Multi-axis velocity and rangefinder optical measurement device

Patent metadata

Field	Value
Publication number	US-11988746-B2
Application number	US-202017247835-A
Country	US
Kind code	B2
Filing date	Dec 24, 2020
Priority date	Dec 24, 2020
Publication date	May 21, 2024
Grant date	May 21, 2024

Abstract

The subject matter of this specification can be implemented in, among other things, a system that includes a light source to produce a first beam and one or more first optical elements to impart an orbital angular momentum (OAM) to at least some of a plurality of output beams obtained from the first beam. The system further includes an output optical device to direct the output beams towards a target object and a plurality of photodetectors to generate signals representative of a difference between an input phase information, carried by one or more beams reflected from the target object, and an output phase information, carried by one of local copies of the output beams. The system further includes a processing device to determine, using the difference between the input phase information and the output phase information, one or more orthogonal components of a velocity of the target object.

First claim

What is claimed is:

1. A system comprising:
a light source to produce a first beam;
one or more first optical elements to impart an orbital angular momentum (OAM) to at least some of a plurality of output beams, wherein each of the plurality of output beams is obtained from the first beam;
an output optical device to direct the plurality of output beams towards a target object;
a plurality of photodetectors, wherein each of the plurality of photodetectors is to generate a signal representative of a difference between an input phase information, carried by one of a plurality of reflected beams, and an output phase information, carried by one of a plurality of local copies of the output beams, wherein at least one of the plurality of reflected beams is reflected from the target object in response to the plurality of output beams interacting with the target object; and
a processing device to determine, using the difference between the input phase information and the output phase information, one or more components of a velocity of the target object, wherein the one or more components are orthogonal to a direction to the target object.

2. The system of claim 1 , wherein one or more first optical elements comprise at least one of a vortex wave plate, a forked diffraction grating, a hologram, or a spatial light modulator.

3. The system of claim 1 , further comprising a plurality of beam splitting optical elements to produce, using the first beam, the plurality of output beams.

4. The system of claim 3 , wherein one or more of the plurality of beam splitting optical elements comprises an optical fiber coupler.

5. The system of claim 1 , wherein a number of output beams of the plurality of output beams is odd, wherein a first output beam of the plurality of output beams has a zero OAM value, and wherein the plurality of output beams comprises one or more pairs of output beams, each pair having equal OAM values.

6. The system of claim 1 , wherein the output optical device directs a second beam towards the target object, wherein the second beam comprises mixed output beams of the plurality of output beams.

7. The system of claim 1 , wherein the output optical device comprises at least one of a field lens or a collimator lens.

8. The system of claim 1 , wherein at least some of the plurality of the reflected beams have overlapping spatial profiles and are spatially separated, prior to interacting with respective photodetectors of the plurality of photodetectors, using one or more OAM-sensitive second optical elements.

9. The system of claim 1 , wherein the processing device is further to determine, using the difference between the input phase information and the output phase information, a radial component of the velocity of the target object.

10. The system of claim 1 , wherein at least some of the plurality of photodetectors comprise a first photodiode and a second photodiode, the first photodiode to receive a reflected beam of the plurality of reflected beams, and the second photodiode to receive a local copy of the plurality of the local copies of the output beams.

11. The system of claim 1 , wherein at least some of the plurality of output beams are angle-modulated beams, wherein angle modulation comprises at least one of a phase modulation or a frequency modulation.

12. A system comprising:
a light source to produce a first beam;
one or more first optical elements to impart an orbital angular momentum (OAM) to at least some of a plurality of output beams, wherein each of the plurality of the output beams is obtained from the first beam;
an output optical device to direct the plurality of output beams towards a target object;
a plurality of photodetectors, wherein each of the plurality of photodetectors is to generate an analog signal representative of a difference between an input phase information, carried by one of a plurality of reflected beams, and an output phase information, carried by one of a plurality of local copies of the output beams, wherein at least one of the plurality of reflected beams is reflected from the target object in response to the plurality of output beams interacting with the target object; and
an analog-to-digital converter to convert, for each of the plurality of photodetectors, the analog signal generated by a respective photodetector into a digital signal readable by a processing device.

13. A method comprising:
producing, by a light source, a first beam;
imparting, using one or more first optical elements, an orbital angular momentum (OAM) to at least some of a plurality of output beams, wherein each of the plurality of the output beams is obtained from the first beam;
directing, by an output optical device, the plurality of output beams towards a target object;
generating, using a plurality of photodetectors, a signal representative of a difference between an input phase information, carried by one of a plurality of reflected beams, and an output phase information, carried by one of a plurality of local copies of the output beams, wherein at least one of the plurality of reflected beams is reflected from the target object in response to the plurality of output beams interacting with the target object; and
determining, by a processing device, using the generated signal, one or more components of a velocity of the target object, wherein the one or more components are lateral to a direction to the target object.

14. The method of claim 13 , wherein one or more first optical elements comprise at least one of a vortex wave plate, a forked diffraction grating, a hologram, or a spatial light modulator.

15. The method of claim 13 , wherein each of the plurality of the output beams is obtained from the first beam using a plurality of beam splitting optical elements.

16. The method of claim 15 , wherein one or more of the plurality of beam splitting optical elements comprises an optical fiber coupler.

17. The method of claim 13 , wherein a number of output beams of the plurality of output beams is odd, wherein a first output beam of the plurality of output beams has a zero OAM value, and wherein the plurality of output beams comprises one or more pairs of output beams, each pair having equal OAM values.

18. The method of claim 13 , wherein directing the plurality of output beams towards the target object comprises:
combining the plurality of output beams into a second beam, wherein at least some of the plurality of output beams in the second beam have overlapping spatial profile; and
directing the second beam towards the target object.

19. The method of claim 13 , wherein at least some of the plurality of the reflected beams have overlapping spatial profiles.

20. The method of claim 19 , further comprising:
spatially separating, using one or more second optical elements, the plurality of the reflected beams, wherein the one or more second optical elements are OAM-sensitive optical elements; and
delivering each of the plurality of spatially separated reflected beams to a respective photodetector of the plurality of photodetectors.

Assignees

• Waymo Llc

Inventors

• Remesch Bryce
• Armstrong-Crews Nicholas

Classifications

• G01S17/58 Primary

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• G01S7/4814

  of transmitters alone · CPC title

• G01S7/4816

  of receivers alone · CPC title

• G01S17/06

  Systems determining position data of a target · CPC title

• G01S7/4911

  Transmitters · CPC title