Miniature bearings for multi-element optical scanning devices, and associated systems and methods

Abstract

A LiDAR system (200) includes a laser transceiver (207), the laser transceiver including a laser transmitter (201) and a laser receiver (202), the laser transmitter (201) being positioned to emit laser light (212) along an optical path (272). A collimating element (270) is positioned along the optical path (272). At least one optical element (120, 130, 420, 430) has an opening (422, 432) extending therethrough. A shaft (460) extends into the opening (422, 432), and a bearing (450) is positioned to rotatably support the at least one optical element (120, 130, 420, 430) relative to the shaft (460). A method for operating an optical system (400) is also disclosed.

Description

Technical Field

[0001] The present disclosure generally relates to miniature bearings for multi-element optical scanning devices, and associated systems and methods. Background Art

[0002] Optical scanners have a wide range of applications, including those involving autonomous driving. One or more sensors (e.g., LiDAR sensors, which typically transmit pulse signals (e.g., lasers) and detect reflections of the pulse signals) can generally be used to scan or otherwise detect the environment of a mobile platform. In this way, three-dimensional information about the environment (e.g., at the laser scanning point) can be determined. Although existing LiDAR sensors are generally suitable for their intended uses, users have a growing demand for more compact, lightweight, durable, and / or integrable LiDAR sensors for use on various mobile platforms. The aspects described in the present disclosure are intended to meet these needs. Summary of the invention

[0003] An exemplary system according to the present disclosure includes a LiDAR system having a laser transceiver including a laser transmitter and a laser receiver, the laser transmitter being positioned to emit laser light along an optical path. The system may also include a collimating element positioned along the optical path, at least one optical element positioned along the optical path and having an opening therethrough, an axis extending into the opening, and a bearing positioned to rotatably support the at least one optical element relative to the axis.

[0004] Another exemplary embodiment includes the at least one optical element, the at least one optical element including a refractive element having opposing and non-parallel surfaces. For example, the at least one optical element may include a first prism and a second prism, and the opening may include a first opening extending through the first prism, and a second opening extending through the second prism. A motor may be connected to the at least one optical element to rotate the at least one optical element relative to the transceiver. For example, the motor may include a first motor and a second motor, the first motor being connected to the first optical element and driving the first optical element at a first rate, the second motor being connected to the second optical element and driving the second optical element at a second rate different from the first rate. The motor may include a rotor and a stator, each of the rotor and the stator being positioned outwardly around the at least one optical element.

[0005] In another exemplary embodiment, the shaft may be positioned along an axis, and the laser emitter may be positioned to emit laser light along the axis, or at a non-zero angle relative to the axis. The collimating element may have a corresponding focal plane and an optical axis orthogonal to the focal plane, and the laser emitter may be positioned to emit laser light eccentrically relative to the optical axis. In other exemplary embodiments, the shaft is positioned along an axis oriented at a non-zero angle relative to the optical axis. The collimating element may include a matte material.

[0006] Additional embodiments of the present disclosure relate to methods for operating an optical system. One such exemplary method includes rotatably supporting at least one optical element by an axis extending into the opening, and a bearing operably connected between the at least one optical element and the axis, the optical element being positioned along an optical path and having an opening therethrough. The method may also include directing light from a transmitter along the optical path in a first direction, and receiving at a receiver reflected light traveling along the optical path in a second direction opposite to the first direction. In additional exemplary embodiments, at least a portion of the emitted light impinging on at least one of the bearing or the axis is eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 is a schematic block diagram of a system for sensing the environment around a vehicle or other moving object according to an embodiment of the present disclosure.

[0008] Figure 2 is a partially schematic diagram of a system having optical elements positioned to transmit and receive light or other radiation according to an embodiment of the present disclosure.

[0009] Figure 3A A partial schematic diagram of an exemplary optical path constructed according to an embodiment of the present disclosure.

[0010] Figure 3B is a partial schematic diagram of a transmitter having one or more transmitter elements constructed in accordance with an embodiment of the present disclosure.

[0011] Figure 3C A partial schematic diagram of a receiver having one or more receiver elements constructed in accordance with an embodiment of the present disclosure.

[0012] Figure 4 FIG. 1 is a partial schematic diagram of a system with a bearing having multiple optical elements constructed according to an embodiment of the present disclosure.

[0013] Figure 5A It is a partial schematic diagram of a system having a component (which has a shielding area) and a corresponding optical path according to an embodiment of the present disclosure.

[0014] Figure 5B FIG. 4 is a partial schematic diagram of a collimating element having a matte-processed portion constructed according to an embodiment of the present disclosure.

[0015] Figure 5C It is a partial schematic diagram of a collimating element having another extinction processing portion constructed according to an embodiment of the present disclosure.

[0016] Figure 6 A partial schematic diagram of a system having an angularly offset emission light axis constructed in accordance with an embodiment of the present disclosure.

[0017] Figure 7 A partial schematic diagram of a system having a laterally offset emission light axis constructed in accordance with an embodiment of the present disclosure.

[0018] Fig. 8A It is a partial schematic diagram of a system with a laterally offset optical axis constructed according to other embodiments of the present disclosure.

[0019] Figure 8B and 8C A system having at least three optical elements constructed in accordance with an exemplary embodiment of the present disclosure is shown.

[0020] Fig. 9 is a partial schematic diagram of an actuator having a bearing element arranged according to an exemplary embodiment of the present disclosure.

[0021] Fig. 10A is a partial schematic diagram of an actuator having an optical element and a yoke arranged according to an exemplary embodiment of the present disclosure.

[0022] Fig. 10B It is a partial schematic diagram of an actuator having a yoke and a bearing constructed according to other exemplary embodiments of the present disclosure.

[0023] Fig.11 is a partial schematic diagram of an actuator having a rotor positioned within an optical element according to an exemplary embodiment of the present disclosure.

[0024] Fig. 12A is a partial schematic diagram of an actuator having a bearing element and a yoke carrying an optical element according to an embodiment of the present disclosure.

[0025] Fig. 12B for Fig. 12A A partial schematic diagram of an exemplary stator of the type shown in FIG.

[0026] Fig. 12C is a partially schematic isometric view of a stator constructed in accordance with an exemplary embodiment of the present disclosure.

[0027] Fig.12Dis a partially schematic isometric view of a rotor carried by a yoke constructed in accordance with an exemplary embodiment of the present disclosure.

[0028] Fig.13A and 13B It is a partial schematic diagram of an actuator having a shaft support constructed according to an exemplary embodiment of the present disclosure.

[0029] Fig.14A and 14B is a partial schematic diagram of an actuator having an inclined shaft support and / or other exemplary elements according to an exemplary embodiment of the present disclosure.

