CN107015237A - A kind of sounding optical system - Google Patents
A kind of sounding optical system Download PDFInfo
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- CN107015237A CN107015237A CN201710438204.7A CN201710438204A CN107015237A CN 107015237 A CN107015237 A CN 107015237A CN 201710438204 A CN201710438204 A CN 201710438204A CN 107015237 A CN107015237 A CN 107015237A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 73
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000009738 saturating Methods 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000011514 reflex Effects 0.000 description 11
- 238000005259 measurement Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000013307 optical fiber Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 229910000530 Gallium indium arsenide Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- 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
- G01S17/003—Bistatic lidar systems; Multistatic lidar systems
-
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- 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)
- 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 invention discloses a kind of sounding optical system.The sounding optical system includes：LASER Light Source, through hole speculum, reflecting prism and optical receiver system；The laser beam of the LASER Light Source transmitting passes through the through hole of the through hole speculum, target acquisition space is irradiated to after the reflection of the reflecting prism, when the laser beam is irradiated to the detection target in the target acquisition space, the echo of the detection target by after the reflecting prism and the reflection of through hole speculum, is irradiated to the optical receiver system successively.Simplified range-finding optical system is realized, volume is reduced, reduces the technique effect of cost.
Description
Technical field
The present embodiments relate to ranging technology field, more particularly to a kind of sounding optical system.
Background technology
In the equipment of long-range scanning ranging is carried out using laser, to realize the function of ranging, lead in its optical design
Formed frequently with galvanometer, multiple lasers and multiple receivers and receive multiple light path more, as a result of multiple lasers and many
Individual receiver, causes the complicated of remote distance-measuring equipment, size is big so that integral device is heavy, and high processing costs.Together
When, multiple radiating circuits and receiving circuit and timing alorithm etc. are also more intractable.
Such as, the laser radar VLP-16 of U.S. verlodyne companies, 200 meters of measurement range, measurement frequency highest
320khz, can detect 360 ° of environmental informations around.But, such configuration causes laser radar VLP-16 needs up to 16
Individual laser carries out transmitting and 16 receivers are received.
The content of the invention
The present invention provides a kind of sounding optical system, to simplify range-finding optical system, reduces volume, reduces cost.
The embodiments of the invention provide a kind of sounding optical system, including：LASER Light Source, through hole speculum, reflection
Prism and optical receiver system；The laser beam of the LASER Light Source transmitting passes through the through hole of the through hole speculum, by described
Target acquisition space is irradiated to after the reflection of reflecting prism, when the laser beam is irradiated to the spy in the target acquisition space
Target is surveyed, the echo of the detection target is irradiated to the light and connect successively by after the reflecting prism and the reflection of through hole speculum
Receipts system.
Preferably, the reflecting prism can rotate to realize the scanning of vertical direction, the sounding optical system
It can rotate in the horizontal plane on the whole.
Preferably, the reflecting prism is reflex prism.
Preferably, in addition to collimating optics subsystem, between the LASER Light Source and through hole speculum, for institute
Laser beam is stated to be collimated.
Preferably, the collimating optics subsystem is made up of three lens, along the direction of propagation of laser beam from a left side to
The right side is followed successively by the first lens, the second lens and the 3rd lens, and the bore of the collimating optics subsystem is 20mm, and overall length is
35mm。
Preferably, the thickness of first lens, the second lens and the 3rd lens is followed successively by：2.016mm, 3.904mm and
3.038mm；The air gap between first lens and the second lens is 17.812mm, second lens and the 3rd lens
Between the air gap be 1.541；Constitute first lens, the second lens and the 3rd lens six faces radius of curvature from
Left-to-right is followed successively by：-3mm-1、3mm-1、-555.445mm-1、-14.231mm-1、-276.456mm-1With -31.06mm-1。
Preferably, the optical receiver system includes focusing on optical subsystem and photodetector, the focusing optics subsystem
Unite for being irradiated to the photodetector after the echo of the detection target is focused.
