CN108459328A - A kind of detection device with uniform receiving optics - Google Patents
A kind of detection device with uniform receiving optics Download PDFInfo
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- CN108459328A CN108459328A CN201710087860.7A CN201710087860A CN108459328A CN 108459328 A CN108459328 A CN 108459328A CN 201710087860 A CN201710087860 A CN 201710087860A CN 108459328 A CN108459328 A CN 108459328A
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- 238000001514 detection method Methods 0.000 title claims abstract description 95
- 230000003287 optical effect Effects 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 14
- 238000002366 time-of-flight method Methods 0.000 claims abstract description 10
- 238000005070 sampling Methods 0.000 claims description 25
- 239000007787 solid Substances 0.000 claims description 6
- 238000000465 moulding Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 11
- 238000005286 illumination Methods 0.000 abstract description 2
- 230000008030 elimination Effects 0.000 abstract 1
- 238000003379 elimination reaction Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 18
- 238000007493 shaping process Methods 0.000 description 14
- 230000004888 barrier function Effects 0.000 description 11
- 238000005259 measurement Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000012360 testing method Methods 0.000 description 5
- 238000009792 diffusion process Methods 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 4
- 241001269238 Data Species 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000000265 homogenisation Methods 0.000 description 2
- 241001203771 Eudonia echo Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 230000000007 visual effect Effects 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
This application involves a kind of detection devices with uniform receiving optics.In order to enable the light being irradiated on sensor is uniform, this application discloses a kind of detection devices, including transmitting module, receiving module and data processing and control module, wherein, transmitting module sends out infrared acquisition light, in the infrared acquisition light directive environment, encounters testee and is reflected；The infrared acquisition light reflected by testee is incident in receiving module；Data processing and control module is connected with receiving module, and the data processing and control module calculates the distance between detection device and testee based on time-of-flight method；The detection device further includes that light Optical devices, the light Optical devices are set to receiving module and receive in the light path of the infrared acquisition light reflected by testee.The advantageous effect of the application is, can expand field angle and pixel difference caused by elimination search coverage is different and uneven illumination in original more light-sensitive image vegetarian refreshments optical detecting gears.
Description
Technical field
This application involves a kind of detection device, more particularly to a kind of detection device with uniform receiving optics.
Background technology
Currently, common optical distance measurement apparatus includes：Transmitting module, optics receiving lens, receives simultaneously transmitting shaping camera lens
Handle the chip etc. of signal.Transmitter unit sends out the light beam by shaping and is irradiated to testee surface, and receiving lens are from waiting for
It surveys the reflected light of body surface to converge on reception chip, by measuring the time difference being emitted between receiving, it is known that
The light velocity, you can find out testee to device distance.It is now widely used for robot obstacle-avoiding, environment measuring, fixed high.
Phase method ToF（Time of Flight, abbreviation ToF）In ranging, the echo for receiving 4 continuous modulations successively is needed
（In wherein optional pattern, using 2 echometric measurements, but measuring accuracy can reduce）It measures, the echo is
The detection light being reflected back by barrier, brought disadvantage are exactly the time of measuring that single measurement needs 4 times, significantly limit survey
Test speed away from device.
Invention content
The application provides a kind of detection device with face array photoelectric sensor.A kind of detection device, including transmitting module
10, receiving module 50 and data processing and control module, wherein transmitting module 10 sends out infrared acquisition light 20, the infrared spy
It surveys in 20 directive environment of light, encounters testee and reflected；The infrared acquisition light 30 reflected by testee is incident on reception mould
In block 50；Data processing and control module is connected with receiving module 50, and the data processing and control module is based on time-of-flight method
Calculate the distance between detection device and testee；The detection device further includes equal light Optical devices, the light light
Device is set to receiving module and receives in the light path of the infrared acquisition light 30 reflected by testee.
Further, in the receiving module 50 include photoelectric sensor, the photoelectric sensor is face battle array photoelectric sensing
Device or single-point photoelectric sensor.
In any embodiment wherein, the receiving module 50 obtains the infrared acquisition light 30 reflected by testee
Signal sampling information；The signal sampling information that data processing and control module is obtained according to receiving module 50, calculates transmitting module
Phase difference between the 10 infrared acquisition light 20 sent out and the infrared acquisition light 30 reflected by testee is based on time-of-flight method
Calculate the distance between detection device and testee.
In any embodiment wherein, letter of the receiving module 50 to the infrared acquisition light 30 reflected by testee
Number sampling number is for four times or twice.
In any embodiment wherein, the receiving module 50 completes distance meter within the primary detection sampling time
All four times needed for calculating or detection sampling twice.
In any embodiment wherein, the receiving module 50 also obtains the infrared acquisition light 30 reflected by testee
Gray level image.
In any embodiment wherein, the transmitting module 10 includes active light source, and the active light source is LED light source
Or it is laser light source.
In any embodiment wherein, the transmitting module 10 sends out the Sine Modulated infrared acquisition light 20 through ovennodulation
Or square-wave frequency modulation infrared acquisition light 20.
Further include the beam shaping with beam shaping effect in any embodiment wherein, in the transmitting module 10
Either the beam shaping lens group beam shaping lens or the beam shaping lens group are set to transmitting module 10 to lens
Middle active light source is sent out in the light path of infrared light 20.
In any embodiment wherein, the beam shaping lens group includes collimation lens.
In any embodiment wherein, the beam shaping lens group include spherical surface, non-spherical lens combination, it is asymmetric
Freely remove face lens or Binary Diffractive Optics device.
In any embodiment wherein, the light of the infrared acquisition light 30 reflected by testee is received in receiving module 50
On the road, receiving lens 40 are provided with.
In any embodiment wherein, the light Optical devices are field lens 60, and the field lens 60 is set to reception mould
Between block 50 and receiving lens 40.
In any embodiment wherein, the field lens 60 is set on the focal plane of receiving lens 40.
In any embodiment wherein, anti-reflection film and/or light optics dress are provided in the receiving lens 40
It sets and is provided with anti-reflection film.
In any embodiment wherein, the light Optical devices are equal light cone or are equal light beam.
In any embodiment wherein, the equal light cone be hollow equal light cone 70 or solid equal light cone 71, it is described
Light beam is hollow equal light beam or solid equal light beam.
In any embodiment wherein, the light Optical devices are equal light optical fiber or be diffusion sheet, the light
Optical fiber or the diffusion sheet are between receiving module 50 and receiving lens 40.
In any embodiment wherein, the light Optical devices are the combination or described equal of field lens and equal light cone
Light Optical devices are the combination of field lens and equal light beam.
In any embodiment wherein, the light Optical devices are an integral molding structure for field lens with equal light cone, or
Light Optical devices are that field lens is an integral molding structure with equal light beam described in person.
Further, the field lens is substituted by light optical fiber or diffusion sheet.
In any embodiment wherein, the detection device is used for mobile robot, sweeping robot, unmanned plane or nothing
Detection in people's driving to ambient enviroment.
Description of the drawings
Fig. 1 is detection device structural schematic diagram.
Fig. 2 is the structural schematic diagram of face array photoelectric sensor in detection device.
Fig. 3 is that light Optical devices are the structural schematic diagram of field lens in detection device.
Fig. 4 is that light Optical devices are the structural schematic diagram of equal light cone in detection device.
Fig. 5 is that light Optical devices are the structural schematic diagram of solid equal light cone in detection device.
Fig. 6 is that the light Optical devices of detection device are the structural schematic diagram that field lens is combined with equal light cone.
Fig. 7 is that the light Optical devices of detection device are field lens and the integrally formed structural schematic diagram of equal light cone.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model of the application protection
It encloses.
The detection principle of detection device is detection principle figure as shown in Figure 1.Transmitting module 10 sends out infrared acquisition light 20,
In 20 directive environment of the infrared acquisition light, testee is encountered（That is barrier）It is reflected；By the infrared of testee reflection
Detect light（That is echo）30 are incident in receiving module 50, and receiving module 50 receives echo 30；Receiving module 50 obtains echo 30
Signal sampling information；The receiving module can also access the light intensity and/or gray level image of echo；Data processing and control module with
Receiving module 50 is connected, the signal sampling information for the echo 30 that data processing and control module is obtained according to receiving module 50, meter
The phase difference between the transmitting module infrared acquisition light 20 sent out and echo 30 is calculated, and then spy is calculated based on time-of-flight method
Survey the distance between device and testee.
