LIDAR systems with multi-faceted mirrors

Patent metadata

Field	Value
Publication number	US-11536845-B2
Application number	US-201816235564-A
Country	US
Kind code	B2
Filing date	Dec 28, 2018
Priority date	Oct 31, 2018
Publication date	Dec 27, 2022
Grant date	Dec 27, 2022

Abstract

Example embodiments relate to LIDAR systems with multi-faceted mirrors. An example embodiment includes a LIDAR system. The system includes a multi-faceted mirror that includes a plurality of reflective facets, which rotates about a first rotational axis. The system also includes a light emitter configured to emit a light signal toward one or more regions of a scene. Further, the system includes a light detector configured to detect a reflected light signal. In addition, the system includes an optical window positioned between the multi-faceted mirror and the one or more regions of the scene such that light reflected from one or more of the reflective facets is transmitted through the optical window. The optical window is positioned such that the optical window is non-perpendicular to the direction toward which the light emitted along the optical axis is directed for all angles of the multi-faceted mirror.

First claim

What is claimed is:

1. A light detection and ranging (LIDAR) system comprising:
a multi-faceted mirror comprising a plurality of reflective facets, wherein the multi-faceted mirror is configured to rotate about a first rotational axis;
a light emitter configured to emit a light signal along an optical axis, wherein light emitted along the optical axis is reflected from one or more of the reflective facets and is directed toward one or more regions of a scene;
a light detector configured to detect a reflected light signal that is reflected by the one or more regions of the scene, wherein a direction toward which the light emitted along the optical axis is directed is based on a first angle of the multi-faceted mirror about the first rotational axis;
an optical window positioned between the multi-faceted mirror and the one or more regions of the scene such that light reflected from one or more of the reflective facets and directed toward the one or more regions of the scene is transmitted through the optical window, wherein the optical window is positioned such that, for all values of the first angle of the multi-faceted mirror about the first rotational axis as the multi-faceted mirror rotates about the first rotational axis, the optical window is non-perpendicular to the direction toward which the light emitted along the optical axis is directed; and
one or more baffles positioned adjacent to one or more non-reflective sides of the multi-faceted mirror, wherein the one or more baffles are configured to reduce an amount of power used to rotate the multi-faceted mirror about the first rotational axis, and wherein at least one of the one or more baffles is linearly translatable along the first rotational axis.

2. The LIDAR system of claim 1 , further comprising a base, wherein the multi-faceted mirror, the light emitter, and the light detector are coupled to the base, wherein the base is configured to rotate about a second rotational axis, and wherein the direction toward which the light emitted along the optical axis is directed is based on a second angle of the base about the second rotational axis.

3. The LIDAR system of claim 1 , further comprising an additional optical window positioned on an opposite side of the multi-faceted mirror from the optical window, wherein the additional optical window is positioned between the multi-faceted mirror and at least one of the one or more regions of the scene such that light reflected from one or more of the reflective facets and directed toward the at least one of the one or more regions of the scene is transmitted through the additional optical window, and wherein the additional optical window is positioned such that, for all values of the first angle of the multi-faceted mirror about the first rotational axis as the multi-faceted mirror rotates about the first rotational axis, the additional optical window is non-perpendicular to the direction toward which the light emitted along the optical axis is directed.

4. The LIDAR system of claim 3 , wherein the optical window and the additional optical window are non-parallel to one another.

5. The LIDAR system of claim 1 , further comprising an anti-reflection coating positioned on at least a portion of an interior side of the optical window.

6. The LIDAR system of claim 1 , further comprising one or more additional baffles, wherein the one or more additional baffles are configured to attenuate internal reflections from the optical window.

7. The LIDAR system of claim 6 , wherein the one or more additional baffles are positioned between the multi-faceted mirror and the optical window.

8. The LIDAR system of claim 6 , wherein the one or more additional baffles comprise a material that absorbs a wavelength of light emitted by the light emitter.

9. The LIDAR system of claim 1 , wherein at least one of the one or more baffles comprises regions of a disk attached to at least one of the one or more non-reflective sides of the multi-faceted mirror, and wherein the regions of the disk overhang edges of the multi-faceted mirror.

10. The LIDAR system of claim 1 , wherein the optical window is positioned at an angle of between 5° and 15° relative to a plane of rotation of the multi-faceted mirror.

11. The LIDAR system of claim 10 , wherein the angle is between 9.5° and 10.5°.

12. A light detection and ranging (LIDAR) system comprising:
a multi-faceted mirror comprising a plurality of reflective facets, wherein the multi-faceted mirror is configured to rotate about a first rotational axis;
a light emitter configured to emit a light signal along an optical axis, wherein light emitted along the optical axis is reflected from one or more of the reflective facets and is directed toward one or more regions of a scene;
a light detector configured to detect a reflected light signal that is reflected by the one or more regions of the scene, wherein a direction toward which the light emitted along the optical axis is directed is based on a first rotational angle of the multi-faceted mirror about the first rotational axis;
an optical window positioned between the multi-faceted mirror and the one or more regions of the scene such that light reflected from one or more of the reflective facets and directed toward the one or more regions of the scene is transmitted through the optical window;
a filter covering at least a portion of an exterior side of the optical window, wherein the filter reduces transmission of at least some wavelengths that are not produced by the light emitter; and
one or more baffles positioned adjacent to one or more non-reflective sides of the multi-faceted mirror, wherein the one or more baffles are configured to reduce an amount of power used to rotate the multi-faceted mirror about the first rotational axis, and wherein at least one of the one or more baffles has a hemispherical shape.

13. The LIDAR system of claim 12 , further comprising a base, wherein the multi-faceted mirror, the light emitter, and the light detector are coupled to the base, wherein the base is configured to rotate about a second rotational axis, and wherein the direction toward which the light emitted along the optical axis is directed is based on a second rotational angle of the base about the second rotational axis.

14. The LIDAR system of claim 12 , wherein the filter comprises a dichroic filter.

15. The LIDAR system of claim 12 , wherein the filter reduces transmission of wavelengths in a visible spectrum.

16. The LIDAR system of claim 12 , wherein the filter comprises a neutral-density filter.

17. The LIDAR system of claim 15 , wherein the filter is characterized by an average reflectivity value throughout the visible spectrum.

18. The LIDAR system of claim 17 , wherein the average reflectivity value throughout the visible spectrum is at least 25%.

19. The LIDAR system of claim 15 , wherein a reflectivity of the filter across the visible spectrum is substantially constant such that the filter acts as an un-tinted mirror for light within the visible spectrum.

20. A light detection and ranging (LIDAR) system comprising:
a multi-faceted mirror comprising a plurality of reflective facets, wherein the multi-faceted mirror is configured to rotate about a first rotational axis;
a light emitter configured to emit a light signal along an optical axis, wherein light emitted along the optical axis is reflected from one or more of the reflective facets and is directed toward one or more regions of a scene;
a light detector configured to detect a reflected light sig

Assignees

• Waymo Llc

Inventors

• Gassend Blaise
• Shepard Ralph H
• Lenius Samuel
• Davis Ryan

Classifications

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S7/4808

  Evaluating distance, position or velocity data · CPC title

• G01S17/10

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

• G01S17/931 Primary

  of land vehicles · CPC title

• G01S7/4817

  relating to scanning · CPC title