Preferably, the focusing optical subsystem is made up of four lens and diaphragm, along the direction of propagation of the echo
Include the 4th lens, the 5th lens, diaphragm, the 6th lens and the 7th lens, the focusing optical subsystem successively from left to right
Bore be 40mm, focal length is 40mm, and overall length is 45mm.
Preferably, the thickness of the 4th lens, the 5th lens, the 6th lens and the 7th lens is followed successively by：4.558mm、
5mm, 4.559mm and 2.271mm；The air gap between 4th lens and the 5th lens is 2mm, the 5th lens
The air gap between diaphragm is 4.656mm, and the air gap between the diaphragm and the 6th lens is 2.353mm, institute
The 6th the air gap between lens and the 7th lens is stated for 7.603mm；Constitute the 4th lens, the 5th lens, the 6th
The radius of curvature in eight faces of lens and the 7th lens is followed successively by from left to right：66.503mm-1、373.521mm-1、49.402mm-1、249.402mm-1、26.82mm-1、76.82mm-1、-40.64mm-1And 38.767mm-1。
Preferably, the optical receiver system also includes optical filter, positioned at the focusing optical subsystem and photodetector
Between.
A kind of sounding optical system that the present invention is provided, by using by LASER Light Source, transmitting light path with receive light
The technological means that road is coaxially disposed, makes the laser beam that LASER Light Source is launched reflect rib by the through hole directive of through hole speculum
Mirror, by the reflection of reflecting prism so that laser beam is irradiated to target acquisition space.When laser beam is being irradiated to target spy
When surveying the detection target in space, scattering of the laser beam by detection target produces rear orientation light.From detection target
Rear orientation light sequentially pass through reflecting prism and through hole speculum reflection after, into optical receiver system.It is such to be received once hair one
Complete multi-thread transmitting and reception so that not there is MIMO in the sounding light path system that the present invention is provided
Problem, if taking the sounding light path system that the present invention is provided in long distance laser scanning distance-measuring equipment, can be solved
Remote range-measurement system in prior art optics due to receive more it is multiple caused by it is complicated, size is big, high processing costs
Technical problem, realize simplified range-finding optical system, reduce volume, reduce the technique effect of cost.
Brief description of the drawings
Fig. 1 is a kind of structural representation of sounding optical system in the embodiment of the present invention；
Fig. 2 is the structural representation of the collimating optics subsystem in the embodiment of the present invention；
Fig. 3 is the structural representation for focusing on optical subsystem in the embodiment of the present invention.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.In the case where not conflicting, implement below
Feature in example and embodiment can be mutually combined.
The sounding optical system that the present embodiment is provided can be applied to high-precision scanning laser mapping radar, belong to its core
Center portion part.The sounding optical system provided using the present embodiment, can be based on time-of-flight method, calculate modulation Laser emission
With the time difference of return, obtain light path, and then obtain detecting the range information of target.
As shown in figure 1, sounding optical system includes：LASER Light Source 11, through hole speculum 12, reflecting prism 13 and light
Reception system 14；The laser beam that LASER Light Source 11 is launched, through the through hole of through hole speculum 12, by the anti-of reflecting prism 13
Target acquisition space is irradiated to after penetrating, when laser beam target acquisition space illumination to detection target when, the laser beam warp
Detection target scattering is crossed, after the echo of formation is reflected by reflecting prism 13 and through hole speculum 12 successively, light-receiving system is irradiated to
On system 14.
The optical system that the present embodiment is provided receives mode from axis light so that field of view of receiver is not a problem, and uses
One, which receives one, sends out, and reduces optical element, reduces the design difficulty of optical receiver system, simultaneously so that whole sounding optics
System bulk is small, compact conformation.
Further, reflecting prism 13 can rotate, to realize the scanning of vertical direction (i.e. z-axis direction is shown in Fig. 1),
Sounding optical system can (i.e. the x-y plane of x-axis and the y-axis composition shown in Fig. 1) rotation in the horizontal plane on the whole.Tool
Body, reflecting prism 13 is reflex prism.Reflex prism can regard its central symmetry axis as its rotary shaft.
