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CN107533137A - 全息波导激光雷达 - Google Patents

全息波导激光雷达 Download PDF

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CN107533137A
CN107533137A CN201680016603.8A CN201680016603A CN107533137A CN 107533137 A CN107533137 A CN 107533137A CN 201680016603 A CN201680016603 A CN 201680016603A CN 107533137 A CN107533137 A CN 107533137A
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waveguide
grating
receiver
transmitter
light
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米兰·莫姆奇洛·波波维奇
乔纳森·戴维·瓦尔德恩
阿拉斯泰尔·约翰·格兰特
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Di Gillen J Co
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Di Gillen J Co
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/0808—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more diffracting elements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/106—Scanning systems having diffraction gratings as scanning elements, e.g. holographic scanners
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/0093—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/10—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type
    • G02B6/12—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind
    • G02B6/12002—Three-dimensional structures
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/24—Coupling light guides
    • G02B6/26—Optical coupling means
    • G02B6/34—Optical coupling means utilising prism or grating
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/013—Eye tracking input arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/10—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type
    • G02B6/12—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind
    • G02B2006/12133—Functions
    • G02B2006/12138—Sensor

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  • Optical Modulation, Optical Deflection, Nonlinear Optics, Optical Demodulation, Optical Logic Elements (AREA)
  • Mechanical Optical Scanning Systems (AREA)
  • Optical Couplings Of Light Guides (AREA)
  • Photo Coupler, Interrupter, Optical-To-Optical Conversion Devices (AREA)
  • Liquid Crystal (AREA)
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Abstract

一种全息波导激光雷达包括：发射器波导，其耦合到光束偏转器；接收器波导，其耦合到检测器模块。发射器波导包含光栅元件阵列，其用于将扫描激光光束衍射到预定角度范围。接收器波导包含光栅元件阵列，其用于将反射自外点的预定角度范围内的光朝向检测器模块衍射。

Description

全息波导激光雷达
优先权要求
本申请要求于2015年1月20日提交的标题为“HOLOGRAPHIC WAVEGUIDE LIDAR(全息波导激光雷达)”的美国临时申请序列号No.62/125,351的优先权，其全部内容通过引用并入本文。
相关申请的交叉引用
以下专利申请的全部内容通过引用并入本文：标题为“COMPACT EDGEILLUMINATED DIFFRACTIVE DISPLAY(封闭边的照明衍射显示器)”的美国专利申请No.13/506,389；标题为“OPTICAL DISPLAYS(光学显示器)”的美国专利申请No.8,233,204；标题为“METHOD AND APPARATUS FOR PROVIDING A TRANSPARENT DISPLAY(用于提供透明显示的方法和装置)”的PCT申请No.US2006/043938；标题为“WEARABLE DATA DISPLAY(可穿戴数据显示器)”PCT申请号：GB2012/000677；标题为“COMPACT EDGE ILLUMINATED EYEGLASSDISPLAY(封闭边的照射眼镜显示器)”的美国专利申请No.13/317,468；标题为“HOLOGRAPHIC WIDE ANGLE DISPLAY(全息宽角度显示器)”的美国专利申请No.13/869,866；标题为“TRANSPARENT WAVEGUIDE DISPLAY(透明波导显示器)”的美国专利申请No.13/844,456；标题为“LASER ILLUMINATION DEVICE(激光照射设备)”的美国专利No.US8,224,133，标题为“LASER ILLUMINATION DEVICE(激光照射设备)”的美国专利No.US8,556,560；标题为“HOLOGRAPHIC ILLUMINATION SYSTEM(全息照射系统)”的美国专利No.6,115,152；标题为“CONTACT IMAGE SENSOR USING SWITCHABLE BRAGG GRATINGS(使用可切换布拉格光栅的接触图像传感器)”的PCT申请号：PCT/GB2013/000005；标题为“IMPROVEMENTS TOHOLOGRAPHIC POLYMER DISPERSED LIQUID CRYSTAL MATERIALS AND DEVICES(全息聚合物分散液晶材料和设备的改进)”的PCT申请No.PCT/GB2012/000680；标题为“HOLOGRAPHICWAVEGUIDE EYE TRACKER(全息波导眼睛跟踪仪)”的PCT申请号：PCT/GB2014/000197；标题为“HOLOGRAPHIC WAVEGUIDE FOR TRACKING AN OBJECT IN 3D SPACE(用于跟踪3D空间中的对象的全息波导)”的美国临时专利申请No.62/071,534；标题为“APPARATUS FOR EYETRACKING(眼睛跟踪装置)”的PCT/GB2013/000210；标题为“APPARATUS FOR EYE TRACKING(眼睛跟踪装置)”的PCT申请号：GB2013/000210。
技术领域
本发明涉及一种传感器，尤其涉及一种使用可切换光栅的激光雷达。
背景技术
激光雷达是一种遥感技术，其通过用脉冲角度扫描激光照射目标并分析反射的“点云”，而创建环境的三维地图。基于激光雷达的相机的优点是众所周知的。由于激光雷达使用发射光，因此可以抵御环境光的干扰，并且具有比雷达更高的分辨率。夜间操作需要人造光源。当前的计算机视觉对于复杂的场景表示是不够的，并且易受光照变化的影响。目前，各种平台对于激光雷达系统的兴趣日益增加，包括：汽车(用于防撞和巡航控制系统等应用)，机器人车辆，无人机(UAV)和夜视的可穿戴显示器。钥匙孔程序在手术中的越来越多的应用也刺激了医疗应用。示例性的汽车激光雷达规范(基于Velodyne HDL64E)在方位角上具有360°的FOV(视野)；26.5°(+2°至-24.5°)的仰角；15Hz的刷新率；每秒100万点的点云速度；120米的最大射程；0.05度的水平分辨率；小于1英寸的距离误差；5纳秒的激光脉冲持续时间；通常60瓦特的功率输出。然而，符合本规范的激光雷达设备极其庞大且昂贵。操作在1.55微米左右的激光雷达具有眼睛安全以及更长距离能力的优点，但是更昂贵。目前的大多数激光雷达设备依赖于大量的旋转光学技术。已经开发了基于成像阵列技术的激光雷达系统，但目前非常昂贵。本发明人相信克服体积和成本问题的关键是基于可切换光栅技术的波导光学。
一种重要的可切换光栅类型基于可切换布拉格光栅(SBG)。通过首先将可光聚合单体和液晶材料的混合物的薄膜放置在平行玻璃板之间来制造SBG。一个或两个玻璃板支撑用于在膜上施加电场的电极，通常为透明氧化铟锡膜。然后通过用两个相互相干的激光束照射液体材料(通常称为糖浆)来记录体相位光栅，两个相互相干的激光束干涉以形成倾斜条纹光栅结构。在记录过程中，单体发生聚合并且混合物经历相分离，从而产生由液晶微滴聚集的区域，散布有透明聚合物的区域。交替的富含液晶区域和液晶贫乏区域形成光栅的条纹平面。所得的体相位光栅可以表现出非常高的衍射效率，该衍射效率可以通过施加在膜上的电场的大小来控制。当通过透明电极将电场施加到光栅时，LC液滴的自然取向改变，从而导致条纹的折射率调制减小并且全息衍射效率下降到非常低的水平。通常，SBG元件以30μs切换。延长放松时间才能打开。注意，可以借助于施加的电压，在连续范围内，调整设备的衍射效率。该设备在没有施加电压的情况下具有接近100％的效率，并且在施加足够高的电压的情况下具有基本为零的效率。在某些类型的HPDLC设备中，磁场可用于控制LC取向。在某些类型的HPDLC中，LC材料与聚合物的相分离可以到达这样的程度，即不产生可辨别的液滴结构。
SBG可用于为自由空间应用提供透射或反射光栅。SBG可以被实现为波导设备，在该波导设备中，HPDLC在波导附近形成波导芯或易逝的耦合层。用于形成HPDLC单元的平行玻璃板提供全内反射(TIR)导光结构。当可切换光栅以超过TIR条件的角度衍射光时，光与SBG解“耦合”。波导目前在一系列显示器和传感器应用中倍受关注。尽管HPDLC早期的许多工作都针对反射，但是全息透射设备被证明是更加通用的光学系统构建块。通常，用于SBG的HPDLC包括液晶(LC)，单体，光引发剂染料和共引发剂。混合物经常包括表面活性剂。专利和科学文献包含可用于制造SBG的材料系统和工艺的许多实例。两个基本专利是：Sutherland的美国专利No.5,942,157和Tanaka等人的美国专利No.5,751,452。这两个文件描述了适用于制造SBG设备的单体和液晶材料组合。透射SBG的已知属性之一是LC分子倾向于与光栅条纹平面垂直对准。LC分子对准的效果是透射SBG有效地衍射P偏振光(即，光具有在入射平面中的偏振矢量)，但对S偏振光(即，光具有垂直于入射平面的偏振矢量)具有几乎零的衍射效率。当入射光和反射光之间的夹角小时，因为用于P极化的任何光栅的衍射效率都降至零，所以透射SBG可能不会在近掠入射处使用。
需要一种紧凑、重量轻、成本低廉的激光雷达，其能够提供广角、高分辨率、远距离操作。
发明内容
本发明的第一目的是提供一种紧凑、重量轻、成本低廉的激光雷达，其能够提供广角、高分辨率、远距离操作。
本发明的目的在本发明的一个实施例中实现，在该实施例中，提供一种波导传感器，包括：光源，其发射第一波长光；用于扫描所述光的至少一个光束偏转器；发射器波导；接收器波导；和检测器，其光学耦合到接收器波导。光束偏转器光耦合到发射器波导并且用于使得耦合到发射器波导中的扫描光执行围绕光栅元件的主衍射方向的角度扫描。发射器波导包含设置在至少一个光栅层中的多个光栅元件。每个光栅元件操作用于将光衍射到预定范围的输出方向。接收器波导包含设置在至少一个光栅层中的多个光栅元件。每个光栅元件将从外部点反射并入射到预定角度范围内的光衍射到TIR路径以进入检测器。
在一些实施例中，发射器波导或接收器波导中的至少一个中的光栅元件是二维阵列的元件。
在一些实施例中，发射器波导或接收器波导中的至少一个中的光栅元件是一维阵列的元件。
在一些实施例中，发射器波导或接收器波导中的至少一个中的光栅元件是具有与波导的传播方向正交地对齐的更长尺寸的细长元件。
在一些实施例中，发射器波导或接收器波导中的至少一个中的光栅元件是能够电切换的。
在一些实施例中，发射器波导或接收器波导中的至少一个中的光栅元件具有在波导上变化的纵横比或表面积中的至少一个。
在一些实施例中，接收器波导和发射器波导基本上重叠。
在一些实施例中，发射器波导和接收器波导各自包含具有至少两个不同光栅矢量的光栅元件。
在一些实施例中，发射器波导或接收器波导中的至少一个包含在不同角度范围内操作的光栅层。
在一些实施例中，发射器波导或接收器波导中的至少一个包括至少一个包含折叠光栅的光栅层。
在一些实施例中，发射器波导和接收器波导被组合成单个波导，其包含设置在至少一个光栅层中的多个光栅元件。每个光栅元件操作用于将光衍射到预定范围的输出方向，每个光栅元件将从外部点反射并入射到预定角度范围内的光衍射到TIR路径以到达检测器。
在一些实施例中，该装置用于检测3D点云。
在一些实施例中，扫描器和发射器波导之间的耦合由棱镜、光栅、可切换光栅中的一个来执行，或者经由边缘耦合来执行。
在一些实施例中，光束偏转器是微机电系统。
在一些实施例中，光源是红外发光二极管或红外激光器。在一些实施例中，第一波长约为1550nm。
在一些实施例中，光栅是记录在HPDLC材料中、均匀调制HPDLC材料或反向模式HPDLC材料中的可切换布拉格光栅、表面浮雕光栅或布拉格光栅之一。
在一些实施例中，根据本发明的原理的波导激光雷达形成堆叠中的层，该堆叠还包括波导HMD或波导眼睛跟踪仪中的至少一个。
在一些实施例中，该装置还包括分束器，其用于在光源和发射器波导以及检测器和接收器波导之间提供光路。
在一些实施例中，检测器是外差检测设备。
通过结合附图考虑以下详细描述，可以获得对本发明的更完整的理解，其中相同的附图标记表示相同的部件。为了清楚起见，没有详细描述与本发明相关的技术领域中已知的与技术材料相关的细节。
附图说明
图1是一个实施例中的激光雷达接收器波导的示意性侧视图。
图2是一个实施例中的激光雷达发射器波导的示意性侧视图。
图3是在一个实施例中包括发射器波导和接收器波导的激光雷达的示意性侧视图。
图4是在一个实施例中包括多个接收器-发射器波导层的激光雷达的示意图。
图5A是一个实施例中的激光雷达发射器波导和激光扫描器模块的示意性平面图。
图5B是一个实施例中的激光雷达接收器波导和检测器模块的示意性平面图。
