Rotation LIDAR system and method

Abstract

The invention discloses a rotating LIDAR system and method. In one embodiment, a rotatable LIDAR system includes a rotor having a central axis of rotation and a plurality of optical component mounting locations around a peripheral region of the rotor, where components mounted at the plurality of optical component mounting locations are configured to rotate about the central axis of rotation; a scanning light deflector mounted at one of the plurality of optical component mounting positions, the scanning light deflector configured to vertically scan the field of view when the rotor is rotated; a light detector mounted at one of the plurality of optical component mounting positions and configured to receive a reflection of light from an object in the field of view when the rotor rotates; and a plurality of optical elements mounted at other optical component mounting positions of the plurality of optical component mounting positions, the scanning light deflector and the plurality of optical elements defining at least one light path having at least one direction change between the scanning light deflector and the light detector.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 478,168, filed January 2, 2023; U.S. Provisional Application No. 63 / 478,193, filed January 3, 2023; U.S. Provisional Application No. 63 / 478,194, filed January 3, 2023; and U.S. Provisional Application No. 63 / 594,034, filed October 30, 2023. All of the foregoing applications are incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure generally relates to techniques for scanning a surrounding environment, for example, to systems and methods for detecting objects in a surrounding environment using LIDAR technology. Background Art

[0004] With the advent of driver assistance systems and autonomous vehicles, cars need to be equipped with systems that can reliably sense and interpret their surroundings, including identifying obstacles, hazardous situations, objects, and other physical parameters that may affect vehicle navigation. To this end, many different technologies have been proposed, including radar, LIDAR, and camera-based systems, operating individually or in a redundant manner.

[0005] One consideration for driver assistance systems and autonomous vehicles is the system's ability to determine its surroundings under varying conditions. Light Detection and Ranging (LIDAR) systems are an example of a technology that operates by illuminating an object with light and measuring the reflected pulses with a sensor. Based on time-of-flight measurements at different spatial locations (such as FOV pixels) within a field of view (FOV), a point cloud of range data can be generated, where each FOV pixel is associated with a specific range measurement corresponding to the distance between the LIDAR system and an object or portion of an object within the LIDAR FOV. A laser is an example of a light source that can be used in a LIDAR system. Electro-optical systems, such as LIDAR systems, can include a light deflector for projecting light emitted by the light source into the environment of the electro-optical system. The light deflector can be controlled to pivot about at least one axis to project light to a desired location within the electro-optical system's field of view.

[0006] For a rotatable LIDAR system configured to rotate 360 degrees, various design considerations may be factored into the planning. These considerations may involve certain components and how they are configured relative to each other, the design of the mirrors in the LIDAR system, the size and configuration of the optical paths in the LIDAR system, the size of the components, and the size of the entire LIDAR system, among others. The systems and methods disclosed herein are intended to address these considerations to achieve a rotatable LIDAR system that provides high standards of performance while having a sufficiently small form factor. Summary of the Invention

[0007] In one embodiment, a contactless rotating LIDAR communication system is disclosed. The LIDAR communication system may include a rotor and a motor configured to rotate the rotor. The LIDAR communication system may also include a light source mounted on the rotor and configured to output a light beam, and a movable light deflector mounted on the rotor in the path of the light beam. The light deflector may be configured to vertically scan a field of view with the light beam as the rotor rotates. The LIDAR communication system may also include a light detector mounted on the rotor and configured to receive reflections of light from the field of view as the rotor rotates and the light deflector moves. The LIDAR communication system may also include a first communication winding on the rotor configured to transmit a signal associated with the received reflection within a bandwidth between 1 MHz and 2 GHz. The LIDAR communication system may include a stator, which is opposite the rotor and has a second communication winding thereon for receiving signals transmitted from the first communication winding within a bandwidth between 1 MHz and 2 GHz. The second communicating winding may be spaced apart from the first communicating winding by a gap of between 50 microns and 120 microns, and wherein the first and second communicating windings overlap each other on opposite sides of the gap.

[0008] In one embodiment, a non-contact rotating LIDAR communication method is disclosed. The non-contact rotating LIDAR communication method may include: controlling a motor configured to rotate a rotor; outputting a light beam using a light source mounted on the rotor; vertically scanning a field of view with the light beam using a movable light deflector mounted on the rotor in a path of the light beam as the rotor rotates; receiving reflections of light from the field of view using a light detector mounted on the rotor as the rotor rotates and the light deflector moves; transmitting signals associated with the received reflections within a bandwidth between 1 MHz and 2 GHz using a first communication winding on the rotor; and receiving signals transmitted within a bandwidth between 1 MHz and 2 GHz from the first communication winding using a second communication winding located in a stator opposite the rotor, wherein the second communication winding is separated from the first communication winding by a gap between 50 microns and 120 microns, and wherein the first communication winding and the second communication winding overlap each other on opposite sides of the gap.

[0009] In one embodiment, a non-contact rotating LIDAR communication system is disclosed. The non-contact rotating LIDAR communication system may include at least one processor configured to: control a motor configured to rotate a rotor; output a light beam using a light source mounted on the rotor; vertically scan a field of view with the light beam using a movable light deflector mounted on the rotor in the path of the light beam as the rotor rotates; receive reflections of light from the field of view using a light detector mounted on the rotor as the rotor rotates and the light deflector moves; transmit signals associated with the received reflections within a bandwidth between 1 MHz and 2 GHz using a first communication winding on the rotor; receive signals transmitted within a bandwidth between 1 MHz and 2 GHz from the first communication winding using a second communication winding located in a stator opposite the rotor; wherein the second communication winding is separated from the first communication winding by a gap between 50 microns and 120 microns, and wherein the first communication winding and the second communication winding overlap each other on opposite sides of the gap.

[0010] In one embodiment, a rotatable LIDAR system is disclosed. The rotatable LIDAR system may include a rotor having a rotation axis; a motor configured to rotate the rotor about the rotation axis; a light source mounted on the rotor and configured to emit a light beam toward a field of view; a movable light deflector mounted on the rotor and having a deflector longitudinal axis orthogonal to the rotation axis of the rotor, the deflector longitudinal axis being slanted relative to a radial direction extending through a center of the movable light deflector, the movable light deflector being configured to direct the light beam emitted from the light source toward the field of view; and a light detector mounted on the rotor and configured to receive a reflected light beam reflected from an object in the field of view.

[0011] In one embodiment, a rotatable LIDAR system is disclosed. The system may include a rotor having a central rotation axis and a plurality of optical component mounting locations surrounding a peripheral region of the rotor, wherein components mounted at the plurality of optical component mounting locations are configured to rotate about the central rotation axis; a scanning light deflector mounted at one of the plurality of optical component mounting locations, the scanning light deflector configured to vertically scan a field of view as the rotor rotates; a light detector mounted at one of the plurality of optical component mounting locations and configured to receive reflections of light from objects in the field of view as the rotor rotates; and a plurality of optical elements mounted at other locations of the plurality of optical component mounting locations, the scanning light deflector and the plurality of optical elements defining at least one optical path having at least one direction change between the scanning light deflector and the light detector.

[0012] In one embodiment, a rotatable LIDAR system is disclosed. The system may include a rotating rotor having optics thereon for supporting a reflection light path and a transmission light path, wherein the optics include: a light deflector; a scanning mirror; and a deflection optical element, wherein the deflection optical element includes: a first optical element portion having a first surface, a second surface, and a third surface extending at an angle between the first surface and the second surface, wherein the first surface and the second surface are light transmissive, and wherein the third surface is light reflective. and a second optical element portion having a fourth surface, a fifth surface, and a sixth surface extending at an angle between the fourth surface and the fifth surface, wherein the fourth surface and the fifth surface are light-transmissive, and wherein the sixth surface is light-reflective; wherein the first optical element portion and the second optical element portion are configured to work in conjunction with each other so that: a first light beam traveling along a transmitted light path passes through the fourth surface, is deflected by the sixth surface through the fifth surface and the second surface to the third surface, and is deflected by the third surface through the first surface, and a second light beam traveling along a reflected light path passes through the first surface, and is deflected by the third surface through the second surface.

[0013] The foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1A is a diagram illustrating an exemplary LIDAR system consistent with some embodiments of the present disclosure.

[0015] Figure 1B is an image illustrating exemplary output of a single scan cycle of a LIDAR system mounted on a vehicle, consistent with some embodiments of the present disclosure.

[0016] Figure 1C is another image showing a representation of a point cloud model determined from the output of a LIDAR system, consistent with some embodiments of the present disclosure.

[0017] Figure 2A is a diagram showing different configurations of a projection unit consistent with some embodiments of the present disclosure.

[0018] Figure 2B 、 2C , 2D, 2E, and 2F are diagrams illustrating examples of monolithic laser arrays consistent with some embodiments of the present disclosure.

[0019] Figure 3A An illustration of a scanning unit configuration consistent with some embodiments of the present disclosure is provided.

[0020] Figure 3B and 3C is a diagram illustrating an exemplary multi-beam LIDAR system consistent with some embodiments of the present disclosure.

[0021] Figure 4A 、 4B 4C and 4D are diagrams showing different configurations of a sensing unit (or monolithic detector) consistent with some embodiments of the present disclosure.

[0022] Figure 5A Included are four example graphs showing emission patterns in a single frame-time for a single portion of a field of view, consistent with some embodiments of the present disclosure.

[0023] Figure 5B Included are three example diagrams illustrating emission schemes in a single frame time for the entire field of view, consistent with some embodiments of the present disclosure.

[0024] Figure 6 is a graph showing actual light emissions projected toward the entire field of view and reflections received during a single frame time, consistent with some embodiments of the present disclosure.

[0025] Figure 7 is an illustration of an exemplary conceptual rotatable LIDAR system consistent with some embodiments of the present disclosure.

[0026] Figure 8 is an illustration of an exemplary implementation of a rotatable LIDAR system consistent with some embodiments of the present disclosure.

[0027] Figure 9 is consistent with some embodiments of the present disclosure and is used in Figure 8 Illustration of an exemplary light path for sending projection light in a rotatable LIDAR system.

[0028] Figure 10 is consistent with some embodiments of the present disclosure and is used in Figure 8 Illustration of an exemplary optical path for receiving reflected light in a rotatable LIDAR system.

[0029] Figure 11 is a pictorial representation of an exemplary conceptual contactless rotating LIDAR communication system consistent with some embodiments of the present disclosure.

[0030] Figure 12A and Figure 12B is a pictorial top-down illustration of an exemplary communication ring with and without a communication winding, consistent with some embodiments of the present disclosure.

[0031] Figure 13 is an illustration of an example implementation of a contactless rotating LIDAR communication system, consistent with some embodiments of the present disclosure.

[0032] Figure 14 is consistent with some embodiments of the present disclosure, including Figure 13 Illustration of two exemplary communication windings in a contactless rotating LIDAR communication system.

[0033] Figure 15 is an illustration of an example flexible PCB consistent with some embodiments of the present disclosure.

[0034] Figure 16 Included are pictorial cross-sectional illustrations of example flexible PCBs consistent with some embodiments of the present disclosure.

[0035] Figure 17 is a flow chart of an exemplary process for a contactless rotating LIDAR communication method consistent with some embodiments of the present disclosure.

[0036] Figure 18 A perspective view of an exemplary rotor, consistent with some embodiments of the present disclosure, is shown.

[0037] Figure 19A A top plan view of an exemplary LIDAR system including an exemplary movable light deflector is shown, consistent with some embodiments of the present disclosure.

[0038] Figure 19B Shown are some embodiments consistent with the present disclosure, Figure 19AAnother top plan view of an exemplary LIDAR system including an exemplary movable light deflector.

[0039] Figure 20 A perspective view of an exemplary movable light deflector consistent with some embodiments of the present disclosure is shown.

[0040] Figure 21A Shown are some embodiments consistent with the present disclosure, Figure 20 Another perspective view of an exemplary movable light deflector.

[0041] Figure 21B Shown are some embodiments consistent with the present disclosure, Figure 20 Another perspective view of an exemplary movable light deflector.

[0042] Figure 22 is an illustration of an arrangement relative to a mounting location of a rotor consistent with some embodiments of the present disclosure.

[0043] Figure 23 is an illustration of an example implementation of a rotatable LIDAR system consistent with some embodiments of the present disclosure.

[0044] Figure 24 is consistent with some embodiments of the present disclosure, Figure 23 Illustration of an exemplary optical path of light in a rotatable LIDAR system.

[0045] Figure 25 is an illustration of an example implementation of a rotatable LIDAR system including a common deflection element for inbound and outbound light, consistent with some embodiments of the present disclosure.

[0046] Figure 26A is a two-dimensional cross-sectional view of a common deflection element consistent with some embodiments of the present disclosure.

[0047] Figure 26B is another two-dimensional cross-sectional view of a common deflection element consistent with some embodiments of the present disclosure.

[0048] Figure 26C is a two-dimensional cross-sectional view of an exemplary implementation of a common deflection element, consistent with some embodiments of the present disclosure.

[0049] Figure 26D is a two-dimensional cross-sectional view of another exemplary implementation of a common deflection element, consistent with some embodiments of the present disclosure.

[0050] Figure 26Eis a two-dimensional cross-sectional view of yet another exemplary implementation of a common deflection element, consistent with some embodiments of the present disclosure.

[0051] Figure 26F is a two-dimensional cross-sectional view of yet another exemplary implementation of a common deflection element, consistent with some embodiments of the present disclosure.

[0052] Figure 26G is a two-dimensional cross-sectional view of yet another exemplary implementation of a common deflection element, consistent with some embodiments of the present disclosure.

[0053] Figure 26H is a perspective view of an exemplary implementation of a common deflection element, consistent with some embodiments of the present disclosure.

[0054] Figure 26I is consistent with some embodiments of the present disclosure, Figure 26H Another perspective view of an exemplary embodiment of a common deflection element is shown in FIG.

[0055] Figure 27A is an illustration of an example implementation of a rotatable LIDAR system featuring a common deflection element and curved window for inbound and outbound light, consistent with some embodiments of the present disclosure.

[0056] Figure 27B is consistent with some embodiments of the present disclosure, Figure 27A An illustration of the rotatable LIDAR system shown in , further illustrating two light rays traveling along the transmitted light path and undergoing distortion due to the presence of the arc-shaped window.

[0057] Figure 27C is consistent with some embodiments of the present disclosure, Figure 27A A simplified schematic diagram of a rotatable LIDAR system is shown, further illustrating two light rays traveling along a transmit optical path and a common deflection element including a curved surface to eliminate distortion effects caused by the presence of a curved window. DETAILED DESCRIPTION

[0058] The following detailed description refers to the accompanying drawings. Wherever possible, the same reference numerals are used in the drawings and the following description to represent the same or similar parts. Although several illustrative embodiments are described herein, modifications, adjustments, and other embodiments are possible. For example, the components shown in the drawings may be replaced, added, or modified, and the illustrative methods described herein may be modified by replacing, reordering, removing, or adding steps to the disclosed methods. Therefore, the following detailed description is not limited to the disclosed embodiments and examples. Instead, the proper scope is defined by the appended claims.

[0059] In addition, various terms used in the specification and claims may be defined or summarized differently when discussed in conjunction with different disclosed embodiments. It should be understood that the definitions, summary, and explanations of terms in each example apply to all examples, even without repetition, unless the transferred definition, explanation, or summary would render the embodiment inoperable.

[0060] Throughout this disclosure, references to "disclosed embodiments" refer to examples of the inventive ideas, concepts, and / or manifestations described herein. Many related and unrelated embodiments are described throughout this disclosure. The fact that some "disclosed embodiments" are described as exhibiting a feature or characteristic does not mean that other disclosed embodiments necessarily share that feature or characteristic.

[0061] This disclosure employs open licensing language to indicate, for example, that some embodiments "may" employ, involve, or include particular features. The use of the term "may" and other open-ended terms is intended to indicate that while not every embodiment may employ a particular disclosed feature, at least one embodiment employs a particular disclosed feature.

[0062] The disclosed embodiments may relate to optical systems. As used herein, the term "optical system" broadly includes any system for generating, detecting and / or manipulating light. By way of example only, an optical system may include one or more optical components for generating, detecting and / or manipulating light. For example, a light source, a lens, a reflector, a prism, a beam splitter, a collimator, polarization optics, an optical modulator, an optical switch, an optical amplifier, an optical detector, an optical sensor, an optical fiber, a semiconductor optical component, although each is not necessarily required, each can be part of an optical system. In addition to one or more optical components, an optical system may also include other non-optical components, such as electrical components, mechanical components, chemical reaction components, and semiconductor components. Non-optical components may cooperate with optical components of the optical system. For example, an optical system may include at least one processor for analyzing detected light.

[0063] Consistent with the present disclosure, the optical system may be a LIDAR system. As used herein, the term "LIDAR system" broadly includes any system that can determine a value of a parameter indicating the distance between a pair of tangible objects based on reflected light. In one embodiment, the LIDAR system can determine the distance between a pair of tangible objects based on reflections of light emitted by the LIDAR system. As used herein, the term "determining the distance" broadly includes generating an output indicating the distance between a pair of tangible objects. The determined distance can represent a physical dimension between the pair of tangible objects. By way of example only, the determined distance can include a line-of-flight distance between the LIDAR system and another tangible object in the field of view of the LIDAR system. In another embodiment, the LIDAR system can determine the relative velocity between a pair of tangible objects based on reflections of light emitted by the LIDAR system. Examples of output indicating the distance between a pair of tangible objects include: a number of standard length units (e.g., meters, inches, kilometers, millimeters) between the tangible objects, a number of arbitrary length units (e.g., a number of LIDAR system lengths), a ratio between a distance and another length (e.g., a ratio to the length of an object detected in the field of view of a LIDAR system), an amount of time (e.g., given in standard units, arbitrary units, or a ratio, such as the time it takes light to travel between the tangible objects), one or more locations (e.g., specified using a conventional coordinate system, specified relative to a known location), etc.

[0064] LIDAR systems can determine the distance between a pair of tangible objects (e.g., the LIDAR system and one or more objects within the LIDAR field of view) based on reflected light. In one embodiment, the LIDAR system can process detection results from a sensor that generates time information indicating the period of time between the emission of a light signal and the time the sensor detects the light signal. This period of time is sometimes referred to as the light signal's "time of flight." In one example, the light signal can be a short pulse whose rise and / or fall times can be detected upon reception. Using known information about the speed of light in the relevant medium (typically air), information related to the light signal's time of flight can be processed to provide the distance traveled by the light signal between emission and detection. In another embodiment, the LIDAR system can determine distance based on frequency phase shifts (or multiple frequency phase shifts). Specifically, the LIDAR system can process information indicating one or more modulation phase shifts of the light signal (e.g., by solving simultaneous equations to provide a final measurement). For example, the emitted light signal can be modulated with one or more constant frequencies. At least one phase shift in the modulation between the emitted signal and the detected reflection can indicate the distance traveled by the light between emission and detection. The modulation can be applied to a continuous wave optical signal, a quasi-continuous wave optical signal, or another type of transmitted optical signal. Note that the LIDAR system can use additional information to determine distance, such as the projection location, the detection location of the signal (especially if far away from each other), and position information between others (e.g., relative position).

[0065] In some embodiments, a LIDAR system can be used to detect multiple objects in the environment of the LIDAR system. The term "detecting an object in the environment of the LIDAR system" broadly includes generating information indicative of objects reflecting light toward a detector associated with the LIDAR system. If the LIDAR system detects more than one object, the generated information related to the different objects can be interconnected, e.g., a car driving on a road, a bird sitting in a tree, a person touching a bicycle, a truck moving toward a building. The size of the environment in which the LIDAR system detects objects can vary depending on the implementation. For example, a LIDAR system can be used to detect multiple objects in the environment of a vehicle equipped with the LIDAR system at a horizontal distance of up to 100 meters (or 200 meters, 300 meters, etc.) and a vertical distance of up to 10 meters (or 25 meters, 50 meters, etc.). In another example, a LIDAR system can be used to detect multiple objects in the vehicle's environment, or within a predetermined horizontal range (e.g., 25°, 50°, 100°, 180°, etc.), up to a predetermined vertical height (e.g., ±10°, ±20°, +40°-20°, ±90°, or 0°-90°).

[0066] As used herein, the term "detecting an object" may broadly refer to determining the presence of an object (e.g., an object may exist in a certain direction relative to a LIDAR system and / or another reference location, or an object may exist in a certain volume of space). Additionally or alternatively, the term "detecting an object" may refer to determining a distance between an object and another location (e.g., the location of a LIDAR system, a location on Earth, or the location of another object). Additionally or alternatively, the term "detecting an object" may refer to identifying an object (e.g., classifying a type of object (such as a car, plant, tree, road); identifying a specific object (e.g., the Washington Monument); determining a license plate number; determining the composition of an object (e.g., solid, liquid, transparent, translucent); determining kinematic parameters of an object (e.g., whether it is moving, its speed, its direction of movement, expansion of the object). Additionally or alternatively, the term "detecting an object" may refer to generating a point cloud map, wherein each point of the one or more points of the point cloud map corresponds to a location in the object or a location on a face thereof. In one embodiment, a data resolution associated with the point cloud map representation of the field of view may be associated with 0.1°×0.1° or 0.3°×0.3° of the field of view.

[0067] Consistent with this disclosure, the term "object" broadly encompasses any finite composition of matter from which at least a portion of light can reflect. For example, an object can be at least partially solid (e.g., a car, a tree); at least partially liquid (e.g., a puddle on the road, rain); at least partially gaseous (e.g., smoke, a cloud); formed from a large number of different particles (e.g., a dust storm, fog, spray); and can have one or more magnitudes of scale, such as ~1 millimeter (mm), ~5 mm, ~10 mm, ~50 mm, ~100 mm, ~500 mm, ~1 meter (m), ~5 m, ~10 m, ~50 m, ~100 m, etc. Smaller or larger objects, as well as any size between those examples, can also be detected. Note that for various reasons, a LIDAR system may only detect a portion of an object. For example, in some cases, light may be reflected from only some sides of an object (e.g., only the side opposite the LIDAR system will be detected); in other cases, light may be projected onto only part of an object (e.g., a laser beam projected onto a road or building); in other cases, an object may be partially blocked by another object between the LIDAR system and the detected object; and in other cases, the LIDAR's sensor may only detect light reflected from a portion of an object, e.g., because of ambient light or other interference that interferes with detection of some portions of the object.

[0068] Consistent with the present disclosure, a LIDAR system can be configured to detect objects by scanning the LIDAR system's environment. The term "scanning the LIDAR system's environment" broadly includes illuminating the LIDAR system's field of view or a portion of the field of view. In one example, scanning the LIDAR system's environment can be achieved by moving or pivoting a light deflector to deflect light in different directions toward different portions of the field of view. In another example, scanning the LIDAR system's environment can be achieved by changing the positioning (i.e., position and / or orientation) of a sensor relative to the field of view. In another example, scanning the LIDAR system's environment can be achieved by changing the positioning (i.e., position and / or orientation) of a light source relative to the field of view. In yet another example, scanning the LIDAR system's environment can be achieved by changing the position of at least one light source and at least one sensor to rigidly move relative to the field of view (i.e., the relative distance and orientation of the at least one sensor and the at least one light source remain constant).

[0069] As used herein, the term "field of view of a LIDAR system" may broadly include the range of the observable environment of the LIDAR system in which objects can be detected. Note that the field of view (FOV) of a LIDAR system may be affected by various conditions, such as, but not limited to: the orientation of the LIDAR system (e.g., the direction of the optical axis of the LIDAR system); the position of the LIDAR system relative to the environment (e.g., the distance above the ground and the presence of adjacent terrain and obstacles); the operating parameters of the LIDAR system (e.g., transmit power, computational settings, defined operating angles), etc. The field of view of a LIDAR system may be defined, for example, by a solid angle (e.g., using , θ angle limit, where (A and θ are angles defined in orthogonal planes, e.g., relative to an axis of symmetry of the LIDAR system and / or its FOV). In one example, the field of view may also be limited to a certain range (e.g., up to 200 m).

[0070] Similarly, the term "instantaneous field of view" can broadly encompass the range of the observable environment within which a LIDAR system can detect objects at any given moment. For example, for a scanning LIDAR system, the instantaneous field of view is narrower than the LIDAR system's entire FOV, and it can be moved within the LIDAR system's FOV to enable detection in other parts of the LIDAR system's FOV. Movement of the instantaneous field of view within the LIDAR system's FOV can be achieved by moving a light deflector in the LIDAR system (or external to the LIDAR system) to deflect a light beam to and / or from the LIDAR system in different directions. In one embodiment, the LIDAR system can be configured to scan a scene in the environment in which the LIDAR system operates. As used herein, the term "scene" can broadly encompass some or all objects within the LIDAR system's field of view, in their relative positions and current states, over the duration of the LIDAR system's operation. For example, a scene may include ground elements (e.g., earth, roads, grass, sidewalks, road surface markings), sky, manufactured objects (e.g., vehicles, buildings, signs), vegetation, people, animals, light projecting elements (e.g., flashlights, the sun, other LIDAR systems), etc.

[0071] The disclosed embodiments may involve obtaining information for generating a reconstructed three-dimensional model. Examples of the types of reconstructed three-dimensional models that can be used include point cloud models and polygonal meshes (e.g., triangle meshes). The terms "point cloud" and "point cloud model" are widely known in the art and should be interpreted as comprising a set of data points that are spatially located in a certain coordinate system (i.e., have identifiable positions in the space described by the corresponding coordinate system). The term "point cloud point" refers to a point in space (which can be dimensionless, or a micro-unit space, e.g., 1 cm3), and its position can be represented by a point cloud model using a set of coordinates (e.g., (X, Y, Z), (r, ,θ). By way of example only, a point cloud model may store additional information about some or all of its points (e.g., color information for the points generated from a camera image). Similarly, any other type of reconstructed 3D model may store additional information about some or all of its objects. Similarly, the terms "polygon mesh" and "triangle mesh" are widely known in the art and should be interpreted as encompassing a set of vertices, edges, and faces that define the shape of one or more 3D objects (such as polyhedral objects). Faces may include one or more of the following: triangles (triangle meshes), quadrilaterals, or other simple convex polygons, as this can simplify rendering. Faces may also include more general concave polygons or polygons with holes. Polygon meshes can be represented using different techniques, such as vertex-vertex meshes, face-vertex meshes, winged-edge meshes, and rendering-dynamic meshes. Different parts of a polygon mesh (e.g., vertices, faces, edges) are spatially located in some coordinate system (i.e., have identifiable positions in the space described by the corresponding coordinate system) directly and / or relative to each other. The generation of the reconstructed 3D model can be accomplished using any standard, specialized, and / or novel photogrammetric techniques, many of which are known in the art. Note that the LIDAR system can generate other types of environment models.

[0072] Consistent with the disclosed embodiments, a LIDAR system may include at least one projection unit having a light source configured to project light. As used herein, the term "light source" broadly refers to any device configured to emit light. In one embodiment, the light source may be a laser (such as a solid-state laser, a laser diode, or a high-power laser) or an alternative light source (such as a light-emitting diode (LED)-based light source). Furthermore, the light source 112 shown throughout the figures may emit light in various formats, such as pulsed light, continuous wave (CW), quasi-CW, and the like. For example, one type of light source that may be used is a vertical cavity surface emitting laser (VCSEL). Another type of light source that may be used is an external cavity diode laser (ECDL) or an edge-emitting laser. In some examples, the light source may include a laser array. In another example, the light source may include a single monolithic laser array comprising multiple laser emitters. In some examples, the light source may include a laser diode configured to emit light at a wavelength between approximately 650 nm and 1150 nm. Alternatively, the light source may include a laser diode configured to emit light having a wavelength between about 800 nm and about 1000 nm, between about 850 nm and about 950 nm, or between about 1300 nm and about 1600 nm. Unless otherwise indicated, the term "about" with respect to a numerical value is defined as a variation of up to 5% relative to the stated value. Figure 2AAdditional details are described regarding the projection unit and the at least one light source.

[0073] Consistent with the disclosed embodiments, a LIDAR system may include at least one scanning unit having at least one optical deflector configured to deflect light from a light source to scan a field of view. The term "optical deflector" broadly includes any mechanism or module configured to deflect light from its original path; for example, a mirror, a prism, a controllable lens, a mechanical mirror, a mechanical scanning polygon, active diffraction (e.g., a controllable LCD), a Risley prism, non-mechanical electro-optical beam steering (such as manufactured by Vscent), a polarization grating (such as provided by Boulder Non-Linear Systems), an optical phased array (OPA), and the like. In one embodiment, the optical deflector may include multiple optical components, such as at least one reflective element (e.g., a mirror), at least one refractive element (e.g., a prism, a lens), and the like. In one example, the optical deflector may be movable to deflect the light to varying degrees (e.g., discrete degrees or over a continuous span). The light deflector may optionally be controllable in various ways (e.g., deflect to an angle α, change the deflection angle by Δα, move a component of the light deflector by M millimeters, change the rate at which the deflection angle is changed). In addition, the light deflector may optionally be operable to change the deflection angle within a single plane (e.g., the θ coordinate). The light deflector may optionally be operable to change the deflection angle within two non-parallel planes (e.g., the θ and coordinates). Alternatively or additionally, the light deflector may optionally be operable to vary the deflection angle between predetermined settings (e.g., along a predefined scanning path) or in other ways. With respect to the use of light deflectors in LIDAR systems, note that the light deflectors may be used in an outbound direction (also referred to as a transmit direction or TX) to deflect light from a light source to at least a portion of the field of view. However, the light deflectors may also be used in an inbound direction (also referred to as a receive direction or RX) to deflect light from at least a portion of the field of view to one or more light sensors. Figure 3A-3C Additional details are described regarding the scanning unit and the at least one light deflector.

