Q-switched laser for LIDAR system

• US 9,810,775 B1
• Filed: 03/16/2017
• Issued: 11/07/2017
• Est. Priority Date: 03/16/2017
• Status: Active Grant

• Current Assignee: Luminar Technologies, Inc.
• Original Assignee: Luminar Technologies, Inc.
• Inventors: Welford, David, Jaspan, Martin A., Eichenholz, Jason M., Campbell, Scott R., Martin, Lane A., Weed, Matthew D.
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US15/461,378
• Time in Patent Office: 236 Days
• Field of Search: 356 501
• 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 7/4814 of transmitters alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: H01S 3/0092 Nonlinear frequency conversion, e.g. second harmonic generation [SHG] or sum- or difference-frequency generation outside the laser cavity nonlinear frequency conversion per se G02F1/35
• CPC Class Codes: H01S 3/0612 Non-homogeneous structure H01S3/07 takes precedence
• CPC Class Codes: H01S 3/0627 the resonator being monolithic, e.g. microlaser
• CPC Class Codes: H01S 3/09415 the pumping beam being parallel to the lasing mode of the pumped medium, e.g. end-pumping
• CPC Class Codes: H01S 3/113 using intracavity saturable absorbers
• CPC Class Codes: H01S 3/1643 YAG

Abstract

In one embodiment, a lidar system includes a Q-switched laser configured to emit pulses of light, where the Q-switched laser includes a gain medium and a Q-switch. The lidar system further includes a scanner configured to scan the emitted pulses of light across a field of regard and a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system. The lidar system also includes a processor configured to determine the distance from the lidar system to the target based at least in part on a round-trip time of flight for an emitted pulse of light to travel from the lidar system to the target and back to the lidar system.

Claims

1. A lidar system comprising:

a Q-switched laser configured to emit pulses of light, wherein the Q-switched laser comprises a gain medium and a Q-switch;

a scanner configured to scan the emitted pulses of light across a field of regard;

a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system, wherein;

an output beam of the lidar system comprises the emitted pulses of light which are scanned across the field of regard;

an input beam of the lidar system comprises the portion of the scanned pulses of light detected by the receiver; and

the input and output beams are substantially coaxial;

an overlap mirror configured to overlap the input and output beams so that they are substantially coaxial, wherein the overlap mirror comprises;

a hole, slot, or aperture which the output beam passes through; and

a reflecting surface that reflects at least a portion of the input beam toward the receiver; and

a processor configured to determine the distance from the lidar system to the target based at least in part on a round-trip time of flight for an emitted pulse of light to travel from the lidar system to the target and back to the lidar system.

2. The lidar system of claim 1, wherein the Q-switched laser is an actively Q-switched laser and the Q-switch is an active Q-switch.

3. The lidar system of claim 1, wherein the Q-switched laser is a passively Q-switched (PQSW) laser and the Q-switch is a saturable absorber.

4. The lidar system of claim 3, wherein the saturable absorber comprises vanadium-doped yttrium aluminum garnet (V:

YAG), chromium-doped YAG (Cr;

YAG), cobalt-doped MgAl₂O₄ (Co;

spinel), neodymium-doped strontium fluoride (Nd;

SrF₂), or lithium fluoride with F₂⁻

color centers (LiF;

F₂⁻

).

5. The lidar system of claim 3, wherein the gain medium and the saturable absorber are separated by an air gap.

6. The lidar system of claim 3, wherein the saturable absorber is bonded to the gain medium.

7. The lidar system of claim 1, wherein the gain medium comprises neodymium-doped yttrium aluminum garnet (Nd:

YAG), ytterbium-doped yttrium aluminum garnet (Yb;

YAG), neodymium-doped yttrium orthovanadate (Nd;

YVO₄), neodymium-doped yttrium scandium gallium garnet (Nd;

YSGG), neodymium-doped gadolinium scandium gallium garnet (Nd;

GSGG), neodymium-doped yttrium aluminum perovskite (Nd;

YAP), or neodymium-doped yttrium lithium fluoride (Nd;

YLF).

8. The lidar system of claim 1, wherein the gain medium comprises a back surface with a dielectric coating having a low reflectivity at a pump-laser wavelength and a high reflectivity at an operating wavelength of the Q-switched laser.

9. The lidar system of claim 1, wherein the gain medium is pumped at a pump wavelength between approximately 800 nm and approximately 1000 nm by an edge-emitter laser diode or a vertical-external-cavity surface-emitting laser.

10. The lidar system of claim 1, wherein the Q-switched laser is an eye-safe laser with an operating wavelength between approximately 1400 nm and approximately 1600 nm.

11. The lidar system of claim 1, wherein an operating wavelength of the Q-switched laser is approximately 1030 nanometers, approximately 1064 nanometers, or between approximately 1400 nanometers and approximately 1480 nanometers.

12. The lidar system of claim 1, wherein the Q-switched laser further comprises an end cap coupled to the gain medium, wherein:

the end cap is substantially free of gain-material dopants; and

the end cap is positioned to receive light from a pump laser so that the pump-laser light propagates through the end cap before entering the gain medium.

13. The lidar system of claim 1, wherein the pulses of light emitted by the Q-switched laser have a pulse repetition frequency greater than or equal to 20 kHz.

14. The lidar system of claim 1, wherein the pulses of light emitted by the Q-switched laser have optical characteristics comprising:

a pulse duration less than or equal to 20 nanoseconds;

a duty cycle less than or equal to 1%;

a pulse energy greater than or equal to 10 nanojoules; and

a peak power greater than or equal to 1 watt.

15. The lidar system of claim 1, further comprising a splitter configured to receive the pulses of light emitted by the Q-switched laser and split each received pulse of light into two or more angularly separated pulses of light which are scanned by the scanner across the field of regard.

16. The lidar system of claim 15, wherein:

the angularly separated pulses of light are scanned along a scanning direction; and

the angularly separated pulses of light are split along a direction that is approximately orthogonal to the scanning direction.

17. The lidar system of claim 15, wherein the receiver comprises an array of two or more detector elements, wherein each detector element is configured to detect scattered light from a respective pulse of the two or more angularly separated pulses of light which are scanned across the field of regard.

18. The lidar system of claim 1, wherein the field of regard comprises:

a horizontal field of regard greater than or equal to 25 degrees; and

a vertical field of regard greater than or equal to 5 degrees.

19. The lidar system of claim 1, wherein the scanner comprises one or more mirrors, wherein each mirror is mechanically driven by a galvanometer scanner, a resonant scanner, a microelectromechanical systems (MEMS) device, or a voice coil motor.

20. The lidar system of claim 1, wherein:

scanning the emitted pulses of light across the field of regard comprises scanning a field of view of the Q-switched laser across the field of regard; and

the scanner is further configured to scan a field of view of the receiver across the field of regard, wherein the Q-switched-laser field of view and the receiver field of view are scanned synchronously with respect to one another.