In optional technical solution, above-mentioned distance measuring method need not calculate the phase between infrared acquisition light and echo 30
Potential difference, but clock circuit is set in the device, the time difference between direct detection infrared acquisition light 20 and echo 30, Jin Erji
The distance between detection device and testee are calculated in time-of-flight method.The infrared acquisition light 30 reflected by testee
It is incident in receiving module 50, receiving module 50 need not carry out echo 30 twice or four signal samplings, at data
Reason control module need not calculate phase difference, but directly calculate the time difference, be calculated apart from number by pulse time-of-flight method
According to, and should be that this field is conventional by the method directly by measuring the time difference between infrared acquisition light 20 and echo 30
Method, structure are also the conventional structure of this field, and particular content does not repeat here.
In an embodiment wherein, transmitting module 10 is set to receiving module 50 on same circuit board.
In order to echo 30 be assembled or imaged on receiving module 50, the light path of echo 30 is received in receiving module 50
On, it is provided with receiving lens 40.The receiving lens 40 converge to echo 30 in receiving module 50 or the receiving lens 40 will
Echo 30 is imaged onto on receiving module 50.
It include photoelectric sensor in the receiving module 50.In above-mentioned any one embodiment, the photoelectric sensor is
One piece of face array photoelectric sensor being made of M rows N row photoelectric transducer elements.M*N pixel unit is shared, i.e. M*N is a
Photoelectric transducer element.As a result of face array photoelectric sensor, the detection device involved by the application is in each detection
Cheng Zhong can obtain total M*N different information, one a pair of M*N different zones of the M*N distance value and testee
It answers.
Wherein, transmitting module 10 includes active light source, which is LED light source or laser light source.The transmitting mould
Block 10 sends out Sine Modulated infrared acquisition light 20 or square-wave frequency modulation infrared acquisition light 20 through ovennodulation.It is suitable in order to obtain
Transmitting or obtains the light beam with specific structure at field angle, further include in transmitting module have beam shaping effect lens or
Person's lens group, the lens or lens group are set to active light source and send out in the light path of infrared light.The beam shaping lens
Or lens group, it can be designed completely according to the field of view of receiver of receiving unit, field of view of receiver is completely covered and reaches uniform
Illuminating effect, and increase operation rate while increase signal-to-noise ratio.In one such embodiment, beam shaping lens group
Including collimation lens and spot shaping lens.In a kind of optional embodiment, beam shaping lens group includes spherical surface, aspheric
Face lens combination and it is asymmetric freely remove face lens, can also be Binary Diffractive Optics device（DOE）.
Detection device disclosed in the present application is based on time-of-flight method（ToF）Calculate the detection device and measured object in environment
Body（That is barrier）The distance between.In a preferred embodiment, the detection device according to emission detection light and receives
The detection light phase reflected by barrier is poor, and then calculates the detection light sent out and when the detection light that receives is required
Between, finally calculate distance value, i.e. the flight time distance measuring method based on phase difference.
In using the ToF distance measuring methods based on phase difference, each distance measurement process needs are measured by transmitting module
Phase difference between the infrared acquisition light of transmitting, the infrared acquisition light being reflected back by barrier.Used method is, setting by
The infrared acquisition light phase of transmitting module transmitting is initial phase.Receiving module to the infrared acquisition light that is reflected back by barrier into
Row detection sampling, the detection sampled data information for the infrared acquisition light being reflected back.In one of which embodiment, receive
Module carries out four detection samplings to the infrared acquisition light being reflected back by barrier, is denoted as D0, D1, D2 and D3 respectively.Wherein, it connects
The each pixel unit received in module face array photoelectric sensor can independently carry out above-mentioned detection sampling process.Wherein, described
The infrared acquisition light being reflected back by barrier, i.e. echo 30.
D0, D1, D2 and D3 that data processing and control module is obtained according to receiving module 50 are based on time-of-flight method, calculate
Final distance value D：
Wherein, C be the speed of light in a vacuum, f be modulated signal frequency, D0, D1, D2, D3 be respectively at 0 degree, 90 degree,
180 degree and the sampling of 270 degree of signal detection.D is worth for the distance between detection device and barrier.That is the detection device is each
Distance measurement process, being required for four detections to sample can just be calculated.
In an embodiment wherein, according to the principle of ToF phase methods, four phase detection samplings are not limited to, it also can be only
The phase acquisition twice of 1/4 modulation period of difference is carried out, this four times detection samplings can be reduced to detect sampling twice, that is, receive mould
Block has to detection sampling twice D0, D1, and calculating final distance value D is：
Wherein, C is the speed of light in a vacuum, and f is the frequency of modulated signal, and D0, D1 are respectively 0 degree, and 90 degree of signal detection are adopted
Sample amplitude.D is worth for the distance between detection device and barrier.I.e. in the embodiment, this application involves detection device it is each
Distance measurement process, being required for detection twice to sample can just be calculated.But it uses in the embodiment for detecting sampling twice,
Calculated distance data precision is low relative to the range data precision in the embodiment of four detection samplings.Wherein, D0 with
D1 is not limited to the signal detection sample magnitude of respectively 0 degree and 90 degree, as long as D0 is to differ for 1/4 modulation period twice with D1
Detection sampling.
In order to improve in the ToF distance measuring methods based on phase, the speed of detection of detection device, the application proposed one
Planting the quick detecting method cooperateed with using more pixels is：Same detecting area is detected with four adjacent photoelectric transducer elements simultaneously
Domain, as shown in Fig. 2, the same time, which reads, to be calculated apart from required 4 echo datas, can reach visited using single in this way
The effect of entire test process can be completed in the survey period, and detection time can be reduced to original 1/4, greatly reduces detection week
Phase improves speed of detection.I.e. within the primary detection sampling time, by different pixels, receiving module 50 is completed distance and is calculated
Required all 4 detections samplings.
In the embodiment that detection process needs 2 echo datas, visited simultaneously with two adjacent photoelectric transducer elements
The same area is surveyed, the same time, which reads, to be calculated apart from required 2 echo datas, can be reached in this way using single detection week
The effect of entire test process can be completed in phase, and detection time can be reduced to original 1/2.I.e. in primary detection sampling
In, by different pixels, receiving module 50 completes distance and calculates required all 2 detections samplings.
But such mode 4（Or 2）Search coverage corresponding to photoelectric transducer element is different position,
If it is a plane, it will correct data are returned to calculate correct distance value, if for on-plane surface or some detection
Region has object boundary etc., the data value of return that cannot correctly parse distance value, to unpredictable exception occur
Point.Simultaneously as search coverage active light source irradiate uniformity problem can still cause different photoelectric transducer element differences from
And influence detection accuracy.
More pixels are being used in order to overcome（That is photoelectric transducer element）Pixel difference caused by when collaboration quick detection
It is influenced caused by test result with test zone difference, in the technical solution involved by the application, light is added in receiving terminal
Optical devices achieve the purpose that precision distance measurement in the case where ensureing the efficiency of light energy utilization.
The application be solve its technical problem to be solved the technical solution adopted is that：In conventional optical distance measurement apparatus
On basis, a piece of light Optical devices that can play equal light action are additionally added, each photoelectric transducer element energy is reached
Measure the effect of difference homogenization.Light Optical devices are located in the light path of the reception echo 30 of receiving module 50 for this.
In an embodiment therein, the light Optical devices that can play equal light action are field lens 60.The field lens makes
Object lens are conjugated with the faces sensor.The field lens used, after addition system, the light penetrated from field lens 60 can be evenly distributed in
On all pixels of entire photoelectric sensor, so that being irradiated to the uniform intensity in receiving module 50 on photoelectric sensor
Change.The field lens is set between receiving module 50 and receiving lens 40.It is operated in the lens near object lens focal plane and is known as field lens.
Optical devices in 30 light path of echo can improve whole transmitance by the way that anti-reflection film is arranged, improve image planes
Brightness value enhances detection range.The anti-reflection film can be plated in receiving lens 40 or be plated on light Optical devices.
The effect of the field lens, as illustrated in figures 4-5, can with equal light cone either equal light beam replace the equal light cone or
Equal light beam is hollow equal light cone 70, hollow equal light beam, solid equal light cone 71 or solid equal light beam, is reached by multiple reflections
To the purpose of light.Equal light cone therein or equal light beam are coniform body or cylinder.The equal light cone or light
The inner wall of column is the reflecting surface of circle, can be more effectively by light uniformization.When selecting coniform body, echo 30 is from the big boundary of area
Face goes out incidence.
In an alternate embodiment of the invention, the field lens effect can use field lens and equal light cone or field lens and equal light beam knot
The form of conjunction is realized, and is integrated on receiving module 10.As shown in fig. 6, time of field lens 60 and equal light cone or equal light beam
The wave plane of incidence is connected, and receiving module 50 is connected with the echo of equal light cone or equal light beam through face.In optional embodiment
In, as shown in fig. 7, equal light cone（Or equal light beam）Be combined as a whole with field lens 80 structure.The equal light cone（Or equal light beam）
It is made be combined as a whole 80 structure of field lens using being integrally formed.
