PATENT DOCUMENT

Publication Number: US-10775508-B1
Application Number: US-201715680015-A
Country: US
Kind Code: B1

Title: Remote sensing device

Abstract:
A compact remote sensing device is described that includes a transmit component that scans a beam of light across a scene or object field, and a receive component that receives return light from the object field. The transmit component includes a small, fast scanning mechanism such as a MEMS mirror or a piezo mirror that scans a beam of light emitted by a light source across a field of view (FOV). The receive component includes a focal plane array (FPA) with a FOV at least large enough to capture the FOV of the scanning mechanism. The FPA may be a low resolution FPA (i.e., with fewer pixels than the resolution of the scanning mechanism), and the light beam may be scanned and captured at multiple spots within the pixels of the FPA.

Claims:
What is claimed is: 
     
       1. A remote sensing device, comprising:
 a light source configured to emit a beam of light; 
 a scanning mechanism configured to scan the beam, at a resolution of the scanning mechanism, across a field of view (FOV) to an object field; 
 a detector array comprising a plurality of pixels, wherein a resolution of the detector array in pixels is less than the resolution of the scanning mechanism; and 
 a controller configured to:
 collect a plurality of values of a pixel of the plurality of pixels of the detector array at different positions of the scanned beam; and 
 generate, based in part on the plurality of values, imaging data for at least a portion of the FOV at a resolution greater than the resolution of the detector array. 
 
 
     
     
       2. The remote sensing device as recited in  claim 1 , wherein the light source comprises one or more lasers. 
     
     
       3. The remote sensing device as recited in  claim 1 , wherein the remote sensing device is configured to:
 determine angular position data from feedback of the scanning mechanism; 
 determine range data from feedback of the detector array; and 
 generate three-dimensional (3D) imaging data for the object field according to the angular position data and the range data. 
 
     
     
       4. The remote sensing device as recited in  claim 1 , further comprising a receive lens that receives light from the object field and refracts the received light to the detector array. 
     
     
       5. The remote sensing device as recited in  claim 4 , further comprising an optical shutter located on an optical path between the receive lens and the detector array, wherein the optical shutter provides a moving aperture configured to block a portion of the light received from the receive lens when imaging and capturing the scanned beam at a spot within an activated pixel of the detector array. 
     
     
       6. The remote sensing device as recited in  claim 4 , further comprising an optical filter located on an optical path between the receive lens and the detector array and configured to attenuate or reject light outside of a spectral range of the scanned beam. 
     
     
       7. The remote sensing device as recited in  claim 1 , further comprising a transmit lens that refracts the scanned beam from the scanning mechanism on an optical path to the object field. 
     
     
       8. The remote sensing device as recited in  claim 7 , wherein the transmit lens is configured to provide angular magnification for the scanned beam to increase the FOV of the scanning mechanism. 
     
     
       9. The remote sensing device as recited in  claim 1 , further comprising a polygon rotating mirror with N facets, each facet with a different facet angle, wherein the polygon rotating mirror is configured to increase vertical FOV of the scanning mechanism. 
     
     
       10. The remote sensing device as recited in  claim 9 , wherein the scanning mechanism includes a one-dimensional scanning mirror, and wherein the detector array is a one-dimensional array. 
     
     
       11. The remote sensing device as recited in  claim 9 , wherein a horizontal component of a scan pattern is provided by the polygon rotating mirror as it rotates. 
     
     
       12. The remote sensing device as recited in  claim 9 , wherein the remote sensing device is configured to:
 determine horizontal position data from feedback of the polygon rotating mirror; 
 determine vertical position data from feedback of the scanning mechanism in combination with current facet angle of one of the N facets of the polygon rotating mirror; 
 determine range data from feedback of the detector array; and 
 generate three-dimensional (3D) imaging data for the object field according to the horizontal position data, the vertical position data, and the range data. 
 
     
     
       13. The remote sensing device as recited in  claim 1 , wherein the scanning mechanism includes a MEMS (microelectromechanical system) mirror or a piezoelectric steering mirror. 
     
     
       14. The remote sensing device as recited in  claim 1 , wherein the detector array is implemented according to avalanche photodiode (APD) technology or PIN diode technology. 
     
     
       15. A method, comprising:
 emitting, by one or more lasers, a beam of light; 
 scanning, by a scanning mechanism, the beam, at a resolution of the scanning mechanism, across a field of view (FOV) to an object field; 
 activating a pixel on a detector array comprising a plurality of pixels, wherein a resolution of the detector array in pixels is less than the resolution of the scanning mechanism; 
 collecting a plurality of values of the activated pixel at different positions of the scanned beam; and 
 generating imaging data for a portion of the FOV at a resolution greater than the resolution of the detector array based in part on the captured plurality of values. 
 
