Beam homogenization for occlusion resistance

Patent metadata

Field	Value
Publication number	US-11525892-B2
Application number	US-201916456508-A
Country	US
Kind code	B2
Filing date	Jun 28, 2019
Priority date	Jun 28, 2019
Publication date	Dec 13, 2022
Grant date	Dec 13, 2022

Abstract

Example embodiments relate to beam homogenization for occlusion avoidance. One embodiment includes a light detection and ranging (LIDAR) device. The LIDAR device includes a transmitter and a receiver. The transmitter includes a light emitter. The light emitter emits light that diverges along a fast-axis and a slow-axis. The transmitter also includes a fast-axis collimation (FAC) lens optically coupled to the light emitter. The FAC lens is configured to receive light emitted by the light emitter and reduce a divergence of the received light along the fast-axis of the light emitter to provide reduced-divergence light. The transmitter further includes a transmit lens optically coupled to the FAC lens. The transmit lens is configured to receive the reduced-divergence light from the FAC lens and provide transmit light. The FAC lens is positioned relative to the light emitter such that the reduced-divergence light is expanded at the transmit lens.

First claim

What is claimed is:

1. A light detection and ranging (LIDAR) device, comprising:
a transmitter, wherein the transmitter comprises:
a light emitter, wherein the light emitter emits light that diverges along a fast-axis and a slow-axis;
a fast-axis collimation (FAC) lens optically coupled to the light emitter, wherein the FAC lens is configured to receive light emitted by the light emitter and reduce a divergence of the received light along the fast-axis of the light emitter to provide reduced-divergence light; and
a transmit lens optically coupled to the FAC lens, wherein the transmit lens is configured to receive the reduced-divergence light from the FAC lens and provide transmit light, and wherein the FAC lens is positioned relative to the light emitter such that the reduced-divergence light is expanded at the transmit lens;

a receiver, wherein the receiver comprises:
a receive lens; and
a light sensor optically coupled to the receive lens; and

a window comprising a material transparent to the transmit light, wherein the window is optically coupled to the transmit lens and the receive lens such that (i) the transmit light from the transmit lens passes through the window into an environment of the LIDAR device and (ii) reflections of the transmit light from the environment pass through the window to the receive lens, and
wherein:
the LIDAR device further comprises a diffusive element disposed on a surface of the FAC lens, wherein the diffusive element adjusts a divergence of the reduced-divergence light; or
the FAC lens is physically attached to the light emitter using an epoxy layer that is transparent to light emitted by the light emitter; or
the LIDAR device further comprises a slow-axis collimation (SAC) lens configured to reduce a divergence of the reduced-divergence light from the FAC lens along the slow-axis of the light emitter prior to the reduced-divergence light reaching the transmit lens.

2. The LIDAR device of claim 1 , wherein the light emitter comprises a laser diode.

3. The LIDAR device of claim 1 , wherein the light emitter comprises an array of laser diodes.

4. The LIDAR device of claim 1 , wherein the FAC lens comprises an astigmatic lens.

5. The LIDAR device of claim 4 , wherein the astigmatic lens comprises a plano-acylindrical lens.

6. The LIDAR device of claim 1 , further comprising:
a multi-faceted mirror comprising a plurality of reflective facets, wherein the window is optically coupled to both the transmit lens and the receive lens via the multi-faceted mirror.

7. The LIDAR device of claim 6 ,
wherein each of the plurality of reflective facets comprises a transmit portion configured to interact with the transmit light and a receive portion configured to interact with the reflections of the transmit light, and
wherein the transmit portion of each of the plurality of reflective facets is separated from the receive portion by a baffle; and
wherein the transmit portion of each of the plurality of reflective facets is smaller than the receive portion.

8. The LIDAR device of claim 6 ,
wherein the multi-faceted mirror is configured to rotate about a first rotational axis, and
wherein a direction in the environment toward which the transmit light is directed is based on a first angle of the multi-faceted mirror about the first rotational axis.