[0030] Fig.15A and 15B Details of exemplary inclined surfaces are shown according to embodiments of the present disclosure.

[0031] Fig.16A and 16B An optical element and corresponding yoke configured in a rotationally balanced combination according to an exemplary embodiment of the present disclosure are shown.

[0032] Fig.17A and 17B An exemplary system configuration for applying a preload force to respective bearing elements according to an exemplary embodiment of the present disclosure is shown.

[0033] Figures 18A-18E Exemplary configurations of optical elements having beveled, angled, or sloped surfaces arranged in accordance with embodiments of the present disclosure are shown.

[0034] Fig.19 is a partially schematic diagram of an exemplary vehicle and / or other device (on which the sensing system described herein is included) according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] The present disclosure as a whole relates to small bearings and motors for driving multi-element optical scanning devices, and associated systems and methods. In an exemplary embodiment, the bearing is configured to be positioned within an opening of an optical element, rather than at an outer edge of the optical element. This arrangement can reduce the speed associated with the bearing components, thereby reducing wear on the components and extending the life of the device. The motor can be integrated with the bearing and the optical element in a more compact manner than conventional devices, thereby allowing these devices to be used in situations where the overall system advantages of light weight and small size are significant.

[0036] An exemplary range-finding device (e.g., a LiDAR device) is described below under heading 1 ("Introduction"). Exemplary devices and systems for incorporating small bearings and / or motors into multi-element devices are described in further detail below under heading 2 ("Exemplary Systems and Methods").

[0037] 1. Introduction

[0038] Exemplary devices according to the present disclosure include LiDAR devices, laser rangefinders, and other electronic equipment. In an exemplary embodiment, the rangefinder is used to sense the external environment and obtain corresponding information, such as the distance to the target, the azimuth of an object or component, the intensity of reflected light or other radiation, the speed of an object, etc. For example, the rangefinder can detect the distance from the detector to the target object by measuring the light propagation time between the rangefinder and the object, that is, the light flight time (time of flight, or "TOF"). The rangefinder can use other technologies other than or in lieu of TOF, such as a rangefinder method based on phase shift (phase shift) measurement, or a rangefinder method based on frequency shift (frequency shift) measurement, to detect the distance from the rangefinder to the object.

[0039] In the present disclosure, the radiation emitted and received by the ranging device may be referred to as light, laser, beam, etc. Unless otherwise specified, these terms are used as illustrative examples of electromagnetic radiation. Therefore, the present disclosure includes all suitable electromagnetic radiation, whether or not they are within the visible spectrum.

[0040] Figure 1 An exemplary system 100 (e.g., for performing a ranging task) is shown, which may include a transmission (or transmitting) circuit 101, a receiving (or detecting) circuit 102, a sampling circuit 103, and an operating circuit 104. The transmission or transmitting circuit 101 may emit a sequence of light or other electromagnetic pulses in the form of a light beam (e.g., a sequence of laser pulses), etc. The receiving circuit 102 may receive a sequence of light pulses reflected by an object to be detected, and convert the light pulses into electrical signals (e.g., by a photoelectric effect). The electrical signals may be processed and subsequently output to the sampling circuit 103. The sampling circuit 103 directs the sampling results to the operating circuit 106, which may determine the distance between the ranging system 100 and the object to be detected, and / or other useful information.

[0041] Optionally, the ranging system 100 may further include a control circuit 105, which controls one or more illustrated circuits, for example, the working time of each circuit and / or the operating parameters of each circuit.

[0042] although Figure 1The ranging system shown in the embodiment includes a transmission circuit, a receiving circuit, a sampling circuit, and an operating circuit for detecting the reflection of the transmitted light beam, but in other embodiments, the number of the transmission circuit, the receiving circuit, the sampling circuit, and / or the computing circuit may be greater, for example, to transmit / detect multiple light beams in the same direction or in different directions. The multiple light beams (for example, at least two light beams) may be emitted simultaneously, or they may not be emitted simultaneously. In one example, the circuit chips for at least two transmitting circuits are packaged in the same module. For example, multiple laser emitting chips may be packaged together and arranged in the same packaging space, as described below with reference to Figure 3B described.

[0043] In some embodiments, except Figure 1 In addition to the circuit shown in FIG. 1 , the ranging system 100 may further include a scanning module (hereinafter referred to as Figure 2 Further described), the scanning module is used to change the propagation direction of at least one laser pulse sequence emitted by the transmission circuit.

[0044] In some embodiments, a module including the transmitting circuit 101, the receiving circuit 102, the sampling circuit 103, the operating circuit 104, and optionally the control circuit 105 is called a ranging module. The ranging module may be independent of other modules, such as the scanning module.

[0045] The light beam emitted by the ranging device and the light beam reflected by an object in the environment may share at least a portion of the same optical path in the ranging device, for example, in a coaxial arrangement. Alternatively, the ranging device may include heterogeneous optical paths, i.e., the light beam emitted by the ranging device and the reflected light beam are transmitted along different optical paths in the ranging device. Figure 2 is a schematic diagram of an embodiment of a measuring device of the present disclosure including a coaxial optical path.

[0046] Now refer to Figure 2, the exemplary system 200 includes a distance measuring device 208. The distance measuring device 208 may include a transmitter (or emitter) 201 (which may include the above-mentioned transmission circuit 101), a collimating element 270, a receiver or detector 202 (which may include the above-mentioned receiving circuit 102, sampling circuit 103 and operating circuit 106), and an optical path changing element 210. The distance measuring device 208 is used to transmit a light beam 212 and receive a reflected light beam, converting the returned light beam into an electrical signal. Therefore, the transmitter 201 and the receiver 202 may be collectively referred to as a transceiver 207. In some embodiments, the transmitter 201 may transmit a sequence of laser pulses, such as in the form of a laser beam. The laser beam may be a narrow bandwidth light beam with a wavelength in the visible light range or outside the range. The collimating element 270 is arranged along the transmission optical path or optical axis 272 of the transmitter 201 and is used to guide the light beam 212 from the transmitter 201 to, for example, straighten the light beam before the light beam reaches the associated scanner 204 so that the light beam includes a parallel component. The collimating element 270 may also be used to focus at least a portion of the reflected radiation 215 before the reflected radiation 215 reaches the receiver 202. The collimating element 270 may include a collimating lens or other component configured to collimate the one or more light beams.

[0047] exist Figure 2 In the illustrated embodiment, the paths traveled by the emitted light and the received light are merged between the scanner 204 and the collimating element 270 in the ranging device 208, so that the emitted light and the received light can share the same collimating element 270, thereby making the optical path more compact. In other embodiments, the system may include two collimating elements: one for emitting light and one for receiving light.

