公开(公告)号：US09128190B1

公开(公告)日：2015-09-08

申请号：US14090485

申请日：2013-11-26

Applicant: Google Inc.

Inventor： Drew Ulrich ,  Pierre-yves Droz ,  Samuel Lenius

IPC: G01C3/08 ,  G01S17/93 ,  G02B26/10 ,  G02B26/08

CPC classification number: G05D1/0231 ,  G01S7/4815 ,  G01S7/4817 ,  G01S17/10 ,  G01S17/42 ,  G01S17/936 ,  G02B26/08 ,  G02B26/0825 ,  G02B26/0833 ,  G02B26/085 ,  G02B26/105

Abstract: A light detection and ranging (LIDAR) device scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses. The LIDAR device scans the emitted light pulses through the scanning zone by reflecting the light pulses from an array of oscillating mirrors. The mirrors are operated by a set of electromagnets arranged to apply torque on the mirrors, and an orientation feedback system senses the orientations of the mirrors. Driving parameters for each mirror are determined based on information from the orientation feedback system. The driving parameters can be used to drive the mirrors in phase at an operating frequency despite variations in moments of inertia and resonant frequencies among the mirrors.

Abstract translation: 光检测和测距（LIDAR）设备在发射光脉冲时扫描扫描区域并接收与光脉冲对应的反射信号。 激光雷达装置通过反射来自振荡镜阵列的光脉冲来扫描发射的光脉冲通过扫描区域。 这些反射镜由设置成在反射镜上施加扭矩的一组电磁体操作，并且定向反馈系统感测反射镜的取向。 基于来自定向反馈系统的信息来确定每个反射镜的驱动参数。 即使反射镜中的惯性矩和谐振频率发生变化，驱动参数也可以在工作频率下同步驱动反射镜。