CN105572683A - Laser radar acquisition and ranging apparatus and working method thereof - Google Patents
Laser radar acquisition and ranging apparatus and working method thereof Download PDFInfo
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- CN105572683A CN105572683A CN201610078043.0A CN201610078043A CN105572683A CN 105572683 A CN105572683 A CN 105572683A CN 201610078043 A CN201610078043 A CN 201610078043A CN 105572683 A CN105572683 A CN 105572683A
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- laser
- image sensing
- output device
- laser radar
- collimation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention belongs to the laser radar field and provides a laser radar acquisition and ranging apparatus. The laser radar acquisition and ranging apparatus includes a laser output device which is used for outputting collimated laser, a laser scattering device which is arranged on the laser path of the laser output device and is used for scattering the collimated laser to 360-degree ring-shaped laser, and image sensing devices which are arranged around the laser output device and can receive laser signals reflected by a measured object in an all-direction manner. With the laser radar acquisition and ranging apparatus adopted, 360-degree full-angle signal acquisition can be realized, and angle resolution and scanning frequency can be improved.
Description
Technical field
The invention belongs to laser radar field, particularly relate to a kind of laser radar collection, distance-measuring equipment and method of work thereof.
Background technology
Laser radar is the advanced detection mode that laser technology is combined with modern detecting technique, can the distance and bearing information of measurement target position accurately with it, is more and more applied to the every aspect of national defense industry and Intelligent life.
At present, when utilizing laser radar detection, usual utilization machinery rotating member realizes, namely laser instrument being placed on one can the rotation platform of uniform rotation, control laser instrument Emission Lasers bundle scanning probe objects in front simultaneously, and record corresponding azimuth information, received the laser beam being detected reflections off objects by image sensing cell, and determine the image space of laser beam on sensor photosensitive sheet of reflection, and obtained the distance of testee by range of triangle principle.
There is a lot of problem in actual applications with regard to current this laser acquisition method, owing to using mechanical rotating member, and owing to being detect by the uniform velocity rotating, the problem of the low and angle-resolved rate variance of sweep frequency can be caused.
Summary of the invention
The embodiment of the present invention provides a kind of laser radar collection, distance-measuring equipment, is intended to the problem solving low, the angle-resolved rate variance of existing Laser Radar Scanning frequency.
The embodiment of the present invention is achieved in that a kind of laser radar collecting device, comprising:
For exporting the laser output device of collimation laser;
Be arranged on the laser optical path of described laser output device, for described collimation laser being scattering into the laser light scattering device of 360 ° of loop lasers; And
Be arranged at around described laser output device, can 360 ° of image sensing devices of laser signal receiving measured object reflection.
The embodiment of the present invention additionally provides a kind of Laser Radar Scanning distance-measuring equipment, comprising:
For exporting the laser output device of collimation laser;
Be arranged on the laser optical path of described laser output device, for described collimation laser being scattering into the laser light scattering device of 360 ° of loop lasers;
Be arranged at around described laser output device, can 360 ° of image sensing devices of laser signal receiving measured object reflection, and
Being connected with described image sensing device, for receiving the view data that multiple image sensing device transmits, and the information process unit of splicing and range finding calculating being carried out to described view data.
The embodiment of the present invention additionally provides a kind of laser radar signal acquisition method, comprises the steps:
Laser output device exports collimation laser;
Laser means for diverging receives described collimation laser, and described laser light scattering is become 360 ° of loop lasers, detection surrounding objects;
Described image sensing cell gathers the laser signal of the testee reflection of different directions respectively, and image data generating, described view data comprises the image space of described laser signal on the sensitive film of described image sensing cell and the azimuth information of correspondence.
The embodiment of the present invention additionally provides a kind of Laser Radar Scanning distance-finding method, comprises the steps:
Laser output device exports collimation laser;
Laser means for diverging receives described collimation laser, and described laser light scattering is become 360 ° of loop lasers, detection surrounding objects;
Described image sensing cell gathers the laser signal of the testee reflection of different directions respectively, image data generating, and described view data comprises the image space of described laser signal on the sensitive film of described image sensing cell and the azimuth information of correspondence;
Information process unit calculates the distance corresponding directional bearing being detected object by range of triangle principle according to described view data;
Described view data is spliced by image processing algorithm by described information process unit, generates multi-angle environment distance measurement information;
According to the described distance and the described multi-angle environment distance measurement information generation Laser Radar Scanning hum pattern that are detected object.