[0048] exist Figure 2 In the illustrated embodiment, the beam aperture of the transmitter 201 is relatively small, and the beam aperture of the return light received by the distance measuring device 208 is relatively large, so the optical path changing element 210 can use a reflector with a smaller area to merge the optical paths of the transmitted light and the received light. In other embodiments, the optical path changing element 210 can use a reflector with a through hole, wherein the through hole is used to allow the transmitted light to pass through, and the reflector is used to reflect the return light to the receiver 202.

[0049] The scanner 204 is disposed along the path of the emitted light (e.g., light beam) 212 and changes the direction of the light beam collimated by the collimating element 270. The light beam is then directed to the external environment, and a return beam or reflected light beam is directed by the scanner 204 back to the collimating element 270.

[0050] In some embodiments, the scanner 204 may include at least one optical element that changes the propagation path of the light beam by reflection, refraction, diffraction and / or other techniques. For example, the scanner 204 may include one or more lenses, mirrors, prisms, vibrators, gratings, liquid crystals, optical phased arrays and / or any suitable combination of the aforementioned optical elements. In one example, at least a portion of the optical element moves. In some embodiments, the multiple optical elements of the scanner 204 may rotate or vibrate relative to a common axis (e.g., rotation axis) 209, and each rotating and / or vibrating optical element may continuously change the propagation direction of the emitted light beam. In some embodiments, the multiple optical elements of the scanner 204 may rotate and / or vibrate at different speeds or at the same speed. In some embodiments, the multiple optical elements of the scanner 204 may rotate / vibrate around different axes. In some embodiments, the multiple optical elements may rotate and / or vibrate in the same direction or in different directions.

[0051] In some embodiments, the scanner 204 includes a first optical element 120 connected to a first actuator 280a to rotate the first optical element 120 about the rotation axis 209 to change the direction of the emitted light beam 212. After traveling through the first optical element 120, the angle between the directions of the light beam 212 changes as the first optical element 120 rotates. In one embodiment, the first optical element includes non-parallel opposing surfaces, such as a wedge-shaped prism having a thickness that varies along at least one axis.

[0052] The scanner 204 may further include a second optical element 130 connected to a second actuator 280b to rotate about the rotation axis 209 (e.g., at a speed different from the rotation speed of the first optical element 120). The second optical element 130 changes the direction of the light beam emitted from the first optical element 120. Depending on the configuration, the first optical element 120 and the second optical element 130 may be driven by the same or different actuators, but in either case, the emitted light beam 212 may be directed in different directions to scan a larger space. The second optical element 130 may include any of the elements described above with reference to the first optical element 120, and may be the same as or different from the first element 120. In some embodiments, the scanner 204 further includes a third optical element ( Figure 2 ) and associated actuators.

[0053] Regardless of the number of optical elements included in the scanner 204, the scanner 204 can receive an input light beam 212 (e.g., from the collimating element 270) and, as a result of rotating, vibrating, and / or undergoing other motion, redirect the input light in multiple directions, such as Figure 2 213 and a second direction 214 in FIG. 214. The emitted light illuminates an object 211 in the environment, generating reflected light 215, a portion of which is directed along a third direction 216. Therefore, at least a portion of the reflected light returns to the scanner 204, travels through the one or more optical elements, passes through the collimating element 270 and reaches the receiver 202. The receiver 202 generates an electrical signal, which provides an input 291 to the controller 290. The controller 290 processes the input along with other inputs and directs an output 292. The output 292 can be used to control various functions, including but not limited to any of the direction, speed, and / or orientation or posture of an autonomous vehicle or other vehicle.

[0054] Figure 3A 3 is a partial schematic diagram of an exemplary system 300 showing selected components in more detail. The system 300 includes a transmitter or emitter 301 that directs emitted light 312 to a first mirror 310a. The first mirror 310a redirects the light to a collimating element 370, which in turn directs the emitted light 312 to a scanner ( Figure 3A 310b). The reflected light 315 returns to the collimating element 370 where it travels through the beam splitter 317. A portion of the reflected light 315 strikes the second mirror 310b which redirects the reflected light to the receiver or detector 302. The receiver 302 generates an electrical signal which is directed to the controller 290 ( Figure 2 ).

[0055] Figure 3B An exemplary transmitter 301 is shown that includes a plurality of transmitter elements 301a that may be packaged together. Figure 3C An exemplary receiver 302 is shown, which includes a plurality of receiver elements 302a. The transmitter elements 301a and the receiver elements 302a may include any of a variety of suitable solid-state devices and / or other devices configured to transmit and receive radiation within or outside the visible spectrum. For example, the transmitter element 301a may include a laser diode, and the receiver element 302a may include a photodiode.

[0056] The result information obtained from the receiver 302 can be used to generate a corresponding Figure 1) distance and / or orientation data. The information can then be used for remote sensing, obstacle avoidance, mapping, modeling, navigation and / or other functions. The ranging device according to the present disclosure can be applied to a mobile platform, for example, an autonomous vehicle or a partially autonomous vehicle.

[0057] 2. Exemplary Systems and Methods

[0058] One drawback associated with conventional sensor systems is that they are large and cumbersome, which makes them difficult to integrate into smaller and / or weight-sensitive platforms. One reason for this extra bulk is the bearings used to provide smooth, low-friction rotation for the optical device. For example, such bearings are typically disposed around the exterior of the optical device. The optical device is also typically driven from a radially outward position to avoid interfering with the optical path within the scanner. Alternatively, aspects of the present disclosure involve providing an aperture or opening within the optical element and arranging bearings and / or other elements of the drive mechanism within the opening. Although this approach results in blocked areas along the optical path, the present disclosure also includes techniques for addressing such blockages, making the device compact and lightweight, but still providing suitable ranging and detection functions.

