PATENT DOCUMENT

Publication Number: US-9703096-B2
Application Number: US-201514975871-A
Country: US
Kind Code: B2

Title: Asymmetric MEMS mirror assembly

Abstract:
A mirror assembly includes a frame having a central opening and a mirror plate, which is contained within the central opening of the frame and is shaped to define separate first and second mirrors connected by a bridge extending between the first and second mirrors. A pair of hinges are connected between the frame and the mirror plate at locations on the central axis on opposing sides of the frame so as to enable rotation of the mirror plate about the central axis relative to the frame.

Claims:
The invention claimed is: 
     
       1. A mirror assembly, comprising:
 a frame having a central opening; 
 a mirror plate, which is contained within the central opening of the frame and is shaped to define separate first and second mirrors connected by a neck extending along a central axis of the mirror plate between the first and second mirrors, 
 wherein the first mirror has a shape that tapers from a first width to a narrower width in proximity to the neck; and 
 a pair of hinges, which are connected between the frame and the mirror plate at locations on the central axis on opposing sides of the frame so as to enable rotation of the mirror plate about the central axis relative to the frame. 
 
     
     
       2. The assembly according to  claim 1 , wherein the first and second mirrors have respective first and second widths, and the bridge has a bridge width, all measured in a dimension perpendicular to the central axis, such that the bridge width is less than one-fourth the first and second widths. 
     
     
       3. The assembly according to  claim 1 , wherein the first and second mirrors have different, respective shapes and sizes. 
     
     
       4. The assembly according to  claim 3 , wherein the second mirror is larger than the first mirror, and wherein the hinges comprise first and second hinges, which are respectively connected between the first and second mirrors and the frame, wherein the second hinge is stiffer than the first hinge. 
     
     
       5. The assembly according to  claim 1 , wherein the frame, the mirror plate and the hinges comprise an epitaxial semiconductor material, which is etched to define and separate the mirror plate and the hinges from the frame. 
     
     
       6. The assembly according to  claim 5 , wherein a reflective coating is deposited over the semiconductor mirror in an area of the first and second mirrors but is not deposited on the bridge. 
     
     
       7. The assembly according to  claim 1 , wherein the hinges comprise torsion hinges. 
     
     
       8. The assembly according to  claim 1 , and comprising a first comb extending outward from the mirror plate, and a second comb extending inward from the frame so as to interleave with the first comb, wherein the first and second combs comprise a conductive material. 
     
     
       9. The assembly according to  claim 1 , and comprising a base surrounding the frame and rotationally connected to the frame so that the frame rotates, relative to the base, about a frame axis that is perpendicular to the central axis of the mirror plate. 
     
     
       10. A scanning device, comprising:
 a scanner, which comprises:
 a frame having a central opening; 
 a mirror plate, which is contained within the central opening of the frame and is shaped to define separate first and second mirrors connected by a neck extending along a central axis of the mirror plate between the first and second mirrors, 
 wherein the first mirror has a shape that tapers from a first width to a narrower width in proximity to the neck; and 
 a pair of hinges, which are connected between the frame and the mirror plate at locations on the central axis on opposing sides of the frame so as to enable rotation of the mirror plate about the central axis relative to the frame; 
 
 a transmitter, which is configured to emit a beam of light toward the first mirror, which reflects the beam so that the scanner scans the beam over a scene; and 
 a receiver, which is configured to receive, by reflection from the second mirror, the light reflected from the scene and to generate an output indicative of the light received from points in the scene. 
 
     
     
       11. The device according to  claim 10 , wherein the scanner comprises a base surrounding the frame and rotationally connected to the frame so that the frame rotates, relative to the base, about a frame axis that is perpendicular to the central axis of the mirror plate while the mirror plate rotates relative to the frame. 
     
     
       12. The device according to  claim 10 , wherein the mirror plate is configured to rotate about the hinges at a resonant frequency of the scanner, while the bridge is sufficiently stiff to synchronize the rotation of the first and second mirrors in amplitude and phase at the resonant frequency. 
     
     
       13. The device according to  claim 10 , wherein the first and second mirrors have respective first and second widths, and the neck has a bridge width, all measured in a dimension perpendicular to the central axis, such that the bridge width is less than one-fourth the first and second widths. 
     
     
       14. The device according to  claim 10 , wherein the bridge comprises a neck, which extends along a central axis of the mirror plate, and wherein the first mirror has a shape that tapers from the first width to a narrower width in proximity to the neck so as to inhibit specular reflection of the emitted beam into a field of view of the receiver. 
     
     
       15. The device according to  claim 10 , wherein the first and second mirrors have different, respective shapes and sizes. 
     
     
       16. The device according to  claim 10 , wherein the scanner comprises a first comb extending outward from the mirror plate, and a second comb extending inward from the frame so as to interleave with the first comb, wherein the first and second combs comprise a conductive material and are configured to drive the rotation of the mirror plate by electrostatic force due to a voltage applied between the first and second combs. 
     
     
       17. A method for producing a mirror assembly, the method comprising etching a semiconductor wafer to define:
 a frame having a central opening; 
 a mirror plate, which is contained within the central opening of the frame and is shaped to define separate first and second mirrors connected by a neck extending along a central axis of the mirror plate between the first and second mirrors, 
 wherein the first mirror has a shape that tapers from a first width to a narrower width in proximity to the neck; and 
 a pair of hinges, which are connected between the frame and the mirror plate at locations on the central axis on opposing sides of the frame so as to enable rotation of the mirror plate about the central axis relative to the frame. 
 
     
     
       18. The method according to  claim 17 , wherein the hinges comprise torsion hinges.

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of U.S. Provisional Patent Application 62/234,686, filed Sep. 30, 2015, which is incorporated herein by reference. 
    
    
     FIELD OF THE INVENTION 
     The present invention relates generally to micro-mechanical systems (MEMS), and particularly to optical scanning using such systems. 
     BACKGROUND 
     MEMS-based optical scanners are used in a variety of applications. For example, U.S. Pat. No. 7,952,781, whose disclosure is incorporated herein by reference, describes a method of scanning a light beam and a method of manufacturing a microelectromechanical system (MEMS), which can be incorporated in a scanning device. 
     U.S. Patent Application Publication 2013/0207970, whose disclosure is incorporated herein by reference, describes a scanning depth engine, which includes a transmitter, which emits a beam comprising pulses of light, and a scanner, which is configured to scan the beam, within a predefined scan range, over a scene. The scanner may comprise a micromirror produced using MEMS technology. A receiver receives the light reflected from the scene and generates an output indicative of the time of flight of the pulses to and from points in the scene. A processor is coupled to control the scanner and to process the output of the receiver so as to generate a 3D map of the scene. 
     PCT International Publication WO 2015/109273, whose disclosure is incorporated herein by reference, describes a scanning device, which includes a substrate, which is etched to define an array of two or more parallel rotating members, such as scanning mirrors, and a gimbal surrounding the rotating members. First hinges connect the gimbal to the substrate and defining a first axis of rotation, about which the gimbal rotates relative to the substrate. Second hinges connect the rotating members to the support and defining respective second, mutually-parallel axes of rotation of the rotating members relative to the support, which are not parallel to the first axis. In some embodiments, coupling means between the mirrors in the array couple the oscillations of the mirrors and thus maintain the synchronization between them. 
     SUMMARY 
     Embodiments of the present invention that are described hereinbelow provide improved scanning devices and methods. 
     There is therefore provided, in accordance with an embodiment of the invention, a mirror assembly, including a frame having a central opening and a mirror plate, which is contained within the central opening of the frame and is shaped to define separate first and second mirrors connected by a bridge extending between the first and second mirrors. A pair of hinges are connected between the frame and the mirror plate at locations on the central axis on opposing sides of the frame so as to enable rotation of the mirror plate about the central axis relative to the frame. 
     In some embodiments, the first and second mirrors have respective first and second widths, and the bridge has a bridge width, all measured in a dimension perpendicular to the central axis, such that the bridge width is less than one-fourth the first and second widths. In a disclosed embodiment, the bridge includes a neck, which extends along a central axis of the mirror plate, and the first mirror has a shape that tapers from a first width to a narrower width in proximity to the neck. 
     In some embodiments, the first and second mirrors have different, respective shapes and sizes. In one embodiment, the second mirror is larger than the first mirror, and the hinges include first and second hinges, which are respectively connected between the first and second mirrors and the frame, wherein the second hinge is stiffer than the first hinge. 
     In a disclosed embodiment, the frame, the mirror plate and the hinges include an epitaxial semiconductor material, which is etched to define and separate the mirror plate and the hinges from the frame. Typically, a reflective coating is deposited over the semiconductor mirror in an area of the first and second mirrors but is not deposited on the bridge. Additionally or alternatively, the hinges include torsion hinges. 
     In some embodiments, the assembly includes a first comb extending outward from the mirror plate, and a second comb extending inward from the frame so as to interleave with the first comb, wherein the first and second combs include a conductive material. Additionally or alternatively, the assembly includes a base surrounding the frame and rotationally connected to the frame so that the frame rotates, relative to the base, about a frame axis that is perpendicular to the central axis of the mirror plate. 
     There is also provided, in accordance with an embodiment of the invention, a scanning device, including scanner, which includes a frame having a central opening and a mirror plate, which is contained within the central opening of the frame and is shaped to define separate first and second mirrors connected by a bridge extending between the first and second mirrors. A pair of hinges are connected between the frame and the mirror plate at locations on the central axis on opposing sides of the frame so as to enable rotation of the mirror plate about the central axis relative to the frame. A transmitter is configured to emit a beam of light toward the first mirror, which reflects the beam so that the scanner scans the beam over a scene. A receiver is configured to receive, by reflection from the second mirror, the light reflected from the scene and to generate an output indicative of the light received from points in the scene. 
     In a disclosed embodiment, the scanner includes a base surrounding the frame and rotationally connected to the frame so that the frame rotates, relative to the base, about a frame axis that is perpendicular to the central axis of the mirror plate while the mirror plate rotates relative to the frame. 
     Typically, the mirror plate is configured to rotate about the hinges at a resonant frequency of the scanner, while the bridge is sufficiently stiff to synchronize the rotation of the first and second mirrors in amplitude and phase at the resonant frequency. 
     In some embodiments, the scanner includes a first comb extending outward from the mirror plate, and a second comb extending inward from the frame so as to interleave with the first comb, wherein the first and second combs include a conductive material and are configured to drive the rotation of the mirror plate by electrostatic force due to a voltage applied between the first and second combs. 
     There is additionally provided, in accordance with an embodiment of the invention, a method for producing a mirror assembly. The method includes etching a semiconductor wafer to define a frame having a central opening and a mirror plate, which is contained within the central opening of the frame and is shaped to define separate first and second mirrors connected by a bridge extending between the first and second mirrors. The wafer is also etched to define a pair of hinges, which are connected between the frame and the mirror plate at locations on the central axis on opposing sides of the frame so as to enable rotation of the mirror plate about the central axis relative to the frame. 
     The present invention will be more fully understood from the following detailed description of the embodiments thereof, taken together with the drawings in which: 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic frontal view of a gimbaled micromirror array, in accordance with an embodiment of the invention; and 
         FIGS. 2 and 3  are schematic, pictorial illustrations of a scanning device based on the array of  FIG. 1 , shown at two different scan angles, in accordance with an embodiment of the invention. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     The above-mentioned PCT International Publication WO 2015/109273 describes arrays of multiple scanning mirrors that are weakly coupled together in order to synchronize the oscillations of the mirrors in the array. U.S. patent application Ser. No. 14/551,104, filed Nov. 24, 2014, whose disclosure is incorporated herein by reference, describes an application of this technique in synchronizing separate transmit (Tx) and receive (Rx) mirrors. An advantage of this approach is that the individual mirrors in the array have low inertia and can be thus be driven with minimal power input at oscillation frequencies near the system resonant frequency. In practice, however, even small manufacturing deviations in the dimensions of the mirrors and the hinges on which they are mounted can lead to loss of precise amplitude and/or phase synchronization between the mirrors in the array. 
     Embodiments of the present invention that are described herein address this problem by coupling the transmit and receive mirrors strongly together, while using an asymmetric design to reduce inertia and reduce undesired scattering of the transmitted beam. Specifically, in the disclosed embodiment, the transmit and receive mirrors are coupled together by a narrow mechanical bridge, which ensures that the two mirrors will rotate at the same system frequency. Precise synchronization, in both phase and amplitude, between the two mirrors is achieved by matching the hinge stiffness and the inertia of the transmit and receive mirrors. 
     In the embodiments shown and described hereinbelow, the bridge has the form of a neck, running along the central axis of the mirror plate, which is also the axis of rotation. Alternatively, however, the bridge may have a different form, such as two or more parallel struts between the two mirrors. Typically, the width of the bridge, i.e., the aggregate dimension of the bridge or the multiple parts of the bridge measured perpendicular to the direction of rotation, is less than half the width of the mirrors and can advantageously be less than one-fourth the width of the mirrors. 
     In the disclosed embodiment, the size of the transmit mirror is reduced to approximately the minimum dimensions required to cover the entire area of the transmitted beam—which is typically considerably smaller than the collection area required to receive the reflected beam efficiently. The design takes into account the changing location and angle of incidence of the transmitted beam on the mirror as the mirror assembly rotates. Reduction of the transmit mirror size in this manner reduces inertia, as well as air drag, and thus reduces the power required to drive the mirror assembly. The shape and size of the transmit mirror are chosen so as to inhibit specular reflection of the beam emitted from the transmitter into the field of view of the receiver. The narrow bridge intervening between the transmit and receive mirrors is also useful in this regard, and in some embodiments may be made non-reflective for this purpose. 
       FIG. 1  is a schematic frontal view of a gimbaled micromirror array  20 , in accordance with an embodiment of the invention. Array  20  is typically produced by etching a semiconductor wafer, such as an epitaxial silicon wafer, to define a frame  30  having a central opening which contains a mirror plate comprising a transmit mirror  22  and a receive mirror  24 . Mirrors  22  and  24  are separated by a rigid neck (which is also a part of the mirror plate), extending along the central axis of the mirror plate between the two mirrors. A pair of hinges  28 , such as etched torsion hinges, are connected between frame  30  and the mirror plate at locations on the central axis on opposing sides of the frame, so as to enable rotation of the mirror plate about the central axis relative to the frame. Typically, a reflective coating is deposited on the wafer surface in the areas of mirrors  22  and  24 . The reflective coating is typically omitted from neck  26 , and the neck may even be coated with a light-absorbing layer, in order to reduce undesired specular reflections from the neck. 
     In the pictured embodiment, the wafer is also etched to define a base  32  surrounding frame  30  and rotationally connected to the frame by hinges  34 . Thus, frame  30  serves as a gimbal and rotates, relative to base  32 , about a frame axis that is perpendicular to the central axis of the mirror plate while the mirror plate rotates relative to the frame. Alternatively, for gimbaled operation, frame  30  may be mounted to rotate on bearings, as described, for example, in U.S. patent application Ser. No. 14/622,942, filed Feb. 16, 2015, whose disclosure is incorporated herein by reference. Further alternatively, frame  30  may be mounted statically, without gimbaling of the frame. 
     Typically, the mirror plate is configured to rotate about hinges  28  at a resonant frequency of array  20 , while neck  26  is sufficiently stiff to synchronize the rotation of mirrors  22  and  24  in amplitude and phase at the resonant frequency. To reduce inertia and avoid stray specular reflections of the transmitted beam, however, the width of neck  26 , measured in the direction perpendicular to the central axis of the mirror plate, is typically less than one-fourth the width of mirrors  22  and  24 . In a typical application, the area of each of mirrors  22  and  24  is in the range of 2.5 to 50 mm 2 , and the overall area of array  20  is on the order of 1 cm 2 . Alternatively, larger or even smaller scanners of this sort may be produced, depending on application requirements. 
     To further reduce inertia and undesired reflections, the shape of mirror  22  tapers from its full width near hinge  28  to a narrower width in proximity to neck  26 . Mirrors  22  and  24  have different, respective shapes and sizes, which are matched to the optical requirements of the scanning device in which array  20  is used, as illustrated in  FIGS. 2 and 3 . The inventors have found the shape of mirror  22  that is shown in the figure, with diagonally-tapering edges, to be useful in achieving the desired optical performance and low inertia; but other shapes of mirrors  22  and  24  may alternatively be used in accordance with system requirements. 
     To drive the rotation of the mirror plate, the semiconductor wafer is etched to define interleaved combs  36 , including one set of combs extending outward from mirrors  22  and  24  and a second, interleaved set extending inward from frame  30 . Combs  36  comprise a conductive material (typically deposited on the semiconductor surface), which is coupled by drive traces to an electrical drive circuit (not shown). Rotation of mirrors  22  and  24  is thus driven by electrostatic forces between combs  36 , as is known in the art. Alternatively, any other suitable sort of drive, such as electromagnetic or piezoelectric drives, may be used to drive the rotation of the mirrors. 
       FIGS. 2 and 3  are schematic, pictorial illustrations of a scanning device  40  with a scanning mirror assembly based on array  20 , shown at two different scan angles, in accordance with an embodiment of the invention. As noted earlier, the dimensions and masses of transmit and receive mirrors  22  and  24 , neck  26 , and hinges  28  are typically chosen so that the mirror plate rotates about hinges  28  by oscillation at a desired system resonant frequency. For more stable oscillation, hinges  28  may have different degrees of stiffness, with the hinge that is attached to the more massive receive mirror  24  being stiffer than the one attached to transmit mirror  22 . On the other hand, frame  30  may be driven to rotate relative to base  32  in a non-resonant mode, typically at a frequency substantially lower than the resonant frequency of the mirror plate. The fast rotation of mirrors  22  and  24  about the X-axis and the slower rotation of frame  30  about the Y-axis may be coordinated so as to define a raster scan of the transmitted and received beams over an area of interest. Alternatively, the rotations of the mirror plate and frame may be controlled to generate scan patterns of other sorts. 
     A transmitter  42  emits pulses of light, which are collimated by a collimating lens  44  and directed toward transmit mirror  22 , which reflects the beam so that the rotation of the mirror scans the beam over a scene. (The term “light,” in the context of the present description and in the claims, refers to optical radiation of any wavelength, including visible, infrared, and ultraviolet radiation.) Light reflected back from the scene is directed by receive mirror  24  toward a collection lens  46 , which focuses the reflected light onto a receiver  48 . In alternative optical layouts (not shown in the figures), device  40  may comprise ancillary optical elements, such as reflectors and filters, in accordance with system requirements. In any case, device  40  is designed so that array  20  scans the transmitted and received beams of light together over a predefined angular range, so that at each point in the scan, receiver  48  receives light from the same area of the scene that is illuminated at that point by transmitter  42 . 
     In one embodiment, scanning device  40  is used for depth sensing based on time of flight of the light pulses emitted by transmitter  42 . In this sort of embodiment, transmitter  42  typically comprises a pulsed laser diode, while receiver  48  comprises a high-speed optoelectronic detector, such as an avalanche photodiode. Alternatively, any other suitable sorts of emitting and sensing components may be used in device  40 . 
     The distance between mirrors  22  and  24  is chosen so as to enable placement of the transmit and receive optics (such as lenses  44  and  46 ) in the respective beam paths, and to eliminate specular reflections of the transmitted beam within device  40 . In particular mirrors  22  and  24  are spaced sufficiently far apart so that specular reflections of the beam emitted by transmitter  42  do not fall within a field of view of receiver  48 , and mirror  22  is shaped and sized in support of this objective. As can be seen in  FIGS. 2 and 3 , the beam emitted by transmitter  42  will strike different locations on mirror  22  depending on the scan angle. The tapered shape of mirror  22  is designed to contain the transmitted beam area over the entire scan range, while eliminating peripheral areas of the mirror that are not required for this purpose. 
     Although the figures described above show a particular optical design and layout of the components of scanning device  40 , the principles of the present invention may be applied in scanning devices of other designs. For example, the scanning mirror assembly in device  40  may comprise mirrors and gimbals of different shapes, sizes, orientations and spacing from those shown in the figures. Alternative designs based on the principles set forth above will be apparent to those skilled in the art and are also considered to be within the scope of the present invention. 
     It will thus be appreciated that the embodiments described above are cited by way of example, and that the present invention is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the present invention includes both combinations and subcombinations of the various features described hereinabove, as well as variations and modifications thereof which would occur to persons skilled in the art upon reading the foregoing description and which are not disclosed in the prior art.

Metadata:
Filing Date: 20151221
Publication Date: 20170711
Grant Date: 20170711
Priority Date: 20150930
Inventors: SHPUNT ALEXANDER
GERSON YUVAL
Assignee: APPLE INC
CPC Classifications: [{"code": "B81B2201/042", "inventive": false, "first": false, "tree": "[]"}, {"code": "G02B26/0841", "inventive": true, "first": false, "tree": "[]"}, {"code": "B81B2203/0136", "inventive": false, "first": false, "tree": "[]"}, {"code": "B81B3/0051", "inventive": true, "first": false, "tree": "[]"}, {"code": "G02B26/101", "inventive": true, "first": true, "tree": "[]"}, {"code": "B81C1/00007", "inventive": true, "first": false, "tree": "[]"}, {"code": "G02B26/0841", "inventive": true, "first": false, "tree": "[]"}, {"code": "B81B2203/0136", "inventive": false, "first": false, "tree": "[]"}, {"code": "B81B2201/042", "inventive": false, "first": false, "tree": "[]"}, {"code": "G02B26/101", "inventive": true, "first": true, "tree": "[]"}, {"code": "B81B3/0051", "inventive": true, "first": false, "tree": "[]"}, {"code": "B81C1/00007", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 58408971