Optical scanning system and scanning method

Abstract

There is provided an optical scanning system and a scanning method, wherein the optical scanning system comprises: a light emitting component; an optical scanning component comprising a combination of the following elements located between the light emitting component and a scene along a propagation path of at least one emitted light beam: at least one first optical scanning element, each first optical scanning element oscillating or rotating with respect to a first cross-section or by applying a voltage to the first optical scanning element so that the first emergent light beam oscillates in at least one direction with a respective predetermined regularity; at least one second optical scanning element, each second optical scanning element oscillating or rotating within a second cross-section so that the second emergent light beam oscillates or rotates with a predetermined rotational speed; wherein the at least one emitted light beam from the light emitting component passes through the optical scanning component to the scene to achieve a two-dimensional spatial scanning of the scene.

Description

[0001] This application claims priority to patent application 202010784632.7 with a filing date of August 6, 2020. TECHNICAL FIELD

[0002] The present application relates to the field of optical detection, and more particularly to an optical scanning system and method. BACKGROUND

[0003] Laser radar (Lidar) is a commonly used ranging sensor, which has the characteristics of long detection distance, high resolution, and small environmental interference, and is widely used in intelligent robots, unmanned aerial vehicles, unmanned driving and other fields.

[0004] Laser radar usually performs ranging based on time of flight (TOF), by emitting laser pulses in a transmission direction to the scene outside, and receiving the echoes generated by the reflection of the laser pulses from the objects in the scene outside. By measuring the delay of the echoes, the distance between the objects and the laser radar in the transmission direction can be calculated. By dynamically adjusting the outgoing direction of the laser, the distance information between the objects in different directions and the laser radar can be measured, thereby realizing the modeling of the three-dimensional space.

[0005] In the laser radar, how to realize the dynamic adjustment of the outgoing direction of the laser of the laser radar affects the spatial range (field of view) that the system can detect, the fine degree of spatial information (resolution) obtained, the anti-interference ability, and so on. SUMMARY

[0006] According to an aspect of the present disclosure, there is provided an optical scanning system, comprising: an optical emission component comprising at least one optical emitter, emitting at least one emission light beam into a scene within a respective scanning view angle; an optical scanning component comprising a combination of the following elements located between the optical emission component and the scene along a propagation path of the at least one emission light beam: at least one first optical scanning element, each first optical scanning element causing a first deflection of a first incident light beam incident to the first optical scanning element, and wherein the first deflection is caused by a first oscillation or a first rotation of the first optical scanning element relative to a first cross section being less than 180 degrees to a propagation direction of the first incident light beam, or by applying a predetermined electrical signal to the first optical scanning element, such that a first exit light beam exiting the first optical scanning element exits with a respective predetermined regularity; at least one second optical scanning element, each second optical scanning element causing a second deflection of a second incident light beam incident to the second optical scanning element, and wherein the second deflection is caused by a first oscillation or a first rotation of the second optical scanning element within a second cross section being less than 180 degrees to a propagation direction of the second incident light beam, such that a second exit light beam exiting the second optical scanning element oscillates or rotates with a predetermined rotation speed; an optical receiving component comprising at least one detector, respectively detecting at least one reflection light beam reflected from the scene.

[0007] In some embodiments, the first deflection is caused by the first oscillation or the first rotation of the first optical scanning element relative to the first cross section being less than 180 degrees to the propagation direction of the first incident light beam, such that the first exit light beam exiting the first optical scanning element oscillates or rotates with the respective predetermined regularity, comprises: the first deflection is caused by the first oscillation or the first rotation of the first optical scanning element relative to the first cross section being less than 180 degrees to the propagation direction of the first incident light beam, such that the first exit light beam exiting the first optical scanning element oscillates or rotates with the respective predetermined regularity.

[0008] In some embodiments, the first deflection is caused by the first oscillation or the first rotation of the first optical scanning element relative to the first cross section being less than 180 degrees to the propagation direction of the first incident light beam, such that the first exit light beam exiting the first optical scanning element oscillates or rotates with the respective predetermined regularity, comprises: the first deflection is caused by the first oscillation or the first rotation of the first optical scanning element relative to the first cross section being less than 180 degrees to the propagation direction of the first incident light beam, such that the first exit light beam exiting the first optical scanning element oscillates or rotates with the respective predetermined regularity.

[0009] In some embodiments, the at least one emission light beam emitted from the optical emission component passes through the optical scanning component to the scene to achieve a two-dimensional spatial scanning of the scene, and the at least one reflection light beam reflected from the scene passes through the optical scanning component to the optical receiving component.

[0010] In some embodiments, the first oscillation is different from the second oscillation, and the first rotation is different from the second rotation.

[0011] In some embodiments, a maximum amplitude of the deflection angle of the second deflection satisfies a predetermined multiple relationship with a maximum amplitude of the deflection angle of the first deflection, between 0.01 times to 100 times.

[0012] In some embodiments, a maximum amplitude of the deflection angle of the first deflection is greater than a maximum amplitude of the deflection angle of the second deflection.

[0013] In some embodiments, an amplitude of a change in the magnitude of the deflection angle of the second deflection due to the second rotation or the second oscillation of the second optical scanning element is less than a predetermined threshold.

[0014] In some embodiments, the first optical scanning element comprises at least one of a galvanometer, a rotating mirror, a waveguide, an optical switch, or an optical phased array (OPA).

[0015] In some embodiments, the first optical scanning element comprises a galvanometer, the galvanometer is at least one of reflective and transmissive, and the galvanometer oscillates about a predetermined point or one or more predetermined oscillation axes.

[0016] In some embodiments, the galvanometer is one of a MEMS galvanometer and a mechanical galvanometer.

[0017] In some embodiments, the galvanometer oscillates in at least one dimension at a frequency range of 1 to 20,000 Hertz.

[0018] In some embodiments, the galvanometer oscillates in two dimensions each at a frequency range of 1 to 20,000 Hertz.

[0019] In some embodiments, the first optical scanning element comprises a rotating mirror, the rotating mirror is at least one of reflective and transmissive, and the rotating mirror rotates about a predetermined point or one or more predetermined rotation axes.

[0020] In some embodiments, the rotating mirror comprises a planar reflective rotating mirror.

[0021] In some embodiments, the rotating mirror comprises a transmissive wedge rotating mirror.

[0022] In some embodiments, the first optical scanning element comprises at least one of an optical phased array (OPA), a waveguide, or an optical switch, wherein the optical phased array, the waveguide, or the optical switch directs the first incident light beam incident to the first optical scanning element in at least one one-dimensional direction at a respective predetermined frequency based on an electrical signal.

[0023] In one embodiment, the second optical scanning element comprises a transmissive wedge mirror or a prism, the transmissive wedge mirror or the prism rotates about a predetermined rotation axis, and the predetermined rotation axis is different from a direction of the predetermined rotation axis of the first optical scanning element.

[0024] In some embodiments, the rotation frequency of the transmission wedge or prism ranges from 0.1 Hz to 2000 Hz.

[0025] In some embodiments, the transmission wedge comprises a first surface and a second surface opposite to and non-parallel to the first surface, and the angle between the first surface and the predetermined rotation axis is a preset angle, wherein the preset angle ranges from 1° to 179°.

[0026] In some embodiments, the prism comprises at least two side surfaces, each of the at least two side surfaces comprises one of a plane and a curved surface, and the emitted light beams are emitted from one of the side surfaces after being reflected at least once inside the prism.

[0027] In some embodiments, the prism comprises at least one of a birefringent crystal, a silicon crystal, a single crystal, a composite crystal, a liquid crystal, or a polymer material.

[0028] In some embodiments, the emitted light beams from the at least one light emitter are incident to the first surface, emitted from the second surface, and a grating is arranged on the second surface of the transmission wedge.

[0029] In some embodiments, the wavelengths of the emitted light beams emitted by at least two light emitters in the light emitting component are different.

[0030] In some embodiments, each of the at least one light emitter emits at least two different wavelengths of the emitted light beams according to a first preset rule.

[0031] In some embodiments, the combination of a pair of wavelengths emitted from the at least one light emitter is different from the combination of another pair of wavelengths emitted from the at least one light emitter within a predetermined time period.

[0032] In some embodiments, the at least one light emitter emits light beams according to a predetermined time interval rule, such that the difference between the two scanning angles of two adjacent light beams emitted according to the predetermined time interval rule is not greater than a preset value.

[0033] In some embodiments, each of the at least one light emitter simultaneously emits light beams to a respective corresponding final scanning scene, the at least one detector is one-to-one corresponding to the at least one light emitter, and the at least one detector detects at least one reflected light beam that is reflected by at least one emitted light beam emitted by the at least one light emitter from the scene within the scanning view angle, wherein the at least one reflected light beam is independent of each other or superimposed on each other.

[0034] In some embodiments, the at least one emitted light beam emitted from the light emitting component passes through at least one first optical scanning element and at least one second optical scanning element in the optical scanning component in sequence to reach the scene.

[0035] In some embodiments, the optical scanning system further comprises: at least one first optical element configured to transmit or reflect at least one emitted light beam emitted by at least one light emitter to a respective scene at a pre-set scattering angle, an initial light beam size, and a light beam distribution shape; and at least one second optical element configured to transmit or reflect at least one reflected light beam received by at least one light receiver, wherein the at least one first optical element and the at least one second optical element are the same element or different elements, and the at least one first optical element or the at least one second optical element is disposed between the first optical scanning element and the light emitting component, or between the first optical scanning element and the second optical scanning element, or between the second optical scanning element and the scene, or between the first optical scanning element and the light receiving component.

[0036] In some embodiments, the first optical element and / or the second optical element comprises at least one optical waveguide device, the optical waveguide device comprising at least one of an optical fiber and a waveguide tube.

[0037] In some embodiments, the optical scanning system further comprises at least one filter device disposed between the second optical element and the light receiving component to filter at least one reflected light beam in a pre-set wavelength band or according to a second pre-set rule so that the light receiving component receives a desired reflected light beam.

[0038] In some embodiments, the optical scanning system further comprises a computing component configured to transmit and / or calculate at least one of a distance between the light receiving component and the scene and an intensity of the reflected light beam according to the reflected light beam received by the light receiving component.

[0039] In some embodiments, the light receiving component is an avalanche photodiode (APD) and / or a single-photon avalanche diode (SPAD), or the light receiving component is an image chip of a complementary metal-oxide-semiconductor (CMOS) or a charge-coupled device (CCD).

[0040] In some embodiments, the at least one emitted light beam emitted by the at least one light emitter is a light pulse, and the light pulse comprises at least one of the following optical properties: a waveform, a wavelength, a wavelength function over time, a polarization, a peak intensity or a total energy, a spatial light intensity distribution, and the light pulse comprises light information comprising at least one of: an order, a relative time, a relative energy of the light pulse within a pulse train to which the light pulse belongs.

[0041] In some embodiments, a detection distance between the optical scanning system and the scene is between [0.01 m, 300 m], or between [0.01 m, 50 m], or between [0.01 m, 10 m]; and a pulse width of the light beam emitted by the light emitter is between [0.1 ns-10 ns], or [3 ns-3 us], or [1 us-10 ms].

[0042] In some embodiments, the light scanning system can be used on a lidar to achieve 3-dimensional ranging.

[0043] In some embodiments, the light scanning component further comprises an electro-optical crystal.

[0044] In some embodiments, the light emitting component is further configured to include at least one light emitter fixed relative to the light scanning component and emitting at least two emitted light beams at different spatial angles and / or spatial positions, and to emit the at least two emitted light beams through the light scanning component to the scene within at least two different scanning view angles from each other.

[0045] According to an aspect of the present disclosure, another light scanning system is provided, comprising: a light scanning component including a combination of at least two optical scanning elements along a propagation path of at least one emitted light beam between a light emitting component and a scene, each optical scanning element causing deflection of an incident light beam incident to the optical scanning element, and wherein the optical scanning element wobbles or rotates within a cross section of less than 180 degrees angle with a propagation direction of the incident light beam, such that an outgoing light beam exiting from the optical scanning element wobbles or rotates at a predetermined rotation speed; a light emitting component including at least two light emitters fixed relative to the light scanning component and emitting at least two emitted light beams at different spatial angles and / or spatial positions, and emitting the at least two emitted light beams through the light scanning component to the scene within at least two different scanning view angles from each other; and a light receiving component including at least one detector detecting at least one reflected light beam reflected from the scene, respectively.

[0046] According to an aspect of the present disclosure, there is provided a scanning method of an optical scanning system, wherein the optical scanning system comprises: a light emitting component comprising at least one light emitter emitting at least one emitted light beam into a respective scanning view angle of a scene; a light scanning component comprising a combination of the following elements located between the light emitting component and the scene along a propagation path of the at least one emitted light beam: at least one first optical scanning element, each first optical scanning element causing a first deflection of a first incident light beam incident to the first optical scanning element; at least one second optical scanning element, each second optical scanning element causing a second deflection of a second incident light beam incident to the second optical scanning element; a light receiving component comprising at least one detector detecting at least one reflected light beam reflected from the scene, respectively; the method comprising: causing each first optical scanning element to perform a first oscillation or a first rotation relative to a first cross section which is less than 180 degrees with respect to a propagation direction of the first incident light beam, or applying a predetermined electrical signal to the first optical scanning element, so that a first outgoing light beam exiting from the first optical scanning element exits with a respective predetermined regularity; causing the second optical scanning element to perform a second oscillation or a second rotation within a second cross section which is less than 180 degrees with respect to a propagation direction of the second incident light beam, so that a second outgoing light beam exiting from the second optical scanning element oscillates or rotates with a predetermined rotation speed.

