Light steering device with an array of oscillating reflective slats
First Claim
1. A light detection and ranging (LIDAR) device comprising:
- a plurality of mirrors arranged to rotate about respective axes of rotation parallel to a reflective surface of the respective mirrors, and wherein the axes of rotation of the plurality of mirrors are arranged to be aligned in parallel and in a common plane;
a plurality of electromagnets arranged to attract the plurality of mirrors via induced magnetic fields generated in the mirrors so as to apply torque on the respective mirrors about their respective axes of rotation, wherein each of the plurality of electromagnets is arranged to apply torque to only one of the plurality of mirrors such that each of the plurality of mirrors is associated with a mirror-associated set of electromagnets in the plurality of electromagnets;
a plurality of driving circuits for operating the plurality of electromagnets using a plurality of driving signals, wherein each driving circuit is configured to receive a respective input and generate, based on the respective input, a respective driving signal for operating a respective mirror-associated set of electromagnets;
a plurality of detectors configured to detect orientations of the plurality of mirrors;
a controller configured to;
(i) receive data from the plurality of detectors indicative of detected orientations of the plurality of mirrors, (ii) determine, based on the detected orientations, driving parameters sufficient to cause the plurality of driving circuits to operate the plurality of electromagnets such that the plurality of mirrors oscillate in phase at an operating frequency, and (iii) provide the determined driving parameters as input to the plurality of driving circuits; and
a light source configured to emit light pulses directed toward the plurality of mirrors such that the light pulses are reflected by the plurality of mirrors.
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Accused Products
Abstract
A light detection and ranging (LIDAR) device scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The LIDAR device scans the emitted light pulses through the scanning zone by reflecting the light pulses from an array of oscillating mirrors. The mirrors are operated by a set of electromagnets arranged to apply torque on the mirrors, and an orientation feedback system senses the orientations of the mirrors. Driving parameters for each mirror are determined based on information from the orientation feedback system. The driving parameters can be used to drive the mirrors in phase at an operating frequency despite variations in moments of inertia and resonant frequencies among the mirrors.
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Citations
20 Claims
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1. A light detection and ranging (LIDAR) device comprising:
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a plurality of mirrors arranged to rotate about respective axes of rotation parallel to a reflective surface of the respective mirrors, and wherein the axes of rotation of the plurality of mirrors are arranged to be aligned in parallel and in a common plane; a plurality of electromagnets arranged to attract the plurality of mirrors via induced magnetic fields generated in the mirrors so as to apply torque on the respective mirrors about their respective axes of rotation, wherein each of the plurality of electromagnets is arranged to apply torque to only one of the plurality of mirrors such that each of the plurality of mirrors is associated with a mirror-associated set of electromagnets in the plurality of electromagnets; a plurality of driving circuits for operating the plurality of electromagnets using a plurality of driving signals, wherein each driving circuit is configured to receive a respective input and generate, based on the respective input, a respective driving signal for operating a respective mirror-associated set of electromagnets; a plurality of detectors configured to detect orientations of the plurality of mirrors; a controller configured to;
(i) receive data from the plurality of detectors indicative of detected orientations of the plurality of mirrors, (ii) determine, based on the detected orientations, driving parameters sufficient to cause the plurality of driving circuits to operate the plurality of electromagnets such that the plurality of mirrors oscillate in phase at an operating frequency, and (iii) provide the determined driving parameters as input to the plurality of driving circuits; anda light source configured to emit light pulses directed toward the plurality of mirrors such that the light pulses are reflected by the plurality of mirrors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method comprising:
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operating a plurality of sets of mirror-associated electromagnets in a light detection and ranging (LIDAR) device such that each set of mirror-associated electromagnets is operated by a respective driving circuit in a plurality of driving circuits in the LIDAR device based on respective input, wherein each set of mirror-associated electromagnets is configured to apply torque to a respective mirror in a plurality of mirrors so as to cause the respective mirror to rotate about a respective axis of rotation parallel to a reflective surface of the respective mirror, and wherein the plurality of mirrors in the LIDAR device have axes of rotation aligned in parallel and in a common plane; receiving, from a plurality of detectors configured to detect orientations of the plurality of mirrors, data indicative of detected orientations of the plurality of mirrors; determining, based on the detected orientations, driving parameters sufficient to cause the plurality of driving circuits to operate the plurality of electromagnets such that the plurality of mirrors oscillate in phase at an operating frequency; and providing the determined driving parameters as input to the plurality of driving circuits. - View Dependent Claims (17, 18)
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19. A non-transitory computer readable medium storing instructions that, when executed by one or more processors in a computing device, cause the computing device to perform operations, the operations comprising:
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operating a plurality of sets of mirror-associated electromagnets in a light detection and ranging (LIDAR) device such that each set of mirror-associated electromagnets is operated by a respective driving circuit in a plurality of driving circuits in the LIDAR device based on respective input, wherein each set of mirror-associated electromagnets is configured to apply torque to a respective mirror in a plurality of mirrors so as to cause the respective mirror to rotate about a respective axis of rotation parallel to a reflective surface of the respective mirror, and wherein the plurality of mirrors in the LIDAR device have axes of rotation aligned in parallel and in a common plane; receiving, from a plurality of detectors configured to detect orientations of the plurality of mirrors, data indicative of detected orientations of the plurality of mirrors; determining, based on the detected orientations, driving parameters sufficient to cause the plurality of driving circuits to operate the plurality of electromagnets such that the plurality of mirrors oscillate in phase at an operating frequency; and providing the determined driving parameters as input to the plurality of driving circuits. - View Dependent Claims (20)
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Specification