Methods and Systems for LIDAR Optics Alignment

Abstract

A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.

What is claimed is: 
     
         1 . A system comprising:
 one or more light sources of a light detection and ranging (LIDAR) device configured to emit one or more light beams;   one or more detectors of the LIDAR device configured to receive a light beam emitted from a corresponding light source of the one or more light sources upon the light beam being reflected from an object in an environment of the LIDAR device;   a transmit lens of the LIDAR device configured to focus light beams emitted by the one or more light sources of the LIDAR device;   a receive lens of the LIDAR device configured to focus light beams reflected from objects in the environment of the LIDAR device onto the one or more detectors of the LIDAR device; and   an alignment apparatus configured to:
 adjust a position of at least one of the one or more light sources relative to the transmit lens or the receive lens by effecting a relative rotation between the at least one light source and the transmit lens or the receive lens in one of three rotational degrees of freedom; or 
 adjust a position of at least one of the one or more detectors relative to the transmit lens or the receive lens by effecting a relative rotation between the at least one detector and the transmit lens or the receive lens in one of three rotational degrees of freedom. 
   
     
     
         2 . The system of  claim 1 , further comprising a mounting platform, wherein the one or more light sources of the LIDAR device and the one or more detectors of the LIDAR device are mounted to the mounting platform. 
     
     
         3 . The system of  claim 2 , wherein the mounting platform comprises plastics or metals. 
     
     
         4 . The system of  claim 2 , wherein the one or more light sources of the LIDAR device and the one or more detectors of the LIDAR device are removably mounted to the mounting platform. 
     
     
         5 . The system of  claim 4 , wherein the alignment apparatus is further configured to mount and unmount the one or more light sources of the LIDAR device and the one or more detectors of the LIDAR device to the mounting platform. 
     
     
         6 . The system of  claim 1 , wherein the alignment apparatus comprises a robotic arm. 
     
     
         7 . The system of  claim 6 , wherein the alignment apparatus is further configured to:
 translate at least one of the one or more light sources forward or backward along an axis perpendicular to the transmit lens or the receive lens; or   translate at least one of the one or more detectors forward or backward along an axis perpendicular to the transmit lens or the receive lens.   
     
     
         8 . The system of  claim 1 , wherein the alignment apparatus is further configured to:
 translate at least one of the one or more light sources up or down along an axis parallel to the transmit lens or the receive lens; or   translate at least one of the one or more detectors up or down along an axis parallel to the transmit lens or the receive lens.   
     
     
         9 . The system of  claim 1 , wherein the alignment apparatus is further configured to:
 translate at least one of the one or more light sources left or right along an axis parallel to the transmit lens or the receive lens; or   translate at least one of the one or more detectors left or right along an axis parallel to the transmit lens or the receive lens.   
     
     
         10 . The system of  claim 1 , wherein the alignment apparatus is configured to:
 independently translate at least one of the one or more light sources forward or backward along an axis perpendicular to the transmit lens or the receive lens; and   independently translate at least one of the one or more detectors forward or backward along an axis perpendicular to the transmit lens or the receive lens.   
     
     
         11 . A method comprising:
 emitting, by one or more light sources of a light detection and ranging (LIDAR) device, one or more light beams;   focusing, by a transmit lens of the LIDAR device, light beams emitted by the one or more light sources of the LIDAR device;   receiving, by one or more detectors of the LIDAR device, a light beam emitted from a corresponding light source of the one or more light sources upon the light beam being reflected from an object in an environment of the LIDAR device;   focusing, by a receive lens of the LIDAR device, light beams reflected from objects in the environment of the LIDAR device onto the one or more detectors of the LIDAR device; and   adjusting, by an alignment apparatus:
 a position of at least one of the one or more light sources relative to the transmit lens or the receive lens by effecting a relative rotation between the at least one light source and the transmit lens or the receive lens in one of three rotational degrees of freedom; or 
 a position of at least one of the one or more detectors relative to the transmit lens or the receive lens by effecting a relative rotation between the at least one detector and the transmit lens or the receive lens in one of three rotational degrees of freedom. 
   
     
     
         12 . The method of  claim 11 , further comprising mounting the one or more light sources of the LIDAR device and the one or more detectors of the LIDAR device to a mounting platform. 
     
     
         13 . The method of  claim 12 , wherein the mounting platform comprises plastics or metals. 
     
     
         14 . The method of  claim 12 , further comprising removably mounting the one or more light sources of the LIDAR device and the one or more detectors of the LIDAR device to the mounting platform. 
     
     
         15 . The method of  claim 14 , further comprising mounting or unmounting, by the alignment apparatus, the one or more light sources of the LIDAR device and the one or more detectors of the LIDAR device to the mounting platform. 
     
     
         16 . The method of  claim 11 , wherein the alignment apparatus comprises a robotic arm. 
     
     
         17 . The method of  claim 16 , further comprising translating, by the alignment apparatus:
 at least one of the one or more light sources forward or backward along an axis perpendicular to the transmit lens or the receive lens; or   at least one of the one or more detectors forward or backward along an axis perpendicular to the transmit lens or the receive lens.   
     
     
         18 . The method of  claim 11 , further comprising translating, by the alignment apparatus:
 at least one of the one or more light sources up or down along an axis parallel to the transmit lens or the receive lens; or   at least one of the one or more detectors up or down along an axis parallel to the transmit lens or the receive lens.   
     
     
         19 . The method of  claim 11 , further comprising translating, by the alignment apparatus:
 at least one of the one or more light sources left or right along an axis parallel to the transmit lens or the receive lens; or   at least one of the one or more detectors left or right along an axis parallel to the transmit lens or the receive lens.   
     
     
         20 . The method of  claim 11 , further comprising independently translating, by the alignment apparatus:
 at least one of the one or more light sources forward or backward along an axis perpendicular to the transmit lens or the receive lens; and   at least one of the one or more detectors forward or backward along an axis perpendicular to the transmit lens or the receive lens.