[0047] According to an aspect of the present disclosure, there is provided another scanning method of an optical scanning system, wherein the optical scanning system comprises: a light scanning component comprising a combination of the following elements located between a light emitting component and a scene along a propagation path of at least one emitted light beam: at least two second optical scanning elements, each second optical scanning element causing a second deflection of a second incident light beam incident to the second optical scanning element; the light emitting component comprising at least two light emitters fixed relative to the light scanning component and emitting at least two emitted light beams at different spatial angles and / or spatial positions; a light receiving component comprising at least one detector detecting at least one reflected light beam reflected from the scene, respectively; the method comprising: emitting, by the light emitting component, at least two emitted light beams through the light scanning component to the scene within at least two scanning view angles which are different from each other; and causing each second optical scanning element to oscillate or rotate within a second cross section which is less than 180 degrees with respect to a propagation direction of the second incident light beam, respectively, so that a second outgoing light beam exiting from each second optical scanning element oscillates or rotates with a predetermined rotation speed. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 A schematic diagram showing one example of an optical scanning system according to an embodiment of the present disclosure is shown;

[0049] Figure 2A A schematic diagram showing a light path of light incident to a first optical scanning element according to an embodiment of the present disclosure is shown;

[0050] Figure 2B A schematic diagram of an optical path of light incident to a second optical scanning element is shown in accordance with an embodiment of the disclosure;

[0051] Figure 3 A schematic diagram of another example of an optical scanning system is shown in accordance with an embodiment of the disclosure;

[0052] Figure 4A and 4B A schematic diagram of an example of motion of an optical scanning component is shown in accordance with an embodiment of the disclosure;

[0053] Figure 5A and 5B A schematic diagram of an example of a first optical scanning element is shown in accordance with an embodiment of the disclosure;

[0054] Figures 6A-6D A schematic diagram of an example of a first optical scanning element is shown in accordance with an embodiment of the disclosure;

[0055] Figures 7A-7D A schematic diagram of an example of a second optical scanning element is shown in accordance with an embodiment of the disclosure;

[0056] Figures 8A-8C A schematic diagram of an example of a first optical element, a second optical element, and a third optical element is shown in accordance with an embodiment of the disclosure;

[0057] Figure 9 A schematic diagram of another example of an optical scanning system is shown in accordance with an embodiment of the disclosure;

[0058] Figure 10 A schematic diagram of an optical pulse is shown in accordance with an embodiment of the disclosure;

[0059] Figure 11 A schematic diagram of yet another example of an optical scanning component is shown in accordance with an embodiment of the disclosure;

[0060] Figure 12 A schematic diagram of yet another example of an optical scanning system is shown in accordance with an embodiment of the disclosure;

[0061] Figure 13 A schematic diagram of yet another example of an optical scanning system is shown in accordance with an embodiment of the disclosure;

[0062] Figure 14 A schematic diagram of yet another example of an optical scanning system is shown in accordance with an embodiment of the disclosure;

[0063] Figure 15 A schematic diagram of yet another example of an optical scanning system is shown in accordance with an embodiment of the disclosure;

[0064] Figure 16a scanning method of a light scanning system according to an embodiment of the present disclosure is shown; and

[0065] Figure 17 a scanning method of another light scanning system according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0066] Reference will now be made in detail embodiments of the application, examples of which are illustrated in the accompanying drawings. While the application will be described in conjunction with the specific embodiments, it will be understood that the application is not intended to be limited to the described embodiments. On the contrary, the application is intended to cover alternatives, modifications, and equivalents, which can be included within the spirit and scope of the application as defined by the appended claims. It is noted that the steps of the methods described herein can all be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0067] To enable a better understanding of the application, the application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0068] Note that the examples to be introduced next are only one specific example, and are not intended to limit the embodiments of the present application to the specific shapes, hardware, connection relationships, steps, values, conditions, data, orders, and the like shown and described. Those skilled in the art can construct more embodiments not mentioned in the present specification by reading the present specification using the concept of the present application.

[0069] Figure 1 a schematic diagram of a light scanning system 100 according to an embodiment of the present disclosure is shown.

[0070] As Figure 1 shown, the light scanning system 100 includes a light emitting component 101, a light scanning component 102, and a light receiving component 104. The light emitting component 101 includes at least one light emitter (not shown) that emits at least one emitted light beam toward a scene within a respective scanning view angle. The at least one emitted light beam can include a first incident light beam or a second incident light beam.

[0071] The light scanning component 102 includes a combination of at least one first optical scanning element 1021 and at least one second optical scanning element 1022 located between the light emitting component 101 and the scene 103 along a propagation path of the at least one emitted light beam.

[0072] Each first optical scanning element 1021 causes a first deflection of a first incident light beam incident to the first optical scanning element 1021. The first deflection is caused by causing each first optical scanning element 1021 to perform a first wobbling or a first rotation with respect to a first cross section that is less than 180 degrees with respect to a propagation direction of the first incident light beam, or by applying a predetermined electrical signal to the first optical scanning element 1021, so that a first outgoing light beam that exits from the first optical scanning element 1021 exits with a respective predetermined regularity.

[0073] Each second optical scanning element 1022 causes a second deflection of a second incident light beam incident to the second optical scanning element 1022. The second deflection is caused by causing the second optical scanning element 1022 to perform a second wobbling or a second rotation within a second cross section that is less than 180 degrees with respect to a propagation direction of the second incident light beam, so that a second outgoing light beam that exits from the second optical scanning element 1022 wobbles or rotates with a predetermined rotational speed. The light receiving component 104 comprises at least one detector that detects at least one reflected light beam that is reflected from the scene 103.

[0074] Thus, at least one emitted light beam that is emitted from the light emitting component 101 passes through the light scanning component 102 to the scene 103 to achieve a two-dimensional spatial scanning of the scene, and at least one reflected light beam that is reflected from the scene 103 passes through the light scanning component 102 to the light receiving component 104.

[0075] In the present embodiment, the first cross section is not perpendicular to the second cross section.

[0076] In some embodiments, the first wobbling of the first optical scanning element 1021 is different from the second wobbling of the second optical scanning element 1022, and the first rotation of the first optical scanning element 1021 is different from the second rotation of the second optical scanning element 1022. For example, a speed of the first wobbling or rotation can be different from a speed of the second wobbling or rotation, an amplitude of the first wobbling or rotation can be different from an amplitude of the second wobbling or rotation. In addition, an axis around which the first wobbling or rotation is performed is not parallel to an axis around which the second wobbling or rotation is performed.

[0077] In the present context, one dimension refers to along a line, and two dimensions refer to along a plane.

[0078] Figure 2A A schematic diagram of a light path of light incident to the first optical scanning element 1021 is shown.

[0079] As Figure 2AFor ease of illustration, the first optical scanning element 1021 is taken as an example of a reflective type. When the incident light is incident on the first optical scanning element 1021 along the y direction, it is reflected by the first optical scanning element 1021. It should be understood that the incident along the y direction is merely for ease of illustration, and the incident light can be incident on the first optical scanning element 1021 in any suitable direction. This reflection causes the first incident light beam incident on the first optical scanning element 1021 to be first deflected. During scanning, the first optical scanning element 1021 performs a first swing or a first rotation (as shown by the solid arrow) relative to the first cross section 201 (such as the xoz plane formed by the dashed line in the figure), where the first cross section 201 forms an angle A of less than 180 degrees with the propagation direction of the incident light beam, as shown. Figure 2A By causing the first optical scanning element 1021 to perform the first swing or the first rotation relative to the first cross section 201, the outgoing light beam is correspondingly swung or rotated (as shown by the dashed arrow) in a predetermined manner. In one embodiment, by causing the first optical scanning element 1021 to perform the first swing or the first rotation relative to the first cross section 201, the outgoing light beam can be swung or rotated in the xoy plane in a predetermined manner (for example, a predetermined frequency and / or a predetermined amplitude, and the like). Of course, this is merely one specific embodiment, and the light beam outgoing from the first optical scanning element 1021 can be rotated or swung in any plane according to actual application.

[0080] It should be understood that the transmissive first optical scanning element 1021 can also perform the first swing or the first rotation relative to the first cross section 201, so that the light beam outgoing from the transmissive first optical scanning element 1021 is swung or rotated in a predetermined manner.

[0081] In the present embodiment, the first swing or the first rotation of the first optical scanning element 1021 relative to the first cross section 201 means that the first optical scanning element 1021 performs the first swing or the first rotation around any point or line in the first cross section 201.

[0082] Figure 2B A schematic diagram of the light path of the light incident on the second optical scanning element 1022 according to an embodiment of the present disclosure is shown.

[0083] As Figure 2BAs shown, when the incident light is incident to the second optical scanning element 1022 along the y direction, the second incident light beam is refracted by the second optical scanning element 1022 and is emitted from the second optical scanning element 1022. It should be understood that the incident along the y direction is merely for ease of illustration, and the incident light can be incident to the second optical scanning element 1022 in any suitable direction. This refraction causes the second incident light beam to be second deflected when incident to the second optical scanning element 1022. During scanning, the second optical scanning element 1022 performs a second swing or a second rotation (as shown by the solid arrow) in a second cross section 202 (such as the xoz plane formed by the dashed line in the figure), where the second cross section 202 forms an angle B of less than 180 degrees with the propagation direction of the incident light beam, as shown. Figure 2B By causing the second optical scanning element 1022 to perform the second swing or the second rotation in the second cross section 202, the corresponding emitted light beam swings or rotates (as shown by the dashed arrow) at a predetermined rotation speed. In one embodiment, by causing the second optical scanning element 1022 to perform the second swing or the second rotation in the second cross section 202, the corresponding emitted light beam can swing or rotate in the xoz plane at a predetermined regularity (for example, a predetermined frequency and / or a predetermined amplitude, etc.). Of course, this is merely one specific embodiment, and the light beam emitted from the second optical scanning element 1022 can rotate or swing in any plane according to actual application.

[0084] In this embodiment, the second swing or the second rotation of the second optical scanning element 1022 in the second cross section 202 means that the second optical scanning element 1022 performs the second swing or the second rotation around any line perpendicular to the second cross section 202.

[0085] In this embodiment, by swinging or rotating the first optical scanning element relative to the first cross section 201 to cause the first emitted light beam to swing, and by swinging or rotating the second optical scanning element in the second cross section 202 to cause the second emitted light beam to rotate, light from one or more light emitters can be projected in different directions, thereby achieving two-dimensional scanning of objects in the scene, rather than one-dimensional scanning of the objects. Moreover, the swing or rotation of the first optical scanning element can compensate for the range, angle, frequency, or speed of the swing or rotation of the second optical scanning element, to obtain a larger scanning range, angle, frequency, or speed than the swing or rotation of the second optical scanning element alone. In addition, since the rotation speed or frequency of the second optical scanning element can be constrained by the hardware structure and performance and cannot be too large, the swing or rotation of the first optical scanning element can ensure a larger scanning range without the rotation speed of the second optical scanning element being too large, thereby also prolonging the service life of the second optical scanning element, etc.

[0086] In one embodiment, the light emitting component 101 can emit light beams in a wavelength range of 100-1600 nanometers, or greater than 1600 nanometers. In one embodiment, the light emitting component 101 can include one or more light emitters that respectively emit one or more light beams within a respective scanning angle of view. The respective scanning angles of view of the light emitters can or can not overlap. In an alternative embodiment, the light emitters can respectively emit light beams having a plurality of different wavelength ranges, such as 100-400 nanometers, 400-700 nanometers, 700-1600 nanometers, or greater than 1600 nanometers, etc. For example, the light emitters can emit infrared light beams. On the other hand, in conjunction with optical devices (e.g., gratings) for light splitting, the light beams of different wavelengths can be caused to scan over different angular ranges so as to expand the scanning range.

[0087] Of course, the present application is not limited thereto, and the light emitting component 101 can emit light beams in other ranges of wavelength. In one embodiment, the light emitting component 101 can include lasers, such as solid state lasers (e.g., Nd-YAG lasers, ruby lasers, etc.), gas lasers (e.g., helium-neon lasers, carbon dioxide lasers, etc.), liquid lasers (e.g., dye lasers, etc.), fiber lasers, or semiconductor diode lasers, etc.

[0088] In one embodiment, the light receiving component 104 includes one or more detectors (not shown) for receiving one or more reflected light beams reflected from the scene 103. In one embodiment, the one or more reflected light beams reflected from the scene 103 pass through the light scanning component 102 to the light receiving component 104. Based on the one or more reflected light beams, information of objects in the scene 103 can be acquired, such as the light intensity, distance, position, image, texture, etc. of the reflected light beams. For example, ranging can be performed based on the Time of flight (TOF). In one embodiment, the detectors can include avalanche photodiodes (APDs) and / or single photon avalanche diodes (SPADs); in another embodiment, the detectors can include image chips such as complementary metal-oxide-semiconductor (CMOS) or charge-coupled device (CCD). Typically, each light emitter is associated with a detector so that all the emitted light can be properly received.

[0089] In one embodiment, the at least one emitted light beam from the light emitting component 101 or the at least one reflected light beam from the scene 103 passes through the at least one first optical scanning element 1021 and the at least one second optical scanning element 1022 in the light scanning component 102 in sequence to reach the scene 103. In another embodiment, the at least one emitted light beam from the light emitting component 101 or the at least one reflected light beam from the scene 103 can also pass through the at least one second optical scanning element 1022 and the at least one first optical scanning element 1021 in the light scanning component 102 in sequence to reach the scene 103.

