Ladar Transmitter with Optical Field Splitter/Inverter for Improved Gaze on Scan Area Portions

• US 20170242103A1
• Filed: 02/13/2017
• Published: 08/24/2017
• Est. Priority Date: 02/18/2016
• Status: Active Grant

• Current Assignee: AEye, Inc.
• Original Assignee: AEye, Inc.
• Inventors: Dussan, Luis Carlos
• Granted Patent: US 10,908,262 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 7/4814 of transmitters alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G02B 26/0833 the reflecting element being a micromechanical device, e.g. a MEMS mirror, DMD G02B26/0825 takes precedence; micromechanical devices in general B81B
• CPC Class Codes: G02B 26/101 with both horizontal and vertical deflecting means, e.g. raster or XY scanners colour television using laser beams scanning a display screen H04N9/3129
• CPC Class Codes: G02B 27/14 operating by reflection only
• CPC Class Codes: G02B 27/141 using dichroic mirrors

Abstract

Disclosed herein is a scanning ladar transmitter that employs an optical field splitter/inverter to improve the gaze characteristics of the ladar transmitter on desirable portions of a scan area. Also disclosed is the use of scan patterns such as Lissajous scan patterns for a scanning ladar transmitter where a phase drift is induced into the scanning to improve the gaze characteristics of the ladar transmitter on desirable portions of the scan area.

Claims

1. A method comprising:

scanning a first mirror at a sinusoidal frequency to define a periodic scan pattern along a first axis within a scan area;

scanning a second mirror to define another scan pattern along a second axis within the scan area, wherein the scanning of the first and second mirrors defines the scan area;

splitting and inverting the scan area via an optical field splitter/inverter that is positioned optically downstream from the first and second mirrors; and

transmitting a plurality of light pulses to the split and inverted scan area via the scanning first and second mirrors and the optical field splitter/inverter.

2. The method of claim 1 wherein the scanning of the first and second mirrors defines a target scan area within the split and inverted scan area for a ladar transmitter that transmits the light pulses, the method further comprising:

positioning the field splitter/inverter such that the target scan area of the ladar transmitter moves relatively slower in a middle section of the split and inverted scan area than it does at outer sections of the split and inverted scan area.

3. The method of claim 1 wherein the field splitter/inverter comprises a triangular prism shape.

4. The method of claim 3 wherein the triangular prism shape includes a first triangular face and a second triangular face at opposite ends of the triangular prism shape, wherein the triangular prism shape further includes a first side, a second side, and a third side, wherein the first, second, and third sides connect to the first and second triangular faces;

wherein at least a portion of an interior of the first, second, and third sides comprise mirrors; and

wherein the transmitting step further comprises reflecting light pulses from the scanning first and second scanable mirrors off the interior mirrors to achieve the split and inverted scan area.

5. The method of claim 4 wherein the triangular prism shape includes an injection region, wherein the transmitting step further comprises:

the field splitter/inverter receiving the light pulses from the scanning first and second scanable mirrors through the injection region.

6. The method of claim 5 wherein the interior mirrors are one-way mirrors.

7. The method of claim 6 wherein the one-way interior mirrors encompass the injection region such that the injection region also serves as a bounce region for the light pulses.

8. The method of claim 3 wherein the triangular prism shape includes a mirror pitch angle, the method further comprising:

defining the mirror pitch angle to provide an overlapped split and inverted scan area.

9. The method of claim 8 wherein the field splitter/inverter includes a hinge, and wherein the defining step comprises selectably adjusting the mirror pitch angle via the hinge.

10. The method of claim 1 wherein the field splitter/inverter comprises a W shape.

11. The method of claim 1 wherein the first mirror scanning step comprises scanning the first mirror at a resonant frequency.

12. The method of claim 11 wherein the resonant frequency is a first resonant frequency, and wherein the second mirror scanning step comprises scanning the second mirror at a second resonant frequency to define a Lissajous scan pattern for the scanning first and second mirrors.

13. The method of claim 12 wherein the first resonant frequency is a frequency of f, and wherein the second resonant frequency is a frequency of f+1.

14. The method of claim 1 wherein the light pulses include light at a first and second wavelength, the method further comprising:

selectably reflecting light within the light pulses at the second wavelength toward a position sensor via a dichroic mirror; and

the position sensor sensing the reflected light at the second wavelength, the sensed light being indicative of a position of the scanning first or second scanable mirrors.

15. The method of claim 14 further comprising:

adjusting the scanning of the first or second scanable mirrors based on the sensed reflected light to compensate for nonlinear time warping in the scanning due to mechanical imperfections and resonant impurities.

16. The method of claim 1 wherein the first scanable mirror comprises a MEMS mirror.

17. The method of claim 1 wherein the second scanable mirror comprises a MEMS mirror.

18. The method of claim 1 further comprising:

employing ray tracing to identify regions within the field splitter/inverter that will receive and reflect the light pulses as a result of the scanning; and

applying a reflective coating to the identified regions.

19. The method of claim 18 further comprising:

not applying reflective coating to regions within the field splitter/inverter that are outside the identified regions.

20. The method of claim 1 further comprising:

inducing a periodic phase drift in the scanning of at least one of the first and second mirrors which is scanning at a resonant frequency.

21. The method of claim 20 wherein the inducing step comprises:

varying a command signal to a driver for the at least one of the first and second mirrors such that the scanning includes the periodic phase drift over time.

22. The method of claim 20 wherein the inducing step comprises:

inducing the periodic phase drift in the scanning of at least one of the first and second mirrors without altering the fundamental period.

23. The method of claim 20 further comprising:

computing the induced periodic phase drift according to a total least squares method using time as an independent variable.

24. The method of claim 20 wherein the inducing step comprises inducing the periodic phase drift in the scanning of only one of the first and second mirrors.

25. The method of claim 20 wherein the resonant frequency is a first resonant frequency, and wherein the second mirror scanning step comprises scanning the second mirror at a second resonant frequency to define a Lissajous scan pattern for the scanning first and second mirrors;

and

wherein the inducing step comprises inducing the periodic phase drift in the scanning of both the first and second mirrors such that the periodic phase drift is spread across the first and second scanable mirrors.

26. A beam scanner apparatus for a ladar transmitter, the apparatus comprising:

a first scanable mirror configured to scan to a plurality of scan positions with respect to a first axis of a scan area;

a second scanable mirror positioned optically downstream from the first scanable mirror, the second scanable mirror configured to scan to a plurality of scan positions with respect to a second axis of the scan area, wherein the scan positions of the first and second scanable mirrors define where the ladar transmitter is targeted within the scan area;

a beam scanner controller configured to drive the first and second scanable mirrors to scan along the first and second axes to define a scan pattern for targeting by the ladar transmitter within the scan area, wherein the beam scanner controller is further configured to drive the first and second scanable mirrors such that at least one of the first scanable mirror and the second scanable mirror scans at a sinusoidal frequency; and

an optical field splitter/inverter positioned optically downstream from the first and second scanable mirrors to split and invert the scan area defined by the first and second scanable mirrors.

27. The apparatus of claim 26 wherein the field splitter/inverter is positioned such that the targeting of the ladar transmitter moves relatively slower in a middle section of the split and inverted scan area than it does at outer sections of the split and inverted scan area.

28. The apparatus of claim 26 wherein the field splitter/inverter comprises a triangular prism shape.

29. The apparatus of claim 28 wherein the triangular prism shape includes a first triangular face and a second triangular face at opposite ends of the triangular prism shape, wherein the triangular prism shape further includes a first side, a second side, and a third side, wherein the first, second, and third sides connect to the first and second triangular faces;

wherein at least a portion of an interior of the first, second, and third sides comprise mirrors; and

wherein the triangular prism shape is arranged and positioned to receive light pulses from the first and second scanable mirrors and reflect the received light pulses off the interior mirrors to achieve the split and inverted scan area.

30. The apparatus of claim 29 wherein the triangular prism shape includes an injection region through which light pulses are received from the first and second scanable mirrors.

31. The apparatus of claim 30 wherein the interior mirrors are one-way mirrors.

32. The apparatus of claim 31 wherein the one-way interior mirrors encompass the injection region such that the injection region also serves as a bounce region for the light pulses.

33. The apparatus of claim 28 wherein the triangular prism shape includes a mirror pitch angle that is angled to provide an overlapped split and inverted scan area.

34. The apparatus of claim 33 wherein the field splitter/inverter includes a hinge for selectably adjusting the mirror pitch angle.

35. The apparatus of claim 26 wherein the field splitter/inverter comprises a W shape.

36. The apparatus of claim 26 wherein the beam scanner controller is further configured to drive the first scanable mirror at a resonant frequency.

37. The apparatus of claim 36 wherein the beam scanner controller is further configured to drive the first and second scanable mirrors such that the first scanable mirror is driven at a first resonant frequency while the second scanable mirror is driven at a second resonant frequency, the first and second resonant frequencies cooperating together so that the ladar transmitter targets within the scan area according to a Lissajous scan pattern.

38. The apparatus of claim 37 wherein the first resonant frequency is a frequency of f, and wherein the second resonant frequency is a frequency of f+1.

39. The apparatus of claim 26 further comprising:

a dichroic mirror positioned proximate to an injection region for the field splitter/inverter, wherein the dichroic mirror is configured to selectively reflect received light of a specified wavelength; and

a position sensor positioned and configured to sense light reflected by the dichroic mirror, the sensed light being indicative of a position of the first or second scanable mirrors.

40. The apparatus of claim 26 wherein the first scanable mirror comprises a MEMS mirror.

41. The apparatus of claim 26 wherein the second scanable mirror comprises a MEMS mirror.

42. The apparatus of claim 26 wherein the beam scanner controller comprises:

a first driver for controllably scanning the first scanable mirror;

a second driver for controllably scanning the second scanable mirror; and

a processor configured to compute a periodic phase drift and provide a control signal to the driver for the at least one scanable mirror that scans at the resonant frequency such that the control signal induces the computed periodic phase drift in the scanning of the at least one scanable mirror that scans at the resonant frequency.