[0059] Figure 4An exemplary system 400 is shown having a housing 440 in which a first optical element 420 (e.g., a first prism) and a second optical element 430 (e.g., a second prism) are positioned. Each optical element includes a corresponding opening, shown as a first opening 422 and a second opening 432. A shaft 460 extends along an axis 461 and passes through the first opening 422 and the second opening 432. For example, one or more bearings 450, each including a plurality of bearing elements 451, are positioned within the corresponding openings to stabilize the rotational movement of the first optical element 420 and the second optical element 430 relative to the shaft 460. Thus, the shaft 461 can be used as a spindle in combination with the one or more bearings 450 to keep the optical elements 420, 430 centered during gentle rotation. By arranging the bearings 450 close to the radial center of the optical element, the bearings 450 can be smaller than bearings in conventional mounting arrangements. Additionally, the linear velocity near the radial center of the optical element is less than the linear velocity at the end of the optical element, which reduces wear on the bearing and can therefore extend the operating life of the system 400. The bearing 450 can have a ball bearing configuration, for example, with an inner ring, an outer ring, and a plurality of balls between the rings, optionally including one or more retainers, and / or other suitable types of bearings. These bearings can typically include oil or grease, which can fail or otherwise become less effective if the bearing heats up significantly. Therefore, reducing the speed of the bearing components can improve the efficiency and life of the bearing by reducing the likelihood of adversely affecting the lubricant. Moreover, at low temperatures, the lubricant is more viscous, and the greater force arm caused by the positioning of the bearing at the periphery of the optical element can cause the friction to be so great that the optical element cannot rotate, and / or the actuator driving the optical element draws so much current that the associated circuit fails. In this regard, positioning the bearing closer to the radial center of the optical element can reduce or eliminate this undesirable effect. Again, by reducing the friction load on the bearings, the amount of power required to drive the motor or other actuator of the optical element can be reduced not only during start-up but also during normal operation.

[0060] Figure 5AAdditional elements of the exemplary system 500 are shown. The system includes a transceiver 507 that transmits emitted light and receives reflected light to detect information corresponding to an external environment. The emitted light 512 is emitted from a focal plane 519, oriented along an orthogonal axis 562, and reaches a collimating element 570, which collimates the light directed to a scanner 504. At the scanner 504, a first optical element 520 and a second optical element 530 receive the incident emitted light 512 and rotate about an axis 561. Each optical element includes a corresponding opening 522, 532, which accommodates a bearing, and provides one or more shielding surfaces 523, and produces a corresponding shielding area 524. The shielding area 524 results in an emitted light gap 525. The emitted light 512 arrives at an object ( Figure 5A ), the object reflects the light, generating reflected light 515 that travels in the opposite direction through the optical path 518. This arrangement is compact, and the reduction in the amount of light caused by the shielding area 524 is at or below an acceptable level.

[0061] The emitted light 512 traveling from the collimating element to the scanner 504 may impinge on and reflect from the shielding regions 524 of the first and / or second optical elements 520, 530. Thus, a common design would include shielding regions 524 that are as small as possible while providing sufficient area to accommodate associated bearings and / or other components. To reduce or eliminate such reflections (which may otherwise generate optical noise or other interference within the scanner 504), the collimating element 570 may (optionally) include a light extinction treatment, described below with reference to Figure 5B and 5C Further description.

[0062] First refer to Figure 5B , the collimating element 570 may include a Figure 5A 519. Suitable matte treatments 571 may include materials that are highly absorbing of emitted light (and / or have low reflectivity), thereby reducing internal reflections within the scanner 504. Suitable materials include matte black oxide, and / or matte lacquer coatings. Such lacquers or other coatings may be applied to specific portions of an optical element (or other element) to prevent the emitted light from striking those portions and causing undesired reflections. See below for Figures 14A-15B According to the description, the device may include an inclined or beveled surface to redirect internal reflections to absorption or attenuation. Figure 5A The shape of the shielding area 524 shown in FIG. 5 , the extinction treatment portion may have different patterns and / or arrangements. For example, Figure 5BThe extinction processing portion 571 shown in FIG. 5 has an overall circular shape located at the center of the collimating element 570, corresponding to a similarly shaped shielding area. Figure 5C In the embodiment, the extinction treatment portion 571 includes a first overall circular region 571a and a second region 571b extending radially outward from the first region 571a. The second region 571b can be used for other structures in the scanner (e.g., spokes or other supporting structures, see below). Fig.13A , 13B description), otherwise the other structures may also reflect light within the scanner, generating optical noise.

[0063] In addition to or in lieu of the matte treatment described above, an exemplary system may include a configuration that directs the emitted light to avoid impinging on the shielded area, thereby reducing or eliminating the need for a matte treatment. Figure 6-8C An exemplary system having such a configuration is shown.

[0064] First refer to Figure 6 , the exemplary system 600 includes an optical path 618 extending from a corresponding focal plane 619 at a non-zero tilt angle relative to an orthogonal axis 662. Figure 6 , the orthogonal axis 662 is orthogonal to the collimating element 670 and / or the focal plane 619, and is aligned with an axis 661 passing through corresponding openings 622 and 632 in the first optical element 620 and the second optical element 630. Because the emitted light 612 is directed radially outward from the shielding region 624 of the optical elements 620, 630, the optical elements do not need to include (or do not need to include as much) extinction treatment. Although the amount of light emitted by the system 600 can be reduced relative to an arrangement that uses the full radial extent of radiation of the optical elements outside the shielding region 624, it is not expected that the reduction in light will significantly affect system performance.

[0065] As mentioned above Figure 6 As described, the light emitting axis 672 is shown to be oriented at a certain angle relative to the orthogonal axis 662. In other embodiments, the optical element can be oriented at such an angle. For example, now referring to Figure 7, the exemplary system 700 includes a focal plane 719 and a corresponding emission light axis 772, which is offset from a corresponding orthogonal axis 762 of a corresponding collimating element 770 and / or focal plane 719 by an offset distance D. The first optical element 720 and the second optical element 730 each have a corresponding opening 722, 732 and a shielding area 724. The optical elements 720, 730 are positioned to rotate about an axis 761, which is oriented at a non-zero tilt angle B relative to the orthogonal axis 762. Therefore, the emission light 712 travels along the corresponding emission light axis 772 to avoid or reduce impingement on the shielding area 724.

[0066] Figures 8A-8C A further exemplary embodiment of a system is shown, wherein the emitted light is (at least partially) directed around or away from a respective shading area. Fig. 8A , the system 800a directs emission light 812a from the corresponding focal plane 819 along an emission light axis 872, which is offset from the corresponding orthogonal axis 862 of the collimating element 870 and / or the focal plane 819 by an offset distance D. The system 800a includes a first optical element 820a and a second optical element 830a rotated relative to an axis 861, while the emission light 812a (at least partially) bypasses the corresponding blocking area 824.

[0067] A similar arrangement can be used for systems including more than two optical elements. For example, Figure 8B An exemplary system 800b is shown that produces emitted light 812b that travels through a first optical element 820b to a first plane 826b. The first optical element 820b may be used, for example, Figure 4 The system 800b is supported by one or more centrally located small bearings 850 of the type shown in FIG. The corresponding emission light axis 872 is offset from the shielding area 824 associated with the first optical element 820b. The system 800b can further include a plurality of second optical elements 830b, shown as second optical elements 830b1 and 830b2. The second optical elements 830b redirect the emission light 812b to a second plane 836b, and the second optical elements can be supported by larger bearings 850b located outwardly around the optical elements 830b.

[0068] Next, refer to Figure 8C, the exemplary system 800c includes an axis 860, which is carried by a plurality of first optical elements 820c, shown as first optical elements 820c1 and 820c2. Emitted light travels through a first plane 826c, through a corresponding second optical element 830c and reaches a second optical plane 836c. In this configuration, the first optical elements 820c1, 820c2 are supported by one or more small, centrally located bearings 850, and the second optical elements 830c are supported by larger, outwardly located bearings 850b.

[0069] Figure 8B and 8C One feature of the exemplary embodiments shown in is that they may include more than two optical elements. Figure 8B and 8C Another feature of the exemplary embodiments shown in is that they may include a combination of bearing arrangements. For example, Figure 8B and 8C The first optical element in includes a small bearing 850 positioned close to the axis of rotation of the first optical element, while the second optical element includes a larger bearing 850b positioned around the outside of the second optical element. The smaller bearing can be used for components with relatively high rotational speeds, while the larger bearing can be used for components with relatively low rotational speeds. Even if not all optical elements include a bearing arrangement positioned close to the axis of rotation (as shown in 8B and 8C), the device is still expected to provide an overall lighter and more efficient arrangement. In ( Figure 8B and 8C In other embodiments (not shown), all optical elements, or at least more optical elements, may include a bearing arrangement in which the bearing element is positioned close to the axis of rotation. Figure 9-17B Further details of the bearing arrangement and associated drive mechanism are described in further detail.

[0070] Fig. 9 is a partial cross-sectional schematic diagram of a system 900, which includes a housing 940 in which an actuator 980 is positioned, the actuator driving an optical element 920 supported relative to a fixed shaft 960 to rotate in a manner as indicated by arrow R. The optical element 920 includes an opening 922 through which the shaft 960 passes, and the actuator 980 includes a rotor 982 driven by an outwardly positioned stator 981. The rotor 982 carries a rotor magnet 983 and is attached to a rotor yoke 984. The rotor yoke 984 carries the optical element 920 and causes it to rotate. A bearing 950 is positioned between the shaft 960 and the optical element 920 (e.g., at least partially within the opening 922), and may include one or more bearing elements 951. Referring below to Figures 17A-17BFurther details of the arrangement for supporting and preloading the bearing components are described.

[0071] Fig. 10A An exemplary optical element 1020 is shown, which is driven by a corresponding actuator 1080 having a stator positioned radially inward from a corresponding rotor. The optical element 1020 may correspond to any of the optical elements described above. The actuator 1080 drives the optical element 1020 to rotate relative to a fixed axis 1060, as indicated by the rotation direction arrow R. The optical element 1020 is supported relative to the axis 1060 by a bearing 1050 including one or more bearing elements 1051. The illustrated actuator 1080 includes a fixed stator 1081, and a rotor 1082, which includes a rotor magnet 1083 positioned outward from the stator 1081. The rotor 1082 is connected to the optical element 1020 by a yoke 1084. Thus, when powered, the rotor 1082 rotates the optical element 1020 in a rotational direction R about the rotational axis 1009, while the optical element 1020 is stabilized relative to the shaft 1060 by the bearing 1050. As described above, the bearing 1050 is positioned within the opening 1022, which is positioned along the rotational axis 1009 to reduce the speed of the bearing element 1051 and thereby reduce heating and wear. The bearing element 1051 may include a ball bearing, and / or other suitable rotational bearing components.

[0072] exist Fig. 10A In the embodiment, the optical element 1020 is positioned within the annular stator 1081. In other embodiments, the optical element 1020 can have other positions relative to the stator 1081. For example, referring now to Fig. 10B , the optical element 1020 is axially positioned outside the stator 1081 and the rotor magnet 1083. The rotor magnet 1083 is carried by the rotor 1082, which is similar to the above reference Fig. 10A An overall similar approach as described is connected to the optical element 1020 via the yoke 1084 . Fig. 10A An advantage of the arrangement shown in is that the "nested" arrangement of the optical elements 1020 within the stator 1081 and the rotor 1082 may provide a compact arrangement.

[0073] Fig.111 is a partial schematic diagram of another actuator 1180 having an optical element 1020 positioned axially away from a corresponding stator 1181 and a rotor 1182. In addition, in this embodiment, a corresponding shaft 1160 is supported relative to a housing 1140 via a bearing 1150. The rotor 1182 is connected to the optical element 1020 to rotate the optical element 1020, and the rotor is also connected to the shaft 1160, which stabilizes the optical element 1020 relative to the housing 1140 via the bearing 1150.

[0074] Fig. 12A An exemplary actuator 1280 is shown having a housing 1240 carrying a fixed stator 1281 and a fixed shaft 1260. The stator 1281 drives a corresponding rotor 1282 which carries the optical element 1020 via a yoke 1284. The optical element 1020 is stabilized relative to the shaft 1260 by a corresponding bearing 1250 having one or more bearing elements 1251.

[0075] Fig. 12B The above reference Fig. 12A The multiple elements described include the shaft 1260, the stator 1281, and the rotor 1282. The stator 1281 includes a stator core 1285 having a stator winding 1286. The core 1285 and the winding 1286 are Fig. 12C Further details are shown in . Fig.12D An isometric view of the shaft 1260, the bearing 1250 (located outward from the shaft 1260), the optical element 1220 (located outward from the bearing 1250), the rotor 1282 (located outward from the optical element 1220), and the yoke 1284 (located outward from the rotor 1282) is shown. The yoke 1284 can be part of the rotor 1282 or can be attached to the rotor. The yoke 1284 / rotor 1282 can carry magnets that are driven by current carried by the stator windings 1286.

[0076] Figures 13A-15B An exemplary arrangement for supporting an axis by a tilted, slanted, or angled surface and for reducing optical noise in a scanner is shown. Fig.13A, an exemplary scanner 1304 includes a first optical element 1320 driven by a corresponding first actuator 1380a, and a second optical element 1330 driven by a second actuator 1380b. The scanner 1304 may also include a shaft 1360 and a shaft support 1363 supporting the shaft 1360, the shaft stabilizing the optical elements 1320, 1330 during rotation. The shaft support 1363 may include (or form a part of) an integral housing 1340 in which the optical elements 1320, 1330 are positioned. The shaft support 1363 may also include a rim 1364 carrying one or more spokes 1366. The spokes 1366 in turn carry a hub 1365 in which the shaft is housed. The spokes 1366 may be thicker or deeper than they are wide to provide increased strength (e.g., against bending) while reducing optical interference. In the illustrated embodiment, the shaft 1360 is fixed relative to the shaft support 1363. In other embodiments, the shaft 1360 may rotate and may therefore include bearings of the type described herein.

[0077] Fig. 13B Shown with Fig.13A A similar arrangement is shown in , where the shaft support 1363 includes two spokes 1366 instead of three. Fig. 13B The fewer spokes 1366 shown in FIG. 1360 may reduce optical interference in the scanner 1304, but Fig.13A The additional spokes 1366 shown in the figure may improve the stability of the shaft 1360 .

[0078] Fig.14A Shown with Fig. 13B , but wherein the elements selected include beveled, angled, or inclined surfaces to avoid or reduce light reflections within the scanner 1304. For example, a plurality of elements may include beveled surfaces 1367 (e.g., bevels) including a first beveled surface 1367a carried by the spokes 1366, a second beveled surface 1367b carried by the hub, and / or a third beveled surface 1367c carried by the shaft 1360. The beveled surfaces may redirect the emitted light 1312 away from the collimating element 1370 to be absorbed by other elements in the scanner 1304 (e.g., the rim 1364 or a surface of the housing 1340) before it reaches the first optical element 1320.

[0079] exist Fig.14A In the embodiment shown in FIG. , the inclined surface forms a peak or an inverted "V" shape. In other embodiments, for example, Fig. 14BAs shown, the inclined surface can be inclined in a single direction. In particular, the inclined surface 1367b of the hub is inclined in a single direction, like the inclined surface 1367c of the shaft. In other embodiments, the inclined surface can have a plurality of Figures 14A-14B Orientations and / or configurations other than those shown.

[0080] Fig.15A An exemplary beveled surface 1567 having a "V" shaped configuration is shown. The emitted light 1512 forms incident radiation 1568, which is then redirected by the beveled surface 1567 to form reflected radiation 1569, which can be internally absorbed by other elements of the scanner 1304 ( Fig.14A ).

[0081] exist Fig. 15B In the embodiment of the present invention, the beveled surface 1567 is positioned adjacent to a corresponding absorptive surface 1559. The absorptive surface 1559 receives and absorbs or eliminates reflected radiation 1569. This arrangement can also reduce optical noise within an associated scanner by capturing and absorbing the reflected radiation before it is further transmitted within the scanner.

[0082] Fig.16A and 16B Such an arrangement is shown for balancing an optical device to reduce the tendency of the optical device to rock when the optical device is rotated, and thus reduce the load on the associated bearings. Because the optical element 1020 can have a wedge or prism shape (e.g., see Fig. 12A ), the optical element 1020 may include a lighter region 1627 (toward the narrower side of the wedge) and a heavier region 1628 (toward the thicker side of the wedge). To address this asymmetry, the yoke 1684 may include a complementary heavier region 1678 (positioned adjacent to the lighter region 1627 of the optical element 1020) and a lighter region 1677 (positioned adjacent to the heavier region 1628 of the optical element 1020). Fig.16A and Fig. 16B , the lighter region 1677 of the rim 1687 can be made lighter by one or more openings 1688. In other embodiments, other techniques (e.g., using materials of different densities) can be used to provide a relative weight difference between the heavier region 1678 and the lighter region 1677. In any of these embodiments, as described above, the complementary lighter region 1677 and heavier region 1678 can balance the corresponding heavier region 1628 and lighter region 1627 of the optical element 1020 to provide an overall balanced assembly.

[0083] Fig.17A and 17BA technique for applying a preload to a bearing to stabilize the rotational motion of the optical element is shown. Fig.17A , the exemplary scanner 1704 includes a first optical element 1020 and a second optical element 1030, each of which is supported by a corresponding bearing 1750. The bearing may include one or more bearing elements, including a first bearing element 1751a and a second bearing element 1751b carried by one bearing 1750 (e.g., a bearing holder or base 1752), and a third bearing element 1751c and a fourth bearing element 1751d carried by the other bearing 1750. Each bearing 1750 (e.g., bearing elements 1751a, 1751b, 1751c, 1751d) may include an inner ring, an outer ring, and a plurality of balls between the inner ring and the outer ring. The inner ring is fixed relative to the shaft 1760, and the outer ring is fixed relative to the corresponding bearing holder or base 1752, which in turn is fixed relative to the corresponding optical element 1020, 1030. Two stator connections 1779 support (align along axis 1761) the fixed shaft 1760 within the bearing 1750. An optional shaft barrel 1758 provides a mechanical connection between the two bearings 1750. Therefore, when an applied preload PL is applied to a stator connection 1779, the force is transmitted (through the shaft barrel 1758) to the other bearing 1750 to maintain the bearing in position along the shaft 1760. In addition, the inward step or protrusion 1749 of the bearing retainer 1752 can form two opposing grooves, in which the bearing outer ring is positioned, and wherein the inward step is engaged with each bearing outer ring. The shaft barrel 1758 can engage the bearing inner ring, biasing the inner ring and outer ring in opposite directions. The bearing retainer 1752 can also include one or more outward steps or protrusions 1759, which engage with the corresponding first optical element 1720 and second optical element 1730. The outer surface of the shaft 1760 and the inner surface of the bearing 1750 may be coated with an adhesive, and the adhesive is dried or cured before the preload PL is released. Therefore, the adhesive can preserve the preload after preparation. Fig. 17B In another embodiment shown in , the shaft cylinder 1758 can be replaced by a biasing element 1753 (e.g., a spring) that biases the two bearings 1750 away from each other as an alternative technique for preloading the bearings and maintaining the bearings in a fixed position relative to the shaft 1760.

[0084] As described above, the exemplary optical element has a wedge or prism shape. This shape can be formed by an orthogonal surface (orthogonal to the incident or reflected light path, or orthogonal to the axis 1761), and an inclined surface (inclined relative to the same light path or optical axis). Multiple optical elements can have the following reference Figures 18A-18B Multiple surfaces arranged relative to each other in any of a variety of suitable configurations are shown.

[0085] First refer to Fig.18A , the exemplary system 1800 includes a transceiver 1807 and a scanner 1804. The transceiver 1807 includes a transmitter and a receiver ( Fig.18A ), a corresponding focal plane 1819 and an optical path 1872. The collimator 1870 collimates the emitted radiation and directs it to the scanning module 1804. The scanning module 1804 accommodates a first optical element 1020 and a second optical element 1030 that rotate relative to an axis or rotation axis 1861. The first optical element 1020 may include an orthogonal surface 1821 (orthogonal to the optical path 1872 and / or the rotation axis 1861) and an inclined surface 1829 (oriented at a non-orthogonal angle relative to the optical path 1872 and / or the rotation axis 1861). Similarly, the second optical element 1030 may include an orthogonal surface 1831 and an inclined surface 1839. Fig.18A In the illustrated embodiment, the inclined surface 1829 of the first optical element 1020 faces the orthogonal surface 1831 of the second optical element 1030 .

[0086] exist Fig.18B In the illustrated embodiment, the inclined surface 1829 of the first optical element 1020 faces the inclined surface 1839 of the second optical element 1030. Fig. 18C In FIG. 1 , the orthogonal surface 1821 of the first optical element 1020 faces the inclined surface 1839 of the second optical element 1030. Fig.18D In FIG. 1 , the orthogonal surface 1821 of the first optical element 1020 faces the corresponding orthogonal surface 1831 of the second optical element 1030. Fig.18E , each of the first element 1020 and the second element includes multiple (e.g., two) inclined surfaces. Thus, the first optical element 1020 includes two opposing inclined surfaces 1829, and the second optical element 1030 includes two inclined surfaces 1839. In other embodiments, the optical elements may have different arrangements of surfaces and / or orientations. In any of these embodiments, the optical elements may be supported by bearings (having one or more of the suitable configurations described herein) and / or driven by a motor. As described above, such an arrangement may provide a lightweight, compact, power-reducing, and / or other advantageous device for scanning an environment surrounding a mobile platform.

[0087] Fig.19 An example of a mobile platform constructed according to various embodiments of the technology disclosed herein is shown. As shown, the exemplary mobile platform disclosed herein may include at least one of the following: an unmanned aerial vehicle (UAV) 1902, a manned aircraft 1904, an autonomous vehicle 1906, a self-balancing vehicle 808, a ground robot 1910, a smart wearable device 1912, a virtual reality (VR) head-mounted display 1914, or an augmented reality (AR) head-mounted display 1916.

[0088] In summary, it should be understood that specific embodiments of the present disclosure have been described herein for illustrative purposes, but various modifications may be made without departing from the present disclosure. For example, the components described herein may have suitable shapes and / or sizes different from those explicitly shown in the drawings while still providing one or more of the related benefits described above. In a specific example, although the openings in the optical elements shown in the drawings are circular, in other embodiments, the openings may have other shapes, and the corresponding shafts may also have other shapes. Typically, the associated bearings will still have radial symmetry to allow rotation.

[0089] Certain aspects of the present disclosure described in the context of specific embodiments herein may be incorporated into other embodiments or omitted. For example, in at least some illustrative examples, embodiments showing two optical elements may include one optical element or more than two optical elements. Moreover, although advantages associated with specific embodiments of the present disclosure have been described in these embodiments, other embodiments may also have these advantages, and not all embodiments necessarily require such advantages to fall within the scope of the present disclosure. Therefore, the present disclosure and associated technologies may include other embodiments not illustratively shown or described herein.

Claims

1. A LiDAR system, comprising: A laser transceiver, the laser transceiver comprising a laser transmitter and a laser receiver, the laser transmitter being positioned to transmit laser light along an optical path; a collimating element positioned along the optical path; at least one optical element, the at least one optical element being positioned along the optical path, the at least one optical element having an opening therethrough; a shaft extending into the opening; a bearing positioned to rotationally support the at least one optical element relative to the shaft; The emitted light emitted through the collimating element is parallel to the axis of the optical element and has an offset distance.

2. The system according to claim 1, wherein: The at least one optical element includes a refractive element having opposing, non-parallel surfaces.

3. A system according to any one of the preceding claims, wherein: The at least one optical element includes a first prism and a second prism, and wherein the opening includes a first opening extending through the first prism and a second opening extending through the second prism.

4. The system of claim 1, further comprising at least one motor connected to the at least one optical element to rotate the at least one optical element relative to the laser transceiver.

5. The system according to claim 4, wherein: The at least one motor includes a first motor connected to a first optical element and driving the first optical element at a first rate, and a second motor connected to a second optical element and driving the second optical element at a second rate different from the first rate.

6. The system according to claim 4, wherein: The at least one motor includes a first motor connected to the first optical element and driving the first optical element in a first direction, and a second motor connected to the second optical element and driving the second optical element in a second direction opposite to the first direction.

7. The system according to claim 4, wherein: The at least one motor includes a rotor and a stator, each of the rotor and the stator being positioned outwardly about the at least one optical element.

8. The system according to claim 1, wherein: The bearing is positioned in the opening and is one of a plurality of the bearings positioned in the opening and between the at least one optical element and the shaft to rotationally support the at least one optical element relative to the shaft.

9. The system according to claim 1, wherein: The shaft is positioned along the axis, and wherein the laser emitter is positioned to emit laser light along the axis.

10. The system according to claim 1, wherein: The shaft is positioned along the axis, and wherein the laser emitter is positioned to emit laser light at a non-zero angle relative to the axis.

11. The system according to claim 1, wherein: The collimating element has a corresponding focal plane, and wherein the laser emitter is positioned to emit laser light at an orthogonal angle relative to the focal plane.

12. The system of claim 1, wherein: The collimating element has a corresponding focal plane, and wherein the laser emitter is positioned to emit laser light at a non-orthogonal angle relative to the focal plane.

13. The system according to claim 12, wherein: The laser emitter is positioned along the axis.

14. The system of claim 1, wherein: The collimating elements have respective focal planes and an optical axis orthogonal to the focal planes, and wherein the laser emitter is positioned to emit laser light eccentrically from the optical axis.

15. The system of claim 1, wherein: The shaft is positioned along the axis, and the laser emitter is positioned to emit laser light along a portion of the optical path that is eccentric relative to the axis.

16. The system of claim 1, wherein: The collimating elements have respective focal planes and optical axes orthogonal to the focal planes, and wherein the shaft is positioned along an axis oriented at a non-zero angle relative to the optical axis.

17. The system of claim 1, wherein: The collimating element carries a matte material.

18. The system of claim 17, wherein: The matte material is black.

19. The system of claim 17, wherein: The collimating elements have a respective focal plane and an optical axis orthogonal to the focal plane, and wherein the matte material is centered on the optical axis.

20. The system of claim 1, further comprising a first mirror positioned to direct outgoing transmitted light from the laser transmitter to the collimating element, and a second mirror positioned to reflect incoming reflected light to the laser receiver.

21. An unmanned aerial vehicle system, comprising: Drones; as well as The system according to any one of the preceding claims 1-20, wherein the drone carries the system.

22. An optical system comprising: at least one optical element positionable along the optical path to receive radiation, the optical element having an opening therethrough; a shaft extending into the opening; a bearing positioned to rotationally support the at least one optical element relative to the shaft; a collimating element positioned along the optical path; The emitted light emitted through the collimating element is parallel to the axis of the optical element and has an offset distance.