[0074] The disclosed embodiments may involve pivoting an optical deflector to scan a field of view. As used herein, the term "pivot" broadly encompasses the rotation of an object (particularly a solid object) about one or more axes of rotation while maintaining a substantially fixed center of rotation. In one embodiment, pivoting of the optical deflector may include rotation of the optical deflector about a fixed axis (e.g., an axis), but not necessarily. In some cases, the fixed axis may be a substantially vertically oriented scan axis, and pivoting of the deflector may include rotation of the deflector about the vertical scan axis to project laser light into the LIDAR FOV (e.g., along one or more horizontally oriented scan lines). In some cases, the optical deflector may spin or rotate a full 360 degrees so that the horizontal scan lines extend and establish a full 360-degree LIDAR FOV.

[0075] Disclosed embodiments may involve receiving reflections associated with a portion of a field of view corresponding to a single instantaneous position of a light deflector. As used herein, the term "instantaneous position of a light deflector" (also referred to as "state of a light deflector") broadly refers to the position or location in space of at least one controlled component of the light deflector at an instant in time or over a short time span. In one embodiment, the instantaneous position of the light deflector can be measured relative to a reference frame. The reference frame can be at least one fixed point in the LIDAR system. Alternatively, for example, the reference frame can be at least one fixed point in the scene. In some embodiments, the instantaneous position of the light deflector can include some movement of one or more components of the light deflector (e.g., a mirror, a prism), typically to a limited extent relative to a maximum degree of change during a scan of the field of view. For example, a scan of the entire field of view of the LIDAR system may include varying the deflection of light over a span of 30°, and the instantaneous position of at least one light deflector may include an angular shift of the light deflector within 0.05°. In other embodiments, the term "instantaneous position of a light deflector" may refer to the position of a light deflector during the acquisition of light that is processed to provide data for a single point in a point cloud (or another type of 3D model) generated by the LIDAR system. In some embodiments, the instantaneous position of a light deflector may correspond to a fixed position or orientation of the deflector during a brief pause in illumination of a particular sub-region of the LIDAR field of view. In other cases, the instantaneous position of a light deflector may correspond to a position / orientation along a scanning range of positions / orientations of the light deflector, which the light deflector moves through as part of a continuous or semi-continuous scan of the LIDAR field of view. In some embodiments, the light deflector may be moved such that, during a scan cycle of the LIDAR FOV, the light deflector is at a plurality of different instantaneous positions. In other words, the deflector may be moved through a series of different instantaneous positions / orientations during the time period during which a scan cycle occurs, and the deflector may reach each different instantaneous position / orientation at a different time during the scan cycle.

[0076] Consistent with the disclosed embodiments, a LIDAR system may include at least one sensing unit having at least one sensor configured to detect reflections from objects in its field of view. The term "sensor" broadly encompasses any device, element, or system capable of measuring a characteristic of an electromagnetic wave (e.g., power, frequency, phase, pulse timing, pulse duration) and generating an output related to the measured characteristic. In some embodiments, the at least one sensor may include multiple detectors comprised of multiple detecting elements. The at least one sensor may include one or more types of light sensors. Note that the at least one sensor may include multiple sensors of the same type but potentially differing in other characteristics (e.g., sensitivity, size). Other sensor types may also be used. Combinations of several sensor types may be used for various reasons, such as improving detection across a wide range (particularly at close range); improving the dynamic range of the sensor; improving the temporal response of the sensor; and improving detection under varying environmental conditions (e.g., atmospheric temperature, rain, etc.). In one embodiment, the at least one sensor includes a SiPM (silicon photomultiplier), a solid-state, single-photon-sensitive device constructed from an array of avalanche photodiodes (APDs) and single-photon avalanche diodes (SPADs) serving as the detecting elements on a common silicon substrate. In one example, a typical distance between SPADs can be between about 10 μm and about 50 μm, where each SPAD can have a recovery time between about 20 ns and about 100 ns. Similar photomultipliers from other non-silicon materials can also be used. Although SiPM devices operate in digital / switching mode, SiPMs are analog devices because all microcells can be read in parallel, making it possible to generate signals over a dynamic range from a single photon to hundreds and thousands of photons detected by different SPADs. Note that the outputs from different types of sensors (e.g., SPADs, APDs, SiPMs, PIN diodes, photodetectors) can be combined together into a single output that can be processed by the processor of the LIDAR system. See below for more information. Figures 4A-4D Additional details regarding the sensing unit and the at least one sensor are described.

[0077] Consistent with the disclosed embodiments, a LIDAR system may include at least one processor configured to perform or communicate with various functions. The at least one processor may comprise any physical device or group of devices having circuitry that performs logical operations on one or more inputs. For example, the at least one processor may comprise one or more integrated circuits (ICs), including application-specific integrated circuits (ASICs), microchips, microcontrollers, microprocessors, all or part of a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), a server, a virtual server, or other circuitry suitable for executing instructions or performing logical operations. The instructions executed by the at least one processor may, for example, be preloaded into a memory integrated with or embedded in the controller, or may be stored in a separate memory. The memory may include random access memory (RAM), read-only memory (ROM), a hard drive, an optical disk, magnetic media, flash memory, other permanent, fixed, or volatile memory, or any other mechanism capable of storing instructions. In some embodiments, the memory is configured to store information representing data regarding objects in the environment of the LIDAR system. In some embodiments, the at least one processor may comprise more than one processor. Each processor may have a similar configuration, or the processors may have different configurations that are electrically connected or disconnected from one another. For example, the processors may be separate circuits or integrated into a single circuit. When more than one processor is used, the processors may be configured to operate independently or collaboratively and may be co-located or remotely located from one another. The processors may be coupled electrically, magnetically, optically, acoustically, mechanically, or by other means that allow them to interact. Figure 5A - Figure 5C describes additional details regarding the processing unit and at least one processor.

[0078] System Overview

[0079] Figure 1AA LIDAR system 100 is shown, comprising a projection unit 102, a scanning unit 104, a sensing unit 106, and a processing unit 108. The LIDAR system 100 may be mountable on a vehicle 110. Consistent with embodiments of the present disclosure, the projection unit 102 may include at least one light source 112, the scanning unit 104 may include at least one light deflector 114, the sensing unit 106 may include at least one sensor 116, and the processing unit 108 may include at least one processor 118. In one embodiment, the processor 118 may be configured (programmed) to coordinate the operation of the light source 112 with the movement of the deflectors 114 in order to scan a field of view 120. During a scanning cycle, each instantaneous position of the at least one light deflector 114 may be associated with a particular portion 122 of the field of view (FOV) 120. Furthermore, the LIDAR system 100 may include at least one optional optical window 124 for directing light projected toward the field of view 120 and / or receiving light reflected from objects in the field of view 120. The optional optical window 124 can be used for different purposes, such as collimation of projected light and focusing of reflected light. In one embodiment, the optional optical window 124 can be an opening, a flat window, a lens, or any other type of optical window.

[0080] In by Figure 1A In the example LIDAR system shown, deflector 114 is configured to rotate about a scan axis 119, which can be oriented in a generally vertical direction relative to vehicle 110. In some cases, deflector 114 can rotate or spin about axis 119 so that FOV 120 extends across a full 360 degrees relative to vehicle 110. In some examples, FOV 120 can extend across less than 360 degrees relative to vehicle 110.

[0081] In some cases, deflector 114 can also be configured to rotate about a tilt axis 121. Rotation about tilt axis 121 can cause the light beam from light source 112 to be projected toward FOV 120 at different tilt angles. Consequently, FOV 120 can extend over a predetermined vertical scan range associated with the range of tilt angles provided by deflector 114. In some cases, vertical scan range 117 of LIDAR system 100 can be + / - 5 degrees, + / - 10 degrees, or + / - 20 degrees relative to the LIDAR system. Other scan ranges are possible based on the configuration of deflector 114. In some cases, after each rotation of the deflector about scan axis 119, deflector 114 can be tilted about tilt axis 121 by a predetermined increment, such that each rotation of deflector 114 can be associated with a different horizontally oriented scan line (e.g., scan line 123) relative to FOV 120.

[0082] Consistent with the present disclosure, LIDAR system 100 can be used in autonomous or semi-autonomous road vehicles (e.g., cars, buses, vans, trucks, and any other land vehicles). An autonomous road vehicle equipped with LIDAR system 100 can scan its environment and navigate to its destination without human input. Similarly, LIDAR system 100 can also be used in autonomous / semi-autonomous aerial vehicles (e.g., UAVs, drones, quadcopters, and any other airborne vehicles or devices); or autonomous / semi-autonomous watercraft (e.g., boats, ships, submarines, or any other watercraft). Autonomous aerial vehicles and watercraft equipped with LIDAR system 100 can scan their environment and navigate to their destination autonomously or using a remote human operator. According to one embodiment, vehicle 110 (road vehicle, aircraft, or watercraft) can use LIDAR system 100 to help detect and scan the environment in which vehicle 110 is operating.

[0083] It should be noted that the LIDAR system 100 or any of its components can be used with any of the example embodiments and methods disclosed herein. Furthermore, while some aspects of the LIDAR system 100 are described with respect to an exemplary vehicle-based LIDAR platform, the LIDAR system 100, any of its components, or any of the processes described herein can be applicable to LIDAR systems of other platform types.

[0084] In some embodiments, the LIDAR system 100 may include one or more scanning units 104 to scan the environment around the vehicle 110. The LIDAR system 100 may be attached or mounted to any portion of the vehicle 110. The sensing unit 106 may receive reflections from the surrounding environment of the vehicle 110 and transmit reflection signals indicative of light reflected from objects in the field of view 120 to the processing unit 108. Consistent with the present disclosure, the scanning unit 104 may be mounted or bonded to any suitable location or position relative to the vehicle 110 (e.g., on the roof, chassis, side panels, hood, trunk, etc.). In some cases, the LIDAR system 100 may capture a full surround view of the environment of the vehicle 110. Thus, the LIDAR system 100 may have a 360-degree horizontal field of view 120. In one example, as Figure 1AAs shown, the LIDAR system 100 may include a single scanning unit 104 mounted on the roof of the vehicle 110. Alternatively, the LIDAR system 100 may include multiple scanning units (e.g., two, three, four, or more scanning units 104), each having a field of view such that the overall horizontal field of view is covered by a 360-degree scan around the vehicle 110. Those skilled in the art will appreciate that the LIDAR system 100 may include any number of scanning units 104 arranged in any manner, each having a field of view of up to 360 degrees, depending on the number of units employed. Furthermore, a 360-degree horizontal field of view may also be achieved by mounting multiple LIDAR systems 100 on the vehicle 110, each having a single scanning unit 104. However, it should be noted that one or more LIDAR systems 100 do not necessarily provide a full 360-degree field of view, and in some cases, a narrower field of view may be useful.

[0085] Figure 1B is an image illustrating an exemplary point cloud output from a portion of a single scan cycle of a LIDAR system 100 mounted on a vehicle 110, consistent with the disclosed embodiments. Each gray point in the image corresponds to a spatial location in the environment surrounding vehicle 110 from which sensing unit 106 detected a reflection of light generated by light source 112. In addition to location, each gray point can also be associated with different types of information, such as range (based on a time-of-flight calculation), intensity (e.g., how much light was returned from that location), reflectivity, proximity to other points, and so on. In one embodiment, LIDAR system 100 can generate multiple point cloud data entries from detected reflections over multiple scan cycles of the field of view, enabling, for example, the determination of a point cloud model of the environment surrounding vehicle 110.

[0086] Figure 1Cis an image showing a representation of another portion of the point cloud model determined from the output of the LIDAR system 100. Consistent with the disclosed embodiments, a surround view image can be generated from the point cloud model by processing the generated point cloud data entries of the environment surrounding the vehicle 110. In one embodiment, the point cloud model can be provided to a feature extraction module that processes the point cloud information to identify a plurality of features. Each feature can include data about different aspects of objects in the point cloud and / or the environment surrounding the vehicle 110 (e.g., cars, trees, people, and roads). Features can have the same resolution as the point cloud model (i.e., have the same number of data points, optionally arranged as a 2D array of similar size), or can have a different resolution. Features can be stored in any kind of data structure (e.g., raster, vector, 2D array, 1D array). Additionally, virtual features such as representations of the vehicle 110, dividing lines, or bounding boxes that separate regions or objects in the image (e.g., as Figure 1B ) and icons representing one or more recognized objects) can be overlaid on the representation of the point cloud model to form a final surround view image. For example, a symbol of vehicle 110 can be overlaid in the center of the surround view image.

[0087] Projection unit

[0088] Figure 2A An example of a bi-static configuration of the LIDAR system 100 is shown, wherein the projection unit 102 includes a single light source 112. The term "bi-static configuration" broadly refers to a LIDAR system configuration in which the projected light exiting the LIDAR system and the reflected light entering the LIDAR system travel through substantially different optical paths. In some embodiments, the bi-static configuration of the LIDAR system 100 can include separating the optical paths by using completely different optical components, by using parallel but not completely separated optical components, or by using the same optical components for only a portion of the optical paths (the optical components can include, for example, windows, lenses, mirrors, beam splitters, etc.). Figure 2A In the example shown, the bi-static configuration includes a configuration in which outbound light and inbound light pass through a single optical window 124, but the scanning unit 104 includes two light deflectors, a first light deflector 114A for outbound light and a second light deflector 114B for inbound light (inbound light in a LIDAR system includes emitted light reflected from objects in the scene and may also include ambient light arriving from other sources).

[0089] In this embodiment, the components of the LIDAR system 100 may be housed within a single housing or divided among multiple housings (e.g., 200A and 200B). As shown, the projection unit 102 may include a single light source 112 comprising a laser diode 202A (or one or more laser diodes coupled together) configured to emit light (projected light 204). In one non-limiting example, the light projected by the light source 112 may have a wavelength between approximately 800 nm and 950 nm, an average power between approximately 50 mW and approximately 500 mW, a peak power between approximately 50 W and approximately 200 W, and a pulse width between approximately 2 ns and approximately 100 ns. Furthermore, the light source 112 may optionally be associated with an optical assembly 202B for manipulating the light emitted by the laser diode 202A (e.g., for collimation, focusing, etc.). Note that other types of light sources 112 may be used, and the present disclosure is not limited to laser diodes. Furthermore, the light source 112 can emit its light in different formats, such as light pulses, frequency modulation, continuous wave (CW), quasi-CW, or any other format corresponding to the particular light source employed. The projection format and other parameters can be changed from time to time by the light source based on different factors, such as instructions from the processing unit 108. The projected light is projected toward an outbound deflector 114A, which acts as a steering element for directing the projected light in the field of view 120. In this example, the scanning unit 104 also includes a pivotable return deflector 114B, which directs photons (reflected light 206) reflected back from an object 208 within the field of view 120 toward the sensor 116. The reflected light is detected by the sensor 116, and information about the object (e.g., the distance to the object 212) is determined by the processing unit 108. Although Figure 2A Indicates scanning along horizontal scan lines in alternating directions, but Figure 1A In the case of a scanning system, the scanning of all horizontal scan lines will typically be performed in a common direction (e.g., as indicated by the direction of rotation of the deflector 114 about the scan axis 119).

[0090] exist Figure 2AIn the example shown, LIDAR system 100 is connected to host computer 210. Consistent with this disclosure, the term "host computer" refers to any computing environment that can interface with LIDAR system 100. It can be a vehicle system (e.g., part of vehicle 110), a test system, a security system, a surveillance system, a traffic control system, a city modeling system, or any system that monitors its surrounding environment. Such a computing environment may include at least one processor and / or may be connected to LIDAR system 100 via a cloud. In some embodiments, host computer 210 may also include interfaces to external devices, such as sensors and cameras configured to measure various characteristics of host computer 210 (e.g., acceleration, steering wheel deflection, backdrive, etc.). Consistent with this disclosure, LIDAR system 100 may be fixed to a stationary object (e.g., a building, a tripod) associated with host computer 210, or a portable system (e.g., a portable computer, a movie camera) associated with host computer 210. Consistent with this disclosure, LIDAR system 100 may be connected to host computer 210 to provide output from LIDAR system 100 (e.g., a 3D model, a reflectivity image) to host computer 210. Specifically, the host computer 210 can use the LIDAR system 100 to help detect and scan the host computer 210's environment or any other environment. In addition, the host computer 210 can integrate, synchronize, or otherwise use the output of the LIDAR system 100 with the output of other sensing systems (e.g., cameras, microphones, radar systems). In one example, the LIDAR system 100 can be used by a security system.

[0091] The LIDAR system 100 may also include a bus 212 (or other communication mechanism) that interconnects the subsystems and components for communicating information within the LIDAR system 100. Optionally, the bus 212 (or another communication mechanism) may be used to interconnect the LIDAR system 100 with a host computer 210. Figure 2A In the example of FIG, processing unit 108 includes two processors 118 to coordinate the operation of projection unit 102, scanning unit 104, and sensing unit 106 based at least in part on information received from internal feedback of LIDAR system 100. In other words, processing unit 108 can be configured to dynamically operate LIDAR system 100 in a closed loop. A closed-loop system is characterized by having feedback from at least one element and updating one or more parameters based on the received feedback. In addition, a closed-loop system can receive feedback and update its own operation based at least in part on the feedback. A dynamic system or element is one that can be updated during operation.

[0092] According to some embodiments, scanning the environment around LIDAR system 100 may include illuminating field of view 120 with light pulses. The light pulses may have parameters such as pulse duration, pulse angular dispersion, wavelength, instantaneous power, photon density at different distances from light source 112, average power, pulse power intensity, pulse width, pulse repetition rate, pulse sequence, pulse duty cycle, wavelength, phase, polarization, and the like. Scanning the environment around LIDAR system 100 may also include detecting and characterizing various aspects of reflected light. Characteristics of the reflected light may include, for example, time of flight (i.e., the time from emission until detection), instantaneous power (e.g., power signature), average power over the entire return pulse, and photon distribution / signal over the return pulse period. By comparing the characteristics of the light pulses with those of the corresponding reflections, distance and possibly physical characteristics (such as the reflection intensity of object 212) can be estimated. By repeating this process over multiple adjacent portions 122, the entire field of view 120 can be scanned in a predetermined pattern (e.g., raster, Lissajous, or other pattern). In some cases, LIDAR system 100 may direct light to only portions 122 of field of view 120 during each scanning cycle. These portions may be adjacent to each other, but need not be.

[0093] In another embodiment, the LIDAR system 100 may include a network interface 214 for communicating with a host computer 210 (e.g., a vehicle controller). Communication between the LIDAR system 100 and the host computer 210 is represented by dashed arrows. In one embodiment, the network interface 214 may include an integrated services digital network (ISDN) card, a cable modem, a satellite modem, or a modem to provide a data communication connection to a corresponding type of telephone line. As another example, the network interface 214 may include a local area network (LAN) card to provide a data communication connection to a compatible LAN. In another embodiment, the network interface 214 may include an Ethernet port connected to a radio frequency receiver and transmitter and / or an optical (e.g., infrared) receiver and transmitter. The specific design and implementation of the network interface 214 depends on the communication network(s) over which the LIDAR system 100 and the host computer 210 are intended to operate. For example, the network interface 214 may be used to provide output from the LIDAR system 100, such as a 3D model, operating parameters of the LIDAR system 100, etc., to an external system. In other embodiments, the communication unit may be used to, for example, receive instructions from an external system, receive information about the inspected environment, receive information from another sensor, and the like.

[0094] In some embodiments, the light source may comprise a single monolithic laser array comprising multiple laser emitters. As an example, light source 112 may comprise multiple laser emitters fabricated on a single silicon wafer. Thus, the laser emitting unit may be in the form of a monolithic laser array. The term monolithic laser array refers to an array of laser light sources fabricated on a single (e.g., monolithic) silicon wafer. Because the laser light sources are fabricated on a single silicon wafer, the laser light sources on the monolithic laser array can be well aligned with one another. Figure 2B An example of a monolithic laser array 220 comprising a plurality of laser emitters (e.g., 222, 224, 226, etc.) is shown. In some embodiments, the monolithic laser array comprises a one-dimensional laser array. As an example, Figure 2B As shown, laser array 220 may be a one-dimensional laser array including active regions 222, 224, 226, etc. (e.g., laser emitters) arranged in a single column. However, it is contemplated that in some embodiments, laser array 220 may be a two-dimensional laser array including active regions spaced apart from one another and arranged in a two-dimensional matrix. In some embodiments, the plurality of laser emitters may be edge emitters. For example, one or more of laser emitters 222, 224, 226, etc. in laser array 220 may include edge emitter lasers. However, it is contemplated that one or more of laser emitters 222, 224, 226, etc. may include other types of laser emitters (e.g., vertical cavity surface emitting lasers (VCSELs)). In some embodiments, each of the plurality of laser beams may be a pulsed laser beam having a wavelength between 860 nm and 950 nm. For example, as described above, one or more of laser emitters 222, 224, 226, etc. may be pulsed laser emitters configured to emit pulsed laser light having a wavelength between 860 nm and 950 nm. It is also contemplated that in some embodiments, one or more laser emitters 222, 224, 226, etc. may be configured to emit laser light having a wavelength between 1300 nm and 1600 nm.

[0095] In some embodiments, a monolithic laser array may include a plurality of active regions and a plurality of inactive regions corresponding to a plurality of laser emitters, wherein the plurality of laser emitters are separated from each other by one or more of the plurality of inactive regions. A monolithic laser array may include a plurality of active regions (e.g., lasing regions or laser emitters) separated from each other by inactive regions (e.g., non-lasing inactive regions). Figure 2BAs shown, for example, laser array 220 may include a plurality (e.g., eight) of laser emitting regions or laser emitters 222, 224, 226, 228, 230, 232, 234, and 236. Laser array 220 may also include a plurality of inactive regions (e.g., non-laser emitting regions) 241-248. It is contemplated that adjacent active regions may be separated by one or more inactive regions. For example, Figure 2B As shown, active regions 224 and 226 may be separated by inactive region 242. Similarly, active regions 230 and 232 may be separated by inactive region 246. It is contemplated that more than one inactive region may be provided between active regions. For example, Figure 2B As shown in FIG, active regions 232 and 234 may be separated by inactive regions 246, 247. Each active region may correspond to a channel. Thus, for example, Figure 2B A laser array 220 is shown having eight channels. It is contemplated that the laser array 220 may have any number of channels.

[0096] In some embodiments, a monolithic laser array may include 4 active laser channels. In some embodiments, a monolithic laser array may include 8 active laser channels. In some embodiments, a monolithic laser array may include 16 active laser channels. In some embodiments, a monolithic laser array may include 32 active laser channels. For example, a laser array may include 16 laser sources arranged in a 1-D array, each laser source having a wavelength of approximately 905 nm. Light emitted from the laser sources may travel through various optical components associated with the optical path, including, for example, lenses, collimators, and the like. Figure 2C An exemplary monolithic laser array 250 is shown that may include 16 or 32 active regions 256. For example, Figure 2C As shown, the monolithic laser array 250 may include an effective laser emitting region 256 (eg, n1-n 32 ), wherein an adjacent pair of effective laser emitting regions 956 is separated by one or more non-laser emitting ineffective regions 258 (e.g., m1-m2). 31 ) are separated by intervals. Figure 2C Examples include 16 laser channels (or 16 laser sources in the array). Other numbers of laser sources may be used. For example, some embodiments may include 4, 8, 32, 64 laser sources, or any other desired number of laser sources.

[0097] In some embodiments, the plurality of laser emitters may comprise a plurality of monolithic laser arrays. As an example, instead of manufacturing a single laser array having 32 active areas, it may be possible to manufacture two monolithic laser arrays each having 16 active areas. For example, Figure 2CAs shown, the laser array 250 may include monolithic laser arrays 260 and 262. The laser array 260 may include a plurality of laser arrays 260 and 262. 15 ) spaced apart active regions (eg, laser emitters) 256 (eg, n1-n 16 Similarly, the laser array 262 may include an inactive region 258 (eg, m 16 -m 31 ) spaced apart active regions (eg, laser emitters) 256 (eg, n 17 -n 32 ). Another example Figure 2C As shown, both monolithic laser arrays 260 and 262 can be fabricated on the same wafer. Alternatively, monolithic laser arrays 260 and 262 can be fabricated on different wafers or on different portions of the same wafer. Laser arrays 260 and 262 can be cut from the wafer and then assembled adjacent to each other to form a single 1D laser array 250. Laser arrays 260 and 262 can be assembled via a suitable fabrication or assembly process (e.g., bonding) to precisely align laser arrays 260 and 262.

[0098] The laser light sources can also be arranged in various configurations within the 1-D array. In some embodiments, the ratio of active area to inactive area in a monolithic laser array can be 1:1. For example, in some embodiments, the 1-D laser array can be configured to operate with a 1:1 ratio of inactive gap space between laser channels to active laser channels. This can be accomplished in several ways. For example, 16 laser channels can be arranged in the 1-D array 270 such that each pair of adjacent laser sources can be separated by an interstitial dead space of equal size to each laser source. Thus, as Figure 2D As shown, a 1-D array may include an alternating and repeating sequence of one laser source 272 adjacent to one interstitial void space 276 in the array. Figure 2D As shown in FIG, the laser source 272 and the gap inactive region 274 can have similar sizes (e.g., approximately 0.01 mm x 0.1 mm or 0.001 mm x 0.1 mm). After emitting the laser beams, each beam can be collimated by one or more collimators 1112. Once the beams are collimated, their spot size in the far field can be expressed as an angular size. Thus, for example, Figure 2D As shown, from Figure 2DThe beam emitted by the laser array 270 may have an angular width of 0.1° after being collimated, and the spacing between adjacent collimated beams may be 0.2°. Non-limiting examples of angular beam spot sizes are, for example, 0.07 degrees by 0.11 degrees, or 0.1 by 0.05 degrees, or 0.1 by 0.1 degrees, or 0.1 by 0.2 degrees, or 0.1 by 0.4 degrees. Although the laser array 270 includes 16 such units, other 1:1 ratio array configurations may also be used. For example, Figure 2E As shown, eight active laser channels 276 may be interleaved by eight inactive spaces 278 of similar or different sizes. Figure 2E As shown, the laser source 276 and the gap inactive region 278 may have similar sizes (eg, 0.01 mm x 0.2 mm). As another example, Figure 2F As shown, four active laser channels 280 may be interleaved by four inactive spaces 282 of similar or different sizes. Figure 2F As shown in , the laser sources 280 and the gap inactive region 282 can be of similar size (e.g., 0.01 mm x 0.4 mm). In each case, the power of the laser sources can be selected to provide the desired total power. In one example, a sixteen-channel array can include sixteen 30W laser sources, an eight-channel array can include eight 60W laser sources, and a four-laser source array can include four 120W laser sources, producing a total maximum power of 480W. The emitters can have any suitable power level (e.g., between 20W and 200W). In some embodiments, the ratio of the active area width to the inactive area width in a monolithic laser array can be 1:2 or any other ratio.

[0099] Scanning unit

[0100] Figure 3A An illustration of an exemplary LIDAR system 100 is provided for mechanically scanning an environment of the LIDAR system 100. In this example, the LIDAR system 100 may include a scanning axis 119 for scanning about an axis of the LIDAR system 100 (e.g., a scanning axis 119, e.g., Figure 1AAlternatively, the motor (or other mechanism) may mechanically rotate a rigid structure associated with the LIDAR system 100 that houses the deflector 114 and other components. In some cases, the rotating structure may also include one or more light sources 112 and one or more sensors 116, but in other cases, the light sources 112 and sensors 116 may be maintained in a fixed, non-rotating position. As described above, the projection unit 102 may include at least one light source 112 configured to project light emissions. The projected light emissions may travel along an outbound path toward the field of view 120. Specifically, as the projected light 204 travels toward the optional optical window 124, it may be reflected by the first deflector 114A through the exit aperture 301. The reflected light emissions may travel along a return path from the object 208 toward the sensing unit 106. For example, as the reflected light 206 travels toward the sensing unit 106, it may be reflected by the deflector 114B. Those skilled in the art will appreciate that a LIDAR system having a rotation mechanism for synchronously rotating one or more light sources or one or more sensors can use this synchronous rotation instead of (or in addition to) turning an internal light deflector. In some cases, only a single deflector 114 may be included, and both the transmit light path (Tx) and the return light path (Rx) may be incident on the deflector 114.

[0101] In embodiments where scanning of the field of view 120 is mechanical, the projected light emissions may be directed to an exit aperture 301, which is a portion of a wall 302 that separates the projection unit 102 from the rest of the LIDAR system 100. In some examples, the wall 302 may be formed of a transparent material (e.g., glass) coated with a reflective material to form the deflector 114B. In this example, the exit aperture 301 may correspond to a portion of the wall 302 not coated with the reflective material. Additionally or alternatively, the exit aperture 301 may comprise a hole or cutout in the wall 302. The reflected light 206 may be reflected by the deflector 114B and directed toward the entrance aperture 303 of the sensing unit 106. In some examples, the entrance aperture 303 may comprise a filter window configured to allow wavelengths within a specific wavelength range to enter the sensing unit 106 and attenuate other wavelengths. Reflections from objects in the field of view 120 may be reflected by the deflector 114B and incident on the sensor 116. By comparing the reflected light 206 with several properties of the projected light 204, at least one aspect of the object can be determined. For example, by comparing the time when the projected light 204 is emitted by the light source 112 and the time when the reflected light 206 is received by the sensor 116, the distance between the object and the LIDAR system 100 can be determined. In some examples, other aspects of the object, such as shape, color, material, etc., can also be determined.

