CN106353745A - Two-dimensional scanning device of laser radar - Google Patents
Two-dimensional scanning device of laser radar Download PDFInfo
- Publication number
- CN106353745A CN106353745A CN201610936663.3A CN201610936663A CN106353745A CN 106353745 A CN106353745 A CN 106353745A CN 201610936663 A CN201610936663 A CN 201610936663A CN 106353745 A CN106353745 A CN 106353745A
- Authority
- CN
- China
- Prior art keywords
- scanning
- laser
- laser beam
- target
- reflecting mirror
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a two-dimensional scanning device of a laser radar. The device comprises a reflection mirror, a scanning driving system and an axis, wherein the reflection mirror is used for reflecting an emitting laser beam; a fixed included angle alpha is formed between the normal of the reflection mirror and the axis, and an incidence included angle theta is formed between the normal of the reflection mirror and the incoming emitting laser beam; the emitting laser beam reaches a reflection mirror surface of the reflection mirror in a fixed direction; the scanning driving system drives the reflection mirror to rotate for 360 degrees around the axis through a scanning shaft; the emitting laser beam rotates along the reflection mirror so that a reflection direction of emitting laser is periodically changed; and a circular laser scanning track is formed on a target and two-dimensional scanning on the target is realized. The device can guarantee that the emitting laser beam and laser scanning measurement is completely effective; and meanwhile, the two-dimensional scanning on the target is realized through one-dimensional rotation of a scanning mechanism.
Description
Technical field
The present invention relates to Laser Radar Scanning technical field, more particularly, to a kind of two-dimensional scanner of laser radar.
Background technology
At present, the major way realizing laser scanning has raster scanning, acousto-optic scanning, electropical scanning and optical mechaical scanning four
Kind, optical mechaical scanning is the main scan mode that present laser Radar Products adopt, and typical laser radar optical mechaical scanning mould
Formula has vibration mirror scanning, rotating mirror scanning and wedge scarnning mirror, that is, utilize swing or the rotation of optical scanning element, constantly cyclomorphosis
The exit direction of laser, reaches the purpose of Laser Radar Scanning.
Laser Radar Scanning is realized in the machinery swing that vibration mirror scanning passes through galvanometer, is formed near perpendicular to the platform direction of motion
Like straight path, due to the non-homogeneous swing of galvanometer, it is intensive that scanning laser point cloud shows as the sparse both sides in lower section, is unfavorable for reality
Operation is applied；Rotating mirror scanning realizes Laser Radar Scanning by the Rotating with Uniform of post mirror, is formed perpendicular to the platform direction of motion
Approximate straight-line locus, in order to ensure laser radar point cloud acquisition efficiency, airborne equipment generally adopts three faces or angular column mirror, post mirror
Rotate one week and can obtain 3-4 bar scan line, the major defect of above-mentioned technology is: when rotating to another minute surface from a minute surface
When, the laser beam being transmitted into mirror edges cannot effectively detect target, reduces the effective rate of utilization of transmitting laser beam；Galvanometer is swept
Retouch and be one-dimensional scanning with rotating mirror scanning, shade can be produced because of target occlusion；The scanning field of view of wedge scarnning mirror is little, sweep mechanism is stupid
Weight, is unfavorable for lightness and the miniaturization of laser radar apparatus.
Content of the invention
It is an object of the invention to provide a kind of two-dimensional scanner of laser radar, can ensure that transmitting swashs using this device
Light beam and laser scanning measurement 100% effectively, achieve the two-dimensional scan to target by the one-dimensional rotation of sweep mechanism simultaneously.
A kind of two-dimensional scanner of laser radar, described device includes reflecting mirror, scan drive system and axis, its
In:
Described reflecting mirror is used for reflection transmitting laser beam, and the normal of described reflecting mirror forms fixed angle α with axis, and with
There is incident angle theta in incident transmitting laser beam；Wherein, 45 ° of 45 ° of 0 ° of ＜ α ＜, 0 ° of ＜ θ ＜；
With the fixing mirror surface pointing to and reaching described reflecting mirror, described scan drive system passes through described transmitting laser beam
Scan axises drive described reflecting mirror to carry out 360 ° of rotations around described axis, and described transmitting laser beam is with the rotation of described reflecting mirror
Turn, periodically-varied launches the reflection direction of laser, and in target shape conglobate laser scanning track, realize two to target
Dimension scanning.
