • an optical system in a second aspect, includes a laser light source operable to emit laser light along a first axis.
  • the optical system also includes a mirror element having a plurality of reflective surfaces.
  • the mirror element is configured to rotate about a second axis.
  • the rotation about the second axis includes a first angular range and a second angular range.
  • the plurality of reflective surfaces is disposed about the second axis.
  • the mirror element and the laser light source are coupled to a base structure.
  • the base structure is configured to rotate about a third axis.
  • the optical system includes at least one beam stop.
  • the at least one beam stop is configured to prevent laser light from being emitted into the environment at angles outside an emission angle range.
  • Figure 1 illustrates a system, according to an example embodiment.
  • Figure 2A illustrates an optical system, according to an example embodiment.
  • Figure 2B illustrates an optical system, according to an example embodiment.
  • Figure 2C illustrates an optical system, according to an example embodiment.
  • Figure 3 A illustrates an optical system, according to an example embodiment.
  • Figure 3B illustrates an optical system, according to an example embodiment.
  • Figure 3C illustrates a reflected light angle versus mirror element reference angle graph, according to an example embodiment.
  • Figure 3D illustrates an optical system, according to an example embodiment.
  • Figure 4 illustrates a mirror element, according to an example embodiment.
  • Figure 5 illustrates an optical system, according to an example embodiment.
  • Figure 6 illustrates a method, according to an example embodiment.
  • Example methods, devices, and systems are described herein. It should be understood that the words“example” and“exemplary” are used herein to mean“serving as an example, instance, or illustration.” Any embodiment or feature described herein as being an “example” or“exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments or features. Other embodiments can be utilized, and other changes can be made, without departing from the scope of the subject matter presented herein.
  • a light distance and ranging system may include a laser light source configured to illuminate a mirror along a first axis.
  • the mirror may be configured to rotate about a second axis, in which the second axis is perpendicular to the first axis.
  • the mirror may include three mirror surfaces arranged in an equilateral triangle arrangement. While rotating about the second axis, the mirror may be configured to direct the light from the laser light source into an environment of the system over a wide field of view (e.g., greater than 230 degrees about the second axis). By directing the light over such a large angular field of view, the LIDAR system may provide ranging information within a larger three-dimensional volume.
  • the laser light source may illuminate two of the three sides of the mirror at the same time. In such situations, beam stops may be positioned to prevent multiple simultaneous readings/signals.
  • the mirror may be configured to provide interlaced scanning of the environment around the LIDAR system. For instance, the mirror, its operating characteristics (e.g., rate of rotation), and a pulse rate of the laser light source may provide a first set of scan locations during a first scan. Subsequently, by continuing to rotate the mirror while keeping the other operating characteristics the same, the laser light may be directed towards a second set of scan locations. In some embodiments, the first set of scan locations may be interleaved with the second set of scan locations such that the laser light emitted from the laser light source is provided in an evenly distributed fashion (e.g., in angle about the second axis).
  • the mirror may rotate about the second axis at a rotational frequency, W, which could be about 30,000 revolutions per minute or 30 kRPM. Furthermore, the mirror and the laser light source may rotate about a third axis at a rotational frequency, F, which could be about 600 RPM. However, other rotational frequencies are possible.
  • W rotational frequency
  • F rotational frequency
  • FIG. 1 illustrates a system 100, according to an example embodiment.
  • the system 100 may be, or may represent a portion of, a light detection and ranging (LIDAR) system.
  • system 100 may be a LIDAR system configured to provide information about an environment.
  • system 100 may be a LIDAR system for an autonomous vehicle, such as a self-driving car or an autonomous aerial vehicle.
  • System 100 includes a laser light source 110.
  • the laser light source 110 may be operable to emit laser light along a first axis.
  • the laser light source 110 could be any source of laser light configured to provide substantially collimated and/or coherent light.
  • the laser light source 110 could be a semiconductor waveguide laser, a fiber laser, an excimer laser, or another type of laser system.
  • the light emitted from the laser light source 110 may include pulses of laser light.
  • the laser light pulses may have durations in the 1 - 100 nanosecond range. However, other laser light pulse durations are possible.
  • the laser light emitted by the laser light source 110 may have an emission wavelength within the infrared (IR) wavelength range, however other wavelengths are contemplated.
  • the emission wavelength could be in the visible wavelength spectrum or the ultraviolet (UV) wavelength spectrum.
  • the emission wavelength may be about 905 nanometers.
  • the emission wavelength could be about 1.55 microns.
