Low profile lidar scanner with polygon mirror
First Claim
1. A lidar system comprising:
- a light source configured to emit light;
a scanner configured to direct the emitted light to scan a field of regard of the lidar system in accordance with a scan pattern, 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, anda second mirror pivotable along an axis orthogonal to the polygon mirror axle;
a receiver configured to detect at least a portion of the emitted light scattered by one or more remote targets;
a controller configured to control motion of at least the second mirror to modify the scan pattern; and
a housing at least partially enclosing one or more of the light source, the scanner, the receiver, and the controller, wherein the rotation of the polygon mirror imparts a flow of air through the housing to provide cooling to components enclosed within the housing.
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Accused Products
Abstract
A lidar system comprises a light source configured to emit light, a scanner configured to direct the emitted light to scan a field of regard of the lidar system in accordance with a scan pattern, a receiver configured to detect the light scattered by one or more remote targets, and a controller configured to control motion of at least the second mirror to modify the scan pattern. 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. The scanner also includes a polygon mirror axle extending into the block through at least one of the first and second walls, about which the block rotates, and a second mirror pivotable along an axis orthogonal to the polygon mirror axle.
266 Citations
26 Claims
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1. A lidar system comprising:
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a light source configured to emit light; a scanner configured to direct the emitted light to scan a field of regard of the lidar system in accordance with a scan pattern, 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, and a second mirror pivotable along an axis orthogonal to the polygon mirror axle; a receiver configured to detect at least a portion of the emitted light scattered by one or more remote targets; a controller configured to control motion of at least the second mirror to modify the scan pattern; and a housing at least partially enclosing one or more of the light source, the scanner, the receiver, and the controller, wherein the rotation of the polygon mirror imparts a flow of air through the housing to provide cooling to components enclosed within the housing. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. An optical scanner configured to direct light in accordance with a scan pattern to scan a field of regard, the optical scanner comprising:
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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 second mirror pivotable along an axis orthogonal to the polygon mirror axle within an available range, wherein the second mirror includes a pivot mirror block having a reflective surface facing the polygon mirror, the center of gravity of the pivot mirror block being displaced closer to the reflective surface than to a wall of the second mirror opposite the second surface, and the pivot mirror block of the second mirror includes a layer with a honeycomb structure; a first motor configured to impart rotation to the polygon mirror axle; and a second motor configured to impart oscillating motion to the second mirror within an operational range smaller than the available range; wherein the second motor modifies the operational range of the second mirror in response to a drive signal. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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25. A lidar system comprising:
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a light source configured to emit light; a scanner configured to direct the emitted light to scan a field of regard of the lidar system in accordance with a scan pattern, 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, and a second mirror pivotable along an axis orthogonal to the polygon mirror axle, wherein the second mirror includes a pivot mirror block having a reflective surface facing the polygon mirror, the center of gravity of the pivot mirror block being displaced closer to the reflective surface than to a wall of the second mirror opposite the second surface, and the pivot mirror block of the second mirror includes a layer with a honeycomb structure; a receiver configured to detect at least a portion of the emitted light scattered by one or more remote targets; and a controller configured to control motion of at least the second mirror to modify the scan pattern.
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26. A lidar system comprising:
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a light source configured to emit light; a scanner configured to direct the emitted light to scan a field of regard of the lidar system in accordance with a scan pattern, 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, and a second mirror pivotable along an axis orthogonal to the polygon mirror axle; a receiver configured to detect at least a portion of the emitted light scattered by one or more remote targets; a controller configured to control motion of at least the second mirror to modify the scan pattern; and a housing at least partially enclosing one or more of the light source, the scanner, the receiver, and the controller, wherein at least a portion of the second mirror extends above the rotatable polygon mirror, and only a region extending from a lower edge of the second mirror to a top of the housing projects prominently from a surface of a body of a vehicle on which the lidar system is deployed.
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Specification