# US 2024/0201382 A1 · Lidar system and method of operation

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- Number: US 2024/0201382 A1
- Document ID: US20240201382A1
- Status: Published application
- Kind: A1
- Application number: 18/595,147
- Filed: 2024-03-04
- Published: 2024-06-20
- Earliest claimed: 2018-10-24
- Assignees: Red Leader Technologies, Inc.
- Applicants: Red Leader Technologies, Inc.
- Inventors: Jacob Hillard; Rebecca Wong; Jhoneldrick Millares; Logan Herrera
- Web page: https://patentgrep.com/patent/US20240201382A1

## CPC

- G01S 17/89: for mapping or imaging
- G01S 7/4804: {Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators}
- G01S 7/4815: {using multiple transmitters}
- G01S 7/4816: {of receivers alone}
- G01S 7/4817: {relating to scanning}
- G01S 7/4865: Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak (peak detection in noise, signal conditioning G01S7/487)
- G01S 7/493: Extracting wanted echo signals
- G01S 7/4911: Transmitters
- G01S 7/4914: of detector arrays, e.g. charge-transfer gates
- G01S 17/26: wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A lidar system, preferably including one or more transmit modules, beam directors, and/or receive modules; additionally or alternatively, the lidar system can optionally including one or more processing modules. A method of lidar system operation, preferably including: emitting light beams, receiving reflected light beams, and/or analyzing data associated with the received light beams.

## Claims

### Claim 1

A method for environment mapping, comprising:
at a first laser of a lidar emitter, emitting a first plurality of beams;
at a second laser of the lidar emitter, emitting a second plurality of beams, wherein:
the first and second pluralities of beams cooperatively define an array of pixels;
each pixel of the array comprises a beam of the first plurality and a beam of the second plurality; and
the array of pixels defines an array direction, wherein a plurality of pixels of the array are arrayed along the array direction;
at a beam director, directing each beam of the array of pixels outward of a sweep axis, wherein a reference line parallel to the sweep axis intersects the array direction at a substantially oblique angle;
at the beam director, while directing each beam of the array of pixels outward of the sweep axis, sweeping each beam of the array of pixels about the sweep axis;
at a lidar receiver, receiving a plurality of reflected beams, each reflected beam originating from a reflection, off a respective object, of a different beam of the array of pixels; and
based on the plurality of reflected beams, determining, for each reflected beam of the plurality, a relative location of the respective object.

### Claim 2 (depends on 1)

The method of claim 1, wherein the array of pixels is a substantially hexagonal array, wherein the substantially oblique angle is substantially different from 30° and is substantially different from 60°.

### Claim 3 (depends on 1)

The method of claim 1, wherein:
the substantially oblique angle is less than 45°;
the array of pixels comprises:
a first pixel comprising a first beam of the array; and
a second pixel comprising a second beam of the array;
the array defines an angular spacing between the first and second beams, wherein a component, along the array direction, of the angular spacing defines a pixel gap;
a minimum single emitter separation (MSES) between the first and second beams is less than the pixel gap, wherein the MSES is equal to a difference between a first polar angle, defined between the first beam and the sweep axis, and a second polar angle, defined between the second beam and the sweep axis.

### Claim 4 (depends on 3)

The method of claim 3, wherein receiving the plurality of reflected beams comprises:
at a first photodiode of the lidar receiver, receiving each reflected beam of the first pixel; and
at a second photodiode of the lidar receiver, receiving each reflected beam of the second pixel.

### Claim 5 (depends on 4)

The method of claim 4, wherein:
each beam of the first and second pluralities is a substantially continuous-wave beam;
each reflected beam of the first pixel is received at the first photodiode substantially concurrently;
each reflected beam of the second pixel is received at the second photodiode substantially concurrently; and
the first and second pluralities of beams are emitted substantially throughout receiving the plurality of reflected beams.