CN107085207A - A kind of 360 ° of scanning probe laser radar apparatus - Google Patents

A kind of 360 ° of scanning probe laser radar apparatus Download PDF

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Publication number
CN107085207A
CN107085207A CN201710213213.6A CN201710213213A CN107085207A CN 107085207 A CN107085207 A CN 107085207A CN 201710213213 A CN201710213213 A CN 201710213213A CN 107085207 A CN107085207 A CN 107085207A
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CN
China
Prior art keywords
laser
light path
mechanical
optical setup
ranging module
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.)
Granted
Application number
CN201710213213.6A
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Chinese (zh)
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CN107085207B (en
Inventor
张智武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BEIJING SURESTAR TECHNOLOGY Co.,Ltd.
Original Assignee
BEIJING BEIKE TIANHUI TECHNOLOGY Co Ltd
Beijing Laser Technology Co Ltd
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Application filed by BEIJING BEIKE TIANHUI TECHNOLOGY Co Ltd, Beijing Laser Technology Co Ltd filed Critical BEIJING BEIKE TIANHUI TECHNOLOGY Co Ltd
Priority to CN201710213213.6A priority Critical patent/CN107085207B/en
Publication of CN107085207A publication Critical patent/CN107085207A/en
Priority to PCT/CN2018/000123 priority patent/WO2018176972A1/en
Priority to US16/589,078 priority patent/US20200033450A1/en
Application granted granted Critical
Publication of CN107085207B publication Critical patent/CN107085207B/en
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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4817Constructional features, e.g. arrangements of optical elements relating to scanning
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4814Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4816Constructional features, e.g. arrangements of optical elements of receivers alone

Abstract

The invention discloses a kind of 360 ° of scanning probe laser radar apparatus, described device includes centrosymmetric mechanical-optical setup component, laser ranging module and 360 ° of turntable driving modules, and the mechanical-optical setup component further comprises shafting structure and the optical window completely or partially covered around mechanical-optical setup component;The laser ranging module includes transmitting light path, receiving light path, Laser emission component and laser signal receiving unit, and the transmitting light path and receiving light path are designed using parallel light path;360 ° of turntable driving modules include sweep mechanism, turntable driving and control circuit, the scan axis of the sweep mechanism and the shafting structure are coaxial, and drive the laser ranging module to be rotated around the shafting structure, realize 360 ° of laser scanning, detectings.Said apparatus integrated level is high, small volume, suitable for the application in terms of the pilotless automobile of laser radar, robot navigation and avoidance.

Description

A kind of 360 ° of scanning probe laser radar apparatus
Technical field
The present invention relates to technical field of laser detection, more particularly to a kind of 360 ° of scanning probe laser radar apparatus.
Background technology
Traditional scanning probe laser radar apparatus, using unit Laser emission and receiving module, is driven by sweep mechanism Dynamic tilting mirror rotation or pendulum mirror motion, realize the two-dimensional scan of laser radar apparatus;Further driven and swashed by turntable transmission mechanism Optical scanning module integral-rotation, realizes the 3-D scanning of target.
Laser radar system and device with Detection Techniques is launched using many element laser, generally by motion parts and fixed part It is grouped into, indicative of local optical window rotates with motion parts relative to fixed part, using multiple unit Laser emissions and reception mould Block, realizes the 3-D scanning of target, the prior art scheme rotation axis system is easily by environmental pollution, and device miniaturization is limited, technology Using there is limitation.
The content of the invention
It is an object of the invention to provide a kind of 360 ° of scanning probe laser radar apparatus, the device integrated level is high, small volume, Suitable for the application in terms of the pilotless automobile of laser radar, robot navigation and avoidance.
A kind of 360 ° of scanning probe laser radar apparatus, described device includes centrosymmetric mechanical-optical setup component, laser Range finder module and 360 ° of turntable driving modules, wherein:
The mechanical-optical setup component further comprises shafting structure and optical window, and the optical window surrounds the ray machine Construction package realizes all or part of covering, and the shafting structure is the rotary shaft of the laser ranging module;
The laser ranging module includes transmitting light path, receiving light path, Laser emission component and laser signal receiving unit, Wherein:
The transmitting light path and receiving light path are designed using parallel light path;
The laser direct projection of one or more luminescence units transmitting of the Laser emission component simultaneously passes through the transmitting light path Outgoing, then laser echo signal is received by the receiving light path, and the laser echo signal is focused on into laser signal reception On the photoelectric signal transformation sensor array of component;
360 ° of turntable driving modules include sweep mechanism, turntable driving and control circuit, wherein:
The scan axis of the sweep mechanism and the shafting structure are coaxial, and drive the laser ranging module around described Shafting structure is rotated, and realizes 360 ° of laser scanning, detectings.
The mechanical-optical setup component is cylinder or round platform frame structure, or designs quadrangularly or polygonal cross-section framework knot Structure, the mechanical-optical setup component and its circular optical window, form the overall sealing structure of laser radar apparatus.
The Laser emission component includes one or more laser emitting modules, laser emitting module include one or Multiple luminescence units and corresponding process circuit, multiple luminescence units constitute array of light emitting cells;
The laser signal receiving unit includes one or more laser pick-off modules, and a laser pick-off module includes one Individual or multiple photoelectric signal transformation sensor units and corresponding process circuit, multiple photoelectric signal transformation sensor unit compositions Sensor array.
The stationary part of the sweep mechanism is connected firmly with the mechanical-optical setup component;
The rotor portion of the sweep mechanism is connected firmly with the laser ranging module.
As seen from the above technical solution provided by the invention, said apparatus integrated level height, small volume, suitable for laser thunder Application in terms of the pilotless automobile, robot navigation and the avoidance that reach.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, being used required in being described below to embodiment 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 for 360 ° of scanning probe laser radar apparatus that Fig. 1 is provided by the embodiment of the present invention;
Fig. 2 is the different structure block schematic illustration of mechanical-optical setup component described in the embodiment of the present invention;
The schematic diagram that Fig. 3 designs for parallel light path described in the embodiment of the present invention;
Fig. 4 is the schematic diagram that example of the present invention launches light path using the device;
Fig. 5 is the schematic diagram that example of the present invention utilizes the device receiving light path.
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 is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made Example, belongs to protection scope of the present invention.
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, is as shown in Figure 1 present invention implementation The structural representation for 360 ° of scanning probe laser radar apparatus that example is provided, described device includes centrosymmetric mechanical-optical setup Component 1, laser ranging module 2 and 360 ° of turntable driving modules 3, wherein:
The mechanical-optical setup component 1 further comprises that shafting structure 1-1 and optical window 1-2, the optical window 1-2 enclose All or part of covering is realized around the mechanical-optical setup component 1, the shafting structure 1-1 is the rotation of the laser ranging module 2 Rotating shaft;During implementing, the part associated with shafting structure 1-1 of mechanical-optical setup component 1 can be integrally machined shaping, Installation positioning can be debug by high accuracy;
The laser ranging module 2 includes transmitting light path 2-1, receiving light path 2-2, Laser emission component and laser signal and connect Component is received, Laser emission component and laser signal receiving unit are arranged at the inside of the laser ranging module 2, wherein:
The transmitting light path 2-1 and receiving light path 2-2 is designed using parallel light path;
The laser direct projection of one or more luminescence units transmitting of the Laser emission component simultaneously passes through the transmitting light path 2-1 outgoing, then laser echo signal is received by the receiving light path 2-2, and the laser echo signal is focused on into laser letter On the photoelectric signal transformation sensor array of number receiving unit;
360 ° of turntable driving modules 3 include sweep mechanism, turntable driving and control circuit, wherein:
The scan axis of the sweep mechanism and the shafting structure are coaxial, and drive the laser ranging module around described Shafting structure is rotated, and realizes 360 ° of laser scanning, detectings.Further, the stationary part of above-mentioned sweep mechanism and the light Machine construction package is connected firmly;The rotor portion of sweep mechanism is connected firmly with the laser ranging module.
In the specific implementation, above-mentioned mechanical-optical setup component can be designed to different shape, implementation of the present invention is illustrated in figure 2 Mechanical-optical setup component 1 in the different structure block schematic illustration of the example mechanical-optical setup component, Fig. 2 is cylinder or round platform framework knot Structure, accordingly, optical window 1-2 also according to mechanical-optical setup component 1 form design into different profiles, as shown in Figure 2.
Further, in addition to above-mentioned shape and structure, mechanical-optical setup component may be designed to quadrangle or polygonal cross-section Frame structure;Above-mentioned mechanical-optical setup component and its circular optical window, form the overall sealing structure of laser radar apparatus.
In addition, above-mentioned Laser emission component includes one or more laser emitting modules, a laser emitting module includes One or more luminescence units and corresponding process circuit, multiple luminescence units constitute array of light emitting cells;Laser signal is received Component includes one or more laser pick-off modules, and a laser pick-off module is sensed including one or more photoelectric signal transformations Device unit and corresponding process circuit, multiple photoelectric signal transformation sensor units constitute sensor array.
The schematic diagram that parallel light path described in the embodiment of the present invention is designed is illustrated in figure 3, with reference to Fig. 3:
One or more luminescence units of laser emitting module launch laser under the control of its alignment processing circuit, pass through Collimation and shaping, laser beam is sent with certain angle of divergence;
The parallel light path of transmitting-receiving, makes the laser echo signal in certain field of view of receiver angle, is received by receiving light path, and focus on Onto corresponding photoelectric signal transformation sensor unit.
Above-mentioned parallel light path design can effectively shield transmitting-receiving crosstalk, isolation laser emitting module back scattering veiling glare letter Number, and make transmitting-receiving light path closely and remote while realizing that visual field is covered.
The light path transmitting-receiving process of said apparatus is described in detail with specific example below, this hair is illustrated in figure 4 Bright example launches the schematic diagram of light path using the device, the schematic diagram of receiving light path is illustrated in figure 5, with reference to Figure 4 and 5:
One or more luminescence units of Laser emission component launch laser respectively under laser transmission circuit control, light The emitted lens group outgoing of laser (1 in such as Fig. 4) that unit 1 is launched, the received lens group of target echo signal is focused on pair On the photosurface for the photoelectric signal transformation sensor unit 1 answered (1 in such as Fig. 5).
In turn, the laser of luminescence unit n transmittings, emitted and receiving lens group is by correspondence photoelectric signal transformation sensor Unit n is received, and is formed the transmitting correspondingly of multiple luminescence units and multiple photoelectric signal transformation sensor units and is received and closes System.
In addition, described device is luminous and receives the control logic of control circuit, it can be arranged according to the line number of laser radar, device Cloth and the demand of application are different, form different Laser emissions and echo reception mode.
In summary, the embodiment of the present invention is provided device integrated level is high, small volume, is driven suitable for nobody of laser radar Sail the application in terms of automobile, robot navigation and avoidance;Parallel light path design simultaneously can effectively shield transmitting-receiving crosstalk, isolate The spuious optical signal of Laser emission component back scattering, and make transmitting-receiving light path closely and remote while realizing that visual field is covered.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in, It should all 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 (4)

