CN105716635A - Laser transmit-receive sensor with fixed modulation frequency - Google Patents
Laser transmit-receive sensor with fixed modulation frequency Download PDFInfo
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- CN105716635A CN105716635A CN201610098613.2A CN201610098613A CN105716635A CN 105716635 A CN105716635 A CN 105716635A CN 201610098613 A CN201610098613 A CN 201610098613A CN 105716635 A CN105716635 A CN 105716635A
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- 239000003990 capacitor Substances 0.000 claims description 13
- 238000000926 separation method Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000000758 substrate Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005622 photoelectricity Effects 0.000 description 4
- 238000005538 encapsulation Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000003556 assay Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000012779 reinforcing material Substances 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/28—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with deflection of beams of light, e.g. for direct optical indication
Abstract
The invention discloses a laser transmit-receive sensor with a fixed modulation frequency. The sensor comprises at least one laser transmit-receive circuit. The laser transmit-receive circuit comprises a modulation emitting unit and a receiving unit. The modulation emitting unit comprises a modulation module and a laser emitting module. The modulation module is used for generating the fixed modulation frequency. The laser emitting module is used for generating regular laser signals according to the modulation frequency. The laser emitting module is in electric connection with the modulation module. The receiving unit comprises a convex lens and a laser receiving module. The convex lens is used for receiving a reflected signal generated by diffuse reflection of an obstacle and amplifying the reflected signal. The laser receiving module is used for receiving the reflected signal amplified by the convex lens. When the laser emitted by the laser emitting module meets the obstacle, the reflected signal is generated. According to the invention, the influence of environmental light on the generation of the laser signals is relieved and the waveform quality of the received signals is improved.
Description
Technical field
The present invention relates to a kind of sensor, be specially the laser transmitting-receiving sensor of a kind of fixed modulation frequency.
Background technology
Along with the development of science and technology, various novel metering systems come out one after another, and the sensor being wherein representative with laser develops rapidly.The advantage of laser sensor is to realize contactless telemeasurement, and speed is fast, and precision is high, and range is big, and anti-optical interference performance is strong.
As publication number CN102062587A discloses " the multiple mobile robot's pose assay method based on laser sensor ", the method uses laser sensor to carry out sector scanning, the parameter under global coordinate system by equation and calculating Suan get robot, and then calculate the center position coordinates of robot, calculate the current angular parameter of robot.And for example publication number CN104145476A discloses " having the infrared sensor of acceleration transducer and the method for running infrared sensor ", is used for detecting infra-red radiation and exporting infrared picture data, and at least one acceleration transducer.Acceleration transducer is for detecting the instantaneous acceleration of sensor device, if the acceleration of sensor device exceedes previously given value, then infrared picture data is prevented from from the output of infrared sensor.
But above-mentioned patent has the disadvantage that (1), and it is identified with rectangular characteristic, there is deviation with material object, its accuracy when working in complex environment, cannot be ensured.(2) calculation is complicated, it is necessary to data more, exist between data and influence each other and disturb.(3), when gathering signal return, there is loss in signal, and does not have compensating mode.
Summary of the invention
It is an object of the invention to provide the laser transmitting-receiving sensor of a kind of fixed modulation frequency, the impact because laser signal is produced by ambient light can be improved, to improve the waveform quality receiving signal.
The laser transmitting-receiving sensor of fixed modulation frequency of the present invention, including at least one laser transmitting-receiving circuit,
Described laser transmitting-receiving circuit includes modulate emission unit and receives unit；
Described modulate emission unit includes:
Modulation module, for producing the modulating frequency fixed；
Laser emitting module, produces regular laser signal according to described modulating frequency, and laser emitting module electrically connects with modulation module；
Described reception unit includes:
Convex lens, for receiving the reflected signal of obstructing objects diffuse-reflectance generation and it being amplified；
Laser pick-off module, for receiving the reflected signal after described convex lens amplifies；
Described reflected signal is produced after the laser launched by laser emitting module runs into obstructing objects.