     
     
       16. The method as recited in  claim 15 , further comprising:
 determining angular position data from feedback of the scanning mechanism; 
 determining range data from feedback of the detector array; and 
 generating three-dimensional (3D) imaging data for the object field according to the angular position data and the range data. 
 
     
     
       17. The method as recited in  claim 15 , further comprising:
 receiving, by a receive lens, light from the object field; and 
 refracting, by the receive lens, the received light to the detector array. 
 
     
     
       18. The method in  claim 17 , further comprising blocking, by an optical shutter located on an optical path between the receive lens and the detector array, a portion of the light received from the receive lens when imaging and capturing the scanned beam at a spot within the activated pixel of the detector array. 
     
     
       19. The method as recited in  claim 17 , further comprising attenuating or rejecting, by an optical filter located on an optical path between the receive lens and the detector array, light outside of a spectral range of the scanned beam. 
     
     
       20. The method as recited in  claim 15 , further comprising refracting, by a transmit lens, the scanned beam from the scanning mechanism on an optical path to the object field. 
     
     
       21. The method as recited in  claim 20 , wherein the transmit lens provides angular magnification for the scanned beam to increase the FOV of the scanning mechanism. 
     
     
       22. The method as recited in  claim 15 , further comprising reflecting, by a polygon rotating mirror with a plurality of reflective facets, the scanned beam from the scanning mechanism, wherein each facet of the polygon rotating mirror has a different elevation angle to increase vertical FOV of the scanning mechanism. 
     
     
       23. The method as recited in  claim 22 , further comprising:
 determining horizontal position data from feedback of the polygon rotating mirror; 
 determining vertical position data from feedback of the scanning mechanism in combination with current facet angle of one of the plurality of facets of the polygon rotating mirror; 
 determining range data from feedback of the detector array; and 
 generating three-dimensional (3D) imaging data for the object field according to the horizontal position data, the vertical position data, and the range data.

Description:
This application claims benefit of priority to U.S. Provisional Application No. 62/377,404, filed Aug. 19, 2016, titled “Remote Sensing Device”, which is hereby incorporated by reference in its entirety. 
    
    
     BACKGROUND 
     Technical Field 
     This disclosure relates generally to remote sensing systems, and more specifically to compact remote sensing systems. 
     Description of the Related Art 
     Conventional scanning systems (e.g., LiDAR systems) are typically bulky and large in size. These conventional scanning systems typically include a large scanning mechanism and a high resolution focal plane array (FPA) with enough pixels to support the resolution of the scanning mechanism. Both angular (XY) and depth (Z) position may be determined from the detector array. 
     SUMMARY OF EMBODIMENTS 
     Embodiments of the present disclosure may provide a compact remote sensing device that includes a transmit component that scans a beam of light across a scene or object field, and a receive component that receives return light from the object field. The transmit component includes a small, fast scanning mechanism, for example a MEMS (microelectromechanical system) mirror or mirror array, or a piezoelectric steering mirror (referred to as a piezo mirror), that scans a beam of light emitted by a light source across a field of view (FOV). The receive component includes a focal plane array (FPA) with a FOV at least large enough to capture the FOV of the scanning mechanism. The FPA may be a low resolution FPA (i.e., with fewer pixels than the resolution of the scanning mechanism), and the light beam may be scanned and captured at multiple spots (or sub-pixels) within the pixels of the FPA. The FPA may be implemented according to avalanche photodiode (APD) technology, PIN diode technology, or any other suitable technology. 
     In some embodiments, angular (XY) position may be determined from feedback of the scanning mechanism, and depth or range (Z) position may be determined from feedback of the detector array. The angular and depth position information may be processed to generate 3D imaging data output. 
     Some embodiments may also include an optical shutter located in the optical receiver path that acts to block unwanted light. Some embodiments may instead or also include an optical band-pass filter on the optical receiver path to attenuate or reject light outside of a range of the beam. 
     Some embodiments may include a polygon rotating mirror with N facets (e.g., five facets, six facets, etc.), each facet with a different facet angle, that may be used to increase the vertical FOV of the scanning mechanism. In these embodiments, the horizontal component of the scan may be provided by the rotating mirror. 
     Embodiments of the remote sensing device may, for example, be implemented as compact LiDAR modules. Embodiments may be implemented as small form factor, compact modules that may be integrated into small, tight spaces. Embodiments may provide high resolution 3D imaging without the need of a high resolution FPA and its corresponding digital receiver chain. Embodiments may provide high resolution 3D imaging and remote sensing capabilities at lower power than conventional systems that use higher-resolution FPAs. Further, embodiments may be less sensitive to vibrations than conventional systems due to the relatively small size of the scanning mechanism. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1A  is a block diagram illustrating components of a remote sensing device, according to at least some embodiments. 
         FIG. 1B  illustrates a detector array of a remote sensing device, according to at least some embodiments. 
         FIG. 1C  illustrates an optical shutter in front of a detector array of a remote sensing device, according to some embodiments. 
         FIG. 1D  illustrates an example scan pattern for a remote sensing device, according to some embodiments. 
         FIG. 2  conceptually illustrates components and operations of a remote sensing device in which the return beam is scanned and imaged at spots inside pixels of a detector array, according to some embodiments. 
         FIG. 3  conceptually illustrates operations of a remote sensing device in which the return beam is scanned and imaged at spots inside pixels of a detector array and that includes an optical shutter mechanism, according to some embodiments. 
         FIG. 4A  illustrates an example transmit (TX) module of a remote sensing device, according to some embodiments. 
         FIG. 4B  illustrates an example TX module of a remote sensing device that provides angular magnification, according to some embodiments. 
         FIG. 5A  illustrates a remote sensing device that includes a polygon rotating mirror, according to some embodiments. 
         FIG. 5B  illustrates a facet angle of an example facet on a polygon rotating mirror, according to some embodiments. 
         FIG. 6  is a high-level flowchart of a method of operation of a remote sensing device, according to some embodiments. 
         FIG. 7  is a more detailed flowchart of a method of operation of a remote sensing device, according to some embodiments. 
         FIG. 8  is a flowchart of a method of operation of a remote sensing device that includes a polygon rotating mirror, according to some embodiments. 
     
