Optical assembly for scanning lidar system

A movable platform comprising:

• an optical assembly onboard the movable platform and configured to direct light beams to scan an environment to detect one or more objects in the environment, the optical assembly including:
• a first optical element rotatable about a first axis and configured to receive a light beam at a first surface of the first optical element and refract the light beam by a second surface of the first optical element at which the light beam exits the first optical element;
• and
• a second optical element spaced from the first optical element and rotatable about a second axis, the second optical element including:
• a reflective surface configured to reflect the light beam to the environment;
• and
• a refractive surface configured to refract the light beam to the reflective surface;
• and
• a propulsion system configured to propel the movable platform in the environment;
• wherein the first optical element includes an irregular prism configured to translate the light beam toward a central area of the reflective surface of the second optical element.

A LiDAR system comprising:

• a light source configured to emit pulsed laser light beams;
• a scanning optical assembly configured to direct the pulsed laser light beams to scan an environment for detecting one or more objects in the environment, the scanning optical assembly including:
• a first optical element rotatable about a first axis and configured to receive a light beam at a first surface of the first optical element and refract the light beam by a second surface of the first optical element at which the light beam exits the first optical element;
• and
• a second optical element spaced from the first optical element and rotatable about a second axis, the second optical element including:
• a reflective surface configured to reflect the light beam to the environment;
• a first refractive surface configured to refract the light beam to the reflective surface;
• and
• a second refractive surface configured to refract the light beam reflected by the reflective surface to the environment, the light beam exiting the second optical element from the second refractive surface, wherein at least one of the first refractive surface, the reflective surface, or the second refractive surface of the second optical element is a curved surface;
• and
• a receiver configured to receive, via the scanning optical assembly, return light beams reflected by the one or more objects in the environment.