Lidar unit with an optical link between controller and photosensor layer
Embodiments describe optical imagers that include one or more micro-optic components. Some imagers can be passive imagers that include a light detection system for receiving ambient light from a field. Some imagers can be active imagers that include a light emission system in addition to the light detection system. The light emission system can be configured to emit light into the field such that emitted light is reflected off surfaces of an object in the field and received by the light detection system. In some embodiments, the light detection system and/or the light emission system includes micro-optic components for improving operational performance.
1. An optical system for performing distance measurements, the optical system comprising:
a rotatable platform;
an optical transmitter coupled to the rotatable platform and comprising a bulk transmitter optic and a plurality of transmitter channels, each transmitter channel including a light emitter configured to generate and transmit pulses of light at an operating wavelength through the bulk transmitter optic into a field external to the optical system;
an optical receiver coupled to the rotatable platform and comprising a bulk receiver optic, an aperture layer comprising a plurality of apertures coincident with a focal plane of the bulk receiver optic and separated from each other by optically non-transparent stop regions, and a plurality of micro-optic receiver channels, wherein each micro-optic channel in the plurality of micro-optic receiver channels includes an aperture from the plurality of apertures, an optical filter positioned along a path of light from the bulk receiver optic and axially aligned with the aperture and configured to allow a narrow band of radiation including the operating wavelength pass through the filter while blocking radiation outside the narrow band, and a photosensor responsive to incident photons passed through the aperture and through the filter;
a motor disposed within the housing and operatively coupled to spin the platform, optical transmitter, and optical receiver;
a system controller mounted to a stationary component of the optical system; and
an optical communication link operatively coupled between the system controller and the optical receiver to enable the system controller to communicate with the optical receiver.
2. The optical system for performing distance measurements set forth in claim 1 wherein the optical communication link extends between the stationary component of the optical system and the rotatable platform to operatively couple the system controller with the optical receiver.
3. The optical system for performing distance measurements set forth in claim 1 wherein the optical receiver further includes a collimating lens behind the aperture and directly coupled to the optical filter, the optical filter positioned behind the collimating lens.
4. The optical system for performing distance measurements set forth in claim 1 wherein the optical filter includes a filter layer on a hemispherical lens positioned directly on a top or bottom side of the aperture.
5. The optical system for performing distance measurements set forth in claim 1 wherein the optical transmitter and optical receiver are configured such that each transmitter channel is paired with a micro-optic receiver channel and the centers of their fields-of-view are aligned to be overlapping at a certain distance from the optical system.
6. The optical system for performing distance measurements set forth in claim 1 wherein the plurality of micro-optic receiver channels are part of a monolithic ASIC constructed on a common substrate, within which the photosensors are fabricated, and the separate layers for the aperture layer, and the filter layer are formed on the monolithic ASIC such that they become part of the monolithic structure of the ASIC.
7. The optical system for performing distance measurements set forth in claim 1 further comprising a stationary housing having a base, a top and an optically transparent window disposed between the base and the top.
8. The optical system for performing distance measurements set forth in claim 7 wherein the system controller is positioned within the base, the optical receiver coupled to the rotatable platform is disposed within the optically transparent window, and the optical communication link is coupled between the system controller and the optical receiver.
9. An optical system for performing distance measurements, the optical system comprising:
a rotatable platform;
an optical transmitter coupled to the rotatable platform and comprising an image-space telecentric bulk transmitter optic and a plurality of transmitter channels, each transmitter channel including a light emitter configured to generate and transmit a narrowband light through the bulk transmitter optic into a field external to the optical system;
an optical receiver coupled to the rotatable platform and comprising an image-space telecentric bulk receiver optic, an aperture layer comprising a plurality of apertures coincident with a focal plane of the bulk receiver optic and separated from each other by optically non-transparent stop regions, and a plurality of micro-optic receiver channels, each micro-optic channel including an aperture from the plurality of apertures, a collimating lens behind the aperture, an optical filter behind the collimating lens and a photosensor responsive to incident photons passed through the aperture into the collimating lens and through the filter;
a motor disposed within the housing and operatively coupled to spin the platform, optical transmitter and optical receiver;
a system controller mounted to a stationary component of the optical system; and
an optical communication link operatively coupled between the system controller and the optical receiver to enable the system controller to communicate with the optical receiver.
10. The optical system for performing distance measurements set forth in claim 9 wherein the optical communication link extends between the stationary component of the optical system and the rotatable platform to operatively couple the system controller with the optical receiver.
11. The optical system for performing distance measurements set forth in claim 9 wherein the optical receiver further includes a collimating lens behind the aperture and directly coupled to the optical filter, the optical filter positioned behind the collimating lens.
12. The optical system for performing distance measurements set forth in claim 9 wherein the optical filter includes a filter layer on a hemispherical lens positioned directly on a top or bottom side of the aperture.
13. The optical system for performing distance measurements set forth in claim 9 wherein the aperture for each micro-optic receiver channel defines a field of view for the pixel in the channel that is non-overlapping beyond a threshold distance with the fields of view of the other micro-optic receiver channels, and wherein each optical transmitter channel has a field of view that is centered with and aligned to be overlapping at a certain distance from the optical system with the field of view of a unique one of the micro-optic receiver channels.
14. The optical system for performing distance measurements set forth in claim 9 wherein the plurality of micro-optic receiver channels are part of a monolithic ASIC constructed on a common substrate, within which the photosensors are fabricated, and the separate layers for the aperture layer, and the filter layer are formed on the monolithic ASIC such that they become part of the monolithic structure of the ASIC.
15. An optical system for performing distance measurements, the optical system comprising:
a rotatable platform;
a plurality of vertical-cavity surface emitting lasers (VCSELs) arranged in an array and coupled to the rotatable platform, each VCSEL in the plurality of VCSELs being configured to generate and transmit discrete pulses of light at an operating wavelength into a field external to the optical system;
an optical receiver coupled to the rotatable platform, the optical receiver comprising a bulk receiver optic, an aperture layer comprising a plurality of apertures coincident with a focal plane of the bulk receiver optic and separated from each other by optically non-transparent stop regions, and and a plurality of micro-optic receiver channels, each micro-optic channel including an aperture from the plurality of apertures, an optical filter configured to allow a narrow band of light including the operating wavelength pass through the filter while blocking light outside the narrow band, and a pixel, each pixel comprising a plurality of single-photon avalanche diodes (SPADs) responsive to incident photons passed through the aperture and through the filter, wherein the aperture for each micro-optic channel defines a field of view for the pixel in the channel that is non-overlapping beyond a threshold distance with the fields of view of the other micro-optic receiver channels;
a motor disposed within the housing and operatively coupled to spin the platform, the plurality of VCSELs and the optical receiver;
a system controller mounted to a stationary component of the optical system; and
an optical communication link operatively coupled between the system controller and the optical receiver to enable the system controller to communicate with the optical receiver.
16. The optical system for performing distance measurements set forth in claim 15 wherein the optical communication link extends between the stationary component of the optical system and the rotatable platform to operatively couple the system controller with the optical receiver.
17. The optical system for performing distance measurements set forth in claim 15 wherein the optical receiver further includes a collimating lens behind the aperture and directly coupled to the optical filter.
18. The optical system for performing distance measurements set forth in claim 15 wherein the optical filter includes a filter layer on a hemispherical lens positioned directly on a top or bottom side of the aperture.
19. The optical system for performing distance measurements set forth in claim 15 wherein the optical transmitter and optical receiver are configured such that each transmitter channel is paired with a micro-optic receiver channel and the centers of their fields-of-view are aligned to be overlapping at a certain distance from the optical system.
20. The optical system for performing distance measurements set forth in claim 15 wherein the plurality of micro-optic receiver channels are part of a monolithic ASIC constructed on a common substrate, within which the pixels are fabricated, and the separate layers for the aperture layer, and the filter layer are formed on the monolithic ASIC such that they become part of the monolithic structure of the ASIC.