CN107271984A - A kind of scan method of all-solid state laser radar - Google Patents
A kind of scan method of all-solid state laser radar Download PDFInfo
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- CN107271984A CN107271984A CN201710504233.9A CN201710504233A CN107271984A CN 107271984 A CN107271984 A CN 107271984A CN 201710504233 A CN201710504233 A CN 201710504233A CN 107271984 A CN107271984 A CN 107271984A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000007787 solid Substances 0.000 title claims abstract description 23
- 239000004973 liquid crystal related substance Substances 0.000 claims abstract description 84
- 230000003287 optical effect Effects 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 238000005259 measurement Methods 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- OBSZRRSYVTXPNB-UHFFFAOYSA-N tetraphosphorus Chemical compound P12P3P1P32 OBSZRRSYVTXPNB-UHFFFAOYSA-N 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Abstract
A kind of scan method of all-solid state laser radar, it implements face irradiation using normal signal light source to detection scene, in light path between the optical lens and conventional photo receiving device of signal receiving module, the method for switching each liquid crystal light valve unit above it one by one using liquid crystal light valve array, the reflection light of whole detection scene is divided into optical signal one by one, so as to realize all solid state scanning, therefore this method can use normal signal light source and conventional photo receiving device, solve the problem of existing all-solid state laser radar scanning method has to rely on various special scanning chips, with broad prospect of application.
Description
Technical field
The present invention relates to a kind of scan method of all-solid state laser radar, belong to photodetection field.
Background technology
Laser radar is made up of signal emission module, signal receiving module, signal transacting and control circuit three part, wherein
Existing all-solid state laser radar has two kinds of sweeping schemes, and one kind is that beam scan type laser chip is used in signal emission module
The optical scanning method of light beam deflection irradiation is carried out, another is directly to allow array opto-electronic receiver core in signal receiving module
The photovoltaic element of on-chip array arrangement carries out electron scanning, and both approaches are required for relying on above-mentioned special scanning chip, these
The problem of special scanning chip all has that manufacturing process is complicated, yielded poorly, cost is high.For example, the S3 optics of Quanergy companies
Phased-array laser scanning chip is exactly a kind of light for being irradiated for being deflected in signal emission module by light beam, carrying out optical scanner
Beam scanning formula laser chip, such chip manufacturing process is very complicated, production cost is very high, therefore so far not in big rule on the market
Mould application.For another example, the range image sensor family chip of Hamamatsu companies, is that one kind aims at signal receiving module progress
The array opto-electronic receiver chip of all solid state Scan Design, it is similar to ccd image sensor, is to utilize the arrangement of core on-chip array
Numerous photovoltaic elements directly optical signal is measured and electron scanning device, manufacturing process is also very complicated, only the chip
Procurement price is just more than 100 dollars, it is clear that be significantly larger than the price level of conventional photo receiving device.It is presently used for common sharp
The normal signal light source of optical radar signal emission module has various lasers and infrared diode, for common laser radar signal
The conventional photo receiving device of receiving module has avalanche diode, photomultiplier, photodiode etc., and they all have technology
It is ripe, the characteristics of yield is big, cost is low.If can be under conditions of using normal signal light source and conventional photo receiving device
Realize all solid state scanning, then this new all-solid state laser radar cost will be significantly reduced, and society will be benefited quickly.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of scan method of all-solid state laser radar, can be using normal
All solid state scanning is realized under conditions of rule signal optical source and conventional photo receiving device.
The present invention describes a kind of scan method of all-solid state laser radar, specific as follows：
Step S1：Signal emission module use normal signal light source, and signal transacting and control circuit control under to
Detection scene illumination bands have the light of measurement signal；
Step S2：The reflection light of detection scene is first irradiated to liquid crystal light valve array by the optical lens of signal receiving module
On, each liquid crystal light valve unit arranged on liquid crystal light valve array carries out break-make control to the part reflection light of directive oneself
System；
Step S3：Each liquid crystal light valve unit of liquid crystal light valve array is only beaten every time under signal transacting and control circuit control
A liquid crystal light valve unit is opened, corresponding reflection light can be irradiated on the conventional photo receiving device of optical path downstream, is made often
Advise photoelectric receiving device and produce corresponding echo-signal, signal transacting and control circuit are received and can closed after this echo-signal
Close the liquid crystal light valve unit and open next liquid crystal light valve unit, then signal transacting and control circuit can control normal signal
Light source sends new measurement signal, and scanning is realized by that analogy；
Step S4：Signal transacting and control circuit are received after an echo-signal every time, all can be with normal signal light source
The measurement signal of transmitting carries out comparing calculation, obtains signal difference and calculates corresponding range data, the range data with it is corresponding
Array position data of the liquid crystal light valve unit in liquid crystal light valve array, which matches, can just obtain an effective scan data；
Step S5：All liquid crystal light valve units in signal transacting and control circuit control liquid crystal light valve array are all switched
After once, it is possible to obtain the set of one group of scan data, the set of the scan data is exactly the point cloud chart of this detection scene.
The beneficial effects of the invention are as follows such：The present invention by signal emission module, signal receiving module, signal transacting and
The part of circuit three composition is controlled, all solid state scanning element of the invention is mounted in the liquid crystal light valve battle array in signal receiving module
Row, understand that liquid crystal light valve array is located between optical lens and conventional photo receiving device by step S2 and step S3.Work as optics
Before camera lens focuses on the reflection light of detection scene on conventional photo receiving device, reflection light must first go through the liquid crystal
Light valve array, thus the liquid crystal light valve array each liquid crystal light valve unit signal transacting and control circuit control under open one by one
During pass, each liquid crystal light valve unit that the reflection light of detection scene will be switched successively is divided into one by one
Optical signal, and the echo-signal produced on conventional photo receiving device one by one, each liquid crystal light valve unit are irradiated to successively
All switch one time and just complete the single pass that scene is detected to this.Because the on-off principle of liquid crystal light valve unit is to be based on
Optical modulation characteristic of the liquid crystal to light, it is clear that the scanning process is all solid state, realizes the object of the invention.
Brief description of the drawings
Fig. 1 is the workflow diagram of the present invention.
Fig. 2 is the principle schematic of the present invention.
Marked in figure as follows：1. signal transacting and control circuit, 2. normal signal light sources, 3. optical lens, 4. conventional light
Electric receiving device, 5. liquid crystal light valve arrays, 6. liquid crystal light valve units.
Embodiment
To enable the above-mentioned purpose, feature, advantage of the present invention more obvious understandable, below in conjunction with the accompanying drawings to the present invention's
Embodiment elaborates.Many details will be illustrated in the following description, it is therefore intended that help this area skill
Art personnel are more fully understood by the present invention, but it is clear that those skilled in the art can be on the premise of without prejudice to intension of the present invention
Change and implement with more other manners different from the present embodiment specific descriptions, therefore the present invention is not by following public tool
The limitation of body embodiment.Although for example, the present invention describes the principle of the present invention with liquid crystal light valve array, being not to say that this
Invention is only limitted to use liquid crystal light valve array, if using other parts such as electric birefringence with effect same or effect instead
Micro- galvanometer chip of crystal array, kerr cell array, MEMS etc. also belongs to protection scope of the present invention.
It is of the invention as shown in Figure 1：
Step S1：Signal emission module uses normal signal light source 2, and under the control of signal transacting and control circuit 1
There is the light of measurement signal to detection scene illumination bands.
The step is referred to：The signal emission module of the present invention need not use the beam scan type laser core of prior art
Piece or other scan-type signal optical sources, only need to carry out face irradiation, such as Fig. 2 institutes using normal signal light source 2 to search coverage
Show.So the normal signal light source 2 can directly use infrared laser lamp, LED, infrared diode, yellow phosphorus filter laser to shine
Bright lamp, laser with laser homogenizing mirror etc..Due to being face irradiation, therefore the present invention i.e. can be using a normal signal
Light source 2 directly carries out overall exposure to detection scene, can also be distinguished using multiple normal signal light sources 2 in series or in parallel
Different zones or cover in irradiation detection scene entirely detect scene, can further improve measurement signal irradiation
Intensity, improves detection range, and this is to use existing beam scan type laser chip or other scan-type signal optical sources to be difficult reality
Existing.The light that normal signal light source 2 is launched needs to be modulated loading measurement signal by signal transacting and control circuit 1, should
Measurement signal can be the upper lower along signal, phase signal or pulse number signal etc. of light pulse, and these are also existing sharp
Type signal type in the measuring principles such as the most frequently used time difference method of optical radar, phase method, pulse number method, people in the art
Member is very familiar, implements completely without paying creative work again, therefore be no longer described in detail.The signal transmitting of the present invention
Optical lens 3 before the normal signal light source 2 of module can adjust the irradiant light beam angle of visual field using zoom lens, this
Sample can just be provided simultaneously with wide-angle search and two kinds of abilities of cover, for example, increase light beam by adjusting optical lens 3 first
The angle of visual field, expands range of exposures, improves detection efficient；Then regulation optical lens 3 reduces light beam angle of visual field cover detection
Important area in scene, increases light signal strength, is carried so as to implement fine scanning to the important area for signal receiving module
For stronger optical signal, now need certainly on signal receiving module while using the optical lens 3 for possessing zoom capabilities simultaneously
Implement synchronous zoom control.
Step S2：The reflection light of detection scene is first irradiated to liquid crystal light valve battle array by the optical lens 3 of signal receiving module
On row 5, each liquid crystal light valve unit 6 arranged on liquid crystal light valve array 5 is led to the part reflection light of directive oneself
Disconnected control.
The step is referred to：When optical lens 3 focuses on the reflection light of detection scene on conventional photo receiving device 4
Before, will to first pass through liquid crystal light valve array 5 as shown in Figure 2 for reflection light.The liquid crystal light valve array 5 is by multiple liquid crystal light valves
Planar array or the curved surface battle array that unit 6 is constituted, each liquid crystal light valve unit 6 therein can be to the reflection from detection scene
That sub-fraction light of oneself is irradiated in light and carries out break-make control.Obviously it is irradiated on each liquid crystal light valve unit 6
That sub-fraction reflection light necessarily comes from detecting the local scene of a certain fritter in scene, so liquid crystal light valve array 5
How many upper liquid crystal light valve unit 6, detection scene also can be divided into how many pieces of corresponding local scenes with regard to natural, certainly
The array of these local scene compositions is exactly whole detection scene, array position of each part scene in entirely detection scene
Data namely its address date, the inevitable array position data with corresponding liquid crystal light valve unit 6 in liquid crystal light valve array 5
Identical or mirror image, the range data for each local scene that such later stage obtains can pass through correspondence liquid crystal light valve unit 6
Array position data in liquid crystal light valve array 5 converses oneself address date in detection scene, range data matching
Just it can turn into effective scan data after address date.The liquid crystal light valve array 5 is by multiple array arrangement structures of liquid crystal light valve unit 6
Into, can be rectangular array, circular array, rhombus array, linear array or other array configurations, it is corresponding each
The array position data of liquid crystal light valve unit 6 is probably rectangular co-ordinate data or polar data etc..Each liquid crystal light valve unit 6 can
To be combined by mechanical connection, can also directly be fabricated to the liquid crystal light valve array 5 of a monoblock type.Due to liquid crystal light
It is all prior art that valve, which manufactures and designs, is prior art familiar to the person skilled in the art, is also disclosed data on internet, institute
Specifically repeated no more with its internal structure and processing technology etc..The optical lens 3 of signal receiving module can be common lens
It can be zoom lens, field range raising search efficiency can be expanded by adjusting zoom lens, also can be to detection scene weight
Point position carries out partial enlargement and realizes fine scanning, and the optical lens 3 at this moment preferably with signal emission module is synchronized certainly
Zoom, it can be ensured that detection scene partial enlargement back reflection light still has enough light signal strengths；If signal launches mould
Zoom can not provide light signal strength good enough to the optical lens 3 of block yet, then it is also possible not implement synchronous zoom, root
Determined according to concrete condition.
Step S3：Each liquid crystal light valve unit 6 of liquid crystal light valve array 5 is each in the case where signal transacting and control circuit 1 are controlled
A liquid crystal light valve unit 6 is only opened, allows corresponding reflection light to be irradiated to the conventional photo receiving device 4 of optical path downstream
On, conventional photo receiving device 4 is produced corresponding echo-signal, signal transacting and control circuit 1 receive this echo letter
The liquid crystal light valve unit 6 can be closed after number and next liquid crystal light valve unit 6 is opened, then signal transacting and control circuit 1
Normal signal light source 2 can be controlled to send new measurement signal, scanning is realized by that analogy.
The step is referred to：Liquid crystal light valve array 5 only opens one every time under the control of signal transacting and control circuit 1
Liquid crystal light valve unit 6, enable to only have in detection scene the reflection light of corresponding that local scene by and be irradiated to
On the conventional photo receiving device 4 of optical path downstream, make conventional photo receiving device 4 produce an echo-signal, signal transacting and
Control circuit 1 will control liquid crystal light valve array 5 to close after receiving this echo-signal that conventional photo receiving device 4 is transmitted
The liquid crystal light valve unit 6 simultaneously opens next liquid crystal light valve unit 6, then the normal signal light source 2 of control signal transmitter module
The new measurement signal of transmitting, can thus allow the reflected light of the corresponding local scene of that liquid crystal light valve unit 6 newly opened
Line is irradiated on conventional photo receiving device 4 and produces a new echo-signal, with continuously performing for the flow, probe field
The reflection light of each part scene can be irradiated on conventional photo receiving device 4 successively in scape, and be produced one by one
Echo-signal, so as to realize the scanning to whole detection scene.Common routine is used only in signal receiving module in the present invention
Photoelectric receiving device 4 and liquid crystal light valve array 5 can just realize all solid state scanning, significantly reduce all-solid state laser radar into
This, has decisive role to household service robot popularization.
Step S4：Signal transacting and control circuit 1 are received after an echo-signal every time, all can be with normal signal light source
The measurement signals of 2 transmittings carry out comparing calculations, obtain signal difference and calculate corresponding range data, the range data with it is corresponding
Array position data of the liquid crystal light valve unit 6 in liquid crystal light valve array 5, which matches, can just obtain an effective scanning number
According to.
The step is referred to：After step S3 makes conventional photo receiving device 4 produce echo-signal one by one, this
A little echo-signals can all be transferred to signal transacting and control circuit 1 one by one, and signal transacting and control circuit 1 pass through to each echo
The corresponding measurement signal that signal and normal signal light source 2 are launched is carried out can be to obtain signal difference, by this after comparing calculation
Signal difference can just calculate the range data of each local scene, and its specific algorithm includes signal difference and calculated, apart from calculating
Deng identical with the laser radar of prior art and the algorithm of laser range finder, such as classical time difference method, phase method, arteries and veins
Rush number method etc. and be equally applicable to the present invention, this is all that those skilled in the art are very familiar, it is not necessary to pay creativeness
Work can be used to the implementation of the present invention, therefore no longer specifically repeat；And the invention aims to propose new all solid state sweep
Method is retouched, solves to realize the difficulty of all solid state scanning in the case where using normal signal light source 2 and conventional photo receiving device 4
Topic, rather than to propose to calculate the new algorithm of signal difference and distance, because can have been expired completely using the algorithm of prior art
It is full apply the present invention the need for.The range data of each local scene obtained in this step is required for match address number
According to array position data of the address date with the liquid crystal light valve unit 6 corresponding to the local scene in liquid crystal light valve array 5
Identical or mirror image, this point also has explanation in step s 2.Specifically, if the optical lens 3 of signal receiving module is imaged
For erect image, if then array position data of the address date with liquid crystal light valve unit 6 in liquid crystal light valve array 5 be identical, optical frames
First 3 are imaged as inverted image then address date and the array position data mirror image, and the address date is necessarily imaged with optical lens 3 in a word
There are the geometrical relationship that can be derived and calculate, ability with array position data of the liquid crystal light valve unit 6 in liquid crystal light valve array 5
Field technique personnel can be carried out related derive and calculating.Detection scene can be just expressed after range data match address data
In some put scanning result, here it is an effective scan data.The range data and address date of the scan data exist
Matched in signal transacting and control circuit 1 and encode output.
Step S5：All liquid crystal light valve units 6 in signal transacting and the control control liquid crystal light valve of circuit 1 array 5 are all
After switching once, it is possible to obtain the set of one group of scan data, the set of the scan data is exactly the point of this detection scene
Cloud atlas.
The step is referred to：From step S3, the ability only after signal transacting and control circuit 1 receive echo-signal
This liquid crystal light valve unit 6 can be closed, and opens next liquid crystal light valve unit 6；From step S4, echo-signal input letter
Number processing and control circuit 1 after can calculate range data, match address data and encode after export；So when signal transacting and
After all liquid crystal light valve units 6 in the control control liquid crystal light valve of circuit 1 array 5 are all switched once, it is meant that to detection
All local scenes all scan one time, have also obtained the range data of all local scenes and have matched positional number in scene
According to, complete scan data coding output, it is clear that the set of these scan datas be exactly this detect scene cloud data,
And can also scan again as needed second time, the 3rd time.
The explanation of presently preferred embodiments of the present invention and institute's application technology principle is these are only, it describes more specific and popular
It is understandable, but can not be therefore understands that to be the limitation to the scope of the claims of the present invention；And, although the present invention is entitled " a kind of complete solid
The scan method of state laser radar ", but the title can not be construed to the present invention can only using laser as signal optical source because this
The scan method of invention except can using main flow laser as signal optical source in addition to, LED, infrared diode can also be used
Deng being used as signal optical source.
Claims (3)
1. a kind of scan method of all-solid state laser radar, it is characterised in that including following steps：
Step S1：Signal emission module uses normal signal light source 2, and to spy under the control of signal transacting and control circuit 1
Survey light of the scene irradiation with measurement signal；
Step S2：The reflection light of detection scene is first irradiated to liquid crystal light valve array 5 by the optical lens 3 of signal receiving module
On, each liquid crystal light valve unit 6 arranged on liquid crystal light valve array 5 carries out break-make control to the part reflection light of directive oneself
System；
Step S3：Each liquid crystal light valve unit 6 of liquid crystal light valve array 5 is only beaten every time in the case where signal transacting and control circuit 1 are controlled
A liquid crystal light valve unit 6 is opened, corresponding reflection light can be irradiated on the conventional photo receiving device 4 of optical path downstream, makes
Conventional photo receiving device 4 produces corresponding echo-signal, and signal transacting and control circuit 1 are received after this echo-signal i.e.
The liquid crystal light valve unit 6 can be closed and next liquid crystal light valve unit 6 is opened, then signal transacting and control circuit 1 can be controlled
Normal signal light source 2 sends new measurement signal, and scanning is realized by that analogy；
Step S4：Signal transacting and control circuit 1 are received after an echo-signal every time, can all be sent out with normal signal light source 2
The measurement signal penetrated carries out comparing calculation, obtains signal difference and calculates corresponding range data, the range data and corresponding liquid
Array position data of the brilliant light valve unit 6 in liquid crystal light valve array 5, which matches, can just obtain an effective scan data；
Step S5：All liquid crystal light valve units 6 in signal transacting and the control control liquid crystal light valve of circuit 1 array 5 are all switched
After once, it is possible to obtain the set of one group of scan data, the set of the scan data is exactly the point cloud chart of this detection scene.
2. the scan method of the all-solid state laser radar according to claim 1, it is characterized in that：Signal emission module is using more
The individual irradiation of normal signal light source 2 detects scene to improve measurement signal exposure intensity.
3. the scan method of the all-solid state laser radar according to claim 1, it is characterized in that：The routine of signal emission module
The optical lens 3 of signal optical source 2 and signal receiving module using zoom lens and implements synchronous zoom control, to detection scene
Significant points are implemented irradiation and scanned, and realize fine detection.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107610524A (en) * | 2017-11-02 | 2018-01-19 | 济南浪潮高新科技投资发展有限公司 | A kind of method and device that parking position Intelligent Recognition is carried out using laser radar |
| CN107632296A (en) * | 2017-09-08 | 2018-01-26 | 深圳市速腾聚创科技有限公司 | Laser radar control method and laser radar |
| CN108107417A (en) * | 2017-11-07 | 2018-06-01 | 北醒（北京）光子科技有限公司 | A kind of solid-state face battle array laser radar apparatus |
| CN108490957A (en) * | 2018-05-16 | 2018-09-04 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN110244279A (en) * | 2019-06-20 | 2019-09-17 | 深圳市镭神智能系统有限公司 | Light receiver module and laser radar |
| CN110780283A (en) * | 2019-11-22 | 2020-02-11 | 上海禾赛光电科技有限公司 | Receiving system, laser radar comprising same and echo receiving method |
| CN110954877A (en) * | 2019-11-05 | 2020-04-03 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Method for generating terrain of measurement area of scattering characteristics of vehicle-mounted radar |
| WO2020192283A1 (en) * | 2019-03-28 | 2020-10-01 | 上海小瞳智能科技有限公司 | Miniature solid-state laser radar and data processing method therefor |
| CN112504126A (en) * | 2020-12-14 | 2021-03-16 | 国科光芯(海宁)科技股份有限公司 | Three-dimensional scanning distance measuring device and method |
| CN112596073A (en) * | 2020-12-07 | 2021-04-02 | 西安工业大学 | Long-distance high-resolution laser radar and detection method |
| CN113050117A (en) * | 2021-04-28 | 2021-06-29 | 石超 | Light beam array type scanning method and device |
| WO2021175227A1 (en) * | 2020-03-06 | 2021-09-10 | 上海禾赛科技股份有限公司 | Laser radar, and method for ranging using laser radar |
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| CN107632296A (en) * | 2017-09-08 | 2018-01-26 | 深圳市速腾聚创科技有限公司 | Laser radar control method and laser radar |
| WO2019047389A1 (en) * | 2017-09-08 | 2019-03-14 | 深圳市速腾聚创科技有限公司 | Laser radar control method and laser radar |
| CN107610524A (en) * | 2017-11-02 | 2018-01-19 | 济南浪潮高新科技投资发展有限公司 | A kind of method and device that parking position Intelligent Recognition is carried out using laser radar |
| CN108107417A (en) * | 2017-11-07 | 2018-06-01 | 北醒（北京）光子科技有限公司 | A kind of solid-state face battle array laser radar apparatus |
| CN108490957A (en) * | 2018-05-16 | 2018-09-04 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| WO2020192283A1 (en) * | 2019-03-28 | 2020-10-01 | 上海小瞳智能科技有限公司 | Miniature solid-state laser radar and data processing method therefor |
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| CN110244279A (en) * | 2019-06-20 | 2019-09-17 | 深圳市镭神智能系统有限公司 | Light receiver module and laser radar |
| CN110954877A (en) * | 2019-11-05 | 2020-04-03 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Method for generating terrain of measurement area of scattering characteristics of vehicle-mounted radar |
| CN110954877B (en) * | 2019-11-05 | 2022-04-26 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Method for generating terrain of measurement area of scattering characteristics of vehicle-mounted radar |
| CN110780283A (en) * | 2019-11-22 | 2020-02-11 | 上海禾赛光电科技有限公司 | Receiving system, laser radar comprising same and echo receiving method |
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| CN112596073A (en) * | 2020-12-07 | 2021-04-02 | 西安工业大学 | Long-distance high-resolution laser radar and detection method |
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