9. The LIDAR device of claim 8 , further comprising a base,
wherein the transmitter and the receiver are coupled to the base, wherein the base is configured to rotate about a second rotational axis, and
wherein the direction in the environment toward which the transmit light is directed is based on a second angle of the base about the second rotational axis.

10. The LIDAR device of claim 1 , wherein the transmit light has a beam size of at least 10 mm 2 at the window.

11. The LIDAR device of claim 1 , wherein the transmit light has a beam size such that less than 50% of the transmit light is occluded by a raindrop on the window.

12. The LIDAR device of claim 1 , wherein the LIDAR device further comprises the diffusive element disposed on the surface of the FAC lens, and wherein the diffusive element adjusts a divergence of the reduced-divergence light.

13. The LIDAR device of claim 12 , wherein the diffusive element comprises a holographic diffuser.

14. The LIDAR device of claim 12 , wherein the diffusive element generates a non-gaussian beam-intensity profile for the reduced-divergence light.

15. The LIDAR device of claim 1 , wherein the FAC lens is physically attached to the light emitter using the epoxy layer that is transparent to light emitted by the light emitter.

16. The LIDAR device of claim 1 , wherein the light emitter and the FAC lens are separated from one another by a distance that is between 80.0% and 99.9% of a separation that would correspond to an optimized collimation along the fast-axis for the reduced-divergence light.

17. The LIDAR device of claim 1 , wherein the LIDAR device comprises the slow-axis collimation (SAC) lens configured to reduce the divergence of the reduced-divergence light from the FAC lens along the slow-axis of the light emitter prior to the reduced-divergence light reaching the transmit lens.

18. The LIDAR device of claim 17 , wherein a receive face of the SAC lens is separated from a transmit face of the FAC lens by an air gap.

19. An autonomous vehicle comprising:
a light detection and ranging (LIDAR) device, comprising:
a transmitter, wherein the transmitter comprises:
a light emitter, wherein the light emitter emits light that diverges along a fast-axis and a slow-axis;
a fast-axis collimation (FAC) lens optically coupled to the light emitter, wherein the FAC lens is configured to receive light emitted by the light emitter and reduce a divergence of the received light along the fast-axis of the light emitter to provide reduced-divergence light; and
a transmit lens optically coupled to the FAC lens, wherein the transmit lens is configured to receive the reduced-divergence light from the FAC lens and provide transmit light, and wherein the FAC lens is positioned relative to the light emitter such that the reduced-divergence light is expanded at the transmit lens;

a receiver, wherein the receiver comprises:
a receive lens; and
a light sensor optically coupled to the receive lens; and

a window comprising a material transparent to the transmit light, wherein the window is optically coupled to the transmit lens and the receive lens such that (i) the transmit light from the transmit lens passes through the window into an environment of the LIDAR device and (ii) reflections of the transmit light from the environment pass through the window to the receive lens, and

wherein:
the LIDAR device further comprises a diffusive element disposed on a surface of the FAC lens, wherein the diffusive element adjusts a divergence of the reduced-divergence light; or
the FAC lens is physically attached to the light emitter using an epoxy layer that is transparent to light emitted by the light emitter; or
the LIDAR device further comprises a slow-axis collimation (SAC) lens configured to reduce a divergence of the reduced-divergence light from the FAC lens along the slow-axis of the light emitter prior to the reduced-divergence light reaching the transmit lens.

20. A method comprising:
emitting, by a light emitter, a light signal that diverges along a fast-axis and a slow-axis;
receiving, by a fast-axis collimation (FAC) lens, the light signal from the light emitter;
reducing, by the FA

Assignees

• Waymo Llc

Inventors

• Gassend Blaise
• Shepard Ralph H
• Watson Jason

Classifications

• G01S17/10 Primary

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• G02B27/0955

  Lenses (lenses per se G02B3/00) · CPC title

• G02B26/12 Primary

  using multifaceted mirrors · CPC title

• G01S7/4815

  using multiple transmitters · CPC title

• G02B27/0911

  Anamorphotic systems · CPC title