[0102] In some examples, LIDAR system 100 (or a portion thereof, including at least one light source 112 and at least one sensor 116) can rotate about at least one axis to determine a three-dimensional map of the environment surrounding LIDAR system 100. For example, LIDAR system 100 can rotate about a substantially vertical axis (e.g., scan axis 119), as indicated by arrow 304, to scan field of view 120. Figure 3A The LIDAR system 100 is shown rotating clockwise about an axis, as indicated by arrow 304, but the LIDAR system 100 may additionally or alternatively rotate in a counterclockwise direction. In some examples, the LIDAR system 100 may rotate 360 degrees about a vertical axis. In other examples, the LIDAR system 100 may rotate back and forth along a sector of the LIDAR system 100 that is less than 360 degrees. For example, the LIDAR system 100 may be mounted on a platform that oscillates back and forth about an axis without performing a full rotation.

[0103] In some embodiments, the beam splitter can be configured to emit each of the plurality of laser beams and redirect a plurality of reflected beams received from the field of view of the LIDAR system. Figure 3B An exemplary LIDAR system 100 including a beam splitter 306 is shown. Figure 3B As shown in FIG, the LIDAR system 100 may include a monolithic laser array 308 configured to emit one or more laser beams (e.g., 312, 314, 316, 318). The monolithic laser array 308 may include 16 or 32 active regions 313. For example, Figure 3B As shown, the monolithic laser array 308 can include active lasing regions 313, wherein adjacent pairs of active lasing regions 313 are separated by one or more non-lasing inactive regions 315. Other numbers of laser sources can be used. For example, some embodiments can include 4, 8, 32, 64 laser sources, or any other desired number of laser sources.

[0104] One or more laser beams may be collimated by one or more collimators 310 before the beams 312, 314, 316, and / or 318 are incident on the beam splitter 306. The beam splitter 306 may allow the laser beams 312, 314, 316, and / or 318 to pass through and be incident on the deflectors 317, 319, which may be configured to direct the laser beams 312, 314, 316, and / or 318 toward the FOV 120. Figure 3BOnly two deflectors 317, 319 are shown in FIG, but it is contemplated that the LIDAR system 100 may include more than two deflectors 317, 319 configured to direct one or more of the light beams 312, 314, 316, and / or 318 toward the FOV 120. One or more objects in the FOV 120 may reflect one or more of the light beams 312, 314, 316, and / or 318. Figure 3B As shown, the reflected beams may be represented as laser beams 322, 324, 326, and / or 328. Although the reflected laser beams 322, 324, 326, and / or 328 are Figure 3B 120 are shown as being directly incident on the beam splitter 306, it is contemplated that some or all of the light beams 322, 324, 326, and / or 328 may be directed toward the beam splitter 306 by the deflectors 317, 319, and / or another deflector. When the light beams 322, 324, 326, and / or 328 reach the beam splitter 306, the beam splitter 306 may be configured to direct the reflected light beams 322, 324, 326, and / or 328 received from the FOV 120 toward the detector 330 via the lens 332. The monolithic detector 330 may include a plurality of photosensitive active areas 331 separated by inactive areas 333. The sizes of the active and inactive areas 331 and 333, respectively, may be equal or unequal. Although Figure 3B Four beams are shown emitted by the monolithic laser array 308 , but it is contemplated that the monolithic laser array 308 can emit any number of beams (eg, fewer or more than four).

[0105] In some embodiments, the beam splitter is configured to redirect each of the plurality of laser beams and pass through a plurality of reflected beams received from the field of view of the LIDAR system. As an example, Figure 3C An exemplary LIDAR system 100 is shown, which may include a monolithic laser array 308, a collimator 310, a beam splitter 306, deflectors 317, 319, a lens and / or optical filter 332, and a detector 330. Figure 3CAs shown, the monolithic laser array 308 can emit one or more laser beams 312, 314, 316, and / or 318, which can be collimated by one or more collimators 310 before being incident on the beam splitter 306. The beam splitter 306 can be configured to direct one or more of the laser beams 312, 314, 316, and / or 318 toward the deflectors 317, 319, which in turn can be configured to direct the one or more laser beams 312, 314, 316, and / or 318 toward the FOV 120. As described above, one or more objects in the FOV 120 can reflect one or more of the laser beams 312, 314, 316, and / or 318. The reflected laser beams 322, 324, 326, and / or 328 can be directed by the deflectors 317, 319 to be incident on the beam splitter 306. It is also contemplated that some or all of the reflected laser beams 322, 324, 326, and / or 328 may reach the beam splitter 306 without being directed toward the beam splitter 306 by the deflectors 317, 319. Figure 3C As shown, beam splitter 306 can be configured to allow reflected laser beams 322, 324, 326, and / or 328 to pass through beam splitter 306 toward detector 330. One or more lenses and / or filters 332 can receive reflected laser beams 322, 324, 326, and / or 328 and direct them toward detector 330. Figure 3C Four beams are shown being received by the monolithic laser array 308 , but it is contemplated that the monolithic laser array 308 may emit any number of beams (eg, fewer or more than four).

[0106] Sensing unit

[0107] Figures 4A-4D Various configurations of the sensing unit 106 and their roles in the LIDAR system 100 are depicted. Specifically, Figure 4A 1 is a diagram illustrating an example sensing unit 106 having a detector array. Those skilled in the art will appreciate that the depicted configuration of the sensing unit 106 is merely exemplary and that numerous alternative variations and modifications are possible consistent with the principles of the present disclosure.

[0108] Figure 4AAn example of a sensing unit 106 having a detector array 400 is shown. In this example, at least one sensor 116 includes the detector array 400. The LIDAR system 100 is configured to detect objects (e.g., bicycle 208A and cloud 208B) in the field of view 120 at various distances from the LIDAR system 100, which may be several meters or more. The objects 208 may be solid objects (e.g., roads, trees, cars, people), fluid objects (e.g., fog, water, atmospheric particles), or another type of object (e.g., dust or powdered lighting). When photons emitted from the light source 112 hit the objects 208, they are reflected, refracted, or absorbed. In some cases, such as Figure 4A As shown, only a portion of the photons reflected from object 208A can enter optional optical window 124. Since each ~15 cm change in distance results in a 1 ns difference in travel time (because photons travel to and from object 208 at the speed of light), the time difference between the travel times of different photons hitting different objects can be detected by a time-of-flight sensor with a sufficiently fast response.

[0109] Sensor 116 includes a plurality of detection elements 402 for detecting photons from a photon pulse reflected from field of view 120. The detection elements can all be included in a detector array 400, which can have a rectangular arrangement (e.g., as shown) or any other arrangement. Detection elements 402 can operate concurrently or partially concurrently. Specifically, each detection element 402 can emit detection information for each sampling duration (e.g., every 1 nanosecond). In one example, detector array 400 can be a SiPM (silicon photomultiplier), a solid-state single-photon sensitive device constructed from an array of single-photon avalanche diodes (SPADs, used as detection elements 402) on a common silicon substrate. Similar photomultipliers made from other non-silicon materials can also be used. Although SiPM devices operate in a digital / switching mode, they are analog devices because all microcells are read in parallel, making it possible to generate signals over a dynamic range from single photons to hundreds or thousands of photons detected by different SPADs. As mentioned above, more than one type of sensor (e.g., SiPM and APD) can be implemented. Possibly, the sensing unit 106 may include at least one APD integrated into a SiPM array and / or at least one APD detector located next to a SiPM on a separate or common silicon substrate.

[0110] In one embodiment, the detection elements 402 can be grouped into a plurality of regions or pixels 404. A region is a geometric location or environment within the sensor 116 (e.g., within the detector array 400) and can be shaped into different shapes (e.g., a rectangle, a square, a ring, etc. as shown, or any other shape). Although not all individual detectors included within the geometric area of a region 404 must belong to that region, in most cases they will not belong to other regions 404 that include other regions of the sensor 310 unless some overlap is desired in the seams between regions. Figure 4A As shown, the regions can be non-overlapping regions 404, but alternatively, they can overlap. Each region can be associated with a regional output circuit 406 associated with that region. Regional output circuit 406 can provide the regional output signal of the corresponding group of detector elements 402. For example, the region output circuit 406 can be a summing circuit, but other forms that combine the outputs of the individual detectors into a single output (whether scalar, vector, or any other format) can be used. Optionally, each region 404 is a single SiPM, but this is not required, and the regions can be subsections of a single SiPM, groups of several SiPMs, or even combinations of different types of detectors.

[0111] In the illustrated example, the processing unit 108 is located in a separate housing 200B (either inside or outside) of the host computer 210 (e.g., within the vehicle 110), and the sensing unit 106 may include a dedicated processor 408 for analyzing the reflected light. Alternatively, the processing unit 108 may be used to analyze the reflected light 206. Note that the LIDAR system 100 may be implemented in multiple housings in other ways than the illustrated example. For example, the light deflector 114 may be located in a separate housing from the projection unit 102 and / or the sensing unit 106. In one embodiment, the LIDAR system 100 may include multiple housings connected to each other in various ways, such as wired connections, wireless connections (e.g., RF connections), fiber optic cables, or any combination thereof.

[0112] In one embodiment, analyzing reflected light 206 may include determining the time of flight of reflected light 206 based on the outputs of individual detectors in different regions. Alternatively, processor 408 may be configured to determine the time of flight of reflected light 206 based on multiple regions of the output signal. In addition to the time of flight, processing unit 108 may analyze reflected light 206 to determine the average power over the entire return pulse and may determine the photon distribution / signal over the return pulse period ("pulse shape"). In the illustrated example, the output of any detector element 402 may not be sent directly to processor 408, but may be combined (e.g., summed) with the signals of other detectors in region 404 before being passed to processor 408. However, this is merely an example, and sensor 116 circuitry may transmit information from detector element 402 to processor 408 via other routes (other than via region output circuitry 406).

[0113] Sensor 116 may be comprised of a matrix (e.g., 4×6) of pixels 404. In one embodiment, the pixel size may be approximately 1×1 mm. Sensor 116 may be two-dimensional in the sense that it has more than one set (e.g., rows, columns) of pixels 404 along two non-parallel axes (e.g., orthogonal axes, as illustrated in the illustrated example). The number of pixels 404 in sensor 116 may vary between different implementations, depending, for example, on the desired resolution, signal-to-noise ratio (SNR), desired detection range, etc. For example, sensor 116 may have anywhere between 5 and 5,000 pixels. In another example (not shown), sensor 116 may be a one-dimensional matrix (e.g., 1×4, 1×8, etc., pixels).

[0114] Note that each detector pixel 404 can include multiple detection elements 402, such as avalanche photodiodes (APDs), single-photon avalanche diodes (SPADs), a combination of avalanche photodiodes (APDs) and single-photon avalanche diodes (SPADs), or detection elements that measure both the time of flight from the laser pulse transmission event to the reception event and the intensity of the received photons. For example, each pixel can include anywhere between 20 and 5,000 SPADs. The outputs of the detection elements 402 in each detector pixel 404 can be summed, averaged, or otherwise combined to provide a unified pixel output.

[0115] According to some embodiments, measurements from each detector pixel 404 can enable determination of the time of flight from a light pulse emission event to a reception event and the intensity of the received photon. The reception event can be the result of a light pulse reflecting from an object 208. The time of flight can be a timestamp value representing the distance of the reflecting object from the optional optical window 124. The time of flight value can be achieved through photon detection and counting methods such as a time-correlated single photon counter (TCSPC), analog methods for photon detection such as signal integration and identification (via an analog-to-digital converter or a conventional comparator), or other methods.

[0116] In some embodiments, during a scanning cycle, each instantaneous position of at least one light deflector 114 can be associated with a specific portion 122 of the field of view 120. The design of the sensor 116 enables association of reflected light from a single portion of the field of view 120 with multiple detector pixels 404. Therefore, the scanning resolution of the LIDAR system can be represented by the number of instantaneous positions (per scanning cycle) multiplied by the number of pixels 404 in the sensor 116. The information from each pixel 404 represents the basic data elements that construct the captured field of view in three-dimensional space. This can include, for example, the basic elements of a point cloud representation, with spatial position and time-of-flight / range values. In one embodiment, reflections from a single portion of the field of view 120 detected by multiple pixels 404 can be returned from different objects located in the single portion of the field of view 120. For example, a single portion of the field of view 120 can be larger than 50×50 cm in the far field and can include two, three, or more objects that partially overlap each other.

[0117] In some embodiments, the ratio of the photosensitive active area to the inactive area in the detector is 1:1. For example, in some embodiments, the 1-D detector 1130 can be configured to operate with a 1:1 ratio of active area to inactive area. This can be accomplished in several ways. For example, Figure 4B As shown, the detector 330 may include N active regions (n1 to nN) and N-1 inactive regions (m1 to mN-1), and each pair of active regions may be separated by an inactive region. Figure 4B As shown, a 1-D detector may include an alternating and repeating sequence of active regions 331 adjacent to one inactive region 333 in an array of equal size. Thus, the ratio of active regions to inactive regions may be 1:1.

[0118] In some embodiments, the ratio of the photosensitive active area to the inactive area in the detector is 1:2. In addition to the 1:1 array, as above Figure 4B As shown, a 1:2 ratio array can also be used. For example, Figure 4CAs shown, detector 330 can alternatively include an alternating and repeating sequence of active areas 331 adjacent to inactive areas 333, wherein inactive areas 333 can have a width that is twice the width of each active area 331. Other ratios of laser sources and inactive spaces are also contemplated. In some embodiments, the ratio of photosensitive active areas to inactive areas in the detector is 1:3. In some embodiments, the ratio of photosensitive active areas to inactive areas in the detector is 1:5. In some embodiments, the ratio of photosensitive active areas to inactive areas in the detector is between 1:1 and 1:10. Figure 4D An example is shown in which the ratio of the active area to the inactive area is 1 : 5. In this example, each active area 331 is separated by an inactive area 333 having a width equal to five times the width of the active area 331 .

[0119] There may be any number of active and inactive regions on the monolithic detector 330. For example, Figures 4B-4D N of the detector array 330 in

[0045] can range from 1 to any desired number. Thus, for example, N can be 4, 8, 16, 32, 64, etc. In some embodiments, the detector can include 4 photosensitive active areas (e.g., N=4). In some embodiments, the detector can include 8 photosensitive active areas (e.g., N=8). In some embodiments, the detector can include 16 photosensitive active areas (e.g., N=16). In some embodiments, the detector can include 32 photosensitive active areas (e.g., N=32).

[0120] Multiple rays representing each laser beam may be reflected from the field of view. The multiple reflected rays may form a light spot on a detector (e.g., 330). It is contemplated that in some embodiments, the light spot of the reflected laser beam may be incident on, for example, only one active region 331 of detector 330, or may be incident on more than one active region of detector 330. Figure 4B An exemplary light spot 350 is shown that can be incident on more than one active region 331 (e.g., n2, n3) of detector 330. By ensuring that light spot 350 is incident on more than one active region 331, it is possible to ensure that more than one active region generates a signal corresponding to the detected object from which the laser beam was reflected. Separate signals corresponding to regions on the detected object enable increased resolution of that region, i.e., each active region is a distinct pixel within a subregion of the region on the detected object.

[0121] processing unit

[0122] Figure 5A and 5B Depicts different functions of the processing unit 108 according to some embodiments of the present disclosure. Specifically, Figure 5Ais a diagram showing the emission pattern in a single frame time for a single portion of the field of view, and Figure 5B is a diagram showing the emission scheme in a single frame time for the entire field of view.

[0123] Figure 5A Four examples of emission patterns within a single frame time of a single portion 122 of the field of view 120 are shown that are associated with the instantaneous position of the light deflector 114 (e.g., a specific rotation angle about axis 119 and a specific tilt angle about tilt axis 121). Consistent with embodiments of the present disclosure, the processing unit 108 can control (or coordinate the operation of) the at least one light source 112 and the light deflector 114 in a manner that enables the light flux to vary as the field of view 120 is scanned. Consistent with other embodiments, the processing unit 108 can control only the at least one light source 112, and the light deflector 114 can move or pivot in a fixed, predefined pattern.

[0124] Figure 5A Diagrams A-D in FIGURE 1 depict the power of light emitted toward a single portion 122 of field of view 120 over time. In diagram A, processor 118 may control the operation of light source 112 such that an initial light emission is projected toward portion 122 of field of view 120 while scanning field of view 120. When projection unit 102 includes a pulsed light source, the initial light emission may include one or more initial pulses (also referred to as "pilot pulses"). Processing unit 108 may receive pilot information regarding reflections associated with the initial light emission from sensor 116. In one embodiment, the pilot information may be represented as a single signal based on the output of one or more detectors (e.g., one or more SPADs, one or more APDs, one or more SiPMs, etc.), or as multiple signals based on the outputs of multiple detectors. In one example, the pilot information may include analog and / or digital information. In another example, the pilot information may include a single value and / or multiple values (e.g., for different times and / or portions of a segment).

[0125] Based on the information about the reflection associated with the initial light emission, the processing unit 108 can be configured to determine a type of subsequent light emission to be projected toward the portion 122 of the field of view 120. The subsequent light emission determined for the particular portion of the field of view 120 can be made during the same scanning cycle (i.e., in the same frame) or in a subsequent scanning cycle (i.e., in a subsequent frame).

[0126] In illustration B, processor 118 may control the operation of light source 112 in such a manner that light pulses of varying intensities are projected toward a single portion 122 of field of view 120 during a scan of field of view 120. In one embodiment, LIDAR system 100 may be operable to generate one or more different types of depth maps, such as any one or more of the following: a point cloud model, a polygonal mesh, a depth image (which maintains depth information for each pixel of an image or 2D array), or any other type of 3D model of a scene. The sequence of depth maps may be a temporal sequence, with different depth maps generated at different times. Each depth map of the sequence, associated with a scanning cycle (interchangeably referred to as a "frame"), may be generated for a duration corresponding to a subsequent frame time. In one example, a typical frame time may last less than one second. In some embodiments, LIDAR system 100 may have a fixed frame rate (e.g., 10 frames per second, 25 frames per second, 50 frames per second), or the frame rate may be dynamic. In other embodiments, the frame times of different frames may vary across the sequence. For example, LIDAR system 100 may achieve a rate of 10 frames per second, which includes generating a first depth map within 100 milliseconds (on average), a second frame within 92 milliseconds, a third frame at 142 milliseconds, and so on.

[0127] In illustration C, processor 118 can control the operation of light source 112 in such a manner that light pulses associated with different durations are projected toward a single portion 122 of field of view 120 during scanning of field of view 120. In one embodiment, LIDAR system 100 may be operable to generate a different number of pulses in each frame. The number of pulses can vary between 0 and 32 pulses (e.g., 1, 5, 12, 28, or more pulses) and can be based on information derived from previous transmissions. The time between light pulses can depend on the desired detection range and can be between 500 ns and 5000 ns. In one example, processing unit 108 can receive information from sensor 116 regarding the reflections associated with each light pulse. Based on this information (or lack thereof), processing unit 108 can determine whether additional light pulses are needed. Note that the durations of processing time and transmission time in illustrations A-D are not to scale. Specifically, processing time can be substantially longer than transmission time. In illustration D, projection unit 102 can include a continuous wave light source. In one embodiment, the initial light emission may comprise a time period in which light is emitted, and the subsequent emission may be a continuation of the initial emission, or there may be a discontinuity. In one embodiment, the intensity of the consecutive emissions may vary over time.

[0128] Consistent with some embodiments of the present disclosure, an emission pattern can be determined for each portion of the field of view 120. In other words, the processor 118 can control the emission of light to allow for differentiation of illumination of different portions of the field of view 120. In one example, the processor 118 can determine the emission pattern for a single portion 122 of the field of view 120 based on the detection of reflected light from the same scan cycle (e.g., the initial emission), which allows the LIDAR system 100 to be extremely dynamic. In another example, the processor 118 can determine the emission pattern for a single portion 122 of the field of view 120 based on the detection of reflected light from a previous scan cycle. The differences in the patterns of subsequent emissions can be generated by determining different values for light source parameters of the subsequent emissions, such as any of the following: a) the total energy of the subsequent emissions; b) the energy profile of the subsequent emissions; c) the number of light pulse repetitions per frame; d) light modulation characteristics, such as duration, rate, peak value, average power, and pulse shape; and e) wave characteristics of the subsequent emissions, such as polarization, wavelength, etc.

[0129] Consistent with the present disclosure, differentiation among subsequent emissions can be used for different purposes. In one example, the emission power level may be limited in one portion of the field of view 120 where safety is a concern, while emitting higher power levels for other portions of the field of view 120 (thereby improving signal-to-noise ratio and detection range). This is relevant to eye safety, but may also be relevant to skin safety, optical system safety, sensitive material safety, etc. In another example, more energy may be directed to portions of the field of view 120 where greater utility will be available (e.g., regions of interest, targets at greater distances, low-reflectivity targets, etc.), while limiting the illumination energy to other portions of the field of view 120 based on detection results from the same frame or previous frames. Note that the processing unit 108 may process the detected signals from a single instantaneous field of view several times within a single scan frame time; for example, subsequent emissions may be determined after each pulse emission or after multiple pulse emissions.

[0130] Figure 5BThree examples of emission schemes for a single frame time of field of view 120 are shown. Consistent with embodiments of the present disclosure, at least one processing unit 108 can use the obtained information to dynamically adjust the operating mode of LIDAR system 100 and / or determine values for parameters of specific components of LIDAR system 100. The obtained information can be determined from processed data captured in field of view 120 or received (directly or indirectly) from host computer 210. Processing unit 108 can use the obtained information to determine a scanning scheme for scanning different portions of field of view 120. The obtained information can include current light conditions, current weather conditions, the current driving environment of the host vehicle, the current position of the host vehicle, the current trajectory of the host vehicle, the current topography of the roadway surrounding the host vehicle, or any other condition or object detectable by light reflections. In some embodiments, the determined scanning scheme may include at least one of: (a) specifying a portion within the field of view 120 to be actively scanned as part of a scanning cycle, (b) a projection plan for the projection unit 102 that defines the light emission profile at different portions of the field of view 120; (c) a deflection plan for the scanning unit 104 that defines, for example, a deflection direction, a frequency, and specifies idle elements within the reflector array; and (d) a detection plan for the sensing unit 106 that defines a detector sensitivity or responsivity pattern.

[0131] Additionally, processing unit 108 may determine a scanning scheme at least in part by identifying at least one region of interest within field of view 120 and at least one region of no interest within field of view 120. In some embodiments, processing unit 108 may determine a scanning scheme at least in part by identifying at least one region of high interest within field of view 120 and at least one region of lower interest within field of view 120. Identification of the at least one region of interest within field of view 120 may be determined, for example, by processing data captured within field of view 120, data based on another sensor (e.g., a camera, GPS), data received (directly or indirectly) from host 210, or any combination thereof. In some embodiments, identification of the at least one region of interest may include identifying a portion, area, section, pixel, or object within field of view 120 that is important for monitoring. Examples of areas that may be identified as regions of interest may include crosswalks, moving objects, people, nearby vehicles, or any other environmental condition or object that may aid in vehicle navigation. Examples of areas that may be identified as regions of no (or lower) interest may include static (non-moving) distant buildings, the skyline, areas above the horizon, and objects within the field of view. Upon identifying at least one region of interest within field of view 120, processing unit 108 may determine a scanning strategy or modify an existing scanning strategy. To further determine or modify light source parameters (as described above), processing unit 108 may allocate detector resources based on the identification of at least one region of interest. In one example, to reduce noise, processing unit 108 may activate detectors 410 for anticipated regions of interest and disable detectors 410 for anticipated regions of no interest. In another example, processing unit 108 may modify detector sensitivity, for example, increasing sensor sensitivity for long-range detection where reflected power is low.

[0132] Figure 5BIllustrations A through C in FIGURE 5 depict examples of different scanning schemes for scanning the field of view 120. Each square in the field of view 120 represents a different portion 122 associated with the instantaneous position of at least one light deflector 114. Legend 500 details the level of light flux represented by the square's fill pattern. Illustration A depicts a first scanning scheme, in which all portions have the same importance / priority and are assigned a default light flux. This first scanning scheme can be used during startup or periodically interleaved with another scanning scheme to monitor the entire field of view for unexpected / new objects. In one example, the light source parameters in the first scanning scheme can be configured to generate light pulses with a constant amplitude. Illustration B depicts a second scanning scheme, in which a portion of the field of view 120 is assigned a high light flux, while the remainder of the field of view 120 is assigned a default light flux and a low light flux. The least interesting portion of the field of view 120 can be assigned a low light flux. Illustration C depicts a third scanning scheme, in which compact vehicles and buses (see outline) are identified in the field of view 120. In this scanning scheme, the edges of vehicles and buses can be tracked with high power, and the center masses of vehicles and buses can be allocated less light flux (or no light flux). This light flux allocation enables more of the optical budget to be focused on the edges of the identified objects and less on their centers, which are of less importance.

[0133] Figure 6 Light emission toward a field of view 120 during a single scanning cycle is shown. In the depicted example, a portion of the field of view 120 is represented by an 8×9 matrix, where each of the 72 cells corresponds to a separate portion 122 associated with a different instantaneous position of at least one light deflector 114. In this exemplary scanning cycle, each portion includes one or more white dots representing the number of light pulses projected toward that portion, and some portions include black dots representing reflected light from that portion detected by sensor 116. As shown, the field of view 120 is divided into three sectors: sector I on the right side of the field of view 120, sector II in the middle of the field of view 120, and sector III on the left side of the field of view 120. In this exemplary scanning cycle, sector I is initially assigned a single light pulse per portion; sector II, previously identified as the region of interest, is initially assigned three light pulses per portion; and sector III is initially assigned two light pulses per portion. As also shown, a scan of the field of view 120 reveals four objects 208: two free-form objects in the near field (e.g., between 5 and 50 meters), a rounded square object in the midfield (e.g., between 50 and 150 meters), and a triangular object in the far field (e.g., between 150 and 500 meters). Figure 6The discussion uses the number of pulses as an example of light flux distribution, but note that the light flux distribution to different parts of the field of view can also be implemented in other ways, such as: pulse duration, pulse angle dispersion, wavelength, instantaneous power, photon density at different distances from the light source 112, average power, pulse power intensity, pulse width, pulse repetition rate, pulse sequence, pulse duty cycle, wavelength, phase, polarization, etc. Figure 6 The illustration of light emission as a single scan cycle in illustrative embodiments illustrates the different capabilities of the LIDAR system 100. In a first embodiment, the processor 118 is configured to use two light pulses to detect a first object at a first distance (e.g., a rounded square object), and to use three light pulses to detect a second object at a second distance greater than the first distance (e.g., a triangular object). In a second embodiment, the processor 118 is configured to allocate more light to portions of the field of view that identify regions of interest. Specifically, in this example, sector II is identified as the region of interest, and therefore it is allocated three light pulses, while the remainder of the field of view 120 is allocated two or fewer light pulses. In a third embodiment, the processor 118 is configured to allocate more light to portions of the field of view that identify regions of interest. Figure 6 Light source 112 is controlled in such a way that sections B1, B2, and C1 in sector III are projected with only a single light pulse, despite being part of sector III, which was initially allocated two light pulses per section. This occurs because processing unit 108 detects an object in the near field based on the first light pulse. Allocation of less than the maximum number of pulses may also result from other considerations. For example, in at least some areas, detection of an object at a first distance (e.g., a near-field object) may result in a reduction in the total amount of light emitted into that portion of field of view 120.

[0134] Additional details and examples regarding the different components of the LIDAR system 100 and their associated functionality are included in applicant's U.S. patent application publication No. 2018 / 0100928 A1, published on April 12, 2018; applicant's U.S. patent application publication No. 2018 / 0113216 A1, published on April 26, 2018; applicant's U.S. patent application publication No. 2018 / 0081037 A1, published on March 22, 2018; and applicant's U.S. patent application publication No. 2018 / 0081038 A1, published on March 22, 2018, the entire contents of which are incorporated herein by reference.

[0135] High-bandwidth contactless communication system for rotatable LIDAR

[0136] Rotatable LIDAR systems typically include a rotor and a stator that need to communicate with each other to scan a 360-degree field of view around the LIDAR system. Increasing the rotational speed of the rotor can increase the accuracy of the LIDAR system, however, it can also cause malfunction of the communication system due to friction at the rotating interface. The friction between the rotor and stator of the LIDAR system can be significant, especially when the rotor rotates at speeds greater than 1000 rpm. The disclosed embodiments provide systems, methods, and devices for facilitating contactless communication in a rotatable LIDAR system, which facilitate high-speed rotatable LIDAR systems. Consistent with the disclosed embodiments, an exemplary system can include two communication windings separated by a gap between 50 microns and 120 microns. The two communication windings can enable data communication within a bandwidth between 1 MHz and 2 GHz.

[0137] For example, a rotatable LIDAR system can provide certain advantages for various applications. In the case of automotive LIDAR systems, such as Figure 1A As shown, the LIDAR system 100 may be compact to allow placement on top of a vehicle 110 and may be designed to scan a 360 degree three-dimensional (3D) field of view within the vehicle's environment.