[0090] In one embodiment, the first optical scanning element 1021 deflects the light beam incident thereon, and during scanning, the first optical scanning element 1021 is configured to oscillate 201 or rotate with respect to a first cross section that is less than 180 degrees with respect to the propagation direction of the light beam at a predetermined frequency. By oscillating or rotating the first optical scanning element 1021 with respect to the first cross section 201, the light beam exiting from the first optical scanning element 1021 can be made to oscillate at a predetermined regularity.

[0091] According to design requirements, for example, structural and space compactness considerations, the first optical scanning element 1021 can be configured to oscillate or rotate with respect to a first cross section that is within a range of angles with respect to the propagation direction of the light beam at a predetermined frequency. The smaller the range of oscillation or rotation, the less space is required for the first optical scanning element to oscillate or rotate, but can result in a small oscillation amplitude of the exiting light beam, and thus a small range of scene scanning, and vice versa. The range can thus be set based on structural requirements, scene scanning range requirements, hardware performance, and the like.

[0092] In one embodiment, the second optical scanning element 1022 deflects the light beam incident thereon, and during scanning, the second optical scanning element 1022 is configured to oscillate / rotate within a second cross section 202 that is less than 180 degrees with respect to the propagation direction of the light beam at a predetermined rotation speed. By oscillating / rotating the second optical scanning element 1022 within the second cross section 202, the light beam exiting from the second optical scanning element 1022 can be made to rotate at a predetermined rotation speed. In another embodiment, the second optical scanning element 1022 deflects the light beam incident thereon, and during scanning, the second optical scanning element 1022 is configured to oscillate / rotate within a second cross section 202 that is less than 90 degrees with respect to the propagation direction of the light beam at a predetermined rotation speed.

[0093] According to design requirements, such as structural and space compactness considerations, the second optical scanning element 1022 can be configured to swing / rotate in the second cross section with a predetermined rotation speed at an included angle with the propagation direction of the light beam within a certain range. The smaller the range of swing or rotation, the smaller the space required for the second optical scanning element to swing or rotate, but it can result in a small rotation amplitude of the outgoing light beam, thereby a small scene range of light scanning, and vice versa. Therefore, the setting of the range can be considered based on various aspects such as structural requirements, scene scanning range requirements, hardware performance, etc.

[0094] In one embodiment, the emitted light beam emitted from the light emitting component 101 can sequentially pass through the first optical scanning element 1021 and the second optical scanning element 1022 to reach the scene 103. The second optical scanning element 1022 receives the outgoing light beam from the first optical scanning element 1021 and deflects the light beam, by swinging / rotating the second optical scanning element 1022 in the second cross section with a predetermined rotation speed, so that the light beam emitted from the first optical scanning element 1021 swings at a predetermined frequency, and the outgoing light beam rotates at a predetermined rotation speed, to form a two-dimensional scanning field, thereby achieving two-dimensional scanning of the scene 103.

[0095] In one embodiment, the emitted light beam emitted from the light emitting component 101 can sequentially pass through the second optical scanning element 1022 and the first optical scanning element 1021 to reach the scene 103. The first optical scanning element 1021 can receive the outgoing light beam from the second optical scanning element 1022 and deflect the light beam, by swinging / rotating the first optical scanning element 1021 with a predetermined frequency relative to the first cross section, so that the outgoing light beam forms a two-dimensional scanning field in space, thereby achieving two-dimensional scanning of the scene 103.

[0096] In one embodiment, the maximum amplitude of the deflection angle of the second deflection by the second optical scanning element 1022 and the maximum amplitude of the deflection angle of the first deflection by the first optical scanning element 1021 can satisfy a predetermined multiple relationship, between 0.01 times and 100 times.

[0097] Here, the deflection angle refers to the included angle between the direction of the outgoing light beam and the direction of the incident light beam. If the second optical scanning element 1022 or the first optical scanning element 1021 is, for example, a transmission wedge. The transmission wedge includes two non-parallel edges and a top angle between the two non-parallel edges. When the incident light beam is incident from one edge of the transmission wedge, then the deflection angle of the second deflection or the deflection angle of the first deflection is related to the top angle of the transmission wedge, the larger the top angle, the larger the deflection angle of the second deflection or the deflection angle of the first deflection. If the first optical scanning element 1021 is, for example, a plane mirror, then the deflection angle of the first deflection is related to the relative position of the incident light to the mirror, the more perpendicular the incident light to the mirror, the larger the deflection angle of the first deflection.

[0098] In addition, the deflection angle of the second deflection or the deflection angle of the first deflection can also change when the second optical scanning element 1022 or the first optical scanning element 1021 swings or rotates. For example, the first optical scanning element 1021 swings or rotates to change the deflection angle of the first deflection, so that the outgoing light beam swings or rotates in a predetermined manner. The second optical scanning element 1022 swings or rotates does not necessarily change the deflection angle of the second deflection, for example, when the second optical scanning element 1022 is a transmission wedge, and the incident light beam is incident from a side of the transmission wedge perpendicular to the side, the action of the second optical scanning element 1022 rotating around the incident direction of the incident light beam as the center axis does not change the deflection angle of the second deflection.

[0099] In an embodiment, the maximum amplitude of the deflection angle of the first deflection can be greater than the maximum amplitude of the deflection angle of the second deflection. For example, the maximum amplitude of the deflection angle of the first deflection can be 1-100 times the maximum amplitude of the deflection angle of the second deflection, i.e., the maximum amplitude of the deflection angle of the second deflection can be 0.01-1 times the maximum amplitude of the deflection angle of the first deflection. In the embodiment, it can be avoided that the scanning field of view has a vacancy, so that a more uniform scanning field of view is obtained. On the other hand, it can also avoid that the swing / rotation amplitude of the second optical scanning element 1022 is too large, the frequency is too high, so as to prolong the service life of the second optical scanning element or reduce the cost thereof.

[0100] In an embodiment, the maximum amplitude of the deflection angle of the second deflection can be greater than the maximum amplitude of the deflection angle of the first deflection. For example, the maximum amplitude of the deflection angle of the second deflection can be 1-100 times the maximum amplitude of the deflection angle of the first deflection. In the embodiment, the desired area of the scanning field of view can be encrypted, so that the scanning is more fine and the resolution is higher.

[0101] The relationship between the maximum amplitude of the deflection angle of the second deflection and the maximum amplitude of the deflection angle of the first deflection can be set according to specific application scenarios, and the present disclosure is not limited thereto.

[0102] In one embodiment, the change in the size of the deflection angle of the second deflection is less than a predetermined threshold. The predetermined threshold can be set according to the actual application scenario. As mentioned above, when the second optical scanning element 1022 is a transmission wedge and the incident light beam is incident on the transmission wedge perpendicularly to one of the edges of the transmission wedge, the action of the second optical scanning element 1022 rotating around the incident direction of the incident light beam as the center axis does not change the deflection angle of the second deflection. However, if the incident light beam is not incident on the transmission wedge perpendicularly to one of the edges of the transmission wedge, the action of the second optical scanning element 1022 rotating will change the deflection angle of the second deflection during the rotation of the outgoing light, which can make the light spot of the outgoing light of the second optical scanning element 1022 in the scene be annular instead of circular. Therefore, setting the change in the size of the deflection angle of the second deflection to be less than a predetermined threshold can ensure that the outgoing light of the second optical scanning element 1022 can cover the scene as much as possible without causing scanning holes or missing some objects in the scanning scene.

[0103] In one embodiment, the frequency of the swing or rotation of the first optical scanning element can be higher than the rotation frequency of the second optical scanning element. Of course, the present application is not limited thereto, and the frequency of the swing or rotation of the first optical scanning element can also be lower than or equal to the rotation frequency of the second optical scanning element. Of course, in the case where the first optical scanning element is a plane mirror and the second optical scanning element is a rotating transmission wedge as exemplified above, since the power of the motor required to rotate the second optical scanning element is large, the frequency and speed of rotation cannot be too high, and therefore the frequency of the swing or rotation of the first optical scanning element being higher than the rotation frequency of the second optical scanning element can ensure the coverage of the scanning scene while protecting the rotation speed and service life of the second optical scanning element.

[0104] The combination of the two different optical scanning elements according to the embodiments of the present disclosure can improve the service life of the optical scanning element and reduce the cost while ensuring high scanning resolution and large and uniform spatial coverage. Moreover, such a combined scanning mode does not require the first optical scanning element and the second optical scanning element to rotate in the same direction or coaxially, as long as the second optical scanning element can receive at least part of the light beam from the first optical scanning element or the first optical scanning element can receive at least part of the light beam from the second optical scanning element, and therefore has a more concise and stable structure and combination mode and is easier and more stable to operate.

[0105] In particular, when high scanning resolution and large spatial coverage are required, if the rotational speed of a single type of second optical scanning element needs to be very high, this can lead to the second optical scanning element being prone to displacement or structural changes, or even detachment, and requires greater driving power. Those skilled in the art have not yet recognized these problems with rotating optical scanning elements in laser ranging, nor have they proposed any motivation or ideas to improve these problems. However, according to various embodiments of this disclosure, if the rotational speed of the second optical scanning element may be constrained by hardware structure and performance and cannot be too high, adding a swing or rotation of the first optical scanning element can ensure a large scanning range and scanning resolution without requiring excessive rotation of the second optical scanning element, and can also extend the lifespan of the second optical scanning element, etc.

[0106] As previously mentioned, when the oscillation or rotation frequency of the first optical scanning element can be higher than the rotation frequency of the second optical scanning element, the combined scanning structure of the embodiments of this disclosure allows the second optical scanning element to rotate at a lower speed compared to the first optical scanning element, thereby significantly increasing the lifespan of the second optical scanning element without reducing the spatial resolution and spatial coverage of the scanning system. Compared to embodiments using two first optical scanning elements to achieve two-dimensional scanning, the combined scanning structure of the embodiments of this disclosure has lower cost and longer lifespan. Compared to embodiments using two second optical scanning elements to achieve two-dimensional scanning, the combined scanning structure of the embodiments of this disclosure can have higher spatial resolution, larger spatial coverage, and faster scanning frequency.

[0107] Figure 3 A schematic diagram of an example of an optical scanning system 100' according to another embodiment of the present disclosure is shown.

[0108] like Figure 3 As shown, the optical scanning system 100' according to this disclosure includes, in addition to, [components related to...] Figure 1 In addition to the same components as the optical scanning system 100, it also includes at least one first optical element 106, at least one second optical element 107, at least one filter element 109, and a computing unit 105.

[0109] The at least one first optical element 106 can transmit or reflect at least one emitted light beam emitted by the at least one light emitter comprised in the light emitting component 101 towards a respective scene at a pre-set scattering angle, initial light beam size, light beam distribution shape. The at least one second optical element 107 can transmit or reflect at least one reflected light beam received by the at least one detector of the light receiving component 104. In one embodiment, the at least one first optical element 106 or the at least one second optical element 107 can be arranged between the first optical scanning element 1021 and the light emitting component 101, or between the first optical scanning element 1021 and the second optical scanning element 1022, or between the second optical scanning element 1022 and the scene 103, or between the first optical scanning element 1021 and the light receiving component 104. For example, as shown in Figure 3 the at least one first optical element 106 is arranged between the first optical scanning element 1021 and the light emitting component 101, and the at least one second optical element 107 is arranged between the first optical scanning element 1021 and the light receiving component 104.

[0110] In one embodiment, the functions of expanding or collimating, and converging are performed by using the same third optical element.

[0111] For example, the third optical element can be arranged between the first optical scanning element 1021 and the light emitting component 101, or between the first optical scanning element 1021 and the second optical scanning element 1022, or between the second optical scanning element 1022 and the scene 103, or between the first optical scanning element 1021 and the light receiving component 104. Such an arrangement can provide advantages in terms of size, cost and / or complexity.

[0112] In one embodiment, the first optical element 106 and the second optical element 107 can comprise a concave lens, a convex lens, or a combination of these lenses. In one embodiment, the first optical element 106 and the second optical element 107 can comprise one or more of a converging lens, a converging mirror, a collimating lens, a collimating mirror.

[0113] The first optical element and / or the second optical element can comprise at least one optical waveguide device, which can include but is not limited to an optical fiber, a waveguide tube. These optical waveguide devices can be used to transmit light from one location to another, or to split a beam of light into multiple beams of light, or to converge multiple beams of light into one beam of light, etc., thereby enabling control of the light beams. Of course, the Figure 3 The structures shown are merely examples, and the first optical element 106 and the second optical element 107 can be arranged elsewhere for actual application scenarios.

[0114] At least one filtering device 109 may be located between the second optical element 107 and the light receiving component 104 to filter at least one reflected beam according to a preset wavelength or a preset rule so that the light receiving component 104 receives the desired reflected beam.

[0115] The calculation unit 105 calculates at least one of the distance between the light receiving unit 104 and the scene 103 and the intensity of the reflected light beam based on the reflected light beam received by the light receiving unit 104. Alternatively, the calculation unit 105 may transmit at least one of the distance between the light receiving unit 104 and the scene 103 and the intensity of the reflected light beam to the cloud.

[0116] Of course, the above-mentioned components are not necessarily required, and in other embodiments, one or more of the above-mentioned components may be removed.

[0117] Figure 4A and 4B A schematic diagram showing an example of a top view of the movement of a first optical scanning element 1021 and a side view of the movement of a second optical scanning element 1022 according to an embodiment of the present disclosure.