    
    
     This specification includes references to “one embodiment” or “an embodiment.” The appearances of the phrases “in one embodiment” or “in an embodiment” do not necessarily refer to the same embodiment. Particular features, structures, or characteristics may be combined in any suitable manner consistent with this disclosure. 
     “Comprising.” This term is open-ended. As used in the appended claims, this term does not foreclose additional structure or steps. Consider a claim that recites: “An apparatus comprising one or more processor units . . . ”. Such a claim does not foreclose the apparatus from including additional components (e.g., a network interface unit, graphics circuitry, etc.). 
     “Configured To.” Various units, circuits, or other components may be described or claimed as “configured to” perform a task or tasks. In such contexts, “configured to” is used to connote structure by indicating that the units/circuits/components include structure (e.g., circuitry) that performs those task or tasks during operation. As such, the unit/circuit/component can be said to be configured to perform the task even when the specified unit/circuit/component is not currently operational (e.g., is not on). The units/circuits/components used with the “configured to” language include hardware—for example, circuits, memory storing program instructions executable to implement the operation, etc. Reciting that a unit/circuit/component is “configured to” perform one or more tasks is expressly intended not to invoke 35 U.S.C. § 112, sixth paragraph, for that unit/circuit/component. Additionally, “configured to” can include generic structure (e.g., generic circuitry) that is manipulated by software and/or firmware (e.g., an FPGA or a general-purpose processor executing software) to operate in manner that is capable of performing the task(s) at issue. “Configure to” may also include adapting a manufacturing process (e.g., a semiconductor fabrication facility) to fabricate devices (e.g., integrated circuits) that are adapted to implement or perform one or more tasks. 
     “First,” “Second,” etc. As used herein, these terms are used as labels for nouns that they precede, and do not imply any type of ordering (e.g., spatial, temporal, logical, etc.). For example, a buffer circuit may be described herein as performing write operations for “first” and “second” values. The terms “first” and “second” do not necessarily imply that the first value must be written before the second value. 
     “Based On.” As used herein, this term is used to describe one or more factors that affect a determination. This term does not foreclose additional factors that may affect a determination. That is, a determination may be solely based on those factors or based, at least in part, on those factors. Consider the phrase “determine A based on B.” While in this case, B is a factor that affects the determination of A, such a phrase does not foreclose the determination of A from also being based on C. In other instances, A may be determined based solely on B. 
     DETAILED DESCRIPTION 
     Embodiments of a compact remote sensing device are described. The remote sensing device may include a transmit component that scans a beam of light across a scene or object field, and a receive component that receives return light from the object field. The transmit (TX) component includes a light source (e.g., one or more lasers) and a small, fast scanning mechanism, for example a MEMS (microelectromechanical system) mirror or mirror array, or a piezoelectric steering mirror (referred to as a piezo mirror), that scans a beam of light emitted by the light source across a field of view (FOV) at the object field. The receive (RX) component includes a focal plane array (FPA) with a FOV at least large enough to capture the FOV of the scanning mechanism. The FPA may be referred to herein as a detector array. However, instead of a high resolution FPA as used in conventional scanning systems, a lower resolution FPA (i.e., with fewer pixels than the resolution of the scanning mechanism) may be used, and the light beam may be scanned and captured at multiple spots (or sub-pixels) within the pixels of the FPA. 
     In some embodiments of the remote sensing device, angular (XY) position may be determined from feedback of the scanning mechanism, and depth or range (Z) position may be determined from feedback of the detector array. The angular and depth position information may be processed by a controller/processor component of the remote sensing system to generate three-dimensional (3D) imaging data output. 
     Embodiments of the remote sensing device may, for example, be implemented as compact LiDAR modules. Embodiments may be implemented as small form factor, compact modules that may be integrated into small, tight spaces. Embodiments may provide high resolution 3D imaging without the need of a high resolution FPA and its corresponding digital receiver chain. Embodiments may provide high resolution 3D imaging and remote sensing capabilities using lower-resolution FPAs that operate at lower power than conventional systems that use higher-resolution FPAs that require more power. Further, embodiments may be less sensitive to vibrations than conventional systems due to the relatively small size of the scanning mechanism. 
