Systems and methods for calibrating an optical distance sensor
A calibration system is provided including an aperture layer, a lens layer, an optical filter, a pixel layer and a regulator. The aperture layer defines a calibration aperture. The lens layer includes a calibration lens substantially axially aligned with the calibration aperture. The optical filter is adjacent the lens layer opposite the aperture layer. The pixel layer is adjacent the optical filter opposite the lens layer and includes a calibration pixel substantially axially aligned with the calibration lens. The calibration pixel detects light power of an illumination source that outputs a band of wavelengths of light as a function of a parameter. The regulator modifies the parameter of the illumination source based on a light power detected by the calibration pixel.
1. A calibration system comprising:
an aperture layer defining a first calibration aperture;
a lens layer comprising a first calibration lens substantially axially aligned with the first calibration aperture;
an optical filter adjacent the lens layer opposite the aperture layer;
a pixel layer adjacent the optical filter opposite the lens layer, the pixel layer comprising a first calibration pixel substantially axially aligned with the first calibration lens;
an illumination source configured to:
output illuminating light at a band of wavelengths as a function of a parameter;
project a first portion of the illuminating light onto a surface in a field ahead of the calibration system; and
project a second portion of the illuminating light onto the first calibration pixel; and
a first regulator configured to modify the parameter of the illumination source based on a light power detected by the first calibration pixel.
2. The calibration system of claim 1 , further comprising:
a sensing circuit, comprising:
a sense aperture defined in the aperture layer;
a sense lens substantially axially aligned with the sense aperture; and
a sense pixel substantially aligned with the sense lens, wherein the sense pixel is configured to detect the first portion of the illuminating light that is projected into the field ahead of the calibration system.
3. The calibration system of claim 2 wherein the sensing circuit shares the optical filter that is adjacent the lens layer opposite the aperture layer.
4. The calibration system of claim 2 , wherein the sense pixel and the first calibration pixel are incorporated into the pixel layer.
5. The calibration system of claim 1 further comprising:
a bulk transmitting optic; and
a bulk receiving optic,
wherein the illumination source is offset behind the bulk transmitting optic.
6. The calibration system of claim 1 further comprising an optical bypass extending from the illumination source to the first calibration aperture.
7. The calibration system of claim 1 wherein the first regulator comprises a temperature regulator, the temperature regulator being configured to modify a temperature of the illumination source based on the light power detected by the first calibration pixel.
8. The calibration system of claim 1 wherein the first regulator modifies a duty cycle of the illumination source.
9. The calibration system of claim 1 wherein the first regulator modifies the parameter of the illumination source based on piezoelectric effects.
10. The calibration system of claim 1 further comprising a diffuser adjacent the optical filter opposite the lens layer.
11. The calibration system of claim 1 wherein the aperture layer further defines a second calibration aperture, the lens layer comprises a second calibration lens axially offset from the second calibration aperture, the pixel layer comprises a second calibration pixel aligned with a ray extending through the second calibration aperture and the second calibration lens, and the first regulator is configured to modify the parameter of the illumination source based on a light power detected by the first calibration pixel and the second calibration pixel.
12. The calibration system of claim 11 further comprising an optical bypass extending from the illumination source to the first calibration aperture and the second calibration aperture.
13. The calibration system of claim 1 wherein the aperture layer further defines one or more additional calibration apertures including at least a second calibration aperture, a third calibration aperture and a fourth calibration aperture,
wherein the lens layer comprises one or more additional calibration lenses including at least a second calibration lens, a third calibration lens and a fourth calibration lens,
wherein each pair of calibration aperture and calibration lens is offset by a unique distance with respect to the others such that each calibration lens outputs light toward the optical filter at a unique nominal angle with respect to the others,
wherein the pixel layer further comprises one or more additional calibration pixels including at least a second calibration pixel aligned with a ray extending through the second calibration aperture and the second calibration lens, a third calibration pixel aligned with a ray extending through the third calibration aperture and the third calibration lens, and a fourth calibration pixel aligned with a ray extending through the fourth calibration aperture, and
wherein the first regulator is configured to modify the parameter of the illumination source based on a light power detected by the first calibration pixel and the additional calibration pixels.
14. The calibration system of claim 13 , wherein the calibration system further comprises an optical bypass extending from the illumination source to at least one calibration aperture of the calibration apertures.
15. The calibration system of claim 13 , wherein the calibration system further comprises one or more optical bypasses and one or more additional illumination sources; and
each of the one or more optical bypasses extends from at least one of the illumination sources to at least one of the calibration apertures.
16. The calibration system of claim 1 further comprising another illumination source, wherein each illumination source is configured to output a different band of wavelengths of light as a function of the parameter; and
a second calibration aperture, a second calibration lens, a second calibration pixel and a second regulator are provided for the other illumination source, wherein the second regulator is controlled independent of the first regulator.
17. The calibration system of claim 1 , wherein the illumination source includes a plurality of emitters that are fabricated on a same chip.
18. The calibration system of claim 17 , wherein the illumination source is arranged behind a bulk transmitting optic such that a plurality of illuminating beams from the plurality of emitters of the illumination source are projected from the bulk transmitting optic into the field ahead of the calibration system and illuminate a plurality of fields of view that intersect a respective plurality of fields of view of corresponding sense pixels in a sensing circuit.
19. A calibration method comprising:
outputting, by an illumination source that is part of a calibration system, illuminating light having a band of wavelengths as a function of a parameter;
projecting a first portion of the illuminating light onto a surface in a field ahead of the calibration system;
projecting a second portion of the illuminating light onto a first calibration pixel in the calibration system, wherein the calibration system further comprises:
an aperture layer defining a first calibration aperture;
a lens layer comprising a first calibration lens substantially axially aligned with the first calibration aperture;
an optical filter adjacent the lens layer opposite the aperture layer; and
a pixel layer adjacent the optical filter opposite the lens layer, the pixel layer comprising the first calibration pixel substantially axially aligned with the first calibration lens; and
modifying, by a first regulator, the parameter of the illumination source based on a light power detected by the first calibration pixel.
20. The calibration method of claim 19 , further comprising:
detecting, by a sensing circuit, the first portion of the illuminating light that is projected into the field ahead of the calibration system, wherein the sensing circuit comprises:
a sensing circuit, comprising:
a sense aperture defined in the aperture layer;
a sense lens substantially axially aligned with the sense aperture; and
a sense pixel substantially aligned with the sense lens, wherein the sense pixel is configured to detect the first portion of the illuminating light that is projected into the field ahead of the calibration system.
21. The calibration method of claim 20 , wherein the sensing circuit shares the optical filter that is adjacent the lens layer opposite the aperture layer.
22. The calibration method of claim 19 , wherein the calibration system further comprises:
a bulk transmitting optic; and
a bulk receiving optic,
wherein the illumination source is offset behind the bulk transmitting optic.
23. The calibration method of claim 19 , wherein the calibration system further comprises an optical bypass extending from the illumination source to the first calibration aperture.
24. The calibration method of claim 19 , wherein the calibration system further comprises a diffuser adjacent the optical filter opposite the lens layer.
25. The calibration method of claim 19 , wherein the aperture layer further defines a second calibration aperture, the lens layer comprises a second calibration lens axially offset from the second calibration aperture, the pixel layer comprises a second calibration pixel aligned with a ray extending through the second calibration aperture and the second calibration lens, and the first regulator is configured to modify the parameter of the illumination source based on a light power detected by the first calibration pixel and the second calibration pixel.
26. The calibration method of claim 25 , wherein the calibration system further comprises an optical bypass extending from the illumination source to the first calibration aperture and the second calibration aperture.