Light detecting and ranging sensing apparatus and methods

Abstract

According to one aspect, an optical apparatus for a light detecting and ranging (LiDAR) sensing system is provided. The optical apparatus can comprise an optical directing device; and a multi clad optical fiber, wherein said multi clad optical fiber comprises a core, at least one inner cladding, and an outer cladding. The core is arranged to receive optical rays transmitted from a light source of said sensing system and route said transmitted optical rays on an optical path leading to optical directing device. The optical directing device is configured both to direct said routed transmitted optical rays on an optical path leading to a target to be sensed and direct optical rays reflected from said target on an optical path leading to said inner cladding of said multi clad optical fiber. The inner cladding is configured to receive said reflected optical rays and route said reflected optical rays on an optical path leading to a detector for receiving reflected optical rays of said sensing system.

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         11 . An optical apparatus for use in a LiDAR sensing system, the optical apparatus comprising:
 an optical circulator positioned to receive and direct optical rays;   an optical directing device;   an optical detector; and   an optical fiber,   wherein the optical fiber is positioned to receive outgoing optical rays directed to the optical fiber by the optical circulator and to direct the outgoing optical rays toward the optical directing device,   the optical directing device is configured to focus the outgoing optical rays toward a target, and further to focus reflected optical rays reflected from the target toward the optical fiber,   the optical fiber is positioned to receive the reflected optical rays focused from the optical directing device and to direct the reflected optical rays toward the optical circulator, and   the optical circulator is positioned to direct the reflected optical rays toward the detector.   
     
     
         12 . The optical apparatus of  claim 11 , wherein the optical circulator receives the outgoing optical rays from a light source and blocks the reflected optical rays from returning to the light source. 
     
     
         13 . The optical apparatus of  claim 11 , wherein the optical fiber is a multi-clad fiber comprising a core, an inner cladding, and an outer cladding. 
     
     
         14 . The optical apparatus of  claim 11 , wherein the optical directing device consists of a single lens. 
     
     
         15 . The optical apparatus of  claim 11 , wherein the optical directing device consists of a single mirror. 
     
     
         16 . The optical apparatus of  claim 11 , wherein the optical directing device comprises at least one of a lens and a mirror, and both the outgoing and reflected optical rays are directed by the same at least one of a lens and a mirror. 
     
     
         17 . The optical apparatus of  claim 11 , comprising a plurality of detectors, the reflected optical rays being split among the plurality of detectors. 
     
     
         18 . The optical apparatus of  claim 11 , wherein the detector is an avalanche photodiode. 
     
     
         19 . A LiDAR sensor comprising the optical apparatus of  claim 11 , and further comprising a laser configured to generate the outgoing optical rays. 
     
     
         20 . The LiDAR sensor of  claim 19 , comprising a plurality of the optical apparatuses of  claim 1  and lasers configured to generate the outgoing optical rays. 
     
     
         21 . An optical apparatus for use in a LiDAR sensing system, the optical apparatus comprising:
 an optical directing device comprising at least one of a lens and a mirror;   an optical detector; and   an optical fiber,   wherein the optical fiber is positioned to receive outgoing optical rays directed to the optical fiber from a light source and to direct the outgoing optical rays toward the optical directing device,   the optical directing device is configured to focus the outgoing optical rays toward a target through the at least one of a lens and a mirror, and further to focus reflected optical rays reflected from the target toward the optical fiber through the same at least one of a lens and a mirror, and   the optical fiber is positioned to receive the reflected optical rays focused from the optical directing device and to direct the reflected optical rays toward the detector.   
     
     
         22 . The optical apparatus of  claim 21 , wherein the optical fiber is a multi-clad fiber comprising a core, an inner cladding, and an outer cladding. 
     
     
         23 . The optical apparatus of  claim 21 , wherein the optical directing device consists of a single lens. 
     
     
         24 . The optical apparatus of  claim 21 , wherein the optical directing device consists of a single mirror. 
     
     
         25 . The optical apparatus of  claim 21 , wherein the optical directing device consists of a plurality of optical elements selected from the group consisting of lenses and mirrors. 
     
     
         26 . The optical apparatus of  claim 21 , comprising a plurality of detectors, the reflected optical rays being split among the plurality of detectors. 
     
     
         27 . The optical apparatus of  claim 21 , wherein the detector is an avalanche photodiode. 
     
     
         28 . A LiDAR sensor comprising the optical apparatus of  claim 21 , and further comprising a laser configured to generate the outgoing optical rays. 
     
     
         29 . The LiDAR sensor of  claim 28 , comprising a plurality of the optical apparatuses of  claim 1  and lasers configured to generate the outgoing optical rays. 
     
     
         30 . A LiDAR sensor comprising a means for elimination of the parallax error problem, said LiDAR sensor further comprising an optical circulator. 
     
     
         31 . A LiDAR sensor comprising a means for elimination of the parallax error problem, wherein at least one of a lens and a mirror is configured to both direct outgoing optical rays toward a target and direct reflected optical rays toward a detector.