Rotational, reciprocating LiDAR scanning
Rotational, reciprocal scanning is used in a scanning LiDAR system. A laser is mounted to a platform. A first bar and a second bar couple the platform with a pivot mount. The pivot mount is coupled with a base. The platform is arranged to rotate about the pivot mount in an arc while the laser transmits light pulses into an environment.
1 . A system for scanning LiDAR, the system comprising:
a base;
a lens fixedly coupled with the base;
a platform;
a laser mounted on the platform, the laser arranged to transmit light into an environment through the lens;
a pivot mount coupling with base;
a first bar and a second bar coupling the platform with the pivot mount, wherein the platform is arranged to rotate about the pivot mount during scanning,
a detector arranged to detect light from the laser after light is transmitted from the laser into the environment; and
one or more memory devices comprising instructions that, when executed, calculate a distance to an object in the environment based on detecting the light from the laser.
2 . The system of claim 1 , wherein the detector is on the platform.
3 . The system of claim 1 , wherein the detector is one of a plurality of detectors.
4 . The system of claim 1 , wherein the lens is a single-element lens.
5 . The system of claim 1 , further comprising a counterweight, wherein the counterweight is curved.
6 . The system of claim 1 , wherein the pivot mount comprises a sliding bearing, a flexure bearing, or a torsion bar.
7 . A system for scanning LiDAR, the system comprising:
a base;
a platform;
an optical component mounted on the platform;
a pivot mount coupled with the base; and
a first bar and a second bar coupling the platform with the pivot mount, wherein the platform is arranged to rotate about the pivot mount, wherein:
the optical component is a laser;
the laser is part of a plurality of lasers;
the system comprises a lens fixedly coupled with the base;
the laser is arranged to transmit light into an environment through the lens;
the system comprises a detector arranged to detect light from the laser after light is transmitted from the laser into the environment; and
the system comprises one or more memory devices comprising instructions that, when executed, calculate a distance to an object in the environment based on detecting the light from the laser.
8 . The system of claim 7 , wherein the plurality of lasers are mounted on the platform along a curve.
9 . The system of claim 8 , wherein the curve matches a field curvature of the lens.
10 . The system of claim 8 , the pivot mount is at a center of the curve.
11 . The system of claim 8 , wherein the platform is curved.
12 . The system of claim 8 , wherein:
the platform is straight; and
the plurality of lasers are mounted on one or more interposers.
13 . The system of claim 7 , wherein the first bar and the second bar are arranged to flex, and the pivot mount is fixed while scanning.
14 . The system of claim 8 , wherein:
the first bar and the second bar are rigid; and
the pivot mount is arranged to rotate during scanning.
15 . The system of claim 8 , wherein the first bar and the second bar are arranged to flex in two dimensions during scanning.
16 . A method for scanning LiDAR, the method comprising:
rotating a platform about a pivot mount, wherein:
a laser is mounted on the platform;
the pivot mount is coupled with a base;
a lens is fixedly coupled with the base; and
a first bar and a second bar couple the platform with the pivot mount;
emitting light from the laser while rotating the platform;
transmitting light emitted from the laser through the lens and into an environment;
detecting light from the laser, using a detector, after transmitting the light emitted from the laser into the environment; and
calculating a distance to an object in the environment based on detecting the light from the laser.
17 . The method of claim 16 , wherein:
the first bar and the second bar are arranged to flex during scanning; and
the pivot mount is fixed during scanning.
18 . The method of claim 16 , wherein the first bar and the second bar are arranged to flex in two dimensions during scanning.
19 . The method of claim 16 , wherein the detector is on the platform.
20 . The system of claim 7 , further comprising a curved counterweight.