[0138] In some embodiments, a rotating LIDAR system relates to a contactless rotating LIDAR communication system. A "contactless rotating LIDAR communication system" may refer to any communication system that facilitates communication between two (or more) parts of a rotating LIDAR system, where the rotating part does not contact the stationary part. According to some disclosed embodiments, the contactless rotating LIDAR communication system can enable communication between the stator and rotor of the rotating LIDAR system with a bandwidth between approximately 1 MHz and 10 GHz and a bit rate of at least 0.5 Gbps. For example, the contactless rotating LIDAR communication system may include a first communication winding on the rotor and a second communication winding on the stator. A contactless data link may be established between the first and second communication windings in a rotating transformer. AC signal current in one communication winding is transmitted to the other communication winding via inductive and capacitive coupling, and vice versa. Consistent with the present disclosure, the first and second communication windings of the contactless rotating LIDAR communication system may be separated by a gap.

[0139] In some embodiments, a rotatable LIDAR system includes a rotor and a stator opposite the rotor. The term "rotor" broadly refers to the moving element of a rotatable LIDAR system. The rotor can be configured to rotate, for example, when the presence of certain electromagnetic fields generates torque about the rotor's axis. Similarly, the term "stator" broadly refers to the substantially stationary element of a rotatable LIDAR system. The stator can generate electromagnetic fields, thereby generating torque that rotates the rotor. Examples of horizontal cross-sections of the rotor and stator include circular, square, triangular, rectangular, elliptical, or any other shaped cross-sections. Consistent with the present disclosure, the rotor can include one or more components of LIDAR system 100. In some configurations, the rotor can include at least one light source (e.g., light source 112), a movable light deflector (e.g., deflector 114), and a light detector (e.g., sensor 116); and the stator can include at least one processor (e.g., processor 118) and a motor configured to rotate the rotor. In other configurations, the rotor may include only some of the components listed above, while the remaining components may be included in the stator, or vice versa. Additionally, each of the rotor and stator may include communication components (eg, communication windings) to facilitate communication with various components of the rotatable LIDAR system mounted on the rotor or stator.

[0140] In some embodiments, the rotatable LIDAR system includes a motor configured to rotate a rotor. The term "motor" generally refers to any device that causes rotation. Such a structure can be in the form of a device, engine, and / or mechanism that converts one form of energy into mechanical energy. Examples of motors can include, but are not limited to, electric motors, direct current (DC) motors, alternating current (AC) motors, vibrating motors (without shaft weights), brushless motors, switched reluctance motors, synchronous motors, rotary motors, servo motors, coreless motors, stepper motors, universal motors, variations of one or more of these motors, combinations of one or more of these motors, or any other suitable motor. In some embodiments, the motor can be configured to rotate the rotor at a speed greater than 3000 rpm, greater than 4000 rpm, greater than 5000 rpm, greater than 6000 rpm, greater than 7000 rpm, greater than 8000 rpm, greater than 9000 rpm, greater than 10,000 rpm, or any other higher or lower rotational speed.

[0141] In some embodiments, the rotatable LIDAR system includes a light source mounted on a rotor and configured to output a light beam. As discussed above, the term "light source" broadly refers to any device configured to emit light. In one embodiment, the light source can be a laser, such as a solid-state laser, a laser diode, a high-power laser, or an alternative light source, such as one based on a light emitting diode (LED). From a geometric perspective, a light beam can be described as a concentrated and coherent stream of photons that represents a propagation of electromagnetic radiation traveling in a particular direction or along a specified path. A light beam can also be conceptualized as a grouping of light rays traveling together in a coherent manner. While individual rays within a beam can exhibit slight variations in direction or wavelength, they generally share an overall trajectory or orientation. The collective effect of these multiple rays forms a light beam that has a discernible spatial distribution and can carry energy and information. In Figure 9 An exemplary optical path for transmitting projection light in a rotatable LIDAR system is depicted in FIG. Consistent with the present disclosure, the light source mounted on the rotor may include a multi-channel laser and configured to concurrently output multiple light beams. The use of a multi-channel laser may enable an expanded vertical field of view, a higher frame capture rate or pixel rate, and / or variable resolution capabilities. Additional details and examples of light sources that may be used in a rotatable LIDAR system are discussed above with reference to LIDAR system 100 and are not repeated here.

[0142] In some embodiments, a rotatable LIDAR system includes a movable light deflector mounted on a rotor in the path of a light beam. As described above, the term "light deflector" broadly refers to any mechanism or module configured to deflect light from its original path. A light deflector is considered "movable" if it deflects light from its original path in a variable manner. In one embodiment, the movable light deflector may include multiple optical components, such as at least one reflective element (e.g., a mirror) and at least one refractive element (e.g., a prism or lens). The movable light deflector can be configured to deflect the light beam to varying degrees. Specifically, the movable light deflector can be configured to vertically scan a field of view with the light beam as the rotor rotates. The term "vertically scanning the field of view" broadly refers to scanning the LIDAR system's environment by moving or pivoting the movable light deflector about a tilt axis to deflect light in different directions (e.g., upward and downward) toward different portions of the field of view. "Field of view" can refer to the extent of the environment observable by the LIDAR system within which objects can be detected. The tilt axis can be orthogonal to the LIDAR system's axis of rotation. The rotation axis is a virtual axis about which the body rotates in a circular or oscillating motion. In other words, the rotation of the LIDAR system is responsible for the horizontal scanning of the field of view, while the tilting of the movable light deflector is responsible for the vertical scanning of the field of view. Additional details and examples of light deflectors that can be used in a rotatable LIDAR system are discussed above with reference to LIDAR system 100 and will not be repeated here.

[0143] In some embodiments, the rotatable LIDAR system includes a light detector mounted on the rotor. Note that the terms "light sensor" and "light detector" are used interchangeably in this disclosure. Thus, the term "light detector" broadly refers to any device, element, or system capable of measuring a property of an electromagnetic wave associated with reflected light (e.g., power, frequency, phase, pulse timing, pulse duration) and generating an output related to the measured property. Consistent with this disclosure, the light detector can be configured to receive reflections of light from the field of view as the rotor rotates and the light deflector moves. Since photons travel to and from objects at the speed of light (with timing that is significantly greater than the rotation of the LIDAR system and / or tilt of the movable light deflector), the light detector receives the reflection at a known instantaneous position of the movable light deflector. Figure 10 An exemplary optical path for receiving reflected light in a rotatable LIDAR system is depicted in FIG. Additional details and examples of light sensors or light detectors that may be used in a rotatable LIDAR system are discussed above with reference to LIDAR system 100 and are not repeated here.

[0144] In some embodiments, a rotatable LIDAR system includes a first communication winding on the rotor and a second communication winding on the stator. The term "communication winding" broadly refers to any type of conductor—regardless of shape, cross-section, or number of turns—having an arcuate, twisted, or spiral path or form, and suitable for carrying current. For example, the communication winding may include, but is not limited to, a single strand of conductive material, multiple strands of such material (whether interwoven, separate, or otherwise), or a bifilar winding. For example, the first communication winding may be a single turn of wire. Consistent with the present disclosure, the first and second communication windings may form a wireless data link that can utilize inductive and capacitive coupling to achieve unidirectional or bidirectional data transmission. In some embodiments, once the communication windings are energized, signals can be transmitted between the communication windings via electrical, inductive, and capacitive coupling. Specifically, AC signal current can be transmitted from the first communication winding to the second communication winding, and vice versa. Furthermore, the geometry of the communication windings may have a direct impact on the frequency band of the wireless data link. According to some disclosed embodiments, the first communication winding is configured to transmit signals associated with received reflections within a bandwidth between 1 MHz and 2 GHz. Similarly, in some disclosed embodiments, the second communication winding is configured to receive signals from the first communication winding transmitted within a bandwidth between 1 MHz and 2 GHz. In the present disclosure, the term "bandwidth" may refer to a measure of the width of a frequency range, measured in Hertz or the width of a channel spectrum used for data transmission. The term "bandwidth" is not intended to be equivalent to the term "bit rate," which is the number of bits transmitted per unit time. In some examples, the bandwidth may be between 10 MHz and 1.5 GHz, between 100 MHz and 1 GHz, or any bandwidth between the values listed above. In addition, the first communication winding may transmit at a bit rate of at least 0.5 gbps, at least 1 gbps, at least 1.5 gbps, at least 2 gbps, at least 3 gbps, at least 4 gbps, at least 5 gbps, at least 6 gbps, at least 7 gbps, at least 8 gbps, at least 9 gbps, at least 10 gbps, or more. The following refers to Figures 12 to Figure 16 Additional details and examples of communication windings that may be used in a rotatable LIDAR system are discussed.

[0145] In some embodiments, the second communication winding is spaced apart from the first communication winding by a gap of between 50 microns and 120 microns, and the first communication winding and the second communication winding overlap each other on opposite sides of the gap. The term "gap" broadly refers to the area in the rotatable LIDAR system that separates the first communication winding from the second communication winding. In some cases, the gap can be filled with air. In other cases, the gap can be filled with an inert gas or any other material that does not interfere with the wireless data link formed by the first communication winding and the second communication winding. In one example, the second communication winding can be spaced apart from the first communication winding by a gap of between 80 microns and 110 microns. In an alternative embodiment, the second communication winding can be spaced apart from the first communication winding by a gap of between 50 microns and 300 microns. For example, the gap can be between 65 microns and 250 microns, between 80 microns and 200 microns, between 100 microns and 150 microns, or any other distance. The following references Figures 11 to 13 Additional details and examples of a gap between a first communication winding and a second communication winding that may be used in a rotatable LIDAR system are discussed.

[0146] Figure 7 is an illustration of an example of a conceptual rotatable LIDAR system consistent with some embodiments of the present disclosure. The rotatable LIDAR system may include a rotor 700 associated with a light source 712, a movable light deflector 714, a light detector 716, a stator 710 associated with a processor 718, and a motor 720. In the example shown, the direction of rotation of the rotor 700 (as viewed from above) is counterclockwise about a rotation axis 730. However, the rotor 700 may also be configured to rotate in a clockwise direction. In one example, the movable light deflector 714 may include a folding mirror. The light source 712 may include an array of laser sources that generate multiple light beams to form a multi-beam array, which may be incident on the movable light deflector 714. In turn, the movable light deflector 714 deflects the multi-beam array toward the field of view 120 in the form of a projected multi-beam array. Thereafter, the light detector 716 may be configured to receive, via the movable light deflector 714 , laser light generated by one or more of the plurality of laser beams reflected from at least one object in the field of view 120 .

[0147] For illustrative purposes, the movable light deflector 714 is depicted as being external to the rotor 700, however, those skilled in the art will recognize that this configuration is optional and not required. Specifically, the processor 718 can be located on the rotor 700 rather than on the stator 710. Additionally or alternatively, the movable light deflector 714 can also be located on the rotor 700. In this orientation, the columns of light beams included in the multi-beam array can be projected onto the movable light deflector 714 in columns that can be continuously oriented vertically. Conversely, the projected multi-beam array can also be projected toward the field of view 120 in columns that can be continuously oriented horizontally. Each vertical portion of the field of view can be illuminated by a different light source.

[0148] Rotating this vertically oriented laser beam column toward the field of view 120 can yield several benefits. For example, as the movable light deflector 714 rotates about the rotation axis 730, multiple horizontal scan lines can be scanned simultaneously. This arrangement not only enables a greater vertical scan angle across the field of view 120, but also reduces the time required to complete a single full scan of the field of view 120 because multiple portions of the field of view are scanned simultaneously. In some embodiments, a single full scan of the field of view 120 can include 360 degrees in the horizontal dimension and a predetermined angular height in the vertical dimension (e.g., at least 35 degrees, at least 40 degrees, or at least 45 degrees).

[0149] Figure 8 is an illustration of an example implementation of a rotatable LIDAR system consistent with some embodiments of the present disclosure. The illustration of a rotatable LIDAR system 800 includes a schematic top view of an example rotor 700 and a schematic perspective view of an example stator 710. As shown, a light source 712, a movable light deflector 714, and a light detector 716 are all mounted on the rotor 700. Furthermore, the rotor 700 may include a transmit (TX) mirror 802, a prism 804, a receive (Rx) fold mirror 806, and a deflector mirror 808.

[0150] In some embodiments, the light source 712 of the rotatable LIDAR system 800 includes a multi-channel laser, such as a monolithic multi-channel laser bar. A laser bar can include multiple diode lasers spaced apart by a predetermined distance on a single substrate. As an example, the light source 712 can include 8, 16, or 32 laser sources arranged in a one-dimensional (1D) array. The diodes can emit light at a wavelength between 850 nm and 950 nm (e.g., approximately 905 nm), between 1450 nm and 1650 nm (e.g., approximately 1550 nm), or any wavelength suitable for a particular application.

[0151] In some embodiments, the movable light deflector 714 of the rotatable LIDAR system 800 can include any type of structure or combination of structures capable of redirecting one or more incident light beams toward the field of view 120 and redirecting one or more reflections toward the light detector 716. In some embodiments, the movable light deflector 714 includes a folding mirror configured to rotate about a substantially vertically oriented tilt axis (e.g., a horizontal axis). In other words, deflection causes the movable light deflector 714 to be vertical, while the movable light deflector 714 rotates about the horizontal axis. Rotation of the movable light deflector 714, along with the rotor 700, results in a full 360-degree scan of the horizontal field of view. In some cases, the movable light deflector 714 can rotate about the horizontal tilt axis but not move about other axes. However, in some cases, the movable light deflector 714 can move about the horizontal tilt axis but can also be configured to move about one or more other axes.

[0152] In some embodiments, the light detector 716 of the rotatable LIDAR system 800 may include multiple detecting elements that can receive light reflections from objects in the field of view of the rotatable LIDAR system 800. Measurements from each detecting element can enable determination of the time of flight from the light pulse emission event to the reception event. The intensity of the received photons can also be determined based on the received laser reflections. Various types of detecting elements can be used. For example, the light detector 716 may include an array of detecting elements, such as a multi-channel SiPM (silicon photomultiplier) array, a SPAD (single photon avalanche diode) array, or an APD (avalanche photodiode) array. The light detector 716 may include an array of detecting elements that includes a combination of at least some of SPADs, SiPMs, APDs, and other types of detecting elements.

[0153] Figure 9 is a diagrammatic illustration of an exemplary optical path for sending projection light 900 in the rotatable LIDAR system 800, and Figure 10 1 is a diagrammatic illustration of an exemplary optical path for receiving reflected light 1000 in a rotatable LIDAR system 800. As shown, in the transmit direction, projected light 900 is projected from light source 712. Projected light 900 can then be deflected by TX mirror 802, deflected again by the surface of prism 804, and directed to movable light deflector 714 for scanning field of view 120. In the receive direction, reflected light 1000 is received from field of view 120 to movable light deflector 714. Reflected light 1000 can then be deflected by the surface of prism 804, deflected again by compensator mirror 806 and deflector mirror 808, and then directed to light detector 716.

[0154] Figure 11The figure illustrates an example of a conceptual non-contact rotating LIDAR communication system consistent with some embodiments of the present disclosure. The non-contact rotating LIDAR communication system may include two communication rings, one for the rotor 700 and the other for the stator 710. The term "communication ring" refers to any element made of a magnetically permeable material that is used to form a magnetic field with reduced losses for enabling communication via a wireless data channel. Magnetic permeable material refers to any number of materials commonly used to form inductive cores or similar components, including but not limited to various formulations made of ferrite. As a non-limiting example, the communication ring of the rotating LIDAR system 800 may be composed of 4C65 ferrite (NiZn ferrite). The communication ring does not necessarily have to be a circular magnetically permeable loop. Other shapes may be used for the communication ring, such as rectangular, circular, oblong, oval, or elliptical. In some embodiments, the distance between the rotor communication ring and the stator communication ring can be designed to be close enough to support signal transmission between the rotor 700 and the stator 710. As an example, the distance between the rotor communication ring and the stator communication ring can be between 50 and 300 microns. Because magnetic permeability can affect communication parameters (e.g., insertion loss), the communication ring should have sufficient magnetic permeability over the entire frequency bandwidth of wireless transmission (e.g., between 1 MHz and 2 GHz). Some disclosed embodiments involve rotors including rings with magnetic permeability greater than 1500. As an example, each of the rotor communication ring and the stator communication ring can have a magnetic permeability greater than 1000 N / A. 2 , greater than 1250N / A 2 , greater than 1500N / A 2 or greater magnetic permeability.

[0155] like Figure 11As shown, a contactless rotating LIDAR communication system may include a rotor communication ring 1100, a stator communication ring 1102, and a gap 1104 between the rotor communication ring 1100 and the stator communication ring 1102. Example dimensions of the rotor communication ring 1100 and the stator communication ring 1102 may include a height (h1 and h2) between 1 mm and 5 mm, a width (W) between 10 mm and 15 mm, an inner radius (r) between 8 mm and 10 mm, and an outer radius (R) between 13 mm and 18 mm. In some embodiments, the inner diameter, outer diameter, and height of the rotor communication ring 1100 and the stator communication ring 1102 may be substantially the same. In other embodiments, at least one of the inner diameter, outer diameter, and height of the rotor communication ring 1100 may differ from the corresponding dimensions of the stator communication ring 1102. The first surface of the rotor communication ring 1100 and the second surface of the stator communication ring 1102 may be separated by the gap 1104. The gap 1104 may be associated with a distance (d) that is greater than 10 microns but less than 300 microns, less than 250 microns, less than 200 microns, less than 150 microns, less than 100 microns, or less than 50 microns.

[0156] Consistent with some embodiments of the present disclosure, each of the rotor communication ring 1100 and the stator communication ring 1102 may include a communication winding for facilitating contactless communication between the rotor 700 and the stator 710. Specifically, the rotor communication ring 1100 may include a first communication winding for transmitting data at a bandwidth between approximately 1 MHz and 2 GHz, and the stator communication ring 1102 may include a second communication winding for receiving data at a bandwidth between approximately 1 MHz and 2 GHz. In addition, each communication ring may include a circumferential groove therein that provides mechanical support for the communication winding. For example, the first communication winding may be located in a first circumferential groove of the rotor communication ring 1100, while the second communication winding may be located in a second circumferential groove of the stator communication ring 1102.

[0157] Figure 12A and 12B1 is a diagrammatic top view of a rotor communication ring 1100 with and without a communication winding, consistent with some embodiments of the present disclosure. As described above, the rotor communication ring 1100 and the stator communication ring 1102 can have circumferential grooves to accommodate the communication windings. The term "groove" can broadly refer to any opening in or on the surface of the communication ring. The circumferential groove can have a closed curve shape, which can be the same as the shape of the communication ring. For example, the shape of the circumferential groove can be rectangular, circular, oblong, oval, or elliptical. Some disclosed embodiments relate to a ring including a circumferential groove therein, and the first communication winding is located in the groove. A ring is any structure that at least partially surrounds another structure. A circumferential groove includes any seam, channel, hollow portion, groove, conduit, or notch that completely or partially surrounds a structure. As an example, the rotor communication ring 1100 can include a first circumferential groove 1200 therein, wherein the first communication winding 1202 can be located in the first circumferential groove 1200. Similarly, the stator communication ring 1102 may include a second circumferential groove (not shown) therein, and the second communication winding 1302 ( Figure 13 ) can be located in the second circumferential groove. In some embodiments, the rotor includes a first ferrite ring having a first circumferential groove therein, and the stator includes a second ferrite ring having a second circumferential groove therein, and wherein the first communication winding is embedded in the first circumferential groove and the second communication winding is embedded in the second circumferential groove. As an example, the rotor 700 can include a first ferrite ring having a first circumferential groove therein (e.g., rotor communication ring 1100), and the stator 710 can include a second ferrite ring having a second circumferential groove therein (e.g., stator communication ring 1102). The rotor's communication winding (e.g., first communication winding 1202) can be embedded in the first circumferential groove, and the stator's communication winding (e.g., second communication winding 1302) can be embedded in the second circumferential groove. In a related embodiment, the first communication winding is spaced apart from the walls of the first circumferential groove, and the second communication winding is spaced apart from the walls of the second circumferential groove. Referring to the illustrated LIDAR system, the first communication winding 1202 can be spaced apart from the walls of the first circumferential groove, and the second communication winding 1302 can be spaced apart from the walls of the second circumferential groove. Furthermore, the rotor communication ring 1100 and the stator communication ring 1102 can be positioned one above the other so that their circumferential grooves face each other but are spaced apart from each other.

[0158] Consistent with the present disclosure, a gap (e.g., gap 1104) is designed to position the first and second communication windings 1202, 1302 at a suitable distance for induction between the associated communication windings. For ease of discussion and illustration, the gap between the first and second communication windings 1202, 1302 is hereinafter referred to as gap 1104. However, it should be understood that in some cases, the gap between the first and second communication windings 1202, 1302 can be larger or smaller than the gap between the rotor communication ring 1100 and the stator communication ring 1102. According to some embodiments, the distance of the gap between the first and second communication windings 1202, 1302 (i.e., the distance "d" of gap 1104) can be selected based on the size of the communication windings. As non-limiting examples, the ratio between the diameter of the communication windings and the distance of the gap is between 50 and 500 microns, or between 50 and 200 microns, or between 50 and 120 microns. Furthermore, the first communicating winding 1202 and the second communicating winding 1302 may overlap each other on opposite sides of the gap.

[0159] Figure 13 FIG2 is an illustration of an example implementation of a contactless rotating LIDAR communication system 1300 for a rotatable LIDAR system 800, consistent with some embodiments of the present disclosure. The contactless rotating LIDAR communication system 1300 may include a rotor communication ring 1100 housing a first communication winding 1202 and a stator communication ring 1102 housing a second communication winding 1302. In some embodiments, the first communication winding is embodied in a flexible printed circuit board (PCB). A flexible PCB includes any flexible electronic device or circuit. As an example, the first communication winding 1202 and / or the second communication winding 1302 are embodied in a flexible printed circuit board (PCB). However, in other cases, the first communication winding 1202 and / or the second communication winding 1302 may be conventional coils. Consistent with the present disclosure, the flexible PCB may be a single component that serves as both the communication winding and the connector. The connector may be configured to connect to a processor (e.g., a communication chip). In the example shown, the first communication winding 1202 may be associated with a connection element 1304 , while the second communication winding 1302 may be associated with a connection element 1306 .

[0160] Some disclosed embodiments may involve a first communication winding associated with a discrete impedance matching component embedded in a flexible PCB. For example, the impedance matching component may be part of a flexible electronic device. As an example, when the first communication winding 1202 is embodied in a flexible PCB, the first communication winding 1202 may be associated with a discrete impedance matching component embedded in the flexible PCB. As an example, the discrete impedance matching component includes at least one of the following: a transformer, a capacitor, a resistor, an inductor, or a coil. Figure 15and Figure 16 Describes additional details regarding the flexible PCB. Once the communication windings are energized, signals can be transmitted between the communication windings via electrical coupling, inductive coupling, and capacitive coupling. Communication between the two communication windings can be bidirectional, i.e., signals can be sent from the stator 710 to the rotor 700, and from the rotor 700 to the stator 710. Specifically, AC signal current can be transmitted from the first communication winding 1202 to the second communication winding 1302 via inductive and capacitive coupling, and vice versa. In some cases, the timing of communication between the first communication winding 1202 and the second communication winding 1302 can be modulated.

[0161] Figure 14 1 is a diagrammatic illustration of two communication windings included in a contactless rotating LIDAR communication system 1300. Consistent with some embodiments of the present disclosure, the first communication winding and the second communication winding overlap each other on opposite sides of a gap. As examples, the first communication winding 1202 and the second communication winding 1302 may have an overlap greater than 85%, an overlap greater than 90%, an overlap greater than 92.5%, an overlap greater than 95%, or an overlap greater than 99%. Furthermore, the first communication winding 1202 may be positioned substantially parallel to the second communication winding 1302 so that the gap 1104 can be uniform.

[0162] In some embodiments, the first communication winding 1202 and the second communication winding 1302 can create a wireless communication channel 1400 that enables bidirectional data transmission. The geometry of the communication windings may have a direct impact on the frequency band of the wireless communication channel 1400. In the contactless rotating LIDAR communication system 1300, the geometry of the communication windings enables data exchange at a bandwidth between approximately 1 MHz and 2 GHz. In some embodiments, the first communication winding 1202 and the second communication winding 1302 may have substantially the same geometry. Some disclosed embodiments may involve the first and second communication windings sharing substantially the same diameter. In other words, the two windings may have approximately the same diameter (e.g., with a deviation of less than 10%). Specifically, in an example embodiment, the first communication winding 1202 and the second communication winding 1302 may have substantially the same diameter. For example, the two communication windings may have an inner diameter (D1) between 20 mm and 22 mm and an outer diameter (D2) between 28 mm and 30 mm.

[0163] Some disclosed embodiments may involve a first communication winding having a circumference between 60 mm and 90 mm. For example, in some cases, the first communication winding 1202 and the second communication winding 1302 may have a circumference between 60 mm and 90 mm. Additionally, in some embodiments, the first communication winding is formed from a wire that is wider than it is tall. In other words, the first communication winding 1202 and / or the second communication winding 1302 may be formed from a wire that is wider (W) than it is tall (H). As shown, the communication winding may have a "flat" shape. In some embodiments, the ratio between the height of the wire and the width of the wire (H:W) is between 1:3 and 1:20. As an example, the width of the communication winding may be 1.3 mm and the height of the communication winding may be 130 microns.

[0164] Consistent with some disclosed embodiments, wireless communication channel 1400 can be used to transmit signals associated with data from light detector 716 within a bandwidth between 1 MHz and 2 GHz. Specifically, wireless communication channel 1400 can enable first communication winding 1202 to simultaneously transmit first data in a first frequency band (e.g., approximately 10 MHz), second data in a second frequency band (e.g., approximately 100 MHz), and third data in a third frequency band (e.g., approximately 1 GHz). The first, second, and third frequency bands are all included in a bandwidth between 1 MHz and 2 GHz. In some embodiments, the second frequency band is associated with a frequency at least 10 times greater than a frequency associated with the first frequency band; and the third frequency band is associated with a frequency at least 10 times greater than a frequency associated with the second frequency band. Furthermore, rotatable LIDAR system 800 can concurrently scan field of view 120 with multiple beams (e.g., 8 beams, 16 beams, 32 beams, 64 beams, or more) and rotate at a rotational speed (e.g., between 3000 rpm and 7500 rpm). The contactless rotating LIDAR communication system 1300 is configured to transmit at a bit rate of 0.5 to 2.5 gigabytes per second (gbps) to process all data captured by the light detector 716. As examples, the bit rate may be 0.5 gbps, 0.7 gbps, 1.0 gbps, 1.5 gbps, or 2 gbps.

[0165] Consistent with the present disclosure, to enable transmission at bandwidths between 1 MHz and 2 GHz and bit rates between 0.5 and 2.5 Gbps, the contactless rotating LIDAR communication system 1300 can be designed to minimize insertion loss and return loss. Insertion loss represents the amount of signal power lost per frequency between the channel's input node (e.g., the first communication winding 1202) and output node (e.g., the second communication winding 1302). Return loss represents the amount of signal power reflected back to the transmitting source per frequency. The values of insertion loss and return loss depend on the frequency used for transmission. In a first example, for data transmitted at 0.5 GHz, the insertion loss can be less than 1 dB, and the return loss can be less than -20 dB. In a second example, for data transmitted at 1.5 GHz, the insertion loss can be less than -10 dB, and the return loss can be less than -20 dB.

[0166] In the disclosed embodiment, the distance between the first communication winding 1202 and the second communication winding 1302 (e.g., gap 1104) can also be selected to accommodate minimum insertion loss and minimum return loss. Furthermore, the geometric design of the communication windings can be selected to be less sensitive to relative rotation between the rotor 700 and the stator 710. As an example, the circumference of the communication windings can be selected to avoid measurable capacitance differences between the communication windings.

[0167] Consistent with the disclosed embodiments, the communication windings (eg, the first communication winding 1202 and / or the second communication winding 130 ) may be part of a flexible PCB. Figure 15 FIG2 is an illustration of a flexible PCB 1500 included in rotatable LIDAR system 800, consistent with some embodiments of the present disclosure. Flexible PCB 1500 includes a communication portion 1502 and a connector portion 1504. Communication portion 1502 may include a communication winding, and connector portion 1504 may include at least one connector configured to connect to a processing device (e.g., a communication chip). Communication portion 1502 may have copper traces for attachment to connector portion 1504. In some embodiments, the impedance between flexible PCB 1500 and the processing device is substantially matched to minimize signal reflections at connection nodes along the communication signal path. For example, the input impedance of flexible PCB 1500 at the connection node to the PCB connector may be designed to have a value of 100 ohms. Furthermore, the portion of flexible PCB 1500 leading to communication portion 1502 may terminate at a discrete impedance matching component embedded in the flexible PCB to match the impedance of the communication winding. The discrete matching component may be implemented at various locations between the flexible connector and the flexible communication winding.

[0168] Figure 16Included is a diagrammatic cross-sectional illustration of a flexible PCB 1500 consistent with some embodiments of the present disclosure. Flexible PCB 1500 includes two cross-sectional views because the configurations of communication portion 1502 and connector portion 1504 are different from each other. However, in some embodiments, the configurations of communication portion 1502 and connector portion 1504 can have one or more layers in common.

[0169] As depicted, the communication portion 1502 of the example flexible PCB 1500 may include a base layer 1600 (e.g., polyimide) and a copper base layer 1604 containing two (or more) copper traces. Consistent with the present disclosure, the copper base layer 1604 forms a communication winding (e.g., the first communication winding 1202 or the second communication winding 1302). The copper base layer 1604 may be adhered to the base layer 1600 using an adhesive layer 1602. The copper base layer 1604 may also be covered by a thin cover layer 1608 (e.g., polyimide). The cover layer 1608 may be thin relative to the other layers to reduce interference with wireless communication between the communication windings. In some embodiments, impedance matching components may be required between the connector portion and the controller.

