Concurrent scan of multiple pixels in a lidar system equipped with a polygon mirror

• US 10,310,058 B1
• Filed: 04/27/2018
• Issued: 06/04/2019
• Est. Priority Date: 11/22/2017
• Status: Active Grant

• Current Assignee: Luminar Technologies, Inc.
• Original Assignee: Luminar Technologies, Inc.
• Inventors: Campbell, Scott R., Eichenholz, Jason M., Weed, Matthew D., Martin, Lane A.
• Primary Examiner(s): Abraham, Samantha K
• Application Number:
  US15/965,288
• Publication Number:
  US 20190154802A1
• Time in Patent Office: 403 Days
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning
• 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 26/105 with one or more pivoting mirrors or galvano-mirrors G02B26/101 takes precedence
• CPC Class Codes: G02B 26/123 Multibeam scanners, e.g. using multiple light sources or beam splitters
• CPC Class Codes: G02B 26/125 Details of the optical system between the polygonal mirror and the image plane G02B26/123, G02B26/127 take precedence; F-Theta lenses G02B13/0005
• CPC Class Codes: G02B 27/0955 Lenses lenses per se G02B3/00
• CPC Class Codes: G02B 27/0977 Reflective elements
• CPC Class Codes: G02B 27/1086 operating by diffraction only
• CPC Class Codes: G02B 27/30 Collimators
• CPC Class Codes: G02B 5/0841 comprising organic materials, e.g. polymers
• CPC Class Codes: G02B 5/09 Multifaceted or polygonal mirrors , e.g. polygonal scanning mirrors; Fresnel mirrors
• CPC Class Codes: G02B 5/1857 using exposure or etching means, e.g. holography, photolithography, exposure to electron or ion beams
• CPC Class Codes: G02B 5/22 Absorbing filters G02B5/201 - G02B5/208 take precedence
• CPC Class Codes: G02B 7/1821 for rotating or oscillating mirrors
• CPC Class Codes: H01L 25/167 comprising optoelectronic devices, e.g. LED, photodiodes
• CPC Class Codes: H01L 27/14643 : Photodiode arrays; MOS imagers
• CPC Class Codes: H01L 27/14647 : Multicolour imagers having a stacked pixel-element structure, e.g. npn, npnpn or MQW elements
• CPC Class Codes: H01L 27/14694 : The active layers comprising only AIIIBV compounds, e.g. GaAs, InP

Abstract

A lidar system includes one or more light sources configured to generate a first and second beams of light, a scanner configured to synchronously scan a field of regard of the lidar system using the two beams, and a receiver configured to detect light of the two beams scattered by one or more remote targets. The scanner includes a rotatable polygon mirror having a block having a first wall, a second wall, and reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block; a polygon mirror axle extending into the block, about which the block rotates; optical elements configured to direct the first and second beams of light respectively to two adjacent reflective surfaces of the rotatable polygon mirror; and a second mirror pivotable along an axis orthogonal to the polygon mirror axle.

Claims

1. A lidar system comprising:

one or more light sources configured to generate a first beam of light and a second beam of light;

a scanner configured to synchronously scan a field of regard of the lidar system using the first beam of light and the second beam of light, the scanner including;

a rotatable polygon mirror having a block having a first wall, a second wall, and a plurality of reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block,

a polygon mirror axle extending into the block through at least one of the first and second walls, about which the block rotates,

a plurality of optical elements configured to direct the first and second beams of light respectively to two adjacent reflective surfaces of the rotatable polygon mirror, and

a second mirror pivotable along an axis orthogonal to the polygon mirror axle, wherein the first and second beams of light are incident on the second mirror; and

a receiver configured to detect the first beam of light and the second beam of light scattered by one or more remote targets.

2. The lidar system of claim 1, wherein each optical element comprises a fiber-optic cable, a fiber-optic collimator, a lens, or a mirror.

3. The lidar system of claim 1, wherein each optical element comprises:

a fiber-optic cable to convey light from the light source to the scanner,

a collimator or lens at a terminal end of the fiber-optic cable to produce a collimated free-space output beam directed at the polygon mirror.

4. The lidar system of claim 1, wherein:

the first beam of light and the second beam of light are scanned by the scanner to define a first field of regard and a second field of regard, respectively,

the first field of regard and the second field of regard in combination define the field of regard of the lidar system, and

the first field of regard and the second field of regard partially overlap to define an overlap region within the field of regard of the lidar system.

5. The lidar system of claim 4, wherein a width of the overlap region is less than or equal to one-third of a width of the first or second field of regard.

