A laser radar system and electronic device

Abstract

The application relates to the field of electronic equipment, in particular to a laser radar system and an electronic equipment. The laser radar system comprises a laser source configured to emit a laser beam; a collimation unit configured to collimate the laser beam emitted by the laser source; a diffractive optical beam splitting element configured to split the collimated laser beam at a set angle to simultaneously output a plurality of laser beams; a plurality of transmission mirrors corresponding to the plurality of split laser beams, each transmission mirror configured to transmit a corresponding laser beam to form a transmitted light beam; a plurality of first mirrors corresponding to the plurality of transmission mirrors, each transmitted light beam being incident on a corresponding first mirror, and the plurality of first mirrors simultaneously reflecting the respective transmitted light beams to a same light deflection scanning element; and the light deflection scanning element configured to deflect and reflect the plurality of transmitted light beams. The field of view angle of the laser radar system is improved.

Description

Technical Field

[0001] This application relates to the field of electronic devices, and in particular to a lidar system and electronic device. Background Technology

[0002] With the development of the Internet of Things (IoT) and 5G, autonomous driving has become a future trend. Currently, autonomous driving is mainly divided into assisted driving, semi-autonomous driving, and fully autonomous driving. Among these, long-range scanning LiDAR (Light Detection and Ranging) is a necessary means to achieve semi-autonomous and fully autonomous driving. LiDAR can achieve a testing distance of over 200 meters with high accuracy.

[0003] However, existing lidar has a small field of view (FOV) and limited detection range. Summary of the Invention

[0004] The embodiments of this application provide a lidar system that uses a single light source combined with diffractive optical beam splitting elements to achieve multi-path laser output, thereby improving the field of view of the lidar.

[0005] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, this application provides a lidar system, comprising: a laser source for emitting a single laser beam (i.e., a single light source); a collimation unit for collimating the laser emitted by the laser source; a diffractive optical beam-splitting element for splitting the collimated laser beam at a set angle to simultaneously output multiple laser beams; a plurality of transmission mirrors corresponding one-to-one with the multiple split laser beams, each transmission mirror transmitting a corresponding laser beam to form transmitted light; a plurality of first mirrors corresponding one-to-one with the plurality of transmission mirrors, each transmitted light beam incident on a corresponding first mirror, the plurality of first mirrors simultaneously reflecting their respective transmitted light onto the same light deflection scanning element; the light deflection scanning element for deflecting and reflecting the multiple transmitted light beams to perform laser scanning on a target object in front; and a plurality of second mirrors corresponding one-to-one with the plurality of transmission mirrors, wherein the laser beam reflected back from the target object is sequentially reflected back to the light deflection scanning element, the corresponding first mirror, and the corresponding transmission mirror, and then reflected by the corresponding transmission mirror to the corresponding second mirror, and then reflected by the second mirror to the detector, thereby realizing the detection of the target object.

[0007] According to the embodiments of this application, the lidar system of this application uses a single light source beam splitting scheme, and the light deflection scanning element deflects and reflects multiple transmitted light beams to perform laser scanning on the target object in front, thereby improving the field of view of the entire lidar system and increasing the detection range of the lidar system.

[0008] In one possible implementation of the first aspect described above, a beam combiner is also included, wherein the laser reflected back from the target object is reflected by a second mirror to the same beam combiner, and then reflected by the beam combiner to the detector.

[0009] In one possible implementation of the first aspect described above, the beam combiner is a lens system.

[0010] In one possible implementation of the first aspect described above, a laser beam is a dual-wavelength light source formed by combining laser beams of different wavelengths.

[0011] In one possible implementation of the first aspect described above, the laser source includes: a first laser for emitting a laser of a first wavelength; a second laser for emitting a laser of a second wavelength; the collimation unit includes: a first collimator for collimating the laser of the first wavelength emitted by the first laser; a second collimator for collimating the laser of the second wavelength emitted by the second laser; and further includes a dual-wavelength combiner and a third reflector; the third reflector is used to reflect the laser of the second wavelength collimated by the second collimator to the dual-wavelength combiner; the dual-wavelength combiner is used to combine the laser of the first wavelength collimated by the first collimator and the laser of the second wavelength to form a dual-wavelength light source.

[0012] In one possible implementation of the first aspect described above, the dual-wavelength light source is formed by combining laser beams with wavelengths of 905 nm and 940 nm.

[0013] In one possible implementation of the first aspect described above, the light deflection scanning element is a MEMS rotating mirror.

[0014] In one possible implementation of the first aspect described above, the transmission mirror is used to transmit all or part of a corresponding laser beam.

[0015] In one possible implementation of the first aspect described above, the multiple laser beams include five laser beams.

[0016] In one possible implementation of the first aspect described above, the detector is either a surface array detector or multiple point detectors. The number of multiple point detectors is, for example, five.

[0017] Secondly, this application also provides an electronic device including the lidar system described in any of the first aspects above. Exemplarily, the electronic device is an autonomous vehicle. Attached Figure Description

[0018] Figure 1 According to some embodiments of this application, a structural block diagram of a lidar system is shown;

[0019] Figure 2According to some embodiments of this application, a schematic optical path of a lidar system is shown. Figure 1 ;

[0020] Figure 3 According to some embodiments of this application, a schematic optical path of a lidar system is shown. Figure 2 ;

[0021] Figure 4 According to some embodiments of this application, a schematic optical path of a lidar system is shown. Figure 3 ;

[0022] Figure 5 According to some embodiments of this application, a schematic diagram of the structure of a laser source in a lidar system is shown;

[0023] Figure 6 According to some embodiments of this application, a schematic diagram of the structure of a diffractive optical beam splitter element in a lidar system is shown. Figure 1 ;

[0024] Figure 7 According to some embodiments of this application, a schematic diagram of the optical path transmission between the beam combiner and the detector in a lidar system is shown;

[0025] Figure 8 According to some embodiments of this application, a schematic diagram of the detector structure in a lidar system is shown;

[0026] Figure 9 According to some embodiments of this application, a schematic diagram of the optical path transmission between the laser source and the diffractive optical beam splitter in a lidar system is shown;

[0027] Figure 10 According to some embodiments of this application, a schematic diagram of the structure of a diffractive optical beam splitter element in a lidar system is shown. Figure 2 ;

[0028] Figure 11 According to some embodiments of this application, a schematic diagram of the optical path transmission of a transmission mirror in a lidar system is shown. Detailed Implementation

[0029] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0030] LiDAR is an indispensable technology in electronic devices such as autonomous driving systems. Compared to cameras, LiDAR offers advantages in accurate 3D model creation and nighttime driving, providing richer and more accurate data and making it easier to build simulated environments. It helps determine interactions with surrounding vehicles and objects. Furthermore, LiDAR is a key component in current electronic systems such as traffic sign recognition, adaptive cruise control (ACC), blind spot detection, collision avoidance systems, and lane departure warning.

[0031] LiDAR systems are classified according to their scanning technology, mainly including mechanical scanning and solid-state scanning. Mechanical scanning is fast, but it is bulky, costly, and complex to manufacture. Solid-state scanning, on the other hand, uses MEMS (Micro-Electro-Mechanical Systems). MEMS LiDAR systems are small in size and simple to manufacture. The LiDAR systems described later in this application use MEMS LiDAR systems as an example.

[0032] Existing lidar systems have relatively small fields of view (FOV). Larger FOVs are typically achieved by stacking multiple light sources, resulting in complex structures, high costs, and large sizes, making it difficult to achieve a competitive balance between performance and cost. In other words, existing lidar systems using a single light source have limited FOVs and cannot meet the requirements. While existing lidar systems using multiple light sources can meet the FOV requirements, the use of multiple light sources increases costs and increases size, hindering the miniaturization of lidar systems.

[0033] Therefore, this application provides a lidar system that combines a single light source with diffractive optical elements (DOEs) to achieve multi-path laser output, thereby improving the field of view of the lidar system and miniaturizing the lidar.

[0034] refer to Figure 1 The lidar system 1 of this application (e.g., a MEMS lidar) includes a processor 11, an optical emitting system 12 (also called a transmitter), an optical scanning device 13, and an optical receiving system 14 (also called a receiver) interconnected. The processor 11 controls the optical emitting system 12 to emit laser light. The laser light emitted by the optical emitting system 12 reaches the optical scanning device 13 (e.g., including a MEMS rotating mirror), scans the target object, and after reaching the target object, the laser light is reflected back to the optical receiving system 14. The processor 11 then processes the data to detect the target object. For example, the lidar system 1 detects a target object 200 meters away.

[0035] The following describes in detail, with reference to the accompanying drawings, the optical emitting system 12, the optical scanning device 13, and the optical receiving system 14 of the lidar system 1 of this application.