[0170] The connector portion 1504 of the example flexible PCB 1500 can be designed with additional layers to ensure impedance matching. Specifically, the connector portion 1504 can include a first copper mesh layer 1610 below the copper base layer 1604 and a second copper mesh layer 1612 above the copper base layer 1604. The first and second copper mesh layers can be cross-hatched meshes or any other mesh pattern that results in uneven copper thickness in the connector portion. The connector portion 1504 can include one or more ground vias. As an example, the base layer 1600, the copper base layer 1604, and the cover layer 1608 can be shared by the communication portion 1502 and the connector portion 1504. In one embodiment, the flexible PCB 1500 can include connection components between the communication portion 1502 and the connector portion 1504. The connection components can be resistors and capacitors for each trace in the communication portion 1502. As an example, the flexible PCB 1500 can include two resistors and two capacitors.

[0171] Figure 171700 is a flow chart of an example process 1700 for a contactless rotating LIDAR communication method according to an embodiment of the present disclosure. In some embodiments, process 1700 can be executed by at least one processor (e.g., processor 118) to perform the operations or functions described herein. In some embodiments, some aspects of process 1700 can be implemented as software (e.g., program code or instructions) stored in a memory or non-transitory computer-readable storage medium. In some embodiments, some aspects of process 1700 can be implemented as hardware (e.g., dedicated circuitry). In some embodiments, process 1700 can be implemented as a combination of software and hardware. For illustrative purposes, the following description refers to certain components of the rotating LIDAR system 800. However, it will be understood that other implementations are possible, and the example method can be implemented using any combination of components or devices. It will also be readily understood that the illustrated method can be modified to modify the order of steps, delete steps, or include additional steps, such as those described above for different embodiments.

[0172] refer to Figure 17 Process 1700 may include step 1702 of controlling a motor configured to rotate the rotor. For example, motor 720 may be controlled to rotate rotor 700 at a speed greater than 6000 rpm. Process 1700 may also include step 1704 of outputting a light beam using a light source mounted on the rotor. As an example, light source 712 comprising a multi-channel laser may be used to concurrently output a multi-beam array 722 toward field of view 120. Process 1700 may also include step 1706 of vertically scanning the field of view with the light beam using a movable light deflector mounted on the rotor in the path of the light beam as the rotor rotates. For example, field of view 120 may be scanned using movable light deflector 714, which may be a folding mirror configured to rotate about a substantially vertically oriented scan axis. Process 1700 may also include step 1708 of receiving reflections of light from the field of view using a light detector mounted on the rotor as the rotor rotates and the light deflector moves. For example, the reflection of the light may be a portion of reflected light 206 that is detected by light detector 716 and enables a time of flight from object 208 to be determined.

[0173] Process 1700 may also include step 1710, using a first communication winding on the rotor to transmit a signal associated with the received reflection within a bandwidth between 1 MHz and 2 GHz. As an example, the first communication winding 1202 can transmit signals at a bit rate of at least 1 Gbps. Process 1700 may also include step 1712, using a second communication winding located in the stator opposite the rotor to receive a signal transmitted from the first communication winding within a bandwidth between 1 MHz and 2 GHz. For example, the second communication winding 1204 can receive signals at a bit rate of at least 1 Gbps. In some embodiments, the second communication winding can be spaced apart from the first communication winding by a gap between 50 microns and 120 microns. As an example, the gap 1104 can be less than 100 microns. In other embodiments, the first communication winding and the second communication winding can overlap each other on opposite sides of the gap.

[0174] Consistent with other disclosed embodiments, a contactless, rotating LIDAR communication system is provided. This contactless, rotating LIDAR communication system may include at least one processor configured to perform the described process 1700 by executing software (e.g., program code or instructions) stored in memory or a non-transitory computer-readable storage medium. As used herein, a non-transitory computer-readable storage medium refers to any type of physical memory on which information or data readable by at least one processor can be stored. Examples include random access memory (RAM), read-only memory (ROM), volatile memory, non-volatile memory, hard drives, CD ROMs, DVDs, flash drives, magnetic disks, any other optical data storage medium, any physical medium with a pattern of holes, markings, or other readable elements, PROMs, EPROMs, FLASH-EPROMs or any other flash memory, NVRAM, cache memory, registers, any other memory chip or cartridge, and networked versions thereof. The terms "memory" and "computer-readable storage medium" may refer to multiple structures, such as multiple memories or computer-readable storage media located within an input unit or at a remote location. Additionally, one or more computer-readable storage media may be utilized when implementing a computer-implemented method. Thus, the term computer-readable storage medium should be construed to include tangible items and to exclude carrier waves and transient signals.

[0175] In one embodiment, a contactless rotating LIDAR communication system includes a rotor; a motor configured to rotate the rotor; a light source mounted on the rotor and configured to output a light beam; a movable light deflector mounted on the rotor in the path of the light beam, the light deflector configured to vertically scan a field of view with the light beam as the rotor rotates; a light detector mounted on the rotor and configured to receive reflections of light from the field of view as the rotor rotates and the light deflector moves; a first communication winding on the rotor configured to transmit a signal associated with the received reflection within a bandwidth between 1 MHz and 2 GHz; and a stator opposite the rotor and having a second communication winding thereon for receiving a signal transmitted from the first communication winding within a bandwidth between 1 MHz and 2 GHz, wherein the second communication winding is separated from the first communication winding by a gap between 50 microns and 120 microns, and wherein the first communication winding and the second communication winding overlap each other on opposite sides of the gap.

[0176] In some embodiments of the contactless rotary LIDAR communication system, the motor is configured to rotate the rotor at a speed greater than 3000 rpm.

[0177] In some embodiments of the contactless rotary LIDAR communication system, the motor is configured to rotate the rotor at a speed greater than 6000 RPM.

[0178] In some embodiments of the contactless rotating LIDAR communication system, the light source includes a multi-channel laser.

[0179] In some embodiments of the contactless rotating LIDAR communication system, the first communication winding is a single turn of wire.

[0180] In some embodiments of the contactless rotating LIDAR communication system, the first communication winding is configured to transmit at a bit rate of at least 0.5 gbps.

[0181] In some embodiments of the contactless rotating LIDAR communication system, the first communication winding is configured to transmit at a bit rate of at least 1 gbps.

[0182] In some embodiments of the contactless rotating LIDAR communication system, the first communication winding has a circumference between 60 mm and 90 mm.

[0183] In some embodiments of the contactless rotating LIDAR communication system, the first communication winding is formed of a wire having a width greater than its height.

[0184] In some embodiments of the contactless rotating LIDAR communication system, the ratio between the height of the wire and the width of the wire is between 1:3 and 1:20.

[0185] In some embodiments of the contactless rotating LIDAR communication system, the second communication winding is spaced apart from the first communication winding by a gap of between 80 microns and 110 microns.

[0186] In some embodiments of the contactless rotating LIDAR communication system, the first communication winding and the second communication winding have substantially the same diameter.

[0187] In some embodiments of the contactless rotary LIDAR communication system, the rotor includes a ring having a magnetic permeability greater than 1500, the ring including a circumferential groove therein, and wherein the first communication winding is located in the groove.

[0188] In some embodiments of the contactless rotating LIDAR communication system, the first communication winding is embodied in a flexible PCB.

[0189] In some embodiments of the contactless rotating LIDAR communication system, the first communication winding is associated with a discrete impedance matching component embedded in the flexible PCB.

[0190] In some embodiments of the contactless rotating LIDAR communication system, the discrete impedance matching component includes at least one of a capacitor, a resistor, or a coil.

[0191] In some embodiments of the contactless rotary LIDAR communication system, the rotor includes a first ferrite ring having a first circumferential groove therein, and the stator includes a second ferrite ring having a second circumferential groove therein, and wherein the first communication winding is embedded in the first circumferential groove and the second communication winding is embedded in the second circumferential groove.

[0192] In some embodiments of the contactless rotating LIDAR communication system, the first communication winding is spaced apart from a wall of the first circumferential groove, and the second communication winding is spaced apart from a wall of the second circumferential groove.

[0193] In one embodiment, a contactless rotating LIDAR communication method includes: controlling a motor configured to rotate a rotor; outputting a light beam using a light source mounted on the rotor; using a movable light deflector mounted on the rotor in the path of the light beam to vertically scan a field of view with the light beam as the rotor rotates; using a light detector mounted on the rotor to receive reflections of light from the field of view as the rotor rotates and the light deflector moves; using a first communication winding on the rotor to transmit signals associated with the received reflections within a bandwidth between 1 MHz and 2 GHz; and using a second communication winding located in a stator opposite the rotor to receive signals transmitted from the first communication winding within a bandwidth between 1 MHz and 2 GHz, wherein the second communication winding is separated from the first communication winding by a gap between 50 microns and 120 microns, and wherein the first communication winding and the second communication winding overlap each other on opposite sides of the gap.

[0194] In one embodiment, a contactless rotating LIDAR communication system includes at least one processor configured to: control a motor configured to rotate a rotor; output a light beam using a light source mounted on the rotor; vertically scan a field of view with the light beam using a movable light deflector mounted on the rotor in the path of the light beam as the rotor rotates; receive reflections of light from the field of view using a light detector mounted on the rotor as the rotor rotates and the light deflector moves; transmit signals associated with the received reflections within a bandwidth between 1 MHz and 2 GHz using a first communication winding on the rotor; receive signals transmitted within a bandwidth between 1 MHz and 2 GHz from the first communication winding using a second communication winding located in a stator opposite the rotor; wherein the second communication winding is separated from the first communication winding by a gap between 50 microns and 120 microns, and wherein the first communication winding and the second communication winding overlap each other on opposite sides of the gap.

[0195] Movable light deflector for high-speed rotating LIDAR

[0196] In LIDAR systems rotating at high rotational speeds (e.g., above 3000 revolutions per minute, or rpm), the mirrors used to direct the laser beam toward the field of view (FOV) and the reflected light received from the FOV toward the detector may need to be very thin to avoid unacceptable inertial effects during rotation. However, thin mirrors can bend when subjected to the high centrifugal forces generated by high rotational speeds. Mirror bending and / or other deformations depend on the mirror geometry (width, height, and / or thickness), the mirror's material properties, and its positioning relative to the axis of rotation. This can become more significant when the mirror is mounted at a peripheral position relative to the rotor's axis of rotation. This can also be more important for systems that direct multiple beams toward the FOV, as the area required to simultaneously deflect multiple beams increases. Furthermore, when the mirror is in the reflective receive path, the mirror's size essentially determines the size of the system aperture for light collection and determines system range and other system parameters. Increasing the mirror's size also increases the mirror's area-to-thickness ratio, resulting in a geometry that is more sensitive to deformation. Therefore, multi-beam LIDAR systems using a single scanning mirror may be particularly susceptible to this problem. A bent or deformed mirror can cause the laser light generated in the LIDAR to be directed to a portion of the FOV that is different from the intended target FOV location. Similarly, a bent or deformed mirror can cause the reflected beam received from the FOV to impinge on the photodetector at a location other than the intended target location. Both of these situations can lead to erroneous detection of the location and / or distance of objects in the FOV.

[0197] The disclosed system may include a reflector attached to a reflector support. The reflector support may be mounted at a peripheral location of the rotor. For a given rotational speed of the LIDAR, the amount of deformation of the reflector may be determined. In the disclosed system, the reflector support, and the connection points of the reflector support to the reflector, may be selected to account for and / or minimize any deflection or deformation of the reflector caused by centrifugal forces applied to the reflector. For example, as will be described in detail below, the number of supports in the reflector support, the distance between the supports, the number of connection points between the supports and the reflector, and / or the distance between the connection points, may be selected to compensate for and / or minimize deflection or deformation of the reflector caused by centrifugal forces applied to the reflector.

[0198] Some disclosed embodiments may relate to a rotatable LIDAR system. A rotatable LIDAR system may be understood as described and illustrated elsewhere in this disclosure. A "rotatable LIDAR system" may refer to a LIDAR system that is capable of rotating about an axis of rotation. For example, as discussed elsewhere in this disclosure, a rotatable LIDAR system may rotate over a 360-degree angle to allow the LIDAR system to scan a 360-degree, 3-dimensional (3D) field of view of an environment in which the LIDAR system may be located. As an example, Figure 1A A rotatable LIDAR system 100 is shown, which can be configured to rotate about an axis of rotation 119. Figure 1A In one exemplary embodiment shown, LIDAR system 100 may be mounted on vehicle 110 such that FOV 120 extends a full 360 degrees relative to vehicle 100. However, it is contemplated that the LIDAR system may be mounted to other structures, which may be stationary or attachable to a vehicle, which may include a car, train, ship, airplane, movable gantry, or any other type of movable structure.

[0199] In some disclosed embodiments, a rotatable LIDAR system includes a rotor having an axis of rotation. The rotor may be understood as disclosed and exemplified elsewhere in this disclosure. The "axis of rotation" may refer to a generally straight line about which points of a body move in a circle. The axis of rotation passing through the rotating body may include a straight line passing through a fixed point of the rotating rigid body about which all other points of the body move in a circle. The "rotational axis of the rotor" may refer to a straight line that may be generally orthogonal to the rotor and may include a fixed point in the rotor about which the rest of the rotor may move in a circle. As an example, Figure 1A As shown, the rotatable LIDAR system 100 can rotate about the rotation axis 119. As another example, Figure 18 The rotor 700 is shown with a shaft 1810 and a rotor base 1812. The rotor 700 including the shaft 1810 and the rotor base 1812 can rotate about an axis of rotation 1820.

[0200] In some disclosed embodiments, the rotatable LIDAR system includes a motor configured to rotate a rotor about an axis of rotation. The motor configured to rotate the rotor may be understood as disclosed and illustrated elsewhere in this disclosure. As an example, Figure 7 and Figure 18As shown, motor 720 can be configured to rotate rotor 700 about rotation axis 1820. In some disclosed embodiments, the rotor is configured to rotate at a rotational speed of 3000 rpm to 7500 rpm. It should be understood that the rotor can be configured to rotate at many different speeds (e.g., greater than 3000 rpm, greater than 4000 rpm, greater than 5000 rpm, greater than 6000 rpm, greater than 7000 rpm, greater than 8000 rpm, greater than 9000 rpm, greater than 10000 rpm), or at any other higher or lower rotational speed. As discussed elsewhere in this disclosure, increasing the rotational speed of the rotor to, for example, between 3000 rpm and 7500 rpm can help increase the data capture rate of the LIDAR system, thereby achieving higher resolution measurements and more accurate scene perception.

[0201] In some disclosed embodiments, the LIDAR system includes a light source mounted on a rotor and configured to emit a light beam toward a field of view. The field of view, and the light source configured to emit a light beam toward the field of view may be understood as disclosed and exemplified elsewhere in this disclosure. In some disclosed embodiments, the LIDAR system includes a movable light deflector mounted on a rotor. The movable light deflector may be understood as disclosed and exemplified elsewhere in this disclosure. As an example, Figure 19A A top plan view of an exemplary LIDAR system 1900 is shown. Figure 19A As shown, LIDAR system 1900 can include rotor 700 and light source 712 mounted on rotor 700. Light source 712 can be configured to emit a light beam 1902 toward a field of view 1950, which can be similar to FOV 120 discussed elsewhere in this disclosure. Although shown as an arc, FOV 1950 can span 360 degrees around the rotational axis 1820 of the rotor of the LIDAR system.

[0202] In some embodiments, the movable light deflector is configured to direct an emission light beam from a light source toward the field of view. "Directing an emission light beam" may refer to causing the emission light beam to travel in a particular direction. The movable light deflector is configured to reflect a light beam incident on the movable light deflector. The movable light deflector may be positioned so that the reflected light beam can be caused to travel toward the FOV. As an example, Figure 19A 1 shows a top plan view of the LIDAR system 1900. Figure 19A As shown, light source 712 emits a light beam that is directed by one or more optical elements, such as prisms 1972 and 1974, toward movable light deflector 1930. Mirror 1932 of movable light deflector 1930 may be positioned so that light beam 1902 may be directed toward FOV 1950.

[0203] Some disclosed embodiments relate to a light detector mounted on a rotor and configured to receive a reflected light beam reflected from an object in a field of view. The light detector can be similar to a sensing unit or sensor configured to detect reflections from an object in a field of view, as disclosed and exemplified elsewhere in this disclosure. For example, the disclosed light detector can receive reflected light received from a FOV by a LIDAR system. As an example, Figure 19A As shown, the LIDAR system 1900 may include a light detector 1976 that may receive a reflected light beam 1904 received by the LIDAR system 1900 from the FOV 1950 .

[0204] In some disclosed embodiments, the LIDAR system includes at least one optical element disposed between a movable light deflector and a light detector, wherein the at least one optical element is configured to direct a reflected light beam from the movable light deflector to the light detector. The optical element may be understood as described and illustrated elsewhere in this disclosure. In some disclosed embodiments, the at least one optical element includes at least one of a prism or a reflector. For example, the optical element may include one or more of a reflector, a prism, a lens, a polarizer, a diffuser, a diffraction grating, a beam splitter, an optical window, a filter, a wave plate, a reflector, a crystal, or any other component configured to modify a light beam (e.g., modify the angle or direction of a light beam, modify the frequency of a light beam, separate a light beam, polarize a light beam, absorb a light beam, modify the amplitude of a light beam). As an example, Figure 19A As shown, the one or more optical elements may include prisms 1972, 1974 and / or mirrors 1978, 1980. Figure 19A As shown, LIDAR system 1900 can receive reflected light beam 1904 from FOV 1950. Light beam 1904 can be reflected by movable light deflector 1930 toward prism 1974, which can redirect light beam 1904 toward mirror 1978 via prism 1972. Mirror 1978 can, in turn, reflect light beam 1904 toward mirror 1980, which can reflect light beam 1904 such that it impinges on detector 1976. Figure 19A Several prisms 1972 , 1974 and mirrors 1978 , 1980 have been shown in FIG, but it should be understood that the LIDAR system 1900 may have a greater or lesser number of prisms and / or mirrors disposed between the movable light deflector 1930 and the detector 1976 .

[0205] In some disclosed embodiments, the movable light deflector includes a mirror support attached to the rotor. A "support" may refer to a structure that supports or serves as a base for a component. A "mirror support" may refer to a structure that holds up the mirror. For example, the mirror support may include a bar, a truss, a base, a frame, a beam, a column, any combination thereof, or any other structure capable of supporting a mirror. At least a portion of the structure (e.g., the mirror support) may be attached to the rotor via fasteners, welding, brazing, the use of an adhesive, or any other means of connecting or attaching a structure to another structure, such as the rotor.

[0206] In some disclosed embodiments, the movable light deflector includes a reflector attached to a reflector support. A "reflector" may refer to a component capable of deflecting or changing the direction of a light beam that may be incident on the reflector. Specifically, a "reflector" may refer to a component that reverses the direction of the light beam to an equal but opposite angle at which the light beam is incident on the reflector. The reflector may have a thickness between 400-800 microns. The reflective surface area of the reflector may be between 700-900 mm 2 Between, or between 800-850mm 2 to meet the optical requirements of the LIDAR system. In some embodiments, the reflector may have chamfered corners. The chamfers may be asymmetric about the longitudinal axis of the reflector. The reflector may be made of one of a variety of materials such as glass, silicon (coated or uncoated), or a polished metal such as silver or aluminum. The silicon may be coated with a dielectric coating or a gold coating. In some exemplary embodiments, the reflector may include a transparent material (e.g., glass or a thin polymer material) with a reflective coating of silver or aluminum applied to one surface of the transparent material. In the disclosed embodiments, a portion of the reflector support that is different from the portion that is attached to the rotor may be attached to the reflector via fasteners, welding, brazing, adhesives, or using any other means of connecting or attaching the structure (e.g., the mirror support) to another structure such as the reflector. As an example, Figure 19A A movable light deflector 1930 is shown having a mirror 1932 attached to a mirror support 1934. Figure 20 Another view of an exemplary movable light deflector 1930 is shown. Figure 20 As shown, the movable light deflector 1930 may include a reflector 1932. The reflector 1932 is already in Figure 20 is shown as transparent to show the Figure 20It should be understood that in the disclosed embodiment, the reflector 1932 is capable of reflecting light incident on the reflector 1932. The movable light deflector 1930 may also include a reflector support 1934. The reflector support 1934 may be attached to the rotor 700 at a base or lower end 1936 of the reflector support 1934 (see, e.g., Figure 18 、 19A ). The reflector 1932 can be attached to the reflector support 1934 at an upper end 1938 of the reflector support 1934.

[0207] In some disclosed embodiments, the reflector extends from a first end to a second end along the longitudinal axis of the deflector. As described above, the reflector in the disclosed embodiments may include a component capable of deflecting or changing the direction of a light beam that may be incident on the component. In some embodiments, the reflector may extend in a longitudinal direction from one end of the reflector (e.g., a first end) to an opposite end (e.g., a second end). In some embodiments, the reflector may be arranged symmetrically about a longitudinal axis or imaginary line extending along the length direction. As an example, Figure 20 The reflector 1932 is shown extending from a first end 2002 to a second end 2004 along the deflector longitudinal axis 2006.

[0208] In some disclosed embodiments, the deflector longitudinal axis is orthogonal to the rotational axis of the rotor. The deflector longitudinal axis can be angularly disposed relative to the rotational axis of the rotor to which the movable light deflector is attached. In some exemplary embodiments, the deflector longitudinal axis can be disposed at an angle of approximately 90° (e.g., orthogonal) relative to the rotational axis of the rotor. It should be understood that the terms similar and approximately as used in this disclosure should be interpreted to include typical design, manufacturing and / or processing tolerances. Thus, for example, substantially orthogonal can encompass angles within the range of 90° ± 5°. As an example, Figure 20 The rotation axis 1820 of the rotor 700 and the deflector longitudinal axis 2006 are shown. Figure 20 As shown, a virtual projection 2006A of the deflector longitudinal axis 2006 is positioned to intersect the rotation axis 1820 of the rotor 700. Figure 20 As further shown in , projection 2006A, and therefore the deflector longitudinal axis 2006, can be arranged substantially orthogonal to the longitudinal axis 2006.

[0209] In some disclosed embodiments, the first end and the second end are positioned at different radial distances relative to the axis of rotation of the rotor. "Radial distance" may refer to the distance of a point on the reflector relative to the axis of rotation of the rotor measured in a plane orthogonal to the axis of rotation. The first end of the reflector may be positioned at a first radial distance from the axis of rotation, while the second end of the reflector may be positioned at a second radial distance from the axis of rotation. In some exemplary embodiments, the first distance and the second distance may not be equal or different from each other. As an example, Figure 19A The rotating shaft 1820 of the rotor 700 is shown. The rotating shaft 1820 is shown as Figure 19A point on the rotor 700, since the rotation axis 1820 is arranged to be orthogonal to the plane of the rotor 700 and enters Figure 19A page or enter Figure 19A The plane. Figure 19A As shown, the first end 2002 of the reflector 1932 can be positioned at a first radial distance 1962 (eg, "R1") relative to the rotational axis 1820 of the rotor 700. Figure 19A As shown, the second end 2004 of the reflector 1932 can be positioned at a second radial distance 1964 (eg, "R2") relative to the rotational axis 1820 of the rotor 700. Figure 19A As shown, radial distance R1 is different from radial distance R2. For example, radial distance R1 is less than radial distance R2, although in some embodiments, radial distance R1 can be greater than radial distance R2.

[0210] In some disclosed embodiments, the deflector longitudinal axis is tilted relative to a radial direction extending through the center of the movable light deflector. "Tilt" may refer to the state of being tilted or angled at an angle other than orthogonal (e.g., other than 90°). Thus, for example, tilt may encompass angles other than 90°±5°. As described above, the first and second ends of the reflector may be disposed at different radial distances relative to the rotational axis of the rotor, to which the reflector may be attached via a reflector support. Thus, the deflector longitudinal axis may not be orthogonal to a radial axis extending from the reflector rotational axis through the geometric center of the reflector. As an example, Figure 19B 7 shows a top plan view of the rotor 700. Figure 19B As shown, the rotation axis 1820 can be set to be orthogonal to the plane of the rotor 700 and can enter Figure 19B page or enter Figure 19B The radial axis 1970 can extend radially from the rotational axis 1820 through a geometric center 1972 (e.g., a center equidistant from the first end 2002 and the second end 2004 along the deflector longitudinal axis 2006). Figure 19BAs shown, the deflector longitudinal axis 2006 can be disposed at an angle A relative to the radial axis 1970. The angle A can be different from 90°±5° such that the deflector longitudinal axis 2006 can be tilted relative to the radial axis 1970.

[0211] In some disclosed embodiments, the deflector longitudinal axis is tilted at an obtuse angle relative to a radial direction extending through the movable light deflector between the first end and the second end. As described above, the angle A between the deflector longitudinal axis 2006 and the radial axis 1970 passing through the center 1972 of the reflector 1932 (see, e.g., Figure 19A ) can be different from 90°±5°. In some embodiments, angle A can be an obtuse angle (e.g., >90°+5°). In addition, radial axes 1976 and 1978 can pass through first end 2002 and second end 2004 of reflector 1932, respectively (see, e.g., Figure 19A ). The deflector longitudinal axis 2006 can be disposed at an angle A1 relative to the radial axis 1976 and at an angle A2 relative to the radial axis 1978. In some embodiments, the deflector longitudinal axis 2006 extends between the first end 2004 and the second end 2006 through the reflector 1932 (see, e.g., Figure 19A ) each of the angles A, A1, A2 between the radial axes of the prisms, and any angle between A1 and A2 can be obtuse angles (eg, >90°).

[0212] In some disclosed embodiments, the reflector support includes a plurality of support arms attached to the reflector, the support arms being spaced apart from one another. A "support arm" may refer to a structure that holds up a structure similar to a reflector. For example, a support arm may include a bar, a truss, a frame, a beam, a column, any combination thereof, or any other elongated structural member that can support a reflector. In some embodiments, the reflector support may include more than one support arm, each support arm being attached to the reflector via fasteners, welding, brazing, using an adhesive, or using any other means of connecting or attaching a structure such as a support arm to another structure such as a reflector. "Spaced apart" may refer to being positioned so that there is a distance between two items. Thus, for example, support arms that are spaced apart from one another may be separated from one another by a predetermined distance. As an example, Figure 20 A perspective view of a movable light deflector 1900 is shown, comprising a mirror support 1934 having a plurality of support arms 2010, 2020, and 2030. Although Figure 20 The exemplary embodiment of FIG. 1 shows three support arms, but the mirror support 1934 may include any number of support arms (eg, 1, 2, 3, 4, or more). Figure 20For example, support arm 2030 is positioned at a distance "d1" relative to support arm 2010, and support arm 2020 is positioned at a distance "d2" relative to support arm 2030, where d1 and d2 are distances measured along the deflector longitudinal axis 2006.

[0213] In some disclosed embodiments, the plurality of support arms includes a central support arm, a first support arm spaced apart from the central support arm by a first distance, and a second support arm spaced apart from the central support arm by a second distance. As described above, in some embodiments, the reflector support may include three support arms, one of which may be a central support arm that may be positioned between the other two support arms. Furthermore, each of the other two support arms may be spaced apart from the central support arm (e.g., at a predetermined distance). As an example, Figure 20 As shown, the reflector support 1934 may include a central support arm 2030, a first support arm 2010, and a second support arm 2020. The first support arm 2010 may be spaced apart from the central support arm 2030 by a first distance d1. Similarly, the second support arm 2020 may be spaced apart from the central support arm 2030 by a second distance d2.

[0214] In some disclosed embodiments, the first distance is equal to the second distance. In some disclosed embodiments, the first distance is different from the second distance. As described above, in some embodiments, the reflector support may include three support arms, one of which may be a center support arm that may be located between the other two support arms. In addition, each of the other two support arms may be spaced apart from the center support arm (e.g., located at a predetermined distance). The distances between adjacent pairs of support arms may be equal or unequal. For example, the distances between adjacent pairs of support arms may be selected so that the reflector may be sufficiently supported to minimize deformation of the reflector when subjected to centrifugal forces generated by the rotation of the reflector around the rotation axis. In particular, the distances between adjacent pairs of support arms may be selected so that deformation of the reflector between a first pair of support arms may be offset by deformation of the reflector between a second pair of support arms, thereby minimizing the total amount of deformation of the reflector. As an example, as Figure 20As shown, the reflector support 1934 may include a central support arm 2030, a first support arm 2010, and a second support arm 2020. In some embodiments, the distance d1 between the central support arm 2030 and the first support arm 2010 may be approximately equal to the distance d2 between the central support arm 2030 and the second support arm 2020. In other embodiments, the distance d1 between the central support arm 2030 and the first support arm 2010 may be different from (e.g., greater than or less than) the distance d2 between the central support arm 2030 and the second support arm 2020. For example, in a configuration where the radial distance 1964, or R2, of the second end 2004 of the reflector 1934 is greater than the radial distance 1962, or R1, of the first end 2002 of the reflector 1934, the magnitude of the centrifugal force on the second end 2004 may be greater than the magnitude of the centrifugal force on the first end 2002. Consequently, the second end 2004 may tend to deform more than the first end 2002. In such a configuration, reducing the distance d2 relative to the distance d1 can help reduce the amount of deformation of the second end 2004 relative to the deformation of the reflector 1932 adjacent to the central support arm 2030, as compared to the deformation of the first end 2002 relative to the deformation of the reflector 1932 adjacent to the central support arm 2030. In other embodiments, the thickness and / or curvature of the reflector 1934 can vary between the first end 2002 and the second end 2004. In such a configuration, maintaining equal distances d1 and d2, or maintaining a distance d1 > d2, may be sufficient to ensure that the deformation of the reflector at the second end 2004 is less than a predetermined threshold deformation amount.

