CN109031240A - Laser radar and laser radar control method - Google Patents
Laser radar and laser radar control method Download PDFInfo
- Publication number
- CN109031240A CN109031240A CN201810391338.2A CN201810391338A CN109031240A CN 109031240 A CN109031240 A CN 109031240A CN 201810391338 A CN201810391338 A CN 201810391338A CN 109031240 A CN109031240 A CN 109031240A
- Authority
- CN
- China
- Prior art keywords
- reflecting surface
- reflecting
- laser
- laser radar
- galvanometer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
A kind of laser radar and laser radar control method are disclosed in the embodiment of the present invention, the laser radar includes: transmitter, for emitting shoot laser；Galvanometer, for changing the optical path direction of the shoot laser；Special shape reflecting mirror, for making the shoot laser from the galvanometer change exit direction again.The laser radar of the embodiment of the present invention, so that the point cloud of scanning field of view central area is intensive, edge is sparse, and the resolution ratio of scanning field of view central area can be improved.
Description
Technical field
The present invention relates to detection field, in particular to a kind of laser radar and laser radar control method.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Solid-state laser radar is one kind of laser radar, the advantage for having scanning accuracy high, at low cost.Existing solid-state swashs
Optical radar generallys use galvanometer, such as MEMS galvanometer, since scanning speed is uneven when scanning by MEMS, obtains
Sweep waveform is lissajous figures, as shown in fig. 7, i.e. scanning speed of the solid-state laser radar among visual field is fast, on visual field side
The characteristics of scanning speed of edge is slow, leads to collected cloud is that central point cloud is relatively dredged, and marginal point cloud is closeer, causes field of view center
Scanning accuracy it is lower.
As it can be seen that the high central area density of point cloud fringe region density of the laser radar at prior art center is low, cause to swash
Optical radar central area scanning accuracy is low.
Summary of the invention
A kind of laser radar and laser radar control method are provided in the embodiment of the present invention, can improve laser radar center
The scanning accuracy in region.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
On the one hand, a kind of laser radar is provided, comprising:
Transmitter, for emitting shoot laser；
Galvanometer, for changing the optical path direction of the shoot laser；
Special shape reflecting mirror, for making the shoot laser from the galvanometer change exit direction again.
Optionally, the special shape reflecting mirror is W type reflecting mirror, and the W type reflecting mirror includes:
First reflecting surface, the second reflecting surface, third reflecting surface and the 4th reflecting surface；
Angle between first reflecting surface and the second reflecting surface is less than 180 degree,
Angle between second reflecting surface and third reflecting surface is greater than 180 degree,
Angle between the third reflecting surface and the 4th reflecting surface is less than 180 degree；
Wherein, first reflecting surface, the second reflecting surface, the projection of third reflecting surface and the 4th reflecting surface in the horizontal plane
For rectangular or square,
First side of first reflecting surface and the second reflecting surface connects, and the second side of second reflecting surface and third are anti-
The first side for penetrating face connects, and the second side of the third reflecting surface connects with the 4th reflecting surface,
The first of second reflecting surface while and the second reflecting surface second while projection in the horizontal plane be square or
Two opposite sides of rectangle,
The first of the third reflecting surface while and third reflecting surface second while projection in the horizontal plane be square or
Two opposite sides of rectangle.
Optionally, the part shoot laser from the galvanometer is by the third reflective surface of the W type reflecting mirror to
It is emitted after four reflectings surface.
Optionally, the part shoot laser from the galvanometer is by the second reflective surface of the W type reflecting mirror to
It is emitted after one reflecting surface.
Optionally, the reflecting surface of W type reflecting mirror is plane, or is arcwall face.
Optionally, the laser radar further include:
Collimation unit is set between the transmitter and galvanometer, for collimating the shoot laser.
Second aspect provides a kind of laser radar control method, which comprises
Transmitter emits shoot laser；
Galvanometer changes the optical path direction of the shoot laser；
Special shape reflecting mirror makes the shoot laser from the galvanometer change exit direction again.
