CN108693088B - Atmospheric particulate monitoring scanning polarization laser radar system - Google Patents
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 28
- 230000010287 polarization Effects 0.000 title claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 42
- 230000003287 optical effect Effects 0.000 claims abstract description 22
- 238000005286 illumination Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 238000009833 condensation Methods 0.000 claims description 7
- 230000005494 condensation Effects 0.000 claims description 7
- 239000008277 atmospheric particulate matter Substances 0.000 claims 3
- 239000005427 atmospheric aerosol Substances 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000000605 extraction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 201000009310 astigmatism Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008033 biological extinction Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000005329 float glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000028161 membrane depolarization Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
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- 238000009423 ventilation Methods 0.000 description 1
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- G01N15/06—Investigating concentration of particle suspensions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
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Abstract
The invention relates to an atmospheric particulate monitoring scanning polarization laser radar system, which comprises a receiving and transmitting system, a display system, a evidence obtaining system, a scanning system, a signal processing system and an optical signal processing system, wherein the receiving and transmitting system is used for receiving and transmitting atmospheric particulate monitoring signals; the scanning system comprises a horizontal rotating box, a vertical rotating box and a linkage rod, the horizontal rotating box and the receiving and transmitting system are coaxially arranged, and the optical signal processing system is matched with the receiving and transmitting system in position. The invention can effectively reduce the light path deviation caused by structural strain, has higher overall monitoring performance and monitoring precision and smaller influence by weather, can realize remote monitoring, realizes rotary scanning in horizontal and vertical directions, and solves the problem that the atmospheric aerosol laser radar sold in the market at present cannot rotate horizontally for 360 degrees without limit and the problem of synchronous evidence obtaining.
Description
Technical Field
The invention relates to the field of optics, in particular to an atmospheric particulate monitoring and scanning polarized laser radar system.
Background
The traditional optical system has the problems that the optical stability is greatly influenced by temperature due to different axes and different structural members of the transmitting unit and the receiving unit, and the received signal is greatly influenced by background sunlight to cause difficulty in signal analysis.
The traditional emission light source mostly adopts an external optical fiber, and has the problems of unstable emission signal, short service life and the like; the traditional signal processing system has low extraction precision of weak signals and is easy to be interfered by electromagnetic waves; the traditional atmospheric aerosol laser radar scanning adopts the rotation of a radar main body, is very clumsy, reduces the service life of the radar main body after the radar is exposed outside for a long time, and is greatly influenced by weather.
Part of novel atmospheric aerosol laser radars adopt a split scanning device, but cannot solve the problem of synchronization of a shooting system and a scanning system, and cannot realize locking at any angle and 360-degree continuous rotation.
The traditional evidence obtaining system cannot realize long-distance high-definition day and night evidence obtaining, and has no functions of optical fog penetration, laser illumination and the like; conventional software systems do not have a separate database or the like.
Disclosure of Invention
The purpose of the invention is: the utility model provides an atmospheric particulates monitoring scanning polarization laser radar system, customer service above-mentioned defect.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an atmospheric particulate monitoring and scanning polarization laser radar system comprises a receiving and transmitting system, a display system, a forensics system, a scanning system, a signal processing system and an optical signal processing system; the scanning system comprises a horizontal rotating box, a vertical rotating box and a linkage rod, the horizontal rotating box is movably connected with the shell through the horizontal rotating system, the vertical rotating box is movably connected with the horizontal rotating box through the vertical rotating system, one end of the linkage rod is connected with the vertical rotating system, and the evidence obtaining system is connected with the other end of the linkage rod through the other vertical rotating system; the transmitting and receiving system comprises a refraction telescope, a beam expander, a shading tube and a reflector; the beam expander is positioned in the refraction telescope and is coaxially arranged with the refraction telescope, and one end of the beam expander is flush with one end of the refraction telescope; the shading tube is positioned in the refraction telescope and is coaxially arranged with the refraction telescope, the shading tube is connected with the beam expander, one end of the shading tube, far away from the beam expander, is flush with the other end of the refraction telescope, the reflection lens is obliquely arranged on the inner wall of the refraction telescope, one end of the refraction telescope, far away from the beam expander, is provided with a laser generator, and the laser emitting end of the laser generator corresponds to the position of the shading tube; the evidence obtaining system comprises a long-distance high-definition camera, a laser lighting system, a low-illumination high-definition camera and an automatic focusing system; the remote high-definition camera comprises a first zoom lens and a zoom lens, the laser lighting system comprises a second zoom lens, the low-illumination high-definition camera comprises a CMOS image sensor, the automatic focusing system comprises a motor driver, a DSP controller, a first zoom motor, a zoom motor and a second zoom motor, the motor driver is respectively electrically connected with the first zoom motor, the second zoom motor and the DSP controller, the CMOS image sensor is electrically connected with the DSP controller, the output end of the first zoom motor is mechanically connected with the first zoom lens, the output end of the zoom motor is mechanically connected with the zoom lens, and the output end of the second zoom motor is mechanically connected with the second zoom lens; the horizontal rotating box is coaxially arranged with the receiving and transmitting system, and the optical signal processing system is matched with the receiving and transmitting system in position; the signal processing system is electrically connected with the optical signal processing system, the signal processing system comprises a small-signal operational amplifier system and a high-speed acquisition assembly, and the high-speed acquisition assembly comprises a high-speed acquisition card.
