Lidar system

Abstract

A LIDAR system includes a laser source, a first lens, and a second lens. The laser source is configured to output a first beam. The first lens includes a planar portion and a convex portion. The first lens is configured to receive the first beam and output a second beam responsive to the first beam. The second lens includes a concave portion and a planar portion. The second lens is configured to receive the second beam and output a third beam responsive to the second beam.

What is claimed is: 
     
         1 . A light detection and ranging (LIDAR) system, comprising:
 a laser source configured to output a first beam;   a first lens comprising one of a convex portion or a concave portion, the first lens configured to receive the first beam to output a second beam; and   a second lens comprising the other of the convex portion or the concave portion, the second lens configured to receive the second beam to output a third beam, wherein at least one of the first lens or the second lens is rotatable about an axis that is offset from the at least one of the first lens or the second lens and that passes through a particular area of curvature of the convex portion or the concave portion of the at least one of the first lens or the second lens.   
     
     
         2 . The LIDAR system of  claim 1 , further comprising an actuator configured to rotate the at least one of the first lens or the second lens about the axis. 
     
     
         3 . The LIDAR system of  claim 2 , wherein the axis is a first axis, and the actuator is configured to rotate the at least one of the first lens or the second lens relative to a second axis along which the first lens receives the first beam and adjusts an angle of the third beam relative to the first beam. 
     
     
         4 . The LIDAR system of  claim 2 , further comprising at least one of a spring or an actuated flexure coupled with the at least one of the first lens or the second lens to provide a linear restorative force to rotation of the at least one of the first lens or the second lens. 
     
     
         5 . The LIDAR system of  claim 1 , wherein the convex portion of the at least one of the first lens or the second lens is cylindrical. 
     
     
         6 . The LIDAR system of  claim 1 , wherein the convex portion of the at least one of the first lens or the second lens is spherical. 
     
     
         7 . The LIDAR system of  claim 1 , further comprising a modulator configured to modulate at least one of a phase or a frequency of the first beam and transmit the modulated first beam to the first lens. 
     
     
         8 . The LIDAR system of  claim 1 , further comprising a position sensor configured to detect a position of at least one of the first lens or the second lens. 
     
     
         9 . The LIDAR system of  claim 8 , further comprising one or more processors configured to control operation of an actuator based on the position of the at least one of the first lens or the second lens. 
     
     
         10 . An autonomous vehicle control system, comprising:
 a laser source configured to output a first beam;   a first lens comprising one of a convex portion or a concave portion, the first lens configured to receive the first beam to output a second beam; and   a second lens comprising the other of the convex portion or the concave portion, the second lens configured to receive the second beam to output a third beam, wherein at least one of the first lens or the second lens is rotatable about an axis offset from the at least one of the first lens or the second lens and that passes through a particular area of curvature of the convex portion or the concave portion of the at least one of the first lens or the second lens; and   one or more processors configured to:
 receive a signal from at least one of reflection or scattering of the third beam by an object; 
 determine at least one of a range to the object or a velocity of the object based on the signal; and 
 control operation of an autonomous vehicle responsive to the at least one of the range or the velocity. 
   
     
     
         11 . The autonomous vehicle control system of  claim 10 , further comprising an actuator configured to rotate the at least one of the first lens or the second lens about the axis. 
     
     
         12 . The autonomous vehicle control system of  claim 11 , wherein the axis is a first axis, and the actuator is configured to rotate at least one of the first lens or the second lens relative to a second axis along which the first lens receives the first beam and adjusts an angle of the third beam relative to the first beam. 
     
     
         13 . The autonomous vehicle control system of  claim 10 , wherein the convex portion of the at least one of the first lens or the second lens is cylindrical. 
     
     
         14 . The autonomous vehicle control system of  claim 10 , wherein the convex portion of the at least one of the first lens or the second lens is spherical. 
     
     
         15 . The autonomous vehicle control system of  claim 10 , further comprising a modulator configured to modulate at least one of a phase or a frequency of the first beam and transmit the modulated first beam to the first lens. 
     
     
         16 . The autonomous vehicle control system of  claim 10 , further comprising a position sensor configured to detect a position of at least one of the first lens or the second lens. 
     
     
         17 . An autonomous vehicle, comprising:
 a laser source configured to output a first beam;   a first lens comprising one of a convex portion or a concave portion, the first lens configured to receive the first beam to output a second beam;   a second lens comprising the other of the convex portion or the concave portion, the second lens configured to receive the second beam to output a third beam, wherein at least one of the first lens or the second lens is rotatable about an axis offset from the at least one of the first lens or the second lens and that passes through a particular area of curvature of the convex portion or the concave portion of the at least one of the first lens or the second lens;   a steering system;   a braking system; and   one or more processors configured to:
 receive a signal from at least one of reflection or scattering of the third beam by an object; 
 determine at least one of a range to the object or a velocity of the object based on the signal; and 
 control operation of at least one of the steering system or the braking system based on the at least one of the range or the velocity. 
   
     
     
         18 . The autonomous vehicle of  claim 17 , further comprising an actuator configured to rotate the at least one of the first lens or the second lens about the axis to adjust an azimuth angle of the third beam. 
     
     
         19 . The autonomous vehicle of  claim 17 , wherein the convex portion of the at least one of the first lens or the second lens is cylindrical. 
     
     
         20 . The autonomous vehicle of  claim 17 , wherein the convex portion of the at least one of the first lens or the second lens is spherical.