Scanning lidar systems for three-dimensional sensing

• US 10,451,740 B2
• Filed: 09/16/2016
• Issued: 10/22/2019
• Est. Priority Date: 04/26/2016
• Status: Active Grant

• Current Assignee: Cepton Technologies, Inc.
• Original Assignee: Cepton Technologies, Inc.
• Inventors: Pei, Jun, McCord, Mark, Ye, Jun
• Primary Examiner(s): Ratcliffe, Luke D
• Application Number:
  US15/267,558
• Publication Number:
  US 20170307758A1
• Time in Patent Office: 1,131 Days
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2011/004 outside the vehicle
• CPC Class Codes: B60R 2300/103 using camera systems provided with artificial illumination device, e.g. IR light source
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4816 of receivers alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/484 Transmitters
• CPC Class Codes: G01S 7/4865 Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak peak detection in noise, signal conditioning G01S7/487
• CPC Class Codes: G01S 7/4868 Controlling received signal intensity or exposure of sensor
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: H04N 13/239 : using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/254 : in combination with electromagnetic radiation sources for illuminating objects

Abstract

A lidar system includes a laser source, a photodetector, an emission lens, a receiving lens, and a processor. The laser source is configured to be translated through a plurality of emission locations, and to emit a plurality of laser pulses therefrom. The emission lens is configured to collimate and direct the plurality of laser pulses towards an object. The receiving lens is configured to focus the portion of each of the plurality of laser pulses reflected off of the object to a plurality of detection locations. The photodetector is configured to be translated through the plurality of detection locations, and to detect the portion of each of the plurality of laser pulses. The processor is configured to determine a time of flight for each of the plurality of laser pulses from emission to detection, and construct a three-dimensional image of the object based on the determined time of flight.

Claims

1. A lidar system for three-dimensional imaging of an object, the lidar system comprising:

an emission lens;

a laser source configured to be translated relative to the emission lens through a plurality of emission locations in an emission plane, the laser source configured to emit a plurality of laser pulses, wherein each of the plurality of laser pulses is emitted at a respective one of the plurality of emission locations, and wherein the emission lens is configured to collimate and direct the plurality of laser pulses towards the object, a portion of each of the plurality of laser pulses being reflected off of the object;

a receiving lens configured to receive and focus the portion of each of the plurality of laser pulses reflected off of the object to a plurality of corresponding detection locations in a detection plane, wherein each of the plurality of corresponding detection locations is conjugate with a respective one of the plurality of emission locations;

a photodetector configured to be translated relative to the receiving lens through the plurality of corresponding detection locations in the detection plane and configured to receive and detect the portion of each of the plurality of laser pulses reflected off of the object; and

a processor coupled to the laser source and the photodetector, the processor configured to;

determine a time of flight for each of the plurality of laser pulses from emission to detection; and

construct a three-dimensional image of the object based on the determined time of flight for each of the plurality of laser pulses.

2. The lidar system of claim 1 further comprising a platform, wherein the laser source and the photodetector are mounted on the platform, the platform is configured to be translated relative to the emission lens so as to translate the laser source through the plurality of emission locations and to translate the photodetector through the plurality of detection locations, and a distance between the laser source and the photodetector is such that the laser source and the photodetector are always spatially conjugate with respect to each other as the platform is translated.

3. The lidar system of claim 2 wherein the emission lens and the receiving lens are mounted on a fixed frame, and the lidar system further comprising a flexure coupled to the fixed frame and the platform, the flexure configured to translate the platform relative to the fixed frame.

4. The lidar system of claim 3 wherein the platform is translated by actuating the flexure using a voice coil motor, a piezoelectric transducer, a torsion motor, or a rotary motor.

5. The lidar system of claim 1 further comprising:

a first platform, wherein the laser source is mounted on the first platform, and the first platform is configured to be translated relative to the emission lens so as to translate the laser source through the plurality of emission locations; and

a second platform, wherein the photodetector is mounted on the second platform, and the second platform is configured to be translated relative to the receiving lens so as to translate the photodetector through the plurality of detection locations;

wherein translation of the first platform is performed synchronously with translation of the second platform, such that the laser source and the photodetector are always spatially conjugate with respect to each other as the first platform and the second platform are translated.

6. The lidar system of claim 5 wherein the emission lens and the receiving lens are mounted on a fixed frame, and the lidar system further comprising:

a first flexure coupled to the fixed frame and the first platform, the first flexure configured to translate the first platform relative to the fixed frame; and

a second flexure coupled to the fixed frame the second platform, the second flexure configured to translate the second platform relative to the fixed frame.

7. The lidar system of claim 1 wherein a focal length of the emission lens is selected so that translation of the laser source relative to the emission lens in the emission plane through the plurality of emission locations results in scanning of the plurality of laser pulses across the object over an object size that subtends an angle from the lidar system that ranges from about 5 degrees to about 15 degrees, or from about 15 degrees to about 45 degrees, or from about 45 degrees to about 90 degrees.

8. The lidar system of claim 1 wherein:

translation of the laser source in the emission plane through the plurality of emission locations comprises raster scanning of the laser source in one dimension in the emission plane; and

translation of the photodetector in the detection plane through the plurality of corresponding detection locations comprises raster scanning of the photodetector in one dimension in the detection plane.

9. The lidar system of claim 1 wherein:

translation of the laser source in the emission plane through the plurality of emission locations comprises raster scanning of the laser source in two dimensions in the emission plane; and

translation of the photodetector in the detection plane through the plurality of corresponding detection locations comprises raster scanning of the photodetector in two dimensions in the detection plane.

10. The lidar system of claim 9 wherein:

raster scanning of the laser source in a first direction is performed at a first speed;

raster scanning of the laser source in a second direction perpendicular to the first direction is performed at a second speed different from the first speed;

raster scanning of the photodetector in the first direction is performed at the first speed; and

raster scanning of the photodetector in the second direction is performed at the second speed.

11. The lidar system of claim 1 further comprising a position encoder for determining a position of the laser source relative to a reference position of the laser source, wherein the position encoder is coupled to the processor, and the processor is configured to construct the three-dimensional image of the object based on the determined time of flight for each of the plurality of laser pulses and the position of the laser source.

12. A method of three-dimensional imaging, the method comprising:

translating a laser source relative to an emission lens to each of a plurality of emission locations in an emission plane;

emitting, using the laser source, a plurality of laser pulses, wherein each of the plurality of laser pulses is emitted at a respective one of the plurality of emission locations;

collimating and directing, using the emission lens, the plurality of laser pulses towards an object, wherein a portion of each of the plurality of laser pulses is reflected off of the object;

receiving and focusing, using a receiving lens, the portion of each of the plurality of laser pulses reflected off of the object to a plurality of corresponding detection locations in a detection plane, wherein each corresponding detection location is conjugate with a respective emission location;

translating a photodetector relative to the receiving lens to each of the plurality of corresponding detection locations in the detection plane;

detecting, using the photodetector, the portion of each of the plurality of laser pulses at each of the plurality of detection locations;

determining, using a processor, a time of flight for each of the plurality of laser pulses from emission to detection; and

constructing a three-dimensional image of the object based on the determined time of flight for each of the plurality of laser pulses.

13. The method of claim 12 wherein translating the photodetector to each of the plurality of corresponding detection locations in the detection plane is performed synchronously with translating the laser source to each of the plurality of emission locations in the emission plane, such that a location of the photodetector is always conjugate with a location of the laser source at any given time.

14. The method of claim 13 wherein the laser source and the photodetector are mounted on a platform, and translating the laser source and translating the photodetector comprise translating the platform relative to the emission lens.

15. The method of claim 13 wherein the laser source is mounted on a first platform, and the photodetector is mounted on a second platform, and wherein translating the laser source comprises translating the first platform relative to the emission lens, and translating the photodetector comprises translating the second platform relative to the receiving lens.

16. The method of claim 13 wherein:

translating the laser source in the emission plane through the plurality of emission locations comprises raster scanning the laser source in one dimension in the emission plane; and

translating the photodetector in the detection plane through the plurality of corresponding detection locations comprises raster scanning the photodetector in one dimension in the detection plane.

17. The method of claim 13 wherein:

translating the laser source in the emission plane through the plurality of emission locations comprises raster scanning the laser source in two dimensions in the emission plane; and

translating the photodetector in the detection plane through the plurality of corresponding detection locations comprises raster scanning the photodetector in two dimensions in the detection plane.

18. A lidar system for three-dimensional imaging of an object, the lidar system comprising:

an emission lens;

a first laser source configured to be translated relative to the emission lens through a first plurality of emission locations in an emission plane, the first laser source configured to emit a first plurality of laser pulses at the first plurality of emission locations, respectively and a second laser source configured to be translated relative to the emission lens through a second plurality of emission locations in the emission plane, the second laser source configured to emit a second plurality of laser pulses at the second plurality of emission locations, respectively, wherein the emission lens is configured to collimate and direct the first plurality of laser pulses and the second plurality of laser pulses towards the object, a portion of each of the first plurality of laser pulses and each of the second plurality of laser pulses being reflected off of the object;

a receiving lens configured to receive and focus the portion of each of the first plurality of laser pulses and each of the second plurality of laser pulses reflected off of the object to a first plurality of corresponding detection locations and a second plurality of corresponding detection locations in a detection plane, wherein each of the first plurality of corresponding detection locations is conjugate with a respective one of the first plurality of emission locations, and each of the second plurality of corresponding detection locations is conjugate with a respective one of the second plurality of emission locations;

a first photodetector configured to be translated relative to the receiving lens through the first plurality of corresponding detection locations in the detection plane and operative to receive and detect the portion of each of the first plurality of laser pulses reflected off of the object and a second photodetector configured to be translated relative to the receiving lens through the second plurality of corresponding detection locations in the detection plane and operative to receive and detect the portion of each of the second plurality of laser pulses reflected off of the object; and

a processor coupled to the first laser source, the second laser source, the first photodetector, and the second photodetector, the processor configured to;

determine a time of flight for each of the first plurality of laser pulses and each of the second plurality of laser pulses from emission to detection; and

construct a three-dimensional image of the object based on the determined time of flight for each of the first plurality of laser pulses and each of the second plurality of laser pulses.

19. The lidar system of claim 18 further comprising a platform, wherein:

the first laser source, the second laser source, the first photodetector, and the second photodetector are mounted on the platform, the platform is configured to be translated relative to the emission lens so as to translate the first laser source through the first plurality of emission locations, to translate the second laser source through the second plurality of emission locations, to translate the first photodetector through the first plurality of detection locations, and to translate the second photodetector through the second plurality of detection locations; and

the first laser source, the second laser source, the first photodetector, and the second photodetector are positioned on the platform such that the first laser source and the first photodetector are always spatially conjugate with respect to each other as the platform is translated, and that the second laser source and the second photodetector are always spatially conjugate with respect to each other as the platform is translated.

20. The lidar system of claim 19 wherein the emission lens and the receiving lens are mounted on a fixed frame, and the lidar system further comprising a flexure coupled to the fixed frame and the platform, the flexure configured to translate the platform relative to the fixed frame.

21. The lidar system of claim 18 further comprising:

a first platform, wherein the first laser source and the first photodetector are mounted on the first platform, the first platform is configured to be translated relative to the emission lens so as to translate the first laser source through the first plurality of emission locations and translate the first photodetector through the first plurality of detection locations, and a distance between the first laser source and the first photodetector is such that the first laser source and the first photodetector are always spatially conjugate with respect to each other as the first platform is translated; and

a second platform, wherein the second laser source and the second photodetector are mounted on the second platform, the second platform is configured to be translated relative to the emission lens so as to translate the second laser source through the second plurality of emission locations and translate the second photodetector through the second plurality of detection locations, and a distance between the second laser source and the second photodetector is such that the second laser source and the second photodetector are always spatially conjugate with respect to each other as the second platform is translated.

22. The lidar system of claim 21 wherein the emission lens and the receiving lens are mounted on a fixed frame, and the lidar system further comprising:

a first flexure coupled to the fixed frame and the first platform, the first flexure configured to translate the first platform relative to the fixed frame; and

a second flexure coupled to the fixed frame and the second platform, the second flexure configured to translate the second platform relative to the fixed frame.

23. The lidar system of claim 22 wherein the first flexure and the second flexure are configured to translate the first platform and the second platform, respectively, in opposite directions with respect to each other.