图5C是一个实施例中的激光雷达接收器波导的细节的示意性平面图。
图6是在一个实施例中的激光雷达的扫描几何形状的图示。
图7是一个实施例中的激光雷达信号处理器的框图。
图8A是一个实施例中的激光雷达发射器/接收器波导和光束扫描器以及检测器模块的示意性平面图。
图8B是在图8A的实施例中使用的光束转向模块的示意性平面图。
图9是示出在一个实施例中在激光雷达接收器波导中使用的SBG阵列的几何形状的平面图。
图10是在一个实施例中激光雷达的示意图，其中发射器波导和接收器波导光纤耦合到光束扫描器模块和检测器模块。
图11是在一个实施例中使用被动光栅的激光雷达发射器波导的示意性侧视图。
图12是激光雷达波导的示意性侧视图，其中发射器波导和接收器波导彼此相邻地布置。
图13是包括激光雷达波导层的眼睛跟踪可穿戴波导显示器的示意图。
图14是包括在不同视场上操作的两个波导的激光雷达接收器波导叠层的示意图。
具体实施方式
现在将仅通过参考附图的方式示例性地进一步描述本发明。对于本领域技术人员清楚的是，本发明可以用以下描述中公开的本发明的一些或全部来实现。为了解释本发明，光学设计和视觉显示技术领域的技术人员已知的光学技术的众所周知的特征已被省略或简化，以免使本发明的基本原理变得模糊。除非另有说明，关于光线或光束方向的术语“在轴上”是指平行于与本发明描述的光学部件的表面垂直的轴的传播。在下面的描述中，术语光、光线、光束和方向可以互换使用并且彼此相关联以指示沿着直线轨迹的光能传播方向。将使用光学设计领域的技术人员通常使用的术语来呈现以下描述的部件。还应注意，在本发明的以下描述中，短语“在一个实施例中”的重复使用不一定指代相同的实施例。
激光雷达通过发送短红外激光脉冲来工作。返回信号可用于通过定时脉冲返回时间来建立环境的3D地图。激光雷达系统的基本光学部件是脉冲激光器，用于以广角扫描激光束的装置，包括光学装置的接收器装置和用于记录返回信号的检测器。本发明解决了提供被动广角发射器/接收器的问题，无需旋转光学组件。相反，我们使用包含可切换光栅阵列的波导，每个光栅被优化以在预定义的视场范围内收集信号。不需要旋转波导。激光被扫描在每个视野范围内以提供所需的角度分辨率。通过优化激光扫描周期以与每个光栅的衍射状态的持续时间相一致，可以建立具有高(角度)分辨率的大视场。波导方法还带来了透明度、重量轻以及非常薄的外形尺寸的优点。此外，波导激光雷达可以与其它波导设备(如显示器和眼睛跟踪仪)集成在叠层中。有利地，激光雷达在1550工作，这具有眼睛安全性和当前夜视技术不可发现的优点。然而，本发明可以应用于从UV到红外的光谱中的任何波长。现在将讨论本发明的一系列示例性实施例。
在图1所示的一个实施例中，激光雷达接收器波导20包括光检测模块21，具有施加到其相对表面的电极的波导22，其中电极包括公共电极23和电极阵列24A-24D，两个电极层夹持光栅区域25A-24C以形成可切换光栅阵列。在一个实施例中，光栅阵列是二维的。在一个实施例中，该阵列包括柱形元件的一维阵列。检测器模块通常将包括透镜和红外(IR)检测器。有利地，IR检测器是快速，高灵敏度的设备，例如雪崩光电二极管。在许多应用中，优选的波长是1550nm，这是眼睛安全的，并且对于当前的夜视设备是不可发现的。每个光栅区域具有唯一的k向量(即，垂直于布拉格条纹的矢量)，该k向量由1170-1172表示。光栅在它们的衍射状态中将信号光耦合到波导内部的TIR路径。所引导的光束通常通过光栅或棱镜被耦合到检测器模块中。在一个实施例中，IR检测器被耦合到波导的端部。每个光栅具有由光栅的衍射效率带宽确定的角度检测场。光栅元件25A-25C的视野的主光线由1175-1177表示。通常，单个元件的视场在10-15度的范围内。通过顺序地将光栅切换到其活动状态，整个视场被覆盖。例如，如果我们考虑由电极24A和公共电极夹持的具有k向量1170的光栅区域25A，则当光栅处于其活动状态时，光1175耦合到由光线1173-1174指示的TIR路径中，该光线1173-1174耦合到检测器模块中。注意，尽管在图1(以及下面将要描述的实施例)中，以衍射状态示出了多于一个的光栅，但是实际上在任何时候只有一个光栅区域将正进行衍射。
在一些实施例中，光栅被记录在均匀调制液晶聚合物材料系统中，例如Caputo等人的美国专利申请公开No.US2007/0019152，以及Stumpe等人的PCT申请No.PCT/EP2005/006950中公开的那些，两者都通过引用整体并入本文。均匀调制光栅的特征在于高折射率调制(因此具有高衍射效率)和低散射。在一些实施例中，光栅被记录在反向模式HPDLC材料中。反向模式HPDLC与常规HPDLC的不同之处在于，当不施加电场时，光栅是被动的，并且在存在电场的情况下光栅变为衍射的。反向模式HPDLC可以基于标题为“IMPROVEMENTS TOHOLOGRAPHIC POLYMER DISPERSED LIQUID CRYSTAL MATERIALS AND DEVICES(全息聚合物分散液晶材料和设备的改进)”的PCT申请No.PCT/GB2012/000680中公开的任何配方和工艺。