Transmitting laser incides reflex prism by the through hole of through hole speculum 12, and reflex prism direction of rotation is such as
A directions shown in Fig. 1, realize the vertical scanning of laser beam in 100 ° of one-dimensional visual fields of z-axis direction as shown in Figure 1, i.e., from-
40 ° to+60 °；Meanwhile, whole sounding optical system can realize the horizontal sweep of laser beam around 360 ° of horizontal rotations, with
Z-axis is rotary shaft, is rotated in x-y plane, and direction of rotation is B directions as shown in Figure 1.Optical receiver system 14 it is overall relative to
Z-axis has deflected 10 degree, be to realize -40 ° -+60 ° vertical scanning in target acquisition space, i.e., reflex prism realize -
20 ° -+30 ° of deflection.Therefore, the optical system scanning field of view that the present embodiment is provided is big.
The selection of reflecting prism 13 is set to reflex prism.The reason for this set is：Selected in now universal laser radar
Galvanometer, causes the scanning angle of existing laser radar to be limited, and because the inherent characteristic that light beam reflects can not be met simultaneously
The condition of two scanner uniform scannings, can cause the distortion of scan image.And mechanical scanning angle is required in this optical system
For 50 degree, and reflex prism can ideally scan 120 degree.Size in view of launching laser facula, from this angle
Seem it is contemplated that the face number of the reflective surface of increase prism, improves the utilization rate of scanning angle and the utilization rate of motor.However, from
The axiality of the reflex prism of main processing tends not to be completely secured, if three prism facets of reflex prism are all carried out simultaneously
Scanning, will appear from the deviation of scan vision, thus, to ensure the axiality of scanning field of view, selection only utilizes one of prism
Face is scanned.In conjunction with view of dimensional problem, selection reflex prism.
On the basis of above-mentioned technical proposal, further, sounding optical system can also include collimated light scholar
System (not shown in figure 1), the collimating optics subsystem is located between LASER Light Source 11 and through hole speculum 12, for laser
Light beam is collimated.
Specifically, as shown in Fig. 2 collimating optics subsystem can be made up of three lens, along the propagation of laser beam
Direction, is followed successively by the first lens 1, the second lens 2 and the 3rd lens 3, the bore of collimating optics subsystem is 20mm from left to right,
Overall length is 35mm.
Wherein, the thickness of the first lens 1, the second lens 2 and the 3rd lens 3 is followed successively by：2.016mm, 3.904mm and
3.038mm；The air gap between first lens 1 and the second lens 2 is 17.812mm, between the second lens 2 and the 3rd lens 3
The air gap be 1.541；Constitute the first lens 1, the second lens 2 and the 3rd lens 3 six faces radius of curvature from a left side to
The right side is followed successively by：-3mm-1、3mm-1、-555.445mm-1、-14.231mm-1、-276.456mm-1With -31.06mm-1。
Further, the first lens 1, the second lens 2 and the 3rd lens 3 can be spherical lens, LASER Light Source 11
Optical fiber laser can be used.
The sounding optical system that the present embodiment is provided, swashs by using by one group of three spherical lens and an optical fiber
Light device constitutes the technological means of light emission system, through fibre optical transmission laser, is collimated through first spherical lens, second sphere is saturating
Mirror mirror is expanded, the 3rd spherical lens collimation transmitting.The launch spot size for launching laser is 10mm, and the angle of divergence is
0.148mrad, obtains approaching the Gaussian spot of circle, and the angle of divergence is very small, and energy is concentrated, and spot size is 140mm at 500m,
It is more prone to so that receiving signal.Therefore, by the sounding optical system, it can realize in 500 meters and scan ranging.And it is beautiful
The laser radar VLP-16 of verlodyne companies of state laser uses laser diode, and laser power peak-peak is
75W, when measurement distance is 200m, if detection target reflectivity is smaller, no echo-signal, detection is difficult to complete.
In addition, in other embodiments of the invention, according to will to the difference of detection range in practical application scene
Ask, those skilled in the art know that LASER Light Source 11 can not use optical fiber laser, can use other lasers such as：Laser
Diode, gas laser, solid state laser etc. is substituted.Similarly, three spherical lens groups of collimating optics subsystem also may be used
To be substituted with non-spherical lens group.
Further, with continued reference to Fig. 1, optical receiver system 14 can also include focusing on optical subsystem 141 and photoelectricity is visited
Device 142 is surveyed, focusing on optical subsystem 141 is used to be irradiated to photodetector 142 after the echo for detecting target is focused,
So that photodetector 142 receives the optical signal of return.
Specifically, as shown in figure 3, the focusing optical subsystem 141 is made up of four lens and diaphragm 8, along echo
The direction of propagation, from left to right successively include the 4th lens 4, the 5th lens 5, diaphragm 8, the 6th lens 6 and the 7th lens 7, gather
The bore of burnt optical subsystem 141 is 40mm, and focal length is 40mm, and overall length is 45mm.
Wherein, the thickness of the 4th lens 4, the 5th lens 5, the 6th lens 6 and the 7th lens 7 is followed successively by：4.558mm、
5mm, 4.559mm and 2.271mm；The air gap between 4th lens 4 and the 5th lens 5 is 2mm, the 5th lens 5 and diaphragm 8
Between the air gap be 4.656mm, the air gap between the lens 6 of diaphragm 8 and the 6th is 2.353mm, the 6th lens 6 and the
The air gap between seven lens 7 is 7.603mm；Constitute the 4th lens 4, the 5th lens 5, the 6th lens 6 and the 7th lens 7
The radius of curvature in eight faces, is followed successively by from left to right：66.503mm-1、373.521mm-1、49.402mm-1、249.402mm-1、
26.82mm-1、76.82mm-1、-40.64mm-1And 38.767mm-1。
It is pointed out that focusing on four spherical lens groups of optical subsystem 141 can also be replaced with non-spherical lens group
Generation, as long as can complete to detect the focusing of target echo.
Further, as shown in figure 3, optical receiver system 14 also includes optical filter 9, positioned at the focusing He of optical subsystem 141
Between photodetector 142.The echo-signal of laser can be by optical filter 9, and the light of other wavelength is all filtered out, and improves and is
System signal to noise ratio, detection range of the increase system under strong light.Wherein, the design parameter of optical filter 9 is as follows：Size：3×3×
3mm, plated film requirement be：1550 ± 0.5nm, T>90% (1550nm central wavelength bands a width of ± 0.5nm, transmitance T are more than
90%)；600-1700nm, T<0.1%.Because the photodetector used in this programme is InGaAs APD, it is not only right
1550nm is photosensitive, has different degrees of luminous sensitivity to all wave bands in 600~1700nm, therefore, need to by 600~
Other wavelength that 1550nm wave bands are removed in 1700nm wave bands are all filtered out, even if its transmitance is less than 0.1%；50% bandwidth<
5nm (half-band width is less than 5nm)；1% bandwidth<15nm.
Focusing optical subsystem 141, optical filter 9 and the composition optics of photodetector 142 that the present embodiment is provided receive system
System 14, improves the signal to noise ratio of echo-signal, results in more accurately measurement result.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art it is various it is obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of sounding optical system, it is characterised in that including：LASER Light Source, through hole speculum, reflecting prism and light connect
Receipts system；The laser beam of the LASER Light Source transmitting passes through the through hole of the through hole speculum, by the reflecting prism
Target acquisition space is irradiated to after reflection, when the laser beam is irradiated to the detection target in the target acquisition space, institute
The echo of detection target is stated successively by after the reflecting prism and the reflection of through hole speculum, the optical receiver system is irradiated to.
2. sounding optical system according to claim 1, it is characterised in that the reflecting prism can be rotated with reality
The scanning of existing vertical direction, the sounding optical system can rotate in the horizontal plane on the whole.
3. sounding optical system according to claim 1 or 2, it is characterised in that the reflecting prism is reflection three
Prism.
4. sounding optical system according to claim 1, it is characterised in that also including collimating optics subsystem, position
Between the LASER Light Source and through hole speculum, for being collimated to the laser beam.