[0036] refer to Figures 1 to 3 The optical emission system 12 of the lidar system 1 of this application includes: a laser source 10, a collimation unit 20, a diffractive optical beam splitter 30, a plurality of transmission mirrors 40, and a plurality of first mirrors 50; the optical scanning device 13 includes a light deflection scanning element 60; and the optical receiving system 14 includes: a plurality of second mirrors 80 and a detector 100.

[0037] Among them, laser source 10 is used to emit a laser beam ( Figure 3 (As shown by the dashed arrow), the laser source 10 emits a single light source. The collimation unit 20 is used to collimate the laser emitted by the laser source 10. For example, the collimation unit 20 employs a lens system. A laser beam emitted by the laser source 10 is collimated by the lens system (collimation unit 20) and then reaches the diffractive optical beam splitter 30, which is constructed using a DOE (Diffractive Optical Elements) structure. The diffractive optical beam splitter 30 is used to divide the collimated laser into multiple equal parts, and the angle can be set according to the scanning requirements of the lidar. That is, the diffractive optical beam splitter 30 is used to divide the collimated laser into multiple equal parts at a set angle (…). Figure 3 The laser beam is split (as shown in α) to output multiple laser beams simultaneously. For example, the setting angle α is between 20° and 25°.

[0038] For example, Figure 2 and Figure 3 The diagram shows the diffractive optical beam splitter 30 outputting five laser beams; this application uses the output of five laser beams as an example for illustration. The number of transmission mirrors 40, the first mirror 50, and the second mirror 80, described later, are correspondingly five. However, this application is not limited to this; in some possible embodiments, other numbers of laser beams can be output according to the scanning requirements of the lidar, such as the diffractive optical beam splitter 30 outputting four or six laser beams.

[0039] The multiple laser beams, after being split by the diffractive optical beam splitter 30, correspond one-to-one with multiple transmission mirrors 40. Each split laser beam reaches its corresponding transmission mirror 40, and each transmission mirror 40 transmits its corresponding laser beam to form transmitted light. The multiple first mirrors 50 correspond one-to-one with the multiple transmission mirrors 40. Each transmitted light beam is incident on its corresponding first mirror 50, and the multiple first mirrors 50 simultaneously reflect their transmitted light onto the same light deflection scanning element 60. That is, the five transmitted light beams, after passing through their respective first mirrors 50 and changing their optical path angles, are simultaneously reflected onto the same light deflection scanning element 60. Exemplarily, the light deflection scanning element 60 is a MEMS rotating mirror or other rotating mirror structure. Exemplarily, the MEMS rotating mirror is a 2D MEMS structure. The light deflection scanning element 60 is used to deflect and reflect the five transmitted light beams, and then transmit the light out to perform laser scanning on the target object 70 in front.

[0040] The aforementioned multiple second reflecting mirrors 80 correspond one-to-one with the multiple transmission reflecting mirrors 40. The aforementioned light deflection scanning element 60 deflects and reflects five beams of transmitted light, which are then reflected back after encountering the target object 70. The laser light reflected back from the target object 70 ( Figure 3 (As indicated by the solid arrows) The light beams are sequentially reflected back to the light deflection scanning element 60, the corresponding first reflecting mirror 50, and the corresponding transmission reflecting mirror 40. That is, the five laser beams reflected from the target object 70 return along the original path to the corresponding transmission reflecting mirror 40. They are then reflected by the corresponding transmission reflecting mirror 40 to the corresponding second reflecting mirror 80, and then reflected by the second reflecting mirror 80 to the detector 100, thereby realizing the detection of the target object 70.

[0041] That is, a laser beam emitted by laser source 10 passes sequentially through collimation unit 20, diffractive optical beam splitter 30, corresponding transmission mirror 40, corresponding first mirror 50, and light deflection scanning element 60 to reach the target object 70 in front. Upon encountering the target object 70, it is reflected back to the light deflection scanning element 60, the corresponding first mirror 50, and the corresponding transmission mirror 40. It is then reflected again by the corresponding transmission mirror 40 to the corresponding second mirror 80, and finally reflected to detector 100. Thus, the field of view of the entire lidar system 1 is improved (e.g., by using a single-source beam splitting scheme). Figure 3 (As shown in β), the detection range is increased. The angle between the five laser beams output by the DOE splitter is determined by the requirements of the lidar; for example, this angle is between 20° and 25°.