  • System 100 also includes a mirror element 120 with a plurality of reflective surfaces 122.
  • the reflective surfaces 122 may be configured to reflect light at, or substantially at, the emission wavelength.
  • the reflective surfaces 122 may be formed from, and/or coated with, a metal, such as aluminum, gold, silver, or another reflective material.
  • the reflective surfaces 122 may include a high reflectance (HR) coating.
  • the HR coating may include a dielectric stack configured to reflect incident light at the emission wavelength.
  • the dielectric stack may include, for example, a periodic layer system alternating between two materials having different indices of refraction. Other types of HR coatings are possible and contemplated herein.
  • the mirror element 120 may include three reflective surfaces l22a, l22b, and l22c. Mirror elements 120 having more or less reflective surfaces 122 are contemplated. For example, the mirror element 120 could include four or more reflective surfaces.
  • the mirror element 120 is configured to rotate about a second axis. Furthermore, in some embodiments, the plurality of reflective surfaces may be disposed about the second axis. In such scenarios, the mirror element 120 may be prism-shaped and each facet of the prism shape may be a reflective surface 122. In other words, the reflective surfaces l22a, l22b, and l22c may be arranged symmetrically about the second axis such that the mirror element 120 has a triangular prism shape. As an example, the first axis and the second axis may be perpendicular with respect to one another, however other arrangements of the first axis and the second axis are contemplated. In some embodiments, the first axis may intersect with the second axis.
  • System 100 additionally includes a base structure 130.
  • the mirror element 120 and the laser light source 110 may be coupled to the base structure 130.
  • the base structure 130 may be configured to rotate about a third axis. While a variety of arrangements of the third axis are contemplated, an example embodiment includes the third axis being parallel to or collinear with the first axis.
  • System 100 further includes one or more beam stops 140.
  • the system 100 includes a controller 150 configured to carry out operations.
  • the controller 150 may include one or more logic blocks, a programmable logic device (PLD), a field programmable gate array (FPGA), and/or an application-specific integrated circuit (ASIC). Other types of controller circuits are contemplated in the present disclosure.
  • the controller 150 may include one or more processors 152 and a memory 154. In such scenarios, the processor(s) 152 may be configured to execute instructions stored in the memory 154 so as to carry out the operations.
  • the operations include causing the mirror element 120 to rotate about the second axis.
  • the mirror element 120 may rotate about the second axis at rotational frequency W.
  • the rotation about the second axis includes a first angular range and a second angular range.
  • the mirror element 120 may rotate about the second axis at a rotational frequency of about 30 kRPM.
  • Other rotational frequencies of mirror element 120 are possible.
  • the mirror element 120 may rotate about the second axis within a rotational frequency range between 100 RPM and 100 kRPM.
  • the operations also include causing the laser light source 110 to emit laser light along the first axis such that the emitted laser light interacts with the mirror element 120.
  • the operations additionally include, while the rotational angle of the mirror element 120 is within the first angular range, causing the emitted laser light to interact with a first reflective surface (e.g., l22a) of the plurality of reflective surfaces 122. Upon interacting with the first reflective surface, the reflected laser light is reflected into an environment by the first reflective surface.
  • a first reflective surface e.g., l22a
  • the operations also include, while the rotational angle of the mirror element is within the second angular range, causing the emitted laser light to interact with both the first reflective surface (e.g., l22a) and a second reflective surface (e.g., l22b) of the plurality of reflective surfaces 122.
  • the reflected laser light is reflected into the environment by the first and second reflective surfaces.
  • the operations also include causing the base structure 130 to rotate about the third axis.
  • the base structure may rotate about the third axis at rotational frequency F.
  • the base structure 130 may rotate about the third axis at a rotational frequency of about 600 RPM.
  • Other rotational frequencies are possible.
  • the base structure 130 may rotate about the third axis at rotational frequencies between 10 RPM and 10 kRPM.
  • the system 100 also includes one or more actuators 160.
  • the actuators 160 may include DC motors configured to rotate the mirror element 120 and/or the base structure 130.
  • the actuator 160 may include an actuator to adjust a position and/or angle of the laser light source 110.
  • the actuators 160 may include one or more actuators configured to adjust a position and/or angle of the beam stop(s) 140. That is, in such a scenario, the actuators 160 may move the beam stops 140 so as to adjust the emission angle range and/or avoid multiple simultaneous readings.