43. The apparatus of claim 42 wherein the processor is further configured to:

vary the command signal such that the scanning includes the periodic phase drift over time.

44. The apparatus of claim 42 wherein the processor is further configured to generate the control signal such that the control signal induces the periodic phase drift without altering the fundamental period.

45. The apparatus of claim 42 wherein the processor is further configured to compute the induced periodic phase drift according to a total least squares method using time as an independent variable.

46. The apparatus of claim 42 wherein the processor is further configured to provide the control signal that induces the computed periodic phase drift to only one of the first and second drivers.

47. The apparatus of claim 42 wherein the beam scanner controller is further configured to drive the first and second scanable mirrors such that the first scanable mirror is driven at a first resonant frequency while the second scanable mirror is driven at a second resonant frequency, the first and second resonant frequencies cooperating together so that the ladar transmitter targets within the scan area according to a Lissajous scan pattern;

and

wherein the processor is further configured to provide a first control signal to the first driver and a second control signal to the second driver, wherein the first and second control signals induce the periodic phase drift in both the first and second scanable mirrors such that the periodic phase drift is spread across the first and second scanable mirrors.

48. The apparatus of claim 26 further comprising:

the ladar transmitter, wherein the ladar transmitter comprising a light source, the ladar transmitter configured to transmit a plurality of light pulses from the light source via the beam scanner apparatus.

49. The apparatus of claim 48 wherein the ladar transmitter further comprises a processor in cooperation with the light source and the beam scanner apparatus, the processor configured to intelligently select a subset of range points within a scan area for targeting via compressive sensing.

50. A method comprising:

scanning a first mirror and a second mirror to define a spiral scan pattern within a scan area;

splitting and inverting the scan area via an optical field splitter/inverter that is positioned optically downstream from the first and second mirrors; and

transmitting a plurality of light pulses to the split and inverted scan area via the scanning first and second mirrors and the optical field splitter/inverter.

51. A beam scanner apparatus for a ladar transmitter, the apparatus comprising:

a first scanable mirror configured to scan to a plurality of scan positions;

a second scanable mirror positioned optically downstream from the first scanable mirror, the second scanable mirror configured to scan to a plurality of scan positions, wherein the scan positions of the first and second scanable mirrors define where the ladar transmitter is targeted within a scan area; and

an optical field splitter/inverter positioned optically downstream from the first and second scanable mirrors to split and invert the scan area defined by the first and second scanable mirrors.

52. The apparatus of claim 51 further comprising a beam scanner controller configured to drive the first scanable mirror to scan at a resonant frequency.

53. The apparatus of claim 52 wherein the beam scanner controller is further configured to drive the second scanable mirror to scan at a resonant frequency.

54. The apparatus of claim 51 further comprising a beam scanner controller configured to drive the second scanable mirror to scan at a resonant frequency.

55. The apparatus of claim 51 wherein the beam scanner controller is further configured to implement a dynamic scan pattern that includes a member of the group consisting of interline skipping and interline detouring.

56. The apparatus of claim 51 wherein the first scanable mirror comprises a MEMS mirror.

57. The apparatus of claim 51 wherein the second scanable mirror comprises a MEMS mirror.

58. The apparatus of claim 51 wherein the field splitter/inverter is positioned such that the targeting of the ladar transmitter moves relatively slower in a middle section of the scan area than it does at outer sections of the scan area.

59. A method comprising:

scanning a first mirror to a plurality of first mirror scan positions;

scanning a second mirror to a plurality of second mirror scan positions;

while the first and second mirrors are scanning, transmitting a ladar pulse, via the first and second mirrors, toward an optical field splitter/inverter;

splitting and inverting, via the field splitter/inverter, a scan area defined by the scanning of the first and second mirrors, wherein the splitting and inverting redirects the transmitted ladar pulse toward a range point within the split and inverted scan area.

60. The method of claim 59 wherein the first mirror scanning comprises scanning the first mirror at a resonant frequency.

61. The method of claim 59 wherein the second mirror scanning comprises scanning the second mirror at a resonant frequency.

62. The method of claim 59 wherein the first mirror comprises a MEMS mirror.

63. The method of claim 59 wherein the second mirror comprises a MEMS mirror.

64. The method of claim 59 wherein the transmitting step comprises transmitting a plurality of ladar pulses via the scanning first and second mirrors according to a dynamic scan pattern that includes at least one member of the group consisting of interline skipping and interline detouring.

65. A ladar transmitter comprising:

a beam scanner, the beam scanner comprising (1) a plurality of scanable mirrors for targeting ladar pulses toward a plurality of range points within a scan area, and (2) an optical field splitter/inverter optically downstream from the mirrors, the field splitter/inverter configured to split and invert the scan area to redirect the ladar pulses toward the range points.