       FIG. 1A  is a block diagram illustrating components of a remote sensing device  100 , according to at least some embodiments. The remote sensing device  100  may include, but is not limited to, a transmit (TX)  110  component or module and a receive (RX)  140  component or module. In some embodiments, TX  110  may also include a controller/processor  180  component or module. TX  110  may include, but is not limited to, a light source  112  and a scanning mechanism  116 . TX  110  may also include a relay lens  114  and a TX lens  118 . RX  140  may include, but is not limited to, an RX lens  142  and a detector array  144 . In some embodiments, the detector array  144  may be a solid-state detector that is fixed and does not move during operation. In some embodiments, RX  140  may also include an optical shutter  148  located in the optical receiver path between the RX lens  142  and the detector array  144  at or near the object field side surface of the detector array  144  that acts to block unwanted light. While not shown, in some embodiments, an optical filter (e.g., a band-pass filter) may instead or also be included on the optical receiver path between the RX lens  142  and the detector array  144  to attenuate or reject light outside of an electromagnetic (EM) spectral range of the beam. 
     Light source  112  may, for example, be a laser that emits a collimated, narrow beam  120 . In some embodiments, multiple lasers with different attack angles may be used to increase the scanning mechanism  116  FOV without impacting the scanner&#39;s mechanical motion. In some embodiments, other light emitting technologies may be used, for example infrared (IR) light emitting mechanisms. 
     Relay lens  114  may include one or more refractive lens elements, and may act to refract light (beam  120 ) emitted by the light source  112  on the optical path to the scanning mechanism  116 . 
     Scanning mechanism  116  may be or may include a small, fast scanning mechanism such as a MEMS (microelectromechanical system) mirror or mirror array or a piezo mirror that scans the collimated, narrow beam  120  of light emitted by the light source  112  across a field of view (FOV) at the object field  199 . In at least some embodiments, the scanning mechanism  116  is sized to support beam divergence; as a non-limiting example, the scanning mechanism  116  may include a 6 mm scanning mirror. 
     TX lens  118  may include one or more refractive lens elements, and may act to refract light (scanned beam  120 ) from the scanning mechanism  116  on the optical path to the object field  199 .  FIGS. 4A and 4B  show example embodiments of TX lenses, one which does not provide angular magnification for the scanned beam  120 , and one which does provide angular magnification for the scanned beam  120  to increase the FOV of the scanning mechanism  116 . 
     RX lens  142  may include one or more refractive lens elements, and may act to collect and refract light (scanned beam  120 ) received from the object field  199  on the optical path to the detector array  144 . 
     Detector array  144  may be selected to provide a FOV at least large enough to capture the full FOV of the scanning mechanism  116 .  FIG. 1B  illustrates a detector array  144  of a remote sensing device  100  as illustrated in  FIG. 1 , according to at least some embodiments. In some embodiments, the detector array  144  may be a solid-state detector that is fixed within RX  140  and that does not move during operation. As shown in  FIG. 1B , the detector array  144  may be relatively low resolution when compared to the scanning mechanism  116  of TX  110 , with fewer pixels than the resolution of the scanning mechanism  116 . Each pixel FOV (PFOV) may be significantly larger than the size of the beam  120  received at the detector array  144 . As a non-limiting example, pixel size may be 1 mm×1 mm, and beam size (diameter) may be 0.5 mm or less. The beam  120  may be scanned and captured at multiple spots  150  (or sub-pixels) within the pixels of the detector array  144 . Pixels on the detector array  144  may be activated (or deactivated) according to the current scan angle of the beam  120 . For example,  FIG. 1B  shows an activated pixel  146  when imaging the spots  150  indicated by the circles. Detector array  144  may, for example, be implemented according to avalanche photodiode (APD) technology, PIN diode technology, or any other suitable technology. 
     In some embodiments, RX  140  may also include an optical shutter  148  located at or near the object field side surface of the detector array  144  and in the optical path of the receiver  140  between the RX lens  142  and the detector array  144 .  FIG. 1C  illustrates an optical shutter in front of a detector array of a remote sensing device  100  as illustrated in  FIG. 1 , according to some embodiments. The optical shutter  148  may act to block unwanted noise (e.g., unwanted light such as ambient solar light) from the spots  150  on the pixels when scanning the beam  120  over the FOV. In some embodiments, the optical shutter  148  may provide a moving aperture  149  of substantially the same size as the beam  120 /spot  150  that moves according to the scan pattern of the beam  120 . The optical shutter  148  may, for example, be implemented by liquid crystal technology at or on the object-side surface of the detector array  144 . Other technologies may be used to implement an optical shutter  148  in some embodiments. 
     While not shown in  FIGS. 1A-1C , in some embodiments, an optical band-pass filter may instead or also be included on the optical receiver path between the RX lens  142  and the detector array  144  to attenuate or reject light outside of a range of the beam. 
       FIG. 1D  illustrates an example, non-limiting scan pattern for a remote sensing device  100  as illustrated in  FIGS. 1A through 1C , according to some embodiments. A scene (the object field  199 ) is scanned according to a pattern with a collimated, narrow beam  120  emitted from TX  110  of the remote sensing device  100 . The beam  120  strikes objects/surfaces in the object field  199  and is returned to the RX  140 , where the return beam scans across the object-side surface of the detector array  144 . Pixels of the detector array are activated according to the current scan angle of the beam  120 . The beam  120  may be scanned and captured at multiple spots  150  (or sub-pixels) within each pixel of the detector array  144 . Note that the scan pattern shown in  FIG. 1D  is given by way of example; other scan patterns may be used. 
     As shown in  FIG. 1A , in some embodiments, TX  110  may also include a controller/processor  180  component or module. Controller/processor  180  may act to control and synchronize operations of TX  110  and RX  140 , may collect data from TX  100  and RX  140 , and may process the collected data to generate 3D imaging data  190 . In some embodiments, controller/processor  180  may determine angular (XY) position from feedback of the scanning mechanism  116  (e.g., current scan angle), and may determine depth or range (Z) position from feedback from currently activated pixels of the detector array  144 . The angular and depth position information may be processed by controller/processor  180  to generate 3D imaging data  190  as output. 
       FIG. 2  conceptually illustrates components and operations of a remote sensing device in which the return beam is scanned and imaged at spots inside pixels of a detector array, according to some embodiments. The remote sensing device  200  may include, but is not limited to, a transmit (TX)  210  component or module and a receive (RX)  240  component or module. In some embodiments, TX  210  may also include a controller/processor  280  component or module. TX  210  may include, but is not limited to, a light source  212  and a scanning mechanism  216 . TX  210  may also include a relay lens  214 . While not shown in  FIG. 2 , TX  210  may also include an RX lens as shown in  FIG. 1A, 4A , or  4 B. RX  240  may include, but is not limited to, an RX lens  242  and a detector array  244 . 
     A scene (the object field  299 ) is scanned by scanning mechanism  216  according to a pattern with a collimated, narrow beam  220  emitted from light source  212 . The beam  220  strikes objects/surfaces in the object field  299  and is returned to the RX  240 , where the return beam scans across the object-side surface of the detector array  244 . Pixels of the detector array are activated according to the current scan angle of the beam  220 . The beam  220  may be scanned and captured at multiple spots  250  (or sub-pixels) within each pixel of the detector array  244 . Controller/processor  280  may determine angular (XY) position from feedback  260  of the scanning mechanism  216 , and may determine depth or range (Z) position from feedback  270  from the detector array  244 . The angular and depth position information may be processed by controller/processor  280  to generate 3D imaging data  290  as output. 
       FIG. 3  conceptually illustrates operations of a remote sensing device in which the return beam is scanned and imaged at spots inside pixels of a detector array and that includes an optical shutter mechanism, according to some embodiments. The remote sensing device  300  may include, but is not limited to, a transmit (TX)  310  component or module and a receive (RX)  340  component or module. In some embodiments, TX  310  may also include a controller/processor  380  component or module. TX  310  may include, but is not limited to, a light source  312  and a scanning mechanism  216 . TX  310  may also include a relay lens  314 . While not shown in  FIG. 3 , TX  2310  may also include an RX lens as shown in  FIG. 1A, 4A , or  4 B. RX  340  may include, but is not limited to, an RX lens  342  and a detector array  344 . RX  140  may also include an optical shutter  348  located at or near the object field side surface of the detector array  344  and in the optical path of the receiver  340  between the RX lens  342  and the detector array  344 . The optical shutter  348  may act to block unwanted noise (e.g., unwanted light such as ambient solar light) from the spots  350  on the pixels when scanning the beam  320  over the FOV. In some embodiments, the optical shutter  348  may provide a moving aperture  349  of substantially the same size as the beam  320 /spot  350  that moves according to the scan pattern of the beam  320 . The optical shutter  348  may, for example, be implemented by liquid crystal technology at or on the object-side surface of the detector array  344 . 
     A scene (the object field  299 ) is scanned by scanning mechanism  216  according to a pattern with a collimated, narrow beam  220  emitted from light source  212 . The beam  220  strikes objects/surfaces in the object field  299  and is returned to the RX  240 , where the return beam passes through the current aperture  249  of the optical shutter as it scans across the object-side surface of the detector array  344 . Pixels of the detector array are activated according to the current scan angle of the beam  320 ; the aperture  249  is also moved according to the current scan angle within the activated pixels. The beam  320  may be scanned and captured at multiple spots  350  (or sub-pixels) within each pixel of the detector array  344 . Controller/processor  380  may determine angular (XY) position from feedback  360  of the scanning mechanism  316 , and may determine depth or range (Z) position from feedback  370  from the detector array  344 . The angular and depth position information may be processed by controller/processor  380  to generate 3D imaging data  290  as output. 
       FIG. 4A  illustrates an example transmit (TX) module of a remote sensing device, according to some embodiments. A transmit (TX)  410 A component of a remote sensing device as illustrated in  FIGS. 1A through 3  may include, but is not limited to, a light source  412  and a scanning mechanism  416 . TX  410  may also include a relay lens  414  and a TX lens  415 . Light source  412  may, for example, be a laser that emits a collimated, narrow beam  420 . In some embodiments, multiple lasers with different attack angles may be used to increase the scanning mechanism  416  FOV without impacting the scanner&#39;s mechanical motion. Relay lens  414  may include one or more refractive lens elements, and may act to refract light (beam  420 ) emitted by the light source  412  on the optical path to the scanning mechanism  416 . Scanning mechanism  416  may be or may include a small, fast scanning mechanism such as a MEMS (microelectromechanical system) mirror or mirror array or a piezo mirror that scans the collimated, narrow beam  420  of light emitted by the light source  412  across a field of view (FOV). TX lens  415  may include one or more refractive lens elements, and may act to refract light (scanned beam  420 ) from the scanning mechanism  416  on the optical path to the object field. The TX lens  415  shown in  FIG. 4A  does not provide angular magnification for the scanned beam  420 . 
       FIG. 4B  illustrates a TX module of a remote sensing device that provides angular magnification, according to some embodiments. A transmit (TX)  410 B component of a remote sensing device as illustrated in  FIGS. 1A through 3  may include, but is not limited to, a light source  412  and a scanning mechanism  416 . TX  410  may also include a relay lens  414  and a TX lens  417 . Light source  412  may, for example, be a laser that emits a collimated, narrow beam  420 . In some embodiments, multiple lasers with different attack angles may be used to increase the scanning mechanism  414  FOV without impacting the scanner&#39;s mechanical motion. Relay lens  414  may include one or more refractive lens elements, and may act to refract light (beam  420 ) emitted by the light source  412  on the optical path to the scanning mechanism  416 . Scanning mechanism  416  may be or may include a small, fast scanning mechanism such as a MEMS (microelectromechanical system) mirror or mirror array or a piezo mirror that scans the collimated, narrow beam  420  of light emitted by the light source  412  across a field of view (FOV). TX lens  417  may include one or more refractive lens elements, and may act to refract light (scanned beam  420 ) from the scanning mechanism  416  on the optical path to the object field. The TX lens  417  shown in  FIG. 4B  provides angular magnification for the scanned beam  420 , for example using one or more lenses with negative refractive power (lenses  2  and  3  in  FIG. 4B ) to effectively increase the FOV of the scanning mechanism  416  without affecting motion, size, or other aspects of the scanning mechanism  416 . 
       FIG. 5A  illustrates a remote sensing device  500  that includes a polygon rotating mirror, according to some embodiments. In these embodiments, a scanning mechanism with a limited vertical field of view (VFOV), for example ⅙ th  of the desired vertical dimension of the object field to be scanned, may be used in transmit (TX) component  510 , and a polygon rotating mirror  518  with N facets (e.g., six facets in this example), each facet with a different facet angle, may be used to increase the VFOV of the scanning mechanism.  FIG. 5B  illustrates a facet angle of an example facet (facet  1 ) on a polygon rotating mirror  518 . Each facet angle corresponds to a different elevation angle for an object field being scanned, as shown by scan pattern  592  of  FIG. 5A . In some embodiments, the scanning mechanism may be a one-dimensional scanning mirror that scans the beam in one dimension (e.g., the vertical dimension or axis). The increased vertical component of the scan pattern  592  may be provided by the facet angles of the rotating mirror  518 , and the horizontal component of the scan pattern  592  may be provided by the rotation of the mirror  518 . In some embodiments, the detector array  544  of receive (RX) component  540  may be a one-dimensional (1D) array of pixels with a FOV corresponding to the scanning mechanism. Each pixel FOV (PFOV) may be significantly larger than the size of the beam  520  received at the detector array  544 . The beam  520  may be scanned and captured at multiple spots (or sub-pixels) within the pixels of the detector array  544 . Pixels on the detector array  544  may be activated (or deactivated) according to the current scan angle of the beam  520 . 
     In the remote sensing device  500  as illustrated in  FIG. 5A , depth or range (Z) position may be calculated from feedback from currently activated pixels of the detector array  544 . The horizontal (X) angle may be determined based on the encoder angle from the polygon rotating mirror  518 . The vertical (Y) angle may be determined based on feedback from the 1D scanning mechanism in combination with the current facet number of the polygon rotating mirror  518 . The angular and depth position information may be processed by a controller/processor component (not shown) to generate 3D imaging data as output. 
       FIG. 6  is a high-level flowchart of a method of operation of a remote sensing device, according to some embodiments. The method of  FIG. 6  may, for example, be implemented by a remote sensing device as illustrated in  FIGS. 1A through 5 . 
     As indicated at  1000 , a transmit component of the remote sensing device scans a beam of light across a FOV at an object field. For example, the beam may be a collimated, narrow beam emitted from a light source such as one or more lasers. The FOV may, for example, be scanned according to a scan pattern by a scanning mechanism as illustrated in  FIG. 1D . The scanning mechanism may be a small, fast scanning mechanism such as a MEMS (microelectromechanical system) mirror or mirror array or a piezo mirror. 
     As indicated at  1002 , a pixel on a detector array of a receive component of the remote sensing device may be activated according to the scan angle of the beam.  FIG. 1B  illustrates a detector array of a remote sensing device, according to at least some embodiments. The detector array may provide a FOV at least large enough to capture the full FOV of the scanning mechanism. 
     As indicated at  1004 , the receive component of the remote sensing device receives return light from the object field. As indicated at  1006 , the beam returned from the object field is imaged, for example by an RX lens as illustrated in  FIGS. 1A, 2, and 3 , at a spot inside the currently activated pixel. As shown in  FIG. 1B , the detector array may be relatively low resolution when compared to the scanning mechanism, with fewer pixels than the resolution of the scanning mechanism. Each pixel FOV (PFOV) may be significantly larger than the size of the beam received at the detector array. The beam may be captured at a spot (or sub-pixel) within the activated pixel of the detector array, for example as illustrated in  FIG. 2 . 
     As indicated at  1008 , angular (XY) position is determined from feedback from the scanning mechanism. As indicated at  1010 , depth (Z) position is determined from feedback from the detector array. The position information may be processed to generate 3D imaging data output. 
       FIG. 7  is a more detailed flowchart of a method of operation of a remote sensing device, according to some embodiments. The method of  FIG. 6  may, for example, be implemented by a remote sensing device as illustrated in  FIGS. 1A through 3 . 
     As indicated at  1100 , a light source of a transmit component of the remote sensing device emits a beam of light. For example, the beam may be a collimated, narrow beam emitted from a light source such as one or more lasers. In some embodiments, the light source may continuously emit the beam during the scan method of elements  1102 - 1118 . 
     As indicated at  1102 , the remote sensing device may begin a scan of a field of view (FOV) at an object field. The FOV may, for example, be scanned according to a scan pattern as illustrated in  FIG. 1D . 
     As indicated at  1104 , a scanning mechanism of the transmit component scans the beam across the FOV. The scanning mechanism may be a small, fast scanning mechanism such as a MEMS (microelectromechanical system) mirror or mirror array or a piezo mirror. 
     As indicated at  1106 , a corresponding pixel on a detector array of a receive component of the remote sensing device may be activated according to the current scan angle of the scanning mechanism.  FIG. 1B  illustrates a detector array of a remote sensing device, according to at least some embodiments. The detector array may provide a FOV at least large enough to capture the full FOV of the scanning mechanism. 
     As indicated at  1108 , return light from the object field is received at a receiver lens of the receive component. The receiver lens refracts the light to the detector array. 
     In some embodiments as shown in  FIG. 1C , the receive component may include an optical shutter located in the optical receiver path between the receiver lens and the detector array at or near the object field side surface of the detector array that acts to block unwanted light. In some embodiments, the optical shutter may provide a moving aperture of substantially the same size as the beam that moves according to the scan pattern of the beam. The optical shutter may, for example, be implemented by liquid crystal technology at or on the object-side surface of the detector array. In these embodiments, as indicated at  1110 , a portion of the light passes through a current aperture of the optical shutter, with unwanted light being blocked by the aperture. 
     In some embodiments, an optical band-pass filter may instead or also be included on the optical receiver path between the receiver lens and the detector array to attenuate or reject light outside of a range of the beam. 
     As indicated at  1112 , the beam is imaged at a spot inside the currently activated pixel, underfilling the pixel. As shown in  FIG. 1B , the detector array may be relatively low resolution when compared to the scanning mechanism, with fewer pixels than the resolution of the scanning mechanism. Each pixel FOV (PFOV) may be significantly larger than the size of the beam received at the detector array. The beam may be captured at a spot (or sub-pixel) within the activated pixel of the detector array, for example as illustrated in  FIG. 2 . 
     As indicated at  1114 , the angular (XY) position information for the imaged beam may be determined from feedback from the scanning mechanism indicating the current scan angle. As indicated at  1116 , depth (Z) position for the imaged beam may be determined from feedback from the currently activated pixel of the detector array. 
     At  1118 , if the current FOV scan of the object field is not done, then the method returns to element  1102  to continue the scan. Otherwise, if the current FOV scan of the object field is done, then the method may return to element  1102  to begin a next scan, and the position information collected for the FOV scan may be processed to generate 3D imaging data output for the FOV scan as indicated at  1120 . 
       FIG. 8  is a flowchart of a method of operation of a remote sensing device that includes a polygon rotating mirror, according to some embodiments. The method of  FIG. 6  may, for example, be implemented by a remote sensing device as illustrated in  FIG. 5A . 
     As indicated at  1200 , a scanning mechanism of the remote sensing device scans a beam emitted from a light source such as one or more lasers. In some embodiments, the scanning mechanism may be a one-dimensional scanning mirror that scans the beam in one dimension (e.g., the vertical dimension or axis). In some embodiments, a scanning mechanism with a limited vertical field of view (VFOV) may be used. 
     As indicated at  1202 , a pixel on the detector array are activated according to the current scan angle of the beam. In some embodiments, the detector array may be a one-dimensional array of pixels with a FOV corresponding to the scanning mechanism. Each pixel FOV (PFOV) may be significantly larger than the size of the beam. The beam may be scanned and captured at multiple spots (or sub-pixels) within the pixels of the detector array. 
     As indicated at  1204 , the beam is reflected off a current facet of a rotating polygon mirror to the object field. A polygon rotating mirror with N facets (e.g., five facets, six facets, etc.), each facet with a different facet angle, may be used to increase the VFOV of the scanning mechanism. Each facet corresponds to a different elevation angle. The horizontal component of the scan pattern may be provided by the polygon rotating mirror as it rotates. 
     As indicated at  1206 , the return beam from the object field is reflected off the current facet of the polygon mirror to the 1D detector array. As indicated at  1208 , the beam is imaged at spots inside the activated pixel. 
     As indicated at  1210 , horizontal (X) position may be determined from the current encoder angle of the polygon rotating mirror. As indicated at  1212 , vertical (Y) position may be determined from the scanning mechanism position/angle and the current facet number of the polygon rotating mirror. As indicated at  1214 , depth or range (Z) position may be determined from feedback from the currently activated pixel of the detector array. The position information may be processed to generate 3D imaging data output. 
     The methods described herein may be implemented in software, hardware, or a combination thereof, in different embodiments. In addition, the order of the blocks of the methods may be changed, and various elements may be added, reordered, combined, omitted, modified, etc. Various modifications and changes may be made as would be obvious to a person skilled in the art having the benefit of this disclosure. The various embodiments described herein are meant to be illustrative and not limiting. Many variations, modifications, additions, and improvements are possible. Accordingly, plural instances may be provided for components described herein as a single instance. Boundaries between various components, operations and data stores are somewhat arbitrary, and particular operations are illustrated in the context of specific illustrative configurations. Other allocations of functionality are envisioned and may fall within the scope of claims that follow. Finally, structures and functionality presented as discrete components in the example configurations may be implemented as a combined structure or component. These and other variations, modifications, additions, and improvements may fall within the scope of embodiments as defined in the claims that follow.

Metadata:
Filing Date: 20170817
Publication Date: 20200915
Grant Date: 20200915
Priority Date: 20160819
Inventors: REZK, MINA A.
SHPUNT, ALEXANDER
Assignee: APPLE INC
CPC Classifications: [{"code": "G01S7/4817", "inventive": true, "first": true, "tree": "[]"}, {"code": "G01S17/894", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S7/4816", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S17/08", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S7/4816", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S17/89", "inventive": true, "first": true, "tree": "[]"}, {"code": "G01S7/4817", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S17/89", "inventive": true, "first": true, "tree": "[]"}, {"code": "G01S17/08", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S7/4816", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S7/4817", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 72425753