[0215] In some disclosed embodiments, the reflector extends from a proximal end adjacent to the rotor to a distal end in a direction transverse to the plane of the rotor. As described above, the disclosed reflector can extend from a first end to a second end in a longitudinal direction along the longitudinal axis of the deflector. The reflector can also have a width such that the reflector can extend from a position adjacent to the upper surface of the rotor in a transverse direction (e.g., in a direction perpendicular or angled relative to the upper surface of the rotor). As an example, Figure 20 As shown, the reflector 1932 can be oriented in a direction transverse to the plane of the rotor 700 (eg, the upper surface 1822) from a surface adjacent to the rotor 700 (see, for example, Figure 18 ) of the upper surface 1822 (see e.g. Figure 18 ) extends from a proximal end 2042 to a distal end 2044. In some embodiments, the reflector 1932 can be positioned substantially perpendicular to the upper surface 1822 of the rotor 700. In some embodiments, the reflector 1932 can be tilted at an angle (e.g., other than perpendicular) to the upper surface 1822 of the rotor 700. Figure 20As shown, in some embodiments, the reflector 1932 can have a polygonal shape. However, it is contemplated that the reflector 1932 can have a rectangular, square, triangular, elliptical, circular, or any other shape.

[0216] In some disclosed embodiments, each of the multiple support arms contacts the reflector at a single corresponding location. As described above, each of the support arms can be attached to the reflector to support or hold up the reflector when assembled on the rotor of the rotatable LIDAR. Each of the support arms can contact the reflector at a single location where the support arm can be attached to the reflector. In some disclosed embodiments, each of the first support arm, the center support arm, and the second support arm contacts the reflector at multiple locations. Although support arms contacting a single location have been described above, it may be beneficial to have support arms that contact and attach to the reflector at more than one location. In some embodiments, one or more support arms may contact and attach to the reflector at only one location, while one or more other support arms may contact and attach to the reflector at more than one location. In some disclosed embodiments, each of the first support arm, the center support arm, and the second support arm contacts the reflector at a pair of locations. For example, each support arm can contact the reflector and can be attached to the reflector at two locations spaced apart from each other. Doing so can help distribute the weight of the mirror across each support arm. Additionally, having each support arm contact and attach to the mirror at more than one location can allow each support arm to provide additional stiffness to the mirror, which can help reduce deformation of the mirror when subjected to centrifugal forces.

[0217] In some disclosed embodiments, at least one of the plurality of support arms contacts the reflector at three locations, including a first location proximate the proximal end; a second location proximate the distal end; and a third location between the first and second locations. As described above, one or more support arms can contact the reflector and be attached to the reflector at multiple locations (e.g., three locations). One of the three locations can be set proximate the proximal end of the reflector, another location can be set proximate the distal end of the reflector, and the third can be set between the other two locations. As described above, contacting and attaching to the reflector at multiple locations can allow one or more support arms to impart additional stiffness to the reflector, which can help reduce deformation of the reflector when subjected to centrifugal forces. As an example, Figure 21A A reflector is shown supported by a plurality of support arms that contact the reflector at a plurality of locations. Figure 21A As shown, the movable light deflector 1930 may include a reflector 1932. The reflector 1932 is already in Figure 21A is shown as transparent only to illustrate the Figure 21A It should be understood that in the disclosed embodiment, the reflector 1932 is capable of reflecting light incident on the reflector 1932. For example, Figure 21A As shown, the reflector support 1934 may include three support arms 2010, 2020, and 2030. The first support arm 2010 may contact the reflector and be attached to the reflector at a first position 2102 disposed adjacent to a proximal end 2042 of the reflector 1932. The first support arm 2010 may also contact the reflector and be attached to the reflector at a second position 2104 disposed adjacent to a distal end 2044 of the reflector 1932. Additionally, the first support arm 2010 may contact the reflector and be attached to the reflector at a third position 2106 disposed between the first position 2102 and the second position 2106. Figure 21A In some embodiments shown, the third position 2106 can coincide with the deflector longitudinal axis 2006, while in other embodiments, the third position 2106 can be spaced apart from the longitudinal axis 2006 along the width of the reflector 1932.

[0218] like Figure 21A As further shown, the central support arm 2030 can contact the reflector and be attached to the reflector at a fourth position 2112 disposed adjacent to the proximal end 2042 of the reflector 1932. The central support arm 2030 can also contact the reflector and be attached to the reflector at a fifth position 2114 disposed adjacent to the distal end 2044 of the reflector 1932. Furthermore, the central support arm 2030 can contact the reflector and be attached to the reflector at a sixth position 2116 disposed between the first position 2112 and the second position 2114.

[0219] Similarly, the second support arm 2020 can contact the reflector and be attached to the reflector at a seventh position 2122 disposed adjacent to the proximal end 2042 of the reflector 1932. The second support arm 2020 can also contact the reflector and be attached to the reflector at an eighth position 2124 disposed adjacent to the distal end 2044 of the reflector 1932. Furthermore, the second support arm 2020 can contact the reflector and be attached to the reflector at a ninth position 2126 disposed between the first position 2122 and the second position 2124. Although each of the support arms 2010, 2020, and 2030 has been Figure 21A 1932 at three locations, but in some embodiments, one or more of support arms 2010, 2020, and 2030 may contact mirror 1932 at fewer than or more than three locations.

[0220] In some disclosed embodiments, the distance between a pair of positions for the first support arm is different from the distance between a pair of positions for at least one of the center support arm and the second support arm. As described above, some or all of the support arms in the mirror support may contact the mirror in more than one position. The spacing or distance between the positions where one of the support arms contacts the mirror may be equal or unequal compared to the spacing or distance between the positions where one of the other support arms contacts the mirror. By selecting the distance between the contact positions of different arms, the amount of stiffness imparted to different portions of the mirror may be adjusted, which in turn may help to minimize deformation of different portions of the mirror when subjected to centrifugal forces. As an example, if Figure 21A As shown, the distance between the first position 2102 and the third position 2106 at which the first support arm 2010 contacts the reflector 1932 may be "D1," and the distance between the second position 2104 and the third position 2106 at which the first support arm 2010 contacts the reflector 1932 may be "D2." Similarly, the distance between the fourth position 2112 and the sixth position 2116 at which the center support arm 2030 contacts the reflector 1932 may be "D3," and the distance between the fifth position 2113 and the sixth position 2116 at which the center support arm 2030 contacts the reflector 1932 may be "D4." Similarly, the distance between the seventh position 2122 and the ninth position 2126 at which the second support arm 2020 contacts the reflector 1932 may be "D5," and the distance between the eighth position 2124 and the ninth position 2126 at which the third support arm 2020 contacts the reflector 1932 may be "D6." Some or all of the distances D1 , D2 , D3 , D4 , D5 , and D6 may be equal or unequal.

[0221] In some disclosed embodiments, the third position is equidistant from the first position and the second position. For example, the distance D1 between the first position 2102 and the third position 2106 can be equal to the distance D2 between the second position 2104 and the third position 2106, such that the third position 2106 is equidistant from the first position 2102 and the second position 2104. In some disclosed embodiments, the third position is closer to one of the first position and the second position. For example, in some embodiments, the distance D1 can be less than the distance D2, such that the third position 2106 is closer to the first position 2102 than the second position 2104. In other exemplary embodiments, the distance D1 can be greater than the distance D2, such that the third position 2106 is closer to the second position 2104 than the first position 2102.

[0222] In some disclosed embodiments, the distance between a pair of positions of the first support arm differs from the distance between a pair of positions of at least one of the central support arm and the second support arm. As described above, some or all of the distances D1, D2, D3, D4, D5, and D6 between the contact positions of support arms 2010, 2020, or 2030 and reflector 1932 may be equal or unequal. For example, in some embodiments, distance D1 may differ from distance D3. Thus, for example, distance D1 between a pair of positions of first support arm 2010 (such as first position 2102 and third position 2106) may differ from distance D2 between a pair of positions of central support arm 2020 (such as fourth position 2112 and sixth position 2116). As another example, distance D2 may differ from distance D6. Thus, for example, a distance D2 between a pair of positions of the first support arm 2010 (such as the second position 2104 and the third position 2106) can be different from a distance D6 between a pair of positions of the second support arm 2020 (such as the eighth position 2124 and the ninth position 2126).

[0223] In some disclosed embodiments, the length of the central support arm is greater than the length of the first support arm or the second support arm. The length of each support arm can be determined in a transverse or width direction relative to the longitudinal axis of the deflector or relative to the upper surface of the rotor. For example, Figure 21A As shown, the length of each support arm 2010, 2020, and 2030 can be determined in a direction transverse to the longitudinal axis 2006 of the deflector and along the width of the reflector 1932. For example, the first support arm 2010 can have a length "L1", the second support arm 2020 can have a length "L2", and the center support arm 2030 can have a length "L3". Some or all of the lengths L1, L2, and L3 can be equal or unequal. In some embodiments, the length L3 of the center support arm 2020 can be greater than the lengths L1 and L2 of the first support arm 2010 and the second support arm 2030, respectively.

[0224] In some disclosed embodiments, the reflector is rotatable about an axis parallel to the longitudinal axis of the deflector. As described above, the reflector can be mounted to the rotor and rotatable about the rotational axis of the rotor. This can allow the reflector to scan a 360° field of view by directing light towards the FOV and receiving reflected light from the FOV. However, the range of the field of view can be determined by the width of the reflector and the width of the illumination beam reflected by the reflector. As described above, the reflector can have a vertical range (in a direction parallel to the rotational axis) that can be scanned by a fixed reflector along the longitudinal axis of the deflector extending along the length of the reflector. Rotating the mirror about an axis parallel to the longitudinal axis of the deflector can allow the reflector to scan a range of the FOV that can be greater than the range determined by the width of the reflector alone. Therefore, in some embodiments, the reflector can be rotatable about an axis that can be orthogonal to the rotational axis. As an example, as Figure 21B As shown, the reflector 1932 can rotate about a transverse rotation axis 2150 that can be parallel to the deflector longitudinal axis 2006, and similar to the deflector longitudinal axis 2006, the transverse rotation axis 2150 of the reflector 1932 can also be set to be approximately orthogonal to the rotor 700 (see, for example Figure 7 ) of the rotation axis 1820 (see e.g. Figure 7 、 20 ).

[0225] In some embodiments, the reflector includes an actuator configured to rotate the reflector about an axis parallel to the reflector axis. An actuator may refer to a device that causes something to move by converting energy (e.g., electrical energy) into mechanical force. An actuator requires a control device and an energy source. The energy source may be mechanical (e.g., via a spring, pneumatics, hydraulics) or electrical (e.g., via a motor, electromagnetics). An actuator configured to rotate the reflector may refer to a device that causes the reflector to rotate by converting energy into a torque or rotational force applied to the reflector. In some embodiments, the actuator may include an electric motor. In other embodiments, the actuator may include a hydraulic or pneumatic actuator. As an example, Figure 21B As shown, the reflector 1932 may include one or more actuators 2160 that may be configured to rotate shafts 2162 attached to the first support 2010, the second support 2030, and the center support 2020. Rotation of the shaft 2162 may in turn rotate the reflector 1932 about a transverse rotation axis 2150 that is parallel to the longitudinal axis 2006 of the deflector.

[0226] In one embodiment, a rotatable LIDAR system includes a rotor having a rotational axis; a motor configured to rotate the rotor about the rotational axis; a light source mounted on the rotor and configured to emit a light beam toward a field of view; a movable light deflector mounted on the rotor and having a deflector longitudinal axis orthogonal to the rotational axis of the rotor, the deflector longitudinal axis tilted relative to a radial direction extending through the center of the movable light deflector, the movable light deflector configured to direct the light beam emitted from the light source toward the field of view; and a light detector mounted on the rotor and configured to receive a reflected light beam reflected from an object in the field of view.

[0227] In some embodiments, the LIDAR system further comprises at least one optical element disposed between the movable light deflector and the light detector, wherein the at least one optical element is configured to direct the reflected light beam from the movable light deflector to the light detector.

[0228] In some embodiments of the LIDAR system, the at least one optical element includes at least one of a prism or a mirror.

[0229] In some embodiments of the LIDAR system, the movable light deflector includes a mirror support attached to the rotor; and a mirror attached to the mirror support.

[0230] In some embodiments of the LIDAR system, the reflector extends from a first end to a second end along the deflector longitudinal axis, and the first end and the second end are positioned at different radial distances relative to the rotational axis of the rotor.

[0231] In some embodiments of the LIDAR system, the deflector longitudinal axis is inclined at an obtuse angle relative to a radial direction extending through the movable light deflector between the first end and the second end.

[0232] In some embodiments of the LIDAR system, the mirror is rotatable about an axis parallel to the longitudinal axis of the deflector.

[0233] In some embodiments of the LIDAR system, the mirror includes an actuator configured to rotate the mirror about an axis parallel to the mirror axis.

[0234] In some embodiments of the LIDAR system, the mirror support includes a plurality of support arms attached to the mirror, the support arms being spaced apart from one another.

[0235] In some embodiments of the LIDAR system, each support arm of the plurality of support arms contacts the mirror at a single corresponding location.

[0236] In some embodiments of the LIDAR system, the plurality of support arms includes a central support arm; a first support arm spaced apart from the central support arm by a first distance; and a second support arm spaced apart from the central support arm by a second distance.

[0237] In some embodiments of the LIDAR system, the first distance is equal to the second distance.

[0238] In some embodiments of the LIDAR system, the first distance is different from the second distance.

[0239] In some embodiments of the LIDAR system, each of the first support arm, the central support arm, and the second support arm contacts the mirror at a plurality of locations.

[0240] In some embodiments of the LIDAR system, each of the first support arm, the central support arm, and the second support arm contacts the mirror at a pair of locations, and a distance between the pair of locations of the first support arm is different from a distance between a pair of locations of at least one of the central support arm and the second support arm.

[0241] In some embodiments of the LIDAR system, the length of the central support arm is greater than the length of the first support arm or the second support arm.

[0242] In some embodiments of the LIDAR system, the mirror extends from a proximal end adjacent to the rotor to a distal end in a direction transverse to the plane of the rotor, and at least one support arm of the plurality of support arms contacts the mirror at three locations, including: a first location adjacent to the proximal end; a second location adjacent to the distal end; and a third location between the first and second locations.

[0243] In some embodiments of the LIDAR system, the third location is equidistant from the first location and the second location.

[0244] In some embodiments of the LIDAR system, the third location is closer to one of the first location and the second location.

[0245] In some embodiments of the LIDAR system, the rotor is configured to rotate at a rotational speed in a range between 3000 rpm and 7500 rpm.

[0246] Peripheral optical path for rotatable LIDAR

[0247] In LIDAR systems, it is often desirable to use systems with a small form factor. This reduces weight and size, making the system easier to maneuver, install, and attach to smaller objects (e.g., vehicles). This also reduces the overall resources required to build the LIDAR system itself. However, reducing the size of the LIDAR system can interfere with the receive path by reducing its length and, therefore, the range, accuracy, and usefulness of the system itself. A longer receive path (e.g., focal length) is required to collect sufficient light over a longer range, but this is difficult to implement in a LIDAR system with a small form factor. The embodiments described herein address this issue, such as by folding and rotating the optical path in the LIDAR system.

[0248] Figure 22 is a diagrammatic illustration of an arrangement relative to a mounting location of a rotor consistent with some embodiments of the present disclosure. Rotatable LIDAR system 2200 may include a rotor, such as rotor 2202 (composed of Figure 22 The entire area of the larger circle in FIG. 2 is represented). The rotor 2202 can have a central axis of rotation (e.g., oriented through Figure 22 ) and a peripheral region 2204 (eg, partially within, completely within, adjacent to) the rotor 2202. Figure 22 ) of multiple optical component mounting locations, such as mounting locations 2206a, 2206b, 2206c, 2206d, 2206e, 2206f, and 2206g (collectively referred to as mounting locations 2206). Figure 22 2203. In some embodiments, the rotor 2202 may be connected to the shaft 2203. The rotor 2202 may be relatively flat compared to the shaft 2203, which may extend further in the direction of the axis of rotation relative to the rotor. For example, the rotor and shaft combination may be similar to Figure 8. In some embodiments, rotor 2202 and shaft 2203 may share a common rotational axis and / or a common center (e.g., a focal point). For example, the rotational axis may be oriented to pass through the centers of both rotor 2202 and shaft 2203 (e.g., from a circular cross-section perspective). Peripheral region 2204 may surround shaft 2203 and / or may overlap rotor 2202 (e.g., at least partially or completely). It should be understood that aspects discussed with respect to rotor 2202 may also apply to shaft 2203. For example, when rotor 2202 rotates, shaft 2203 may also rotate. As another example, elements mounted around (or on) rotor 2202 may also be mounted around shaft 2203. Peripheral region 2204 may include, for example, an area that overlaps (e.g., partially or completely) with rotor 2202 (e.g., from a bird's-eye view), but may or may not overlap with shaft 2203. In some embodiments, the peripheral region 2204 of the rotor 2202 can be a region (two-dimensional or three-dimensional) that is closer to the outer edge of the rotor 2202 than the center of the rotor 2202. In some embodiments, the peripheral region 2204 can partially or completely contact the rotor 2202 and / or the shaft 2203; in other embodiments, it may not contact the rotor 2202 and / or the shaft 2203 at all (e.g., the peripheral region 2204 can exist above the rotor). The peripheral region 2204 can also surround (e.g., enclose) the rotor 2202 and the shaft 2203 (e.g., Figure 22 ), but in some embodiments this may not be the case. In some embodiments, peripheral region 2204 may be associated with (e.g., overlap with, be contained within) the rotatable LIDAR system. In some embodiments, peripheral region 2204 may include an area of the rotor located primarily toward the edge or periphery, consistent with the disclosed embodiments. For example, if the rotor has a circular cross-section, the peripheral region may be defined as an annular region, such as one located closer to the outer edge of the rotor than the inner edge. Mounting locations 2206 may be associated with one or more optical elements (e.g., optical components), electronic components, mechanical components, or other components associated with the rotatable LIDAR system. For example, mounting locations 2206 may include hardware configured to mount a component (e.g., an optical component, an electronic component), such as by including screw holes, snap-fit fastening mechanisms, welds, surfaces (e.g., textured for adhesive), or any other structure to which a component may be mounted (e.g., attached).

[0249] In some embodiments, components mounted at multiple optical assembly mounting locations (e.g., mounting location 2206) can be configured to rotate about a central rotational axis. For example, when rotor 2202 moves in a clockwise direction, components mounted at the multiple optical assembly mounting locations (and the locations themselves) can also move in a clockwise direction, and vice versa. In some embodiments, components mounted at one of the optical assembly mounting locations can be mounted according to a fixed axis (e.g., having a fixed orientation relative to another component). For example, the components can be mounted to the same frame or housing associated with (e.g., a portion thereof) a rotatable LIDAR system.

[0250] In some embodiments, the rotatable LIDAR system 2200 can have specific dimensions, such as one or more of height, width, length, radius, or diameter. In some embodiments, the rotatable LIDAR system 2200 can have a cylindrical shape (or a primarily cylindrical shape, such as Figure 11 ) and / or may have a circular footprint (e.g., from a top or bird's eye view), as shown in the Figures herein (such as Figure 22-24 ). As an example, the outer shape of the housing of rotatable LIDAR system 2200 may be cylindrical, and rotor 2202 may have a specific radius 2208 (or a corresponding diameter, not shown). In some embodiments, the diameter of the rotatable LIDAR system may be between 90 mm and 200 mm, inclusive. In some embodiments, the rotor (e.g., rotor 2202) may also have specific dimensions, such as a specific length, a specific radius, and / or a specific diameter. In some embodiments, the dimensions (e.g., diameter, height) of the rotor (or shaft 2203, or rotatable LIDAR system) may be between 30 mm and 75 mm, inclusive. In some embodiments, the dimensions of different aspects of the rotatable LIDAR system may have specific relationships to each other, such as specific ratios. In some embodiments, the ratio of the diameter of the rotatable LIDAR system (e.g., the diameter of rotor 2202, the diameter of the circular cross-sectional area of the rotatable LIDAR system) to the height of the rotatable LIDAR system (or the height of shaft 2203) may be between 1.2 and 6.7, inclusive.

[0251] In some embodiments, the rotor 2202 can be rotated by operation of a motor (not shown), which can also be part of the rotatable LIDAR system 2200. In some embodiments, the rotatable LIDAR system 2200 can further include a motor configured to rotate the rotor at a speed of at least 3,000 revolutions per minute (rpm). Of course, other rotational speeds are possible, such as, but not limited to, 2,500 rpm, 4,000 rpm, 5,000 rpm, or between 1,000 rpm and 10,000 rpm. In some embodiments, the rotatable LIDAR system 2200 can include more than one motor. In some embodiments, the rotatable LIDAR system 2200 can also include a first motor configured to rotate the rotor at a speed of at least 3,000 rpm and a second motor configured to pivot an optical deflector (e.g., the movable optical deflector 714 discussed further below).

[0252] Figure 23 is an illustration of an example implementation of a rotatable LIDAR system consistent with some embodiments of the present disclosure. In this exemplary depiction, a rotatable LIDAR system 2300 (which may include any or all of the features discussed with respect to LIDAR systems depicted or described elsewhere herein, including the rotatable LIDAR system 2200) may include a light source 712, a movable light deflector 714, and / or a light detector 716 (all of which are described above with respect to FIG. Figure 7 (discussed in

[15] ).

[0253] In some embodiments, the rotatable LIDAR system 2300 can be configured to scan a vertical field of view (VFOV). Scanning can include one or more of deflecting, reflecting, transmitting, projecting, and / or configuring light waves toward an area (such as the environment outside the rotatable LIDAR system 2300). The vertical field of view can include the area where light waves can be transmitted or projected during a certain amount of rotation of the rotatable LIDAR system 2300 (e.g., a millisecond of time, a half-degree of rotation, a full degree of rotation, or a two-degree rotation). In some embodiments, as discussed herein, a light deflector can be used to facilitate scanning the VFOV.

[0254] In some embodiments, the rotatable LIDAR system 2300 may include a scanning light deflector (e.g., movable light deflector 714) that may be mounted at one of a plurality of optical component mounting locations present as part of the rotatable LIDAR system 2300 and may perform, facilitate, or assist in vertically scanning the field of view. For example, the rotatable LIDAR system 2300 may include a scanning light deflector mounted at mounting location 2206e. In some embodiments, the scanning light deflector may be structured, shaped, sized, positioned, oriented, angled, and / or have a composition that allows it to deflect light. In some embodiments, the scanning light deflector (e.g., movable light deflector 714) may include a prism. Additionally or alternatively, the scanning light deflector (e.g., movable light deflector 714) may include a mirror.

[0255] In some embodiments, the scanning light deflector can be configured to vertically scan the field of view as the rotor 2202 rotates. Vertical scanning can include deflecting, reflecting, transmitting, projecting, and / or configuring light waves that may have been emitted by, for example, the light source 712. Vertical scanning can also include deflecting, reflecting, and / or transmitting one or more of the light waves toward different portions (e.g., different vertical portions) of the field of view (which can change as the rotor 2202 rotates) over time. In some embodiments, the light deflector (e.g., the movable light deflector 714) can be configured to both transmit outbound light beams and transmit (e.g., by deflecting or reflecting) inbound reflections of light beams. For example, the light deflector can transmit a light beam from the interior of the rotatable LIDAR system into the external environment of the rotatable LIDAR system (e.g., the field of view of the rotatable LIDAR system). In some embodiments, this light can reflect off objects or surfaces in the external environment of the rotatable LIDAR system and can be reflected back toward the rotatable LIDAR system. The rotatable LIDAR system can also receive inbound light, such as inbound reflections of the transmitted light beams. For example, light transmitted from the rotatable LIDAR system may be reflected back toward the rotatable LIDAR system, where it may be received by the rotatable LIDAR system, such as being affected by (e.g., intersecting, contacting, reaching, propagating to, being struck by, or being altered by) a light deflector and propagating along a light receiving path (e.g., being transmitted).

[0256] In some embodiments, a light deflector (e.g., movable light deflector 714) can be configured to transmit an outbound light beam or an inbound reflection of the transmitted light beam. In some embodiments, one light deflector can be configured to transmit an outbound light beam, and another light deflector can be configured to transmit an inbound reflection of the light beam. In some embodiments, the rotatable LIDAR system can be configured to receive light at an initial angle of entry (which can be associated with, e.g., occurring at, the light deflector) that is greater than a threshold angle (e.g., a threshold metric) relative to the terminal angle at which the light is received by the light detector. For example, light received at, by, or near movable light deflector 714 can have an angle that is different from the angle of light received by light detector 716 (e.g., due to the light being deflected as it travels along the reception path). As another example, if the threshold angle can be 45 degrees, the light can be received at an initial angle of entry of 46 degrees relative to the terminal angle at which the light is received by the light detector. In some embodiments, the rotatable LIDAR system can be configured to receive light at an initial angle of entry that differs by more than 90 degrees from a terminal angle at which the light is received by the light detector. As another example, the rotatable LIDAR system can be configured to receive light at an initial angle of entry that differs by more than 70 degrees from a terminal angle at which the light is received by the light detector.

[0257] In some embodiments, the rotatable LIDAR system 2300 can be configured to receive light beams (e.g., light waves) at a specific rate. In some embodiments, the rotatable LIDAR system 2300 can be configured to generate frames (e.g., frames of point cloud data, which may include arrays of point cloud data) at a rate of at least 5 frames per second (FPS). The LIDAR system 2300 can be configured to generate frames at a rate of 5-20 FPS (inclusive). Additionally or alternatively, the rotatable LIDAR system 2300 can have a horizontal field of view between 180 degrees and 360 degrees (inclusive), a vertical field of view between 15 degrees and 115 degrees (inclusive), and a resolution between 0.25 degrees and 0.025 degrees (inclusive).

[0258] In some embodiments, rotatable LIDAR system 2300 may include a light detector 716, which may be mounted at one of the plurality of optical assembly mounting locations. For example, rotatable LIDAR system 2300 may include light detector 716 mounted at mounting location 2206b. In some embodiments, light detector 716 may be configured to receive reflections of light from objects in the field of view as the rotor rotates. For example, light detector 716 may be configured to receive light waves that have been reflected from the environment of rotatable LIDAR system 2300, such as reflections from stationary objects, moving objects, or surfaces (e.g., the ground, a liquid surface). In some embodiments, light detector 716 may receive multiple reflections of light for use in generating point cloud data. Prior to being reflected by the environment of rotatable LIDAR system 2300, the same light wave may have initially been deflected or otherwise affected (e.g., impinged upon) by a scanning light deflector. In some embodiments, a light detector (e.g., light detector 716) may be configured to receive multiple light beams during a single rotation of the rotor. For example, consistent with the disclosed embodiments, during rotation of the rotor, the light deflector can receive multiple light beams, which can be transmitted along a light receiving path according to one or more optical components. In some embodiments, the multiple light beams can be separated by a specific angular distance. In some embodiments, the multiple light beams can be separated by an angular distance of 0.1-5 degrees, inclusive. The rotor can be configured to rotate multiple times, and the light detector can be further configured to receive the multiple light beams for corresponding rotations.

[0259] The rotatable LIDAR system 2300 may also include a plurality of optical elements mounted at other locations in the plurality of optical component mounting locations. For example, the rotatable LIDAR system 2300 may include optical elements 2302a, 2302b, 2302c, and 2302d, which may be mounted at mounting locations 2206f, 2206g, 2206d, and 2206c, respectively. However, the rotatable LIDAR system 2300 may include any number of optical elements, which may be mounted at mounting locations different from those depicted in the exemplary figures. The optical elements may include one or more of a mirror, a prism, a lens, a polarizer, a diffuser, a diffraction grating, a beam splitter, an optical window, a filter, a wave plate, a reflector, a crystal, or any other component configured to modify a light beam (e.g., modify the angle of a light beam, modify the frequency of a light beam, separate a light beam, polarize a light beam, absorb a light beam, modify the amplitude of a light beam).

[0260] The rotatable LIDAR system 2300 may also include at least one electronic component mounting location. For example, the rotatable LIDAR system 2300 may also include at least one electronic component mounting location between the central rotation axis and the peripheral area of the rotor. Figure 22 , the mounting position 2206h may be an electronic component mounting position. Figure 23 Rotatable LIDAR system 2300 may include electronic components 2304, which may be mounted at mounting location 2206h. In some embodiments, the at least one electronic component mounting location may include multiple electronic component mounting locations. In some embodiments, LIDAR system 2300 may include multiple electronic components, which may be mounted to one or more (e.g., different) electronic component mounting locations. The electronic components may include one or more circuits, processors, wires, diodes, capacitors, memory components, inductors, resistors, printed circuit boards (PCBs), or any other components associated with receiving, modifying, analyzing, determining, transmitting, or otherwise using optical information.

[0261] In some embodiments, the LIDAR system may further include at least one laser emitter. Consistent with the disclosed embodiments, the laser emitter may be configured to emit one or more laser beams, which may constitute a transmitted light beam. In some embodiments, the at least one laser emitter may emit one or more separate laser beams (e.g., separated from each other by a threshold spacing) to one or more optical elements (e.g., deflectors), which may project the one or more laser beams toward the field of view of the LIDAR system. In some embodiments, the at least one laser emitter may include at least one multi-channel laser emitter, which may include a plurality of different channels. In some embodiments, the at least one multi-channel laser emitter may include 4-128 channels, inclusive. Additionally, in some embodiments, the at least one laser emitter may include a plurality of multi-channel laser emitters, any or each of which may include 4-128 channels, inclusive. In some embodiments, the LIDAR system may include a laser (e.g., a laser emitter) spaced apart from a scanning light deflector. For example, the laser (e.g., a laser emitter) may be positioned within the LIDAR system at a predetermined distance from the scanning light deflector, or at least a threshold distance from the scanning light deflector.

[0262] The elements of the rotatable LIDAR system 2300 can be arranged in various ways. As described above, in some embodiments, the elements of the rotatable LIDAR system can be mounted in a fixed orientation relative to each other and / or relative to a structural aspect of the rotatable LIDAR system (e.g., a body or frame). In some embodiments, the scanning light deflector, the photodetector, and the plurality of optical elements can be mounted in a fixed orientation relative to each other. In some embodiments, the central rotational axis of the rotor (discussed above) can be a single (e.g., unique) rotational axis for one or more elements. In some embodiments, the central rotational axis of the rotor (discussed above) can be a single rotational axis associated with the scanning light deflector, the photodetector, and the plurality of optical elements.

[0263] Figure 24 is consistent with some embodiments of the present disclosure, Figure 23 Schematic diagram of exemplary optical paths of light in a rotatable LIDAR system. In some embodiments, a rotatable LIDAR system can include at least one optical path. The optical path can be open space, one or more regions between opaque elements (e.g., electronic and / or structural elements of the rotatable LIDAR system), or any other space configured to allow transmission of light (e.g., light in the visible spectrum, light outside the visible spectrum, or both). In some embodiments, the optical path can be configured (e.g., through the orientation, placement, and / or dimensions of one or more regions) to allow or enable light to travel along the optical path. In some embodiments, the optical path can include one or more segments extending in a primarily linear direction. In some embodiments, multiple segments can be connected to each other so that the optical path has a change in direction, as further discussed herein.

[0264] In some embodiments, at least one optical path may include a light receiving path or a light transmitting path. In some embodiments, at least one optical path may include a light receiving path and a light transmitting path. The light receiving path may include an optical path along (e.g., through) which light received by the rotatable LIDAR system can travel (e.g., according to an optical assembly). The light transmitting path may include an optical path along (e.g., through) which light transmitted by the rotatable LIDAR system can travel (e.g., according to an optical assembly). In this exemplary depiction, rotatable LIDAR system 2400 (which may include any or all of the features discussed with respect to LIDAR systems depicted or described elsewhere herein, including rotatable LIDAR system 2200 and / or rotatable LIDAR system 2300) includes a light receiving path 2402 and a light transmitting path 2404. In some embodiments, the light receiving path may be longer than the light transmitting path. Additionally, the light receiving path may be longer than the light transmitting path by a threshold amount. For example, the optical receive path can be longer than the optical transmit path by at least a threshold number of millimeters or centimeters, and / or can be longer by at least a threshold percentage (e.g., 20% longer, 50% longer, 70% longer, 115% longer). In some embodiments, the optical receive path 2402 plus the overlapping path 2406 can be considered a continuous (e.g., single) optical receive path. Similarly, the optical transmit path 2404 plus the overlapping path 2406 can be considered a continuous (e.g., single) optical transmit path.

[0265] In some embodiments, the rotatable LIDAR system may include regions where multiple paths overlap (e.g., paths). In some embodiments, the light receiving path and the light transmitting path may at least partially overlap. Figure 24 , the rotatable LIDAR system 2300 may include overlapping paths 2406, where the light receiving path 2402 and the light transmitting path 2404 travel along the same path (or near the same path). In some embodiments, the light receiving path and the light transmitting path may be defined in opposite directions in an area where the light receiving path and the light transmitting path at least partially overlap. Figure 24 , within overlapping path 2406 , light receive path 2402 may be directed inward (eg, toward the interior of rotatable LIDAR system 2300 ), and light transmit path 2404 may be directed outward (eg, toward the exterior of rotatable LIDAR system 2300 ).

[0266] In some embodiments, both the light receiving path and the light transmitting path may be affected by (e.g., may intersect, contact, overlap, reach, or strike) the same element as part of the rotatable LIDAR system. In some embodiments, both the light receiving path and the light transmitting path may be affected by (e.g., may intersect, contact, overlap, reach, or be struck by) a scanning light deflector (e.g., movable light deflector 714).

[0267] In some embodiments, elements of a rotatable LIDAR system can be configured to alter the angle of light received by the rotatable LIDAR system. For example, consistent with the disclosed embodiments, one or more elements (e.g., optical components) can have one or more of a specific positioning, angle, orientation, size, orientation, thickness, material, composition, dimensions, and / or shape that causes received light (or transmitted light) to travel along a specific path (e.g., a light receiving path, a light transmitting path). In some embodiments, the plurality of optical elements includes a reflective surface (e.g., a folding mirror) configured to reflect light from the light transmitting path and transmit light from the light receiving path.

[0268] In some embodiments, the scanning light deflector and the plurality of optical elements can be configured to change the angle of light transmitted by the rotatable LIDAR system at least three times. Additionally, the scanning light deflector and the plurality of optical elements can be configured to change the angle of light received by the rotatable LIDAR system at least four times. Figure 24 Let's further discuss an example of changing the path of the light angle. In some embodiments, one or more elements of a rotatable LIDAR system can be configured to change the angle of the light by a certain number of degrees. In some embodiments, the scanning light deflector and multiple optical elements can be configured to change the angle of the light received by the rotatable LIDAR system by a total of more than 180 degrees. The total number of degrees by which the angle of the light is changed can be expressed as the difference between the initial angle of the light and the final angle of the light. For example, the total number of degrees by which the angle of the light received by the rotatable LIDAR system 2400 is changed can be considered the difference between the angle of the light received by the scanning light deflector (e.g., movable light deflector 714) (e.g., at the scanning light deflector 714) and the angle of the light received by the light detector 716 (e.g., at the light detector 716). Alternatively, the total number of degrees by which the angle of the light is changed can be expressed as the sum of multiple angle changes expressed in degrees. For example, a change of 90 degrees to the left and then 90 degrees to the right would be considered a total change of 180 degrees.

[0269] In some embodiments, a scanning light deflector (e.g., movable light deflector 714) and multiple optical elements can define at least one optical path with at least one direction change between the scanning light deflector and the light detector. In some embodiments, the optical path can be positioned within the rotatable LIDAR system 2300 such that light traveling along the path travels through the interior of the rotatable LIDAR system 2300. In some embodiments, at least one optical path can include at least two direction changes (e.g., corresponding to the direction changes of the light traveling along the path), which can occur at optical elements. For example, the multiple optical elements can be configured such that at least one optical path includes at least two direction changes. Additionally or alternatively, the multiple optical elements can be configured such that at least one optical path includes at least three direction changes. For example, a light receiving path (such as the combination of light receiving path 2402 and overlapping path 2406) can include a direction change at the z-movable light deflector 714, and direction changes at optical elements 2302b, 2302c, and 2302d. As another example, a light transmission path (such as a combination of light transmission path 2404 and overlapping path 2406) can include a change in direction at movable light deflector 714, a change in direction at optical element 2302b, and a change in direction at optical element 2302a. In some embodiments, rotatable LIDAR system 2300 can include a prism that is common to both the light receiving path and the light transmitting path (e.g., positioned along or near both the light receiving path and the light transmitting path, affects both the light receiving path and the light transmitting path, intersects with both the light receiving path and the light transmitting path, or impinges on both the light receiving path and the light transmitting path). In some embodiments, the prism can be configured to fold (e.g., bend, alter, arc, affect, constrain, or guide) both the light receiving path and the light transmitting path. In some embodiments, the optical element 2302a can be configured (e.g., structured, shaped, sized, positioned, oriented, angled, and / or having a composition) to reflect or deflect light traveling along the optical transmit path 2404, and can also be configured to transmit (e.g., with no or minimal angular change) light traveling along the optical receive path 2402.

[0270] In some embodiments, one optical path may include a change in direction that is not included in another optical path. For example, the optical receive path may include a change in direction that is not included in the optical transmit path. Additionally or alternatively, the optical transmit path may include a change in direction that is not included in the optical receive path.

[0271] In some embodiments, at least one of the plurality of optical elements can be configured to deflect light. In some embodiments, at least one of the plurality of optical elements can be configured to deflect light traveling along a light receiving path and light traveling along a light transmitting path. In some embodiments, a scanning light deflector can be configured to deflect a plurality of light beams that can travel in different (e.g., opposite) directions. In some embodiments, a scanning light deflector can be configured to deflect light traveling along a light receiving path and light traveling along a light transmitting path. Figure 24 , the movable light deflector 714 can deflect incident light traveling along the light receiving path 2402, the incident light can be deflected toward the rotatable LIDAR system 2300 (e.g., toward an element inside the rotatable LIDAR system 2300), and can also deflect outgoing light traveling along the light transmitting path 2404.

[0272] In some embodiments, at least one optical path can travel near, between, and / or around different components of the rotatable LIDAR system. In some embodiments, at least one optical path encompasses more than 180 degrees of the rotor. Figure 24 The combined optical path of light receiving path 2402 and overlapping path 2406 encompasses (e.g., travels around) more than 180 degrees around the rotational axis of rotor 2202. In some embodiments, the length of at least one optical path can be greater than the diameter of the rotor. For example, the length of the light receiving and / or transmitting path can be greater than the diameter of the rotor (e.g., rotor 2202). In some embodiments, at least one optical path can encircle at least a portion of multiple electronic component mounting locations. In some embodiments, a PCB can be mounted at one or more of the electronic component mounting locations. In some embodiments, an optical path can be considered to encircle an element if it passes through, traverses, encircles, travels from one side of an element to the other side of an element, or partially surrounds an element.

[0273] In some embodiments, at least one optical path can be oriented in a plane that intersects the central rotational axis of the rotor. For example, at least one optical path can travel in one or more directions along a single plane. The central rotational axis of the rotor can intersect the plane (such as by traveling through the plane). Additionally, the central rotational axis of the rotor can be orthogonal to the plane. In some embodiments, at least one optical path can be oriented in a plane that is orthogonal to the central rotational axis of the rotor. Figure 24At least one optical path (e.g., optical receive path 2402, optical transmit path 2404, overlapping paths 2406, or a combination thereof) can be oriented in a plane corresponding to the plane of the diagram (e.g., the plane of the page), and the central rotational axis of rotor 2202 can pass through the plane, toward (or away from) the viewer, intersecting the plane of the at least one optical path. In some embodiments, the at least one optical path can be oriented in a plane parallel to the rotor (e.g., parallel to a radius or diameter of the rotor). In some embodiments, the plane can be relative to or substantially parallel (e.g., within a threshold degree) to the plane of the ground, the roof of a vehicle, or the plane of a surface to which the rotatable LIDAR system is mounted.

[0274] In one embodiment, a rotatable LIDAR system includes a rotor having a central rotation axis and a plurality of optical component mounting locations surrounding a peripheral area of the rotor, wherein components mounted at the plurality of optical component mounting locations are configured to rotate about the central rotation axis; a scanning light deflector mounted at one of the plurality of optical component mounting locations, the scanning light deflector configured to vertically scan a field of view as the rotor rotates; a light detector mounted at one of the plurality of optical component mounting locations and configured to receive reflections of light from objects in the field of view as the rotor rotates; and a plurality of optical elements mounted at other positions of the plurality of optical component mounting locations, the scanning light deflector and the plurality of optical elements defining at least one optical path having at least one direction change between the scanning light deflector and the light detector.

[0275] In some embodiments of the rotatable LIDAR system, at least one optical path includes at least two changes in direction.

[0276] In some embodiments of the rotatable LIDAR system, at least one optical path encompasses more than 180 degrees of the rotor.

[0277] In some embodiments of the rotatable LIDAR system, a length of at least one optical path is greater than a diameter of the rotor.

[0278] In some embodiments of the rotatable LIDAR system, the light deflector is configured to transmit both the outbound light beam and an inbound reflection of the outbound light beam.

[0279] In some embodiments of the rotatable LIDAR system, the plurality of optical elements are configured such that at least one optical path includes at least three changes in direction.

[0280] In some embodiments, the rotatable LIDAR system further includes a motor configured to rotate the rotor at a speed of at least 3,000 rpm.

[0281] In some embodiments, the rotatable LIDAR system further includes a first motor configured to rotate the rotor at a speed of at least 3,000 rpm and a second motor configured to pivot the light deflector.

[0282] In some embodiments, the rotatable LIDAR system further includes at least one electronics component mounting location between the central rotational axis and a peripheral region of the rotor.

[0283] In some embodiments of the rotatable LIDAR system, the at least one electronics component mounting location includes a plurality of electronics component mounting locations, and the at least one optical path surrounds at least a portion of the plurality of electronics component mounting locations.

[0284] In some embodiments of the rotatable LIDAR system, at least one optical path is oriented in a plane that intersects the central rotational axis of the rotor.

[0285] In some embodiments of the rotatable LIDAR system, at least one optical path is oriented in a plane orthogonal to the central rotational axis of the rotor.

[0286] In some embodiments of the rotatable LIDAR system, the diameter of the rotatable LIDAR system is between 90 mm and 200 mm, inclusive.

[0287] In some embodiments of the rotatable LIDAR system, the rotor has a size between 30 mm and 75 mm, inclusive.

[0288] In some embodiments of the rotatable LIDAR system, a ratio of the diameter of the rotatable LIDAR system to the length of the rotor is between 1.2 and 6.7, inclusive.

[0289] In some embodiments of the rotatable LIDAR system, the rotatable LIDAR system is configured to scan a vertical field of view (VFOV).

[0290] In some embodiments of the rotatable LIDAR system, the system is configured to receive reflections of light at a rate of at least 5 frames per second (FPS).

[0291] In some embodiments of the rotatable LIDAR system, at least one optical path includes a light receiving path.

[0292] In some embodiments of the rotatable LIDAR system, at least one optical path is oriented in a plane parallel to the rotor.

[0293] In some embodiments, the rotatable LIDAR system further includes at least one laser emitter.

[0294] In some embodiments of the rotatable LIDAR system, the at least one laser emitter includes at least one multi-channel laser emitter.

[0295] In some embodiments of the rotatable LIDAR system, the at least one multi-channel laser emitter includes 4-128 channels, inclusive.

[0296] In some embodiments of the rotatable LIDAR system, the at least one laser emitter includes a plurality of multi-channel laser emitters.

[0297] In some embodiments of the rotatable LIDAR system, the light detector is configured to receive multiple light beams during a single rotation of the rotor.

[0298] In some embodiments of the rotatable LIDAR system, the multiple beams are separated by an angular distance of 0.1-5 degrees, inclusive.

[0299] In some embodiments of a rotatable LIDAR system, the scanning light deflector, the light detector, and the plurality of optical elements are mounted in a fixed orientation relative to each other.

[0300] In some embodiments of the rotatable LIDAR system, the central rotation axis is a single rotation axis associated with the scanning light deflector, the light detector, and the plurality of optical elements.

[0301] In some embodiments of the rotatable LIDAR system, the at least one optical path includes a light receiving path and a light transmitting path.

[0302] In some embodiments of a rotatable LIDAR system, both the light receive path and the light transmit path are affected by a scanning light deflector.

[0303] In some embodiments of the rotatable LIDAR system, the light receiving path and the light transmitting path at least partially overlap.

[0304] In some embodiments of the rotatable LIDAR system, the light-receiving path and the light-transmitting path are defined along opposite directions in a region where the light-receiving path and the light-transmitting path at least partially overlap.

[0305] In some embodiments of the rotatable LIDAR system, the light receiving path is longer than the light transmitting path.

[0306] In some embodiments of the rotatable LIDAR system, the scanning light deflector is configured to deflect light traveling along the light receiving path and light traveling along the light transmitting path.

[0307] In some embodiments of the rotatable LIDAR system, at least one of the plurality of optical elements is configured to deflect light traveling along the light receiving path and light traveling along the light transmitting path.

[0308] In some embodiments of the rotatable LIDAR system, the rotatable LIDAR system is configured to receive light at an initial entry angle that differs by more than 90 degrees from a termination angle at which the light is received by the light detector.

[0309] In some embodiments of the rotatable LIDAR system, the scanning light deflector and the plurality of optical elements are configured to change the angle of light received by the rotatable LIDAR system at least four times.

[0310] In some embodiments of the rotatable LIDAR system, the scanning light deflector and the plurality of optical elements are configured to change the angle of light emitted by the rotatable LIDAR system at least three times.

[0311] In some embodiments of the rotatable LIDAR system, the scanning light deflector and the plurality of optical elements are configured to change the angle of light received by the rotatable LIDAR system by a total of more than 180 degrees.

[0312] In some embodiments of the rotatable LIDAR system, the plurality of optical elements includes a reflective surface configured to reflect light from the light transmit path and transmit light from the light receive path.

[0313] In some embodiments of the rotatable LIDAR system, the scanning light deflector includes a prism.

[0314] In some embodiments of the rotatable LIDAR system, the scanning light deflector includes a mirror.

[0315] In some embodiments, the rotatable LIDAR system further includes a laser spaced apart from the scanning light deflector.

[0316] Rotatable LIDAR system with common deflection element for inbound and outbound light

[0317] As mentioned above, rotatable LIDAR systems can present significant advantages, especially in the field of automotive LIDAR systems. Figure 1A As shown, one major advantage is the feasibility of mounting a sufficiently compact LIDAR system 100 on the roof of a vehicle 110, thereby enabling a 360-degree three-dimensional (3D) scan of the vehicle's environment. The compactness of the system can facilitate the efficient and seamless integration of LIDAR technology into dynamic systems such as vehicles.

[0318] An advantageous feature that can be integrated into a rotatable LIDAR system is a shared / common deflection element for both inbound and outbound light. This common deflection element plays a central role within the LIDAR system by enabling both light transmission and reception. Such a component can manage the path of light as it follows either a transmissive or reflective path. Incorporating a common deflection element into the LIDAR system offers several advantages. First, it can simplify the overall design by consolidating the deflection mechanisms for both inbound and outbound light into a single component, resulting in reduced complexity during manufacturing and assembly, and lower production costs due to the reduced number of components. Second, it can achieve a more compact system, which can be beneficial when mounting the LIDAR on a vehicle, as it minimizes aerodynamic impact while maintaining aesthetics. Third, precise alignment of the optical path can improve accuracy, resolution, and reliability when capturing 3D fields of view. Fourth, the common deflection element can optimize system efficiency while minimizing energy loss and maximizing overall performance. Fifth, another benefit of employing a common deflection element lies in its structural integrity, ensuring it remains stable even at high rotational speeds. For example, when utilizing a thin mirror located at the outer edge of a rotor rotating at speeds exceeding 3000 rpm, the mirror may experience substantial centrifugal forces that may cause deformation or bending. In contrast, a single strong and robust component can effectively withstand these forces.

[0319] In some embodiments, a rotatable LIDAR system may include a rotatable rotor. As previously mentioned, the term "rotor" encompasses the movable component of a rotatable LIDAR system, specifically designed to rotate about an axis. The rotor can take any form or shape. In some embodiments, the rotatable rotor may be a disk. As used in this context, a disk refers to a relatively flat, three-dimensional structure with a circular cross-section and in which the thickness is considered negligible compared to the diameter of its cross-section. In other words, the disk has a low aspect ratio, defined as the ratio of thickness to diameter. For example, the disk may have an aspect ratio below a predetermined threshold (such as 1 / 10). Alternatively, in some other embodiments, the rotatable rotor may be cylindrical. As used in this context, a cylinder refers to a three-dimensional structure with a circular cross-section and in which the thickness is comparable to or within the same order of magnitude as the diameter of its cross-section. In other words, a cylinder has a significant aspect ratio, indicating that its thickness is non-negligible compared to its diameter. For example, a cylinder may have an aspect ratio above a predetermined threshold (such as 1 / 10), indicating that the thickness and diameter are relatively close in magnitude.

[0320] According to the present disclosure, a rotatable rotor can encompass one or more components of a rotatable LIDAR system. In particular, in certain embodiments, the rotatable rotor can integrate different optical devices to support reflected and transmitted light paths. Within the scope of the present disclosure, the transmitted light path refers to the trajectory followed by a light beam exiting the LIDAR system, while the reflected light path refers to the path taken by the light beam collected by the LIDAR system. As previously mentioned, from a geometric perspective, a light beam can be described as a concentrated and coherent stream of photons, representing the propagation of electromagnetic radiation in a specific direction or along a specified path. A light beam can also be conceptualized as a grouping of light rays traveling together in a coherent manner. While individual rays within a light beam can exhibit slight variations in direction or wavelength, they generally share an overall trajectory or orientation. The collective effect of these multiple rays forms a light beam, which has a discernible spatial distribution and can carry energy and information. To schematically simplify visualization, a light beam can be visualized as a cluster of straight lines or rays emanating from a light source.

[0321] In some embodiments, the optical device may include a light deflector, a scanning mirror, and a deflection optical element. As used herein, a light deflector may refer to any kind of component designed to change the direction or path of light. A light deflector may serve the purpose of changing the direction or path of a light beam, and may do so through various mechanisms such as reflection, refraction, diffraction, or diffusion, depending on the intended purpose and application. In some embodiments, the light deflector may include a scanning mirror, or the scanning mirror may be connected to an actuating mechanism of the light deflector. A scanning mirror is a movable mirror designed to redirect or direct a light beam to a specific position or angle, thereby facilitating scanning or rastering of the light beam across the FOV.

[0322] Figure 25 is an illustration of an example implementation of a rotatable LIDAR system consistent with some embodiments of the present disclosure. The illustration of a rotatable LIDAR system 2500 includes a schematic top view of an example rotatable rotor 2550. As shown, a movable optical deflector 2502 operatively connected to a scanning mirror 2504 and a deflection element 2510 is mounted on rotor 2550. Furthermore, rotatable rotor 2550 may include a laser source 2506, a detector 2508, a folding mirror 2512, and a deflection mirror 2514. In some embodiments, deflection optical element 2510 may be mounted at a peripheral region of the rotatable rotor. In this case, the peripheral region of the rotating rotor may refer to those areas of the rotor that are primarily located toward the edge or periphery. For example, if the rotor has a circular cross-section, the peripheral region may be defined as an annular region. These regions have an inner radius equal to a predetermined fraction of the radius of the circular cross-section and an outer radius equal to the radius of the rotor's circular cross-section. For example, the predetermined fraction of the radius may be half the radius of the rotor's circular cross-section.

[0323] According to the disclosed embodiments and as Figure 25 As shown, the deflecting optical element 2510 may include a first optical element portion 2520 and a second optical element portion 2530. 26A to 26I Various exemplary embodiments of the deflecting optical element 2510 are shown. More specifically, Figures 26A to 26G shows a two-dimensional cross-sectional view of the deflection optical element 2510 along the median plane orthogonal to the rotation axis of the rotor, and Figure 26H and Figure 26I A perspective view of the deflecting optical element 2510 is shown. For clarity, the second optical element portion 2530 is shown in FIG. Figures 26A to 26G , and the first optical element portion 2520 is shown in white.

[0324] The above drawings illustrate the configuration of a first optical element portion 2520 and a second optical element portion 2530. The first optical element portion 2520 includes a first surface 2601, a second surface 2602, and a third surface 2603 extending at an angle between the first and second surfaces 2601, 2602. The first and second surfaces 2601, 2602 are light-transmissive, while the third surface 2603 is light-reflective. The second optical element portion 2530 includes a fourth surface 2604, a fifth surface 2605, and a sixth surface 2606 extending at an angle between the fourth and fifth surfaces 2604, 2605. The fourth and fifth surfaces 2604, 2605 are light-transmissive, while the sixth surface 2606 is light-reflective.

[0325] Generally speaking, within the scope of this context, a light-transmitting surface refers to a surface that allows light to pass through it without significant absorption or scattering, thereby maintaining the surface's transparency to light. A light-reflecting surface refers to a surface that redirects or reflects incident light, changing its direction of propagation. It should be understood that a surface may not exhibit absolute transparency or reflectivity. Therefore, a light-reflecting or light-transmitting surface can include surfaces that primarily reflect or allow light to pass through. Although there may be slight variations or imperfections in the degree of reflection or transmission, a surface is considered reflective when it primarily redirects light, and is considered transmissive when it primarily allows light to pass through without significant absorption, reflection, or scattering.

[0326] The behavior of a surface acting as an interface between two dissimilar materials (such as air and glass) can vary in its light reflection and transmission properties based on the angle of incidence of the light ray. According to the Snell-Descartes law, the reflection behavior of a light ray passing through a surface varies with the properties of the materials and the angle of incidence. When the angle of incidence exceeds a critical angle, determined by the refractive index and optical properties of the materials involved, total internal reflection occurs. In this case, the light ray is partially or completely reflected. Conversely, at angles of incidence below the critical angle, the light ray can pass through the surface and undergo refraction as it transitions into the other material. Therefore, a surface can be considered transmissive when the angle of incidence of the incident light ray remains below the critical angle and allows light to pass through, whereas a surface can be considered reflective when the angle of incidence exceeds the critical angle and results in predominant reflection of the light.

[0327] Figure 26H and Figure 26I The visual representations of the first, second, third, fourth, fifth, and sixth surfaces 2601, 2602, 2603, 2604, 2605, and 2606 in FIG. 2 differ based on their reflective or translucent nature. Translucent surfaces (i.e., 2601, 2602, 2604, and 2605) are depicted using a dotted pattern that indicates light can pass through. Reflective surfaces (specifically, 2603 and 2606) are represented by a black grid pattern, indicating that these surfaces can redirect or reflect incident light.

[0328] According to the disclosed embodiments, the first optical element portion 2520 and the second optical element portion 2530 of the deflecting optical element 2510 operate in tandem to achieve the desired redirection and manipulation of a light beam. Specifically, a first light beam traveling along a transmission optical path may enter through the fourth surface 2604 of the second optical element portion 2530. It may then be deflected by the sixth surface 2606 and pass through the fifth surface 2605 and the second surface 2602 before reaching the third surface 2603. The light beam undergoes additional deflection by the third surface 2603 and exits through the first surface 2601. On the other hand, a second light beam following a reflection optical path may enter through the first surface 2601 of the first optical element portion 2520. The second light beam undergoes deflection by the third surface 2603 and exits through the second surface 2602. By coordinating the functions of the first optical element portion 2520 and the second optical element portion 2530, the deflecting optical element 2510 can serve as a common deflecting element for both incoming and outgoing light beams, covering both transmission and reflection paths.

[0329] In some embodiments, at least one of the first surface 2601, the second surface 2602, the third surface 2603, the fourth surface 2604, the fifth surface 2605, or the sixth surface 2606 may be defined by a plurality of continuous faces. Figure 26H and Figure 26I The first surface 2601 and the sixth surface 2606 are shown as comprising two continuous faces. One face represents a major surface, while the other face is a smaller lateral face connected to the major surface (labeled 2601-1 and 2606-1, respectively). It is contemplated that the lateral faces 2601-1 and 2606-1 present on the first surface 2601 and the sixth surface 2606 may not significantly affect the function of the common deflecting element 2510. For example, these lateral faces may not be involved in direct interaction with light or light beams, and therefore, may not contribute substantially to the optical properties or performance of the system.

[0330] Figure 26A The diagram illustrates the cooperative mechanism of the deflection optical element 2510 with respect to a first light beam 2610 comprising four individual light rays (2611, 2612, 2613, and 2614) traveling along a transmitted optical path. Light beam 2610 enters the common deflection optical element 2510 through the fourth surface 2604 of the second optical element portion 2530. First light beam 2610 undergoes deflection by the sixth surface 2606, following a new trajectory toward the fifth surface 2605. First light beam 2610 then passes through the fifth surface 2605 and the second surface 2602, ultimately reaching the third surface 2603. At this point, it undergoes another deflection caused by the third surface 2603. Finally, first light beam 2610, or equivalently, light rays (2611, 2612, 2613, and 2614), exits the common deflection optical element 2510 through the first surface 2601 associated with the first optical element portion 2520.

[0331] Figure 26B The diagram illustrates the cooperative mechanism of the deflection optical element 2510 with respect to a second light beam 2620 comprising four individual light rays (2621, 2622, 2623, and 2624) traveling along a reflected optical path. Light beam 2620 enters the deflection optical element 2510 through the first surface 2601 of the first optical element portion 2520. The second light beam 2620 undergoes deflection by the third surface 2603, successfully traversing the third surface 2603 along a new trajectory toward the second surface 2602. In some embodiments, downstream of the second surface 2602 (i.e., after traversing the second surface 2602), a portion of the second light beam 2620, represented by light rays 2621 and 2622, passes through the fifth surface 2605. These light rays are then deflected by the sixth surface 2606 and pass through the fourth surface 2604. Simultaneously, another portion of the second light beam, consisting of light rays 2623 and 2624, passes through the second surface 2602 and continues along its path unaffected by the presence of the second optical element portion 2530.

[0332] In some embodiments, as Figure 25The rotatable LIDAR system 2500 depicted in FIG may further include a laser 2506 and a detector 2508. In this case, the configuration of the rotatable LIDAR system 2500 implements the following functions during operation: a first light beam 2610 originates from the laser 2506; a first portion of the second light beam 2620 (e.g., light rays 2621 and 2622) is reflected back to the laser 2506 by passing through the fifth surface 2605 and undergoing deflection by the sixth surface 2606 through the fourth surface 2604; and a second portion of the second light beam 2620 (e.g., light rays 2623 and 2624) impinges on the detector 2508 after passing through the second surface.