1. a kind of 360 ° of scanning probe laser radar apparatus, it is characterised in that described device includes centrosymmetric mechanical-optical setup Component, laser ranging module and 360 ° of turntable driving modules, wherein:
The mechanical-optical setup component further comprises shafting structure and optical window, and the optical window surrounds the mechanical-optical setup Component realizes all or part of covering, and the shafting structure is the rotary shaft of the laser ranging module;
The laser ranging module includes transmitting light path, receiving light path, Laser emission component and laser signal receiving unit, its In:
The transmitting light path and receiving light path are designed using parallel light path;
The laser direct projection of one or more luminescence units transmitting of the Laser emission component simultaneously launches light path outgoing by described, Laser echo signal is received by the receiving light path again, and the laser echo signal is focused on into laser signal receiving unit On photoelectric signal transformation sensor array;
360 ° of turntable driving modules include sweep mechanism, turntable driving and control circuit, wherein:
The scan axis of the sweep mechanism and the shafting structure are coaxial, and drive the laser ranging module to surround the shafting Structure is rotated, and realizes 360 ° of laser scanning, detectings.
2. 360 ° of scanning probe laser radar apparatus according to claim 1, it is characterised in that
The mechanical-optical setup component is cylinder or round platform frame structure, or designs quadrangularly or polygonal cross-section frame structure;
And the mechanical-optical setup component and its circular optical window, form the overall sealing structure of laser radar apparatus.
3. 360 ° of scanning probe laser radar apparatus according to claim 1, it is characterised in that
The Laser emission component includes one or more laser emitting modules, and a laser emitting module includes one or more Luminescence unit and corresponding process circuit, multiple luminescence units constitute array of light emitting cells;
The laser signal receiving unit includes one or more laser pick-off modules, laser pick-off module include one or Multiple photoelectric signal transformation sensor units and corresponding process circuit, multiple photoelectric signal transformation sensor unit composition sensings Device array.
4. 360 ° of scanning probe laser radar apparatus according to claim 1, it is characterised in that
The stationary part of the sweep mechanism is connected firmly with the mechanical-optical setup component;
The rotor portion of the sweep mechanism is connected firmly with the laser ranging module.
CN201710213213.6A 2017-04-01 2017-04-01 360 scanning detection laser radar device Active CN107085207B (en)

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Application Number Priority Date Filing Date Title
CN201710213213.6A CN107085207B (en) 2017-04-01 2017-04-01 360 scanning detection laser radar device
PCT/CN2018/000123 WO2018176972A1 (en) 2017-04-01 2018-03-30 Laser radar device and channel gating method thereof
US16/589,078 US20200033450A1 (en) 2017-04-01 2019-09-30 Lidar device and channel gating method thereof

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Application Number Priority Date Filing Date Title
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Publication number Priority date Publication date Assignee Title
CN107643516A (en) * 2017-09-27 2018-01-30 北京因泰立科技有限公司 A kind of 3-D scanning laser radar based on MEMS micromirror
CN108226946A (en) * 2018-01-23 2018-06-29 中国航空工业集团公司洛阳电光设备研究所 Laser range finder and its signal element pedestal
CN108226945A (en) * 2018-01-15 2018-06-29 上海禾赛光电科技有限公司 Laser radar and its method of work
WO2018176972A1 (en) * 2017-04-01 2018-10-04 北科天绘(苏州)激光技术有限公司 Laser radar device and channel gating method thereof
CN109683145A (en) * 2018-12-14 2019-04-26 中国航空工业集团公司北京航空精密机械研究所 The stage body of large scale edge driving revolving-turret
CN109814168A (en) * 2017-11-22 2019-05-28 长沙行深智能科技有限公司 The scanning detection method and scanning sensor of scanning sensor
CN109917348A (en) * 2019-01-25 2019-06-21 上海禾赛光电科技有限公司 A kind of laser radar system
US10473767B2 (en) 2017-06-19 2019-11-12 Hesai Photonics Technology Co., Ltd. Lidar system and method
CN110832345A (en) * 2019-04-15 2020-02-21 深圳市速腾聚创科技有限公司 Laser radar
WO2020062114A1 (en) * 2018-09-28 2020-04-02 深圳市大疆创新科技有限公司 Distance measurement apparatus, distance detection device and mobile platform
CN111381241A (en) * 2020-03-31 2020-07-07 深圳市银星智能科技股份有限公司 Laser radar and cleaning robot
CN111381240A (en) * 2020-03-31 2020-07-07 深圳市银星智能科技股份有限公司 Laser radar and cleaning robot
CN111670371A (en) * 2019-01-09 2020-09-15 深圳市大疆创新科技有限公司 Optical detection module and distance measuring device
CN111781578A (en) * 2020-06-09 2020-10-16 北京因泰立科技有限公司 Two-dimensional scanning long-distance laser radar and working method thereof
US20200400791A1 (en) * 2018-03-13 2020-12-24 Omron Corporation Light detection device, light detection method, and lidar device
CN112859090A (en) * 2019-11-12 2021-05-28 宁波舜宇车载光学技术有限公司 Optical detection system and detection method thereof
CN113075676A (en) * 2021-03-25 2021-07-06 东南大学 Tunnel vehicle positioning method based on lane line mileage matching
CN113311447A (en) * 2017-12-07 2021-08-27 奥斯特公司 Rotary compact optical ranging system
CN115629432A (en) * 2022-12-23 2023-01-20 珠海正和微芯科技有限公司 Integrated lens with integrated optical function, manufacturing method and laser radar
CN117434520A (en) * 2023-12-15 2024-01-23 江苏天一航空工业股份有限公司 Unmanned safety device
WO2024045520A1 (en) * 2022-08-30 2024-03-07 上海禾赛科技有限公司 Laser radar

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WO2018176972A1 (en) * 2017-04-01 2018-10-04 北科天绘(苏州)激光技术有限公司 Laser radar device and channel gating method thereof
US10473767B2 (en) 2017-06-19 2019-11-12 Hesai Photonics Technology Co., Ltd. Lidar system and method
US10816647B2 (en) 2017-06-19 2020-10-27 Hesai Photonics Technology Co., Ltd. Lidar system and method
CN107643516A (en) * 2017-09-27 2018-01-30 北京因泰立科技有限公司 A kind of 3-D scanning laser radar based on MEMS micromirror
CN109814168A (en) * 2017-11-22 2019-05-28 长沙行深智能科技有限公司 The scanning detection method and scanning sensor of scanning sensor
CN113311447A (en) * 2017-12-07 2021-08-27 奥斯特公司 Rotary compact optical ranging system
CN108226945A (en) * 2018-01-15 2018-06-29 上海禾赛光电科技有限公司 Laser radar and its method of work
CN108226946A (en) * 2018-01-23 2018-06-29 中国航空工业集团公司洛阳电光设备研究所 Laser range finder and its signal element pedestal
US20200400791A1 (en) * 2018-03-13 2020-12-24 Omron Corporation Light detection device, light detection method, and lidar device
WO2020062114A1 (en) * 2018-09-28 2020-04-02 深圳市大疆创新科技有限公司 Distance measurement apparatus, distance detection device and mobile platform
CN109683145A (en) * 2018-12-14 2019-04-26 中国航空工业集团公司北京航空精密机械研究所 The stage body of large scale edge driving revolving-turret
CN109683145B (en) * 2018-12-14 2021-05-07 中国航空工业集团公司北京航空精密机械研究所 Table body of large-size edge-driven rotary turntable
CN111670371A (en) * 2019-01-09 2020-09-15 深圳市大疆创新科技有限公司 Optical detection module and distance measuring device
CN109917348A (en) * 2019-01-25 2019-06-21 上海禾赛光电科技有限公司 A kind of laser radar system
CN110832345A (en) * 2019-04-15 2020-02-21 深圳市速腾聚创科技有限公司 Laser radar
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