Further, the display system comprises an industrial personal computer and software installed in the industrial personal computer, wherein the software comprises a laser control module, a collection box control module, a collection card control module, a UPS module, a communication module, a data processing module, a drawing module, a setting module and a log module.
Furthermore, the scanning system further comprises a control system, the control system is located in the shell, scanning reflectors are arranged in the horizontal rotating box and the vertical rotating box, and a condensation removing system and an emergent receiving window are arranged at one end, far away from the horizontal rotating box, of the vertical rotating box.
Further, the optical signal processing system comprises a collecting lens, a beam splitting lens, a first end lens, a second end lens, a first photomultiplier tube and a second photomultiplier tube; the collecting lens, the beam splitting lens, the first tail end lens and the first photomultiplier are arranged in sequence in a linear mode, the beam splitting lens, the second tail end lens and the second photomultiplier are arranged in sequence in a linear mode, and the collecting lens corresponds to the position of the light rays emitted from the side face of the tail end of the receiving and dispatching system.
The invention has the beneficial effects that: a scanning polarization laser radar system for monitoring atmospheric particulates realizes that a transmitted light beam is coaxial with a received light beam through the matched use of a receiving and transmitting system, a display system, a forensics system, a scanning system, a signal processing system and an optical signal processing system, and effectively reduces the light path offset caused by structural strain; the stray signals with non-required wavelengths are effectively filtered, and the interference of laser light source astigmatism on a receiving system is effectively avoided, so that the overall monitoring performance of the equipment is improved; weak signal extraction and amplification are realized, so that the monitoring precision of the equipment is improved; the operation and storage of the independent database are realized, so that the monitoring data is safer; remote high-definition real-time evidence obtaining is realized, so that monitoring data is visual and credible; the influence of weather is small, remote monitoring can be realized, scanning is realized, horizontal 360-degree and vertical-135-degree continuous rotary scanning is realized, the rotary precision is high, the safety is high, the rotating speed is adjustable, and vehicle-mounted and fixed base station scanning can be performed under various weather conditions; the service life of the laser radar is prolonged, and the laser radar is easy to mount on a vehicle and a fixed base station; meanwhile, the problem that the atmospheric aerosol laser radar cannot rotate horizontally by 360 degrees without limit in the current market and the problem of synchronous evidence obtaining are solved.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an atmospheric particulate monitoring scanning polarization lidar system according to the present invention.
Fig. 2 is a schematic diagram of a software structure of an atmospheric particulate monitoring scanning polarization lidar system according to the present invention.
Fig. 3 is a software flow diagram of an atmospheric particulate monitoring scanning polarization lidar system according to the present invention.
Fig. 4 is a schematic structural diagram of a forensic system of an atmospheric particulate monitoring scanning polarization lidar system according to the present invention.
Fig. 5 is a schematic diagram of an automatic zooming principle of a evidence obtaining system of an atmospheric particulate monitoring scanning polarization lidar system according to the present invention.
Fig. 6 is a block diagram of a control system of the atmospheric particulate monitoring scanning polarization lidar system of the present invention.
Fig. 7 is a structural block diagram of a small-signal operational amplifier system of an atmospheric particulate monitoring scanning polarization lidar system according to the present invention.
In the figure: 1, a transceiver system; 10. a refractive telescope; 11. a beam expander; 12. a light shielding pipe; 13. a mirror plate; 2. a display system; 20. an industrial personal computer; 21. software; 3. a forensic system; 30. a remote high-definition camera; 301. a first zoom lens; 302. a variable power lens; 31. a laser illumination system; 311. a second zoom lens; 32. a low-illumination high-definition camera; 321. a CMOS image sensor; 33. an auto-focus system; 331. a motor driver; 332. a DSP controller; 333. a first zoom motor; 334. a zoom motor; 335. a second zoom motor; 4. a scanning system; 40. a horizontal rotation box; 41. a vertical rotation box; 42. a horizontal rotation system; 43. a vertical rotation system; 44. a sweeping mirror; 45. a control system; 46. a linkage rod; 47. a dewing system; 48. a receiving window is emitted; 5. a signal processing system; 50. a small signal operational amplifier system; 51. a high-speed acquisition component; 6. an optical signal processing system; 60. a collection lens; 61. a beam splitting prism; 62. a first end lens; 63. a second end lens; 64. a first photomultiplier tube; 65. a second photomultiplier tube.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 7, an atmospheric particulates monitoring scanning polarization lidar system comprises a transceiver system 1, a display system 2, a forensics system 3, a scanning system 4, a signal processing system 5 and an optical signal processing system 6; the receiving and sending system 1, the display system 2, the signal processing system 3 and the optical signal processing system 6 are all located in the shell, the scanning system 4 comprises a horizontal rotation box 40, a vertical rotation box 41 and a linkage rod 46, the horizontal rotation box 40 is movably connected with the shell through a horizontal rotation system 42, the vertical rotation box 41 is movably connected with the horizontal rotation box 40 through a vertical rotation system 43, one end of the linkage rod 46 is connected with the vertical rotation system 43, the evidence obtaining system 3 is connected with the other end of the linkage rod 46 through another vertical rotation system 43, the horizontal rotation system 42 and the vertical rotation system 43 are purchased, the horizontal rotation box 40 and the receiving and sending system 1 are coaxially arranged, and the optical signal processing system 6 is matched with the receiving and sending system 1 in position.
The transmitting and receiving system 1 comprises a refraction telescope 10, a beam expander 11, a shading tube 12 and a reflector 13; the beam expander 11 is positioned inside the refractive telescope 10 and is coaxially arranged with the refractive telescope 10, and one end of the beam expander 11 is flush with one end of the refractive telescope 10; the utility model discloses a telescope, including refraction telescope 10, shading pipe 12, beam expander 11, beam expander 10, reflector 13, laser generator 14's laser emission end and shading pipe 12's position are corresponding, laser generator 14 is used for sending laser, shading pipe 12 is located refraction telescope 10 inside and with the coaxial setting of refraction telescope 10, shading pipe 12 is connected with beam expander 11, the shading pipe 12 is kept away from the one end of beam expander 11 and is parallel and level with the other end of refraction telescope 10, reflector 13 slope sets up in the inner wall of refraction telescope 10, reflector 13 is used for changing the light orbit, the one end that beam expander 11 was kept away from to refraction telescope 10.
The display system 2 comprises an industrial personal computer 20 and software 21 installed in the industrial personal computer 20, wherein the software 21 comprises a laser control module, a collection box control module, a collection card control module, a UPS module, a communication module, a data processing module, a drawing module, a setting module and a log module; the industrial personal computer 21 is used for running software 21, storing data and displaying data, and the specific model of the industrial personal computer 20 is Huashuo IPC-611 MB; the laser control module controls parameters of the laser generator 14 through serial port communication, wherein the parameters comprise temperature, current, light emitting energy, light emitting stopping and the like; the acquisition box control module is used for processing echo signals and ensuring the signal quality; the acquisition card control module is used for acquiring data processed by the acquisition box under the condition that the laser generator 14 emits light, performing operation processing on the data and outputting the data; the UPS module controls the UPS and obtains the state of the UPS through the serial port, and different processing such as shutdown and other operations are carried out on the equipment through the obtained state of the UPS; the communication module encapsulates dynamic link libraries such as serial port communication, network communication and the like for other modules to call; the data processing module is mainly used for processing, analyzing, storing and the like collected data; the drawing module is used for drawing processed data on software, such as echo signals, extinction coefficients, depolarization ratios and the like; the setting module is used for setting parameters such as laser parameters, acquisition card parameters, data storage paths and the like; the log module is used for recording some debugging information, or some error information, etc.
The evidence obtaining system 3 comprises a long-distance high-definition camera 30, a laser lighting system 31, a low-illumination high-definition camera 32 and an automatic focusing system 33; the long-distance high-definition camera 30 comprises a first zoom lens 301 and a zoom lens 302, the laser lighting system 31 comprises a second zoom lens 311, the low-illumination high-definition camera 32 comprises a CMOS image sensor 321, and the automatic focusing system 33 comprises a motor driver 331, a DSP controller 332, a first zoom motor 333, a zoom motor 334 and a second zoom motor 335; the motor driver 331 is electrically connected to the first zoom motor 333, the zoom motor 334, the second zoom motor 335, and the DSP controller 332, respectively, the CMOS image sensor 321 is electrically connected to the DSP controller 332, an output end of the first zoom motor 333 is mechanically connected to the first zoom lens 301, an output end of the zoom motor 334 is mechanically connected to the zoom lens 302, and an output end of the second zoom motor 335 is mechanically connected to the second zoom lens 311.
The scanning system 4 further comprises a control system 45, the control system 45 is located in the housing, the horizontal rotating box 40 and the vertical rotating box 41 are both provided with scanning mirrors 44, and one end of the vertical rotating box 41 far away from the horizontal rotating box 40 is provided with a condensation removing system 47 and an emergent receiving window 48.
The scanning reflector 44 is made of float glass material and plated with a total reflection film corresponding to the emission wavelength; the window sheet of the emergent receiving window 48 is made of quartz GJS1 material and is plated with an antireflection film corresponding to the emission wavelength.
The condensation removing system 47 adopts a ventilation type PTC heater, is an automatic thermostat, can automatically adjust the power output of the condensation removing system according to the temperature, and is used for removing the condensation on the window sheet of the emergent receiving window 48, so that the emergent receiving window 47 is not blocked by the condensation to form interference.
The signal processing system 5 is electrically connected with the optical signal processing system 6, the signal processing system 5 comprises a small signal operational amplifier system 50 and a high-speed acquisition component 51, the high-speed acquisition component 51 comprises a high-speed acquisition card, and the type of the high-speed acquisition card is NI PCI 5105.
The optical signal processing system 6 comprises a collecting lens 60, a beam splitting lens 61, a first end lens 62, a second end lens 63, a first photomultiplier tube 64 and a second photomultiplier tube 65; the collecting lens 60, the beam splitting lens 61, the first end lens 62 and the first photomultiplier 64 are sequentially arranged in a linear manner, the beam splitting lens 61, the second end lens 63 and the second photomultiplier 65 are sequentially arranged in a linear manner, and the collecting lens 60 corresponds to the position of the light emitted from the side face of the tail end of the transceiving system 1; the specific model of the first photomultiplier tube 64 and the second photomultiplier tube 65 are both hamamatsu R9880.
The overall working principle of the invention is as follows: a laser control module of software 21 in the industrial personal computer 20 controls a laser generator 14 to emit laser, and laser beams are reflected twice by a scanning reflecting mirror 44 in a horizontal rotating box 40 and a vertical rotating box 41 after passing through a beam expander 11 and a shading tube 12 and are emitted to the atmosphere through an emitting and receiving window 48; the laser and the atmosphere interact, the back scattering signal is received through the exit receiving window 48, enters the vertical rotating box 41, is reflected successively by the scanning reflecting mirror 44 in the vertical rotating box 41 and the horizontal rotating box 40, enters the refraction telescope 1, is reflected to the optical signal processing system 6 by the reflecting lens 13, the received light beam is reflected to enter the optical signal processing system 6, firstly passes through the collecting lens 60, then is dispersed into two sub-beams which are vertical to each other by the beam splitting lens 61, wherein one of the light beams reaches the first photomultiplier 64 after passing through the first end lens 62, and the other light beam reaches the second photomultiplier 65 after passing through the second end lens 63; the small-signal operational amplifier system 50 of the signal processing system 5 filters and amplifies the weak small electric signals converted by the first photomultiplier tube 64 and the second photomultiplier tube 65, and then performs signal acquisition by using the high-speed acquisition assembly 51; the period control system 45 is used for precise control and data reading of the scanning system 4 and the forensic system 3.
The using process of the software comprises the following steps: when the software 21 is started, the hardware of the system, such as the collection box, ups, collection card and laser generator 14, is initialized. And then pops up the software interface. And after the software interface is popped up, clicking a start acquisition button, enabling the laser generator 14 to emit light, enabling the high-speed acquisition assembly 51 to simultaneously acquire data, stopping emitting light by the laser generator 14 after the set number of pulses is acquired, and storing and drawing the data.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The above examples are intended to further illustrate the present invention, but are not intended to limit the invention to these specific embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.
