Optical redirector device

Patent metadata

Field	Value
Publication number	US-12055659-B2
Application number	US-202017134277-A
Country	US
Kind code	B2
Filing date	Dec 26, 2020
Priority date	Dec 27, 2019
Publication date	Aug 6, 2024
Grant date	Aug 6, 2024

Abstract

The present disclosure relates to devices, lidar systems, and vehicles that include optical redirectors. An example lidar system includes a transmitter and a receiver. The transmitter includes at least one light-emitter device configured to transmit emission light into an environment of the lidar system. The receiver is configured to detect return light from the environment and includes a plurality of apertures, a plurality of photodetectors, and a plurality of optical redirector elements. Each optical redirector element is configured to optically couple a respective portion of return light from a respective aperture to at least one photodetector of the plurality of photodetectors.

First claim

What is claimed is:

1. A light detection and ranging (lidar) system comprising:
a transmitter comprising:
at least one light-emitter device configured to transmit emission light into an environment of the lidar system; and

a receiver configured to detect return light from the environment, the receiver comprising:
a first aperture;
a second aperture;
a first primary photodetector;
a first secondary photodetector;
a second primary photodetector;
a second secondary photodetector, wherein the first primary photodetector and the second primary photodetector are aligned along a first axis relative to one another, and wherein the first secondary photodetector and the second secondary photodetector are on opposite sides of the first axis relative to one another;
a first optical redirector configured to:
receive return light from the first aperture;
separate the return light received from the first aperture into portions; and
illuminate the first primary photodetector and the first secondary photodetector with the portions of the separated return light received from the first aperture; and

a second optical redirector configured to:
receive return light from the second aperture;
separate the return light received from the second aperture into portions; and
illuminate the second primary photodetector and the second secondary photodetector with the portions of the separated return light received from the second aperture.

2. The lidar system of claim 1 ,
wherein the first optical redirector is configured to optically couple the return light received from the first aperture to the first primary photodetector and the first secondary photodetector by total internal reflection, and
wherein the second optical redirector is configured to optically couple the return light received from the second aperture to the second primary photodetector and the second secondary photodetector by total internal reflection.

3. The lidar system of claim 1 , wherein the first optical redirector and the second optical redirector are formed from an injection-moldable optical material.

4. The lidar system of claim 1 , wherein the first optical redirector and the second optical redirector are coupled together in an element pair that is shaped to slidably couple with another element pair of the receiver.

5. The lidar system of claim 1 , wherein the first aperture or the second aperture has a diameter between 150 microns and 300 microns.

6. The lidar system of claim 1 , wherein the first aperture and the second aperture comprise a set of openings formed in an aperture plate, and wherein the aperture plate has a thickness between 50 microns and 200 microns.

7. The lidar system of claim 1 , wherein the first aperture and the second aperture are spaced apart by between 200 microns and 800 microns.

8. The lidar system of claim 1 , wherein the first primary photodetector and the second primary photodetector are spaced apart by at least 1000 microns.

9. The lidar system of claim 1 ,
wherein the first aperture and the second aperture are aligned along a second axis relative to one another, and
wherein the second axis is parallel to the first axis.

10. The lidar system of claim 1 ,
wherein the first optical redirector is further configured to:
illuminate the first primary photodetector with a first photon flux; and
illuminate the first secondary photodetector with a second photon flux,

wherein the second optical redirector is further configured to:
illuminate the second primary photodetector with a third photon flux; and
illuminate the second secondary photodetector with a fourth photon flux, wherein the first photon flux is greater than the second photon flux, and wherein the third photon flux is greater than the fourth photon flux.

11. The lidar system of claim 1 , wherein the first primary photodetector, the first secondary photodetector, the second primary photodetector, or the second secondary photodetector comprises a solid-state single-photon-sensitive device.

12. A receiver comprising:
a first aperture;
a second aperture;
a first primary photodetector;
a first secondary photodetector;
a second primary photodetector;
a second secondary photodetector, wherein the first primary photodetector and the second primary photodetector are aligned along a first axis relative to one another, and wherein the first secondary photodetector and the second secondary photodetector are on opposite sides of the first axis relative to one another;
a first optical redirector configured to:
receive return light from the first aperture;
separate the return light received from the first aperture into portions; and
illuminate the first primary photodetector and the first secondary photodetector with the portions of the separated return light received from the first aperture; and

a second optical redirector configured to:
receive return light from the second aperture;
separate the return light received from the second aperture into portions; and
illuminate the second primary photodetector and the second secondary photodetector with the portions of the separated return light received from the second aperture.

13. The receiver of claim 12 ,
wherein the first optical redirector is configured to optically couple the return light received from the first aperture to the first primary photodetector and the first secondary photodetector by total internal reflection, and
wherein the second optical redirector is configured to optically couple the return light received from the second aperture to the second primary photodetector and the second secondary photodetector by total internal reflection.

14. The receiver of claim 12 , wherein the first optical redirector and the second optical redirector are formed from an injection-moldable optical material.

15. The receiver of claim 12 , wherein the first optical redirector and the second optical redirector are coupled together in an element pair that is shaped to slidably couple with another element pair of the receiver.

16. The receiver of claim 12 , wherein the first aperture or the second aperture has a diameter between 150 microns and 300 microns.

17. The receiver of claim 12 , wherein the first aperture and the second aperture comprise a set of openings formed in an aperture plate, and wherein the aperture plate has a thickness between 50 microns and 200 microns.

18. The receiver of claim 12 , wherein the first primary photodetector, the first secondary photodetector, the second primary photodetector, or the second secondary photodetector comprises a solid-state single-photon-sensitive device.

19. A vehicle comprising:
a light detection and ranging (lidar) system comprising:
a transmitter comprising:
at least one light-emitter device configured to transmit emission light into an environment of the vehicle; and

a receiver configured to detect return light from the environment, the receiver comprising:
a first aperture;
a second aperture;
a first primary photodetector;
a first secondary photodetector;
a second primary photodetector;
a second secondary photodetector, wherein the first primary photodetector and the second primary photodetector are aligned along a first axis relative to one another, and wherein the first secondary photodetector and the second secondary photodetector are on opposite sides of the first axis relative to one another;
a first optical redirector configured to:
receive return light from the first aperture;
separate the return light received from the firs

Assignees

• Waymo Llc

Inventors

• Gassend Blaise
• Duff David
• Droz Pierre-Yves
• Karplus Paul
• Watson Jason
• Brickner Michael
• Rivas Alex

Classifications

• G01S7/4817

  relating to scanning · CPC title

• G01S7/4914

  of detector arrays, e.g. charge-transfer gates · CPC title

• G01S7/493

  Extracting wanted echo signals · CPC title

• G01S17/931 Primary

  of land vehicles · CPC title

• G01S17/10

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