[0118] The first optical scanning element 1021 has a first cross-section (reference) with an angle of less than 180 degrees to the propagation direction of the incident light beam. Figure 2A The first section 201) performs a first oscillation or a first rotation. The second optical scanning element 1020 is at a second section (reference) with an angle of less than 180 degrees to the propagation direction of the incident light beam. Figure 2B The second oscillation or second rotation occurs within the second section 202. The first oscillation differs from the second oscillation, and the first rotation differs from the second rotation. For example, the speed of the first oscillation or rotation may differ from the speed of the second oscillation or rotation, and the amplitude of the first oscillation or rotation may differ from the amplitude of the second oscillation or rotation. Furthermore, the axis around which the first oscillation or rotation revolves is not parallel to the axis around which the first oscillation or rotation revolves. The first section 201 is not perpendicular to the second section 202.

[0119] In one embodiment, the first optical scanning element 1021 may vibrate or oscillate around a predetermined point or one or more predetermined vibration axes, or vibrate or oscillate at a certain angle (hereinafter collectively referred to as vibration). Figure 4A As shown), for example, the first optical scanning element 1021 includes a galvanometer. In one embodiment, a predetermined point of vibration or one or more predetermined vibration axes are located in the first cross-section 201 (e.g., Figure 4A (As shown by the solid dot on the left).

[0120] In another embodiment, the first optical scanning element 1021 can rotate about a predetermined point or one or more predetermined vibration axes (e.g., Figure 4BAs shown), for example, the first optical scanning element 1021 includes a rotating mirror. In one embodiment, a predetermined point or one or more predetermined vibration axes are located in the first section 201 (e.g., Figure 4B (As shown by the solid dot on the left).

[0121] The second optical scanning element 1022 is in the second section (reference) Figure 2B The second optical scanning element 1022 may oscillate or rotate within the second section 202. In one embodiment, the second optical scanning element 1022 may oscillate or rotate around a predetermined rotation axis (e.g., Figure 4A The predetermined axis of rotation (or the horizontal solid line shown in 4B) rotates, wherein the predetermined axis of rotation is perpendicular to the second cross section, and the predetermined axis of rotation forms an angle of 0 to 90 degrees with the propagation direction of the light beam incident on the second optical scanning element 1022. In one embodiment, the second optical scanning element 1022 includes a transmission wedge mirror.

[0122] In one embodiment, the first cross section on which the vibration of the first optical scanning element 1021 is based can be parallel to the second cross section on which the rotation of the second optical scanning element 1022 is based. This arrangement is easier to operate and is beneficial to the structural stability of the optical scanning system.

[0123] In one embodiment, the vibration frequency range of the first optical scanning element 1021 can be from 1 to 20,000 Hz. However, this application is not limited to this. In one embodiment, the first optical scanning element 1021 can oscillate or rotate (collectively referred to as vibration) in one or more directions relative to a first cross-section at an angle of less than 180 degrees to the direction of beam propagation. In one embodiment, the first optical scanning element 1021 can vibrate in one or more directions. In one embodiment, the predetermined point around which the vibration of the first optical scanning element 1021 is located can be set on or outside the first optical scanning element 1021. In one embodiment, one or more vibration axes of the first optical scanning element 1021 can pass through or outside the first optical scanning element 1021. This application does not limit this, but can set specific vibration points or vibration axes according to actual conditions (e.g., the location, direction, and range of the scene to be scanned).

[0124] In one embodiment, the rotation frequency of the second optical scanning element 1022 can range from 0.1 to 2000 Hz. Of course, this application is not limited to this. In one embodiment, the rotation axis of the second optical scanning element 1022 can pass through the second optical scanning element 1022 or be outside the second optical scanning element 1022.

[0125] Of course, the arrangement of the first and second cross sections, and the rotation axis / point or vibration axis / point of the optical scanning element in this application are not limited to the above embodiments. Instead, specific vibration points or vibration axes and rotation axes can be set according to actual conditions (e.g., the location, direction, range, etc. of the scene to be scanned). As long as the second optical scanning element 1022 can receive at least a portion of the light beam from the first optical scanning element 1021, or the first optical scanning element 1021 can receive at least a portion of the light beam from the second optical scanning element 1022.

[0126] Figures 5A-5B and Figures 6A-6D A schematic diagram of an example of a first optical scanning element 1021 according to an embodiment of the present disclosure is shown. In some embodiments, the first optical scanning element 1021 may include a galvanometer (such as...) Figures 5A-5B ), rotating mirror (such as Figures 6A-6C ), waveguide (such as Figure 6D ), optical switches (such as Figure 6D ), or optical phase array OPA (such as Figure 6D At least one of the following.

[0127] like Figures 5A-5B As shown, the first optical scanning element 1021 may include a rotating mirror, which may be at least one of reflective and transmissive types. The rotating mirror is positioned relative to a first cross-section (see dashed line in the figure) that has an angle of less than 180 degrees with the propagation direction of the incident light beam. Figure 2A The first section 201) rotates or oscillates. For example, the rotating mirror rotates or oscillates for the first time about a predetermined point or one or more predetermined rotation axes within the first section.

[0128] like Figure 5A As shown, the galvanometer can be a plane reflecting galvanometer. A plane reflecting galvanometer causes a first deflection of its incident beam. A plane reflecting galvanometer can be relative to, for example... Figure 5A The first cross-section shown oscillates at a predetermined point or vibration axis (also called a oscillation axis or rotation axis) in one or more directions at a predetermined angle and frequency. This vibration of the plane reflecting mirror causes the magnitude of the deflection angle of the first deflection to change at a predetermined angle and / or frequency.

[0129] like Figure 5A The diagram shown illustrates the scanning of a plane reflecting galvanometer. The galvanometer is positioned as follows: Figure 5A When the solid arrow points counterclockwise, the reflection direction of the light beam reflected by the galvanometer (i.e., the deflection angle of the first deflection) also changes as follows. Figure 5A The dashed arrow points counterclockwise (changing the magnitude of the first deflection angle). The galvanometer is pressed as follows... Figure 5AWhen the solid arrow direction of the galvanometer is rotated clockwise, the reflection direction of the light beam reflected by the galvanometer (i.e. the deflection angle of the first deflection) is also rotated clockwise (changes the deflection angle of the first deflection) as shown by the dashed arrow direction of the galvanometer. Thus, as the galvanometer reciprocally (clockwise or counterclockwise) vibrates, the reflection direction of the light beam reflected by the galvanometer reciprocally (clockwise or counterclockwise) vibrates as well. Figure 5A

[0130] In one embodiment, the planar reflective galvanometer can vibrate in one dimension with a frequency range of 1 to 20,000 Hz. In one embodiment, the planar reflective galvanometer can vibrate in two dimensions each with a frequency range of 1 to 20,000 Hz. Here, the planar reflective galvanometer can vibrate in the two dimensions in a round-robin order, for example, vibrate in one dimension for a predetermined number of times while or not while vibrating in the other dimension for a predetermined number of times, and then repeat. For example, in one embodiment, the planar reflective galvanometer can vibrate in a horizontal direction for a predetermined number of times, then vibrate in a vertical direction for a predetermined number of times, and then repeat. Of course, the present application is not limited to this, the planar reflective galvanometer can vibrate in more than two dimensions in respective orders and frequencies.

[0131] In one embodiment, the planar reflective galvanometer surface can be coated with a high-reflectivity coating to increase the reflectivity of the light beam.

[0132] In one embodiment, the predetermined point around which the planar reflective galvanometer vibrates can be disposed on the planar reflective galvanometer or outside the planar reflective galvanometer (not shown). In one embodiment, the vibration axis around which the planar reflective galvanometer vibrates can pass through the planar reflective galvanometer or outside the planar reflective galvanometer (not shown). In one embodiment, the predetermined angle of the planar reflective galvanometer vibration can be adjusted to deflect the optical path of the outgoing light so that the outgoing light is projected toward a scanned scene or a specific object in the scanned scene. In one embodiment, when the planar reflective galvanometer vibrates in one dimension, the outgoing light can be caused to oscillate in the one dimension at a predetermined frequency. In one embodiment, multiple planar reflective galvanometers can be arranged so that the light beams incident to the multiple planar reflective galvanometers are caused to oscillate in respective corresponding directions at respective corresponding frequencies.

[0133] As shown in FIG. 1, the galvanometer can be a reflective galvanometer. The reflective galvanometer causes the first deflection of the light beam incident thereto. The reflective galvanometer can be a planar reflective galvanometer. The planar reflective galvanometer can be a planar mirror. The planar mirror can be a planar reflective mirror. The planar reflective mirror can be a planar reflective galvanometer mirror. The planar reflective galvanometer mirror can be a planar reflective galvanometer mirror. Figure 5B As shown in FIG. 2, the galvanometer can be a transmissive wedge-shaped galvanometer. The transmissive wedge-shaped galvanometer causes the first deflection of the light beam incident thereto. The transmissive wedge-shaped galvanometer can be a transmissive wedge-shaped mirror. The transmissive wedge-shaped mirror can be a transmissive wedge-shaped galvanometer mirror. The transmissive wedge-shaped galvanometer mirror can be a transmissive wedge-shaped galvanometer mirror. Figure 2A ​The first section 201) performs a first rotation or a first oscillation. For example, the transmission wedge mirror can vibrate in one or more directions at a predetermined angle and frequency, centered on a predetermined point or vibration axis within the first section as shown. This vibration of the transmission wedge mirror can change the magnitude of the first deflection angle at a predetermined angle and / or frequency.

[0134] like Figure 5B The schematic diagram of the scanning of the transmission wedge galvanometer shown is as follows: the transmission wedge galvanometer is positioned as shown in the diagram. Figure 5B When the solid arrow points counterclockwise, the reflection direction of the light beam reflected by the galvanometer (i.e., the deflection angle of the first deflection) also changes as follows. Figure 5B The dashed arrow points counterclockwise (changing the magnitude of the first deflection angle). The transmission wedge galvanometer is positioned as follows... Figure 5B When the solid arrow points clockwise, the reflection direction of the light beam reflected by the galvanometer (i.e., the deflection angle of the first deflection) also changes as follows. Figure 5B The dashed arrow rotates clockwise (changing the magnitude of the first deflection angle). Thus, as the transmission wedge mirror reciprocates (clockwise or counterclockwise), the reflection direction of the light beam reflected by the transmission wedge mirror also reciprocates (clockwise or counterclockwise).

[0135] In one embodiment, the transmission wedge galvanometer vibrates in a frequency range of 1 to 20,000 Hz in one dimension. In another embodiment, the galvanometer vibrates in a frequency range of 1 to 20,000 Hz in each of two dimensions.

[0136] In one embodiment, the surface of the transmission wedge mirror is coated with an anti-reflection film to increase the transmittance of the light beam.

[0137] In one embodiment, the predetermined point around which the transmission wedge mirror vibrates can be on or outside the transmission wedge mirror. In one embodiment, the vibration axis around which the transmission wedge mirror vibrates can pass through or outside the transmission wedge mirror. In one embodiment, the predetermined angle of vibration of the transmission wedge mirror can be adjusted to deflect the optical path of the emitted light, causing the emitted light to be projected onto the scanning scene or a specific object in the scanning scene. In one embodiment, when the transmission wedge mirror vibrates in one dimension, the emitted light can be made to oscillate in one dimension at a predetermined frequency. In one embodiment, multiple transmission wedge mirrors can be arranged such that beams incident on multiple plane reflecting mirrors oscillate in their respective directions at their respective corresponding frequencies.

[0138] Of course, this application is not limited to this. In fact, any galvanometer is feasible as long as the beam emitted by the galvanometer swings in one dimension at a predetermined frequency with the vibration of the galvanometer, or for example, the galvanometer causes its incident beam to undergo a first deflection, and the deflection angle of the first deflection changes at a predetermined frequency with the vibration of the galvanometer.

[0139] In some embodiments, the galvanometer can be made of materials such as optical glass, quartz glass, monocrystalline silicon, or polycrystalline silicon.

[0140] like Figures 6A-6C As shown, the first optical scanning element 1021 may include a rotating mirror, which may be at least one of reflective and transmissive types. The rotating mirror is positioned relative to a first cross-section (see dashed line in the figure) that has an angle of less than 180 degrees with the propagation direction of the incident light beam. Figure 2A The first section 201) is rotated. For example, in one embodiment, the rotating mirror rotates at a rotational speed around a predetermined point or one or more predetermined rotation axes within the first section, such that the light beam emitted from the rotating mirror rotates or oscillates in a predetermined direction.

[0141] like Figures 6A-6C As shown, the first optical scanning element 1021 may include a reflective or transmissive rotating mirror. The reflective or transmissive rotating mirror causes a first deflection of its incident beam. The plane reflective mirror rotates to change the magnitude of the deflection angle of the first deflection at a predetermined frequency.

[0142] like Figure 6A As shown, the rotating mirror can be a plane reflecting rotating mirror. A plane reflecting rotating mirror can be used as follows: Figure 6A A predetermined point or axis of rotation within the first cross-section shown (as indicated by the vertical dashed line) rotates in one or more directions at a predetermined angle and frequency. In one embodiment, the surface of the planar reflective mirror may be coated with an anti-reflective film.

[0143] like Figure 6A The diagram shown illustrates the scanning of a plane reflecting mirror. The plane reflecting mirror is positioned as follows... Figure 6A When the solid arrow points clockwise, the reflection direction of the light beam reflected by the plane reflecting mirror (i.e., the deflection angle of the first deflection) also changes as follows. Figure 6A The dashed arrow points clockwise (changing the magnitude of the first deflection angle). Thus, as the plane reflecting mirror continues to rotate, the reflection direction of the light beam reflected by the mirror also periodically rotates from one side to the other (which can be regarded as a kind of vibration) with the rotation period of the mirror.