Described modulation module includes a surge pipe and two NAND gate, 1 foot ground connection of surge pipe, 3 feet of surge pipe are unsettled, and 2 feet of surge pipe are connected with one of them input of two NAND gate respectively, and another input of two NAND gate connects external control signal respectively；
Described laser emitting module includes the laser tube that two side-by-side horizontal are arranged, and 1 foot of two laser tubes connects one to one with the outfan of two NAND gate respectively, and 3 feet of two laser tubes all meet VCC.
Described laser pick-off module includes one and receives pipe, pull-up resistor and filter capacitor, and 1 foot of this reception pipe meets VCC, and its 2 foot meets VCC through pull-up resistor, and its 3 foot meets GND, and its 3 foot also filtered electric capacity meets VCC；
Described convex lens is arranged on pcb board by lens carrier, and convex lens is positioned at the surface receiving pipe.
Described laser pick-off module also includes LED light and current-limiting resistance, and the positive pole of described LED light meets VCC, and the negative pole of LED light is connected with 2 feet receiving pipe after current-limiting resistance.
Also include pcb board；Totally four, described laser transmitting-receiving circuit, arrange along the length separation of pcb board respectively, and the first laser transmitting-receiving circuit, the second laser transmitting-receiving circuit, the 3rd laser transmitting-receiving circuit, the 4th laser transmitting-receiving circuit it is followed successively by from one end of pcb board to the other end, first laser transmitting-receiving circuit and the second laser transmitting-receiving circuit are one group, 3rd laser transmitting-receiving circuit and the 4th laser transmitting-receiving circuit are one group, and the two of same group modulate emission unit can launch laser signal according to prefixed time interval.
Described pcb board adopts double-sided PCB board.
Described convex lens support is the body of hollow, and the internal diameter of body is gradually increased from top to bottom, and the lower end of this lens carrier is fixed on pcb board.
The invention have the advantages that
(1) adopt fixed transmission to receive frequency, the signal of other frequencies is had shielding action, it is possible to work under light conditions complex environment, enhance the capacity of resisting disturbance of sensor output signal；
(2) adopting odt circuit design, single group transmitting tube independently controls with receiving pipe；Two adjacent groups interval work is independent of each other, two laser emitting modules of same group adopt interval (such as: 2ms) luminous and gather the pattern of signal, relatively simultaneously luminous pattern, it is to avoid because the situation that adjacent signals interferes occurs in overflow, decrease mutually harassing of laser signal transmitting-receiving；
(3) on each reception pipe, add convex lens, to strengthen its reception, by convex lens, the small-signal received is amplified, make up the signal loss at transmittance process, it is ensured that the reliability of detection；It addition, by the amplification of convex lens, add actual measuring distance；After out-of-date suitable debugging, measuring distance is up to more than 1.2m, in laboratory debugging process, adopt white PVC material as reflection object, when becoming 16 ° of angles between transmitting light with reception pipe, sensor test distance is at 80cm, it is also possible to stable reception waveform.
Accompanying drawing explanation
Fig. 1 is the theory diagram of single laser transmitting-receiving circuit in the present invention；
Fig. 2 is the element assembly explosive view of the present invention；
Fig. 3 is the assembling schematic diagram of convex lens and lens carrier in the present invention.
Fig. 4 is FR-4 substrate etch figure of the present invention；
Fig. 5 is the circuit theory diagrams of modulate emission unit of the present invention；
Fig. 6 is the circuit theory diagrams that the present invention receives unit.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
The laser transmitting-receiving sensor of fixed modulation frequency as shown in Figure 1, including pcb board 7 and at least one laser transmitting-receiving circuit, laser transmitting-receiving circuit quantity sets as required.
As it is shown in figure 1, each laser transmitting-receiving circuit includes modulate emission unit and receives unit.Described modulate emission unit includes modulation module 1 and laser emitting module 2；Modulation module 1 is for producing the modulating frequency (such as: the square pulse ripple of 180kHz) fixed；Laser emitting module 2 produces regular laser signal according to described modulating frequency, and laser emitting module 2 electrically connects with modulation module 1.Receive unit and include convex lens 4 and laser pick-off module 3；Convex lens 4 is for receiving the reflected signal of obstructing objects diffuse-reflectance generation and it being amplified；Laser pick-off module 3 is for receiving the reflected signal after described convex lens 4 amplifies；Described reflected signal is produced after the laser launched by laser emitting module 2 runs into obstructing objects.
As shown in Figure 2 and Figure 4, below for laser transmitting-receiving circuit totally four the present invention will be described: four laser transmitting-receiving circuit are arranged along the length separation of pcb board 7 respectively, and the first laser transmitting-receiving circuit 9 it is followed successively by from one end of pcb board 7 to the other end, second laser transmitting-receiving circuit 10, 3rd laser transmitting-receiving circuit 11, 4th laser transmitting-receiving circuit 12, and be one group by the first laser transmitting-receiving circuit 9 and the second laser transmitting-receiving circuit 10, 3rd laser transmitting-receiving circuit 11 and the 4th laser transmitting-receiving circuit 12 are one group, and the two of same group modulate emission unit can launch laser signal according to prefixed time interval (such as: 2ms).
As shown in Figure 4 and Figure 5, four NAND gate in two modulate emission unit of same group are integrated in one two input four NAND gate integrated circuits (model is 74LS00) chip.Wherein, integrated chip U1 comprises: NAND gate U1-A, NAND gate U1-B, NAND gate U1-C, NAND gate U1-D；Integrated chip U2 comprises: NAND gate U2-A, NAND gate U2-B, NAND gate U2-C, NAND gate U2-D.
As shown in Figure 5, the modulation module 1 of the first laser transmitting-receiving circuit 9 includes a surge pipe D7, and NAND gate U1-A in NAND gate phase inverter and NAND gate U1-B, 1 foot of surge pipe D7 is through resistance R11 ground connection, 3 feet of surge pipe D7 are unsettled, 1 foot of the 2 foot NAND gate phase inverters of surge pipe D7 and 4 feet connect, and 2 feet and 5 feet of NAND gate phase inverter meet external control signal CON1 respectively.The laser emitting module 2 of the first laser transmitting-receiving circuit 9 includes the laser tube 6 that two side-by-side horizontal are arranged, respectively laser tube D13 and laser tube D14,1 foot of laser tube D13 and 1 foot of laser tube D14 connect one to one with 3 feet in NAND gate phase inverter and 6 feet respectively, and 3 feet of laser tube D13 and 3 feet of laser tube D14 all meet VCC.
As shown in Figure 5, the modulation module 1 of the second laser transmitting-receiving circuit 10 includes a surge pipe D8, and NAND gate U1-C in NAND gate phase inverter and NAND gate U1-D, 1 foot of surge pipe D8 is through resistance R12 ground connection, 3 feet of surge pipe D8 are unsettled, 9 feet of the 2 foot NAND gate phase inverters of surge pipe D8 and 12 feet connect, and 10 feet and 13 feet of NAND gate phase inverter meet external control signal CON2 respectively.The laser emitting module 2 of the second laser transmitting-receiving circuit 10 includes the laser tube 6 that two side-by-side horizontal are arranged, respectively laser tube D15 and laser tube D16,1 foot of laser tube D15 and 1 foot of laser tube D16 connect one to one with 3 feet in NAND gate phase inverter and 6 feet respectively, and 3 feet of laser tube D15 and 3 feet of laser tube D16 all meet VCC.
As shown in Figure 5, the modulation module 1 of the 3rd laser transmitting-receiving circuit 11 includes a surge pipe D5, and NAND gate U2-A in NAND gate phase inverter and NAND gate U2-B, 1 foot of surge pipe D5 is through resistance R9 ground connection, 3 feet of surge pipe D5 are unsettled, 1 foot of the 2 foot NAND gate phase inverters of surge pipe D5 and 4 feet connect, and 2 feet and 5 feet of NAND gate phase inverter meet external control signal CON1 respectively.The laser emitting module 2 of the 3rd laser transmitting-receiving circuit 11 includes the laser tube 6 that two side-by-side horizontal are arranged, respectively laser tube D9 and laser tube D10,1 foot of laser tube D9 and 1 foot of laser tube D10 connect one to one with 3 feet in NAND gate phase inverter and 6 feet respectively, and 3 feet of laser tube D9 and 3 feet of laser tube D10 all meet VCC.
As shown in Figure 5, the modulation module 1 of the 4th laser transmitting-receiving circuit 12 includes a surge pipe D6, and NAND gate U2-C in NAND gate phase inverter and NAND gate U2-D, 1 foot of surge pipe D6 is through resistance R10 ground connection, 3 feet of surge pipe D6 are unsettled, 9 feet of the 2 foot NAND gate phase inverters of surge pipe D6 and 12 feet connect, and 10 feet and 13 feet of NAND gate phase inverter meet external control signal CON2 respectively.The laser emitting module 2 of the 4th laser transmitting-receiving circuit 12 includes the laser tube 6 that two side-by-side horizontal are arranged, respectively laser tube D11 and laser tube D12,1 foot of laser tube D11 and 1 foot of laser tube D12 connect one to one with 3 feet in NAND gate phase inverter and 6 feet respectively, and 3 feet of laser tube D11 and 3 feet of laser tube D12 all meet VCC.
As shown in Figure 4 and Figure 5, its work process is: microcontroller sends control level two pins of CON1 and the CON2 to interface J1, controls CON1 and CON2 pin by the control signal of low and high level, makes two transmission circuit interval works of same group.Such as: when in the first laser transmitting-receiving circuit 9 laser tube D13, laser tube D14 launch signal time, in second laser transmitting-receiving circuit 10, laser tube D15, laser tube D16 do not launch signal, and what the first laser transmitting-receiving circuit 9 and the second laser transmitting-receiving circuit 10 launched laser signal (180kHz frequency laser signal) is spaced apart 2ms.
As shown in Figure 6, the laser pick-off module 3 of the first laser transmitting-receiving circuit 9 includes one and receives pipe D4, pull-up resistor R7, filter capacitor C4, LED light LD4 and current-limiting resistance R8,1 foot of this reception pipe D4 meets VCC, 2 feet receiving pipe D4 meet VCC through pull-up resistor R7,3 feet receiving pipe D4 meet GND, and the 3 feet also filtered electric capacity C4 receiving pipe D4 meets VCC；The positive pole of described LED light LD4 connects the negative pole of VCC, LED light LD4 and is connected with 2 feet receiving pipe D4 after current-limiting resistance R8.When the reception unit of the first laser transmitting-receiving circuit 9 receives fixed frequency signal (the 180kHz frequency laser signal) reflected, LED light LD4 lights, and carries out photoelectricity prompting.Described convex lens 4 is arranged on pcb board 7 by lens carrier 8, and convex lens 4 is positioned at the surface receiving pipe D4.
As shown in Figure 6, the laser pick-off module 3 of the second laser transmitting-receiving circuit 10 includes one and receives pipe D3, pull-up resistor R5, filter capacitor C3, LED light LD3 and current-limiting resistance R6,1 foot of this reception pipe D3 meets VCC, 2 feet receiving pipe D3 meet VCC through pull-up resistor R5,3 feet receiving pipe D3 meet GND, and the 3 feet also filtered electric capacity C3 receiving pipe D3 meets VCC；The positive pole of described LED light LD3 connects the negative pole of VCC, LED light LD3 and is connected with 2 feet receiving pipe D3 after current-limiting resistance R6.When the reception unit of the second laser transmitting-receiving circuit 10 receives the fixed frequency signal reflected, LED light LD3 lights, and carries out photoelectricity prompting.Described convex lens 4 is arranged on pcb board 7 by lens carrier 8, and convex lens 4 is positioned at the surface receiving pipe D3.
As shown in Figure 6, the laser pick-off module 3 of the 3rd laser transmitting-receiving circuit 11 includes one and receives pipe D2, pull-up resistor R3, filter capacitor C2, LED light LD2 and current-limiting resistance R4,1 foot of this reception pipe D2 meets VCC, 2 feet receiving pipe D2 meet VCC through pull-up resistor R3,3 feet receiving pipe D2 meet GND, and the 3 feet also filtered electric capacity C2 receiving pipe D2 meets VCC；The positive pole of described LED light LD2 connects the negative pole of VCC, LED light LD2 and is connected with 2 feet receiving pipe D2 after current-limiting resistance R4.When the reception unit of the 3rd laser transmitting-receiving circuit 11 receives the fixed frequency signal reflected, LED light LD2 lights, and carries out photoelectricity prompting.Described convex lens 4 is arranged on pcb board 7 by lens carrier 8, and convex lens 4 is positioned at the surface receiving pipe D2.
As shown in Figure 6, the laser pick-off module 3 of the 4th laser transmitting-receiving circuit 12 includes one and receives pipe D1, pull-up resistor R1, filter capacitor C1, LED light LD1 and current-limiting resistance R2,1 foot of this reception pipe D1 meets VCC, 2 feet receiving pipe D1 meet VCC through pull-up resistor R1,3 feet receiving pipe D1 meet GND, and the 3 feet also filtered electric capacity C1 receiving pipe D1 meets VCC；The positive pole of described LED light LD1 connects the negative pole of VCC, LED light LD1 and is connected with 2 feet receiving pipe D1 after current-limiting resistance R2.When the reception unit of the 4th laser transmitting-receiving circuit 12 receives the fixed frequency signal reflected, LED light LD1 lights, and carries out photoelectricity prompting.Described convex lens 4 is arranged on pcb board 7 by lens carrier 8, and convex lens 4 is positioned at the surface receiving pipe D1.
As it is shown on figure 3, described convex lens support 8 is the body of hollow, and the internal diameter of body is gradually increased from top to bottom, and the lower end of this lens carrier 8 is fixed on pcb board 7.
As in figure 2 it is shown, pcb board 7 is double-sided PCB board, it includes end face 7b(Top) and bottom surface 7a(Bottom), the substrate of pcb board 7 adopts FR-4 substrate, by FR-4 epoxy glass-fiber-fabric substrate, with epoxy resin as adhesive, make a class substrate of reinforcing material with electronic-grade glass fiber cloth.Each laser tube 6(is included laser tube D9～laser tube D16 by the present invention), each pipe 5(of reception includes receiving pipe D1～reception pipe D4) be all welded on the bottom surface of pcb board 7.Filter capacitor C1～filter capacitor C4, resistance R1～resistance R8, modulating tube D5～modulating tube D8, integrated chip U1～integrated chip U2, interface J1, signal designation unit 9 are welded on the end face 7b(Top of pcb board)
Filter capacitor C1 described in the present embodiment, filter capacitor C2, filter capacitor C3, filter capacitor C4 are the 100nF high frequency capacitor of 0805 encapsulation；Described resistance R1, resistance R3, resistance R5, resistance R7 are the 4.7K Ω resistor of 0805 encapsulation；Described resistance R2, resistance R4, resistance R6, resistance R8 are the 1.5K Ω resistor of 0805 encapsulation；The described three foot laser heads that laser tube D9～laser tube D16 is 6.5mm, optical wavelength 650nm, power is 5mW, interior focusing mode；The operating frequency of described modulating tube D5～modulating tube D8 is 180kHZ～200kHZ；Running voltage is 4.5～5.5V；The described model receiving pipe D1～reception pipe D4 is SOC2111.
Claims (7)
1. the laser transmitting-receiving sensor of a fixed modulation frequency, it is characterised in that: include at least one laser transmitting-receiving circuit,
Described laser transmitting-receiving circuit includes modulate emission unit and receives unit；
Described modulate emission unit includes:
Modulation module (1), for producing the modulating frequency fixed；
Laser emitting module (2), produces regular laser signal according to described modulating frequency, and laser emitting module (2) electrically connects with modulation module (1)；
Described reception unit includes:
Convex lens (4), for receiving the reflected signal of obstructing objects diffuse-reflectance generation and it being amplified；
Laser pick-off module (3), for receiving the reflected signal after described convex lens (4) amplifies；
Described reflected signal is produced after the laser launched by laser emitting module (2) runs into obstructing objects.
2. the laser transmitting-receiving sensor of fixed modulation frequency according to claim 1, it is characterized in that: described modulation module (1) includes a surge pipe and two NAND gate, 1 foot ground connection of surge pipe, 3 feet of surge pipe are unsettled, 2 feet of surge pipe are connected with one of them input of two NAND gate respectively, and another input of two NAND gate connects external control signal respectively；
Described laser emitting module (2) includes the laser tube (6) that two side-by-side horizontal are arranged, and 1 foot of two laser tubes (6) connects one to one with the outfan of two NAND gate respectively, and 3 feet of two laser tubes (6) all meet VCC.
3. the laser transmitting-receiving sensor of fixed modulation frequency according to claim 1, it is characterized in that: described laser pick-off module (3) includes one and receives pipe (5), pull-up resistor and filter capacitor, 1 foot of this reception pipe (5) meets VCC, its 2 foot meets VCC through pull-up resistor, its 3 foot meets GND, and its 3 foot also filtered electric capacity meets VCC；
Described convex lens (4) is arranged on pcb board by lens carrier (8), and convex lens (4) is positioned at the surface receiving pipe (5).
4. the laser transmitting-receiving sensor of fixed modulation frequency according to claim 3, it is characterized in that: described laser pick-off module (3) also includes LED light and current-limiting resistance, the positive pole of described LED light meets VCC, and the negative pole of LED light is connected with 2 feet receiving pipe (5) after current-limiting resistance.
5. the laser transmitting-receiving sensor according to the arbitrary described fixed modulation frequency of Claims 1-4, it is characterised in that: also include pcb board (7)；Totally four, described laser transmitting-receiving circuit, arrange along the length separation of pcb board (7) respectively, and the first laser transmitting-receiving circuit (9), the second laser transmitting-receiving circuit (10), the 3rd laser transmitting-receiving circuit (11), the 4th laser transmitting-receiving circuit (12) it is followed successively by from one end of pcb board (7) to the other end, first laser transmitting-receiving circuit (9) and the second laser transmitting-receiving circuit (10) are one group, 3rd laser transmitting-receiving circuit (11) and the 4th laser transmitting-receiving circuit (12) are one group, and the two of same group modulate emission unit can launch laser signal according to prefixed time interval.
6. the laser transmitting-receiving sensor of fixed modulation frequency according to claim 5, it is characterised in that: described pcb board (7) adopts double-sided PCB board.
7. the laser transmitting-receiving sensor of fixed modulation frequency according to claim 3, it is characterized in that: the body that described convex lens support (8) is hollow, and the internal diameter of body is gradually increased from top to bottom, the lower end of this lens carrier (8) is fixed on pcb board (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610098613.2A CN105716635A (en) | 2016-02-23 | 2016-02-23 | Laser transmit-receive sensor with fixed modulation frequency |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610098613.2A CN105716635A (en) | 2016-02-23 | 2016-02-23 | Laser transmit-receive sensor with fixed modulation frequency |
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| CN105716635A true CN105716635A (en) | 2016-06-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108124466A (en) * | 2017-12-11 | 2018-06-05 | 深圳前海达闼云端智能科技有限公司 | Laser acquisition method and system |
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2016
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| CN108124466A (en) * | 2017-12-11 | 2018-06-05 | 深圳前海达闼云端智能科技有限公司 | Laser acquisition method and system |
| WO2019113723A1 (en) * | 2017-12-11 | 2019-06-20 | 深圳前海达闼云端智能科技有限公司 | Laser detection method and system |
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Application publication date: 20160629 |
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