Lever system for driving mirrors of a lidar transmitter

1. A device for beam steering in a Light Detection and Ranging (LiDAR) system of an autonomous vehicle, the device comprising:

a mirror comprising:

a reflective surface; and

a supporting beam, wherein the supporting beam is configured to rotate the reflective surface by force being applied to the supporting beam;

a combdrive actuator, wherein:

the combdrive actuator is configured to apply a torque to the supporting beam; and

the supporting beam is mechanically between the combdrive actuator and the reflective surface;

a lever mechanically coupling the combdrive actuator with the supporting beam, wherein the lever is configured to apply a force to the supporting beam;

a hinge coupling the lever with the supporting beam, wherein the hinge is configured to allow for articulated movement between the lever and the supporting beam; and

an actuator with a spring configured to harmonically oscillate the mirror about a first axis, wherein the supporting beam is configured to rotate the reflective surface about a second axis, and wherein the first axis is not parallel to the second axis.

2. The device of claim 1 , wherein the combdrive actuator applies a force to the mirror such that the mirror rotates in an opposite direction as a rotation of the combdrive actuator.

3. The device of claim 1 , wherein the supporting beam is a post on one side of the mirror.

4. The device of claim 3 , wherein:

the combdrive actuator is a first combdrive actuator;

the torque is a first torque;

the device further comprises a second combdrive actuator on a same side of the mirror as the first combdrive actuator;

the second combdrive actuator is mechanically coupled with the supporting beam; and

the second combdrive actuator is configured to apply a second torque to the supporting beam.

5. The device of claim 4 , wherein:

the hinge is a first hinge;

the lever is a first lever;

the device further comprises:

a second lever coupled with the second combdrive actuator; and

a second hinge that mechanically couples the second lever with the supporting beam; and

the second hinge is configured to provide for articulated movement between the second lever and the supporting beam.

6. The device of claim 1 , wherein:

a rotor of the combdrive actuator rotates about a third axis;

the supporting beam is configured to rotate the reflective surface about a fourth axis;

the first axis is parallel with the second axis; and

the hinge is closer to the second axis than the first axis.

7. The device of claim 1 , wherein:

the combdrive actuator is a first combdrive actuator;

the supporting beam is a first supporting beam; and

the device further comprises:

a second supporting beam on an opposite side of the mirror than the first supporting beam;

a second combdrive actuator on a same side of the mirror as the first combdrive actuator, wherein the second combdrive actuator is coupled with the first supporting beam;

a third combdrive actuator on the opposite side of the mirror, wherein the third combdrive actuator is coupled with the second supporting beam; and

a fourth combdrive actuator on the opposite side of the mirror, wherein the fourth combdrive actuator is coupled with the second supporting beam.

8. The device of claim 7 , wherein:

the actuator is a first actuator, and the device further comprises a second actuator configured to rotate the mirror about the first axis;

the first combdrive actuator, the second combdrive actuator, the third combdrive actuator, and the fourth combdrive actuator are configured to rotate the mirror about the second axis.

9. The device of claim 1 , wherein the lever and the hinge are made from a silicon crystal layer of a semiconductor wafer.

10. The device of claim 1 , wherein reflective surface is rectangular.