  • the operations may also include, while the rotational angle of the mirror element is within a third angular range, causing the emitted laser light to interact with a third reflective surface (e.g., l22c) of the plurality of reflective surfaces.
  • the reflected laser light may be reflected into the environment by the third reflective surface.
  • the operations further include operating the system in an interlaced condition.
  • An interlaced condition may provide a desired laser scanning pattern for scanning the three-dimensional environment around the system 100.
  • the desired laser scanning pattern may include overlapping scanning areas and/or may provide for less time between subsequent scans for a given location within the environment. Reducing the time between subsequent scans may provide better safety as more up-to-date information may be available about the environment, such as map data and/or object data.
  • causing the laser light source 110 to emit laser light may include causing the laser light source to emit laser light pulses based on at least one of rotational frequency W or rotational frequency F.
  • Figures 2A, 2B, and 2C illustrate optical systems according to various example embodiments.
  • the optical systems described in relation to Figures 2A, 2B, and 2C may be similar or identical to the system 100 illustrated and described with regard to Figure 1.
  • Figure 2A illustrates an optical system 200, according to an example embodiment.
  • optical system 200 may be part of a laser-based distance and ranging (LIDAR) system.
  • LIDAR laser-based distance and ranging
  • the optical system 200 includes a laser light source 210 that may be operable to emit laser light along a first axis 214. As illustrated in Figure 2A, the first axis 214 may be along (or parallel to) the y-direction. As such, the laser light source 210 may emit laser light 212 along the y-axis. As described with regard to laser light source 110, laser light source 210 may include a semiconductor laser, a fiber laser, or another type of light source configured to provide a coherent pulse of light.
  • the optical system 200 also includes a mirror element 220.
  • the mirror element 220 is a mirror element 220.
  • the 220 includes a plurality of reflective surfaces 222a, 222b, and 222c.
  • the mirror element 220 is configured to rotate about a second axis 224. As illustrated in Figure 2A, the second axis 224 may be parallel to the z direction.
  • the plurality of reflective surfaces 222 is disposed about the second axis 224.
  • the plurality of reflective surfaces 222 may include three reflective surfaces (222a, 222b, and 222c) arranged symmetrically about the second axis such that the mirror element 220 has a triangular prism shape.
  • the first axis (e.g., the axis along which laser light 212 is emitted) may intersect the second axis 224. Furthermore, the first axis 214 may be perpendicular to the second axis 224.
  • the optical system 200 also includes a mirror element actuator configured to rotate the mirror element 220 about the second axis at rotational frequency W.
  • the mirror element actuator may include a stepper motor, a brushed or brushless DC motor, or another type of rotational actuator.
  • the mirror element actuator may be configured to rotate the mirror element 220 in a desired direction 226 at a desired rotational frequency W.
  • the mirror element 220 and the laser light 210 source are coupled to a base structure 230.
  • the base structure 230 is configured to rotate about a third axis.
  • the third axis may be coaxial with the first axis 214 (e.g., the y-axis).
  • the optical system 200 includes a base structure actuator configured to rotate the base structure in a desired direction 232 about the third axis at rotational frequency F.
  • the base structure actuator may include a rotational actuator such as a stepper motor or a brushed or brushless DC motor.
  • the optical system 200 also includes at least one beam stop 240.
  • the beam stop 240 is a beam stop 240.
  • the 240 may include one or more beam dumps, optically opaque materials, and/or beam blocking materials.
  • the beam stop 240 may be formed from a polymer, metal, fabric, or other materials.
  • the at least one beam stop 240 may be configured to prevent laser light from being emitted into the environment at angles outside an emission angle range.
  • the emission angle range may be greater than 230 degrees about the second axis 224.
  • the beam stop 240 may be positioned to prevent multiple simultaneous readings/signals.
  • the emitted laser light 212 interacts with a first reflective surface 222a of the plurality of reflective surfaces 222 and is reflected as reflected light 216 into an environment by the first reflective surface 222a.
  • the emitted laser light 212 may have a beam width, such as 2 millimeters. Other beam widths are possible.
  • the rotational angle of the mirror element 220 is within a second angular range, the emitted laser light 212 interacts with both the first reflective surface 222a and a second reflective surface 222b of the plurality of reflective surfaces 222.
  • the emitted laser light 212 is reflected as reflected light 216 into the environment by the first and second reflective surfaces 222a and 222b.
  • the emitted laser light 212 may have a beam width of 2 millimeters.
  • a first portion (e.g., a first half of the beam width) of the emitted laser light 212 may interact with the first reflective surface 222a and a second portion (e.g., a second half of the beam width) of the emitted laser light 212 may interact with the second reflective surface 222b.
  • FIG. 2B illustrates an optical system 250, according to an example embodiment.
  • Optical system 250 may be similar or identical to optical system 200, illustrated and described in reference to Figure 2A.
  • Optical system 250 may include a housing 252.
  • the housing 252 may be optically transparent to the wavelength(s) of the emitted light 212 and reflected light 216.
  • housing 252 may be more than 90% transparent to the reflected light 216.
  • the housing 252 may be coupled to the beam stop 240 and the mirror element 220.
  • Figure 2C illustrates an optical system 260, according to an example embodiment.
  • the optical system 260 may be similar or identical to optical systems 200 and
  • the mirror element 220 may be oriented at a given angle with respect to the second axis 224 such that incident laser light 212 interacts with two reflective surfaces of the mirror element 220. That is, laser light 212 may interact with first reflective surface 222a and second reflective surface 222b. The laser light 212 may be reflected in a first portion as reflected light 264 and in a second portion as reflected light 266. The range of angles between reflected light 264 and reflected light 266 may define an emission angle range 268. The emission angle range 268 may be more than 230 degrees.
  • Figures 3 A and 3B illustrate two different orientations of the mirror element 220 in optical system 300.
  • Optical system 300 may be similar or identical to optical systems 200, 250, and 260 as illustrated and described with reference to Figures 2A, 2B, and 2C.
  • the mirror element 220 may be oriented such that an angle 303 between reference marker 302 and first axis 214 is approximately 15 degrees.
  • laser light 212 emitted from the laser light source 210 may interact with reflective surface 222a to form reflected light 304.
  • the reflected light 304 may be directed at a +90 degree angle with respect to first axis 214.
  • the mirror element 220 may be oriented such that reference marker 312 is oriented along first axis 214.
  • laser light 212 emitted from the laser light source 210 may interact with both reflective surface 222a and reflective surface 222c to provide two different reflected light rays.
  • the emitted laser light 212 may be reflected as reflected light 314 and reflected light 316.
  • an emission angle range between reflected light 314 and reflected light 316 could be more than 230 degrees.
  • Figure 3C illustrates a reflected light angle versus mirror element reference angle graph 330, according to an example embodiment.
  • the graph 330 shows how the reflected light angle changes as the mirror element 220 rotates about the second axis 224.
  • the reflected light angle may be defined as an angle between the reflected light ray (e.g., reflected light 304) and the first axis 214.
  • the graph 330 illustrates the three-fold symmetry when the mirror element 220 is shaped like a triangular prism. It will be understood that if the mirror element 220 takes on a different shape (e.g., a rectangular solid), the angle symmetry and emission angle range may change accordingly.
  • Graph point 332 illustrates the scenario described in Figure 3A. Namely, when the mirror element reference angle 303 is approximately 15 degrees, the reflected light angle of reflected light 304 may be approximately + 90 degrees.
  • graph points 334 and 336 illustrate the scenario described with reference to Figure 3B. Namely, when the mirror element reference angle is zero degrees, emission light 212 may be reflected via the two reflective surfaces 222a and 222b. In such a scenario, reflected light 314 may relate to graph point 334 (e.g., reflected light angle of + 115 degrees) and reflected light 316 may relate to graph point 336 (e.g., reflected light angle of - 115 degrees). It will be understood that graph 330 illustrates an example embodiment and that many other reflected light angle and mirror element reference angle relationships are possible. All such other relationships are contemplated herein.
  • emission light may be reflected in two different directions within an overlap range.
  • overlap range 338 may represent a mirror element reference angle range over which the emission light is reflected in different directions.
  • This overlap range 338 represents a range of angles of the mirror element 220 in which the laser light interacts with two reflective surfaces of the mirror element 220. Outside of this overlap range 338, the laser light interacts with only one reflective surface of the mirror element 220.
  • This overlap range 338 may repeat based on symmetry of the mirror element 220.
  • the overlap range 338 could be approximately 10 degrees wide, but other overlap ranges are possible.
  • the overlap range 338 may be adjusted based on the emission beam spot size, mirror element facet geometry, and/or beam stop position.
  • Figure 3D illustrates an optical system 340, according to an example embodiment. Specifically, Figure 3D illustrates a further possible orientation of the mirror element 220.
  • mirror element 220 may rotate counterclockwise with respect to the scenario illustrated in Figure 3B. That is, the mirror element 220 may be oriented such that reference marker 342 is oriented approximately 1 degree counterclockwise with respect to the first axis 214.
  • laser light 212 emitted from the laser light source 210 may interact with both reflective surface 222a and reflective surface 222c to provide two different reflected light rays 344 and 346.
  • the reflected light rays 344 and 346 need not be reflected at the same angle with respect to the first axis 214 and need not have a similar beam width or beam size.
  • the emitted laser light 212 may be reflected as reflected light 344 and reflected light 346.
  • reflected light 344 may have a larger beam size.
  • reflected light 346 may have a smaller beam size because a smaller portion of laser light 212 interacts with reflective surface 222c.
  • reflected light 344 may be emitted into the environment around the optical system 340 whereas reflected light 346 may be“stopped,” absorbed, or otherwise attenuated by the beam stop 240.
  • Figures 2A, 2B, 2C, 3A, 3B, and 3D illustrate laser light 212 as having a certain beam width
  • laser light 212 may have a beam width that is larger or smaller in relation to the mirror element 220.
  • the laser light 212 may have a beam width that is a larger fraction of the mirror size.
  • a full mirror revolution may include a larger angular range where the laser light 212 is split into two reflected beams.
  • Figures 2A, 2B, 2C, 3A, 3B, and 3D illustrate laser light source 210 as being arranged so as to emit laser light 212 along a first axis 214 that intersects the second axis 224
  • laser light source 210 may be arranged so as to emit laser light 212 along an axis that does not intersect the second axis 224.
  • laser light source 210 may be arranged off-axis, tilted, or shifted away from the first axis 214 and/or the second axis 224.
  • Such asymmetric arrangements may provide greater angle coverage and/or higher resolution coverage along one side of the mirror element 220 as compared to another side.
  • the laser light source 210 may be positioned with respect to the mirror element 220 so as to provide greater angular coverage for a portion of the environment located within particularly desirable angular ranges (e.g., -45 degrees to +20 degrees from horizontal). Other arrangements of laser light source 210 and design considerations with regard to such arrangements are possible and contemplated herein.
  • Figure 4 illustrates a mirror element 400, according to an example embodiment.
  • Mirror element 400 may be similar to mirror elements 120 or 220 as illustrated and described with reference to Figures 1, 2A, 2B, 2C, 3A, and 3B.
  • Mirror element 400 may include reflective surfaces 422a, 422b, and 422c.
  • the reflective surfaces 422a, 422b, and 422c may be configured to be highly reflective for incident laser light 450 at or around a given emission wavelength.
  • the reflective surfaces 422a, 422b, and 422c may reflect more than 90% of incident light having an emission wavelength of 1.55 microns.
  • Mirror element 400 may additionally include a spindle 430.
  • spindle 430 and mirror element 400 may be configured to rotate in a clockwise and/or counter clockwise direction with respect to the rotational axis 432.
  • the spindle 430 may be rotated via a mirror element actuator (e.g., a DC motor or a stepper motor).
  • the mirror element 400 may be hollow, at least in part.
  • inner portion 410 of the mirror element 400 may be removed.
  • inner portion 410 may be empty or may include air.
  • incident light may be reflected from one or more reflective surfaces of the mirror element toward an environment of the mirror element 400.
  • incident laser light 450 may interact with the first reflective surface 422a at an interaction location 424.
  • An angle of incidence of the incident laser light 450 with respect to the reflective surface 422a may determine a reflectance angle for reflected light 452.
  • Figure 5 illustrates an optical system 500, according to an example embodiment.
  • optical system 500 may be, at least in part, similar or identical to optical systems 200, 250, 260, and 300 and mirror element 400 as illustrated and described with regard to Figures 2 A, 2B, 2C, 3A, 3B, and 4.
  • optical system 500 may include a mirror element 508 having reflective surfaces 5 l0a, 5 l0b, and 5 l0c.
  • the mirror element 508 may be coupled to spindle 512, which may be configured to rotate about an axis of rotation 514.
  • optical system 500 may include beam stop 520 and a laser light source 530.
  • the laser light source 530 may emit laser light 534 via an optical element 532 (e.g., a lens and/or a diffuser).
  • the emitted laser light 534 may interact with the reflective surface 5 l0a and be reflected into the environment of the optical system.
  • the optical system 500 may also include an optical receiver 540.
  • the optical receiver 540 may be configured to receive light 544 from the environment around the optical system 200 via an optical element 542 (e.g., a condenser lens). Based on the received light 544, the optical receiver 540 may provide information about a scene of the environment around the optical system 200.
  • the optical receiver 540 may include a detector array.
  • the detector array may include a plurality of single photon avalanche detectors (SPADs). Additionally or alternatively, the detector array may include other types of photodetectors configured to detect light 544.
  • SPADs single photon avalanche detectors
  • the laser light source 530 and the portion of the mirror element 508 upon which the emitted laser light 534 is incident may be termed the transmit path.
  • the portion of the mirror element 508 with which the received light 544 interacts and the optical receiver 540 may be termed the receive path.
  • the transmit path and the receive path may be parallel.
  • the transmit path and receive path may be arranged so that a laser light pulse is transmitted into the environment, interacts with the environment (e.g., via reflection from an object) and is reflected back to the receiver.
  • the transmit path and the receive path may be segregated to reduce noise and avoid cross talk and/or false signals.
  • the optical system 200 may include a light baffle 550 that may be positioned between the transmit path and the receive path.
  • the optical system 500 may include a base portion 560 that may be coupled to the optical receiver 540, the laser light source 530, the beam stop 520, and an actuator configured to rotate the mirror element 508.
  • the base portion 560 may be configured to rotate about a third axis 562, which may be parallel to the transmit path and/or the receive path.
  • Figure 6 illustrates a method 600, according to an example embodiment.
  • Method 600 may include one or more steps or blocks, which may be carried out in any order. Furthermore, steps or blocks may be added or removed within the scope of the present disclosure. The steps or blocks of method 600 may be carried out once, continuously, periodically, or over discrete amounts of time.
  • Method 600 may include operations carried out entirely, or in part, by controller
  • method 600 may be carried out in association with, or by utilizing, some or all elements of system 100, optical systems 200, 250, 260, 300, or 500, or mirror element 400 as illustrated and described in reference to Figures 1, 2A, 2B, 2C, 3 A, 3B, 4, and 5.
  • Block 602 includes causing a laser light source to emit laser light along the first axis such that the emitted laser light interacts with a mirror element.
  • Block 604 includes causing the mirror element to rotate about a second axis.
  • the mirror element may rotate about the second axis at rotational frequency W.
  • the mirror element may rotate about the second axis at a rotational frequency of about 30 kRPM.
  • Other rotational frequencies of mirror element are possible.
  • the mirror element may rotate about the second axis within a rotational frequency range between 100 RPM and 100 kRPM.
  • the mirror element includes a plurality of reflective surfaces. Each of the plurality of reflective surfaces could be disposed about the second axis.
  • the mirror element and the laser light source are coupled to a base structure.
  • the base structure is configured to rotate about a third axis.
  • the base structure could be coupled to a vehicle (e.g., a semi- or fully-autonomous vehicle).
  • the rotation of the mirror element about the second axis includes a first angular range and a second angular range.
  • the interaction between the emitted laser light and the mirror element may be different based on whether the mirror element is within the first angular range or the second angular range.
  • the emitted laser light may interact with only one reflective surface (e.g., a first reflective surface) of the plurality of reflective surfaces. In such a scenario, the laser light is reflected into an environment by the first reflective surface.
  • Block 606 includes causing the base structure to rotate about the third axis.
  • the base structure may rotate about the third axis at rotational frequency F.
  • the base structure may rotate about the third axis at a rotational frequency of about 600 RPM.
  • Other rotational frequencies are possible.
  • the base structure 130 may rotate about the third axis at rotational frequencies between 10 RPM and 10 kRPM.
  • the method 600 may also include operating the optical system in an interlaced condition.
  • An interlaced condition may provide a desired laser scanning pattern for scanning the three-dimensional environment around the optical system.
  • the interlaced condition may provide for improved (e.g., safer, smoother, and/or more comfortable) operation of LIDAR-equipped vehicles at least because more closely spaced scan locations may allow easier detection of a small object at a given distance.
  • a //////-interlaced condition may include scan locations that are spaced 4 inches from one another at a range of 10 feet.
  • an interlaced condition may provide scan locations that are spaced 2 inches from one another at a range of 10 feet. It will be understood that other ways of interlacing or varying a set of scan locations between an initial scan and a subsequent scan so as to increase scanning resolution are contemplated herein.
  • the interlaced condition may include a higher order interlacing scenario where it may take 3, 4, or more revolutions of the mirror element before a given scan location is“rescanned” with a laser light pulse.
  • W/F (Nxk)+l, where N is an integer and k is the number of complete revolutions of the mirror element before a laser light pulse is emitted along the same axis with respect to the mirror element and/or the system generally.
  • an irrational interlacing condition is possible. That is, the irrational interlacing condition could include a scenario in which the succession of laser light pulses is arranged such that pulses are never quite emitted along the same axis as prior pulses.
  • W/F may be an irrational value (e.g., a value that cannot be expressed as a ratio of integers).
  • W/F or F/W could be within 0.001%, 0.01%, 0.1%, or 1% of k + (l/cp) or k - (l/cp).
  • golden ratio, cp is described here, it will be understood that other irrational values are contemplated. For example, other irrational values that cause the interval between two consecutive scans to be quickly mapped out are contemplated and possible.
  • W/F k ⁇ p / q, where 0 ⁇ p/q ⁇ 1, and where p/q is an irreducible fraction that has a large denominator and has multiples (e.g., having modular remainder of 1) that quickly map out the interval between 0 and 1.
  • the scanning beam has a finite size (e.g., beam spot diameter), so an irrational value need not be used if p/q has a large enough denominator.
  • W/F or F/W could be within 0.001%, 0.01%, 0.1%, or 1% of k ⁇ p / q.
  • certain operations of one or more systems described herein could be adjusted and/or (re-)configured in various ways.
  • the vertical field of view e.g., corresponding to emission angle range 268 as illustrated and described in Figure 2C
  • one or more operating parameters e.g., laser pulse repetition rate, laser pulse timing, spin rate, etc.
  • a single sensor system could be utilized for multiple purposes and/or use cases.
  • a controller e.g., controller 150
  • a controller could be operable to adjust at least one of the laser pulse repetition rate, laser pulse intensity, laser pulse width, laser pulse timing, or spin rate about the first axis (e.g., first axis 214) and/or the second axis (e.g., second axis 224) so as to achieve the desired operating characteristics.
  • the controller could accept commands so as to temporarily (or permanently) adjust the horizontal field of view, vertical field of view, spatial resolution, point cloud refresh rate, and/or point cloud density, among other possibilities.
  • the vertical field of view could be dynamically controlled to be: a) an approximately 90 degree field of view (e.g., an inclusive range of angles between approximately 15 degrees above horizontal to approximately 75 degrees below horizontal); b) an approximately 30 degree field of view (e.g., approximately 15 degrees above horizontal to approximately 15 degrees below horizontal); or c) a“split” field of view with a “dead” zone in the middle (e.g., a first inclusive range of angles between approximately 45 degrees above horizontal to approximately 15 degrees above horizontal and a second inclusive range of angles between approximately 15 degrees below horizontal to approximately 45 degrees below horizontal, with a dead zone in the middle).
  • a“split” field of view with a “dead” zone in the middle (e.g., a first inclusive range of angles between approximately 45 degrees above horizontal to approximately 15 degrees above horizontal and a second inclusive range of angles between approximately 15 degrees below horizontal to approximately 45 degrees below horizontal, with a dead zone in the middle).
  • systems and methods described herein could provide real-time information about a specific location within the point cloud.
  • a user interface associated with the system could include a“point selector” function, which could provide real-time information about at least one of: precise distance of multiple returns, signal amplitude (e.g., reflected pulse amplitude), height of a return, and/or reflectivity of a given point in the point cloud.
  • signal amplitude e.g., reflected pulse amplitude
  • height of a return e.g., height of a return
  • reflectivity a given point in the point cloud.
  • a user of the user interface could select a desired point in space or desired direction and the user interface could display real-time information about the desired specific location/direction.
  • Other real-time data e.g., other immediately useful data that may often entail additional work to calculate, could be provided by the systems and/or user interface described herein.
  • the systems described herein could be embodied in a compact form factor (e.g., the size of a soda can or smaller) and/or could be provided as having light weight (e.g., approximately 300-400 grams or less).
  • various elements of the described systems could include lightweight plastic, aluminum, carbon fiber, composite materials, and/or other combinations of lightweight materials.
  • Various components of the described systems could be selected and/or configured so as to reduce component weight and overall system weight.
  • portions of the housing, motors, bearings, and/or bearing preload components could be selected, designed, and/or configured so as to provide reduced weight.
  • the preload spring and/or preload distributor could be formed so as to have lower weight than conventional preload mechanisms.
  • the preload spring could have a flat serpentine shape and the preload distributor could have a disk shaped rim portion configured to apply a preload force to an outer race of a bearing.
  • Other components could be design, formed, and/or configured with reduced component weight as a primary consideration.
  • a housing e.g., housing 252 of the system could be configured to rotate with respect to other elements of the system and/or the environment.
  • housing 252 may rotate about the first axis 214.
  • the one or more moving portions of the system could be configured to stop or pause in response to an object contacting the housing.
  • the motor driving the moving portion of the housing 252 could include a low-torque motor.
  • the moving portions of the systems could be configured to stop or pause in response to an intentional or inadvertent touch interaction.
  • a controller e.g., controller 150
  • the system could include a clutch, which could at least temporarily disengage mechanical power transmission between the motor and the housing in the event of such contact by an external body (e.g., a human, a rock, etc.).
  • a step or block that represents a processing of information can correspond to circuitry that can be configured to perform the specific logical functions of a herein-described method or technique.
  • a step or block that represents a processing of information can correspond to a module, a segment, or a portion of program code (including related data).
  • the program code can include one or more instructions executable by a processor for implementing specific logical functions or actions in the method or technique.
  • the program code and/or related data can be stored on any type of computer readable medium such as a storage device including a disk, hard drive, or other storage medium.
  • the computer readable medium can also include non-transitory computer readable media such as computer-readable media that store data for short periods of time like register memory, processor cache, and random access memory (RAM).
  • the computer readable media can also include non-transitory computer readable media that store program code and/or data for longer periods of time.
  • the computer readable media may include secondary or persistent long term storage, like read only memory (ROM), optical or magnetic disks, compact-disc read only memory (CD-ROM), for example.
  • the computer readable media can also be any other volatile or non-volatile storage systems.
  • a computer readable medium can be considered a computer readable storage medium, for example, or a tangible storage device.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne des systèmes optiques, plus particulièrement des systèmes de détection et télémétrie par ondes lumineuses (lidar). Un système optique donné à titre d'exemple comprend une source de lumière laser permettant d'émettre une lumière laser le long d'un premier axe et un élément miroir possédant une pluralité de surfaces réfléchissantes. L'élément miroir est conçu pour tourner autour d'un deuxième axe. La pluralité de surfaces réfléchissantes est disposée autour du deuxième axe. L'élément miroir et la source de lumière laser sont couplés à une structure de base conçue pour tourner autour d'un troisième axe. Pendant que l'angle de rotation de l'élément miroir se trouve dans une plage angulaire, la lumière laser émise interagit à la fois avec une première surface réfléchissante et une deuxième surface réfléchissante de la pluralité de surfaces réfléchissantes et est réfléchie dans l'environnement par les première et deuxième surfaces réfléchissantes.
PCT/US2019/057843 2018-11-02 2019-10-24 Ensemble miroir WO2020092120A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980086911.1A CN113227825A (zh) 2018-11-02 2019-10-24 镜组件
IL282694A IL282694A (en) 2018-11-02 2021-04-27 Mirror assembly

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201862755398P 2018-11-02 2018-11-02
US62/755,398 2018-11-02
US16/229,182 US10948573B2 (en) 2016-12-19 2018-12-21 Mirror assembly
US16/229,182 2018-12-21

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WO2020092120A1 true WO2020092120A1 (fr) 2020-05-07

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CN101469969A (zh) * 2007-12-28 2009-07-01 上海晨兴电子科技有限公司 多维测量装置及其测量方法、绘制轨迹方法
JP2017156141A (ja) * 2016-02-29 2017-09-07 シナノケンシ株式会社 光走査装置
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US20190154808A1 (en) * 2016-12-19 2019-05-23 Waymo Llc Mirror Assembly

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Publication number Priority date Publication date Assignee Title
CN1641409A (zh) * 2004-01-05 2005-07-20 浦建华 简易水平线投影装置
CN101469969A (zh) * 2007-12-28 2009-07-01 上海晨兴电子科技有限公司 多维测量装置及其测量方法、绘制轨迹方法
JP2017156141A (ja) * 2016-02-29 2017-09-07 シナノケンシ株式会社 光走査装置
US20180231644A1 (en) * 2016-12-19 2018-08-16 Waymo Llc Mirror Assembly
US20190154808A1 (en) * 2016-12-19 2019-05-23 Waymo Llc Mirror Assembly
US20180313941A1 (en) * 2017-04-28 2018-11-01 SZ DJI Technology Co., Ltd. Angle calibration in light detection and ranging system

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CN113227825A (zh) 2021-08-06

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