In an alternate embodiment of the invention, the field lens effect can also use the replacements such as light optical fiber, diffusion sheet.
In an alternate embodiment of the invention, field lens, equal light cone, equal light beam during the equal electro-optical device is not limited to the above embodiments
Deng any Optical devices that can play equal light action are suitable in the detection device in the application.
The photoelectric sensor for including in the receiving module 50 is not limited to face array photoelectric sensor, can also be single-point photoelectricity
Sensor.
The advantageous effect of the invention is can to expand visual field in original more light-sensitive image vegetarian refreshments optical detecting gears
Angle with eliminate pixel otherness caused by search coverage is different and uneven illumination.
In above-mentioned any one embodiment, the detection device with face array photoelectric sensor is used for mobile robot, sweeps the floor
To the detection of ambient enviroment in robot, unmanned plane or pilotless automobile.
In the detection device involved by above-mentioned any one embodiment, to there are many detection methods of barrier in environment
Mode.It is not limited to four adjacent photoelectric transducer elements while the method that detects same search coverage.As long as needing
The detection method that echo is carried out to Homogenization Treatments, the detection dress being suitable in any of the above-described embodiment disclosed in the present application
It sets.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of detection device, including transmitting module（10）, receiving module（50）And data processing and control module, wherein
Transmitting module（10）Send out infrared acquisition light（20）, the infrared acquisition light（20）In directive environment, testee is encountered
It is reflected；
The infrared acquisition light reflected by testee（30）It is incident on receiving module（50）In；
Data processing and control module and receiving module（50）It is connected, the data processing and control module is based on time-of-flight method meter
Calculate the distance between detection device and testee；
It is characterized in that, the detection device, which further includes light Optical devices, the light Optical devices, is set to receiving module
Receive the infrared acquisition light reflected by testee（30）Light path on.
2. detection device according to claim 1, which is characterized in that the receiving module（50）In include photoelectric sensing
Device, the photoelectric sensor are face array photoelectric sensor or single-point photoelectric sensor.
3. detection device according to claim 1, which is characterized in that the receiving module（50）It obtains anti-by testee
The infrared acquisition light penetrated（30）Signal sampling information；Data processing and control module is according to receiving module（50）Obtained signal is adopted
Sample information, calculates transmitting module（10）The infrared acquisition light sent out（20）With the infrared acquisition light reflected by testee（30）
Between phase difference, the distance between detection device and testee are calculated based on time-of-flight method.
4. detection device according to claim 3, which is characterized in that the receiving module（50）It is sampled in primary detection
In time, completes distance and calculate required all four times or detection sampling twice.
5. according to the detection device described in one of claim 1-4, which is characterized in that in receiving module（50）It receives by measured object
The infrared acquisition light of body reflection（30）Light path on, be provided with receiving lens（40）.
6. detection device according to claim 5, which is characterized in that the light Optical devices are field lens（60）, described
Field lens（60）It is set to receiving module（50）With receiving lens（40）Between.
7. detection device according to claim 5, which is characterized in that the light Optical devices are equal light cone or are equal
Light beam.
8. detection device according to claim 7, which is characterized in that the equal light cone is hollow equal light cone（70）Or it is real
The equal light cone of the heart（71）, the equal light beam is hollow equal light beam or solid equal light beam.
9. detection device according to claim 5, which is characterized in that the light Optical devices are field lens and equal light cone
In conjunction with or the light Optical devices be field lens and equal light beam combination.
10. detection device according to claim 9, which is characterized in that the light Optical devices are field lens and equal light cone
It is an integral molding structure or the light Optical devices is that field lens is an integral molding structure with equal light beam.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710087860.7A CN108459328A (en) | 2017-02-18 | 2017-02-18 | A kind of detection device with uniform receiving optics |
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| CN201710087860.7A CN108459328A (en) | 2017-02-18 | 2017-02-18 | A kind of detection device with uniform receiving optics |
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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 |
| WO2022001219A1 (en) * | 2020-06-30 | 2022-01-06 | 华为技术有限公司 | Light receiving device and lidar system |
| WO2022001228A1 (en) * | 2020-06-30 | 2022-01-06 | 华为技术有限公司 | Laser radar system and detection method |
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Application publication date: 20180828 |