[0042] Continue to refer to Figure 2 and Figure 3 and Figure 7 The lidar system 1 of this application further includes a beam combiner 90. Laser beams reflected from the target object 70 are reflected by a second reflector 80 to the same beam combiner 90, and then reflected again by the beam combiner 90 to the detector 100. That is, five laser beams reflected from the target object 70 are reflected by the second reflector 80 to the same beam combiner 90, and then reflected again to the detector 100. Exemplarily, the beam combiner 90 is a lens system.

[0043] Multiple laser beams are modulated and converged at the beam combiner 90 by a lens system, ultimately reaching the detector 100 to detect the target object 70 in front. For example, each of the second reflectors 80 has a different reflection angle. By controlling the reflection angle of the second reflectors 80, the position of the beam combiner 90 can be adjusted, thereby modulating the angle at the receiving end, changing the large angle at the transmitting end to a smaller angle, and thus reducing the complexity of the receiving end lens. This is an optical path extension architecture. Using an optical path extension architecture at the receiving end reduces the field of view of the receiving end, enabling multi-view detection with conventional lenses and reducing the complexity of the lidar system 1.

[0044] In other words, by adopting a coaxial optical path at the receiver and extending the optical path, an architecture that allows for transmission over a large field of view and reception over a small angle can be achieved, thus reducing the complexity of the optical path at the receiver.

[0045] like Figure 3 As shown, the beam combiner 90 includes a lens 91. In some possible implementations, refer to... Figure 4 The beam combiner 90 includes a lens 91 corresponding to the second reflector 80, and a collimation unit 92 corresponding to the lens 91. Figure 4 The diagram shows five lenses 91 and five collimating units 92. The laser light reflected from the target object 70 is reflected by the corresponding second reflecting mirror 80 to the corresponding lens 91, and then converged to the detector 100 by the corresponding collimating unit 20. Thus, each light path has a collimating unit 92, so the receiver consists of multiple collimated optical paths. Each laser light reflected from each second reflecting mirror 80 is a separate receiving optical path, with a small field of view and simple optical path, which can be achieved with a single lens. Crosstalk between optical paths is further reduced, improving the system's SNR (signal-noise ratio).

[0046] In some possible implementations, refer to Figure 5 The laser emitted by the aforementioned laser source 10 can be a single light source or a combination of multiple light sources (with the same wavelength). Figure 5 The diagram shows two light sources. Since the laser source is single-polarized, the two laser sources 101 are first collimated by a dual microlens array 102. Then, the two optical paths are combined by a PCS (Polarizing Conversion System) 103. At this point, the output light intensity is the superposition of the two laser sources, and the divergence angle is based on a single source, enabling the output beam with a small divergence angle. Furthermore, the output beam is the superposition of two mutually perpendicular polarization states, eliminating the single polarization state and providing better universal illumination.

[0047] In some possible implementations, refer to Figure 6 The aforementioned diffractive optical beam splitter 30 is composed of a DOE (Diffractive Optical Array), and uniform insertion-loss beam splitting can be achieved through non-periodic grating modulation. Figure 6 The DOE structure shown in (a) is achieved through aperiodic duty cycles and periods. Figure 6 The DOE structure shown in (b) increases the degree of freedom of modulation by adding two grating heights under non-periodic conditions, thereby achieving better beam splitting modulation.

[0048] In some possible implementations, refer to Figure 7 and Figure 8 The relationship between the aforementioned lens system (beam combiner 90) and the detector 100 can be designed based on the type of detector 100, allowing for the design of the lens of the beam combiner 90.

[0049] In some possible implementations, detector 100 is a planar array detector, and the lens of beam combiner 90 can be a combination of coaxial spherical or aspherical and cylindrical lenses, thereby making detector 100 a line source detector (e.g. Figure 8 As shown in (a), the saturation of the detection is increased. Figure 8 The black circle shown in (a) represents a light spot.

[0050] In some possible implementations, detector 100 is a discrete APD (avalanche photodetector), and the lens of the combiner 90 can be implemented using coaxial spherical and aspherical surfaces, thereby enabling detector 100 to be a point source detector (e.g., Figure 8 As shown in (b), Figure 8 The black circle shown in (b) represents a light spot.

[0051] In some possible implementations, when the emitting end emits a light spot with a certain divergence angle, the detector 100 uses a planar array detector, with each light spot covering multiple pixels (e.g., Figure 8 As shown in (c), Figure 8 The black circles shown in (c) represent light spots, allowing for higher precision testing through data from each pixel. For example, if the divergence angle of the transmitting end (laser source 10) is ±0.4°, then each light spot of the receiving end (detector 100) can be designed as 8×8 pixels, with each pixel corresponding to an angular resolution of 0.1°, thus enabling higher precision testing with detector 100.

[0052] In some possible implementations, the detector 100 described above is a point detector, and the number of point detectors is, for example, five.

[0053] In some possible implementations, refer to Figure 9 The laser beam in this application is a dual-wavelength light source formed by combining laser beams of different wavelengths. That is, the emitting end of the lidar system 1 uses dual wavelengths. Exemplarily, the dual-wavelength light source is formed by combining laser beams of 905nm and 940nm wavelengths. However, this application is not limited to this, and it can be formed by combining laser beams of other different wavelengths. Exemplarily, the laser source 10 includes: a first laser 104, used to emit laser light of a first wavelength λ1 (e.g., 905nm). Figure 9 (As indicated by the solid arrow in the middle); the second laser 105 is used to emit laser light with a second wavelength λ2 (e.g., 940 nm). Figure 9 (As indicated by the dashed arrow).

[0054] The collimation unit 20 described above includes: a first collimator 201 for collimating the laser of the first wavelength λ1 emitted by the first laser 104; and a second collimator 202 for collimating the laser of the second wavelength λ2 emitted by the second laser 105. The lidar system 1 described above also includes a dual-wavelength multiplexer 108 and a third reflector 109. The laser of the first wavelength λ1, after collimation, is reflected to the dual-wavelength multiplexer 108. The laser of the second wavelength λ2, after being collimated by the second collimator 202, is reflected to the third reflector 109. The third reflector 109 then reflects the laser of the second wavelength λ2, after being collimated by the second collimator 202, back to the dual-wavelength multiplexer 108.

[0055] After the laser with first wavelength λ1 and the laser with second wavelength λ2 reach the dual-wavelength combiner 108, the dual-wavelength combiner 108 combines the laser with first wavelength λ1 and the laser with second wavelength λ2, which have been collimated by the first collimator 201, to form a dual-wavelength light source.

[0056] The dual-wavelength light source, after being combined by the dual-wavelength combiner 108, reaches the DOE (diffractive optical beam splitter 30) beam splitter 2015. The DOE splits the laser beams of the first wavelength λ1 and the second wavelength λ2 at predetermined angles to form multiple laser output beams. For example, refer to... Figure 9 The laser beam with the first wavelength λ1 of the DOE is split into two beams, and the laser beam with the second wavelength λ2 of the DOE is split into three beams. The angle between the five laser beams output by the DOE is determined by the requirements of the lidar. Finally, the five beams of light pass through the aforementioned transmission and reflection mirror 40 and the aforementioned first reflection mirror 50 and reach the aforementioned light deflection and scanning element 60 to achieve scanning of the target object 70 in front.

[0057] By employing a dual-wavelength light source for emission and adding a wavelength filter at the receiver, stray light in the receiver's optical path can be reduced. Furthermore, the dual-wavelength beam-splitting optical path reduces crosstalk between adjacent optical paths while maintaining a compact size.

[0058] For example, such as Figure 10 As shown in (a), the DOE described above comprises two discrete region structures. For example, as... Figure 10 As shown in (b), the aforementioned DOE comprises a single region. Both of the above DOE structures can achieve the splitting of the aforementioned dual-wavelength light source into multiple laser beams for output.

[0059] refer to Figure 11 The aforementioned transmission mirror 40 is used to transmit all or part of a corresponding laser beam.

[0060] like Figure 11As shown in (a), after the laser beam is split, each beam reaches the corresponding transmission and reflection mirror 40, where part is transmitted and the other part is reflected. The transmitted laser beam reaches the corresponding first reflection mirror 50; the reflected laser beam is absorbed by structural components or other structures to prevent this portion of the light from becoming noise. For example, after each beam is split, upon reaching the corresponding transmission and reflection mirror 40, 50% of the laser beam is transmitted and the other 50% is reflected. However, this application does not limit the transmission ratio; the specific settings will be adjusted according to the needs of the lidar.

[0061] like Figure 11 As shown in (b), the laser reflected from the target object 70 is reflected back to the corresponding first reflecting mirror 50, and then reflected by the first reflecting mirror 50 to the corresponding transmission reflecting mirror 40, where part is transmitted and the other part is reflected. The reflected laser reaches the corresponding second reflecting mirror 80; the transmitted laser is absorbed by structural components or other structures to prevent this portion of the light from becoming noise. For example, after the laser is reflected by the first reflecting mirror 50 to the corresponding transmission reflecting mirror 40, 50% of the laser is transmitted and the other 50% is reflected.

[0062] like Figure 11 As shown in (c), the transmission mirror 40 adopts an aperture design, so that each beam of laser light after being split is fully transmitted after reaching the corresponding transmission mirror 40. Among them, the transmitted laser light will reach the corresponding first mirror 50.

[0063] like Figure 11 As shown in (d), the laser reflected from the target object 70 is reflected back to the corresponding first reflecting mirror 50, and then reflected by the first reflecting mirror 50 to the corresponding transmission reflecting mirror 40, where part is transmitted and the other part is reflected. The reflected laser reaches the corresponding second reflecting mirror 80; the transmitted laser is absorbed by structural components or other structures to prevent this portion of the light from becoming noise. For example, after the laser is reflected by the first reflecting mirror 50 to the corresponding transmission reflecting mirror 40, 50% of the laser is transmitted and the other 50% is reflected.

[0064] In summary, the lidar system of this application achieves multi-path laser output by combining a single light source and diffractive optical beam splitting elements, thereby increasing the field of view of the lidar system, miniaturizing the lidar, and improving the detection range of the lidar.

Claims

1. A lidar system, characterized in that, include: A laser source, used to emit a laser beam; A collimation unit is used to collimate the laser emitted by the laser source; A diffractive optical beam splitter is used to split the collimated laser beam at a set angle so as to output multiple laser beams simultaneously. Multiple transmission and reflection mirrors are provided, each corresponding to one of the multiple laser beams after beam splitting. Each transmission and reflection mirror is used to transmit a corresponding laser beam to form transmitted light. Each of the multiple first mirrors corresponds to one of the multiple transmission mirrors. Each beam of transmitted light is incident on the corresponding first mirror, and the multiple first mirrors simultaneously reflect their respective transmitted light onto the same light deflection scanning element. The light deflection scanning element is used to deflect and reflect multiple beams of transmitted light in order to perform laser scanning on the target object in front. The laser light reflected from the target object is sequentially reflected back to the light deflection scanning element, the corresponding first mirror, and the corresponding transmission mirror, and then reflected by the corresponding transmission mirror to the corresponding second mirror. A beam combiner is used to detect laser light reflected from the target object. The laser light reflected from the target object is reflected by the second mirror to the same beam combiner, and then reflected by the beam combiner to the detector. Each of the second mirrors has a different reflection angle.

2. The lidar system as described in claim 1, characterized in that, The beam combiner is a lens system.

3. The lidar system as described in claim 1 or 2, characterized in that, The laser beam is a dual-wavelength light source formed by combining laser beams of different wavelengths.

4. The lidar system as described in claim 3, characterized in that, The laser source includes: The first laser is used to emit laser light of the first wavelength; A second laser is used to emit a laser of a second wavelength; The collimation unit includes: A first collimator is used to collimate the laser of a first wavelength emitted by the first laser. The second collimator is used to collimate the second wavelength of laser light emitted by the second laser. It also includes a dual-wavelength multiplexer and a third reflector; The third reflector is used to reflect the second wavelength laser, which has been collimated by the second collimator, to the dual-wavelength combiner; The dual-wavelength combiner is used to combine the first wavelength laser and the second wavelength laser, which have been collimated by the first collimator, to form the dual-wavelength light source.

5. The lidar system as described in claim 3, characterized in that, The dual-wavelength light source is formed by combining laser beams with wavelengths of 905nm and 940nm.

6. The lidar system as described in claim 1 or 2, characterized in that, The light deflection scanning element is a MEMS rotating mirror.

7. The lidar system as described in claim 1 or 2, characterized in that, The transmission mirror is used to transmit all or part of a corresponding laser beam.

8. The lidar system as described in claim 1 or 2, characterized in that, The multiple laser beams include five laser beams.

9. The lidar system as described in claim 1 or 2, characterized in that, The detector is either a surface array detector or multiple point detectors.

10. An electronic device, characterized in that, Includes the lidar system according to any one of claims 1 to 9.

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