Folded flexure for linear lidar scanning

Abstract

A folded flexure is used for in a scanning LiDAR system. An optical component is mounted on a platform. The platform has a first side and a second side opposite the first side. A flexure couples the platform to a base. The base is closer to the second side than the first side. The flexure extends forward of the first side to a fold in the flexure, and the flexure extends backward from the fold toward the base.

What is claimed is: 
     
         1 . A system for scanning LiDAR, the system comprising:
 a platform comprising first side and a second side, wherein:
 the first side is opposite of the second side; 
 a forward direction is in a direction of an outward-pointing normal of the first side; 
 a backward direction is opposite the forward direction; 
   a laser mounted on the platform, the laser arranged to transmit light into an environment;   a base;   a lens fixedly coupled with the base, the lens characterized by a focal plane; and   a flexure coupling the platform with the base, the flexure arranged so that:
 the laser is positioned at the focal plane of the lens; 
 the flexure extends in the forward direction from the platform to a fold in the flexure; and 
 the flexure extends in the backward direction from the fold to the base. 
   a detector arranged to detect light from the laser after light is transmitted from the laser into the environment; and   one or more memory devices comprising instructions that, when executed, calculate a distance to an object in the environment based on detecting the light from the laser.   
     
     
         2 . The system of  claim 1 , wherein the laser is mounted on the first side or the second side of the platform. 
     
     
         3 . The system of  claim 1 , wherein:
 the platform comprises a third side between the first side and the second side; and   the laser is mounted on the third side of the platform.   
     
     
         4 . The system of  claim 1 , wherein the fold is a curvature of the flexure. 
     
     
         5 . The system of  claim 1 , further comprising a counterweight and the flexure couples the counterweight with the base. 
     
     
         6 . A system for scanning LiDAR, the system comprising:
 a platform comprising a first side and a second side opposite the first side;   an optical component mounted on the platform;   a base;   a lens coupled with the base, the lens characterized by a focal plane; and   a flexure coupling the platform to the base, the flexure arranged so that:
 the base is closer to the second side than the first side; 
 the flexure extends forward of first side to a fold in the flexure; and 
 the flexure extends backward from the fold toward the base. 
   
     
     
         7 . The system of  claim 6 , wherein the optical component is mounted on the first side or the second side of the platform. 
     
     
         8 . The system of  claim 6 , wherein:
 the platform comprises a third side between the first side and the second side; and   the optical component is mounted on the third side of the platform.   
     
     
         9 . The system of  claim 6 , wherein the fold is a curvature of the flexure. 
     
     
         10 . The system of  claim 6 , wherein a distance from the base to the fold is equal to or less than four times a distance from the platform to the fold. 
     
     
         11 . The system of  claim 6 , wherein the optical component is arranged to be halfway between the base and the fold. 
     
     
         12 . The system of  claim 6 , wherein the lens comprising multiple sub lenses. 
     
     
         13 . The system of  claim 6 , wherein:
 the optical component is a laser, arranged to transmit light into an environment; and   the system comprises:
 a detector arranged to detect light from the laser after light is transmitted from the laser into the environment; and 
 one or more memory devices comprising instructions that, when executed, calculate a distance to an object in the environment based on detecting the light from the laser. 
   
     
     
         14 . The system of  claim 6 , further comprising a counterweight arranged to move opposite of the platform during operation. 
     
     
         15 . The system of  claim 14 , wherein
 the flexure comprises a first arm, a second arm, a third arm, and a fourth arm;   the first arm and the second arms are coupled with the platform; and   the third arm and the fourth arms are coupled with the counterweight.   
     
     
         16 . A method for scanning LiDAR, the method comprising:
 translating a platform relative to a lens in a plane perpendicular to an optical axis of the lens, wherein:
 a laser is mounted on the platform; 
 the platform comprises a first side and a second side opposite the first side; 
 the platform is coupled to a base using a flexure; 
 the flexure is arranged so that:
 the base is closer to the second side than the first side; 
 the flexure extends forward of first side to a fold in the flexure; and 
 the flexure extends backward from the fold to the base; 
 
   emitting light from the laser, while translating the platform;   transmitting light emitted from the laser through the lens and into an environment;   detecting light from the laser, using a detector, after transmitting the light emitted from the laser into the environment; and   calculating a distance to an object in the environment based on detecting the light from the laser.   
     
     
         17 . The method of  claim 16 , wherein the laser is mounted on the first side or the second side of the platform. 
     
     
         18 . The method of  claim 16 , wherein:
 the platform comprises a third side between the first side and the second side; and   the laser is mounted on the third side of the platform.   
     
     
         19 . The method of  claim 16 , wherein the fold is a curvature of the flexure. 
     
     
         20 . The method of  claim 16 , further comprising translating a counterweight in opposition to motion of the platform.