Light steering device with an array of oscillating reflective slats
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-003/08
G01S-017/93
G02B-026/08
G02B-026/10
G05D-001/02
출원번호
US-0813320
(2015-07-30)
등록번호
US-9696722
(2017-07-04)
발명자
/ 주소
Ulrich, Drew
Droz, Pierre-yves
Lenius, Samuel
출원인 / 주소
Waymo LLC
대리인 / 주소
McDonnell Boehnen Hulbert & Berghoff LLP
인용정보
피인용 횟수 :
3인용 특허 :
14
초록▼
A light detection and ranging (LIDAR) device scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The LIDAR device scans the emitted light pulses through the scanning zone by reflecting the light pulses from an array of oscillati
A light detection and ranging (LIDAR) device scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The LIDAR device scans the emitted light pulses through the scanning zone by reflecting the light pulses from an array of oscillating mirrors. The mirrors are operated by a set of electromagnets arranged to apply torque on the mirrors, and an orientation feedback system senses the orientations of the mirrors. Driving parameters for each mirror are determined based on information from the orientation feedback system. The driving parameters can be used to drive the mirrors in phase at an operating frequency despite variations in moments of inertia and resonant frequencies among the mirrors.
대표청구항▼
1. A light detection and ranging (LIDAR) device comprising: a plurality of mirrors arranged to rotate about respective axes of rotation;a plurality of electromagnets arranged to attract the plurality of mirrors so as to apply torque on the respective mirrors about their respective axes of rotation;a
1. A light detection and ranging (LIDAR) device comprising: a plurality of mirrors arranged to rotate about respective axes of rotation;a plurality of electromagnets arranged to attract the plurality of mirrors so as to apply torque on the respective mirrors about their respective axes of rotation;a plurality of driving circuits for operating the plurality of electromagnets using a plurality of driving signals;a plurality of detectors configured to detect orientations of the plurality of mirrors;a controller configured to: (i) receive data from the plurality of detectors indicative of detected orientations of the plurality of mirrors, and (ii) based on the detected orientations, control the plurality of driving circuits to operate the plurality of electromagnets such that the plurality of mirrors oscillate in phase at an operating frequency; anda light source configured to emit light pulses directed toward the plurality of mirrors such that the light pulses are reflected by the plurality of mirrors. 2. The LIDAR device according to claim 1, further comprising: a housing for mounting the plurality of mirrors via respective pairs of connecting arms connected between the housing and respective midpoints of opposing sides of each mirror, wherein the respective pairs of connecting arms are configured to twist during rotation of the respective mirrors so as to define the respective axes of rotation of the respective mirrors. 3. The LIDAR device according to claim 2, wherein the connecting arms are configured to resist twisting and thereby bias the mirrors in a non-rotated orientation. 4. The LIDAR device according to claim 2, wherein the connecting arms are integrally formed with respective ones of the plurality of mirrors. 5. The LIDAR device according to claim 1, wherein the plurality of detectors include a plurality of impedance sensors, wherein each impedance sensor is configured to detect impedance in a respective mirror-associated set of electromagnets. 6. The LIDAR device according to claim 1, wherein the plurality of detectors include a plurality of optical sensors, wherein each optical sensor is configured to detect light reflected from a respective mirror in the plurality of mirrors. 7. The LIDAR device according to claim 1, further comprising: a substrate proximate back surfaces opposite respective reflective surfaces of the plurality of mirrors, andwherein the plurality of electromagnets each include:a central core formed by a ferromagnetic peg extending outward from the substrate substantially perpendicular to the back surfaces, anda coil formed by conductive traces embedded in the substrate that wrap around the peg such that a current driven through the coil magnetizes the peg. 8. The LIDAR device according to claim 7, wherein the plurality of electromagnets are arranged in pairs such that each pair of pegs has ends distal from the substrate located approximately equidistant from the axis of rotation of a respective one of the plurality of mirrors. 9. The LIDAR device according to claim 1, wherein each of the plurality of mirrors has a length dimension and a perpendicular width dimension shorter than the length dimension, and wherein the axis of rotation is oriented parallel to the length dimension of the reflective surface. 10. The LIDAR device according to claim 1, wherein each of the plurality of driving signals is configured to provide a respective alternating current through a respective one of the electromagnets based on respective driving parameters provided by the controller. 11. The LIDAR device according to claim 10, wherein the driving parameters define at least one of a respective phase or respective amplitude for each respective alternating current. 12. The LIDAR device according to claim 1, wherein the operating frequency is approximately 5 kilohertz. 13. The LIDAR device according to claim 1, wherein the plurality of mirrors are configured such that each oscillates through a range of orientations of approximately 2 degrees. 14. The LIDAR device according to claim 1, wherein each mirror in the plurality of mirrors comprises a ferromagnetic material. 15. The LIDAR device according to claim 1, wherein the LIDAR device is associated with an autonomous vehicle that is configured to use returning reflected signals corresponding to the emitted light pulses to identify obstacles surrounding the autonomous vehicle and then control the autonomous vehicle to avoid the detected obstacles. 16. A method comprising: operating a plurality of sets of mirror-associated electromagnets in a LIDAR device such that each set of mirror-associated electromagnets is operated by a respective driving circuit in a plurality of driving circuits in the LIDAR device, wherein each set of mirror-associated electromagnets is configured to apply torque to a respective mirror in a plurality of mirrors in the LIDAR device so as to cause the respective mirror to rotate about a respective axis of rotation;receiving by a controller in the LIDAR device, from a plurality of detectors configured to detect orientations of the plurality of mirrors, data indicative of detected orientations of the plurality of mirrors; andcontrolling by the controller, based on the detected orientations, the plurality of driving circuits to operate the plurality of electromagnets such that the plurality of mirrors oscillate in phase at an operating frequency. 17. The method according to claim 16, wherein each driving circuit provides a respective alternating current through a respective one of the sets of mirror-associated electromagnets based on respective driving parameters provided by the controller, wherein the driving parameters define at least one of a respective phase or respective amplitude for each respective alternating current. 18. The method according to claim 16, further comprising: emitting light pulses directed toward the plurality of mirrors such that the light pulses are reflected by the plurality of mirrors;detecting returning reflected light signals corresponding to the emitted light pulses;identifying obstacles surrounding an autonomous vehicle; andcontrolling the autonomous vehicle to avoid the identified obstacles. 19. A non-transitory computer readable medium storing instructions that, when executed by one or more processors in a computing device, cause the computing device to perform operations, the operations comprising: operating a plurality of sets of mirror-associated electromagnets in a LIDAR device such that each set of mirror-associated electromagnets is operated by a respective driving circuit in a plurality of driving circuits in the LIDAR device, wherein each set of mirror-associated electromagnets is configured to apply torque to a respective mirror in a plurality of mirrors in the LIDAR device so as to cause the respective mirror to rotate about a respective axis of rotation;receiving, from a plurality of detectors configured to detect orientations of the plurality of mirrors, data indicative of detected orientations of the plurality of mirrors; andbased on the detected orientations, controlling the plurality of driving circuits to operate the plurality of electromagnets such that the plurality of mirrors oscillate in phase at an operating frequency. 20. The non-transitory computer readable medium according to claim 19, wherein the operations further comprise: emitting light pulses directed toward the plurality of mirrors such that the light pulses are reflected by the plurality of mirrors;detecting returning reflected light signals corresponding to the emitted light pulses;identifying obstacles surrounding an autonomous vehicle; andcontrolling the autonomous vehicle to avoid the identified obstacles.
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