Optionally, the special shape reflecting mirror is W type reflecting mirror, and the W type reflecting mirror includes:
First reflecting surface, the second reflecting surface, third reflecting surface and the 4th reflecting surface；
Angle between first reflecting surface and the second reflecting surface is less than 180 degree,
Angle between second reflecting surface and third reflecting surface is greater than 180 degree,
Angle between the third reflecting surface and the 4th reflecting surface is less than 180 degree；
Wherein, first reflecting surface, the second reflecting surface, the projection of third reflecting surface and the 4th reflecting surface in the horizontal plane
For rectangular or square,
First side of first reflecting surface and the second reflecting surface connects, and the second side of second reflecting surface and third are anti-
The first side for penetrating face connects, and the second side of the third reflecting surface connects with the 4th reflecting surface,
The first of second reflecting surface while and the second reflecting surface second while projection in the horizontal plane be square or
Two opposite sides of rectangle,
The first of the third reflecting surface while and third reflecting surface second while projection in the horizontal plane be square or
Two opposite sides of rectangle.
Optionally, the part shoot laser from the galvanometer is by the third reflective surface of the W type reflecting mirror to
It is emitted after four reflectings surface.
Optionally, the part shoot laser from the galvanometer is by the second reflective surface of the W type reflecting mirror to
It is emitted after one reflecting surface.
A kind of laser radar, including transmitter, galvanometer special shape reflecting mirror are disclosed in the embodiment of the present invention, are emitted
The laser that device issues is reflected after galvanometer by special shape reflecting mirror, can be by the laser of script field of view center and script visual field
The laser at edge is exchanged, so that the point cloud of scanning field of view central area is intensive, edge is sparse, and scanning field of view center can be improved
The resolution ratio in domain.Since the central area of the scanning field of view of laser radar includes more feature, and fringe region is less, therefore
The laser radar of the embodiment of the present invention can more fully utilize the resource of laser radar, avoid wasting.In addition, the present invention is implemented
The shoot laser of the laser radar of example passes through multiple reflections, and shoot laser beam can be spread apart, therefore can be by the view of laser radar
Field range expands.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 show the schematic diagram of the laser radar of the embodiment of the present invention；
Fig. 2 show the schematic diagram of the W type reflecting mirror of the embodiment of the present invention；
Fig. 3 show the perspective view of the W type reflecting mirror of the embodiment of the present invention in the horizontal plane；
Fig. 4 show the perspective view of the W type reflecting mirror of the embodiment of the present invention in the horizontal plane；
Fig. 5 show the light path schematic diagram of the embodiment of the present invention；
Fig. 6 show the schematic diagram of the field range of the laser radar of the embodiment of the present invention；
Fig. 7 show lissajous figures.
Specific embodiment
Following examples of the present invention provide a kind of laser radar and laser radar control method, can improve in scanning field of view
The resolution ratio in heart district domain.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 show the schematic diagram of the laser radar of the embodiment of the present invention, and as described in Figure 1, the laser radar includes:
Transmitter 110, for emitting shoot laser；
Galvanometer 120, for changing the optical path direction of the shoot laser；
Special shape reflecting mirror 140, for making the shoot laser from the galvanometer change exit direction.
In Fig. 1, the shoot laser that transmitter 110 projects is penetrated after being reflected by special shape reflecting mirror 140 after galvanometer 120
Out.
The laser radar of the embodiment of the present invention, so that the point cloud of scanning field of view central area is intensive, edge is sparse, Ke Yiti
The resolution ratio of high scanning field of view central area.Since the central area of the scanning field of view of laser radar includes more feature, and
Fringe region is less, therefore the laser radar of the embodiment of the present invention can more fully utilize the resource of laser radar, avoid wave
Take.In addition, the shoot laser of the laser radar of the embodiment of the present invention passes through multiple reflections, shoot laser beam can be spread apart, because
This can expand the field range of laser radar.
In the embodiment of the present invention, special shape reflecting mirror is W type reflecting mirror, below with reference to the structure of W type reflecting mirror, in detail
The optical path of the shoot laser in the embodiment of the present invention is introduced, Fig. 2 show the schematic diagram of the W type reflecting mirror of the embodiment of the present invention,
As shown in Fig. 2, the W type reflecting mirror includes:
First reflecting surface 210, the second reflecting surface 220, third reflecting surface 230 and the 4th reflecting surface 240；
Angle a1 between first reflecting surface 210 and the second reflecting surface 220 is less than 180 degree,
Angle a2 between second reflecting surface 220 and third reflecting surface 230 is greater than 180 degree,
Angle a3 between the third reflecting surface 230 and the 4th reflecting surface 240 is less than 180 degree.
Fig. 3 show the perspective view of the W type reflecting mirror of the embodiment of the present invention in the horizontal plane, first reflecting surface
210, the second reflecting surface 220, third reflecting surface 230 and the 4th reflecting surface 240 in the horizontal plane be projected as rectangular or square,
First side of first reflecting surface 210 and the second reflecting surface 220 connects, and the second of second reflecting surface 220
While with third reflecting surface 230 first while connect, the second side of the third reflecting surface 230 connects with the 4th reflecting surface 240.
As shown in figure 3, the first of second reflecting surface 220 while 221 and second reflecting surface 220 second while 222 in water
Two sides that projection in plane is square or rectangle is opposite,
The first of the third reflecting surface 230 while 231 and third reflecting surface 230 second while 232 throwing in the horizontal plane
Two sides that shadow is square or rectangle is opposite,
Wherein, the second of the second reflecting surface 220 while 222 and third reflecting surface 230 first while 231 be overlapped.
In W type reflecting mirror shown in Fig. 2, each reflecting surface is plane, in other embodiments of the present invention, W type
The reflecting surface of reflecting mirror is arcwall face, as shown in Figure 4.
Fig. 5 show the light path schematic diagram of the embodiment of the present invention, and in Fig. 5, component identical with label in Fig. 2 has identical
Or similar function, details are not described herein.
As shown in figure 5, it is described come galvanometer 120 part shoot laser it is anti-by the third reflecting surface 143 of W type reflecting mirror 140
It is emitted after being incident upon the 4th reflecting surface 144,503,504 in optical path such as Fig. 5.
Galvanometer 130 can shake under driving voltage, so that the single-point laser from transmitter 110 is become multi-stripe laser, this is more
In laser, the shooting angle of every laser is different, part shoot laser by the W type reflecting mirror 140 the second reflection
Face 142 is emitted after reflexing to the first reflecting surface 141, optical path such as dotted line 501 and solid line 502 in Fig. 5.
In practical applications, shoot laser a part from galvanometer is anti-by the third reflecting surface 143 of W type reflecting mirror 140
It is emitted after being incident upon the 4th reflecting surface 144, another part reflexes to first instead by the second reflecting surface 142 of the W type reflecting mirror 140
It is emitted after penetrating face 141, as shown in figure 5, if without W type reflecting mirror, light 501 can be incident upon the central area in scanning range, light
Line 502 can be incident upon the fringe region in scanning range, and due to the presence of W type reflecting mirror, light 502 can be incident upon in scanning range
Central area, light 501 can be incident upon the fringe region in scanning range.Galvanometer be to the deflection of shoot laser it is nonlinear, because
This central area in scanning range is sparse, and fringe region is concentrated, due to the presence of W type reflecting mirror, center in scanning range
Domain can become to concentrate, therefore can improve the precision of central area.
Similarly, it should be incident upon the light 503 of field of view center originally due to the presence of W type reflecting mirror 140, be incident upon visual field side
Edge should be incident upon the light 504 of field of view edge due to the presence of W type reflecting mirror 140 originally, be incident upon field of view center.
In the scanning range of usual laser radar, central area is the range that feature is more concentrated, such as detecting object, letter
Signal lamp, traffic mark etc. are all in central area, therefore the raising of central area precision means mentioning for laser radar overall precision
Height, and fringe region feature itself is less, scanning accuracy, which is declined slightly, has no effect on overall precision, so the embodiment of the present invention can
To be more reasonably utilized the resource of laser radar, cost is reduced.
In the embodiment of the present invention, the angle between each reflecting surface of W type reflecting mirror is adjusted, thus it is possible to vary scanning range.
Fig. 6 show the schematic diagram of the field range of the laser radar of the embodiment of the present invention, as shown in fig. 6,601 and 602
Scanning range respectively after the different W type reflecting mirror of angle.The field range of range 601 is greater than 602.
As it can be seen that the laser radar of the embodiment of the present invention can expand the field range of laser radar.
The laser radar of the embodiment of the present invention further include:
Collimation unit is set between the transmitter and galvanometer, for collimating the shoot laser.
The laser radar of the embodiment of the present invention, so that the point cloud of scanning field of view central area is intensive, edge is sparse, Ke Yiti
The resolution ratio of high scanning field of view central area.Since the central area of the scanning field of view of laser radar includes more feature, and
Fringe region is less, therefore the laser radar of the embodiment of the present invention can more fully utilize the resource of laser radar, avoid wave
Take.In addition, the shoot laser of the laser radar of the embodiment of the present invention passes through multiple reflections, shoot laser beam can be spread apart, because
This can expand the field range of laser radar.
It is corresponding with above-mentioned laser radar, the embodiment of the invention also discloses a kind of laser radar control method, the side
Method includes:
Provide a kind of laser radar control method, which comprises
Transmitter emits shoot laser；
Galvanometer changes the optical path direction of the shoot laser；
Special shape reflecting mirror makes the shoot laser from the galvanometer change exit direction again.
Optionally, the special shape reflecting mirror is W type reflecting mirror, and the W type reflecting mirror includes:
First reflecting surface, the second reflecting surface, third reflecting surface and the 4th reflecting surface；
Angle between first reflecting surface and the second reflecting surface is less than 180 degree,
Angle between second reflecting surface and third reflecting surface is greater than 180 degree,
Angle between the third reflecting surface and the 4th reflecting surface is less than 180 degree；
Wherein, first reflecting surface, the second reflecting surface, the projection of third reflecting surface and the 4th reflecting surface in the horizontal plane
For rectangular or square,
First side of first reflecting surface and the second reflecting surface connects, and the second side of second reflecting surface and third are anti-
The first side for penetrating face connects, and the second side of the third reflecting surface connects with the 4th reflecting surface,
The first of second reflecting surface while and the second reflecting surface second while projection in the horizontal plane be square or
Two opposite sides of rectangle,
The first of the third reflecting surface while and third reflecting surface second while projection in the horizontal plane be square or
Two opposite sides of rectangle.
Optionally, the part shoot laser from the galvanometer is by the third reflective surface of the W type reflecting mirror to
It is emitted after four reflectings surface.
Optionally, the part shoot laser from the galvanometer is by the second reflective surface of the W type reflecting mirror to
It is emitted after one reflecting surface.
The embodiment of the present invention can make the point cloud of scanning field of view central area intensive, and edge is sparse, and scanning can be improved
The resolution ratio in field of view center region.
A kind of laser radar and laser radar control method, including transmitter, galvanometer are disclosed in the embodiment of the present invention
With W type reflecting mirror, the laser that transmitter issues is reflected after galvanometer by W type reflecting mirror, can be by the laser of script field of view center
It is exchanged with the laser of script field of view edge, so that the point cloud of scanning field of view central area is intensive, edge is sparse, and scanning can be improved
The resolution ratio in field of view center region.Since the central area of the scanning field of view of laser radar includes more feature, and marginal zone
Domain is less, therefore the laser radar of the embodiment of the present invention can more fully utilize the resource of laser radar, avoid wasting.This
Outside, the shoot laser of the laser radar of the embodiment of the present invention passes through multiple reflections, and shoot laser beam can be spread apart, therefore can incite somebody to action
The field range of laser radar expands.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to it by specialized hardware include specific integrated circuit, dedicated cpu, private memory, special components and parts etc. come real
It is existing, but the former is more preferably embodiment in many cases.Based on this understanding, the technical solution sheet in the embodiment of the present invention
The part that contributes to existing technology can be embodied in the form of software products in other words in matter, which produces
Product can store in storage medium, as read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disk, CD etc., including some instructions are used so that computer equipment (can be
People's computer, server or network equipment etc.) it executes described in certain parts of each embodiment of the present invention or embodiment
Method.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of laser radar characterized by comprising
Transmitter, for emitting shoot laser；
Galvanometer, for changing the optical path direction of the shoot laser；
Special shape reflecting mirror, for making the shoot laser from the galvanometer change exit direction again.
2. laser radar as described in claim 1, which is characterized in that the special shape reflecting mirror is W type reflecting mirror, described
W type reflecting mirror includes:
First reflecting surface, the second reflecting surface, third reflecting surface and the 4th reflecting surface；
Angle between first reflecting surface and the second reflecting surface is less than 180 degree,
Angle between second reflecting surface and third reflecting surface is greater than 180 degree,
Angle between the third reflecting surface and the 4th reflecting surface is less than 180 degree；
Wherein, first reflecting surface, the second reflecting surface, third reflecting surface and the 4th reflecting surface in the horizontal plane be projected as square
Shape or square,
First side of first reflecting surface and the second reflecting surface connects, the second side of second reflecting surface and third reflecting surface
The first side connect, the second side of the third reflecting surface connects with the 4th reflecting surface,
The first of second reflecting surface while and the second reflecting surface second while projection in the horizontal plane be square or rectangle
Two opposite sides,
The first of the third reflecting surface while and third reflecting surface second while projection in the horizontal plane be square or rectangle
Two opposite sides.
3. laser radar as claimed in claim 2, which is characterized in that the part shoot laser from the galvanometer is by the W
It is emitted after the third reflective surface to the 4th reflecting surface of type reflecting mirror.
4. laser radar as claimed in claim 2, which is characterized in that the part shoot laser from the galvanometer is by the W
It is emitted after the second reflective surface to the first reflecting surface of type reflecting mirror.
5. such as the described in any item laser radars of Claims 1-4, which is characterized in that the reflecting surface of W type reflecting mirror is plane,
It or is arcwall face.
6. laser radar as claimed in claim 5, which is characterized in that the laser radar further include:
Collimation unit is set between the transmitter and galvanometer, for collimating the shoot laser.
7. a kind of laser radar control method, which is characterized in that the described method includes:
Transmitter emits shoot laser；
Galvanometer changes the optical path direction of the shoot laser；
Special shape reflecting mirror makes the shoot laser from the galvanometer change exit direction again.
8. the method for claim 7, which is characterized in that the special shape reflecting mirror is W type reflecting mirror, the W type
Reflecting mirror includes:
First reflecting surface, the second reflecting surface, third reflecting surface and the 4th reflecting surface；
Angle between first reflecting surface and the second reflecting surface is less than 180 degree,
Angle between second reflecting surface and third reflecting surface is greater than 180 degree,
Angle between the third reflecting surface and the 4th reflecting surface is less than 180 degree；
Wherein, first reflecting surface, the second reflecting surface, third reflecting surface and the 4th reflecting surface in the horizontal plane be projected as square
Shape or square,
First side of first reflecting surface and the second reflecting surface connects, the second side of second reflecting surface and third reflecting surface
The first side connect, the second side of the third reflecting surface connects with the 4th reflecting surface,
The first of second reflecting surface while and the second reflecting surface second while projection in the horizontal plane be square or rectangle
Two opposite sides,
The first of the third reflecting surface while and third reflecting surface second while projection in the horizontal plane be square or rectangle
Two opposite sides.
9. method according to claim 8, which is characterized in that the part shoot laser from the galvanometer is anti-by the W type
It is emitted after penetrating the third reflective surface to the 4th reflecting surface of mirror.
