Double-sided flexure for linear lidar scanning

Abstract

A double-sided flexure is used in a scanning LiDAR system. The scanning LiDAR system includes a base and a platform. The platform has a first side and a second side opposite the first side. An optical component is mounted on the platform. A first flexure extends from a first mounting location to the platform. The first flexure is fixedly coupled with the base at the first mounting location. The first mounting location is closer to the first side of the platform than the second side. Aa second flexure extends from a second mounting location to the platform. The second flexure is fixedly coupled with the base at the second mounting location, and the second mounting location is closer to the second side of the platform than the first side.

What is claimed is: 
     
         1 . A system for LiDAR, the system comprising:
 a platform comprising a first side and a second side, wherein the first side is opposite of the second side;   a laser mounted on the platform, the laser arranged to transmit light into an environment;   a base;   a first flexure extending from a first mounting location to the platform, wherein:
 the first flexure is fixedly coupled with the base at the first mounting location; and 
 the first mounting location is closer to the first side of the platform than the second side; and 
   a second flexure extending from a second mounting location to the platform, wherein:
 the second flexure is fixedly coupled with the base at the second mounting location; and 
 the second mounting location is closer to the second side of the platform than the first side; 
   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 first flexure comprises a tapered arm; and   the tapered arm narrows in a direction toward the platform.   
     
     
         3 . The system of  claim 1 , further comprising a counterweight coupled with the base. 
     
     
         4 . A system for LiDAR, the system comprising:
 a platform comprising a first side and a second side, wherein the first side is opposite of the second side;   an optical component mounted on the platform;   a base;   a first flexure extending from a first mounting location to the platform, wherein:
 the first flexure is fixedly coupled with the base at the first mounting location; and 
 the first mounting location is closer to the first side of the platform than the second side; and 
   a second flexure extending from a second mounting location to the platform, wherein:
 the second flexure is fixedly coupled with the base at the second mounting location; and 
 the second mounting location is closer to the second side of the platform than the first side. 
   
     
     
         5 . The system of  claim 4 , wherein:
 the optical component is a laser;   the laser is arranged to transmit light into an environment;   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.   
     
     
         6 . The system of  claim 4 , comprising a lens rigidly coupled with the base, wherein:
 the lens is characterized by a focal plane; and   the optical component is positioned on the focal plane of the lens; and   the first flexure and the second flexure are arranged to move the optical component in the focal plane of the lens.   
     
     
         7 . The system of  claim 4 , wherein:
 the first flexure comprises a first arm and a second arm; and   the first arm and the second arm are coupled with the platform.   
     
     
         8 . The system of  claim 4 , the system further comprising a counterweight, wherein:
 the first flexure comprises a first arm and a second arm;   the first arm is coupled with the platform; and   the second arm is coupled with the counterweight.   
     
     
         9 . The system of  claim 4 , wherein the first flexure is separated from the second flexure at the platform by a gap. 
     
     
         10 . The system of  claim 4 , wherein the first flexure and the second flexure are made of a same piece of material. 
     
     
         11 . The system of  claim 4 , wherein the first flexure and the second flexure suspend the platform over the base, so that the base is below the platform. 
     
     
         12 . The system of  claim 4 , wherein:
 movement of the platform with respect to the base is characterized by a first resonant frequency in a first direction;   the movement of the platform with respect to the base is characterized by a second resonant frequency in a second direction; and   the second direction is orthogonal to the first direction.   
     
     
         13 . The system of  claim 4 , wherein the platform is centered between the first flexure and the second flexure. 
     
     
         14 . The system of  claim 4 , wherein the optical component is mounted on the first side of the platform. 
     
     
         15 . The system of  claim 4 , wherein:
 the optical component is mounted on a third side of the platform; and   the third side is between the first side and the second side of the platform.   
     
     
         16 . The system of  claim 4 , wherein:
 the platform comprises a spar; and   the first flexure and the second flexure are coupled with the spar.   
     
     
         17 . A method for using a LiDAR system, 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; 
 a first flexure extends from a first mounting location to the platform; 
 the platform comprises a first side and a second side; 
 the second side is opposite the first side; 
 the first flexure is fixedly coupled with a base at the first mounting location; 
 the first mounting location is closer to the first side of the platform than the second side; 
 a second flexure extends from a second mounting location to the platform; 
 the second flexure is fixedly coupled with the base at the second mounting location; and 
 the second mounting location is closer to the second side of the platform than the first side; 
   emitting light from the laser, while translating the laser;   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.   
     
     
         18 . The method of  claim 17 , comprising translating the laser is a focal plane of the lens, wherein the lens is rigidly coupled with the base. 
     
     
         19 . The method of  claim 17 , wherein the first flexure and the second flexure suspend the platform over the base, so that the base is below the platform. 
     
     
         20 . The method of  claim 17 , comprising:
 translating the laser in a first direction at a first resonant frequency; and   translating the laser in a second direction at a second resonant frequency, wherein the second direction is orthogonal to the first direction.