The track of described two-dimensional scan is obtained by the device space coordinate of the laser point cloud of every bundle laser acquisition target；
The device space coordinate of described laser point cloud is by the inclination angle of mirror surface, Spindle rotation angle degree and pulse laser
Range finding resolving obtains.
The scanning field of view of described device is related to described angle α and incident angle theta.
Described device is equipped on flying platform, realizes the leading flank to raised target and trailing flank bilateral scanning measures.
Described reflecting mirror can be received and dispatched light path and share.
As seen from the above technical solution provided by the invention, can ensure that transmitting laser beam using said apparatus and swash
Photoscanning measurement 100% effectively, achieves the two-dimensional scan to target by the one-dimensional rotation of sweep mechanism simultaneously, flat in flight
On platform, the leading flank of raised target and trailing flank bilateral scanning can also be measured, reduce and mutually block to scanning because of target
The impact of measurement result.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to required use in embodiment description
Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
The structural representation of the two-dimensional scanner by the provided laser radar of the embodiment of the present invention for the Fig. 1；
Fig. 2 is a kind of principle schematic of embodiment of the present invention described device；
A kind of scanning means that Fig. 3 is enumerated by the embodiment of the present invention obtains the schematic diagram of target side laser point cloud.
Specific embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on this
Inventive embodiment, the every other enforcement that those of ordinary skill in the art are obtained under the premise of not making creative work
Example, broadly falls into protection scope of the present invention.
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in further detail, is illustrated in figure 1 the present invention and implements
The structural representation of the two-dimensional scanner of example institute offer laser radar, described device mainly includes reflecting mirror 1, turntable driving system
System 2 and axis 3, wherein:
Described reflecting mirror 1 is used for reflection transmitting laser beam 4, and the normal of described reflecting mirror 1 forms fixed angle α with axis 3
(0 ° ＜ α ＜ 45 °), and there is incident angle theta (0 ° ＜ θ ＜ 45 °) with incident transmitting laser beam 4；In implementing, this reflection
Mirror 1 can be received and dispatched light path and share.
Described transmitting laser beam 4 is with the fixing mirror surface pointing to and reaching described reflecting mirror 1, described scan drive system 2
Described reflecting mirror 1 is driven to carry out 360 ° of rotations around described axis 3 by scan axises, described transmitting laser beam 4 is with described reflection
The rotation of mirror 1, periodically-varied launches the reflection direction of laser, and in target shape conglobate laser scanning track, it is right to realize
The two-dimensional scan of target.
It is illustrated in figure 2 a kind of principle schematic of embodiment of the present invention described device, with reference to Fig. 2: scanning means is first
During beginning state, scan axis are α with the normal angle of mirror surface, and mirror surface normal becomes θ angle with transmitting laser beam, transmitting
After laser beam s1 reflected minute surface bc reflection, it is imaged on d1 position；When scanning means rotates around the spindle 180 °, and reflecting mirror around
Axis rotates 180 ° simultaneously, after transmitting laser beam s2 reflected minute surface b'c' reflection, is imaged on d2 position, thus constitutes laser
Radar scanning visual field d1d2.So when scanning means drives reflecting mirror around 360 ° of rotations of scan axis, the reflected mirror of laser beam
Periodically-varied exit direction after the reflection of face, and in target device circle formed below laser point cloud track.
In implementing, the scanning field of view of described device is related to described angle α and incident angle theta, Laser Radar Scanning
Angle of visual field fov is expressed as:
Fov=α+θ (1)
It can be seen that, the scanning field of view of described device expands with the increase of α and θ, 45 ° of 0 ° of ＜ α ＜, 45 ° of 0 ° of ＜ θ ＜, reason
Can be nearly 90 ° by upper α and θ maximum, because larger reflection angle cannot receive return laser beam, α and θ in enforcement is respectively less than
45 °, maximum scan visual field is less than 90 °.
In implementing, above-mentioned two-dimensional scan track is obtained by the laser point cloud of every bundle laser acquisition target, described laser
The device space coordinate of point cloud is resolved by the inclination angle of mirror surface, Spindle rotation angle degree and pulsed laser ranging and obtains.Lift
For example, the computation model of the laser point cloud device space coordinate of described device is as follows:
If the plane equation of mirror surface is:
am(x-xm)+bm(y-ym)+cm(z-zm)=0 (2)
Then the normal vector of mirror surface is expressed asWherein am、bmAnd cmInclining by mirror surface
AngleDetermine with the corner ω of minute surface；xm、ymAnd zmIntersection point for transmitting laser beam and mirror surface.