Claims (4)
1. The utility model provides an atmospheric particulates monitoring scanning polarization laser radar system which characterized in that: the system comprises a receiving and transmitting system, a display system, a forensics system, a scanning system, a signal processing system and an optical signal processing system; the scanning system comprises a horizontal rotating box, a vertical rotating box and a linkage rod, the horizontal rotating box is movably connected with the shell through the horizontal rotating system, the vertical rotating box is movably connected with the horizontal rotating box through the vertical rotating system, one end of the linkage rod is connected with the vertical rotating system, and the evidence obtaining system is connected with the other end of the linkage rod through the other vertical rotating system; the transmitting and receiving system comprises a refraction telescope, a beam expander, a shading tube and a reflector; the beam expander is positioned in the refraction telescope and is coaxially arranged with the refraction telescope, and one end of the beam expander is flush with one end of the refraction telescope; the shading tube is positioned in the refraction telescope and is coaxially arranged with the refraction telescope, the shading tube is connected with the beam expander, one end of the shading tube, far away from the beam expander, is flush with the other end of the refraction telescope, the reflection lens is obliquely arranged on the inner wall of the refraction telescope, one end of the refraction telescope, far away from the beam expander, is provided with a laser generator, and the laser emitting end of the laser generator corresponds to the position of the shading tube; the evidence obtaining system comprises a long-distance high-definition camera, a laser lighting system, a low-illumination high-definition camera and an automatic focusing system; the remote high-definition camera comprises a first zoom lens and a zoom lens, the laser lighting system comprises a second zoom lens, the low-illumination high-definition camera comprises a CMOS image sensor, the automatic focusing system comprises a motor driver, a DSP controller, a first zoom motor, a zoom motor and a second zoom motor, the motor driver is respectively electrically connected with the first zoom motor, the second zoom motor and the DSP controller, the CMOS image sensor is electrically connected with the DSP controller, the output end of the first zoom motor is mechanically connected with the first zoom lens, the output end of the zoom motor is mechanically connected with the zoom lens, and the output end of the second zoom motor is mechanically connected with the second zoom lens; the horizontal rotating box is coaxially arranged with the receiving and transmitting system, and the optical signal processing system is matched with the receiving and transmitting system in position; the signal processing system is electrically connected with the optical signal processing system, the signal processing system comprises a small-signal operational amplifier system and a high-speed acquisition assembly, and the high-speed acquisition assembly comprises a high-speed acquisition card.
2. The atmospheric particulate matter monitoring scanning polarized lidar system of claim 1, wherein: the display system comprises an industrial personal computer and software installed in the industrial personal computer, wherein the software comprises a laser control module, a collection box control module, a collection card control module, a UPS module, a communication module, a data processing module, a drawing module, a setting module and a log module.
3. The atmospheric particulate matter monitoring scanning polarized lidar system of claim 1, wherein: the scanning system further comprises a control system, the control system is located in the shell, scanning reflectors are arranged in the horizontal rotating box and the vertical rotating box, and a condensation removing system and an emergent receiving window are arranged at one end, far away from the horizontal rotating box, of the vertical rotating box.
4. The atmospheric particulate matter monitoring scanning polarized lidar system of claim 1, wherein: the optical signal processing system comprises a collecting lens, a beam splitting lens, a first tail end lens, a second tail end lens, a first photomultiplier and a second photomultiplier; the collecting lens, the beam splitting lens, the first tail end lens and the first photomultiplier are arranged in sequence in a linear mode, the beam splitting lens, the second tail end lens and the second photomultiplier are arranged in sequence in a linear mode, and the collecting lens corresponds to the position of the light rays emitted from the side face of the tail end of the receiving and dispatching system.
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| CN110109492A (en) * | 2019-03-21 | 2019-08-09 | 深圳市速腾聚创科技有限公司 | Laser transmitting system and its control method and device |
| CN110187361A (en) * | 2019-05-23 | 2019-08-30 | 中国科学技术大学 | Laser radar atmospheric seeing system based on railway network |
| CN110045392B (en) * | 2019-05-23 | 2022-11-29 | 南京信息工程大学 | Laser radar system for scanning atmospheric aerosol |
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| CN105791650B (en) * | 2016-03-30 | 2018-12-25 | 广州力富视频科技有限公司 | Wireless comprehensive recording apparatus of finding a view |
| CN205861903U (en) * | 2016-08-02 | 2017-01-04 | 无锡中科光电技术有限公司 | A kind of scan-type atmosphere particle monitoring laser radar apparatus |
| CN106534632B (en) * | 2016-11-03 | 2019-03-29 | 桂林电子科技大学 | Synchronous scanning imaging system |
| CN206725760U (en) * | 2017-04-12 | 2017-12-08 | 安徽科创中光科技有限公司 | A kind of vehicular quantum laser radar for atmospheric sounding particulate matter |
| CN207352168U (en) * | 2017-06-06 | 2018-05-11 | 合肥光博量子科技有限公司 | The round-the-clock round-the-clock atmospheric aerosol particulate matter laser radar apparatus of outdoor type |
| CN107835343A (en) * | 2017-11-20 | 2018-03-23 | 重庆交通职业学院 | Video signal collective tape deck and remote high-definition laser video camera |
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