6. The lidar system of claim 4, wherein a width of the overlap region is between 20 and 40 degrees.

7. The lidar system of claim 4, wherein each of the first beam of light and the second beam of light scans the respective field of regard according to a scan pattern that defines horizontal or vertical scan lines, and wherein the scan lines of the first field of regard are offset relative to the scan lines of the second field of regard by approximately one half of a scan line to yield double pixel density within the overlap region.

8. The lidar system of claim 4, wherein the overlap region is oriented in a direction of travel of a vehicle on which the lidar system is deployed.

9. The lidar system of claim 1, wherein each of the first beam of light and the second beam of light are scanned by the scanner to define a respective field of regard approximately 60 degrees wide.

10. The lidar system of claim 1, further comprising:

one or more power splitters to split each of the first beam of light and the second beam of light into a pair of beams;

four fiber-optic cables to separately convey each of the split beams to the scanner, wherein the scanner mechanically aims each of the split beams to produce angular separation between the split beams of the first beam of light and the split beams of the second beam of light;

wherein the receiver includes;

a first pair of detectors for the pair of angularly offset beams corresponding to the first beam of light, and

a second pair of detectors for the pair of angularly offset beams corresponding to the second beam of light.

11. The lidar system of claim 10, wherein:

each detector defines a respective pixel within a scan pattern, and

each of the first pair of detectors and the second pair of detectors defines an even pixel and an odd pixel separated by N detector field-of-view (FOV) areas to reduce cross-talk, wherein N is larger than two.

12. The lidar system of claim 10, wherein:

each detector defines a respective pixel within a scan pattern, and

each of the first pair of detectors and the second pair of detectors define non-integer separation between pixels in a corresponding row or column.

13. The lidar system of claim 10, wherein the splitters include at least one of (i) a diffractive optical element, (ii) a fiber-optic power splitter, or (iii) a free-space power splitter.

14. The lidar system of claim 1, wherein:

a first input beam includes light of the first beam of light scattered by one or more remote targets,

a second input beam includes light of the second beam of light scattered by one or more remote targets, and

the rotatable polygon mirror and the second mirror reflect each of the first input beam and the second input beam to direct the first input beam and the second input beam toward respective detectors of the receiver.

15. The lidar system of claim 14, wherein for each detector of the receiver and a corresponding outbound beam of light associated with a respective light source:

an instantaneous field of view (FOV) of the light source is at least partially outside and ahead of a FOV of the detector along a scan direction, at a time when a light pulse associated with the outbound beam is emitted, and

the FOV of the detectors is coincident with or overlaps the instantaneous FOV of the light source after a time T during which the light pulse traverses a maximum distance D and returns to the detector, after being scattered by one or more targets.

16. A method in a lidar system for scanning a field of regard, the method comprising:

directing, within a single ranging event, a first pulse of light at a first reflective surface of a polygon mirror and a second pulse of light at a second reflective surface of the polygon mirror, wherein the polygon mirror rotates about a polygon mirror axis;

directing, with the polygon mirror within the single ranging event, the first pulse of light and the second pulse of light to respective locations on a reflective surface of a second mirror that pivots along an axis orthogonal to the polygon mirror axis;

directing, with the second mirror, the first pulse of light and the second pulse of light along a scan direction to illuminate a first instantaneous light-source field of view (FOV) corresponding to a first pixel and a second instantaneous light-source FOV corresponding to a second pixel, respectively;

detecting, within a single ranging event, the first beam of light scattered by one or more remote targets using a first detector and the second beam of light scattered by the one or more remote targets using a second detector, to generate values for the first pixel and the second pixel.

17. The method of claim 16, wherein the first pulse of light is associated with a first beam and the second pulse of light is associated with a second beam, the method further comprising:

scanning, using the polygon mirror and the second mirror, the first beam and the second beam to define a first field of regard and a second field of regard, respectively, wherein the first field of regard and the second field of regard in combination define the field of regard of the lidar system, and wherein the first field of regard and the second field of regard partially overlap to define an overlap region within the field of regard of the lidar system.

18. The method of claim 17, wherein a width of the overlap region is less than or equal to one-third of a width of the first or second field of regard.

19. The method of claim 17, further comprising scanning the first beam and the second beam across the respective field of regard according to a scan pattern that defines horizontal or vertical scan lines, wherein the scan lines of the first field of regard are offset relative to the scan lines of the second field of regard by approximately one half of a scan line to yield double pixel density within the overlap region.

20. The method of claim 16, further comprising splitting each of the first pulse of light and the second pulse of light into a respective pair of angularly separated pulses corresponding to two different pixels within a same scan line.