在图2所示的一个实施例中，激光雷达发射器波导30包括扫描模块(光束偏转器)31，具有施加到其相对表面的电极的波导32，其中电极包括公共电极33和电极阵列34A-34D。电极层夹着光栅区域35A-34C。本发明不假定任何特定的光束扫描技术。在撰写本申请时，优选技术是基于微机电系统(MEM)。示例性MEM扫描仪由Lemoptix公司制造。这些设备可以利用超过60度的扫描角度以60Hz提供720p(1280×720像素)的分辨率。再次参考图2，扫描光束通过光栅或棱镜耦合器耦合到波导中。在一个实施例中，光束可以通过波导的端部而被耦合。每个光栅区域具有唯一的k向量(即垂直于布拉格条纹的矢量)，该k向量由1170-1172表示。光栅在它们的衍射状态中将信号光耦合到波导内部的TIR路径。每个光栅具有由衍射效率带宽确定的角度检测场。光栅元件35A-35C的视野的主光线由1185-1187表示。通常，单个元件的视场在10-15度的范围内。通过顺序地将光栅切换到其活动状态，整个视场被覆盖。例如，具有k向量1180的切换光栅区域35A被夹持在电极34A和公共电极之间，该结构在衍射状态和非衍射状态之间切换光栅区域35A，使得光1185耦合到由光线1183-1184所表示的TIR路径之外。
在图3的示意性侧视图所示的一个实施例中，完整的激光雷达40包括基于图1至图2的实施例的接收器波导和发射器波导。发射器部件包括扫描器模块41和波导42，波导42包含可切换的光栅元件45A-45C，当可切换的光栅元件45A-45C处于其衍射状态时可将光偏转到TIR路径之外进入具有的主光线1190～1192的扫描光束范围。接收器部件包括检测器模块46和波导47，波导47包含可切换的光栅元件48A-48C，当可切换的光栅元件48A-48C处于它们的衍射状态时将FOV 1190-1195中的信号光耦合到TIR路径中以到达检测器模块。接收器和发射器波导中的切换选择器未示出。
在图4所示的一个实施例中，提供了一种激光雷达系统50，其包括波导51-53的堆叠，每个波导包含诸如54-56之类的SBG柱。波导中的柱的数量将取决于光栅角度带宽和激光雷达的总体视场的大小。扫描的激光束通过诸如光栅或棱镜的耦合装置依次耦合到每个波导层中。替代地，激光束可以被边缘耦合到波导中。每个波导层可以具有单独耦合器，其被设计成接受预定角度范围内的输入光束。耦合器可以使用至少一个切换光栅。可以使用单个耦合器来寻址多个层。在一个实施例中，激光雷达可以包括单个波导层。SBG柱54-56具有唯一的k向量，以用于将扫描的激光束偏转成具有主光线方向1202-1204的唯一的角度范围。通过根据上述实施例的原理，扫描的激光束1200经由棱镜57耦合到波导中，耦合到波导51中的TIR路径1201中，并且通过主动(即衍射)SBG柱56从波导51中偏转出以到达唯一的方向1204。扫描的激光束照射远程反射表面的区域1205。从反射表面反射的返回信号1206通过相同的主动SBG柱耦合到波导51中，并沿着TIR路径1207和基本上平行于输入光束路径1207的外部路径1208被中继到光束扫描器和检测器模块58。使用在激光传感器的文献中有详细记载的光束分离技术来分离发射的和接收的激光束。可以使用偏振或角度选择性来分离光束。检测系统可以采用外差检测。图4的实施例可以基于标题为“HOLOGRAPHICWAVEGUIDE EYE TRACKER(全息波导眼部跟踪仪)”的PCT/GB2014/000197，标题为“HOLOGRAPHIC WAVEGUIDE FOR TRACKING AN OBJECT IN 3D SPACE(用于跟踪3D空间中的对象的全息波导)”的美国临时专利申请No.62/071,534，标题为“APPARATUS FOR EYETRACKING(眼睛追踪装置)”的PCT/GB2013/000210；标题为“APPARATUS FOR EYE TRACKING(眼睛追踪装置)”的PCT申请No.GB2013/000210中公开的实施例，其全部内容通过引用并入本文。所述申请解决使用SBG柱阵列波导的眼睛跟踪仪以用于红外眼跟踪。在具有对本领域技术人员清楚的一些实施方案修改的情况下，其中公开的实施例同样适用于激光雷达系统。每个接收器发射器(R/T)SBG元件具有唯一的独特的K向量，其与MEM扫描器扫描一起定义了唯一的FOV瓦片(tile)。这消除了对复杂，庞大和昂贵的旋转光学装置的需要。单个目标表面通常处于远距离范围处，进入接收器波导的光束基本上是准直的，以允许R/T通道在各个角度的最佳匹配。理想地，光栅元件被设计成使得接收的元件孔径尽可能大，同时发射器元件的孔径需要足够大以适应来自光束扫描器的激光束扫描。光束的宽度将非常窄，通常为毫米数量级。
光束扫描器和检测器模块可以通过光纤耦合到发射器波导和接收器波导。多个波导可以堆叠以提供更大的视场或者实现超光谱激光雷达，其中每个波导在限定的波长带内操作。
在图5所示的本发明的另一实施例中，激光雷达系统包括发射器部件70和接收器部件80。接收器部件包括波导71，波导71包含单行可切换光栅元件72A-72F，其中具有由72D表示的主动光栅。每个光栅具有对应于唯一的光束衍射方向的唯一的k向量。发射器部件还包括发射光束1210的脉冲激光器，用于形成光束1211的由76示意性表示的准直和光束扩展光学元件，以及用于在两个正交方向上扫描光束1212的光束扫描器模块77。扫描光束通过耦合元件78(通常为光栅或棱镜)进入波导。为了简单起见，示出了扫描光束在波导X方向1213上的分量。主动光栅元件74使光束1213沿方向1214偏转。示出了对应于光栅元件72A-72C的主动状态的主光束方向1215-1217。现在转到图5B，检测器波导80包含SBG阵列(包括诸如81和83的元件)81和折叠光栅82。为了更好地理解折叠光栅的功能，注意到先前讨论的实施例中的波导光栅围绕位于波导平面中的轴线倾斜。折叠光栅具有更广泛的倾斜。在其最简单的实施方式中，如本发明中所使用的，它们围绕垂直于波导平面的轴线倾斜，使得它们在波导平面中偏转光束。更一般地，它们可以具有由两个旋转角度限定的倾斜，使得例如在一个步骤中光可以耦合到波导中并且在波导内部被偏转到正交方向。对于本发明特别重要的是，它们可以在单层中进行九十度转动和两轴线光束扩展，从而避免正交叠加的光栅层。图5C是折叠光栅82的平面图。当光线1225遇到光栅时，它们以将传播方向改变90°的方式衍射。与传统的竖直提取光栅不同，光不会离开波导。请注意，当光线遇到光栅时，无论是从上方还是下方与光栅相交，其中光线的一部分会改变方向，其余部分会持续不受阻碍。典型的光线将竖直地(Y方向)相互作用很多次，而一些光将横向移动(X方向)。从设计的角度来看，期望将从光栅的输出边缘出射的光1226的量设计成横向均匀分布，并且从光栅的侧边缘出射的光1227的量尽可能小。参考图中的笛卡尔XY参考系，折叠光栅将TIR光1225转过90度到Y方向。从折叠光栅出射的光1226被耦合到波导(棱镜，光栅或边缘)之外，并被透镜87聚焦到IR检测器86上。检测器通过电气通信链路85连接到信号处理器84。以活动状态示出的元件83沿着扫描路径1225耦合来自区域1221-1224的信号。例如，由瞬时光束1224、1225扫描的来自区域1221、1222的光由主动元件83耦合，该主动元件83沿方向1225(X轴)将光偏置进入TIR路径。在典型的应用中，激光器的脉冲持续时间为5ns。激光功率将取决于应用。在典型的汽车应用中，可能需要在60W区域内的激光雷达输出功率。MEMS扫描器通常是单个元件扫描器。期望该设备(带有激光器)应允许在具有60Hz更新的整个视野内1200x600分辨率单元。在一个实施例中，激光雷达基于6x3SBG光栅的阵列，每个SBG光栅具有10°x10°的视场，给出60°x30°的总视场。在检测器元件的活动期间段中，在10°x10°之间扫过200x200个元件，导致角度分辨率为0.05°。
图6更详细地示出了由1230-1235标记的由发射器形成的扫描的视场区域的扫描几何形状。来自反射表面90的反向散射信号在由光线1236-1237限定的角度范围内由接收器收集。光束扫描器和脉冲激光器将视野分成离散的角度分辨率元素，如1236-1239。图7是信号处理器92的框图。来自接收器组件的数据通信链路将接收的信号发送到模数转换器(ADC)93。数字化信号被发送到数字信号处理器(DSP)模块94。最后，信号通过以太网链路95传送到外围设备。这些模块在执行程序96的控制下操作。
图8的实施例类似于图5中的一个，除了发射器部件使用SBG元件的二维阵列，并且接收器部件中的折叠光栅被大孔径检测器透镜代替。另外的区别在于，在图8的实施例中，发射器和接收器部件集成在一个波导中。激光雷达100包括波导101、发射光束1240的脉冲激光器102、提供光束1241的光束扩展/准直透镜系统103、产生由1242表示的扫描光束的光束扫描器104以及光束转向模块105，该光束转向模块105将多个光束路径提供到发射器波导中，多个光束路径中的一个(即，光束1244)被示出为沿由109标记的SBG元件行注入到波导中。在图8B中更详细地示出了光束转向模块。在一个实施例中，它包括一组三个可切换折叠光栅元件105A-105C和用于将图8A的扫描光束1243转向竖直方向(Y)的非切换折叠光栅105D。竖直光束1243A依次穿过每个切换折叠光栅元件。每个元件操作用于将扫描光束切换到X方向以进入发射器波导。在图8B中，元件105A处于其衍射状态并将光束切换到输出方向1244。元件105B，105C示出为处于它们的被动状态，该元件105B，105C以其他方式沿由虚线示出的方向1243B，1243C切换光束。图8B中未示出的是用于将扫描光束1243耦合到光束转向模块中并将来自光束转向模块的输出光束耦合到发射器波导中的装置。如已经讨论的，耦合装置可以包括棱镜或光栅。替代地，光束可以被注入波导的边缘。发射器部分包括诸如106-108的SBG元件的二维阵列。行被标记为109-111。元件分别具有定义离散的水平和垂直视野区域的唯一k向量。由主动SBG元件108从波导提取的主动元件扫描光束部分由光线组1245表示。接收器波导包含多行SBG元件112的二维阵列，其中所述行以标记为13-115的元件开始。入射在主动元件116上的由一组光线1246表示的返回信号沿着元件行113在TIR通道1247中被衍射，并耦合到包括大孔径透镜118和IR检测器119的检测器模块117中。透镜将引导的光束聚焦到检测器上以形成焦斑，该焦斑的尺寸由如虚线光线1248A，1248B所示的元件116检测到的角度范围确定。检测到的全部角度范围(对于所有SBG元件行)由虚线1249指示。在一个实施例中，检测器模块117通过反射镜或棱镜折叠在接收器波导上，以提供更紧凑的配置。在一个实施例中，透镜118由等效反射镜代替。在另一个实施例中，透镜118可以由全息光学元件代替。
在图9所示的一个实施例中，接收器部件SBG阵列120中的SBG元件的宽度从阵列(122)的中心到边缘(121)增加，以便在所有角度保持固定的检测孔径。
图10所示的实施例提供一种光纤激光雷达130，其中发射器波导和接收器波导通过光纤耦合到扫描器模块和检测器模块。光纤可以基于GRIN技术。该装置包括：接收器波导131，其包含诸如132的光栅元件，用于在角度范围1262上接收光；发射器波导133，其包含诸如134的光栅元件，用于在预定角度范围内的光束扫描光。光纤将发射器波导的输入1264和来自接收器波导的输出1261耦合到远程发射器/接收器模块，该远程发射器/接收器模块包括光束扫描器138和探测器模块139以及用于在发射器/接收器模块和光纤之间耦合发射光束1260和接收光束1265的耦合器。波导和发射器/接收器模块可以基于任何上述实施例。将信号耦合到光纤的技术将是本领域技术人员所熟知的。
到目前为止，我们已经考虑了使用切换光栅元件的发射器波导和接收器波导。图11示出了其中光栅元件是被动的但被设计为在不同的TIR角度范围内操作的实施例。装置140包括具有光栅元件142-145的发射器波导141。激光雷达的每个FOV范围对应于唯一的SBG元件和TIR范围。示出了三个不同的TIR光束1270-1272的主光线和由光栅142,143,145(在其衍射状态下)到发射器光束1273-1275中的TIR光束的衍射。确保TIR角度足够好地分离以使该方案起作用的一种方式是设计光栅具有更大的厚度并因此具有更窄的角带宽。厚光栅通常更难切换，需要更高的切换电压。被动光栅在医用内窥镜中是非常需要的。注意，图11还用于说明被动发射器波导或被动接收器波导(反转光线向量)。
在图12所示的一个实施例中，激光雷达150包括端对端邻接的发射器波导151和接收器152波导。波导可以基于任何上述实施例。发射的光束方向和接收的光束方向一般由1280,1281表示。
在图13所示的一个实施例中，提供了一种装置，该装置包括根据本发明的原理的激光雷达160，波导显示器161和波导眼睛跟踪仪162。激光雷达处的发射光束和接收光束由1300,1301表示。由显示器提供的视野由光线1302,1303指示。眼睛跟踪仪用1306所示的红外线光束照射眼睛163，并且检测由1305指示的反向散射信号。该波导显示器可以基于如下的申请中公开的实施例中的任一项：标题为“COMPACT EDGE ILLUMINATED DIFFRACTIVEDISPLAY(封闭边的照明衍射显示器)”的美国专利申请No.13/506,389；标题为“OPTICALDISPLAYS(光学显示器)”的美国专利申请No.8,233,204；标题为“METHOD AND APPARATUSFOR PROVIDING A TRANSPARENT DISPLAY(用于提供透明显示的方法和装置)”的PCT申请No.US2006/043938；标题为“WEARABLE DATA DISPLAY(可穿戴数据显示器)”PCT申请号：GB2012/000677；标题为“COMPACT EDGE ILLUMINATED EYEGLASS DISPLAY(封闭边的照射眼镜显示器)”的美国专利申请No.13/317,468；标题为“HOLOGRAPHIC WIDE ANGLE DISPLAY(全息宽角度显示器)”的美国专利申请No.13/869,866；和标题为“TRANSPARENT WAVEGUIDEDISPLAY(透明波导显示其)”的美国专利申请No.13/844,456。眼镜跟踪仪可以基于如下申请中的公开的实施例中的任一项：为“HOLOGRAPHIC WAVEGUIDE EYE TRACKER(全息波导眼镜跟踪仪)”的PCT申请号：PCT/GB2014/000197；标题为“HOLOGRAPHIC WAVEGUIDE FORTRACKING AN OBJECT IN 3D SPACE(用于跟踪3D空间中的对象的全息波导)”的美国临时专利申请No.62/071,534；标题为“APPARATUS FOR EYE TRACKING(眼睛追踪装置)”的PCT/GB2013/000210；标题为“APPARATUS FOR EYE TRACKING(眼睛追踪装置)”的PCT申请号：GB2013/000210。
在图14所示的一个实施例中，激光雷达接收器组件170包括第一波导172和第二波导171，其中第一波导172接收来自通过一组主光线1310指示的第一视场的光，第二波导171接收来自通过一组主光线1311指示的第二视野的光的第二波导171，从图中应当清楚的是，图14也可以用来说明激光雷达发射器部件(具有相反的光线方向)。
本发明提供了一种使用单个激光器/检测器的透明薄结构。激光雷达使用SBG阵列将接收器视场和发射器视场分成小的选择性切换的视场区域，与使用单个广角成像光学系统的情况相比，可以更高效率地检测这些视场区域。
本发明的任何实施例可以使用一维或二维光栅阵列来实现。在任何上述实施例中，波导可以被弯曲或者由平面或曲面的马赛克形成。应该强调的是，附图是示例性的，并且尺寸已被夸大。例如，SBG层的厚度被大大夸大了。
基于任何上述实施例中的任一个的波导装置可以使用塑料基板来实现，该塑料基板使用如下的申请中公开的材料和工艺：标题为“IMPROVEMENTS TO HOLOGRAPHIC POLYMERDISPERSED LIQUID CRYSTAL MATERIALS AND DEVICES(全息聚合物分散液晶材料和设备的改进)”的PCT申请No.PCT/GB2012/000680。有利地，SBG被记录在反向模式HPDLC材料中，其中当在电极两端施加电场时，发生SBG的衍射状态。可以使用上述PCT申请中公开的反向模式材料和工艺来实现基于任何上述实施例中的任一个的眼镜跟踪仪。虽然本发明可以应用任何类型的光栅，这些光栅包括基于布拉格(体积)全息图的切换或非切换光栅或者表面浮雕光栅，但是优选的光栅技术是SBG，其具有快速切换，高光学效率和透明度和高折射率调制的优点。还应注意，在上述实施例中使用的光栅不一定都是切换光栅。切换光栅可以与被动光栅技术结合使用。如说明书和附图所示，可以使用多于一个的光栅层(薄层)。上面讨论的光栅层是设置在内部波导表面之间(或者换句话说，夹在透明基板之间，这些透明基板组合以形成波导的SBG，然而，在等同的实施例中，一些光栅层可以应用于外部波导表面，这适用于表面浮雕光栅的情况。在本发明的上述任一实施例中使用的SBG像素元件和ITO电极的制造方法可以基于标题为“METHOD AND APPARATUS FOR PROVIDING A TRANSPARENTDISPLAY(用于提供透明显示的方法和装置)”的PCT申请No.US2006/043938中公开的工艺。
本领域技术人员应当理解，虽然已经参照示例性实施例描述了本发明，但是应当理解，本发明不限于所公开的示例性实施例。根据设计要求和其他因素，可以进行各种修改、组合、子组合和改变，只要它们在所附权利要求或其等同物的范围内。

Claims (20)

1.一种波导传感器，包括：
光源，其发射第一波长光；
用于扫描所述光的至少一个光束偏转器；
发射器波导；
接收器波导；和
检测器，其光学耦合到所述接收器波导，
所述光束偏转器光耦合到所述发射器波导并且用于使得耦合到所述发射器波导中的扫描光执行围绕光栅元件的主衍射方向的角度扫描，
所述发射器波导包含设置在至少一个光栅层中的多个光栅元件，每个所述元件操作用于将光衍射到预定范围的输出方向，
所述接收器波导包含设置在至少一个光栅层中的多个光栅元件，每个所述元件将从外部点反射并入射到预定角度范围内的光衍射到TIR路径以进入所述检测器。
2.根据权利要求1所述的装置，其中所述发射器波导或所述接收器波导中的至少一个中的所述光栅元件是二维阵列的元件。
3.根据权利要求1所述的装置，其中所述发射器波导或所述接收器波导中的至少一个中的所述光栅元件是一维阵列的元件。
4.根据权利要求1所述的装置，其中所述发射器波导或所述接收器波导中的至少一个中的所述光栅元件是具有与所述波导的传播方向正交地对齐的更长尺寸的细长元件。
5.根据权利要求1所述的装置，其中所述发射器波导或所述接收器波导中的至少一个中的所述光栅元件是能够电切换的。
6.根据权利要求1所述的装置，其中所述发射器波导或所述接收器波导中的至少一个中的所述光栅元件具有在所述波导上变化的纵横比或表面积中的至少一个。
7.根据权利要求1所述的装置，其中所述接收器波导和所述发射器波导基本上重叠。
8.根据权利要求1所述的装置，其中所述发射器波导和所述接收器波导各自包含具有至少两个不同光栅矢量的光栅元件。
9.根据权利要求1所述的装置，所述发射器波导或所述接收器波导中的至少一个包含在不同角度范围内操作的光栅层。
10.根据权利要求1所述的装置，其中所述发射器波导或所述接收器波导包括至少一个包含折叠光栅的光栅层。
11.根据权利要求1所述的装置，其中所述发射器波导和所述接收器波导被组合成单个波导，其包含设置在至少一个光栅层中的多个光栅元件，每个所述光栅元件操作用于将所述光衍射到预定范围的输出方向，每个所述光栅元件将从外部点反射并入射到预定角度范围内的光衍射到TIR路径以到达所述检测器。
12.根据权利要求1所述的装置，其用于检测3D点云。
13.根据权利要求1所述的装置，其中所述扫描器和所述发射器波导之间的耦合由棱镜、光栅、可切换光栅中的一个来执行，或者经由边缘耦合来执行。
14.根据权利要求1所述的装置，其中所述光束偏转器是微机电系统。
15.根据权利要求1所述的装置，其中所述光源是红外发光二极管或红外激光器。
16.根据权利要求1所述的装置，其中所述第一波长约为1550nm。
17.根据权利要求1所述的装置，其中所述光栅是记录在HPDLC材料中、均匀调制HPDLC材料或反向模式HPDLC材料中的可切换布拉格光栅、表面浮雕光栅或布拉格光栅之一。
18.根据权利要求1所述的装置，其形成堆叠中的层，其还包括波导HMD或波导眼睛跟踪仪中的至少一个。
19.根据权利要求12所述的装置，还包括分束器，其用于在所述光源和所述发射器波导以及所述检测器和所述接收器波导之间提供光路。
20.根据权利要求1所述的装置，其中所述检测器是外差检测设备。
CN201680016603.8A 2015-01-20 2016-01-19 全息波导激光雷达 Pending CN107533137A (zh)

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US20190361096A1 (en) 2019-11-28
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US20180003805A1 (en) 2018-01-04

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