Apparatus for redirecting field of view of lidar scanner, and lidar scanner including same
First Claim
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1. An apparatus comprising,a lidar instrument configured to sweep output light energy across a first field of view, wherein the lidar instrument includes:
- at least one light energy source configured to output light energy,an internal optical scanning element configured to direct output light energy out of the lidar instrument across the first field of view; and
a photodetector for detecting reflected light energy that is reflected back to the lidar instrument;
at least one optical element that is external to the lidar instrument, wherein the at least one optical element is configured to redirect at least a portion of the output light energy from the light energy source across a second field of view that is different from the first field of view, such that for a first portion of the sweep, the lidar instrument directs light energy across the first field of view and for a second portion of the sweep, the at least one optical element redirects at least a portion of the output light energy across the second field of view; and
a computer system in communication with the lidar instrument, wherein the computer instrument is programmed to;
determine whether reflected light energy detected by the at least one photodetector is from the first field of view, based on, at least in part, data associated with a position and orientation of the at least one optical element;
generate first three dimensional data based on reflected light energy when the output light energy is from the first field of view; and
generate second three dimensional data based on reflected light energy when the output light energy is from the second field of view.
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Abstract
A lidar scanning instrument includes one or more optical elements for redirecting a portion of the output beam sweep of the lidar scanning instrument in a different direction. Three dimensional environment data for both fields of view can be generated. The optical element(s) can be static or moveable, with constant or dynamic motion patterns, to change the direction of the second field of view if desired for the application.
19 Citations
15 Claims
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1. An apparatus comprising,
a lidar instrument configured to sweep output light energy across a first field of view, wherein the lidar instrument includes: -
at least one light energy source configured to output light energy, an internal optical scanning element configured to direct output light energy out of the lidar instrument across the first field of view; and a photodetector for detecting reflected light energy that is reflected back to the lidar instrument; at least one optical element that is external to the lidar instrument, wherein the at least one optical element is configured to redirect at least a portion of the output light energy from the light energy source across a second field of view that is different from the first field of view, such that for a first portion of the sweep, the lidar instrument directs light energy across the first field of view and for a second portion of the sweep, the at least one optical element redirects at least a portion of the output light energy across the second field of view; and a computer system in communication with the lidar instrument, wherein the computer instrument is programmed to; determine whether reflected light energy detected by the at least one photodetector is from the first field of view, based on, at least in part, data associated with a position and orientation of the at least one optical element; generate first three dimensional data based on reflected light energy when the output light energy is from the first field of view; and generate second three dimensional data based on reflected light energy when the output light energy is from the second field of view. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification