CN107153184A - Laser radar and laser radar control method - Google Patents
Laser radar and laser radar control method Download PDFInfo
- Publication number
- CN107153184A CN107153184A CN201710377397.XA CN201710377397A CN107153184A CN 107153184 A CN107153184 A CN 107153184A CN 201710377397 A CN201710377397 A CN 201710377397A CN 107153184 A CN107153184 A CN 107153184A
- Authority
- CN
- China
- Prior art keywords
- laser
- semi
- shoot
- optical path
- laser radar
- 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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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
A kind of laser radar and laser radar control method are disclosed in embodiments of the invention, the laser radar includes：One generating laser, for launching shoot laser；Semi-transparent semi-reflecting lens, for making the shoot laser from generating laser pass through to the one-dimensional galvanometer；One-dimensional galvanometer, the optical path direction for changing the shoot laser in vertical direction；Rotational structure, the optical path direction for changing the shoot laser in the horizontal direction.The present invention can reduce the cost of laser radar, improve the vertical resolution of laser radar.
Description
Technical field
The present invention relates to detection field, more particularly to a kind of laser radar and laser radar control method.
Background technology
Laser radar is the radar system that the characteristic quantities such as position, the speed of target are detected to launch laser beam, its work
It is first to objective emission exploring laser light light beam, then by the signal reflected from target and transmission signal that receive as principle
It is compared, makees after proper treatment, so that it may obtain target for information about, for example target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Laser radar of the prior art, if to realize 3-D scanning, that is, realizes the scanning of 360 scopes, it is necessary to multiple
Generating laser.The cost of the generating laser used in laser radar is higher, therefore the multiple laser of use of the prior art
The cost of the laser radar of transmitter is also very high.
The content of the invention
A kind of laser radar is provided in the embodiment of the present invention, including：
One generating laser, for launching shoot laser；
Semi-transparent semi-reflecting lens, for making the shoot laser from generating laser pass through to the one-dimensional galvanometer；
One-dimensional galvanometer, the optical path direction for changing the shoot laser in vertical direction；
Rotational structure, the optical path direction for changing the shoot laser in the horizontal direction.
Optionally, the rotational structure is used for the optical path direction for changing the shoot laser in the horizontal direction, including：
The rotational structure drives generating laser, semi-transparent semi-reflecting lens and thinks that MEMES galvanometers rotate, in the horizontal direction
Change the optical path direction of the shoot laser；Or
The rotational structure own rotation, changes the optical path direction of the shoot laser in the horizontal direction.
Optionally, the one-dimensional galvanometer is additionally operable to change in vertical direction the optical path direction of reflection laser, wherein, it is described
Reflection laser is the laser after shoot laser reflects through testee.
Optionally, the semi-transparent semi-reflecting lens are additionally operable to make the reflection laser from the one-dimensional galvanometer reflex to reception
Device.
Optionally, the laser radar also includes receiver, described for receiving the reflection laser from semi-transparent semi-reflecting lens
Reflection laser is the laser after testee reflects.
Optionally, the receiver is planar array type receiver.
Optionally, the laser radar also include collimation unit, be arranged at the generating laser with it is described semi-transparent semi-reflecting
Between mirror, the shoot laser for collimating the laser transmitter projects.
Optionally, the laser radar also includes focusing unit, is arranged between the receiver and semi-transparent semi-reflecting lens, uses
In focusing on the reflection laser from semi-transparent semi-reflecting lens, the reflection laser after the focusing is received by the receiver.
Second aspect there is provided a kind of laser radar control method, including：
One laser transmitter projects shoot laser；
Semi-transparent semi-reflecting lens make the shoot laser from generating laser pass through to one-dimensional galvanometer；
One-dimensional galvanometer changes the optical path direction of the shoot laser in vertical direction；
Rotational structure changes the optical path direction of the shoot laser in the horizontal direction.
Optionally, the rotational structure changes the optical path direction of the shoot laser in the horizontal direction, including：
The rotational structure drives generating laser, semi-transparent semi-reflecting lens and thinks that MEMES galvanometers rotate, with the horizontal direction
The upper optical path direction for changing the shoot laser；Or
The rotational structure own rotation, to change the optical path direction of the shoot laser in the horizontal direction.
Optionally, methods described also includes：
The one-dimensional galvanometer changes the optical path direction of reflection laser in vertical direction, wherein, the reflection laser is
Penetrate the laser after laser reflects through testee.
Optionally, methods described also includes：
The semi-transparent semi-reflecting lens make the reflection laser from the one-dimensional galvanometer reflex to receiver.
Optionally, methods described also includes：
Receiver receives the reflection laser from semi-transparent semi-reflecting lens, and the reflection laser is swashing after testee reflects
Light.
Optionally, methods described also includes：
The receiver is planar array type receiver.
Optionally, methods described also includes：
Collimation unit, collimates the shoot laser of the laser transmitter projects, and the collimation unit is arranged at the laser
Between transmitter and the semi-transparent semi-reflecting lens.
Optionally, methods described also includes：
Focusing unit focuses on the reflection laser from semi-transparent semi-reflecting lens, and the reflection laser after the focusing is connect by described
Receive device to receive, the focusing unit is arranged between the receiver and semi-transparent semi-reflecting lens.
A kind of laser radar, including generating laser, one-dimensional galvanometer, semi-transparent half are disclosed in embodiments of the invention
Anti- mirror and rotational structure, because the embodiment of the present invention has only used a generating laser, because can be with cost-effective；Meanwhile,
Laser radar of the present invention makes a shoot laser of a laser transmitter projects change in vertical direction using one-dimensional galvanometer
Light path, because the reverse speed of one-dimensional galvanometer is exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, so as to
To improve the vertical resolution of laser radar；In addition, rotational structure can change the light path side of shoot laser in the horizontal direction
To so as to realize the 3-D scanning of 360 deg.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 show the structural representation of the laser radar of the embodiment of the present invention；
Fig. 2 show single-point laser and passes through the hot spot figure after one-dimensional galvanometer；
Fig. 3 show the structural representation of the laser radar of the embodiment of the present invention；
Fig. 4 show the flow chart of the laser radar control method of the embodiment of the present invention.
Embodiment
Following examples of the present invention provide a kind of laser radar, can reduce the cost of laser radar, improve laser radar
Vertical resolution.
Below in conjunction with 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
Whole description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 show the schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 1, the laser radar includes：
One generating laser 110, for launching shoot laser；
Semi-transparent semi-reflecting lens 120, for making the shoot laser from generating laser pass through to one-dimensional galvanometer；
One-dimensional galvanometer 130, the optical path direction for changing the shoot laser in vertical direction；
Rotational structure 140, the optical path direction for changing the shoot laser in the horizontal direction.
One-dimensional galvanometer 130 operationally needs load driver, and at the resonant frequency fx, the minute surface of one-dimensional galvanometer 130 is one for work
Reversed at a high speed on individual direction of principal axis, by laser beam by spot scan into face.
Conventional galvanometer can be MEMS galvanometers (MEMS, Micro-Electro-Mechanical System), or can be with
It is mechanical galvanometer, or can is other functional units with same or similar function.
Fig. 2 show the hot spot figure that the shoot laser of the transmitting of generating laser 110 passes through after one-dimensional galvanometer 130, theoretical
On, 130 shoot laser can whether there is several in vertical direction after one-dimensional galvanometer, i.e., what is be distributed in vertical direction swashs
Light light beam can have many bars.The bar number of laser beam in vertical direction determines the vertical resolution of laser radar, bar number
More, vertical resolution is higher, therefore, can be very high using the vertical resolution of the laser radar of one-dimensional MEMES galvanometers 130.
In the embodiment of the present invention, the rotational structure is used for the light path side for changing the shoot laser in the horizontal direction
To, including：
The rotational structure drives generating laser, semi-transparent semi-reflecting lens and the rotation of one-dimensional MEMES galvanometers, in the horizontal direction
Change the optical path direction of the shoot laser；Or
The rotational structure own rotation, changes the optical path direction of the shoot laser in the horizontal direction.
Rotational structure 140 in Fig. 1 is shown with being merely illustrative, and the concrete structure of non-rotational structure 140.
In the embodiment of the present invention, generating laser 110, semi-transparent semi-reflecting lens 120 and one-dimensional MEMES galvanometers 130 can be set
In on rotational structure 140, rotational structure drives above-mentioned functions unit rotational, so as to change the light path of shoot laser in the horizontal plane
Direction.The rotational structure of this type can be the structure such as rotary shaft and the mode or magnet ring of rotating chassis, herein no longer
Repeat.
In embodiments of the invention, generating laser 110, semi-transparent semi-reflecting lens 120 and one-dimensional MEMES galvanometers 130 can be protected
Hold static, only now revolved by the own rotation of rotational structure 140 with changing the optical path direction of the shoot laser in the horizontal direction
Rotation structure can be rotating mirror, relay lens etc..
In the embodiment of the present invention, the one-dimensional galvanometer 130 is additionally operable to change in vertical direction the light path side of reflection laser
To, wherein, the reflection laser is the laser after shoot laser reflects through testee.
In the embodiment of the present invention, the semi-transparent semi-reflecting lens are additionally operable to make the reflection laser from the one-dimensional galvanometer anti-
It is incident upon receiver.
Due to laser spread speed quickly, therefore in the embodiment of the present invention, after transmitting laser reflects through testee 100
In 10us internal reflections laser from backtracking, therefore, for one-dimensional MEMS lens 130, shoot laser and the outgoing
The optical path direction of the corresponding reflection laser of laser is opposite, path is identical, so reflection laser can pass through one-dimensional MEMS lens 130
Semi-transparent semi-reflecting lens 120 are reached, and reflection laser can be reflexed to receiver by semi-transparent semi-reflecting lens 120.
In Fig. 1, shoot laser is indicated by the solid line, and reflection laser is represented by dashed line.For clearer display shoot laser
And reflection laser, a certain distance has been pulled open between two lines.In practice, shoot laser and reflection laser are infinitely close to weight
Close, two lines, which should also be, is infinitely close to coincidence.
A kind of laser radar, including generating laser, one-dimensional galvanometer, semi-transparent half are disclosed in embodiments of the invention
Anti- mirror and rotational structure, because the embodiment of the present invention has only used a generating laser, because can be with cost-effective；Meanwhile,
Laser radar of the present invention makes a shoot laser of a laser transmitter projects change in vertical direction using one-dimensional galvanometer
Light path, because the reverse speed of one-dimensional galvanometer is exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, so as to
To improve the vertical resolution of laser radar；In addition, rotational structure can change the light path side of shoot laser in the horizontal direction
To so as to realize the 3-D scanning of 360 deg.
Fig. 3 show the schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 3, the laser radar is also
In the embodiment of the present invention, one-dimensional galvanometer 120 is additionally operable to change reflection laser in the vertical direction and the horizontal direction
Optical path direction, wherein, the reflection laser is the laser after shoot laser reflects through testee 100.
The semi-transparent semi-reflecting lens 120 are additionally operable to make the reflection laser from the one-dimensional galvanometer reflex to receiver.
Due to laser spread speed quickly, therefore in the embodiment of the present invention, after transmitting laser reflects through testee 100
In 10us internal reflections laser from backtracking, therefore, for one-dimensional MEMS lens 130, shoot laser and the outgoing
The optical path direction of the corresponding reflection laser of laser is opposite, path is identical, so reflection laser can pass through one-dimensional MEMS lens 130
Semi-transparent semi-reflecting lens 120 are reached, and reflection laser can be reflexed to receiver by semi-transparent semi-reflecting lens 120.
In Fig. 1, shoot laser is indicated by the solid line, and reflection laser is represented by dashed line.For clearer display shoot laser
And reflection laser, a certain distance has been pulled open between two lines.In practice, shoot laser and reflection laser are infinitely close to weight
Close, two lines, which should also be, is infinitely close to coincidence.
Fig. 3 show the schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 3, the laser radar also includes：
Receiver 150, collimation unit 160 and focusing unit 170.
Receiver 150, for receiving the reflection laser from semi-transparent semi-reflecting lens 120, the reflection laser is testee
Laser after 100 reflections.
Optionally, the receiver 150 is planar array type receiver.
Planar array type receiver can be APD (Avalanche Photo Diode, avalanche diode) array.APD is at one
It is evenly distributed in plane, after reflection laser is received by APD array, 3D rendering is generated after processor computing.
Collimation unit 160, is arranged between the generating laser 110 and the semi-transparent semi-reflecting lens 120, for collimating
State the shoot laser of the transmitting of generating laser 110.
In the embodiment of the present invention, collimation unit 160 can be collimating mirror, collimating mirror can be simple lens or by
The lens group of multi-disc lens composition.
Focusing unit 170, be arranged at it is described connect between 110 receipts devices and semi-transparent semi-reflecting lens 120, it is described from half for focusing on
The reflection laser of saturating semi-reflective mirror 120, the reflection laser after the focusing is received by the receiver 150.
In the embodiment of the present invention, focusing unit 170 can be focus lamp, focus lamp can be simple lens or by
The lens group of multi-disc lens composition.
If the shoot laser sent of laser 110 arrives collimation unit 160 again after the deflection of one-dimensional galvanometer 130, due to
One-dimensional galvanometer can deflect single-point laser laser beam into a line, equivalent to enter collimating mirror be wide-angle incidence
Light, to correct large angle incidence light needs multi-disc eyeglass to correct, and adds product cost, also increases design difficulty, can also
Cause the decay of shoot laser.Therefore in the embodiment of the present invention, by one-dimensional after the directly collimated collimation of unit 160 of transmitting laser
Galvanometer 130 is deflected, and the reflection of light does not introduce the factors such as aberration, simplify design difficulty, and school is come without multi-disc eyeglass is introduced
Just, can be with cost-effective.
The laser radar of the embodiment of the present invention can reduce the cost of laser radar, improve the vertical resolution of laser radar.
Corresponding with above-mentioned laser radar, the embodiment of the present invention additionally provides a kind of laser radar control method.Shown in Fig. 4
For the flow chart of the laser radar control method of the embodiment of the present invention, as shown in figure 4, methods described includes：
Step 410, a laser transmitter projects shoot laser；
Step 420, semi-transparent semi-reflecting lens make the shoot laser from generating laser pass through to one-dimensional galvanometer；
Step 430, one-dimensional galvanometer changes the optical path direction of the shoot laser in vertical direction；
Step 440, rotational structure changes the optical path direction of the shoot laser in the horizontal direction.
Optionally, the rotational structure changes the optical path direction of the shoot laser in the horizontal direction, including：
The rotational structure drives generating laser, semi-transparent semi-reflecting lens and thinks that MEMES galvanometers rotate, with the horizontal direction
The upper optical path direction for changing the shoot laser；Or
The rotational structure own rotation, to change the optical path direction of the shoot laser in the horizontal direction.
Optionally, methods described also includes：
The one-dimensional galvanometer changes the optical path direction of reflection laser in vertical direction, wherein, the reflection laser is
Penetrate the laser after laser reflects through testee.
Optionally, methods described also includes：
The semi-transparent semi-reflecting lens make the reflection laser from the one-dimensional galvanometer reflex to receiver.
Optionally, methods described also includes：
Receiver receives the reflection laser from semi-transparent semi-reflecting lens, and the reflection laser is swashing after testee reflects
Light.
Optionally, methods described also includes：
The receiver is planar array type receiver.
Optionally, methods described also includes：
Collimation unit, collimates the shoot laser of the laser transmitter projects, and the collimation unit is arranged at the laser
Between transmitter and the semi-transparent semi-reflecting lens.
Optionally, methods described also includes：
Focusing unit focuses on the reflection laser from semi-transparent semi-reflecting lens, and the reflection laser after the focusing is connect by described
Receive device to receive, the focusing unit is arranged between the receiver and semi-transparent semi-reflecting lens.
The laser radar control method of the embodiment of the present invention can reduce the cost of laser radar, improve the vertical of laser radar
Resolution ratio.
Embodiment of the invention discloses that public in a kind of laser radar and laser radar control method, embodiments of the invention
Drive a kind of laser radar, including generating laser, one-dimensional galvanometer, semi-transparent semi-reflecting lens and rotational structure, due to the present invention
Embodiment has only used a generating laser, because can be with cost-effective；Meanwhile, laser radar of the present invention uses one-dimensional galvanometer
A shoot laser of a laser transmitter projects is set to change light path in vertical direction, due to the reverse speed of one-dimensional galvanometer
It is exceedingly fast, therefore the laser beam being distributed in vertical direction can be a lot, so as to improve the vertical resolution of laser radar；
In addition, rotational structure can change the optical path direction of shoot laser in the horizontal direction, so as to realize the three-dimensional of 360 deg
Scanning.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to application specific integrated circuit, dedicated cpu, private memory, special components and parts etc. are included come real by specialized hardware
It is existing, but the former is more preferably embodiment in many cases.Understood based on such, the technical scheme sheet in the embodiment of the present invention
The part contributed in other words to prior art in matter can be embodied in the form of software product, computer software production
Product can be stored in storage medium, such as read-only storage (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disc, CD etc., including some instructions are to cause a computer equipment (can be
People's computer, server, or network equipment etc.) perform described in some parts of each embodiment of the invention or embodiment
Method.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for system
Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the scope of the protection.
Claims (10)
1. a kind of laser radar, it is characterised in that including：
One generating laser, for launching shoot laser；
Semi-transparent semi-reflecting lens, for making the shoot laser from generating laser pass through to one-dimensional galvanometer；
One-dimensional galvanometer, the optical path direction for changing the shoot laser in vertical direction；
Rotational structure, the optical path direction for changing the shoot laser in the horizontal direction.
2. laser radar as claimed in claim 1, it is characterised in that the rotational structure is used to change institute in the horizontal direction
The optical path direction of shoot laser is stated, including：
The rotational structure drives generating laser, semi-transparent semi-reflecting lens and the rotation of one-dimensional MEMES galvanometers, changes in the horizontal direction
The optical path direction of the shoot laser；Or
The rotational structure own rotation, changes the optical path direction of the shoot laser in the horizontal direction.
3. laser radar as claimed in claim 1 or 2, it is characterised in that the one-dimensional galvanometer is additionally operable in vertical direction
Change the optical path direction of reflection laser, wherein, the reflection laser is the laser after shoot laser reflects through testee.
4. the laser radar as described in any one of claims 1 to 3, it is characterised in that the semi-transparent semi-reflecting lens are additionally operable to make institute
State the reflection laser from the one-dimensional galvanometer and reflex to receiver.
5. laser radar as claimed in claim 4, it is characterised in that the laser radar also includes receiver, for receiving
Reflection laser from semi-transparent semi-reflecting lens, the reflection laser is the laser after testee reflects.
6. the laser radar as described in claim 4 or 5, it is characterised in that the receiver is planar array type receiver.
7. the laser radar as described in any one of claim 1 to 6, it is characterised in that it is single that the laser radar also includes collimation
Member, is arranged between the generating laser and the semi-transparent semi-reflecting lens, the outgoing for collimating the laser transmitter projects
Laser.
8. the laser radar as described in any one of claim 2 to 7, it is characterised in that the laser radar also includes focusing on list
Member, is arranged between the receiver and semi-transparent semi-reflecting lens, described for focusing on the reflection laser from semi-transparent semi-reflecting lens
Reflection laser after focusing is received by the receiver.
9. a kind of laser radar control method, it is characterised in that including：
One laser transmitter projects shoot laser；
Semi-transparent semi-reflecting lens make the shoot laser from generating laser pass through to one-dimensional galvanometer；
One-dimensional galvanometer changes the optical path direction of the shoot laser in vertical direction；
Rotational structure changes the optical path direction of the shoot laser in the horizontal direction.
10. method as claimed in claim 9, it is characterised in that the rotational structure changes the outgoing in the horizontal direction
The optical path direction of laser, including：
The rotational structure drives generating laser, semi-transparent semi-reflecting lens and thinks that MEMES galvanometers rotate, to change in the horizontal direction
Become the optical path direction of the shoot laser；Or
The rotational structure own rotation, to change the optical path direction of the shoot laser in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710377397.XA CN107153184A (en) | 2017-05-25 | 2017-05-25 | Laser radar and laser radar control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710377397.XA CN107153184A (en) | 2017-05-25 | 2017-05-25 | Laser radar and laser radar control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107153184A true CN107153184A (en) | 2017-09-12 |
Family
ID=59793450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710377397.XA Pending CN107153184A (en) | 2017-05-25 | 2017-05-25 | Laser radar and laser radar control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107153184A (en) |
Cited By (9)
| 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 |
| CN108196243A (en) * | 2018-03-14 | 2018-06-22 | 北京因泰立科技有限公司 | A kind of 3-D scanning laser radar based on MEMS micromirror |
| CN108226899A (en) * | 2018-01-17 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
| CN108802763A (en) * | 2018-06-27 | 2018-11-13 | 上海禾赛光电科技有限公司 | A kind of big visual field short-range laser radar and vehicle |
| CN109683174A (en) * | 2017-10-19 | 2019-04-26 | 北京万集科技股份有限公司 | Laser radar scanning system and method, vehicle |
| WO2019109993A1 (en) * | 2017-12-08 | 2019-06-13 | 上海禾赛光电科技有限公司 | Laser radar system and control method thereof, method of obtaining scanning angle, and vehicle |
| US10473767B2 (en) | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| CN112269181A (en) * | 2020-09-11 | 2021-01-26 | 中国科学院微电子研究所 | Laser active detection device and laser active detection processing system |
| US12019187B2 (en) | 2017-06-19 | 2024-06-25 | Hesai Technology Co., Ltd. | Lidar system and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007133385A (en) * | 2005-10-13 | 2007-05-31 | Canon Inc | Optical scanning apparatus |
| JP2013210315A (en) * | 2012-03-30 | 2013-10-10 | Brother Ind Ltd | Optical distance measurement device |
| WO2016110442A1 (en) * | 2015-01-09 | 2016-07-14 | Robert Bosch Gmbh | 3d-lidar sensor |
| CN105824029A (en) * | 2016-05-10 | 2016-08-03 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN106443635A (en) * | 2016-10-26 | 2017-02-22 | 上海博未传感技术有限公司 | Miniature laser radar system |
| CN106646494A (en) * | 2016-11-03 | 2017-05-10 | 上海博未传感技术有限公司 | Laser radar system employing emitting and receiving optical path multiplexing structure |
-
2017
- 2017-05-25 CN CN201710377397.XA patent/CN107153184A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007133385A (en) * | 2005-10-13 | 2007-05-31 | Canon Inc | Optical scanning apparatus |
| JP2013210315A (en) * | 2012-03-30 | 2013-10-10 | Brother Ind Ltd | Optical distance measurement device |
| WO2016110442A1 (en) * | 2015-01-09 | 2016-07-14 | Robert Bosch Gmbh | 3d-lidar sensor |
| CN105824029A (en) * | 2016-05-10 | 2016-08-03 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN106443635A (en) * | 2016-10-26 | 2017-02-22 | 上海博未传感技术有限公司 | Miniature laser radar system |
| CN106646494A (en) * | 2016-11-03 | 2017-05-10 | 上海博未传感技术有限公司 | Laser radar system employing emitting and receiving optical path multiplexing structure |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US12019187B2 (en) | 2017-06-19 | 2024-06-25 | Hesai 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 |
| CN109683174A (en) * | 2017-10-19 | 2019-04-26 | 北京万集科技股份有限公司 | Laser radar scanning system and method, vehicle |
| WO2019109993A1 (en) * | 2017-12-08 | 2019-06-13 | 上海禾赛光电科技有限公司 | Laser radar system and control method thereof, method of obtaining scanning angle, and vehicle |
| CN108226899A (en) * | 2018-01-17 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
| CN108196243A (en) * | 2018-03-14 | 2018-06-22 | 北京因泰立科技有限公司 | A kind of 3-D scanning laser radar based on MEMS micromirror |
| CN108802763A (en) * | 2018-06-27 | 2018-11-13 | 上海禾赛光电科技有限公司 | A kind of big visual field short-range laser radar and vehicle |
| CN108802763B (en) * | 2018-06-27 | 2024-05-03 | 上海禾赛科技有限公司 | Large-view-field short-range laser radar and vehicle |
| CN112269181A (en) * | 2020-09-11 | 2021-01-26 | 中国科学院微电子研究所 | Laser active detection device and laser active detection processing system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107153184A (en) | Laser radar and laser radar control method | |
| CN107167787A (en) | Laser radar and laser radar control method | |
| US11774557B2 (en) | Distance measurement instrument with scanning function | |
| CN107703510B (en) | Laser radar and laser radar control method | |
| CN107153200A (en) | Laser radar and laser radar control method | |
| US4733072A (en) | Rangefinder for imaging system eliminating effect of rotor rotation | |
| CN107656258A (en) | Laser radar and laser radar control method | |
| JP2020526755A (en) | Ladar transmitter with reimager | |
| JP2009229462A (en) | Detection device | |
| US20210263303A1 (en) | Optical scanning device with beam compression and expansion | |
| EP3508816B1 (en) | Distance measurement instrument with scanning function | |
| CN107153197A (en) | Laser radar and laser radar control method | |
| CN108445497A (en) | Laser radar and laser radar control method | |
| GB2557265A9 (en) | Lidar apparatus and method | |
| CN114879164A (en) | Transmit-receive coaxial laser radar system | |
| CN110537105A (en) | Optical scanning system | |
| CN107153201A (en) | Laser radar and laser radar control method | |
| CN207037073U (en) | Laser radar | |
| CN207037084U (en) | Laser radar | |
| US3956586A (en) | Method of optical scanning | |
| CN207037076U (en) | Laser radar | |
| CN207096438U (en) | Laser radar | |
| CN107153185A (en) | Laser radar and laser radar control method | |
| CN217360285U (en) | Scanning device | |
| Rodriguez et al. | Fast laser beam steering into multiple diffraction orders with a single digital micromirror device for time-of-flight lidar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |