PATENT DOCUMENT

Publication Number: US-10018723-B2
Application Number: US-201314416296-A
Country: US
Kind Code: B2

Title: Dual-axis scanning mirror

Abstract:
Optical apparatus ( 64 ) includes a stator assembly ( 47 ), which includes a core ( 78, 90, 91 ) containing an air gap and one or more coils ( 80, 92, 94, 116, 120 ) including conductive wire wound on the core so as to cause the core to form a magnetic circuit through the air gap in response to an electrical current flowing in the conductive wire. A scanning mirror assembly ( 45, 83, 85, 130 ) includes a support structure ( 68 ), a base ( 72 ), which is mounted to rotate about a first axis relative to the support structure, and a mirror ( 46 ), which is mounted to rotate about a second axis relative to the base. At least one rotor ( 76, 132 ) includes one or more permanent magnets, which are fixed to the scanning mirror assembly and which are positioned in the air gap so as to move in response to the magnetic circuit. A driver ( 82 ) is coupled to generate the electrical current in the one or more coils.

Claims:
The invention claimed is: 
     
       1. Optical apparatus, comprising:
 a stator assembly, which comprises:
 a core containing an air gap; and 
 one or more coils comprising conductive wire wound on the core so as to cause the core to form a magnetic circuit through the air gap in response to an electrical current flowing in the conductive wire; 
 
 a scanning mirror assembly, comprising:
 a support structure; 
 a base, which is mounted to rotate about a first axis relative to the support structure; and 
 a mirror, which is mounted to rotate about a second axis relative to the base; 
 
 at least one rotor, which comprises one or more permanent magnets, which are fixed to the scanning mirror assembly and which are positioned in the air gap so as to move in response to the magnetic circuit; and 
 a driver, which is coupled to generate the electrical current in the one or more coils at one or more frequencies selected so that motion of the at least one rotor, in response to the magnetic circuit, causes the base to rotate about the first axis at a first frequency while causing the mirror to rotate about the second axis at a second frequency. 
 
     
     
       2. The apparatus according to  claim 1 , wherein the mirror is weighted asymmetrically about at least the first axis so as to couple a first rotation of the mirror about the first axis to a second rotation of the base about the second axis. 
     
     
       3. The apparatus according to  claim 2 , wherein the second frequency is a resonant frequency of rotation of the mirror about the second axis, and wherein the driver is coupled to generate the electrical current at the first frequency. 
     
     
       4. The apparatus according to  claim 1 , wherein the core comprises first and second pairs of pole pieces, defining the air gap, and
 wherein the at least one rotor comprises first and second rotors, which are respectively fixed to opposing first and second sides of the base and are respectively positioned in the air gap between the first and second pairs of the pole pieces. 
 
     
     
       5. The apparatus according to  claim 4 , wherein the driver is configured to drive the one or more coils with a first current at the first frequency and a second current at the second frequency. 
     
     
       6. The apparatus according to  claim 5 , wherein the one or more coils comprise first coils wound adjacent to the pole pieces in the first pair and second coils wound adjacent to the pole pieces in the second pair, and
 wherein the drive circuit is configured to drive the first and second coils in phase at the first frequency and in opposing phases at the second frequency. 
 
     
     
       7. The apparatus according to  claim 1 , wherein the one or more permanent magnets of the at least one rotor comprise first and second permanent magnets fixed to the base on opposing sides of the mirror. 
     
     
       8. The apparatus according to  claim 7 , wherein each of the first and second permanent magnets comprises respective upper and lower pieces, which are mounted on opposing surfaces of the base so that a center of mass of the first and second permanent magnets is located on the first axis. 
     
     
       9. The apparatus according to  claim 7 , wherein the one or more permanent magnets of the at least one rotor comprise at least a third permanent magnet fixed to the mirror. 
     
     
       10. The apparatus according to  claim 1 , wherein the scanning mirror assembly comprises a silicon wafer formed as a microelectromechanical systems (MEMS) device, which comprises first spindles, etched from the silicon wafer, connecting the base to the support structure along the first axis and second spindles, etched from the silicon wafer, connecting the mirror to the base along the second axis. 
     
     
       11. The apparatus according to  claim 10 , wherein the second spindles are formed so that the mirror rotates resonantly about the second axis at the second frequency. 
     
     
       12. The apparatus according to  claim 10 , wherein the first spindles are formed so that rotation of the base about the first spindles is a non-resonant rotation, and wherein the wafer is thinned in a vicinity of the first spindles so as to increase a flexibility of the first spindles. 
     
     
       13. The apparatus according to  claim 1 , and comprising a capacitive sensor, comprising at least first and second plates, which are positioned in proximity to the mirror on opposite sides of the first axis and are angled relative to a plane of the support structure such that the plates are closest to the plane in a location adjacent to the first axis and slope away from the plane at locations farther from the first axis. 
     
     
       14. The apparatus according to  claim 1 , and comprising:
 a transmitter, which is configured to direct pulses of light to reflect from the mirror while the mirror and the base rotate, whereby the light is scanned over a scene; and 
 a receiver, which is configured to receive the pulses of the light reflected from the scene so as to measure a time of flight of the pulses. 
 
     
     
       15. Optical apparatus, comprising:
 a mirror assembly, comprising a mirror, which is mounted to rotate about an axis relative to a support structure; and 
 a capacitive sensor, comprising at least first and second plates, which are positioned in proximity to the mirror on opposite sides of the axis and are angled relative to a plane of the support structure such that the plates are closest to the plane in a location adjacent to the axis and slope away from the plane at locations farther from the axis. 
 
     
     
       16. The apparatus according to  claim 15 , wherein the mirror is mounted so as to rotate about first and second axes, which are mutually perpendicular, and
 wherein the at least first and second plates of the capacitive sensor comprise four plates, which together define a pyramidal shape, having a peak adjacent to a center point at which the axes intersect. 
 
     
     
       17. A method for scanning, comprising:
 providing a stator assembly, which comprises a core containing an air gap, and one or more coils comprising conductive wire wound on the core so as to cause the core to form a magnetic circuit through the air gap in response to an electrical current flowing in the conductive wire; 
 providing a scanning mirror assembly, comprising a support structure, a base, which is mounted to rotate about a first axis relative to the support structure, and a mirror, which is mounted to rotate about a second axis relative to the base; 
 fixing at least one rotor, which comprises one or more permanent magnets, to the scanning mirror assembly; 
 mounting the scanning mirror assembly on the stator assembly so that the one or more permanent magnets are positioned in the air gap so as to move in response to the magnetic circuit; and 
 driving the one or more coils with an electrical current at one or more frequencies selected so that motion of the at least one rotor, in response to the magnetic circuit, causes the base to rotate about the first axis at a first frequency while causing the mirror to rotate about the second axis at a second frequency.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This patent application claims the benefit of U.S. Provisional Patent Application 61/675,828, filed Jul. 26, 2012, and of U.S. Provisional Patent Application 61/835,655, filed Jun. 17, 2013. This patent application is also related to U.S. patent application Ser. No. 13/766,801, filed Feb. 14, 2013, to U.S. patent application Ser. No. 13/798,251, filed Mar. 13, 2013. All of the above related applications are incorporated herein by reference. 
    
    
     FIELD OF THE INVENTION 
     The present invention relates generally to optical scanning. 
     BACKGROUND 
     Various methods are known in the art for optical 3D mapping, i.e., generating a 3D profile of the surface of an object by processing an optical image of the object. This sort of 3D profile is also referred to as a 3D map, depth map or depth image, and 3D mapping is also referred to as depth mapping. 
     PCT Patent Application PCT/IB2011/053560, which is assigned to the assignee of the present patent application and whose disclosure is incorporated herein by reference, describes apparatus for mapping, which includes an illumination module. This module includes a radiation source, which is configured to emit a beam of radiation, and a scanner, which is configured to receive and scan the beam over a selected angular range. Illumination optics are configured to project the scanned beam so as to create a pattern of spots extending over a region of interest. An imaging module is configured to capture an image of the pattern that is projected onto an object in the region of interest. A processor is configured to process the image in order to construct a three-dimensional (3D) map of the object. 
     U.S. Patent Application Publication 2011/0279648, whose disclosure is incorporated herein by reference, describes a method for constructing a 3D representation of a subject, which comprises capturing, with a camera, a 2D image of the subject. The method further comprises scanning a modulated illumination beam over the subject to illuminate, one at a time, a plurality of target regions of the subject, and measuring a modulation aspect of light from the illumination beam reflected from each of the target regions. A moving-mirror beam scanner is used to scan the illumination beam, and a photodetector is used to measure the modulation aspect. The method further comprises computing a depth aspect based on the modulation aspect measured for each of the target regions, and associating the depth aspect with a corresponding pixel of the 2D image. 
     U.S. Pat. No. 8,018,579, whose disclosure is incorporated herein by reference, describes a three-dimensional imaging and display system in which user input is optically detected in an imaging volume by measuring the path length of an amplitude modulated scanning beam as a function of the phase shift thereof. Visual image user feedback concerning the detected user input is presented. 
     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. In a disclosed embodiment, a rotor assembly having at least one micromirror is formed with a permanent magnetic material mounted thereon, and a stator assembly has an arrangement of coils for applying a predetermined moment on the at least one micromirror. 
     Further MEMS mirror assemblies with magnetic drives are described, for example, in U.S. Patent Application Publications US 2008/0143196, US 2009/0284817, and US 2010/0046054. 
     SUMMARY 
     Embodiments of the present invention that are described hereinbelow provide optical scanners with enhanced performance and capabilities. 
     There is therefore provided, in accordance with an embodiment of the present invention, optical apparatus, including a stator assembly, which includes a core containing an air gap and one or more coils including conductive wire wound on the core so as to cause the core to form a magnetic circuit through the air gap in response to an electrical current flowing in the conductive wire. A scanning mirror assembly includes a support structure, a base, which is mounted to rotate about a first axis relative to the support structure, and a mirror, which is mounted to rotate about a second axis relative to the base. At least one rotor includes one or more permanent magnets, which are fixed to the scanning mirror assembly and which are positioned in the air gap so as to move in response to the magnetic circuit. A driver is coupled to generate the electrical current in the one or more coils at one or more frequencies selected so that motion of the at least one rotor, in response to the magnetic circuit, causes the base to rotate about the first axis at a first frequency while causing the mirror to rotate about the second axis at a second frequency. 
     In one embodiment, the mirror is weighted asymmetrically about at least the first axis so as to couple a first rotation of the mirror about the first axis to a second rotation of the base about the second axis. Typically, the second frequency is a resonant frequency of rotation of the mirror about the second axis, and the driver is coupled to generate the electrical current at the first frequency. 
     In some embodiments, the core includes first and second pairs of pole pieces, defining the air gap, and the at least one rotor includes first and second rotors, which are respectively fixed to opposing first and second sides of the base and are respectively positioned in the air gap between the first and second pairs of the pole pieces. In a disclosed embodiment, the drive circuit is configured to drive the one or more coils with a first current at the first frequency and a second current at the second frequency. Typically, the one or more coils include first coils wound adjacent to the pole pieces in the first pair and second coils wound adjacent to the pole pieces in the second pair, and the drive circuit is configured to drive the first and second coils in phase at the first frequency and in opposing phases at the second frequency. 
     In certain disclosed embodiments, the core includes a tooth, which protrudes between the pole pieces and has an upper end that adjoins and contains the air gap. Typically, the core includes a base, from which the pole pieces and the tooth protrude toward the air gap. The one or more coils may include first coils wound adjacent to the pole pieces and a second coil wound on the tooth, wherein the drive circuit is configured to drive the first coils at the first frequency and the second coil at the second frequency. In one embodiment, the core includes a plurality of fingers, which surround the tooth and protrude toward the air gap between the tooth and the pole pieces. 
     In some embodiments, the one or more permanent magnets of the at least one rotor include first and second permanent magnets fixed to the base on opposing sides of the mirror. In one embodiment, the first and second permanent magnets have a rectangular shape. Additionally or alternatively, each of the first and second permanent magnets includes respective upper and lower pieces, which are mounted on opposing surfaces of the base so that a center of mass of the first and second permanent magnets is located on the first axis. 
     Further additionally or alternatively, the one or more permanent magnets of the at least one rotor may include at least a third permanent magnet fixed to the mirror. The at least third permanent magnet may be recessed within a surface of the mirror. 
     In disclosed embodiments, the scanning mirror assembly includes a silicon wafer formed as a microelectromechanical systems (MEMS) device, which includes first spindles, etched from the silicon wafer, connecting the base to the substrate along the first axis and second spindles, etched from the silicon wafer, connecting the mirror to the base along the second axis. Typically, the second spindles are formed so that the mirror rotates resonantly about the second axis at the second frequency, while the first spindles are formed so that rotation of the base about the first spindles is a non-resonant rotation. The wafer may be thinned in a vicinity of the first spindles so as to increase a flexibility of the first spindles. 
     In a disclosed embodiment, the apparatus includes a transmitter, which is configured to direct pulses of light to reflect from the mirror while the mirror and the base rotate, whereby the light is scanned over a scene. A receiver is configured to receive the pulses of the light reflected from the scene so as to measure a time of flight of the pulses. 
     There is also provided, in accordance with an embodiment of the present invention, optical apparatus, which includes a mirror assembly, including a mirror, which is mounted to rotate about an axis relative to a support structure. A capacitive sensor includes at least first and second plates, which are positioned in proximity to the mirror on opposite sides of the axis and are angled relative to a plane of the support structure such that the plates are closest to the plane in a location adjacent to the axis and slope away from the plane at locations farther from the axis. 
     In a disclosed embodiment, the mirror is mounted so as to rotate about first and second axes, which are mutually perpendicular, and the at least first and second plates of the capacitive sensor include four plates, which together define a pyramidal shape, having a peak adjacent to a center point at which the axes intersect. 
     There is additionally provided, in accordance with an embodiment of the present invention, a method for scanning, which includes providing a stator assembly, which includes a core containing an air gap, and one or more coils including conductive wire wound on the core so as to cause the core to form a magnetic circuit through the air gap in response to an electrical current flowing in the conductive wire. A scanning mirror assembly is provided, including a support structure, a base, which is mounted to rotate about a first axis relative to the support structure, and a mirror, which is mounted to rotate about a second axis relative to the base. At least one rotor, which includes one or more permanent magnets, is fixed to the scanning mirror assembly. The scanning mirror assembly is mounted on the stator assembly so that the one or more permanent magnets are positioned in the air gap so as to move in response to the magnetic circuit. The one or more coils are driven with an electrical current at one or more frequencies selected so that motion of the at least one rotor, in response to the magnetic circuit, causes the base to rotate about the first axis at a first frequency while causing the mirror to rotate about the second axis at a second frequency. 
     There is further provided, in accordance with an embodiment of the present invention, a method for monitoring, which includes mounting a mirror to rotate about an axis relative to a support structure. At least first and second plates of a capacitive sensor are positioned in proximity to the mirror on opposite sides of the axis, while angling the plates relative to a plane of the support structure such that the plates are closest to the plane in a location adjacent to the axis and slope away from the plane at locations farther from the axis. Changes in a capacitance between the plates and the mirror are measured so as to monitor rotation of the mirror. 
     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, pictorial illustration of an optical scanning head, in accordance with an embodiment of the present invention; 
         FIG. 2  is a schematic, pictorial illustration of a MEMS scanner, in accordance with an embodiment of the present invention; 
         FIG. 3A  is a schematic bottom view of a micromirror assembly, in accordance with an embodiment of the present invention; 
         FIG. 3B  is a schematic frontal view of a part of a micromirror assembly, in accordance with another embodiment of the present invention; 
         FIG. 4  is a schematic, pictorial illustration of a MEMS scanner, seen from below, in accordance with an embodiment of the present invention; 
         FIG. 5  is a schematic, pictorial illustration showing stators and rotors of a MEMS scanner, in accordance with an embodiment of the present invention; 
         FIG. 6  is a schematic, pictorial illustration showing details of a stator and rotor of a MEMS scanner, in accordance with another embodiment of the present invention; 
         FIG. 7  is a schematic side view of one of the stators of  FIG. 5 , including arrows indicating the magnetic vector field generated by the stator in accordance with an embodiment of the present invention; 
         FIGS. 8-10  are schematic plots of current waveforms that are used to drive a stator of a MEMS scanner, in accordance with an embodiment of the present invention; 
         FIGS. 11A and 11B  are schematic side views of the stator and rotor of  FIG. 6 , showing current used in driving the stator and field directions generated as a result, in accordance with an embodiment of the present invention; 
         FIG. 12  is a schematic, cutaway view of a scanning micromirror, in accordance with an embodiment of the present invention; 
         FIG. 13  is a schematic, pictorial illustration of a stator of a MEMS scanner, in accordance with an alternative embodiment of the present invention; 
         FIG. 14A  is a schematic side view of a part of the stator of  FIG. 13 , illustrating a magnetic field generated by the stator, in accordance with an embodiment of the present invention; 
         FIG. 14B  is a schematic side view of a stator, in accordance with another embodiment of the present invention; 
         FIG. 15  is a schematic bottom view of a micromirror assembly, in accordance with a further embodiment of the present invention; 
         FIG. 16  is a schematic detail view of a MEMS spindle, in accordance with an embodiment of the present invention; and 
         FIG. 17  is a schematic bottom view of a micromirror assembly with a capacitive sensor, in accordance with an embodiment of the present invention. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     Overview 
     The above-mentioned U.S. patent application Ser. No. 13/766,801 describes depth engines that generate 3D mapping data by measuring the time of flight of a scanning beam. A light transmitter, such as a laser, directs short pulses of light toward a scanning mirror, which scans the light beam over a scene of interest. A receiver, such as a sensitive, high-speed photodiode (for example, an avalanche photodiode) receives light returned from the scene via the same scanning mirror. Processing circuitry measures the time delay between the transmitted and received light pulses at each point in the scan. This delay is indicative of the distance traveled by the light beam, and hence of the depth of the object at the point. The processing circuitry uses the depth data thus extracted in producing a 3D map of the scene. 
     When using this sort of scanning system for 3D mapping, as well as other scanning applications, it is desirable that the mirror scan mechanically about at least one axis at high frequency (for example, in the range of 2-30 kHz) and over large angles (typically ±10-25°). The scan range about the second scan axis may be even larger, but the scan frequency is typically much lower (for example, in the range of 15-100 Hz). The two scan directions are coordinated to generate a raster pattern that covers the region being scanned. The above-mentioned patent applications describe gimbaled micro-mirror mounts and magnetic driving arrangements that can be used in this sort of raster generation. 
     Embodiments of the present invention that are described herein provide enhancements to these magnetic driving arrangements that are particularly useful in achieving efficient scanning over a wide angular range in the high-frequency scan direction. In the disclosed embodiments, a micromirror is mounted on a miniature gimbaled base, so that the base rotates relative to a support structure in the low-frequency (slow) scan direction, while the micromirror itself rotates relative to the base in the high-frequency (fast) scan direction. (The term “micromirror” is used herein simply to refer to very small mirrors, which are typically no more than a few millimeters across, although it may be possible to apply the principles of the present invention to larger mirrors.) The same magnetic drive can be used to power both the fast and slow scans. Energy may be coupled into the fast scan direction by mechanical coupling between the mirror and the base. Additionally or alternatively, the magnetic field of the drive may be dynamically shaped, by providing appropriate driving currents, in order to exert alternating magnetic forces on the mirror and the base at different frequencies and in different directions so as to give the desired pattern of motion. 
     System Description 
       FIG. 1  schematically illustrates elements of an optical head  40  that is used in the system described in the above-mentioned U.S. patent application Ser. No. 13/766,801. The performance of this optical head may be enhanced by incorporation of a gimbaled mirror with magnetic drive as described below. A transmitter  44  emits pulses of light toward a polarizing beamsplitter  60 . Typically, only a small area of the beamsplitter, directly in the light path of transmitter  44 , is coated for reflection, while the remainder of the beamsplitter is fully transparent in the transmitted wavelength range (or even anti-reflection coated for it) to permit returned light to pass through to a receiver  48 . The light from transmitter  44  reflects off beamsplitter  60  and then a folding mirror  62  toward a scanning micromirror  46 . The area of the micromirror may be about 12 mm 2 , for example. A MEMS scanner  64  scans the micromirror in X- and Y-directions with the desired scan frequency and amplitude. Details of the micromirror and scanner are shown in the figures that follow. 
     Light pulses returned from the scene strike micromirror  46 , which reflects the light via folding mirror  62  through beamsplitter  60 . Receiver  48  senses the returned light pulses and generates corresponding electrical pulses. To enhance sensitivity of detection, it is desirable that the active mirror size, the overall area of beamsplitter  60  and the aperture of receiver  48  be considerably larger than the area of the transmitted beam. To limit the amount of unwanted ambient light that reaches receiver  48 , a bandpass filter (not shown) may be incorporated in the receiver path, possibly on the same substrate as beamsplitter  60 . 
     The specific mechanical and optical designs of the optical head shown in  FIG. 1  are described here by way of example, and alternative designs implementing similar principles are considered to be within the scope of the present invention. 
       FIG. 2  is a schematic, pictorial illustration of MEMS scanner  64 , in accordance with an embodiment of the present invention. This scanner is produced and operates on principles similar to those described in the above-mentioned U.S. Pat. No. 7,952,781, but enables two-dimensional scanning of a single micromirror  46 . (The pictured arrangement may be used, mutatis mutandis, to drive an array of micromirrors, as described in the above-mentioned U.S. patent application Ser. No. 13/798,251.) A micromirror assembly  45 , which includes micromirror  46 , is produced by suitably etching a semiconductor substrate  68  to separate the micromirror from a base  72  (also referred to as a gimbal), and to separate the base from the remaining substrate  68 , which serves as a support structure. After etching, micromirror  46  (to which a suitable reflective coating is applied) is able to rotate about the X-axis (to scan the reflected spot in the Y-direction) relative to support  72  on spindles  70 , while base  72  rotates about the Y-axis (to scan the spot in the X-direction) relative to substrate  68  on spindles  74 . 
     Micromirror  46  and base  72  are mounted on a pair of rotors  76 , which comprise permanent magnets. (Only one of the rotors is visible in this figure.) Rotors  76  are suspended in respective air gaps between the pole pieces of magnetic cores  78  in a stator assembly  47  (also referred to simply as the stator of scanner  64 ). Cores  78  are wound with respective coils  80  of conductive wire, thus creating an electromagnetic stator assembly. Although a single coil per core is shown in  FIG. 2  for the sake of simplicity, two or more coils may alternatively be wound on each core; coils may be wound at different places on the cores; and different core shapes may also be used, as shown in the figures that follow. 
     A drive circuit  82  (referred to for short as a driver) drives an electrical current through coils  80  so as to generate a magnetic circuit through cores  78  that passes through the air gaps. Typically, drive circuit  82  comprises a frequency generator, which generates electrical signals at the desired frequency or frequencies, along with suitable amplifiers to provide the desired current levels to the coils. The magnetic field generated in the air gaps of the coils interacts with the magnetization of rotors  76  and thus causes the rotors to move within the air gaps. 
     Specifically, in this embodiment, coils  80  may be driven with high-frequency differential currents so as to cause micromirror  46  to rotate resonantly back and forth about spindles  70  at high frequency (typically in the range of 2-30 kHz, as noted above). This resonant rotation generates the high-speed Y-direction raster scan of the output beam from optical head  40 . At the same time, coils  80  are driven together at lower frequency to drive the X-direction scan by rotation of base  72  about spindles  74  through the desired scan range. (In accordance with the corresponding speeds of rotations about the axes, the X-axis in the embodiments described herein is also referred to as the “fast axis,” while the Y-axis is referred to as the “slow axis.”) Alternatively, other stator configurations and drive schemes, some of which are illustrated in the figures that follow, may be used for these purposes. The X- and Y-rotations together generate the overall raster scan pattern of micromirror  46 . 
     Assembly of optical head  40  from discrete optical and mechanical components, as shown in  FIG. 1 , requires precise alignment and can be costly. In alternative embodiments, all parts requiring precise placement and alignment (such as the light transmitter, receiver, and associated optics) may be combined in a single integrated package on a silicon optical bench (SiOB). This approach can save costs and may make the optical head easier to handle. Various alternative designs of these sorts are shown in the above-mentioned U.S. patent application Ser. No. 13/766,801. 
     Scan Coupling Using Mechanical Asymmetry 
       FIG. 3A  is a schematic bottom view of a micromirror assembly  83 , showing a scheme for mechanically driving the high-speed Y-direction scan of micromirror  46 , in accordance with an embodiment of the present invention. Magnetic rotors  76  appear as rectangular structures in this figure, as opposed to the cylindrical rotor shown in  FIG. 2 , but perform the identical function. Spindles  70  in  FIG. 3A  are aligned with the X-axis as shown in  FIG. 2 , while spindles  74 , aligned with the Y-axis, are hidden in  FIG. 3A  by rotors  76 . 
     A pair of weights  84  are attached to the bottom of micromirror  46  at opposite corners. The weights may comprise any suitable material and may be fastened (using a suitable glue, for example) to the micromirror in the appropriate locations. Alternatively, the weight asymmetry can be created by etching away appropriate portions of the backside of the mirror, using standard etching processes, for example, such as DRIE or wet etching. The purpose of the weights is to introduce mechanical asymmetry about the axes of rotation of the micromirror. The particular shape and locations of the weights in  FIG. 3A  are thus shown solely by way of example, and any design that provides a suitable asymmetric weight distribution about the axes may similarly be used. 
     The asymmetric weight distribution induces mechanical coupling between the axes of rotation by changing the axis of rotational inertia of micromirror  46 . The new axis of inertia thus created for the fast scan direction is not precisely perpendicular to the axis of the slow scan. Therefore, as base  72  rotates about the Y-axis due to the operation of the magnetic drive, weights  84  will cause micromirror  46  to wobble about the X-axis on spindles  70 . The mechanical design of the micromirror, spindles and weights is chosen to give the desired scan frequency and amplitude under these conditions. Adding a high-frequency electrical drive to the micromirror at the resonant frequency for the fast scan rotation will cause significant mechanical energy to be transferred to this scan direction, thus generating the desired two-dimensional scan of the micromirror. 
       FIG. 3B  is a schematic frontal view of a part of a micromirror assembly  85 , in accordance with another embodiment of the present invention. In this case, an asymmetric weight distribution is formed by appropriately etching the shape of micromirror  46  in the course of the photolithographic production process so as to provide an asymmetric weight distribution. The shaping of the mirror in this case provides the desired mechanical coupling between the fast and slow axes of rotation. 
     Electrical and Magnetic Drive Schemes 
     The figures described below illustrate various schemes that may be used to drive dual-axis scanning of a micromirror, in accordance with several different embodiments of the present invention. For convenience and clarity, these embodiments are described with reference to micromirror  46  and the associated MEMS structure that is presented above. These principles of these embodiments, however, may likewise be applied, mutatis mutandis, to dual-axis scanning mirrors of other sorts, such as some of the devices that are described in the references cited above in the Background section. 
       FIG. 4  is a schematic bottom view of MEMS scanner  64 , in accordance with another embodiment of the present invention. In this embodiment, a pair of magnetic strips  86 ,  88  are fixed to the underside of micromirror  46 . The strips have opposing polarities, as indicated by the arrows in the figure, with the north pole of strip  86  oriented downward and that of strip  88  oriented upward. It can be advantageous in this sort of embodiment to recess strips  86 ,  88  within the volume of micromirror so that the center of mass of the micromirror is close to the axis defined by spindles  70 . An embodiment of this sort is shown in  FIG. 15 . 
     The currents driving coils  80  include a differential component at the resonant frequency of the micromirror, i.e., the waveforms driving the coils at this frequency are 180° out of phase with one another. This differential component gives rise to a magnetic field component along the Y-axis between cores  78 , which is inhomogeneous in the X-direction and alternates in direction at the driving frequency. In other words, at a given point in time, the field may point in the positive Y-direction at magnetic strip  86  and in the negative Y-direction at magnetic strip  88 , with point directions alternating at the resonant frequency. Interaction of this magnetic field with the magnetization of magnetic strips  86 ,  88  gives rise to an alternating rotational force exerted on micromirror  46  about spindles  70 , thus causing the micromirror to rotate as shown in the figure. 
     More generally, the coil and driving current configurations may be adapted by other means to create net forces and torques in the intended direction. Magnetic or ferromagnetic material may be applied to the mirror itself in other geometries (other than the specific geometries that are shown in the figures), while the driving force is created by stationary coils. There may be one or more such magnets, with any suitable polarities, or ferromagnetic material (with no inherent polarity). The driving electromagnetic fields can be adjusted in each case to create driving forces in the appropriate directions, as will be apparent to those skilled in the art upon reading the present patent application. All such alternative configurations of magnets and drives are considered to be within the scope of the present invention. 
       FIG. 5  is a schematic pictorial view showing elements of MEMS scanner  64  in accordance with yet another embodiment of the present invention. In this embodiment, micromirror  46  itself is omitted for visual clarity, and its location is indicated by rotors  76 A and  76 B, which are attached to the underside of gimbaled base  72  of the micromirror as shown in the preceding figures. The stator assembly of the MEMS scanner comprises two cores  90 ,  91 , each having a pair of pole pieces that define an air gap in which the corresponding rotor  76 A or  76 B is suspended. (The term “pole piece” is used in the present description and in the claims in the conventional sense, to denote the part of the magnetic core that is adjacent to the air gap.) Each core  90 ,  91  is wound with two coils  92 ,  94  on opposing sides of the air gap of the core. The effect of this sort of arrangement, in generating magnetic circuits that drive the motion of the rotors, is illustrated in the figures that follow. 
       FIG. 6  schematically shows details of structure of one stator core  90  and rotor  76  that are used in a magnetic drive, in accordance with another embodiment of the present invention. This is one of a pair of rotors and cores, as in the preceding embodiment. The coils and micromirrors are omitted from the figure in order to give a clear view of the shape of the core, including the air gap between the poles and an addition pole in the form of a protruding “tooth”  100 , whose upper end adjoins and contains the air gap from below. The function of this tooth is explained below. 
     The rectangular profile of rotor  76  in this and other embodiments can be advantageous, inter alia, in that it gives rise to a rotational moment of the rotor about the Y-axis that grows as the angle of rotation grows from the central position shown in the figure, due to attraction by the pole pieces of the stator core that are located to either side of the rotor. This rotational moment counteracts the spring force of spindles  74 , which increases as the rotor turns about the spindle (Y) axis, and thus reduces the force that must be exerted in rotating the mirror about spindles  74 . Alternatively, other geometrical designs of the rotors and the stator core may be used to engender the desired rotational characteristics. 
       FIG. 7  is a schematic side view of core  90 , as shown pictorially in  FIG. 5 , in accordance with an embodiment of the present invention. In this embodiment, core  90  comprises an enlarged base  96 , with coils  92  and  94  wound on the core above the base. Core  91  ( FIG. 5 ) will have a similar form and behavior.  FIG. 7  also includes arrows indicating the flux of the magnetic circuit in the plane of the figure (including the flux in the air gap between the poles of core  90 ) when the coils are driven with appropriate currents. Alternatively, however, other core and coil configurations may be used and are considered to be within the scope of the present invention, as noted earlier. 
     The high-frequency magnetic field generated in and around core  90 , as indicated by the arrows, includes a vertical (Z-direction) component in the air gap between the poles of the core. This field component alternates in direction at the frequency of the currents driving coils  92  and  94 . Coils  92  and  94  on core  91  are driven with opposite phase to the currents in the counterpart coils  92 ,  94  of core  90 , so that the Z-direction field components at any moment in the air gaps of cores  90  and  91  are likewise opposite. Thus, the field will push rotor  76 A upward while pushing rotor  76 B downward, and vice versa, alternating at the drive frequency of the high-frequency waveform. These opposing Z-direction movements of the rotors cause micromirror  46  to rotate on spindle  70  at this same frequency, which is typically chosen to be the resonant frequency of the micromirror. (More precisely, in terms of Newton&#39;s Laws, inertia causes micromirror  46  to tend to remain in place while base  72  moves, thereby creating elastic energy transfer from the rotors to the micromirror, through the torsion arms of spindles  70 ; this principle is behind the operation of a number of the embodiments described herein.) At the same time, the low-frequency current component, driven in phase through all of coils  92  and  94 , i.e., with the current flowing in the same direction in all the coils, gives rise to an alternating X-direction magnetic field within the air gaps, thus causing rotors  76 A,  76 B to rotate about the Y-axis and in this manner rotate base  72 . 
       FIGS. 8-10  schematically illustrate typical current waveforms that are used to drive coils  92  and  94 , in accordance with an embodiment of the present invention. As noted above, all of the coils are driven in phase with a low-frequency waveform, such as the sawtooth shown in  FIG. 7 . The coils are driven in opposite phases by a high-frequency waveform, such as the sinusoid shown in  FIG. 8 . Coils  92  and  94  on each core are driven 180° out of phase relative to one another; and each coil  92 ,  94  on core  90  is driven 180° out of phase relative to its counterpart coil  92 ,  94  on core  91 . Each coil is thus driven by the superposition of waveforms that is shown in  FIG. 9 , with variations in the phase of the high-frequency component from coil to coil, thus generating rotation of the micromirror about two axes using a stationary set of coils. 
     The currents applied to coils  92  and  94  (and similarly, the currents applied in other embodiments of the present invention) may be generated and controlled using any suitable technique that is known in the art, including both open-loop and closed-loop controls. In the latter category, drive circuit  82  may receive feedback regarding the amplitude and/or frequency of the mirror scan and may control the current accordingly. The novel capacitive sensing scheme that is shown in  FIG. 17  may be used for this purpose, for example, but other sorts of sensing schemes that are known in the art may alternatively be used, such as the closed-loop schemes using sensors of various sorts that are described in the above-mentioned U.S. Pat. No. 7,952,781. 
       FIGS. 11A and 11B  are schematic side views of the stator core  90  and rotor  76  of  FIG. 6 , showing currents used in driving the stator and field directions generated as a result, in accordance with an embodiment of the present invention. As illustrated by arrows  101  and  102  in  FIG. 11A , the low-frequency (slow axis) currents flow in phase through coils  92  and  94  on both stator cores, giving a horizontal (X-direction) magnetic flux through the air gap, as indicated by an arrow  103 . This X-direction field alternates at the frequency of the in-phase current and causes both rotors to rotate about the Y-axis. 
     On the other hand, as shown in  FIG. 11B , the high-frequency (fast axis) currents flow through coils  92  and  94  in anti-phase, as indicated by arrows  104  and  105 . These currents give rise to an alternating vertical (Z-direction) magnetic flux, indicated by arrows  106 , which causes rotors  76 A and  76 B to move in opposite directions along the Z-axis and thus drive the high-frequency scan of the micromirror. Protruding tooth  100  below the air gap enhances the this field and hence the driving force for fast rotation about the X-axis. 
       FIG. 12  is a schematic, cutaway view of scanning micromirror  46  and associated parts of a micromirror assembly, in accordance with an embodiment of the present invention. This figure illustrates how the currents and field that are shown in  FIG. 11B  drive the fast rotation of micromirror  46 . The alternating Z-direction flux in the air gap of stator core  90  causes rotors  76 A and  76 B to vibrate up and down, in opposing phases, along the Z-axis at the frequency of the alternating current. As a result, spindles  74  flex in opposing directions, causing base  72  to vibrate, as well, as shown in the figure. Because the frequency of vibration is equal or close to the resonant rotational frequency of micromirror  46  about spindles  70 , the twist of the spindles due to vibration of base  72  causes the micromirror to rotate back and forth about the X-axis with high amplitude. 
       FIG. 13  is a schematic, pictorial illustration of a stator  110 , in accordance with a further embodiment of the present invention. Stator  110  includes central tooth  100 , which in this embodiment is wound with its own coil  120 . This coil is energized so as to drive the fast-axis rotation of micromirror  46 . Stator  110  is based on a magnetic core, which comprises two pairs of posts  112  on a base  114 , together with tooth  100 . Pole pieces  118  at the tops of posts  112 , along with tooth  100 , define the air gap in which the rotors of the micromirror assembly are situated during operation. Coils  116  on posts  112  are driven in phase with alternating currents at the frequency of slow-axis rotation of gimbaled base  72  and thus turn the rotors in the areas of the air gap between pole pieces  118 . 
     Coil  120 , however, is driven at the much higher frequency of (resonant) fast-axis rotation of the micromirror. As a result, tooth  100  generates a high-frequency magnetic field, which interacts with a magnet or magnets that are mounted on micromirror  46  itself and thus causes the micromirror to rotate about spindles  70  relative to base  72 .  FIG. 15  shows a configuration of micromirror  46  that may be used in this context, with a suitable magnet mounted on the back side of the micromirror. 
       FIG. 14A  is a schematic side view of a part of stator  110 , absent coils  116 , illustrating the magnetic circuit generated in the air gap of the stator due to the current in coil  120  on tooth  100 , in accordance with an embodiment of the present invention. The marks in the figure in the space between posts  112  represent the direction and magnitude of the magnetic field at each point in the space. 
     The geometrical arrangement of tooth  100  and posts  112  causes the magnetic field around the tooth to have the general form of a “fountain,” with the lines of magnetic force “spraying” outward from the tooth toward the posts. As the direction of this field alternates, due to the alternating current driven through coil  120 , the direction of the magnetic force exerted on micromirror  46  about the axis of spindles  70  likewise alternates, thus causing the micromirror to rotate at the frequency of the alternating current. The upward (Z-direction) field that is shown in this figure interacts with the Y-direction magnetization of a magnet mounted on micromirror  46  (as shown in  FIG. 15 ) to drive rotation of the micromirror about the fast (X-direction) axis defined by spindles  70 . 
       FIG. 14B  is a schematic side view of a stator  125 , in accordance with another embodiment of the present invention. The structure of stator  125  is similar to that of stator  110 , with the addition of two or more auxiliary fingers  126  positioned on base  114  around tooth  100 . Fingers  126  further bound and define the air gap of the stator core, located between poles  118 , and have the effect to constraining magnetic field lines  128  so that the vertical (Z-direction) component of the field in the air gap is enhanced. As a result, the amplitude of the fast-axis rotation of the micromirror, relative to the driving current, is enhanced, as well. 
       FIG. 15  schematically illustrates a silicon scanning micromirror assembly  130 , in accordance with an embodiment of the present invention. Assembly  130  is seen from the bottom in this figure, i.e., from the side that is adjacent to the stator (which may have the form of stator  110 , for example). The reflective (upper) side of micromirror  46  faces into the page in this view. Assembly  130  may be driven by the magnetic forces of stator  110 , for example, in the manner described above. 
     Micromirror  46  in assembly  130  is connected to gimbaled base  72  by spindles  70 , while base  72  is connected by spindles  74  to substrate  68 , as in the preceding embodiments. In contrast to the simplified illustrations of the embodiments shown in  FIGS. 2 and 3 , however, magnetic rotors  132  in assembly  130  each comprise upper and lower pieces  138  and  140 , which are attached directly to both sides of base  72 . Thus, micromirror  46  is balanced between rotors  132 , rather than mounted above them. (The embodiments described above could also be implemented in a similar, balanced fashion.) As a result, the plane of the micromirror and its base will be located between the two cores of the stator assembly, rather than above the cores as in the preceding embodiments (as seen in  FIG. 2 , for example). This balanced configuration of the micromirror is advantageous in terms of mechanical stability, as the axis of rotation of base  72  that is defined by spindles  74  passes through the center of mass of assembly  130 . 
     A magnet  134  is fixed to the lower side of micromirror  46  and interacts with the alternating magnetic field generated by tooth  100  of the stator (as illustrated in  FIG. 14A ). Magnet  134  is polarized along the Y-axis, as indicated by the arrow in the figure. The interaction of this magnetization with the Z-direction field shown in  FIG. 14A  provides the force that causes micromirror  46  to rotate about the axis of spindles  70  (the X-axis, i.e., the fast axis). 
     To enhance the mechanical stability of assembly  130 , magnet  134  is mounted in an indentation  136  that is formed in the back side of micromirror  46 . The indentation may be formed, for example, by wet etching or by deep reactive ion etching (DRIE) of the silicon. Consequently, the axis of rotation of the micromirror that is defined by spindles  70  passes close to the center of mass of the micromirror with magnet  134  mounted in the indentation. Although it may not be possible to place the center of mass and the center of rotational inertia precisely on the axis of rotation, reducing the distance between these points in the manner described above is still useful in improving the balance and dynamic stability of the rotating micromirror. 
     Enhancement and Monitoring of Mirror Rotation 
       FIG. 16  is a schematic detail view of spindle  74 , in accordance with an embodiment of the present invention. To reduce the force that must be applied in rotating base  72  relative to substrate  68  (which is typically not a resonant rotation), it is desirable that spindle  74  be as rotationally flexible as possible. Therefore, the silicon wafer in the area of base  72  surrounding spindle  74  is thinned, by a wet etching process, for example. The shape of the spindle is then defined and cut out of the thinned wafer by photolithography. To strengthen the spindle against breakage, while still maintaining the desired rotational flexibility, the gaps surrounding spindle  74  may be filled with a suitable filler material, such as a flexible polymer, as described in U.S. Provisional Patent Application 61/781,086, which is incorporated herein by reference. Using this approach, it is possible to decouple the design considerations of slow spindles  74  from those of fast spindles  70 . 
     The process that is used to thin the wafer can be critical in designs of the sort shown in  FIG. 16 . Some processes may tend to cause micro-cracks and roughness in the silicon wafer, which may weaken the spindles; and it is therefore undesirable to thin the spindles using such processes. The wet etching process, however, leaves smooth surfaces, which are beneficial in producing robust spindles with a reduced likelihood of cracking. 
       FIG. 17  schematically illustrates a capacitive sensor  150  that is used to sense the rotation of micromirror  46 , in accordance with an embodiment of the present invention. Sensor  150  comprises sensing plates in the form of four quadrants  152 ,  153 ,  154  and  155 , which are typically made from a conductive material. As base  72  rotates about spindles  74  (i.e., about the slow axis), as shown in the figure, the capacitance between micromirror  46  and quadrants  154  and  155  increases, while the capacitance between the micromirror and quadrants  152  and  153  decreases. When the base rotates back toward the opposite extreme of its motion, the capacitance between the micromirror and quadrants  152  and  153  increases, while that between the micromirror and quadrants  154  and  155  decreases. 
     A controller (not shown in the figures) measures these changes in capacitance continuously, by methods of measurement that are known in the art. Based on the changes in capacitance, the controller is able to monitor the frequency and amplitude (i.e., angular range) of rotation of base  72  about the slow axis. 
     By the same token, rotation of micromirror  42  about spindles  70  will cause changes in the capacitance between the micromirror and quadrants  152  and  154  relative to quadrants  153  and  155 ; and these changes may likewise be measured to monitor the rotation of the micromirror about the fast axis. 
     Although it is possible to mount the elements of a capacitive sensor for this purpose in a plane that is parallel to substrate  68 , this mounting scheme may limit the range of motion of micromirror  46  unless the sensor elements are mounted far away from the micromirror (in which case the capacitance, and hence the useful signal for measuring rotation, is drastically reduced). To overcome this limitation, quadrants  152 ,  153 ,  154  and  155  are angled, as shown in  FIG. 17 , so that the quadrants are closest to the plane of substrate  68  in the area of the axis of rotation of the micromirror and slope away from this plane at locations farther from the axis. In the configuration shown in the figure, quadrants  152  and  153  are mutually parallel, as are quadrants  154  and  155 , thus defining a “roof” with its ridgeline near the axis of spindles  74 . Although sensor  150  is illustrated in this embodiment in the context of a dual-axis scanning micromirror assembly, this sort of roof-shaped sensor configuration may likewise be used in sensing the rotation of single-axis scanners. 
     Alternatively, quadrants  152  and  153  may be angled relative to one another, as well, and likewise quadrants  154  and  155 , so that the four quadrants together define a pyramidal shape, with its peak near the center of the micromirror, where the axes of rotation intersect. 
     Although capacitive sensor  150  is described, for the sake of clarity, with reference to micromirror  46 , sensors of this sort may similarly be applied, mutatis mutandis, in sensing and tracking the motion of scanning mirrors of other types, such as those described in the references cited above in the Background section. By the same token, other inventive features described above with regard to techniques for driving a scanning mirror may similarly be applied to other mirror designs. 
     It will 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: 20130725
Publication Date: 20180710
Grant Date: 20180710
Priority Date: 20120726
Inventors: SROMIN, ALEXANDER
CHAYAT, NAFTALI
ERLICH, RAVIV
GERSON, YUVAL
SHPUNT, ALEXANDER
WEBER, RAVIV
Assignee: APPLE INC
CPC Classifications: [{"code": "G01S7/4817", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S17/89", "inventive": true, "first": true, "tree": "[]"}, {"code": "H02K33/16", "inventive": true, "first": false, "tree": "[]"}, {"code": "G02B26/101", "inventive": true, "first": false, "tree": "[]"}, {"code": "G02B26/085", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/16", "inventive": true, "first": true, "tree": "[]"}, {"code": "H02K33/16", "inventive": true, "first": true, "tree": "[]"}, {"code": "G01S7/4817", "inventive": true, "first": false, "tree": "[]"}, {"code": "G02B26/085", "inventive": true, "first": false, "tree": "[]"}, {"code": "G02B26/085", "inventive": true, "first": false, "tree": "[]"}, {"code": "G02B26/101", "inventive": true, "first": false, "tree": "[]"}, {"code": "G02B26/085", "inventive": true, "first": true, "tree": "[]"}, {"code": "G02B26/101", "inventive": true, "first": false, "tree": "[]"}, {"code": "G02B26/101", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/16", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 49996673