23. The system of claim 22, further comprising at least one of a light transmitter and a light receiver positioned along the light path.

24. The system of claim 22, further comprising a light transmitter and a light receiver positioned along the light path.

25. The system of claim 22, wherein: At least one of the optical transmitter and the optical receiver includes at least one of a laser transmitter and a laser receiver.

26. The system of claim 22, wherein: The bearing is positioned in the opening and between the at least one optical element and the shaft.

27. The system according to any one of claims 22 to 26, wherein: The at least one optical element includes a refractive element having opposing, non-parallel surfaces.

28. The system of claim 25, further comprising at least one motor connected to the at least one optical element to rotate the at least one optical element relative to the laser transmitter and the laser receiver.

29. The system of claim 28, wherein: The at least one motor includes a first motor connected to a first optical element and driving the first optical element at a first rate, and a second motor connected to a second optical element and driving the second optical element at a second rate different from the first rate.

30. The system of claim 28, wherein: The at least one motor includes a first motor connected to the first optical element and driving the first optical element in a first direction, and a second motor connected to the second optical element and driving the second optical element in a second direction opposite to the first direction.

31. The system of claim 28, wherein: The at least one motor includes a rotor and a stator, each of the rotor and the stator being positioned outwardly around the at least one optical element.

32. The system of claim 22, wherein: The bearing is positioned in the opening and is one of a plurality of the bearings positioned in the opening and between the at least one optical element and the shaft to rotationally support the at least one optical element relative to the shaft.

33. An unmanned aerial vehicle system, comprising: Drones; as well as The system according to any one of claims 22-32, wherein the drone carries the system.

34. A LiDAR system comprising: a laser transceiver, the laser transceiver comprising a laser transmitter and a laser receiver, the laser transmitter being positioned to transmit laser light along an optical path, the laser receiver being positioned to receive reflected laser light traveling along the optical path; a collimating element positioned along the optical path to receive and collimate emitted light traveling in a first direction along the optical path and to receive and focus reflected light traveling in a second direction along the optical path opposite the first direction; a first mirror positioned to reflect output emission light in the first direction toward the collimating element; a second mirror positioned to reflect the input reflected light toward the receiver in the second direction; a beam splitter positioned along the optical path to cause emitted light to travel from the first mirror to the collimating element in the first direction and to reflect reflected light in the second direction to the second mirror; a first prism, the first prism being positioned along the optical path and having a first opening therethrough; a second prism, the second prism being positioned along the optical path and having a second opening therethrough; a shaft extending into and through the first opening and the second opening; at least one first bearing positioned in the first opening and between the first prism and the shaft to rotatably support the first prism relative to the shaft; at least one second bearing positioned in the second opening and between the second prism and the shaft to rotatably support the second prism relative to the shaft; at least one actuator operably connected to the first prism and the second prism to rotate the first prism and the second prism; a matte material carried by at least one of the collimating element, the shaft, or the at least one bearing; The emitted light emitted through the collimating element is parallel to the axes of the first prism and the second prism and has an offset distance.

35. The system of claim 34, further comprising a first motor connected to the first prism and driving the first prism at a first rate, and a second motor connected to the second prism and driving the second prism at a second rate different from the first rate.

36. The system of claim 34 or 35, further comprising a first motor connected to the first prism and driving the first prism in a first direction, and a second motor connected to the second prism and driving the second prism in a second direction opposite to the first direction.

37. A method for operating an optical system, comprising: At least one optical element is rotatably supported by the following components, wherein the at least one optical element is positioned along the optical path and has an opening therethrough: a shaft extending into the opening; a bearing operably connected between the at least one optical element and the shaft; a collimating element positioned along the optical path; The emitted light emitted through the collimating element is parallel to the axis of the optical element and has an offset distance.

38. The method of claim 37, wherein: The at least one element includes a first refractive element having opposed, non-parallel surfaces and a second refractive element having opposed, non-parallel surfaces, and wherein the method further includes rotating the first refractive element and the second refractive element at different rates.

39. The method according to claim 37 or 38, wherein: The at least one element includes a first refractive element having opposing, non-parallel surfaces, and a second refractive element having opposing, non-parallel surfaces, and wherein the method further includes rotating the first refractive element and the second refractive element in different directions.

40. The method of claim 37, further comprising: directing light from an emitter to travel in a first direction in the optical path; as well as Reflected light traveling in a second direction of the optical path opposite to the first direction is received at a receiver.

41. The method of claim 40, further comprising: collimating light directed from the emitter by passing the light along the first direction through the collimating element; as well as The reflected light is focused by passing the reflected light through the collimating element along the second direction.

42. The method of claim 40, further comprising: Operation of the drone is directed based at least in part on the information collected at the receiver.

43. The method of claim 40, further comprising: Operation of the autonomous vehicle is directed based at least in part on the information collected at the receiver.

44. The method of claim 40, wherein: The shaft is positioned along the axis, and wherein directing light from the emitter includes directing light along the axis.

45. The method of claim 40, wherein: The shaft is positioned along the axis, and wherein directing light from the emitter includes directing light at a non-zero angle relative to the axis.

46. ​​The method of claim 40, further comprising collimating light directed from the emitter by passing the light through the collimating element, the collimating element having a corresponding focal plane, and wherein, Directing light from the emitter includes light at an orthogonal angle relative to the focal plane.

47. The method of claim 40, further comprising collimating light directed from the emitter by passing the light through the collimating element, the collimating element having a corresponding focal plane, and wherein, Directing light from the emitter includes light at non-orthogonal angles relative to the focal plane.

48. The method of claim 40, further comprising collimating light directed from the emitter by passing the light through the collimating element, the collimating element having a corresponding focal plane and an optical axis orthogonal to the focal plane, and wherein, Directing light from the emitter includes directing light off-center relative to the optical axis.

49. The method of claim 40, wherein: The shaft is positioned along the axis, and wherein directing light from the emitter includes directing light along a portion of the optical path that is off-center relative to the axis.

50. The method of claim 40, further comprising collimating light directed from the emitter by passing the light through the collimating element, the collimating element having a corresponding focal plane and an optical axis orthogonal to the focal plane, and wherein, The shaft is positioned along the axis oriented at a non-zero angle relative to the optical axis.

51. The method of claim 40, further comprising eliminating at least a portion of the emitted light that illuminates at least one of the shaft or the bearing.

52. The method of claim 40, further comprising: collimating light directed from the emitter by passing the light through the collimating element; as well as At least a portion of the emitted light that strikes the collimating element is eliminated.

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