METHODS CIRCUITS DEVICES ASSEMBLIES SYSTEMS AND FUNCTIONALLY ASSOCIATED MACHINE EXECUTABLE CODE FOR ACTIVE SCENE SCANNING

• US 20180100928A1
• Filed: 12/28/2016
• Published: 04/12/2018
• Est. Priority Date: 10/09/2016
• Status: Abandoned Application

• Current Assignee: Innoviz Technologies, Ltd.
• Original Assignee: Innoviz Technologies, Ltd.
• Inventors: Keilaf, Omer, Buskila, Oren, Steinberg, Amit, Elooz, David, Osiroff, Nir, Eshel, Ronen, Antman, Yair, Zohar, Guy, Alpern, Yair, Medina, Moshe, David, Smadar, Berman, Pavel, Yeruhami, Oded, Vlaiko, Julian
• Application Number:
  US15/391,916
• Publication Number:
  US 20180100928A1
• Time in Patent Office: Days
• 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 17/66 Tracking 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 7/4815 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 7/4868 Controlling received signal intensity or exposure of sensor
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

Disclosed is a scanning device including a photonic emitter assembly (PTX) to emit at least one pulse of inspection photons in accordance with at least one adjustable pulse (generation) parameter, a photonic reception and detection assembly (PRX) to receive reflected photons reflected back from an object, the PRX including a dynamic detector to detect the reflected photons based on one or more adjustable detector parameter, the detector further configured to produce a detected scene signal, and a closed loop controller to control the PTX and PRX and to receive a PTX feedback and a PRX feedback, the controller further comprising a situational assessment unit to receive the detected scene signal from the detector and produce a scanning plan and update the at least one pulse parameter and at least one detector parameter at least partially based on the scanning plan.

Claims

1. A scanning device comprising:

a photonic emitter assembly (PTX) to emit at least one pulse of inspection photons in accordance with at least one adjustable pulse (generation) parameter;

a photonic reception and detection assembly (PRX) to receive reflected photons reflected back from an object, said PRX including a dynamic detector to detect the reflected photons based on one or more adjustable detector parameter, said detector further configured to and produce a detected scene signal;

a photonic steering assembly (PSY) functionally associated with both said PTX and said PRX to direct said pulses of inspection photons in a direction of an inspected scene segment and to steer said reflection photons back to said PRX; and

a closed loop controller to control said PTX, PRX and PSY and to receive a PTX feedback, a PRX feedback and a PSY feedback, said controller further comprising a situational assessment unit to receive said detected scene signal from said detector and produce a scanning plan and update said at least one pulse parameter and at least one detector parameter at least partially based on said scanning plan.

2. The scanning device of claim 1, wherein said at least one pulse parameter is selected from the group consisting of:

pulse power intensity, pulse width, pulse repetition rate, pulse sequence, pulse duty cycle, wavelength, phase and polarization.

3. The scanning device of claim 1, wherein said situational assessment unit is further configured to produce said scanning plan based on said PSY feedback from said PSY.

4. The scanning device of claim 3, wherein said situational assessment unit is further configured to receive information stored on a memory, said information selected from the list consisting of:

laser power budget, electrical operational characteristics and calibration data.

5. The scanning device of claim 1, wherein said scanning plan is produced based on (a) real-time detected scene signal (b) intra-frame-level scene signal and (c) inter-frame level scene signal accumulated and analyzed over two or more frames.

6. The scanning device of claim 1, wherein said detector parameters are selected from the group consisting of:

scanning direction, frame rate, ambient light effects, mechanical static and dynamic impairments and thermal effects.

7. The scanning device of claim 1, wherein said PSY has one or more steering parameters and said closed loop controller is further configured to update said steering parameters based on said scanning plan.

8. The scanning device of claim 7, wherein said steering parameters are selected from the group consisting of:

scanning method, power modulation, single or multiple deflection axis methods, synchronization components.

9. The scanning device of claim 1, wherein said situational assessment unit is configured to receive a host feedback from a host device and to use said host feedback to produce said scanning plan.

10. The scanning device according to claim 1, wherein said situational assessment unit is configured to determine said scanning plan based on a global cost function wherein PSY feedback, PRX feedback, PTX feedback, memory information, host feedback and said detected scene signal are used in producing said scanning plan wherein said host feedback includes an override flag.

11. A method of scanning a scene comprising:

producing pulses of inspection photons wherein said pulses are characterized by at least one pulse parameter;

receiving reflected photons reflected back from an object;

detecting the reflected photons and producing a detected scene signal; and

updating at least one pulse parameter based on said detected scene signal.

12. The method of claim 11, wherein said at least one pulse parameter is selected from the group consisting of:

pulse power intensity, pulse width, pulse repetition rate pulse sequence, pulse duty cycle, wavelength, phase and polarization.

13. The method of claim 11, further comprising producing a work plan based on said detected scene signal.

14. The method according to claim 13, wherein said producing a work plan is also based on a PSY feedback.

15. The method according to claim 14, wherein said producing a work plan is also based on information stored on a memory, wherein said information selected from the list consisting of:

laser power budget, electrical operational characteristics and calibration data.

16. The method according to claim 15, wherein said producing a work plan is produced based on (a) real-time detected scene signal (b) intra frame-level scene signal and (c) inter-frame level scene signal accumulated and analyzed over two or more frames.

17. The method according to claim 15, further comprising updating one or more detector parameters based on said work plan.

18. The method according to claim 15, further comprising updating steering of the PSY based on said work plan.

19. A vehicle comprising:

a scanning device including;

a photonic emitter assembly (PTX) to produce pulses of inspection photons wherein said pulses are characterized by at least one pulse parameter;

a photonic reception and detection assembly (PRX) to receive reflected photons reflected back from an object, said PRX including a detector to detect the reflected photons and produce a detected scene signal;

a photonic steering assembly (PSY) functionally associated with both said PTX and said PRX to direct said pulses of inspection photons in a direction of an inspected scene segment and to steer said reflection photons back to said PRX;

a closed loop controller to;

(a) control said PTX, PRX and PSY, (b) receive said detected scene signal from said detector, and (c) update said at least one pulse parameter at least partially based on said detected scene signal; and

a host device to receive said detected scene signal and control said vehicle at least partially based on said detected scene signal and to relay a host feedback to said scanning device,

wherein said situational assessment unit is configured to receive a host feedback from said host device and to use said host feedback to produce said work plan.