Embodiments provide a kind of laser radar collection, distance-measuring equipment, for exporting the laser output device of collimation laser; Be arranged on the laser optical path of described laser output device, for described collimation laser being scattering into the laser light scattering device of 360 ° of loop lasers; And be arranged at around described laser output device, and can 360 ° of image sensing devices of laser signal receiving measured object reflection, achieve 360 ° of full angle signals collecting, improve angular resolution and sweep frequency.
Accompanying drawing explanation
Fig. 1 is the structural representation of the laser radar collecting device that the embodiment of the present invention provides;
Fig. 2 is the one-piece construction figure of the laser radar collecting device that the embodiment of the present invention provides;
Fig. 3 is the structural representation of the image sensing device in the laser radar collecting device that provides of the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Embodiments provide a kind of laser radar collection, distance-measuring equipment, for exporting the laser output device of collimation laser; Be arranged on the laser optical path of described laser output device, for described collimation laser being scattering into the laser light scattering device of 360 ° of loop lasers; And be arranged at around described laser output device, and can 360 ° of image sensing devices of laser signal receiving measured object reflection, achieve 360 ° of full angle signals collecting, improve angular resolution and sweep frequency.
As shown in Fig. 1 Fig. 2, in embodiments of the present invention, a kind of laser radar collecting device, comprising: for exporting the laser output device 10 of collimation laser; Be arranged on the laser optical path of described laser output device 10, for described collimation laser being scattering into the laser light scattering device 20 of 360 ° of loop lasers; And be arranged at described laser output device 10 around, and can 360 ° of image sensing devices 30 of laser signal receiving measured object reflection, achieve 360 ° of full angle signals collecting, improve angular resolution and sweep frequency.
In embodiments of the present invention, multiple described image sensing device 30 is axle F centered by the straight line of described laser optical path place, equidistantly be respectively in described laser output device 10 around, multiple image sensing device 30 is circumferentially equally spaced, the visible angle of each image sensing device can farthest overlap by each this arrangement mode, to realize the laser signal of the reception measured object reflection of 360 ° of full angles, image sensing device 30 is not only made to account for less usage space, also each image sensing device 30 can be made to receive the laser signal of the testee reflection of different directions uniformly, effectively prevent because each image sensing device 30 is when circumferential arrangement, spacing is inconsistent, and the visible angle caused produces disappearance, the laser signal of some angle is not received, thus the laser signal received cannot be carried out the problem of the splicing range finding of 360 °.
In embodiments of the present invention, described image sensing device 30 has sensitive film and arranges to described inclined, and the angle between described sensitive film place plane and described central shaft is less than or equal to angle between 45 ° of described sensitive film place planes and described central shaft can be changed according to the change of camera lens and measuring distance.By the sensitive film of described image sensing device 10 and described axis F slant setting at an angle, available image pixel in ranging process can be increased, ensure that the integrity degree that the laser signal of detection thing reflection receives.
As one embodiment of the present of invention, described image sensing device 30 also comprises narrow band pass filter, described narrow band pass filter is in the front of described sensitive film, when receiving the laser signal that detection thing reflects, can the light of effective all the other wave bands of filtering, imaging on described sensitive film afterwards, the effective filtering interference of other wave band light, ensure that the integrity degree that the laser signal of detection thing reflection receives and validity.
As a preferred embodiment of the present invention, angle between described sensitive film and described central shaft is 11 °, as camera lens and laser instrument interval 60mm, finding range is 150mm to 6mm, the now visual angle change 22 ° of camera lens, angle between sensitive film and described central shaft F is 11 ° can receive the laser signal detecting thing and reflect to greatest extent, ensure that the integrity degree that the laser signal of detection thing reflection receives.
In embodiments of the present invention, as shown in Fig. 1 Fig. 2, described equipment comprises the information process unit 40 be connected with described image sensing device 30, the view data that described information process unit 40 transmits for receiving multiple image sensing device 30, and splicing and range finding calculating are carried out to described view data, the image space of the laser signal that each image sensing device 30 is received on described sensor photosensitive sheet and azimuth information can by information process units 40, be stitched together, and calculate the distance of testee, the view data perfection that each image sensing device 30 is generated agrees with, obtain the complete environment ranging information of 360 °.
In embodiments of the present invention, described laser output device 10 is continuous wave laser or pulsed laser, no matter be use the laser instrument of continous way or use the laser instrument of pulsed, the collimation laser that laser instrument can be realized to send is by laser light scattering device 20, be scattering into the loop laser of 360 °, and detecting surrounding objects, the kind of described laser instrument does not limit, and can be 650nm, 780nm, 850nm, 940nm etc.
