Three Dimensional LIDAR System With Targeted Field of View

• US 20170146640A1
• Filed: 11/23/2016
• Published: 05/25/2017
• Est. Priority Date: 11/25/2015
• Status: Active Grant

• Current Assignee: Velodyne Lidar USA, Inc. (Ouster, Inc.)
• Original Assignee: Velodyne LiDAR, Inc. (Ouster, Inc.)
• Inventors: Hall, David S., Rekow, Mathew Noel, Nestinger, Stephen S., Kerstens, Pieter J.
• Granted Patent: US 10,539,661 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• 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 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4817 relating to scanning
• 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

Abstract

A plurality of beams of illumination light are emitted from a LIDAR device over a range of angles and scanned about an axis of rotation. The range of angles includes the axis of rotation. Intermediate electronics boards provide mechanical support and electrical connectivity between a rotating electronics board and various elements of a light emission and collection engine. One or more of the optical elements of the collection optics, the illumination optics, or both, is constructed from one or more materials that absorb light outside of a predetermined wavelength range. An overmolded lens is fixedly coupled to one or more of the light detecting elements to collect incoming light over a larger range of angles. A lens element is disposed in the light path between a light emitting element and the illumination optics to flatten the intensity distribution of light emitted from the light emitting element to reduce peak intensity.

Claims

1. A light detection and ranging (LIDAR) device, comprising:

a light emission and collection engine configured to rotate about an axis of rotation, the light emission and collection engine including,

a plurality of light emitting elements each emitting a beam of illumination light from the LIDAR device at a different angle with respect to the axis of rotation, wherein at least one of the plurality of light emitting elements is configured to emit a beam of illumination light that is parallel or nearly parallel with the axis of rotation, wherein each beam of illumination light emitted from the light emission and collection engine illuminates a different spot of a three dimensional environment with a measurement pulse of illumination light;

a plurality of light detecting elements each corresponding to one of the plurality of light emitting elements, wherein each of the plurality of light detecting elements detects an amount of the measurement pulse reflected from each different spot of the three dimensional environment illuminated by each corresponding beam of illumination light and generates an output signal indicative of the detected amount of light; and

a computing system configured to;

receive the output signal indicative of the detected amount of light;

convert the output signal to a digital signal; and

determine a time of flight of the measurement pulse from the LIDAR device to the particular spot of the three dimensional environment and back to the LIDAR device based on the digital signal.

2. The LIDAR device of claim 1, further comprising:

a housing fixable to an object from which LIDAR measurements are made;

a stationary electronics board mechanically coupled to the housing;

a rotating electronics board having a planar surface arranged perpendicular to the axis of rotation, wherein the rotating electronics board rotates with the light emission and collection engine, and wherein electrical power and electronic signals are communicated between the stationary electronics board and the rotating electronics board; and

two or more intermediate electronics boards each coupled to the rotating electronics board such that a planar surface of each of the intermediate electronics boards is oriented perpendicular to the planar surface of the rotating electronics board, wherein the two or more intermediate electronics boards are mechanically and electrically coupled to the light emission and collection engine.

3. The LIDAR device of claim 2, wherein a first of the two or more intermediate electronics boards is mechanically and electrically coupled to each of the plurality of light emitting elements, and wherein a second of the two or more intermediate electronics boards is mechanically and electrically coupled to each of the plurality of light detecting elements.

4. The LIDAR device of claim 2, wherein a third of the two or more intermediate electronics boards is mechanically coupled to one or more lens elements of an illumination optics subsystem of the LIDAR device and one or more lens elements of a collection optics subsystem of the LIDAR device, wherein the third intermediate electronics board spatially separates and optically obscures the illumination optics subsystem from the collection optics subsystem.

5. The LIDAR device of claim 1, further comprising:

an illumination optics subsystem configured to collimate the beams of light emitted from the plurality of light emitting elements; and

a collection optics subsystem configured to focus the collected light onto each respective light detecting element of the plurality of light detecting elements.

6. The LIDAR device of claim 5, wherein one or more of the optical elements of the collection optics subsystem is constructed from one or more materials that absorb at least fifty percent of light outside of a predetermined wavelength range, wherein the predetermined wavelength range includes the wavelengths of light emitted by each of the plurality of light emitting elements.

7. The LIDAR device of claim 5, wherein one or more lens elements of the illumination optics subsystem are configured to flatten an intensity distribution of light emitted from each of the plurality of light emitting elements.

8. The LIDAR device of claim 7, wherein the one or more lens elements includes a diffractive optical element.

9. The LIDAR device of claim 1, further comprising:

a plurality of overmolded lenses each fixedly coupled to one of the plurality of light detecting elements.

10. The LIDAR device of claim 9, wherein one or more of the plurality of overmolded lenses is a domed lens or a compound parabolic concentrator (CPC).

11. The LIDAR device of claim 1, wherein two or more of the plurality of light emitting elements are configured to emit light simultaneously.

12. The LIDAR device of claim 1, wherein two or more of the plurality of light emitting elements are configured to emit light sequentially.

13. The LIDAR device of claim 4, wherein a first group of two or more of the plurality of light emitting elements are triggered to emit light substantially simultaneously, and, after a programmed period of time has elapsed, a second group of two or more of the plurality of light emitting elements are triggered to emit light substantially simultaneously.

14. A light detection and ranging (LIDAR) device, comprising:

a light emission and collection engine configured to rotate about an axis of rotation, the light emission and collection engine including,

a plurality of light emitting elements each emitting a beam of illumination light from the LIDAR device at a different angle with respect to the axis of rotation, wherein at least one of the plurality of light emitting elements is configured to emit a beam of illumination light that is parallel or nearly parallel with the axis of rotation, wherein each beam of illumination light emitted from the light emission and collection engine illuminates a different spot of a three dimensional environment with a measurement pulse of illumination light;

a plurality of light detecting elements each corresponding to one of the plurality of light emitting elements, wherein each of the plurality of light detecting elements detects an amount of the measurement pulse reflected from each different spot of the three dimensional environment illuminated by each corresponding beam of illumination light and generates an output signal indicative of the detected amount of light;

a rotating electronics board having a planar surface arranged perpendicular to the axis of rotation, wherein the rotating electronics board rotates with the light emission and collection engine; and

two or more intermediate electronics boards each coupled to the rotating electronics board such that a planar surface of each of the intermediate electronics boards is oriented perpendicular to the planar surface of the rotating electronics board, wherein the two or more intermediate electronics boards are mechanically and electrically coupled to the light emission and collection engine.

15. The LIDAR device of claim 14, wherein a first of the two or more intermediate electronics boards is mechanically and electrically coupled to each of the plurality of light emitting elements, and wherein a second of the two or more intermediate electronics boards is mechanically and electrically coupled to each of the plurality of light detecting elements.

16. The LIDAR device of claim 14, wherein a third of the two or more intermediate electronics boards is mechanically coupled to one or more lens elements of an illumination optics subsystem of the LIDAR device and one or more lens elements of a collection optics subsystem of the LIDAR device, wherein the third intermediate electronics board spatially separates and optically obscures the illumination optics subsystem from the collection optics subsystem.

17. The LIDAR device of claim 14, further comprising:

a collection optics subsystem configured to focus the collected light onto each respective light detecting element of the plurality of light detecting elements, wherein one or more of the optical elements of the collection optics subsystem is constructed from one or more materials that absorb at least fifty percent of light outside of a predetermined wavelength range, wherein the predetermined wavelength range includes the wavelengths of light emitted by each of the plurality of light emitting elements.

18. The LIDAR device of claim 14, further comprising:

an illumination optics subsystem configured to collimate the beams of light emitted from the plurality of light emitting elements, wherein one or more lens elements of the illumination optics subsystem are configured to flatten an intensity distribution of light emitted from each of the plurality of light emitting elements.

19. A method comprising:

emitting a plurality of beams of illumination light from a LIDAR device into a three dimensional environment over a range of angles that includes an axis of rotation of a plurality of light emitting elements of the LIDAR device, the plurality of beams of illumination light each illuminate a different spot of the three dimensional environment with a measurement pulse of illumination light;

detecting the plurality of measurement pulses reflected from each different spot of the three dimensional environment illuminated by the plurality of beams of illumination light;

generating a plurality of output signals each indicative of one of the plurality of reflected measurement pulses;

converting each of the plurality of output signals to a digital signal; and

determining a time of flight of each measurement pulse from the LIDAR device to each particular spot of the three dimensional environment and back to the LIDAR device based on each of the digital signals.

20. The method of claim 19, further comprising:

flattening an intensity distribution of light emitted from each of the plurality of light emitting elements.