10. method according to claim 8, which is characterized in that the part shoot laser from the galvanometer is anti-by the W type
It is emitted after penetrating the second reflective surface to the first reflecting surface of mirror.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391338.2A CN109031240A (en) | 2018-04-27 | 2018-04-27 | Laser radar and laser radar control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391338.2A CN109031240A (en) | 2018-04-27 | 2018-04-27 | Laser radar and laser radar control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109031240A true CN109031240A (en) | 2018-12-18 |
Family
ID=64629641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810391338.2A Pending CN109031240A (en) | 2018-04-27 | 2018-04-27 | Laser radar and laser radar control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109031240A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112379670A (en) * | 2020-11-10 | 2021-02-19 | 京东数科海益信息科技有限公司 | Laser radar visual angle expanding device for robot and robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10284778A (en) * | 1997-04-04 | 1998-10-23 | Toshiba Corp | Laser oscillator |
| US6597507B1 (en) * | 1999-11-29 | 2003-07-22 | Ando Electric Co., Ltd. | V-groove grating mirror and external resonator type wavelength variable light source using the mirror |
| JP2009145107A (en) * | 2007-12-12 | 2009-07-02 | Denso Wave Inc | Laser radar system |
| JP2014202861A (en) * | 2013-04-03 | 2014-10-27 | 船井電機株式会社 | Stereoscopic video projection device |
| CN104518830A (en) * | 2013-09-26 | 2015-04-15 | 江若滐 | Light transceiving apparatus |
| US9285477B1 (en) * | 2013-01-25 | 2016-03-15 | Apple Inc. | 3D depth point cloud from timing flight of 2D scanned light beam pulses |
| CN107153201A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| US20170307876A1 (en) * | 2016-02-18 | 2017-10-26 | Aeye, Inc. | Ladar Transmitter with Optical Field Splitter/Inverter |
| CN208092233U (en) * | 2018-04-27 | 2018-11-13 | 深圳市速腾聚创科技有限公司 | laser radar |
-
2018
- 2018-04-27 CN CN201810391338.2A patent/CN109031240A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10284778A (en) * | 1997-04-04 | 1998-10-23 | Toshiba Corp | Laser oscillator |
| US6597507B1 (en) * | 1999-11-29 | 2003-07-22 | Ando Electric Co., Ltd. | V-groove grating mirror and external resonator type wavelength variable light source using the mirror |
| JP2009145107A (en) * | 2007-12-12 | 2009-07-02 | Denso Wave Inc | Laser radar system |
| US9285477B1 (en) * | 2013-01-25 | 2016-03-15 | Apple Inc. | 3D depth point cloud from timing flight of 2D scanned light beam pulses |
| JP2014202861A (en) * | 2013-04-03 | 2014-10-27 | 船井電機株式会社 | Stereoscopic video projection device |
| CN104518830A (en) * | 2013-09-26 | 2015-04-15 | 江若滐 | Light transceiving apparatus |
| US20170307876A1 (en) * | 2016-02-18 | 2017-10-26 | Aeye, Inc. | Ladar Transmitter with Optical Field Splitter/Inverter |
| CN107153201A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN208092233U (en) * | 2018-04-27 | 2018-11-13 | 深圳市速腾聚创科技有限公司 | laser radar |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112379670A (en) * | 2020-11-10 | 2021-02-19 | 京东数科海益信息科技有限公司 | Laser radar visual angle expanding device for robot and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107153193B (en) | Multi-line laser radar and multi-line laser radar control method | |
| US9285477B1 (en) | 3D depth point cloud from timing flight of 2D scanned light beam pulses | |
| CN107656258A (en) | Laser radar and laser radar control method | |
| US11506760B2 (en) | Lidar and lidar control method | |
| US11662463B2 (en) | Lidar apparatus and method | |
| KR102607187B1 (en) | A lidar device | |
| CN108445497A (en) | Laser radar and laser radar control method | |
| US20210270938A1 (en) | Eye-Safe Scanning Lidar with Virtual Protective Housing | |
| US10162171B2 (en) | Scanning optical system and light projecting and receiving apparatus | |
| CN110333496A (en) | Multi-line laser radar | |
| CN208092233U (en) | laser radar | |
| CN110749892A (en) | Two-dimensional scanning laser radar device and electronic equipment | |
| JP6669450B2 (en) | Optical radar device, in-vehicle radar device, infrastructure radar device | |
| US9791554B2 (en) | Multiple-beam triangulation-based range finder and method | |
| CN109031240A (en) | Laser radar and laser radar control method | |
| CN110068807A (en) | The modulation of airborne laser radar pulse rate | |
| JP6425113B2 (en) | Ranging detection system, Ranging detection system of touch sensor panel, Ranging detection system of laser radar, laser radar device, optical touch panel, and ranging detection method | |
| CN207851294U (en) | Laser radar | |
| CN108152822A (en) | Laser radar and laser radar control method | |
| CN208092227U (en) | laser radar | |
| CN207752151U (en) | Laser radar | |
| CN207851292U (en) | Laser radar | |
| JP2022162080A (en) | Distance measuring device | |
| CN208520990U (en) | Laser radar | |
| CN108241146A (en) | Laser radar and the method for improving laser radar launch point frequency |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |