Monitoring rotation of a mirror in a lidar system

• US 10,451,716 B2
• Filed: 04/20/2018
• Issued: 10/22/2019
• Est. Priority Date: 11/22/2017
• Status: Active Grant

• Current Assignee: Luminar Technologies, Inc.
• Original Assignee: Luminar Technologies, Inc.
• Inventors: Hughes, John, Ventola, Nicholas, Hughes, Sean P.
• Primary Examiner(s): Ratcliffe, Luke D
• Application Number:
  US15/958,749
• Publication Number:
  US 20190154816A1
• Time in Patent Office: 550 Days
• CPC Class Codes: G01D 5/34 the beams of light being detected by photocells
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16

Abstract

A lidar system comprises a light source to emit pulses of light, a scanner, a receiver, and a controller. The scanner includes a rotatable polygon mirror with reflective surfaces, the reflective surfaces being angularly offset from one another along a periphery of the block. The scanner further includes a polygon mirror axle extending into the block, about which the block rotates, a rotary encoder having a rotational component with an axis of rotation aligned with the polygon mirror axle, the rotational component having one or more characteristics configured to cause the rotary encoder to return a signal, and a second mirror pivotable along an axis orthogonal to the polygon mirror axle. The controller is configured to determine a rotational parameter of the polygon mirror in response to the signal returned from the rotary encoder.

Claims

1. A lidar system comprising:

a light source configured to emit pulses of light;

a scanner configured to scan at least a portion of the emitted pulses of light along a scan pattern contained within a field of regard of the lidar system, the scanner including;

a rotatable polygon mirror having a block having a first wall, a second wall, and a plurality of reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block,

a polygon mirror axle extending into the block through at least one of the first and second walls, about which the block rotates,

a rotary encoder having a rotational component, the rotational component having an axis of rotation aligned with the polygon mirror axle, and the rotational component comprising one or more tabs oriented in an axis parallel to the polygon mirror axle, the one or more tabs configured to cause the rotary encoder to return rotation-measurement signals indicating rotation of the polygon mirror, and

a second mirror pivotable along an axis orthogonal to the polygon mirror axle;

a receiver configured to detect at least a portion of the scanned pulses scattered by one or more remote targets; and

a controller configured to determine a rotational parameter of the polygon mirror in response to the rotation-measurement signals returned from the rotary encoder.

2. The lidar system of claim 1, wherein the rotary encoder comprises a photo-interrupter stationary with respect to the light source, and wherein the rotational component is adapted such that the one or more tabs pass through the photo-interrupter during rotation, the photo-interrupter adapted to return a signal of the rotation-measurement signals to the controller in response to a tab of the one or more tabs passing through the photo-interrupter.

3. The lidar system of claim 2, wherein, in response to the tab passing through the photo-interrupter, the photo-interrupter is adapted to return the signal to the controller indicating a switch from an unblocked state to a state where the tab is blocking light from being received by a light-receiving element of the photo-interrupter.

4. The lidar system of claim 2, wherein, in response to the tab passing through the photo-interrupter, the photo-interrupter is adapted to return the signal to the controller indicating a switch from a state where the tab is blocking light from being received by a light-receiving element of the photo-interrupter to an unblocked state.

5. The lidar system of claim 1, wherein the one or more tabs are part of the polygon mirror.

6. The lidar system of claim 1, wherein at least one of the tabs has a different width from another tab and each tab corresponds to a different one of the plurality of reflective surfaces on the polygon mirror.

7. The lidar system of claim 1, wherein at least one of the one or more tabs of the rotational component differs from another tab of the rotational component, each tab corresponding to a different one of the plurality of reflective surfaces on the polygon mirror.

8. An optical scanner to direct light in accordance with a scan pattern to scan a field of regard, the optical scanner comprising:

a rotatable polygon mirror having a block having a first wall, a second wall, and a plurality of reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block;

a polygon mirror axle extending into the block through at least one of the first and second walls, about which the block rotates;

a rotary encoder having a rotational component, the rotational component having an axis of rotation aligned with the polygon mirror axle, and the rotational component comprising one or more characteristics configured to cause the rotary encoder to return a signal;

a second mirror pivotable along an axis orthogonal to the polygon mirror axle within an available range;

a first motor configured to impart rotation to the polygon mirror axle; and

a controller configured to;

determine a rotational parameter of the polygon mirror in response to the signal returned from the rotary encoder; and

identify rotational jitter of the polygon mirror in response to the signal returned from the rotary encoder.

9. The optical scanner of claim 8, wherein the controller is adapted to determine an angular position of a reflective surface on the polygon mirror in response to the signal returned from the rotary encoder.

10. The optical scanner of claim 8, wherein the controller is adapted to determine a rotational velocity of the polygon mirror in response to the signal returned from the rotary encoder.

11. The optical scanner of claim 8, wherein the controller is adapted to determine a predicted rotational velocity of the polygon mirror in response to the signal returned from the rotary encoder.

12. The optical scanner of claim 8, wherein the controller is adapted to generate a second driver signal in response to the rotational parameter of the polygon mirror, and wherein the first motor modifies a rate of the rotation of the polygon mirror axle in response to the second drive signal.

13. The optical scanner of claim 8, wherein the controller is further configured to generate an alert in response to the identified rotational jitter.

14. A lidar system comprising:

a light source configured to emit pulses of light;

a scanner configured to scan at least a portion of the emitted pulses of light along a scan pattern contained within a field of regard of the lidar system, the scanner including;

a rotatable polygon mirror having a block having a first wall, a second wall, and a plurality of reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block,

a polygon mirror axle extending into the block through at least one of the first and second walls, about which the block rotates,

a rotary encoder having a rotational component, the rotational component having an axis of rotation aligned with the polygon mirror axle, and the rotational component comprising a plurality of characteristics configured to cause the rotary encoder to return a signal, wherein a number of the characteristics of the rotational component is equal to a number of the reflective surfaces of the polygon mirror, and

a second mirror pivotable along an axis orthogonal to the polygon mirror axle;

a receiver configured to detect at least a portion of the scanned pulses scattered by one or more remote targets; and

a controller configured to determine a rotational parameter of the polygon mirror in response to the signal returned from the rotary encoder.

15. A lidar system comprising:

a light source configured to emit pulses of light;

a scanner configured to scan at least a portion of the emitted pulses of light along a scan pattern contained within a field of regard of the lidar system, the scanner including;

a rotatable polygon mirror having a block having a first wall, a second wall, and a plurality of reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block,

a polygon mirror axle extending into the block through at least one of the first and second walls, about which the block rotates,

a rotary encoder having a rotational component, the rotational component having an axis of rotation aligned with the polygon mirror axle, and the rotational component comprising a plurality of characteristics configured to cause the rotary encoder to return rotation-measurement signals indicating rotation of the polygon mirror, wherein the plurality of characteristics are arranged alternately in a circumferential direction about the axis of rotation and are configured to pass through a photo-interrupter during rotation, at least one of the characteristics differing from another characteristic of the rotational component and each characteristic corresponding to a different one of the plurality of reflective surfaces of the polygon mirror, and

a second mirror pivotable along an axis orthogonal to the polygon mirror axle;

a receiver configured to detect at least a portion of the scanned pulses scattered by one or more remote targets; and

a controller configured to determine a rotational parameter of the polygon mirror in response to the rotation-measurement signals returned from the rotary encoder.

16. The lidar system of claim 15, wherein the controller is adapted to:

identify the at least one characteristic from a signal of the rotation-measurement signals returned from the rotary encoder in response to the at least one characteristic passing through the photo-interrupter; and

identify a reflective surface of the polygon mirror corresponding to the identified characteristic.

17. The lidar system of claim 15, wherein the plurality of characteristics of the rotational component comprise a plurality of projections configured to pass through the photo-interrupter during rotation, the at least one characteristic having a different width from the another characteristic.

18. The lidar system of claim 17, wherein the controller is adapted to:

determine a width of a projection from a signal of the rotation-measurement signals returned from the rotary encoder in response to the projection passing through the photo-interrupter; and

identify, in response to determining the width of the projection, a reflective surface of the polygon mirror corresponding to the projection.

19. The lidar system of claim 17, wherein:

each projection has an anterior edge and a posterior edge, the anterior edge leading the posterior edge when the projection passes through the photo-interrupter; and

the controller is adapted to determine an angular position of a reflective surface of the polygon mirror in response to the anterior or posterior edge passing through the photo-interrupter causing a change in a signal of the rotation-measurement signals returned from the rotary encoder to the controller.

20. The lidar system of claim 17, wherein:

each projection has an anterior edge and a posterior edge, the anterior edge leading the posterior edge when the projection passes through the photo-interrupter; and

the controller is adapted to initiate a scan of a scan line of the scan pattern in response to the anterior edge passing through the photo-interrupter causing a change in a signal of the rotation-measurement signals returned from the rotary encoder to the controller.

21. The lidar system of claim 17, wherein:

each projection has an anterior edge and a posterior edge, the anterior edge leading the posterior edge when the projection passes through the photo-interrupter; and

the controller is adapted to initiate a scan of a scan line of the scan pattern in response to the posterior edge passing through the photo-interrupter causing a change in a signal of the rotation-measurement signals returned from the rotary encoder to the controller.

22. The lidar system of claim 15, wherein the plurality of characteristics of the rotational component comprise a plurality of images, each image corresponding to a different one of the plurality of reflective surfaces on the polygon mirror.

23. The lidar system of claim 22, wherein the controller is adapted to:

determine an image from a signal of the rotation-measurement signals returned from the rotary encoder in response to the image passing through the photo-interrupter; and

identify, in response to determining the image, a reflective surface of the polygon mirror corresponding to the determined image.

24. An optical scanner to direct light in accordance with a scan pattern to scan a field of regard, the optical scanner comprising:

a rotatable polygon mirror having a block having a first wall, a second wall, and a plurality of reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block;

a polygon mirror axle extending into the block through at least one of the first and second walls, about which the block rotates;

a rotary encoder having a rotational component, the rotational component having an axis of rotation aligned with the polygon mirror axle, and the rotational component comprising one or more characteristics configured to cause the rotary encoder to return a signal;

a second mirror pivotable along an axis orthogonal to the polygon mirror axle within an available range;

a first motor configured to impart rotation to the polygon mirror axle; and

a controller configured to;

determine a rotational parameter of the polygon mirror in response to the signal returned from the rotary encoder; and

generate an alert in response to the determined rotational parameter of the polygon mirror, wherein the alert indicates that the optical scanner is in need of repair or maintenance.

25. The optical scanner of claim 24, wherein an automated driving system of an automated vehicle is adapted to transition, in response to the alert, from a first level of vehicle control requiring an automated driving system of the autonomous vehicle to monitor a driving environment and control the autonomous vehicle to a second level of vehicle control requiring a human driver of the autonomous vehicle to monitor the driving environment and control the autonomous vehicle.

26. The optical scanner of claim 24, wherein an automated driving system of an automated vehicle is adapted to stop the automated vehicle in response to the alert.