Pyramidal mirror laser scanning for lidar

Abstract

An apparatus includes a detector and a light source configured to emit light. The apparatus further includes a disk with a set of prisms and that is configured to rotate, arranged to receive and direct the emitted light, and arranged to receive and direct backscattered light. The apparatus further includes a reflecting apparatus with multiple reflective facets and configured to rotate, arranged to reflect the emitted light, and arranged to reflect the backscattered light. A focusing apparatus is arranged to focus the backscattered light from the disk towards the detector.

We claim: 
     
         1 . An apparatus comprising:
 a first detector and a second detector;   a first light source configured to emit light and a second light source configured to emit light;   a disk having a set of prisms, being configured to rotate around a rotation axis, arranged to receive and direct the emitted light, and arranged to receive and direct backscattered light;   a reflecting apparatus having multiple reflective facets, being configured to rotate, arranged to reflect the emitted light, and arranged to reflect the backscattered light, wherein the first light source is arranged to direct the emitted light to a first facet position, wherein the second light source is arranged to direct the light to a second facet position; and   a focusing apparatus arranged to focus the backscattered light from the disk towards the first detector and the second detector.   
     
     
         2 . The apparatus of  claim 1 , wherein the focusing apparatus is a curved mirror or a lens. 
     
     
         3 . The apparatus of  claim 1 , wherein the focusing apparatus is a curved mirror, the apparatus further comprising:
 a lens arranged to focus the backscattered light reflected by the curved mirror towards the first detector and the second detector.   
     
     
         4 . The apparatus of  claim 1 , wherein the focusing apparatus includes an aperture through which the emitted light passes. 
     
     
         5 . The apparatus of  claim 1 , wherein a number of reflective facets of the reflecting apparatus is 6-12. 
     
     
         6 . The apparatus of  claim 1 , wherein the disk includes multiple sets of prisms each with prisms having different prism angles from the other sets of prisms. 
     
     
         7 . The apparatus of  claim 1 , wherein the reflecting apparatus is arranged to rotate around the rotation axis or an axis parallel to the rotation axis. 
     
     
         8 . The apparatus of  claim 1 , further comprising:
 a housing forming an internal cavity,   wherein the first detector, the second detector, the first light source, the second light source, the disk, and the focusing apparatus are positioned within the internal cavity.   
     
     
         9 . The apparatus of  claim 1 , further comprising:
 a third light source configured to emit, wherein the third light source is arranged to direct the emitted light to a third facet position.   
     
     
         10 . The apparatus of  claim 1 , further comprising:
 a third detector, wherein the focusing apparatus arranged to focus the backscattered light from the disk towards the third detector.   
     
     
         11 . A method for generating a first scanning light pattern and a second scanning light pattern, the method comprising:
 rotating a disk having prisms around a rotation axis;   rotating a reflecting apparatus having multiple reflective facets;   directing light from a first light source through the rotating disk to create a first light pattern;   directing light from a second light source through the rotating disk to create a second light pattern; and   reflecting, via the rotating reflecting apparatus, (1) the first light pattern to generate the first scanning light pattern and (2) the second light pattern to generate the second scanning light pattern.   
     
     
         12 . The method of  claim 11 , further comprising:
 receiving, at a first detector and a second detector, backscattered light of the generated first and second scanning light patterns that is reflected by the rotating reflecting apparatus and that passes through the disk.   
     
     
         13 . The method of  claim 12 , further comprising:
 focusing, with a focusing apparatus, the backscattered light that has been reflected by the rotating reflecting appataus and that has passed through the disk towards the first detector and the second detector.   
     
     
         14 . The method of  claim 11 , wherein the reflecting apparatus is rotated around the rotation axis or an axis parallel to the rotation axis. 
     
     
         15 . An apparatus comprising:
 a detector;   a light source configured to emit light along an emission axis;   a disk having prisms, being configured to rotate around a rotation, arranged to receive and direct the emitted light, and arranged to receive and direct backscattered light, wherein the disk is the only disk within the apparatus, wherein the rotation axis is perpendicular to the emission axis;   a stationary reflecting apparatus arranged to reflect the emitted light and arranged to reflect the backscattered light; and   a focusing apparatus arranged to focus the backscattered light towards the detector.   
     
     
         16 . The apparatus of  claim 15 , further comprising a lens optically positioned between the disk and the stationary reflecting apparatus. 
     
     
         17 . The apparatus of  claim 16 , wherein the lens is optically positioned between the disk and the detector. 
     
     
         18 . The apparatus of  claim 17 , wherein the lens is optically positioned between the light source and the disk. 
     
     
         19 . The apparatus of  claim 16 , further comprising a pyramidal mirror having multiple reflective facets, being configured to rotate, arranged to reflect the emitted light, and arranged to reflect the backscattered light. 
     
     
         20 . The apparatus of  claim 19 , wherein the disk is optically positioned between the lens and the pyramidal mirror.