In embodiments of the present invention, described laser light scattering device 20 is cone angle mirror, and described cone angle mirror is drift angle cone degree film glass in 90 °, and the drift angle of described cone angle mirror is arranged at the central shaft F of described laser optical path.By laser light scattering device 20 being arranged on the axis F of described laser output device 10, laser light scattering device 20 can be made farthest to receive the laser of laser output device 10 output, and, drift angle is adopted to be 90 ° of cone angle mirrors, the collimation laser scattering that can effectively will receive, is scattering into 360 ° around laser, can the output exploring laser light of full angle to ensure, detection surrounding objects, achieves higher angular resolution and sweep frequency.
In embodiments of the present invention, described image sensing device is cmos image sensor, and the quantity of described cmos image sensor is more than or equal to 3.
See Fig. 1 Fig. 2, as one embodiment of the present of invention, described image sensing device 30 is 4, around surrounding's equidistant arrangement of the axis F of laser output device 10, the sensitive film of each image sensing device 30 is to axis F inclination certain angle, and place back to axis F, the visible angle of each image sensing device 30 is more than or equal to 90 °, image sensing device 30 is equally spaced, both, there is overlapping region between every two image sensing devices 30, can ensure, 360 ° of full angles receive laser signal, ensure that the integrity degree of signal.
In embodiments of the present invention, as shown in Figure 3, each image sensing device 30 comprises an information receiving end 301 and an information transmission end 302, the two is connected, information process unit 40 is transferred to by information transmission end 302 with the image space of the laser signal reflected by the measured object received by information receiving end 301 on the sensitive film of imageing sensor and azimuth information, when image sensing cell is 4, there are 4 transmission ends, laser signal transmission extremely at least has on the information process unit of 4 corresponding interfaces by wired mode by these 4 transmission ends, or wirelessly laser signal is sent on information process unit 40.
Further, directly by wired or wireless mode, by laser signal transmission on terminal device, calculating and the splicing of measured object distance can also be carried out.
In embodiments of the present invention, described image sensing device 30, laser output device 10 and laser light scattering device 20 is by electrical connection.
The embodiment of the present invention additionally provides a kind of Laser Radar Scanning distance-measuring equipment, for exporting the laser output device 10 of collimation laser as shown in Fig. 1 Fig. 2; Be arranged on the laser optical path of described laser output device 10, for described collimation laser being scattering into the laser light scattering device 20 of 360 ° of loop lasers; Be arranged at described laser output device 10 around, can 360 ° of image sensing devices 30 of laser signal receiving measured object reflection, and be connected with described image sensing device 30, for receiving the view data that multiple image sensing device 30 transmits, and the information process unit 40 of splicing and range finding calculating is carried out to described view data.Achieve 360 ° of full angle range findings, achieve assembling simple, improve serviceable life and consistance, improve angular resolution and sweep frequency.
The embodiment of the invention also discloses a kind of method of work of laser radar collecting device, comprise the steps:
Laser output device 10 exports collimation laser;
Laser means for diverging 20 receives described collimation laser, and described laser light scattering is become 360 ° of loop lasers, detection surrounding objects;
Described image sensing cell 30 gathers the laser signal of the testee reflection of different directions respectively, image data generating, described view data comprises the image space of described laser signal on the sensitive film of described image sensing cell 30 and the azimuth information of correspondence.
In the embodiment of the present invention, by laser output device 10, export full angle and cover exploring laser light, and the laser signal utilizing multiple cmos image sensor 30 collection detection thing to reflect can form the signals collecting angle larger than single CMOS by the multiple CMOS of flexible configuration, improves angular resolution and sweep frequency.
The embodiment of the invention also discloses a kind of method of work of laser radar range equipment, comprise the steps:
Laser output device 10 exports collimation laser;
Laser means for diverging 20 receives described collimation laser, and described laser light scattering is become 360 ° of loop lasers, detection surrounding objects;
Described image sensing cell 30 gathers the laser signal of the testee reflection of different directions respectively, image data generating, described view data comprises the image space of described laser signal on the sensitive film of described image sensing cell 30 and the azimuth information of correspondence;
Information process unit 40 calculates the distance corresponding directional bearing being detected object by range of triangle principle according to described view data;
Described view data is spliced by image processing algorithm by described information process unit 40, generates multi-angle environment distance measurement information;
According to the described distance and the described multi-angle environment distance measurement information generation Laser Radar Scanning hum pattern that are detected object.
In the embodiment of the present invention, by laser output device 10, and laser light scattering device 20 coordinates output full angle to cover exploring laser light, and utilize the laser signal that multiple cmos image sensor 30 collection detection thing reflects, image data generating, and to be carried out distance calculation by range of triangle principle and image processing algorithm by information process unit 40 and splice, the scanning angle larger than single CMOS can be formed by the multiple CMOS of flexible configuration, improve angular resolution and sweep frequency.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. a laser radar collecting device, is characterized in that, comprising:
For exporting the laser output device of collimation laser;
Be arranged on the laser optical path of described laser output device, for described collimation laser being scattering into the laser light scattering device of 360 ° of loop lasers; And
Be arranged at around described laser output device, can 360 ° of image sensing devices of laser signal receiving measured object reflection.
2. laser radar collecting device as claimed in claim 1, it is characterized in that, multiple described image sensing device is axle centered by the straight line of described laser optical path place, is equidistantly respectively in around described laser output device.
3. laser radar collecting device as claimed in claim 2, it is characterized in that, described image sensing device has sensitive film and arranges to described inclined, and the angle between described sensitive film place plane and described central shaft is less than or equal to 45 °.
4. laser radar collecting device as claimed in claim 3, it is characterized in that, the angle between described sensitive film and described central shaft is 11 °.
5. laser radar collecting device as claimed in claim 1, it is characterized in that, described equipment comprises the information process unit be connected with described image sensing device, the view data that described information process unit transmits for receiving multiple image sensing device, and splicing and range finding calculating are carried out to described view data.
6. laser radar collecting device as claimed in claim 1, it is characterized in that, described laser output device is continuous wave laser or pulsed laser.
7. laser radar collecting device as claimed in claim 1, it is characterized in that, described laser light scattering device is cone angle mirror, and described cone angle mirror is drift angle cone degree film glass in 90 °, and the drift angle of described cone angle mirror is arranged at the central shaft of described laser optical path.
8. laser radar collecting device as claimed in claim 1, it is characterized in that, described image sensing device is cmos image sensor, and the quantity of described cmos image sensor is more than or equal to 3.
9. a Laser Radar Scanning distance-measuring equipment, is characterized in that, comprising:
For exporting the laser output device of collimation laser;
Be arranged on the laser optical path of described laser output device, for described collimation laser being scattering into the laser light scattering device of 360 ° of loop lasers;
Be arranged at around described laser output device, can 360 ° of image sensing devices of laser signal receiving measured object reflection, and
Being connected with described image sensing device, for receiving the view data that multiple image sensing device transmits, and the information process unit of splicing and range finding calculating being carried out to described view data.
10. a method of work for laser radar collecting device, is characterized in that, comprises the steps:
Laser output device exports collimation laser;
Laser means for diverging receives described collimation laser, and described laser light scattering is become 360 ° of loop lasers, detection surrounding objects;
Described image sensing cell gathers the laser signal of the testee reflection of different directions respectively, and image data generating, described view data comprises the image space of described laser signal on the sensitive film of described image sensing cell and the azimuth information of correspondence.
The method of work of 11. 1 kinds of laser radar range equipment, is characterized in that, comprises the steps:
Laser output device exports collimation laser;
Laser means for diverging receives described collimation laser, and described laser light scattering is become 360 ° of loop lasers, detection surrounding objects;
Described image sensing cell gathers the laser signal of the testee reflection of different directions respectively, image data generating, and described view data comprises the image space of described laser signal on the sensitive film of described image sensing cell and the azimuth information of correspondence;
Information process unit calculates the distance corresponding directional bearing being detected object by range of triangle principle according to described view data;
Described view data is spliced by image processing algorithm by described information process unit, generates multi-angle environment distance measurement information;
According to the described distance and the described multi-angle environment distance measurement information generation Laser Radar Scanning hum pattern that are detected object.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405525A (en) * | 2016-10-31 | 2017-02-15 | 深圳市镭神智能系统有限公司 | Flight time principle-based laser radar optical path system |
| CN106646499A (en) * | 2017-01-18 | 2017-05-10 | 北京佳光科技有限公司 | Laser radar and laser radar measuring device |
| CN106767750A (en) * | 2016-11-18 | 2017-05-31 | 北京光年无限科技有限公司 | A kind of air navigation aid and system for intelligent robot |
| CN106959451A (en) * | 2017-03-17 | 2017-07-18 | 深圳大学 | A kind of detection method of laser radar and laser radar |
| CN107063123A (en) * | 2017-05-09 | 2017-08-18 | 河南科技大学 | 360 degree of environment pattern spinning Laser Scannings |
| CN108414999A (en) * | 2017-12-01 | 2018-08-17 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN109283545A (en) * | 2018-10-11 | 2019-01-29 | 东莞市光劲光电有限公司 | A kind of New Two Dimensional solid state LED laser radar and its distance measuring method |
| CN109404676A (en) * | 2018-12-13 | 2019-03-01 | 百度在线网络技术（北京）有限公司 | Support equipment and its manufacturing method and control method, device, equipment and medium |
| CN110231628A (en) * | 2019-04-22 | 2019-09-13 | 东莞市光劲光电有限公司 | A kind of three-dimensional laser radar and its localization method |
| CN110244317A (en) * | 2019-06-03 | 2019-09-17 | 深圳市速腾聚创科技有限公司 | Laser radar system |
| CN110376598A (en) * | 2019-08-14 | 2019-10-25 | 深圳市镭神智能系统有限公司 | A kind of vision system and laser radar fusing device and emerging system |
| CN110673332A (en) * | 2019-08-30 | 2020-01-10 | 中国科学院西安光学精密机械研究所 | High-precision laser partition scanning device |
| CN112240760A (en) * | 2020-10-15 | 2021-01-19 | 浙江大学德清先进技术与产业研究院 | Laser swinger detector assembly and method for estimating swinger laser position |
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| CN106405525A (en) * | 2016-10-31 | 2017-02-15 | 深圳市镭神智能系统有限公司 | Flight time principle-based laser radar optical path system |
| CN106405525B (en) * | 2016-10-31 | 2023-12-29 | 深圳市镭神智能系统有限公司 | Laser radar light path system based on time-of-flight principle |
| CN106767750A (en) * | 2016-11-18 | 2017-05-31 | 北京光年无限科技有限公司 | A kind of air navigation aid and system for intelligent robot |
| CN106646499A (en) * | 2017-01-18 | 2017-05-10 | 北京佳光科技有限公司 | Laser radar and laser radar measuring device |
| CN106959451A (en) * | 2017-03-17 | 2017-07-18 | 深圳大学 | A kind of detection method of laser radar and laser radar |
| CN107063123B (en) * | 2017-05-09 | 2019-06-28 | 河南科技大学 | 360 degree of environment pattern spinning Laser Scannings |
| CN107063123A (en) * | 2017-05-09 | 2017-08-18 | 河南科技大学 | 360 degree of environment pattern spinning Laser Scannings |
| CN108414999A (en) * | 2017-12-01 | 2018-08-17 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN109283545A (en) * | 2018-10-11 | 2019-01-29 | 东莞市光劲光电有限公司 | A kind of New Two Dimensional solid state LED laser radar and its distance measuring method |
| CN109404676A (en) * | 2018-12-13 | 2019-03-01 | 百度在线网络技术（北京）有限公司 | Support equipment and its manufacturing method and control method, device, equipment and medium |
| CN109404676B (en) * | 2018-12-13 | 2021-07-27 | 百度在线网络技术（北京）有限公司 | Support device, method for manufacturing the same, and control method, apparatus, device, and medium |
| CN110231628A (en) * | 2019-04-22 | 2019-09-13 | 东莞市光劲光电有限公司 | A kind of three-dimensional laser radar and its localization method |
| CN110244317A (en) * | 2019-06-03 | 2019-09-17 | 深圳市速腾聚创科技有限公司 | Laser radar system |
| CN110376598A (en) * | 2019-08-14 | 2019-10-25 | 深圳市镭神智能系统有限公司 | A kind of vision system and laser radar fusing device and emerging system |
| CN110673332A (en) * | 2019-08-30 | 2020-01-10 | 中国科学院西安光学精密机械研究所 | High-precision laser partition scanning device |
| CN113466835A (en) * | 2020-03-31 | 2021-10-01 | 广东博智林机器人有限公司 | Angular resolution detection device and angular resolution detection method for laser radar |
| CN112240760A (en) * | 2020-10-15 | 2021-01-19 | 浙江大学德清先进技术与产业研究院 | Laser swinger detector assembly and method for estimating swinger laser position |
| WO2022077999A1 (en) * | 2020-10-16 | 2022-04-21 | 追觅创新科技(苏州)有限公司 | Laser radar system and autonomous mobile apparatus |
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Application publication date: 20160511 |