[0333] Additionally, in some embodiments, rotatable LIDAR system 2500 may also include a fold mirror 2514 and a deflection mirror 2512, which are configured to deflect the second portion (2623 and 2624) of second light beam 2620 toward detector 2508. Fold mirror 2514 and deflection mirror 2512 within a rotatable LIDAR system refer to any type of component specifically designed to redirect a light beam. For example, fold mirror 2514 may be configured to redirect light at an angle of 90 degrees, while deflection mirror 2512 may be designed to redirect light at angles greater than 90 degrees. During operation, these components are typically fixed in position to ensure consistent and reliable light redirection. However, it is important to note that the deflection angle can be adjusted by utilizing various settings or mechanisms associated with these mirrors, enabling fine-tuning of the deflection angle based on the specific requirements of LIDAR system 2500 and the application at hand.

[0334] In some embodiments, the first optical element portion 2520 and the second optical element portion 2530 can have the same refractive index. In other words, the two portions can correspond to a unified body composed of a single material, exhibiting a uniform refractive index, denoted as n (n represents the ratio of the speed of light in a vacuum (c) to the speed of light in the material (v), i.e., n = c / v ≥ 1). For example, in some embodiments, the first optical element portion 2520 and the second optical element portion 2530 can be made of the same type of glass. Examples of glass types include BK7, fused silica, SF10, flint glass, crown glass, or any other type of glass suitable for making optical components. Alternatively, in some other embodiments, the first optical element portion 2520 and the second optical element portion 2530 can have different refractive indices. This means that the two portions can correspond to a unified body composed of a single material, characterized by two different refractive indices, n and n', where n ≠ n'. For example, in some embodiments, the first optical element portion 2520 and the second optical element portion 2530 can be made of different types of glass, with one type of glass having a higher refractive index than the other.

[0335] Furthermore, in some embodiments, at least one of the first optical element portion 2520 and the second optical element portion 2530 can have a refractive index greater than 1. In other words, at least one of the two portions 2520 and 2530 can be made of a material other than air or a vacuum (such as, for example, glass). When a material has a refractive index greater than 1, light traveling through the medium will experience a reduction in speed compared to its speed in a vacuum.

[0336] Additionally, in some embodiments, a first light-transparent volume can be formed between the first surface 2601, the second surface 2602, and the third surface 2603, and a second light-transparent volume can be formed between the fourth surface 2604, the fifth surface 2605, and the sixth surface 2606. In the context of the present disclosure, a light-transparent volume can refer to an area within a deflection optical element through which light can pass with minimal obstruction, distortion, or energy loss. By providing separate volumes for different portions 2520 and 2530 of the common deflection optical element 2510, the transmission and manipulation of the light beams 2610 and 2620 can be controlled and optimized within each specific area. The light-transparent volume can be characterized by a refractive index. For example, in some embodiments, at least one of the first light-transparent volume or the second light-transparent volume can have a refractive index greater than or equal to 1.5 and less than or equal to 1.6. Using these values and assuming that the first and second light-transparent volumes are surrounded by air, the aforementioned critical angle has a value in the range of 38.7 to 41.8 degrees.

[0337] In some embodiments, it is contemplated that the first light transparent volume may be larger than the second light transparent volume. Figure 26H and Figure 26I As shown, the first optical element portion 2520 has a volume that is much larger than the second optical element portion. This difference in volume values can be attributed to the relative sizes or areas of the surfaces of the first optical element portion 2520 and the second optical element portion 2530. For example, in some embodiments, the fifth surface 2605 can have a smaller area than the second surface 2605. In cases where the fifth surface 2605 has a smaller surface area than the second surface 2602, these can be scenarios where at least one dimension of the fifth surface 2605, such as the length, is smaller than the corresponding dimension of the second surface 2602. Furthermore, this surface difference can also involve several dimensions, rather than being limited to just one. This means that the fifth surface 2605 can have a length, width, or other relevant dimension that is smaller than the corresponding dimension of the second surface 2602. Areas of the fifth surface 2605 along the reflection path can reflect light, thereby directing a portion of the collected light (2621, 2622) away from the detector through the fourth surface, as shown. Figure 26BAs shown, the efficiency of the LIDAR system is reduced. Therefore, it is advantageous to reduce the area of the fifth surface 2605 relative to the area of the second surface 2502 to maximize the portion of the reflected light (2623, 2634) that is transmitted through the second surface 2602.

[0338] For example, Figure 26H and Figure 26I As shown, fifth surface 2605 of second optical element portion 2530 has a length and width smaller than second surface 2602 of first optical element portion 2510. In some embodiments, for example, the area of fifth surface 2605 is smaller than the area of second surface 2602 by a factor between 0.27 and 0.4. In some embodiments, the area of fifth surface 2605 is no greater than half the area of second surface 2602.

[0339] In some embodiments, the second surface 2602 and the fifth surface 2605 can be spaced apart from each other. As previously described, this separation can be achieved by using various materials that do not significantly affect the paths of the light beams 2610 and 2620. For example, Figure 26C As depicted in , the second surface 2602 and the fifth surface 2605 are shown as being separated by an air gap, indicated by a black double arrow. In alternative scenarios, the separation between the second surface 2602 and the fifth surface 2605 can be filled with a different light-transmitting material, such as glass or a liquid, instead of air. In some embodiments, the material used for the separation does not introduce substantial changes to the behavior and trajectory of the light beam as it passes through the deflecting optical element 2510. Alternatively, in some other embodiments, the second surface 2602 and the fifth surface 2605 can be in contact with each other, for example, as FIG. 26A to FIG. 26B and Figures 26H to 26I shown.

[0340] In some embodiments, the second surface 2602 and the fifth surface 2605 of the deflecting optical element 2510 can lie in a common plane. This means that these surfaces can be positioned on the same plane or aligned with each other to form a flat and continuous interface within the optical element, for example, as Figures 26A to 26B and Figures 26H to 26IAs shown. By having the second surface and the fifth surface in a common plane, the optical paths of the light beams 2610 and 2620 remain uninterrupted and aligned, thereby providing efficient transmission and manipulation of light within the system. Alternatively, in some other embodiments, there may be an angle between the second surface 2602 and the fifth surface 2605 of the deflecting optical element 2510. Therefore, these surfaces may not be positioned in a common plane, but may have a specific angular separation between them. The angle between the second surface and the fifth surface can be designed to meet the requirements of the specific application and desired light manipulation within the rotatable LIDAR system. By introducing an angle between these surfaces, specific light deflection and redirection characteristics can be achieved, allowing customized control of the path of the light beam.

[0341] In some embodiments, a portion of the second surface 2602 of the deflecting optical element 2510 can be defined by one face, while the fifth surface 2605 can be defined by an opposing face. In this configuration, the face of the second surface 2602 is bonded or otherwise joined to the opposing face of the fifth surface 2605. This bonding creates a secure, transparent connection between these surfaces, which can maintain their alignment and structural integrity within the optical element. The bonding process can help maintain the desired optical properties and functionality of the deflecting optical element and achieve efficient transmission, deflection, and manipulation of the first and second light beams 2610, 2620.

[0342] Furthermore, in some further embodiments, the face of the second surface 2602 and the opposing surface of the fifth surface 2605 can be bonded using an index-matched adhesive. In the context of the present disclosure, an index-matched adhesive 2630 refers to an adhesive substance having a refractive index very close to the refractive index of another material (such as, for example, close to the refractive index of the second surface 2602 and the fifth surface 2605). For example, if the second surface 2602 and the fifth surface 2605 are made of glass (refractive index in the range of 1.4 to 1.6), an index-matched adhesive 2630 (such as a resin) can bond the two surfaces, the index-matched adhesive 2630 having a refractive index similar to that of the glass. By using the index-matched adhesive 2630, the optical paths of light beams such as 2610 and 2620 can remain undisturbed because the refractive index of the adhesive closely matches the refractive index of the second surface 2602 and the fifth surface 2605. Using an index-matched adhesive 2630 may introduce a thin layer of material between the two surfaces, such as Figure 26D However, in the context of the overall size and functionality of the deflecting optics 2510, this thin layer is believed to have a negligible effect on the optical path, whether for transmission or reflection.

[0343] In some embodiments, the first optical element portion 2520 and the second optical element portion 2530 can be integrally formed. In other words, the first optical element portion 2520 and the second optical element portion 2530 can be manufactured or constructed as a single component rather than as separate entities, resulting in a cohesive structure that can enhance the structural integrity and stability of the deflecting optical element. This integration can eliminate the need for separate assembly or bonding processes, simplifying the manufacture and assembly of the optical element and increasing its rigidity, thereby reducing deformation of the deflecting surfaces (particularly when the assembly rotates with a rotatable rotor and is subjected to high centrifugal forces due to its rotational speed and peripheral positioning on the rotor). For example, in embodiments where the first optical element portion 2520 and the second optical element portion 2530 are made of glass, the common deflecting element 2510 can be manufactured by carving a single piece of glass into the desired shape that meets the previously described functionalities. Alternatively, in some other embodiments, the second and fifth surfaces can be integral, making the second and fifth surfaces indistinguishable. In these scenarios, the manufacturing process can involve starting with separate entities for the first and second optical element portions 2520 and 2530. Subsequently, an integration process can be employed to merge the second surface 2602 and the fifth surface 2605 so that they are indistinguishable within the common deflecting element 2510. This integration process can, for example, involve fusing two separate components together so that the second surface and the fifth surface are seamlessly integrated into a single entity. In either scenario, whether the deflecting optical element 2510 is manufactured as a single entity or created by fusing separate components, the result is a seamless integration of the common deflecting element 2510 with the first optical element portion 2520 and the second optical element portion 2530. This integration results in the second surface 2602 and the fifth surface 2605 becoming an indistinguishable, integrated structure. Figure 26E The configuration is visually represented where a dashed line symbolically indicates the boundary between the first optical element portion 2520 and the second optical element portion 2530. This representation highlights the integrated nature of the common deflecting element and emphasizes the internal integration of the second surface 2602 and the fifth surface 2605 within the overall structure.

[0344] In some embodiments, the sixth surface 2606 and the third surface 2603 may be mirror coated. In the context of the present disclosure, a mirror coated surface refers to a surface that is covered on one side with a mirror or any other material with high reflectivity, which means that when the surface is mirror coated, almost all incident light is reflected regardless of the angle of incidence. To produce a mirror coated surface, several processes may be used, such as physical vapor deposition (PVD), chemical vapor deposition (CVD), electroplating, or silver plating. The mirror coating is made of Figure 26FThe thick black dashed lines in the figure indicate that the light-reflecting surfaces 2603 and 2606 of the co-deflecting element 2510 are coated with a mirror or another highly reflective material. The mirror coating on the sixth surface 2606 and the third surface 2603 can enhance the reflective properties of these surfaces. This can cause a larger portion of the incident light to be reflected back, thereby contributing to the desired optical function of the co-deflecting element 2510 as described above.

[0345] In some embodiments, at least one of the first surface, the second surface, the fourth surface, the fifth surface, or a combination thereof may be an anti-reflective (AR) coated surface. As used herein, an anti-reflective coating refers to a thin film comprising one or more layers applied to a surface to minimize reflections and increase light transmission. It can be designed to reduce unwanted reflections that may occur at interfaces between different media, such as air and a surface material. By minimizing reflections, an AR coating can improve optical performance by increasing light transmission and reducing reflections. In some cases, an AR coating may be applied to one or more of the disclosed surfaces. For example, in Figure 26G In the exemplary deflecting optical element shown, the first surface 2601, the second surface 2602, the fourth surface 2604 and the fifth surface 2605 are all AR coated surfaces, as shown by the thick black lines.

[0346] In some embodiments, the first optical element portion 2520 may be a first prism, while the second optical element portion 2520 may be a second prism. A prism refers to an optical element characterized by its geometric shape and ability to refract (e.g., bend) light. It may consist of two flat polygonal faces connected by an angled surface. The most common type of prism is a triangular prism, which includes two triangular faces connected by three rectangular or trapezoidal faces. When light enters a prism, it undergoes refraction at each surface, causing the light to change direction. The amount and direction of this bending may depend on the refractive index of the prism material and the angle at which the light strikes the surface. Furthermore, in some embodiments, the first prism may abut the second prism. In other words, the first and second prisms may be positioned side by side or in close proximity to each other and may share a common boundary or surface. There are various ways in which the first and second prisms may be positioned adjacent to each other. In some embodiments, the first and second prisms may be integrally formed. For example, the first and second prisms may be carved or fabricated from a single piece of glass. In other embodiments, the first and second prisms may be fixed together. For example, the first prism and the second prism may be adhered together using an index-matched adhesive or by fusing two surfaces associated with the first prism and the second prism, thereby effectively bonding them together.

[0347] In some embodiments, rotatable LIDAR system 2500 may further include a curved window. In some implementations, the curved window may have a curvature of no greater than 3.33 m⁻¹ (radius ~56 mm) around the edge of the rotatable rotor and the laser. The curved window may be configured to allow outbound light from the laser to pass through it, as well as inbound reflected laser light from the field of view. The curvature of the window may cause both the outbound laser light and the inbound reflected light to experience a degree of distortion corresponding to the curvature. Figure 27A Provided Figure 25 An illustration of an alternative embodiment of a rotatable LIDAR system 2500 depicted in FIG, characterized by incorporating an arcuate window indicated at 2710.

[0348] Consistent with the disclosed embodiments, the curved window 2710 may be made of glass and have a refractive index greater than 1. The curvature of the window 2710, combined with its higher refractive index compared to vacuum or air, may introduce small distortions to the light beam traveling along the transmission or reflection path. This effect is seen in the case of two light rays 2701 and 2702 traveling along the optical transmission path. Figure 27B As shown in Figure 27B Depicts from Figure 27A Simplified representation of a rotatable LIDAR system. The components shown include an arcuate window 2710, a first optical element portion 2520, a second optical element portion of the common deflection element 2510, and a scanning mirror. It should be noted that light rays 2701 and 2702 are emitted from a laser source 2506 (not depicted in this illustration). Once light rays 2701 and 2702 are deflected by the first optical element portion 2520 and the second optical element portion 2530, the system proceeds as previously described and Figure 26A , they continue their path and reach the scanning mirror 2504. The scanning mirror 2504 further redirects the light until they reach the arc-shaped window 2710.

[0349] As light rays pass through the curved window 2710, their directions are modified due to the curvature and refractive index of the window 2710. The interaction with the window 2710 causes slight changes in the light ray's trajectory. As a result, the light rays leave the LIDAR system 2500 slightly off the direction they were initially seeking. This divergence is Figure 27B 2701 and 2702 are shown by depicting the intended directions of light rays 2701 and 2702 as black dashed lines. Thus, after exiting the LIDAR system 2500 through the arc-shaped window 2710, the light rays 2701 and 2702 have a slight spread or angular deviation from their original intended paths.

[0350] The divergence of the light can be estimated by considering the curvature, refractive index and thickness of the curved window 2710. The thickness of the window can be defined as the difference between the outer radius (R) and the inner radius (r) of the window, as Figure 27B As shown. This estimate can help understand and compensate for the deviations introduced by the window. To counteract the distortion effects introduced by the curved window 2710, various optical elements along the light transmission or reflection path can be adjusted. These changes can be intended to compensate for the distortion caused by the curvature and refractive properties of the window 2710.

[0351] Therefore, in some embodiments, the first surface 2601 or the second surface 2602 of the first optical element portion 2520 can be curved to eliminate or reduce the distortion caused by the curved window. By curved one or both of these surfaces, the inherent distortion introduced by the curved window 2710 can be effectively eliminated or minimized. The specific curvature of the first surface 2601 or the second surface 2602 can be designed and implemented to compensate for the distortion caused by the curved window 2710. By aligning the curvature of these surfaces with the distortion caused by the window, the overall impact on the light can be mitigated, causing the light to exit or enter the LIDAR system in the intended direction.

[0352] Figure 27C supply Figure 27A Another simplified illustration of LIDAR system 2500 is depicted in FIG. In this simplified version, specific modifications have been made: first surface 2601 of first optical element portion 2520 has been designed to be curved to offset or reduce the distortion introduced by the curved window. By computationally curving first surface 2601, the inherent distortion caused by the curved window can be effectively offset. For example, when light rays 2701 and 2702 pass through the curved, convex first surface 2601 of first optical element portion 2520, they experience a slight convergence. This convergence can largely compensate for the divergence introduced by curved window 2710. As a result, when the light rays exit LIDAR system 2500, they can return to their original sought direction. The intentional curvature of first surface 2601 can offset the distortion introduced by the curved window. By curving the surface in a specific manner, the light rays can be manipulated to converge, partially correcting for the earlier divergence.

[0353] In some alternative embodiments, the third surface 2603 of the first optical element portion 2520 can be curved to eliminate or reduce distortion caused by the curved window. Similar to the previously described embodiments, it is contemplated that the third surface 2603 of the first optical element portion 2520 can be curved. This curvature can offset the distortion introduced by the curved window. By designing the curvature of the third surface 2603 to align with the distortion caused by the window, the overall impact on light can be effectively eliminated or minimized. It should be understood that in this configuration, the third surface can still be mirror-coated, thereby corresponding to a concave mirror. Similarly, in other embodiments, where the first optical element portion 2520 corresponds to a first prism and the second optical element portion 2530 corresponds to a second prism, it is contemplated that at least one of the first prism or the second prism can include a curved surface to eliminate distortion caused by the curved window.

[0354] In one embodiment, a rotatable LIDAR system includes a rotatable rotor having an optical device for supporting a reflective optical path and a transmissive optical path, wherein the optical device includes: a light deflector; a scanning mirror; and a deflection optical element, wherein the deflection optical element includes: a first optical element portion having a first surface, a second surface, and a third surface extending at an angle between the first surface and the second surface, wherein the first surface and the second surface are light-transmissive, and wherein the third surface is light-reflective; and a second optical element portion having a fourth surface. a first optical element portion and a second optical element portion configured to cooperate with each other so that: a first light beam traveling along a transmitted light path passes through the fourth surface, is deflected by the sixth surface through the fifth surface and the second surface to reach the third surface, and is deflected by the third surface through the first surface, and a second light beam traveling along a reflected light path passes through the first surface, and is deflected by the third surface through the second surface.

[0355] In some embodiments of the rotatable LIDAR system, downstream of the second surface, a portion of the second light beam passing through the fifth surface is deflected by the sixth surface through the fourth surface.

[0356] In some embodiments of the rotatable LIDAR system, the second surface and the fifth surface are spaced apart from each other.

[0357] In some embodiments of the rotatable LIDAR system, the fifth surface has a smaller area than the second surface.

[0358] In some embodiments of the rotatable LIDAR system, the second surface and the fifth surface are in contact with each other.

[0359] In some embodiments of the rotatable LIDAR system, the first optical element portion and the second optical element portion are integrally formed.

[0360] In some embodiments of the rotatable LIDAR system, the second surface and the fifth surface lie in a common plane.

[0361] In some embodiments of the rotatable LIDAR system, a portion of the second surface is defined by one face, and the fifth surface is defined by an opposing face, and wherein the face of the second surface is bonded to the opposing face of the fifth surface.

[0362] In some embodiments of the rotatable LIDAR system, a face of the second surface and an opposing surface of the fifth surface are bonded using an index-matching adhesive.

[0363] In some embodiments of the rotatable LIDAR system, the second surface and the fifth surface are integral, such that the second surface and the fifth surface are indistinguishable.

[0364] In some embodiments, the rotatable LIDAR system further comprises a laser and a detector, wherein the rotatable LIDAR system is configured such that, during use, a first light beam is emitted from the laser, a first portion of the second light beam is reflected back to the laser by passing through the fourth surface by passing through the fifth surface and being deflected by the sixth surface, and a second portion of the second light beam is impinged on the detector after passing through the second surface.

[0365] In some embodiments, the rotatable LIDAR system further comprises a folding mirror and a deflecting mirror, wherein the rotatable LIDAR system is configured such that, during use, the second portion of the second light beam impinges on the detector after passing through the second surface and being deflected by the folding mirror and the deflecting mirror.

[0366] In some embodiments of the rotatable LIDAR system, the deflection optical elements are mounted on a peripheral region of the rotatable rotor.

[0367] In some embodiments of the rotatable LIDAR system, the first optical element portion and the second optical element portion have the same refractive index.

[0368] In some embodiments of the rotatable LIDAR system, the first optical element portion and the second optical element portion are made of different types of glass.

[0369] In some embodiments of the rotatable LIDAR system, the first optical element portion and the second optical element portion are made of the same type of glass.

[0370] In some embodiments of the rotatable LIDAR system, at least one of the first optical element portion and the second optical element portion has a refractive index greater than 1.

[0371] In some embodiments of the rotatable LIDAR system, a first light transparent volume is formed between the first surface, the second surface, and the third surface, and a second light transparent volume is formed between the fourth surface, the fifth surface, and the sixth surface.

[0372] In some embodiments of the rotatable LIDAR system, the first light transparent volume is larger than the second light transparent volume.

[0373] In some embodiments of the rotatable LIDAR system, at least one of the first light transparent volume or the second light transparent volume has a refractive index greater than or equal to 1.5 and less than or equal to 1.6.

[0374] In some embodiments of the rotatable LIDAR system, the sixth surface and the third surface are mirror coated.

[0375] In some embodiments of the rotatable LIDAR system, at least one of the first surface, the second surface, the fourth surface, the fifth surface, or a combination thereof is an anti-reflective (AR) coated surface.

[0376] In some embodiments of the rotatable LIDAR system, the rotatable rotor is a disk.

[0377] In some embodiments of the rotatable LIDAR system, the rotatable rotor is cylindrical.

[0378] In some embodiments of the rotatable LIDAR system, at least one of the first surface, the second surface, the third surface, the fourth surface, the fifth surface, or the sixth surface is defined by a plurality of abutting surfaces.

[0379] In some embodiments, the rotatable LIDAR system further comprises an arcuate window disposed around an edge of the rotatable rotor and having a curvature no greater than 3.33 m-1, and a laser, the arcuate window being configured to enable outbound light from the laser to pass therethrough and to enable inbound reflected laser light from the field of view to pass therethrough, wherein the curvature of the window is such that an amount of distortion of the outbound laser light and the inbound reflected light is related to the curvature.

[0380] In some embodiments of the rotatable LIDAR system, the first surface or the second surface is curved to eliminate or reduce distortion caused by the curved window.

[0381] In some embodiments of the rotatable LIDAR system, the third surface is curved to eliminate distortion caused by the curved window.

[0382] In some embodiments of the rotatable LIDAR system, the first optical element portion is a first prism and the second optical element portion is a second prism.

[0383] In some embodiments of the rotatable LIDAR system, at least one of the first prism or the second prism includes a curved surface for eliminating distortion caused by the curved window.

[0384] In some embodiments of the rotatable LIDAR system, the first prism is adjacent to the second prism.

[0385] In some embodiments of the rotatable LIDAR system, the first prism and the second prism are integrally formed.

[0386] In some embodiments of the rotatable LIDAR system, the first prism and the second prism are fixed together.

[0387] The foregoing description has been presented for purposes of illu...

Claims

1. A rotatable LIDAR system comprising: a rotor having a central rotational axis and a plurality of optical component mounting locations surrounding a peripheral region of the rotor, wherein components mounted at the plurality of optical component mounting locations are configured to rotate about the central rotational axis; a scanning light deflector mounted at one of the plurality of optical component mounting locations, the scanning light deflector being configured to vertically scan a field of view when the rotor rotates; a light detector mounted at one of the plurality of optical component mounting locations and configured to receive reflections of light from an object in the field of view as the rotor rotates; and A plurality of optical elements are mounted at other positions among the plurality of optical component mounting positions, the scanning light deflector and the plurality of optical elements defining at least one optical path having at least one direction change between the scanning light deflector and the light detector.

2. The rotatable LIDAR system of claim 1, wherein: The at least one optical path includes at least two changes of direction.

3. The rotatable LIDAR system of claim 1, wherein: The at least one optical path covers more than 180 degrees of the rotor.

4. The rotatable LIDAR system of claim 1, wherein: The length of the at least one optical path is greater than the diameter of the rotor.

5. The rotatable LIDAR system of claim 1, wherein: The light deflector is configured to transmit both an outbound light beam and an inbound reflection of the outbound light beam.

6. The rotatable LIDAR system of claim 1, wherein: The plurality of optical elements are configured such that the at least one optical path includes at least three changes in direction.

7. The rotatable LIDAR system of claim 1 , further comprising a motor configured to rotate the rotor at a speed of at least 3,000 rpm.

8. The rotatable LIDAR system of claim 1 , further comprising a first motor configured to rotate the rotor at a speed of at least 3,000 rpm and a second motor configured to pivot the light deflector.

9. The rotatable LIDAR system of claim 1 , further comprising at least one electronics mounting location between the central rotational axis and a peripheral region of the rotor.

10. The rotatable LIDAR system of claim 9, wherein: The at least one electronic component mounting location includes a plurality of electronic component mounting locations, and the at least one optical path surrounds at least a portion of the plurality of electronic component mounting locations.

11. The rotatable LIDAR system of claim 1 , wherein: The at least one optical path is oriented in a plane that intersects the central rotational axis of the rotor.

12. The rotatable LIDAR system of claim 1, wherein: The at least one optical path is oriented in a plane orthogonal to the central rotational axis of the rotor.

13. The rotatable LIDAR system of claim 1 , wherein: The diameter of the rotatable LIDAR system is between 90 mm and 200 mm, inclusive.

14. The rotatable LIDAR system of claim 1, wherein: The rotor has a size between 30 mm and 75 mm, inclusive.

15. The rotatable LIDAR system of claim 1, wherein: A ratio of the diameter of the rotatable LIDAR system to the length of the rotor is between 1.2 and 6.7, inclusive.

16. The rotatable LIDAR system of claim 1, wherein: The rotatable LIDAR system is configured to scan a vertical field of view VFOV.

17. The rotatable LIDAR system of claim 1, wherein: The system is configured to receive reflections of light at a rate of at least 5 frames per second (FPS).

18. The rotatable LIDAR system of claim 1, wherein: The at least one optical path includes a light receiving path.

19. The rotatable LIDAR system of claim 1, wherein: The at least one optical path is oriented in a plane parallel to the rotor.

20. The rotatable LIDAR system of claim 1, further comprising at least one laser transmitter.

21. The rotatable LIDAR system of claim 20, wherein: The at least one laser emitter includes at least one multi-channel laser emitter.

22. The rotatable LIDAR system of claim 21, wherein: The at least one multi-channel laser transmitter comprises 4-128 channels, inclusive.

23. The rotatable LIDAR system of claim 20, wherein: The at least one laser emitter includes a plurality of multi-channel laser emitters.

24. The rotatable LIDAR system of claim 1, wherein: The light detector is configured to receive a plurality of light beams during a single rotation of the rotor.

25. The rotatable LIDAR system of claim 24, wherein: The plurality of light beams are separated by an angular distance of 0.1-5 degrees, inclusive.

26. The rotatable LIDAR system of claim 1, wherein: The scanning light deflector, the light detector, and the plurality of optical elements are mounted in a fixed orientation relative to each other.

27. The rotatable LIDAR system of claim 1, wherein: The central rotation axis is a single rotation axis associated with the scanning light deflector, the light detector, and the plurality of optical elements.

28. The rotatable LIDAR system of claim 1, wherein: The at least one optical path includes a light receiving path and a light transmitting path.

29. The rotatable LIDAR system of claim 28, wherein: Both the light receiving path and the light transmitting path are affected by the scanning light deflector.

30. The rotatable LIDAR system of claim 28, wherein: The light receiving path and the light transmitting path at least partially overlap.

31. The rotatable LIDAR system of claim 30, wherein: The light-receiving path and the light-transmitting path are defined in opposite directions in a region where the light-receiving path and the light-transmitting path at least partially overlap.

32. The rotatable LIDAR system of claim 28, wherein: The light receiving path is longer than the light transmitting path.

33. The rotatable LIDAR system of claim 28, wherein: The scanning light deflector is configured to deflect light traveling along the light receiving path and light traveling along the light transmitting path.

34. The rotatable LIDAR system of claim 28, wherein: At least one of the plurality of optical elements is configured to deflect light traveling along the light-receiving path and light traveling along the light-transmitting path.

35. The rotatable LIDAR system of claim 28, wherein: The rotatable LIDAR system is configured to receive light at an initial entry angle that differs by more than 90 degrees from a termination angle at which the light is received by the light detector.

36. The rotatable LIDAR system of claim 28, wherein: The scanning light deflector and the plurality of optical elements are configured to change the angle of light received by the rotatable LIDAR system at least four times.

37. The rotatable LIDAR system of claim 28, wherein: The scanning light deflector and the plurality of optical elements are configured to change the angle of light sent by the rotatable LIDAR system at least three times.

38. The rotatable LIDAR system of claim 28, wherein: The scanning light deflector and the plurality of optical elements are configured to change the angle of light received by the rotatable LIDAR system by a total of more than 180 degrees.

39. The rotatable LIDAR system of claim 28, wherein: The plurality of optical elements include a reflective surface configured to reflect light from the light transmitting path and transmit light from the light receiving path.

40. The rotatable LIDAR system of claim 1, wherein: The scanning light deflector includes a prism.

41. The rotatable LIDAR system of claim 1 , wherein: The scanning light deflector includes a reflecting mirror.

42. The rotatable LIDAR system of claim 1 further comprising a laser spaced apart from the scanning light deflector.

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