For per incident light vectorIts reflective vector is expressed as:
Any one emission pulse laser bundle with respect to the spatial coordinates calculation model representation of device coordinate system is:
In formula, c represents the light velocity, and t represents the flight time of single bundle of pulsed laser.
It is illustrated in figure 3 a kind of signal of scanning means acquisition target side laser point cloud that the embodiment of the present invention is enumerated
Figure, described scanning means is equipped on flying platform, realizes the leading flank to raised target and trailing flank bilateral scanning measures, ginseng
Examine Fig. 3:
When laser radar carries out data acquisition, launch the rotation with reflecting mirror (1) for the laser beam (4), respectively in flight side
To forward direction target (7) and the upper scanning of backward target (6) of (5), obtain the laser scanning track of forward and backward target.
When platform moves along heading (5), laser radar order obtains front one group of side scan line to target (7)
(9) and backward target (6) one group of side scan line (8)；Side laser point cloud by target (6) and (7), it is possible to achieve mesh
The three-dimensional reconstruction of mark side；Described device also can avoid target mutually to block the impact to laser point cloud data quality simultaneously.
In sum, the scanning means that the embodiment of the present invention is provided has the advantage that
1) transmitting laser beam can effectively realize laser scanning measurement with 100% reflection by described mirror surface；
2) on flying platform, the leading flank to raised target and rear side can be realized by the one-dimensional rotation of sweep mechanism
Face bilateral scanning measurement, it is to avoid target mutually blocks the impact to scanning survey result.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope of present disclosure, the change or replacement that can readily occur in,
All should be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (5)
1. a kind of two-dimensional scanner of laser radar it is characterised in that described device include reflecting mirror, scan drive system and
Axis, wherein:
Described reflecting mirror is used for reflection transmitting laser beam, and the normal of described reflecting mirror and axis form fixed angle α, and with incidence
Transmitting laser beam there is incident angle theta；Wherein, 45 ° of 45 ° of 0 ° of ＜ α ＜, 0 ° of ＜ θ ＜；
With the fixing mirror surface pointing to and reaching described reflecting mirror, described scan drive system passes through scanning to described transmitting laser beam
Axle drives described reflecting mirror to carry out 360 ° of rotations around described axis, and described transmitting laser beam is with the rotation of described reflecting mirror, week
Phase sexually revises the reflection direction of transmitting laser, and in target shape conglobate laser scanning track, realizes the two dimension of target is swept
Retouch.
2. according to claim 1 laser radar two-dimensional scanner it is characterised in that
The track of described two-dimensional scan is obtained by the device space coordinate of the laser point cloud of every bundle laser acquisition target；
The device space coordinate of described laser point cloud is by the inclination angle of mirror surface, Spindle rotation angle degree and pulsed laser ranging
Resolving obtains.
3. according to claim 1 laser radar two-dimensional scanner it is characterised in that
The scanning field of view of described device is related to described angle α and incident angle theta.
4. according to claim 1 laser radar two-dimensional scanner it is characterised in that
Described device is equipped on flying platform, realizes the leading flank to raised target and trailing flank bilateral scanning measures.
5. according to claim 1 laser radar two-dimensional scanner it is characterised in that
Described reflecting mirror can be received and dispatched light path and share.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610936663.3A CN106353745A (en) | 2016-11-01 | 2016-11-01 | Two-dimensional scanning device of laser radar |
| PCT/CN2017/000657 WO2018082200A1 (en) | 2016-11-01 | 2017-10-31 | Two-dimensional scanning device and laser radar device with two-dimensional scanning device |
| CN201790001361.5U CN211653129U (en) | 2016-11-01 | 2017-10-31 | Two-dimensional scanning device and laser radar device with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610936663.3A CN106353745A (en) | 2016-11-01 | 2016-11-01 | Two-dimensional scanning device of laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106353745A true CN106353745A (en) | 2017-01-25 |
Family
ID=57864103
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610936663.3A Pending CN106353745A (en) | 2016-11-01 | 2016-11-01 | Two-dimensional scanning device of laser radar |
| CN201790001361.5U Active CN211653129U (en) | 2016-11-01 | 2017-10-31 | Two-dimensional scanning device and laser radar device with same |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201790001361.5U Active CN211653129U (en) | 2016-11-01 | 2017-10-31 | Two-dimensional scanning device and laser radar device with same |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN106353745A (en) |
| WO (1) | WO2018082200A1 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107153200A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107390200A (en) * | 2017-08-01 | 2017-11-24 | 宁波傲视智绘光电科技有限公司 | A kind of mechanical scanning type laser radar mechanical-optical setup and detection method |
| WO2018082200A1 (en) * | 2016-11-01 | 2018-05-11 | 北科天绘（苏州）激光技术有限公司 | Two-dimensional scanning device and laser radar device with two-dimensional scanning device |
| CN108692656A (en) * | 2017-04-07 | 2018-10-23 | 中国人民解放军信息工程大学 | A kind of laser scanning data acquisition methods and device |
| CN109471126A (en) * | 2017-09-07 | 2019-03-15 | 南京理工大学 | A kind of vibration for linear array laser radar turns to combine circumferential scanning device |
| CN109828259A (en) * | 2019-02-14 | 2019-05-31 | 昂纳信息技术（深圳）有限公司 | A kind of laser radar and array sweeping device |
| CN109932701A (en) * | 2019-04-02 | 2019-06-25 | 哈尔滨工程大学 | A kind of object ship echo 2D imaging method for simulating marine radar |
| CN111381239A (en) * | 2018-12-29 | 2020-07-07 | 华为技术有限公司 | Laser measurement module and laser radar |
| CN111399216A (en) * | 2020-04-27 | 2020-07-10 | 武汉海达数云技术有限公司 | Optical scanning assembly, onboard scanning system and optical scanning method |
| CN113559292A (en) * | 2020-04-28 | 2021-10-29 | 东元电机股份有限公司 | Movable ultraviolet light disinfection and sterilization device |
| WO2023035326A1 (en) * | 2021-09-07 | 2023-03-16 | 陈泽雄 | Hybrid solid-state lidar and scanning method therefor |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462512B (en) * | 2020-11-11 | 2022-11-22 | 山东科技大学 | Airborne laser radar scanning mirror device, system and scanning method |
| CN113124719B (en) * | 2021-04-24 | 2023-12-01 | 西安工业大学 | Laser ranging scanning type precision target and testing method thereof |
| CN114525729B (en) * | 2021-12-17 | 2022-11-04 | 东南大学 | Auxiliary mark belt laying vehicle for large-span bridge form laser scanning |
| CN115289981A (en) * | 2022-08-30 | 2022-11-04 | 武汉新朗光电科技有限公司 | Multipoint laser displacement monitoring device, system and method |
| CN115166695B (en) * | 2022-09-06 | 2022-12-23 | 深圳力策科技有限公司 | High-safety laser radar scanning device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105093235A (en) * | 2015-08-18 | 2015-11-25 | 北京控制工程研究所 | Synchronous scanning intersection measurement fusion imaging system |
| CN105319555A (en) * | 2007-02-28 | 2016-02-10 | 电装波动株式会社 | Laser radar apparatus for three-dimensional detection of target |
| CN105785343A (en) * | 2016-04-29 | 2016-07-20 | 中国科学院电子学研究所 | Spacial multi-beam laser emitter, multichannel receiving apparatus and detection apparatus |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204044360U (en) * | 2014-07-29 | 2014-12-24 | 武汉万集信息技术有限公司 | A kind of scanning type laser distance measuring equipment with light splitting piece |
| CN204347249U (en) * | 2015-01-30 | 2015-05-20 | 济宁科力光电产业有限责任公司 | The safe laser scanning device of inspected object direction and distance |
| CN205103397U (en) * | 2015-09-23 | 2016-03-23 | 上海物景智能科技有限公司 | Laser rangefinder radar |
| CN106353745A (en) * | 2016-11-01 | 2017-01-25 | 北京北科天绘科技有限公司 | Two-dimensional scanning device of laser radar |
-
2016
- 2016-11-01 CN CN201610936663.3A patent/CN106353745A/en active Pending
-
2017
- 2017-10-31 WO PCT/CN2017/000657 patent/WO2018082200A1/en active Application Filing
- 2017-10-31 CN CN201790001361.5U patent/CN211653129U/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105319555A (en) * | 2007-02-28 | 2016-02-10 | 电装波动株式会社 | Laser radar apparatus for three-dimensional detection of target |
| CN105093235A (en) * | 2015-08-18 | 2015-11-25 | 北京控制工程研究所 | Synchronous scanning intersection measurement fusion imaging system |
| CN105785343A (en) * | 2016-04-29 | 2016-07-20 | 中国科学院电子学研究所 | Spacial multi-beam laser emitter, multichannel receiving apparatus and detection apparatus |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018082200A1 (en) * | 2016-11-01 | 2018-05-11 | 北科天绘（苏州）激光技术有限公司 | Two-dimensional scanning device and laser radar device with two-dimensional scanning device |
| CN108692656B (en) * | 2017-04-07 | 2020-07-17 | 中国人民解放军信息工程大学 | Laser scanning data acquisition method and device |
| CN108692656A (en) * | 2017-04-07 | 2018-10-23 | 中国人民解放军信息工程大学 | A kind of laser scanning data acquisition methods and device |
| CN107153200A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN107390200A (en) * | 2017-08-01 | 2017-11-24 | 宁波傲视智绘光电科技有限公司 | A kind of mechanical scanning type laser radar mechanical-optical setup and detection method |
| CN109471126A (en) * | 2017-09-07 | 2019-03-15 | 南京理工大学 | A kind of vibration for linear array laser radar turns to combine circumferential scanning device |
| CN109471126B (en) * | 2017-09-07 | 2022-12-02 | 南京理工大学 | Vibration-rotation combined circumferential scanning device for linear array laser radar |
| US11428788B2 (en) | 2018-12-29 | 2022-08-30 | Huawei Technologies Co., Ltd. | Laser measurement module and laser radar |
| CN111381239A (en) * | 2018-12-29 | 2020-07-07 | 华为技术有限公司 | Laser measurement module and laser radar |
| CN111381239B (en) * | 2018-12-29 | 2022-08-19 | 华为技术有限公司 | Laser surveying module and laser radar |
| US11960031B2 (en) | 2018-12-29 | 2024-04-16 | Huawei Technologies Co., Ltd. | Laser measurement module and laser radar |
| CN109828259A (en) * | 2019-02-14 | 2019-05-31 | 昂纳信息技术（深圳）有限公司 | A kind of laser radar and array sweeping device |
| CN109932701A (en) * | 2019-04-02 | 2019-06-25 | 哈尔滨工程大学 | A kind of object ship echo 2D imaging method for simulating marine radar |
| CN111399216A (en) * | 2020-04-27 | 2020-07-10 | 武汉海达数云技术有限公司 | Optical scanning assembly, onboard scanning system and optical scanning method |
| CN113559292A (en) * | 2020-04-28 | 2021-10-29 | 东元电机股份有限公司 | Movable ultraviolet light disinfection and sterilization device |
| WO2023035326A1 (en) * | 2021-09-07 | 2023-03-16 | 陈泽雄 | Hybrid solid-state lidar and scanning method therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018082200A1 (en) | 2018-05-11 |
| CN211653129U (en) | 2020-10-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106353745A (en) | Two-dimensional scanning device of laser radar | |
| AU2002318268B2 (en) | Combined LOAS and LIDAR system | |
| US9791555B2 (en) | High speed 360 degree scanning LIDAR head | |
| US6542227B2 (en) | System and method of measuring flow velocity in three axes | |
| US6650407B2 (en) | Wide field scanning laser obstacle awareness system | |
| US6665063B2 (en) | Distributed laser obstacle awareness system | |
| CN109254286B (en) | Airborne laser radar optical scanning device | |
| EP3859377B1 (en) | Distance detection device | |
| CN106772314B (en) | The airborne mapping laser radar broom type scanning system of one kind and its scan method | |
| CN102662236B (en) | Scanning device realizing unidirectional laser scanning through double-faced vibrating mirror | |
| AU2002322525A1 (en) | System and method of measuring flow velocity in three axes | |
| CN108227183A (en) | Rotary laser scanning means | |
| CN107643525A (en) | Linear array laser radar based on 45 ° of tilting mirrors is circumferential without as revolving imaging system | |
| JPS62112119A (en) | Range finder for image system and improvement in this apparatus | |
| CA3136636C (en) | Monostatic scanning lidar using a multi-faceted polygon mirror as one of dual redirecting elements | |
| CN110824458A (en) | Large-range scanning coaxial MEMS laser radar optical system | |
| CN208334781U (en) | Rotary laser scanning means | |
| CN114265041A (en) | Scanning device and scanning method | |
| CN217360285U (en) | Scanning device | |
| CN211086603U (en) | Laser radar scanning device and laser radar | |
| CN108646405A (en) | A kind of system for realizing multi-thread scanning | |
| JP2002221574A (en) | Method and system for identifying aerial position of flying object | |
| CN112313531A (en) | Distance measuring device and control method for scanning view field thereof | |
| AU2007203608A1 (en) | A block arrangement of optical elements for a Lidar System | |
| CN113702944A (en) | Airborne navigation obstacle avoidance laser radar scanning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170125 |