5. sounding optical system according to claim 4, it is characterised in that the collimating optics subsystem is by three
Lens are constituted, and the first lens, the second lens and the 3rd lens are followed successively by from left to right along the direction of propagation of laser beam, described
The bore of collimating optics subsystem is 20mm, and overall length is 35mm.
6. sounding optical system according to claim 5, it is characterised in that first lens, the second lens and
The thickness of 3rd lens is followed successively by：2.016mm, 3.904mm and 3.038mm；Sky between first lens and the second lens
Gas gap is 17.812mm, and the air gap between second lens and the 3rd lens is 1.541；Constitute described first saturating
The radius of curvature in six faces of mirror, the second lens and the 3rd lens is followed successively by from left to right：-3mm-1、3mm-1、-555.445mm-1、-14.231mm-1、-276.456mm-1With -31.06mm-1。
7. sounding optical system according to claim 1, it is characterised in that the optical receiver system includes focusing on light
Storage subsystem and photodetector, the focusing optical subsystem are used to irradiate after the echo of the detection target is focused
To the photodetector.
8. sounding optical system according to claim 7, it is characterised in that the focusing optical subsystem is by four
Lens and diaphragm composition, along the direction of propagation of the echo from left to right successively include the 4th lens, the 5th lens, diaphragm,
6th lens and the 7th lens, the bore of the focusing optical subsystem is 40mm, and focal length is 40mm, and overall length is 45mm.
9. sounding optical system according to claim 8, it is characterised in that the 4th lens, the 5th lens,
The thickness of six lens and the 7th lens is followed successively by：4.558mm, 5mm, 4.559mm and 2.271mm；4th lens and the 5th
The air gap between lens is that 2mm, the 5th the air gap between lens and diaphragm are 4.656mm, the diaphragm
The air gap between the 6th lens is 2.353mm, and the 6th the air gap between lens and the 7th lens is
7.603mm；Constitute the 4th lens, the 5th lens, the 6th lens and the 7th lens eight faces radius of curvature from a left side to
The right side is followed successively by：66.503mm-1、373.521mm-1、49.402mm-1、249.402mm-1、26.82mm-1、76.82mm-1、-
40.64mm-1And 38.767mm-1。
10. sounding optical system according to claim 7, it is characterised in that the optical receiver system also includes filter
Mating plate, between the focusing optical subsystem and photodetector.
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| CN201710438204.7A CN107015237B (en) | 2017-06-12 | 2017-06-12 | Echo detection optical system |
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| CN201710438204.7A CN107015237B (en) | 2017-06-12 | 2017-06-12 | Echo detection optical system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108051796A (en) * | 2017-12-29 | 2018-05-18 | 合肥嘉东光学股份有限公司 | A kind of miniaturization coaxial-type laser radar system based on TOF |
| CN108549159A (en) * | 2018-06-04 | 2018-09-18 | 凯迈（洛阳）测控有限公司 | It is a kind of to shine the optical system for surveying device for airborne laser |
| CN108761421A (en) * | 2018-03-20 | 2018-11-06 | 深圳市速腾聚创科技有限公司 | A kind of solid-state laser radar |
| CN109581402A (en) * | 2019-01-24 | 2019-04-05 | 西安深瞳智控技术有限公司 | A kind of strapdown laser half actively guides shot detection system and method |
| CN110161482A (en) * | 2018-02-10 | 2019-08-23 | 德尔福技术有限公司 | Capsule |
| CN110235025A (en) * | 2018-04-28 | 2019-09-13 | 深圳市大疆创新科技有限公司 | Distance detector |
| CN110231606A (en) * | 2018-11-27 | 2019-09-13 | 蔚来汽车有限公司 | Laser scanning device and laser radar apparatus including it |
| CN113126118A (en) * | 2019-12-31 | 2021-07-16 | 武汉万集信息技术有限公司 | 3D laser radar |
| CN113514845A (en) * | 2020-03-27 | 2021-10-19 | 北醒（北京）光子科技有限公司 | Laser radar optical system |
| CN113655465A (en) * | 2021-08-12 | 2021-11-16 | 重庆理工大学 | Anti-interference laser radar based on multi-wavelength continuous scanning |
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