[0144] like Figure 6B As shown, the rotating mirror can be a transmission wedge-shaped rotating mirror. The transmission wedge-shaped rotating mirror can be used as follows... Figure 6BA predetermined point or rotation axis within the first cross section (as indicated by the vertical dashed line) rotates at a predetermined angle and frequency in one or more directions.

[0145] In one embodiment, the transmission wedge mirror surface can be coated with an anti-reflective film. The transmission wedge mirror includes a first surface and a second surface opposite and non-parallel to the first surface. Incident light enters from, for example, the first surface and exits from, for example, the second surface.

[0146] As Figure 6B The scanning diagram of the transmission wedge mirror is shown in the figure. When the transmission wedge mirror rotates clockwise in the direction of the solid arrow as Figure 6B shown, the exit direction of the light beam transmitted from the transmission wedge mirror (i.e., the deflection angle of the first deflection) also rotates clockwise in the direction of the dashed arrow as Figure 6B shown (changes the deflection angle of the first deflection). In this way, as the transmission wedge mirror continues to rotate, the transmission direction of the light beam transmitted by the transmission wedge mirror also periodically rotates from one side to the other side (can be regarded as a kind of vibration) with the rotation period of the transmission wedge mirror.

[0147] Figure 6C Other possible embodiments of the mirror are also shown.

[0148] As Figure 6C shown, embodiments according to the present disclosure also include rectangular prism mirrors (left), prismatic mirrors (middle), and pyramidal mirrors (right) as shown. The above-mentioned mirrors can rotate around a fixed rotation axis passing through them, so that the light beams emitted therefrom vibrate in one-dimensional direction. Of course, the present application is not limited thereto, and in fact, as long as the light beams emitted by the mirror oscillate in a one-dimensional direction at a predetermined frequency as the mirror rotates, or for example, the mirror causes the first deflection of the incident light beam, and as the mirror rotates, the deflection angle of the first deflection changes at a predetermined frequency, such a mirror is also feasible.

[0149] In some embodiments, by rotating the mirror as Figures 6A-6C shown, the emitted light can be made to oscillate in a one-dimensional direction at a predetermined frequency. In one embodiment, a plurality of mirrors can be arranged so that the light beams incident on the plurality of mirrors oscillate in a respective corresponding direction at a respective corresponding frequency.

[0150] In one embodiment, the mirror can be made of optical glass, quartz glass, single crystal silicon, polycrystalline silicon, etc.

[0151] In some embodiments, as Figure 6DAs shown in (a), the first optical scanning element 1021 may include an optical phase array (OPA) 10211. By applying a predetermined electrical signal to the optical phase array 10211 under the control of a controller, the optical phase array 10211 can guide a first incident beam incident on the optical phase array at a predetermined frequency in at least one one-dimensional direction based on the predetermined signal. In this embodiment, the phase of the incident beam can be adjusted, thereby deflecting the beam, without requiring mechanical movement of the first optical scanning element. This optical scanning component including an OPA can perform beam steering and achieve faster control speed, higher stability, and higher reliability.

[0152] In some embodiments, such as Figure 6D As shown in Example (b), the first optical scanning element 1021 may include an optical switch 10212. In some embodiments, by applying a predetermined electrical signal to the optical switch 10212 under the control of a controller, the optical switch 10212 can adjust the propagation direction of the incident light beam according to a predetermined pattern and at different spatial angles and / or spatial positions based on the predetermined signal. For example, the optical switch receives the incident light beam (e.g., an arrayed laser beam) through its input port array and emits deflected light through its output port array. Both the input port array and the output port array are fiber optic arrays. For example, the optical switch can be used to adjust the propagation direction of each excitation beam in the array excitation light to obtain deflected light. This array-based deflection method is more precise.

[0153] In some embodiments, such as Figure 6D As shown in Example (c), the first optical scanning element 1021 may include a waveguide 10213. In some embodiments, by applying a predetermined electrical signal to the waveguide 10213 under the control of a controller, the waveguide 10213 can adjust the propagation direction of the incident beam according to a predetermined pattern and at different spatial angles and / or spatial positions based on the predetermined signal.

[0154] Figure 7A A schematic diagram of an example of a second optical scanning element 1022 according to an embodiment of the present disclosure is shown.

[0155] In one embodiment, the second optical scanning element 1022 comprises a transmission wedge. The transmission wedge comprises a first surface 10221 and a second surface 10222 opposite to the first surface 10221 and non-parallel to the first surface 10221, and the included angle C between the first surface 10221 and a certain predetermined rotation axis is a preset angle, wherein the preset angle ranges from 1° to 179°. The transmission wedge can be a cylinder, having the first surface 10221 as a light incident surface and the second surface 10222 as a light exit surface, and a cylindrical side surface 10223 connecting the first surface 10221 and the second surface 10222. Among them, the first surface 10221 and the second surface 10222 can not be in contact (for example, as shown in Figure 7A ), but the extensions of the first surface 10221 and the second surface 10222 intersect to form an apex angle E, or can be in contact at a certain point (for example, as shown in Figure 7C ), directly forming an apex angle. According to the embodiment of the present disclosure. The design of the cylinder helps the structure to be stable when rotating.

[0156] During scanning, when a light beam is incident on the first surface 10221 of the transmission wedge, the light beam is deflected. And the transmission wedge rotates in a second cross section 202 with an included angle D (less than 180 degrees) with the propagation direction of the incident light beam, for example, the transmission wedge rotates around the rotation axis L perpendicular to the second cross section (as shown by the solid arrow), accordingly, the exit light deflected by the transmission wedge also rotates around the rotation axis L.

[0157] In one embodiment, the incident light incident on the transmission wedge can be a light beam emitted from the first scanning element and vibrating in one-dimensional direction, further, the vibrating light beam is deflected by the rotation of the transmission wedge, thereby realizing two-dimensional scanning of the scene.

[0158] In another embodiment, the incident light incident on the transmission wedge can be a light beam emitted from the light emitting component, and through the rotation of the transmission wedge, a ring-shaped light spot rotating around the rotation axis L can be formed, further, the ring-shaped light spot can be deflected by the vibration of the first optical scanning element, thereby realizing two-dimensional scanning of the scene.

[0159] In one embodiment, the rotation frequency of the transmission wedge ranges from 0.1 to 2000 Hz. In one embodiment, the rotation axis of the transmission wedge can pass through the transmission wedge, or outside the transmission wedge. Of course, the present application is not limited thereto.

[0160] In one embodiment, the transmissive wedge receives the outgoing light beam from the first optical scanning element 1021 and deflects the light beam (second deflection), and during scanning, the transmissive wedge is configured to rotate (see solid arrow) at a predetermined rotation speed. By rotating the transmissive wedge, the light beam that is outgoing from the first optical scanning element 1021 and oscillates in one dimension at a predetermined frequency can be rotated (see solid arrow) at a predetermined rotation speed, thereby achieving two-dimensional scanning of the scene.

[0161] Here, the transmissive wedge receives the outgoing light beam from the first optical scanning element 1021 and causes the incident light beam to be deflected a second time, and the transmissive wedge rotates to form a two-dimensional scanning field of view. That is, the deflection and rotation of the light beam resulting from the rotation of the transmissive wedge as the second optical scanning element 1022 are different from the deflection and oscillation of the light beam resulting from the rotation of the transmissive wedge of the first optical scanning element 1021.

[0162] In one embodiment, the transmissive wedge can be made of optical glass, quartz glass, single crystal silicon, polycrystalline silicon, and high refractive index optical materials such as ZnS, ZnSe, etc.

[0163] Figure 7B A schematic diagram showing an example of the second optical scanning element 1022 according to an embodiment of the present disclosure is shown.

[0164] As Figure 7B shown, the second optical scanning element can include a plurality of transmissive wedges, each of which receives a different incident light beam and deflects and rotates it, thereby scanning different objects in the scanning scene with different scanning fields of view. For example, by reasonably setting the rotation speed and rotation amplitude of the transmissive wedges, the light scanning system can be made to scan the scene selectively. For example, the transmissive wedge 10222 can be responsible for far-field scanning, such as detecting objects with a distance between [0.01 m, 300 m], while the transmissive wedge 10222' can be responsible for near-field scanning, such as detecting objects with a distance between [0.01 m, 10 m] or [0.01 m, 50 m]. Generally, for far-field scanning, a very energy-uniform light beam is not required, while for near-field scanning, a light beam with uniform energy and density is often required to obtain sufficient details of the object of interest. In this example, the transmissive wedge 10222 can rotate with a larger rotation amplitude and a relatively lower rotation speed to form a relatively sparse scanning light beam to scan the scene at a long distance, while the transmissive wedge 10222' can rotate with a smaller rotation amplitude and a higher rotation speed to form a relatively dense scanning light beam without gaps to scan the object of interest at a close distance. The above arrangement of the transmissive wedge 10222 can achieve a longer stable working time. Such an arrangement can improve the service life and stability of the scanning system.

[0165] In some embodiments, the transmission wedge 10222' can not necessarily be synchronized with the scanning of the transmission wedge 10222, for example, through a coarse scanning of the transmission wedge 10222, when an object or scene requiring extra attention is found, the scanning of the transmission wedge 10222' can be initiated under the control of the controller to perform a more fine scanning of the object or scene of interest. Such an arrangement further reduces the power consumption of the scanning and saves cost.

[0166] Figure 7C A schematic diagram showing another example of the second optical scanning element 1022 according to an embodiment of the present disclosure is shown.

[0167] As Figure 7C shown, a grating 10224 can be disposed on the second surface 10222 of the transmission wedge as the second optical scanning element 1022, i.e., the exit surface of the light emitted from the light emitter.

[0168] With the grating 10224, the light beams incident to the transmission wedge can be separated so that the light beams of different wavelengths exit at respective different angles, for example, as shown, the solid line light beam has a first wavelength and the dashed line light beam has a second wavelength. Then, the solid line light beam exits at a different angle compared to the dashed line light beam when passing through the grating 10224. The disposition of the grating 10224 increases the scanning range and can divide the scanning field of view with light beams of different wavelengths. That is, the light beam of one wavelength can be responsible for the scanning field of view of a part of the scene and the light beam of another wavelength can be responsible for the scanning field of view of another part of the scene.

[0169] Figure 7D A schematic diagram showing another example of the second optical scanning element 1022 according to an embodiment of the present disclosure is shown.

[0170] In some embodiments, the second optical scanning element 1022 can include a prism. The prism can include a birefringent crystal, a silicon crystal, other single crystal, a composite crystal, a liquid crystal or a polymer material, etc., and the present application is not limited thereto.

[0171] In one embodiment, as Figure 7DAs shown in FIG. (a) of the drawings, the second optical scanning element 1022 can be a triangular prism. The triangular prism includes a triangular top surface and a triangular bottom surface, and includes three side surfaces, S1, S2 and S3, intersecting with each other in pairs. An incident light beam is refracted by S1 to reach S2, and experiences at least one reflection at S2 to reach S3, and is finally refracted by S3 to exit from S3. In this embodiment, the triangle can be an isosceles triangle, a right triangle, an isosceles right triangle, an equilateral triangle, etc., and the present application is not limited thereto. During scanning, the triangular prism rotates in the second cross-section, i.e., rotates in the yoz plane to achieve scanning of the scene.

[0172] In another embodiment, as shown in FIG. (b) of the drawings, the top surface and the bottom surface of the prism can be trapezoidal. The prism includes four side surfaces, S4, S5, S6 and S7. An incident light beam is refracted by S4 to reach S5, is reflected by S5 to reach S6, and is finally refracted by S6 to exit from S6. In one embodiment, the prism is a dove prism. During scanning, the prism rotates in the second cross-section, i.e., rotates in the yoz plane to achieve scanning of the scene. Figure 7D In some embodiments, the side surfaces of the prism according to the embodiments of the present disclosure can include planar surfaces and / or curved surfaces, and those skilled in the art can make specific arrangements of the prism according to the scanning requirements, and the present application is not limited thereto.

[0173]

[0174] Examples of the first optical element 106 and the second optical element 107 according to the embodiments of the present disclosure are shown. Figures 8A-8C As shown in FIG. (a) of the drawings, the second optical scanning element 1022 can be a triangular prism. The triangular prism includes a triangular top surface and a triangular bottom surface, and includes three side surfaces, S1, S2 and S3, intersecting with each other in pairs. An incident light beam is refracted by S1 to reach S2, and experiences at least one reflection at S2 to reach S3, and is finally refracted by S3 to exit from S3. In this embodiment, the triangle can be an isosceles triangle, a right triangle, an isosceles right triangle, an equilateral triangle, etc., and the present application is not limited thereto. During scanning, the triangular prism rotates in the second cross-section, i.e., rotates in the yoz plane to achieve scanning of the scene.

[0175] Figures 8A-8C The at least one first optical element 106 can expand or collimate at least one emitted light beam emitted by at least one light emitter included in the light emitting component 101 by transmission or reflection at a preset scattering angle, initial light beam size, light beam distribution shape to emit to a respective scene. The at least one second optical element 107 can converge at least one reflected light beam received by at least one detector of the light receiving component 104 by transmission or reflection.

[0176] The at least one first optical element 106 can expand or collimate at least one emitted light beam emitted by at least one light emitter included in the light emitting component 101 by transmission or reflection at a preset scattering angle, initial light beam size, light beam distribution shape to emit to a respective scene. The at least one second optical element 107 can converge at least one reflected light beam received by at least one detector of the light receiving component 104 by transmission or reflection.

[0177] ​For example, in one embodiment, at least one first optical element 106 may be arranged between a first optical scanning element 1021 and a second optical scanning element 1022, receiving the outgoing light deflected by the second optical scanning element 1022. Through the beam-expanding, converging, or collimating effect of at least the first optical element 106, the expanded, converged, or collimated two-dimensional scanning light field is positioned along the pointing direction of the optical scanning system 100 with a desired scattering angle, beam size, and beam distribution shape (i.e., Figures 8A-8C (As shown in the image) Illuminates the scene 103. For example, for scanning distant objects, a larger scattering angle and a larger beam size are desired; for scanning closer objects, a smaller scattering angle and a more concentrated beam energy are desired. At least one second optical element 107 can be arranged between the first optical scanning element 1021 and the light receiving component 104. When the reflected beam returns from the scene along the rearward direction opposite to the front, the reflected beam can be converged by the converging effect of at least one second optical element 107, thereby reducing the beam size of the reflected beam and concentrating the spot energy, which is beneficial for the detection of the light receiving component 104.

[0178] Alternatively, in one embodiment, at least one first optical element 106 or at least one second optical element 107 may be arranged between the first optical scanning element 1021 and the light emitting component 101, or between the first optical scanning element 1021 and the second optical scanning element 1022, or between the second optical scanning element 1022 and the scene 103, or between the first optical scanning element 1021 and the light receiving component 104. For example, at least one first optical element 106 may be arranged between the second optical scanning element 1022 and the scene 103, and at least one second optical element 107 may be arranged between the first optical scanning element 1021 and the light receiving component 104.

[0179] Alternatively, in one embodiment, the same third optical element 108 can be used to achieve the functions of beam expansion or collimation, as well as convergence.

[0180] For example, the third optical element 108 can be arranged between the first optical scanning element 1021 and the light emitting component 101, or between the first optical scanning element 1021 and the second optical scanning element 1022, or between the second optical scanning element 1022 and the scene 103, or between the first optical scanning element 1021 and the light receiving component 104. Such an arrangement can provide advantages in terms of size, cost, and / or complexity.

[0181] In one embodiment, the first optical element 106, the second optical element 107 or the third optical element 108 can include a concave lens, a convex lens or a combination of these lenses. In one embodiment, the first optical element 106, the second optical element 107 or the third optical element 108 can include one or more of a converging lens, a converging mirror, a collimating lens, a collimating mirror, or a combination of the above.

[0182] By expanding or collimating the light beams incident on or reflected from the scene by the first optical element 106 and the second optical element 107 or the third optical element 108, a desired scanning angle and scanning field of view can be achieved. Of course, other arrangements of the first optical element 106 and the second optical element 107 can be provided for actual application scenarios. Figures 8A-8C The structure shown is only an example, and the first optical element 106 and the second optical element 107 can be arranged elsewhere for actual application scenarios.

[0183] It should be noted that, Figures 8A-8C Only some examples of the arrangement of the optical elements 106, 107 and 108 can be combined in any suitable manner to achieve the desired scanning angle and scanning field of view. Figures 8A-8C

[0184] Figure 9 A schematic diagram showing another example of a light scanning system according to an embodiment of the present disclosure is shown.

[0185] As Figure 9 shown, the light scanning system includes a light emitting component 101, and the light emitters in the light emitting component 101 emit at least n light beams with different emission wavelengths from light emitter emission 1 to light emitter emission n (n≥2).

[0186] In one embodiment, each of the at least one light emitters emits at least two emission light beams with different wavelengths in a predetermined pattern. In one embodiment, the light emitters can emit multiple light beams with different wavelengths at the same time or at certain time intervals, at the same or multiple different incident angles, so that the light beams of different wavelength ranges are directed to different regions of the scene at respective different exit angles, for example, one wavelength range of light beams can be responsible for a part of the scanning field of view of the scene, and another wavelength range of light beams can be responsible for another part of the scanning field of view of the scene.

[0187] ​In one embodiment, the combination of the pair of wavelengths emitted from the at least one light emitter is different from the combination of the pair of wavelengths emitted from the at least one light emitter within a predetermined time period. For example, within a certain time period, the light emitter can emit a light beam with a wavelength combination of λ1 and λ2 at time t1, a light beam with a wavelength combination of λ3 and λ4 at time t2, and a light beam with a wavelength combination of λ1 and λ2 at time t3, where λ1, λ2, λ3 and λ4 are different from each other. Since the wavelength combinations of the first group of λ1 and λ2 and the second group of λ3 and λ4 light beams are different, the correspondence between the incident light beams and the reflected light beams can be accurately determined when the above two groups of incident light return from the scene, there is no confusion in the calculation of the time of flight, and thus the distance to the scene can be more accurately calculated. For example, in the case of emitting the same wavelength combination, a light beam with a wavelength combination of λ1 and λ2 is emitted at time t1, a light beam with a wavelength combination of λ1 and λ2 is emitted at time t2, and a light beam with a wavelength combination of λ1 and λ2 is emitted at time t3, it is possible that the received reflected light beam of the light beam with a wavelength combination of λ1 and λ2 emitted at time t2 is mistakenly considered as the reflected light beam of the light beam with a wavelength combination of λ1 and λ2 emitted at time t1, resulting in incorrect calculation of the time of flight and the distance. According to the present embodiment, the received reflected light beam of the light beam with a wavelength combination of λ3 and λ4 emitted at time t2 will not be considered as the reflected light beam of the light beam with a wavelength combination of λ1 and λ2 emitted at time t1, and thus the purpose of anti-interference and more accurate distance calculation can be achieved.

[0188] In one embodiment, the at least one light emitter regularly emits light beams at a predetermined time interval, so that the difference between the two scanning angles of two adjacent light beams regularly emitted at the predetermined time interval is not greater than a preset value. In some embodiments, the predetermined time interval includes periodic and / or aperiodic time intervals. The difference between the two angles at which the two time-adjacent emitted scanning light beams scan the scene is not greater than a preset value, which can ensure that there is no or not too large gap between the scanning fields of view to meet the actual application scenarios. Of course, the present application is not limited thereto, and the preset value can be set according to the actual application scenarios of the light scanning system.

[0189] In one embodiment, each of the at least one light emitter simultaneously emits a light beam to a respective corresponding final scanning scene, and the at least one detector corresponds to the at least one light emitter one-to-one and detects at least one reflected light beam that is reflected from the scene within the scanning visual angle by at least one emitted light beam emitted by the at least one light emitter, wherein the at least one reflected light beam is independent of or superimposed on each other. In one embodiment, the detector includes an avalanche photodiode (APD) and / or a single-photon avalanche diode (SPAD); in another embodiment, the detector includes a complementary metal-oxide-semiconductor (CMOS) or a charge-coupled device (CCD) image chip.

[0190] Here, the positions of the light emitter and the light receiver are different.

[0191] Figure 9 The arrangement of the first optical scanning element 1021 and the second optical scanning element 1022 and the manner of scanning in the above embodiment are described with reference to the foregoing embodiments, and will not be described again.

[0192] Figure 10 A schematic diagram of a light pulse according to an embodiment of the present disclosure is shown.

[0193] In some embodiments, the at least one emitted light beam emitted by the at least one light emitter is a light pulse. The light pulse comprises at least one of the following optical properties: waveform, wavelength, function of wavelength change over time, polarization, spatial angle of scattering (including angle in horizontal direction, vertical direction or each direction), peak intensity or total energy, spatial light intensity distribution. The above optical properties can be set according to the actual application scenario. The light pulse further comprises light information, which comprises at least one of the following: order within the pulse sequence to which the light pulse belongs, relative time, relative energy. In one embodiment, the control system can use at least one of the following values: random number, serial number of the light scanning system, serial number of the vehicle to which it belongs, identity card number of the user, GPS address, current time, scanning light sequence number, one value of the set number of the code table majority of the two-dimensional scanning, to modulate / control the information contained in the light pulse to be generated at present.

[0194] As Figure 10 shown in (a) and (b), (a) and (b) show schematic diagrams of waveforms of light pulses. Among them, (a) shows a schematic diagram of a waveform in a pulse determined by the following parameters: threshold value v1, threshold value v2, threshold value v3, rising edge time point t1 of threshold value v1, falling edge time point t3 of threshold value v1, time point t2 of threshold value v2, rising edge time point t4 of threshold value v3 and rising edge time point t5 of threshold value v3. Threshold value v1 and threshold value v3 can be collectively represented as a shape threshold, i.e. a threshold value for determining the waveform of the light pulse. (b) shows an example of other waveforms of the light pulse. In one embodiment, as shown in (b), the light beam can be a short pulse of any shape, and the waveform includes but is not limited to square wave, triangular wave, sine, pulse width, rise and fall width, etc. In addition, a pseudo-random binary sequence (PRBS) can also be generated. The PRBS can be used for testing of the channel, for testing the bit error rate (BER) of the channel, etc. Figure (c) shows a spatial distribution diagram of a light spot formed by the light pulse, where V represents the longitudinal direction and H represents the horizontal direction. Of course, this is only an example, and the present application is not limited thereto.

[0195] In one embodiment, during scanning, the light emitter can emit a plurality of light pulses including the predetermined optical characteristics and / or light information to the scene, and then the detector detects the light pulses returned from the scene. The computing component determines the selection of the light pulses according to the light intensity, the receiving time, the direction of the incident light at the receiving time, and the resolved light information of the received at least one light pulse. For example, the validity of the reflected light pulse is determined by comparing the above information obtained from the reflected light pulse with the predetermined optical characteristics and / or light information. Through such a selection process, the interference from other scene reflected light beams or background light can be effectively removed.

[0196] In the present embodiment, such a light information based judgment process can reduce the interference of other light beams on the detection result, and improve the accuracy and reliability of the measurement of the scene.

[0197] In some embodiments, the pulse width of the light beam emitted by the light emitter is between [0.1 ns-10 ns], or [3 ns-3 us], or [1 us-10 ms], or any combination thereof. The specific pulse width can be selected according to the actual use scenario, and the present application is not limited thereto.

[0198] In some embodiments, the detection distance between the light scanning system according to the present disclosure and the scene is between [0.01 m, 300 m], or between [0.01 m, 50 m], or between [0.1 m, 10 m]. Of course, the present application is not limited thereto.

[0199] Figure 11 A schematic diagram showing another example of the light scanning component 1202 according to an embodiment of the present disclosure is shown.

[0200] As shown, the light scanning component 1202 includes a first optical scanning element 12021 configured to swing or rotate at a predetermined frequency, direction and amplitude, a second optical scanning element 12022 configured to rotate at a predetermined frequency, and a third optical scanning element 12023.

[0201] The first optical scanning element 12021 deflects the incident light beam by a first deflection and wobbles or rotates to cause the outgoing light beam to wobble scan in at least one one-dimensional direction with a respective predetermined frequency. The second optical scanning element 12022 receives the outgoing light beam from the first optical scanning element 12021 and deflects the incident light beam by a second deflection. Moreover, the second optical scanning element 10022 rotates to cause the outgoing light beam to rotate scan with a predetermined rotation speed to obtain a two-dimensional spatial scan of the scene. In one embodiment, the third optical scanning element 12023 can be an electro-optical crystal. The third scanning element 12023 can cause a third deflection of the propagation direction of the transmitted light beam based on the electro-optical effect, thereby achieving compensation of the delay angle, effectively shortening the time of a single probe, effectively improving the scanning frequency, and facilitating the realization of a balance between high scanning frequency and high coherence efficiency. The third deflection has a deflection angle equal in size and opposite in direction to the delay angle generated during a single probe, so the third deflection of the light beam can compensate for the delay angle during a single probe.

[0202] The third scanning element 12023 can be a static wedge mirror to cause a deflection of the outgoing light beam, but it can not be dynamically rotatable, but statically arranged, for example, to cause a deflection of the outgoing light beam, it is arranged in a certain way. The third scanning element 12023 can also be a rotating wedge mirror to superimpose the rotation effect of the second optical scanning element 12022.

[0203] The first deflection, the second deflection, and the third deflection can maintain the optical path of the incident light beam deflected to the outgoing light beam unchanged, thereby ensuring that the optical path of the light beam received by the scanning system and the optical path of the light beam emitted from the scanning system remain unchanged. Moreover, since the electro-optical effect has a high response rate to changes in the electrical signal, the change in the propagation direction of the light beam in the third deflection has a high response rate to the electrical signal, and the third scanning element can achieve delay angle compensation at a faster speed.

[0204] Thus, the combination of the two different optical scanning elements according to the embodiments of the present disclosure can improve the service life of the optical scanning element and reduce the cost while ensuring high scanning resolution and large and uniform spatial coverage. Moreover, such a combined scanning method does not require the first optical scanning element and the second optical scanning element to rotate in the same direction or coaxially, so it has a more simple and stable structure and combination method, and is easier and more stable to operate.

[0205] Figure 12 A schematic diagram showing yet another example of an optical scanning system according to an embodiment of the present disclosure is shown.

[0206] As Figure 12As shown, the light scanning system comprises a light emitting component 101, which emits an incident light beam to the first optical scanning element 1021, the light beam passes through the first optical scanning element 1021, reaches the combination of the second optical scanning elements, and further passes through the second optical scanning elements to reach the scene, so as to realize two-dimensional scanning of the scene.

[0207] In the embodiment, any one of the second optical scanning elements 1022 and 1022' can be included, or alternatively, the combination of the second optical scanning elements 1022 and 1022' can be included.

[0208] In the embodiment, the first optical scanning element 1021 is any one of the optical switch and the waveguide.

[0209] In the case of only one second optical scanning element 1022 or 1022', the light emitting component 101 emits one or more light beams to any one of the optical switch and the waveguide during scanning. By applying a predetermined electrical signal to the optical switch / waveguide 1021, the optical switch / waveguide 1021 changes the phase of the light beam in a predetermined manner corresponding to the predetermined electrical signal, or emits the light beam at different spatial angles and / or spatial positions in a predetermined manner corresponding to the predetermined electrical signal, so as to obtain scanning light rays swinging in one-dimensional direction. Here, the optical switch / waveguide 1021 does not need to perform mechanical movement relative to the light scanning system.

[0210] The one-dimensional scanning light rays emitted from the optical switch / waveguide 1021 are incident to the second optical scanning element 1022'. The second optical scanning element 1022 swings or rotates in a predetermined frequency and / or a predetermined amplitude within the cross section 202. The cross section 202 forms an angle less than 180 degrees with the propagation direction of the light beam incident to the second optical scanning element 1022. Through the swing or rotation of the second optical scanning element 1022, the one-dimensional scanning light rays emitted from the optical switch / waveguide 1021 rotate in a predetermined manner (for example, a predetermined frequency and / or a predetermined amplitude, etc.), so as to form a scanning light beam uniformly distributed, so as to realize two-dimensional scanning of the scene. The combination of the optical switch / waveguide and the second optical scanning element needs to make the optical switch / waveguide perform mechanical movement, so as to deflect the light beam incident thereto, and can realize faster control speed, higher stability and reliability.

[0211] In some embodiments, in the case of a combination of two second optical scanning elements 1022 and 1022', during scanning, the light emitting component 101 emits one or more light beams to any one of the optical switch and waveguide, by applying a predetermined electrical signal to the optical switch / waveguide 1021, the optical switch / waveguide 1021 changes the phase of the light beam in a predetermined law corresponding to the predetermined electrical signal, or emits the light beam at different spatial angles and / or spatial positions in a predetermined law corresponding to the predetermined electrical signal, thereby obtaining a scanning light ray oscillating in one dimension. Here, the optical switch / waveguide 1021 does not need to move mechanically relative to the light scanning system.

[0212] The one-dimensional scanning light ray emitted from the optical switch / waveguide 1021 is incident to the combination of two second optical scanning elements 1022 and 1022'. By rotating the two second optical scanning elements 1022 and 1022' in the cross sections 202 and 202', respectively, the one-dimensional scanning light ray emitted from the optical switch / waveguide 1021 is rotated in a predetermined law (e.g., a predetermined frequency and / or a predetermined amplitude, etc.), thereby forming a uniformly distributed scanning light beam to achieve two-dimensional scanning of the scene. Compared with the above-mentioned embodiments, the second optical scanning element 1022' of the accessory can further rotate the surface light emitted from the second optical scanning element 1022, thereby further obtaining a larger scanning range.

[0213] Next, the two beams of annular light points oscillating or rotating in a predetermined law are respectively incident to the second optical scanning element 1022', and by oscillating or rotating the second optical scanning element 1022', two uniformly distributed light beams, i.e., two different, uniformly scanning fields of view, are formed, thereby achieving two-dimensional scanning of different objects of the scene, and thus a larger scanning field of view is obtained.

[0214] In some embodiments, the second optical scanning elements 1022 and 1022' can be rotated synchronously, thereby achieving a larger and more uniform scanning range. In some embodiments, when the deflection amplitude and frequency of the incident light beams by 1022 and 1022' are matched, a uniformly distributed scanning field of view with a larger range and without gaps can be obtained.

[0215] In some embodiments, the second optical scanning elements 1022 and 1022' can be rotated asynchronously. For example, in some embodiments, the second optical scanning element 1022 can be rotated with a larger rotation amplitude and a relatively lower rotation speed to form a relatively sparse scanning beam for a rough scan of a distant scene, while the second optical scanning element 1022' can be rotated with a smaller rotation amplitude and a relatively higher rotation speed to form a relatively dense scanning beam without gaps for a scan of a close object of interest. By the rough scan of the scene by the second optical scanning element 1022, when an object or scene requiring extra attention is found, the scan by the second optical scanning element 1022' can be initiated under the control of the controller to perform a more detailed scan of the object or scene of interest. Such an arrangement further reduces the power consumption of the scan and saves cost.

[0216] Figure 13 A schematic diagram showing yet another example of a light scanning system according to embodiments of the present disclosure is shown.

[0217] A light scanning system according to embodiments of the present disclosure comprises: a light scanning component comprising a combination of at least two optical scanning elements between the light emitting components and a scene along a propagation path of at least one emitted light beam, each optical scanning element causing deflection of an incident light beam incident to the optical scanning element, and wherein the optical scanning element wobbles or rotates within a cross section of less than 180 degrees with a propagation direction of the incident light beam, such that an outgoing light beam exiting from the optical scanning element wobbles or rotates with a predetermined rotation speed; light emitting components comprising at least two light emitters fixed relative to the light scanning component and emitting at least two emitted light beams at different spatial angles and / or spatial positions, and emitting the at least two emitted light beams through the light scanning component to the scene within at least two different scanning view angles from each other; and light receiving components comprising at least one detector detecting at least one reflected light beam reflected from the scene, respectively.

[0218] For example, as shown in FIG. 10, the light scanning system comprises a light emitter 1011 and a light emitter 1012 fixed relative to the combination of the second optical scanning elements 1022 and 1022'. Figure 13

[0219] The light scanning component comprises a combination of the at least two second optical scanning elements 1022 and 1022' between the light emitting components 1041 and 1042 and the scene along a propagation path of the at least one emitted light beam.

[0220] ​The light emitters 1011 and 1012 emit at least two beams of emitted light at different spatial angles and / or different spatial positions to the scene into different scanning viewing angles by the combination of the second optical scanning elements 1022 and 1022’.

[0221] The light emitters 1011 and 1012 emit incident light beams at different spatial angles and / or different spatial positions to the second optical scanning elements 1022 and 1022’, respectively (as shown in the figure, the thicker solid line and the thinner solid line), the two light beams first reach the second optical scanning elements 1022, respectively, and the second optical scanning elements 1022 perform the first deflection on the two light beams, respectively. By rotating the second optical scanning elements 1022 in the cross section 202, the two light beams emitted from the 1022 also exit accordingly at different spatial positions and / or spatial angles in a regular manner, respectively, and further reach the second optical scanning elements 1022’. The second optical scanning elements 1022’ perform the second deflection on the two light beams, respectively. By rotating the second optical scanning elements 1022’ in the cross section 202’, the two annular light spots emitted from the 1022 also exit accordingly at different spatial positions and / or spatial angles in a regular manner, respectively, and further form two beams of emitted light at different spatial positions and / or spatial angles, thereby achieving two-dimensional scanning of different fields of view in the scene. In some embodiments, the two incident light beams incident to the light scanning component at different spatial angles and / or spatial positions can be emitted synchronously, thereby achieving synchronous two-dimensional scanning of different fields of view in the scene.

[0222] Figure 14 A schematic diagram showing yet another example of a light scanning system according to an embodiment of the present disclosure is shown.

[0223] In one embodiment, the second optical element 1022 is a prism, which can include at least two side surfaces, each of which can include one of a plane and a curved surface, and the emitted light beams exit from one of the side surfaces after being reflected at least once in the prism.

[0224] In one embodiment, the first optical scanning element 1021 performs a first deflection on its incident light beam. During scanning, the first optical scanning element 1021 is swung or rotated relative to the first cross section 201 so that its outgoing light beam is swung scanned in at least one one-dimensional direction with a respective predetermined frequency (as shown by the solid line and the dashed line light beams outgoing from the first optical scanning element 1021). Next, the prism 1022 receives the outgoing light beam from the first optical scanning element 1021 and performs a second deflection on its incident light beam. And, after the light beam undergoes at least one reflection within the prism 1022, it is outgoing from one of the side surfaces of the prism 1022, which is rotated at the second cross section 202 so that the light beam outgoing therefrom is rotated scanned with a predetermined rotational speed, thereby obtaining a two-dimensional spatial scanning of the scene.

[0225] Figure 15 A schematic diagram showing yet another example of an optical scanning system according to an embodiment of the present disclosure is shown.

[0226] In the present embodiment, the second optical scanning element comprises a birefringent crystal and / or a silicon crystal. In some implementations, the birefringent crystal can be made of materials including but not limited to lithium niobate (LiNbO3), yttrium vanadate (YVO4), quartz, TiO2, Calcite, and the like.

[0227] The scanning manners of the first and second optical scanning elements are as previously described and will not be repeated here.

[0228] In the present embodiment, both the light beam from the first optical scanning element 1021 (as shown by the solid line arrow in the figure) and the light beam reflected from the scene (as shown by the dashed line arrow in the figure) can pass through the second optical scanning element 1022. The second optical scanning element 1022 with the birefringent crystal can exhibit different refractive abilities for the light beam from the first optical scanning element 1021 and the light beam reflected from the scene. Therefore, from the receiving side, such an arrangement makes the light beam outgoing from the light emitting component 101 and the light beam reflected from the scene spatially separated and focused on different focal lengths, thereby maximizing the receiving efficiency and effectively avoiding the mutual interference of the outgoing light and the reflected light. Moreover, through such an arrangement, even in the case where the light emitting component 101 and the light receiving component 104 are disposed at the same azimuth relative to the second optical scanning element 1022, the spatial interference of the light emitting component 101 and the light receiving component 104 can be effectively avoided, thereby effectively improving the measurement accuracy.

[0229] Figure 16 A scanning method of an optical scanning system according to an embodiment of the present disclosure is shown.

[0230] The light scanning system according to embodiments of the present disclosure comprises a light emitting component, a light scanning component and a light receiving component. The light emitting component comprises at least one light emitter, emitting at least one emitted light beam into a respective scanning view angle of a scene, and the at least one emitted light beam comprises a first incident light beam or a second incident light beam. The light scanning component comprises a combination of the following elements located between the light emitting component and the scene along a propagation path of the at least one emitted light beam: at least one first optical scanning element, each first optical scanning element causing a first deflection of the first incident light beam incident to the first optical scanning element; at least one second optical scanning element, each second optical scanning element causing a second deflection of the second incident light beam incident to the second optical scanning element. The light receiving component comprises at least one detector, respectively detecting at least one reflected light beam reflected from the scene;

[0231] As shown in FIG. 14, the scanning method 1400 of the light scanning system according to embodiments of the present disclosure comprises the following steps. Figure 16

[0232] At step 1401, each first optical scanning element is caused to perform a first swing or a first rotation relative to a first cross section smaller than 180 degrees with respect to a propagation direction of the first incident light beam, or a predetermined electrical signal is applied to the first optical scanning element, so that the first exit light beam leaving the first optical scanning element exits with a respective predetermined regularity.

[0233] At step 1402, the second optical scanning element is caused to swing or rotate within a second cross section smaller than 180 degrees with respect to a propagation direction of the second incident light beam, so that the second exit light beam leaving the second optical scanning element swings or rotates with a predetermined rotational speed.

[0234] The working modes of the light emitting component, the first optical scanning element, the second optical scanning element and the light receiving component in the light scanning system are detailed with reference to the above embodiments, and will not be repeated here.

[0235] It should be noted that the above description and illustration are not intended to limit the execution order of steps 1401 and 1402. In some embodiments, 1402 can be executed first, and then 1401 can be executed, or 1401 and 1402 can be executed simultaneously.

[0236] Figure 17 A scanning method of another light scanning system according to embodiments of the present disclosure is shown.

[0237] ​The light scanning system according to embodiments of the present disclosure comprises a light emitting component, a light scanning component and a light receiving component. The light scanning component comprises a combination of the following elements located between the light emitting component and a scene along a propagation path of at least one emitted light beam: at least a second optical scanning element, each optical scanning element causing deflection of an incident light beam incident to the optical scanning element. The light emitting component comprises at least two light emitters fixed relative to the light scanning component and emitting at least two emitted light beams at different spatial angles and / or spatial positions. The light receiving component comprises at least one detector detecting at least one reflected light beam reflected from the scene, respectively.

[0238] As shown in FIG. 15, the scanning method 1500 of the light scanning system according to embodiments of the present disclosure comprises the following steps. Figure 17

[0239] At step 1501, at least two emitted light beams are emitted by the light emitting component through the light scanning component to a scene within at least two different scanning view angles from each other.

[0240] At step 1502, each optical scanning element is caused to oscillate or rotate within a cross section of less than 180 degrees angle with a propagation direction of the incident light beam, so that the exit light beam leaving from each optical scanning element oscillates or rotates at a predetermined rotation speed.

[0241] The working modes of the light emitting component, the second optical scanning element and the light receiving component in the light scanning system are described in detail with reference to the above embodiments, and will not be described here again.

[0242] It should be noted that the above description and drawings are not intended to limit the execution order of steps 1501 and 1502, in some embodiments, 1502 can be executed first, and then 1501 can be executed, or 1501 and 1502 can be executed simultaneously.

[0243] Of course, the above specific embodiments are only examples and not limitations, and those skilled in the art can combine and combine some steps and devices from the above separately described various embodiments according to the concept of the present disclosure to achieve the effect of the present application, and such combined and combined embodiments are also included in the present application, and such combined and combined embodiments are not described here.

[0244] It is obvious to those skilled in the art that various modifications and changes can be made to the embodiments without departing from the scope or spirit of the present disclosure. For example, features shown or described as part of one embodiment can be used with another embodiment to produce yet another embodiment. Therefore, aspects of the present disclosure are intended to cover these modifications and changes.

[0245] ​It is noted that the advantages, effects, and the like mentioned in the present disclosure are merely examples and are not limiting, and it cannot be considered that these advantages, effects, and the like are necessarily possessed by each embodiment of the present disclosure. In addition, the above-described specific details are merely for the purpose of example and for the purpose of understanding, and are not limiting, and the present disclosure is not limited to the above-described specific details.

[0246] The block diagrams of the devices, apparatuses, equipment, systems involved in the present disclosure are merely illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be as shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have", and the like are open-ended words, mean "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0247] The step flowcharts in the present disclosure and the above method descriptions are merely illustrative examples and are not intended to require or imply that the steps of each embodiment must be performed in the order given. As those skilled in the art will recognize, the order of the steps in the above embodiments can be performed in any order. Words such as "after", "then", "next", and the like are not intended to limit the order of the steps; these words are merely used to guide the reader to read through the description of the methods. In addition, any reference to a singular element using articles "a", "an", or "the" is not to be construed as limiting the element to the singular. For example, the use of "first", "second", "third", and the like is merely for the purpose of distinction, and is not to limit what is referred to as having some order, or being mutually different, or being the same.

[0248] In addition, the steps and devices in each embodiment herein are not limited to being performed only in a certain embodiment, and in fact, new embodiments can be conceived by combining relevant parts of the steps and devices in each embodiment herein according to the concepts of the present disclosure, and these new embodiments are also included in the scope of the present disclosure.

[0249] Each operation of the above-described method can be performed by any appropriate means capable of performing the corresponding function. The means can include various hardware and / or software components and / or modules, including but not limited to hardware circuitry, application-specific integrated circuits (ASICs), or processors.

[0250] The various illustrative logical blocks, modules, and circuits described in connection with the present disclosure can be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an ASIC, a Field Programmable Gate Array signal (FPGA) or other programmable logic device (PLD), discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor can be a microprocessor, but in the alternative, the processor can be any commercially available processor, controller, microcontroller, or state machine. A processor can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0251] The steps of a method or algorithm described in connection with the present disclosure can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in any form of tangible storage medium. Some examples of storage media that can be used include random access memory (RAM), read only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM and so forth. A storage medium can be coupled to a processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The software module can comprise single instructions or many instructions, and can be distributed over several different code segments, among different programs, and across multiple storage media.

[0252] The methods disclosed herein comprise one or more actions for implementing the described methods. The methods and / or actions can be interchanged between one another without departing from the scope of the claims. In other words, unless a specific order of actions is specified, the order and / or use of specific actions can be modified without departing from the scope of the claims.

[0253] The functions described can be implemented in hardware, software, firmware or any combination thereof. If implemented in software, the functions can be stored as one or more instructions on a tangible computer-readable medium. A storage media can be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other tangible medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Disk and disc, as used herein, include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray®disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

[0254] Accordingly, a computer program product can perform the operations described herein. For example, such a computer program product can be a computer readable tangible medium having instructions stored thereon that are executable by one or more processors to perform the operations described herein. The computer program product can include packaging material.

[0255] Software or instructions can also be transmitted over a transmission medium. For example, software can be transmitted from a website, server, or other remote source using a transmission medium such as a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technology such as infrared, radio, or microwave. Thus, a transmission medium can transmit information such as computer-executable instructions or software using wireless technologies, including microwave, infrared, cellular, radio frequency (RF), etc.

[0256] Further, modules and / or other appropriate means for performing the methods and techniques described herein can be downloaded and / or otherwise obtained by a user terminal and / or base station as applicable. For example, such a device can be coupled to a server to facilitate the transfer of means for performing the methods described herein. Alternatively, various methods described herein can be provided via a storage means (e.g., RAM, ROM, a physical storage medium such as a CD or floppy disk, etc.), such that a user terminal and / or base station can obtain the various methods upon coupling or providing the storage means to the device.

[0257] Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, due to the nature of software, functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of the above. Features implementing functions can also be physically located at various positions, including being distributed such that portions of functions are implemented at different physical locations. Also, as used herein, including in the claims, "or" as used in a list of items prefaced by "at least one of indicates a disjunctive list such that, for example, a list of "at least one of A, B, or C" means A or B or C or AB or AC or BC or ABC (i.e., A and B and C). Furthermore, as used herein, the phrase "exemplary" does not indicate a preference or that something is preferred over other examples.

[0258] Various modifications, alternative constructions, and equivalents can be used without departing from the technology defined by the appended claims. Additionally, the scope of the claims of this disclosure is not limited to the specific aspects described above. Rather, the specific aspects are illustrative only as numerous other aspects can be derived from the teachings without departing from the spirit and scope of the disclosure. Accordingly, the appended claims are intended to embrace all such alterations, modifications, and variations.

[0259] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0260] The above description has been presented to enable any person skilled in the art to make or use the application. Numerous modifications and alterations to disclosed aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An optical scanning system, comprising: A light emitting component, including at least one light emitter, emits at least one emitted light beam toward a scene within its respective scanning field of view; A light scanning component comprising a combination of the following elements located between the light emitting component and the scene along the propagation path of the at least one emitted light beam: At least one first optical scanning element causes the first incident beam incident on the first optical scanning element to undergo a first deflection, wherein the first outgoing beam exiting the first optical scanning element is caused to exit according to a predetermined pattern by causing the first optical scanning element to swing or rotate in a first cross section at an angle of less than 180 degrees to the propagation direction of the first incident beam, or by applying a predetermined electrical signal to the first optical scanning element. At least one second optical scanning element causes the second incident beam incident on the second optical scanning element to undergo a second deflection, and wherein the second optical scanning element performs a second oscillation or a second rotation in a second cross section at an angle of less than 180 degrees to the propagation direction of the second incident beam, such that the second outgoing beam exiting the second optical scanning element oscillates or rotates at a predetermined rotational speed. The light receiving component includes at least one detector, which detects at least one reflected light beam reflected from the scene. Wherein, the first oscillation or first rotation includes: the first optical scanning element oscillating or rotating around any point or line within the first cross-section. Wherein, the second oscillation or second rotation includes: the second optical scanning element oscillating or rotating around an arbitrary line perpendicular to the second cross-section, and Wherein, the first cross section is not perpendicular to the second cross section.

2. The system according to claim 1, wherein, The maximum magnitude of the second deflection angle is proportional to the maximum magnitude of the first deflection angle, which is between 0.01 and 100 times.

3. The system according to claim 1, wherein, The magnitude of the change in the deflection angle of the second deflection caused by the second swing or second rotation of the second optical scanning element is less than a predetermined threshold.

4. The system according to claim 1, wherein, The first optical scanning element includes at least one of a galvanometer, a rotating mirror, a waveguide, an optical switch, or an optical phase array (OPA).

5. The system according to claim 4, wherein, The first optical scanning element includes a galvanometer, which is at least one of reflective and transmissive types, and the galvanometer vibrates around a predetermined point or one or more predetermined vibration axes.

6. The system according to claim 5, wherein, The galvanometer is one of a MEMS galvanometer or a mechanical galvanometer.

7. The system according to claim 5, wherein, The frequency range of the galvanometer vibration in at least one dimensional direction is 1 to 20,000 Hz.

8. The system according to claim 4, wherein, The first optical scanning element includes a rotating mirror, which is at least one of reflective and transmissive types, and the rotating mirror rotates about a predetermined point or one or more predetermined rotation axes.

9. The system according to claim 8, wherein, The rotating mirror includes a plane reflecting rotating mirror.

10. The system according to claim 8, wherein, The rotating mirror includes a transmission wedge rotating mirror.

11. The system according to claim 4, wherein, The first optical scanning element includes at least one of an optical phase array (OPA), a waveguide, or an optical switch, wherein the optical phase array (OPA), waveguide, or optical switch guides the first incident beam incident on the first optical scanning element at a predetermined frequency in at least one one-dimensional direction based on the electrical signal.

12. The system according to claim 1, wherein, The second optical scanning element includes a transmission wedge or prism that rotates about a predetermined rotation axis; and The rotation frequency of the transmission wedge or prism is in the range of 0.1 Hz to 2000 Hz.

13. The system according to claim 12, wherein, The transmission wedge includes a first surface and a second surface that is opposite to and non-parallel to the first surface, and the angle between the first surface and the predetermined rotation axis is a preset angle, wherein the preset angle is between 1° and 179°.

14. The system according to claim 12, wherein, The prism includes at least two side surfaces, each of which includes one of a plane and a curved surface, and the emitted light beam is incident into the prism and reflected at least once before exiting from one of the side surfaces.

15. The system according to claim 14, wherein, The prism includes at least one of birefringent crystal, silicon crystal, single crystal, composite crystal, liquid crystal, or polymer material.

16. The system according to claim 13, wherein, An emitted light beam from at least one light emitter is incident on the first surface and exits from the second surface, and a grating is provided on the second surface of the transmission wedge mirror.

17. The system according to claim 1, wherein, The light emitting components have at least two light emitters that emit light beams with different wavelengths.

18. The system according to claim 17, wherein, Each of the at least one optical emitter emits at least two different wavelengths of light beams according to a first preset rule.

19. The system according to claim 17 or 18, wherein, Within a predetermined time period, the combination of a pair of wavelengths emitted from the at least one optical emitter is different from the combination of another pair of wavelengths emitted from the at least one optical emitter.

20. The system according to claim 1, wherein, The at least one light emitter emits light beams at predetermined time intervals, such that the difference between the two scanning angles of two adjacent light beams emitted at the predetermined time intervals is not greater than a preset value.

21. The system according to claim 1, wherein, Each of the at least one light emitter simultaneously emits a light beam toward its respective final scan scene. The at least one detector corresponds one-to-one with the at least one light emitter, and detects at least one reflected beam that is ultimately reflected from the scene within the scanning view by at least one emitted beam emitted by the at least one light emitter, wherein the at least one reflected beam is independent of each other or superimposed on each other.

22. The system according to claim 1, further comprising: At least one first optical element, through transmission or reflection, expands or collimates at least one emitted beam emitted by at least one light emitter toward the respective scene according to a preset scattering angle, initial beam size, and beam distribution shape; as well as At least one second optical element, through transmission or reflection, converges the at least one reflected beam to be received by the at least one detector. Wherein, the at least one first optical element and the at least one second optical element are the same element or different elements, and the at least one first optical element or the at least one second optical element is arranged between the first optical scanning element and the light emitting component, or between the first optical scanning element and the second optical scanning element, or between the second optical scanning element and the scene, or between the first optical scanning element and the light receiving component.

23. The system according to claim 22, wherein, The first optical element and / or the second optical element include at least one optical waveguide device, which includes at least one of an optical fiber and a waveguide.

24. The system of claim 22 further includes at least one filtering device located between the second optical element and the light receiving component to filter the at least one reflected beam according to a preset wavelength band or a second preset rule so that the light receiving component receives the desired reflected beam.

25. The system of claim 1, further comprising a computing unit that, based on the reflected light beam received by the light receiving unit, transmits and / or calculates at least one of the distance between the light receiving unit and the scene and the intensity of the reflected light beam.

26. The system according to claim 1, wherein, The light receiving component is an avalanche photodiode (APD) and / or a single-photon avalanche diode (SPAD), or the light receiving component is an image chip of complementary metal-oxide semiconductor (CMOS) or charge-coupled device (CCD).

27. The system according to claim 1, wherein, The at least one emitted beam emitted by the at least one optical emitter is an optical pulse, and the optical pulse includes at least one of the following optical characteristics: waveform, wavelength, wavelength as a function of time, polarization, peak intensity or total energy, spatial light intensity distribution, and the optical pulse includes optical information, which includes at least one of the following: the order of the optical pulse within its pulse series, relative time, and relative energy.

28. The system according to claim 1, wherein, The detection distance between the optical scanning system and the scene is between [0.01m, 300m], or between [0.01m, 50m], or between [0.01m, 10m]; and, The pulse width of the light beam emitted by the light emitter is between [0.1ns-10ns], [3ns-3us], or [1us-10ms].

29. The system according to claim 1, wherein, The optical scanning system is used in lidar to achieve 3D ranging.

30. The system according to claim 1, wherein the optical scanning component further comprises an electro-optic crystal.

31. The system according to claim 1, wherein, The light emitting component is further configured to include at least one light emitter that is fixed relative to the light scanning component and emits at least two emission beams at different spatial angles and / or spatial positions, and emits the at least two emission beams into scenes within at least two different scanning perspectives through the light scanning component.

32. A scanning method for an optical scanning system, wherein, The optical scanning system includes: A light emitting component, including at least one light emitter, emits at least one emitted light beam toward a scene within its respective scanning field of view; A light scanning component comprising a combination of the following elements located between the light emitting component and the scene along the propagation path of the at least one emitted light beam: At least one first optical scanning element, each first optical scanning element causing a first deflection of the first incident beam incident on the first optical scanning element; At least one second optical scanning element, each second optical scanning element causing a second deflection of the second incident beam incident on the second optical scanning element; A light receiving component includes at least one detector for detecting at least one reflected light beam reflected from the scene; The method includes: Each first optical scanning element is oscillated or rotated in a first cross section with an angle of less than 180 degrees to the propagation direction of the first incident beam, or a predetermined electrical signal is applied to the first optical scanning element, so that the first outgoing beam leaving the first optical scanning element is emitted according to its own predetermined law. This causes the second optical scanning element to oscillate or rotate within a second cross-section at an angle of less than 180 degrees to the propagation direction of the second incident beam, causing the second outgoing beam exiting the second optical scanning element to oscillate or rotate at a predetermined rotational speed. Wherein, the first oscillation or first rotation includes: the first optical scanning element oscillating or rotating around any point or line within the first cross-section. Wherein, the second oscillation or second rotation includes: the second optical scanning element oscillating or rotating around an arbitrary line perpendicular to the second cross-section, and Wherein, the first cross section is not perpendicular to the second cross section.

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