CN109031244A - A kind of laser radar coaxial optical system and laser radar - Google Patents
A kind of laser radar coaxial optical system and laser radar Download PDFInfo
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- CN109031244A CN109031244A CN201810932695.5A CN201810932695A CN109031244A CN 109031244 A CN109031244 A CN 109031244A CN 201810932695 A CN201810932695 A CN 201810932695A CN 109031244 A CN109031244 A CN 109031244A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 119
- 230000005622 photoelectricity Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004313 glare Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
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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
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
This application involves field of artificial intelligence more particularly to a kind of laser radar coaxial optical systems.The laser radar optical system includes transmitting optical unit, receive optical unit, emitting optical unit includes laser, collimation lens, MEMS galvanometer, receiving optical unit includes receiving lens, reflecting mirror with holes, wherein, collimation lens is set gradually in the subsequent optical path of laser transmitting light beam, reflecting mirror with holes, MEMS galvanometer, after laser emits the collimated collimated of light beam, across the aperture incidence MEMS galvanometer of reflecting mirror with holes, MEMS galvanometer will be on incident laser deflecting reflection to object, object reflected light enters reception optical unit through MEMS vibration mirror reflected.The application uses coaxial light path design, and transmitting, receiving light path close beam by reflecting mirror with holes, and the laser after closing beam is using MEMS vibration mirror scanning shoot laser, laser radar optical system debugging is convenient, and because closing beam, loss of optical signal is few, greatly improves detection range.
Description
Technical field
This application involves field of artificial intelligence more particularly to a kind of laser radar coaxial optical systems and laser thunder
It reaches.
Background technique
Laser radar is to be set using laser as transmitting light source using the active distance measurement of detecting technique means
Standby, with small in size, the high advantage of measurement accuracy is widely used in unmanned, automatic navigation vehicle (Automatic
Guided Vehicle, AGV), the fields such as robot.
Laser radar common at present, transmitting light beam and reception light beam use non-coaxial design, the laser of such design
Radar light beam will not constitute a threat to photelectric receiver, and still, this non-coaxial design exists from the point of view of the result of practical application
Many shortcomings, firstly, in the case where non-coaxial laser radar structure for guarantee transmitting light beam and receive light beam always
It keeps coaxial or parallel, needs to debug emission element and receiving part, take time and effort, and operated under equal environment outdoors
It is difficult；Secondly in use, following problems may cause transmitting beam optical axis and receive the not parallel of beam optical axis: half
The state of conductor laser, the working condition and change in location of each optical component, the variation of four seasons environment temperature will lead to hair
It penetrates optical axis and receives the not parallel of optical axis, and then influence laser radar levels of precision；In addition non-coaxial structure means two sets of light
Device is learned, increases the volume of entire laser radar, there are detection blind areas in optical path.
Summary of the invention
The purpose of the application is to propose a kind of laser radar coaxial optical system and laser radar, is set by coaxial optical path
Transmitting and received optical path are closed Shu Yihou by reflecting mirror with holes by meter, using MEMS vibration mirror scanning, are solved existing non-same
The existing debugging of axis laser radar is time-consuming and laborious, is influenced by optical element, environment, bulky problem.
For this purpose, the embodiment of the present application uses following technical scheme:
In a first aspect, a kind of laser radar optical system, including transmitting optical unit, reception optical unit, emit optical unit,
Transmitting optical unit includes laser, collimation lens, MEMS galvanometer, and receiving optical unit includes receiving lens, reflecting mirror with holes,
Wherein, collimation lens, reflecting mirror with holes, MEMS galvanometer, laser are set gradually in the subsequent optical path of laser transmitting light beam
After emitting the collimated collimated of light beam, across the aperture incidence MEMS galvanometer of reflecting mirror with holes, MEMS galvanometer is by incident laser
On deflecting reflection to object, object reflected light enters reception optical unit through MEMS vibration mirror reflected.
Optionally, the incidence angle of laser transmitting light beam incidence MEMS galvanometer is 25-30 degree, and MEMS galvanometer is to sharp
It is positive and negative 20 degree that light device, which emits beam deflection angle degree,.
Optionally, the incidence angle of laser transmitting light beam incidence MEMS galvanometer is 26-28 degree, and MEMS galvanometer is to sharp
It is positive and negative 10 degree that light device, which emits beam deflection angle degree,.
Optionally, the angle between the mirror plane with holes and laser transmitting light beam is 30-60 degree.
Optionally, the angle between the mirror plane with holes and laser transmitting light beam is 45 degree.
Optionally, the receiving lens optical axis and laser transmitting beam optical axis are orthogonal.
Optionally, a kind of laser radar optical system further includes shell, window mirror, the transmitting optics list
Member receives optical unit setting inside the shell, and window mirror is arranged on the shell, the emitted optics list of the Laser emission light beam
It after first MEMS galvanometer deflection, is projected after window mirror, the laser of object reflection is reflected into reception light through MEMS galvanometer again
Learn unit.
Optionally, a kind of laser radar optical system, to collimate camera lens, reflecting mirror with holes, MEMS galvanometer and connect
Plane where receiving the center of camera lens is benchmark face, and the angle between the window mirror and datum level is greater than 0 degree, and less than 20
Degree.
Optionally, the angle between the window mirror and datum level is greater than 0 degree, and less than 15 degree.
Second aspect, a kind of laser radar further include master control borad, photoelectricity electricity including the laser radar optical system
Road plate, photoelectric sensor is provided on the optronic circuit board, and the master control borad passes through circuit and optronic circuit board, laser radar
Optical system connection, the optronic circuit board are connect by circuit with laser radar optical system.
One embodiment of the application uses coaxial light path design, so that transmitting and received optical path pass through reflecting mirror with holes
Beam is closed, for the laser after closing beam using MEMS vibration mirror scanning shoot laser, laser radar optical system debugging is convenient, and because closes
Beam, loss of optical signal is few, greatly improves detection range, while it is not necessary that laser beam reshaping, optical system works are reliable and stable；Swash
Optical radar optical system is small in size, and structure is simple, is easily installed transport.
Another embodiment of the application uses tilting window mirror, avoids the light that window mirror is reflected back and enters reception light
Unit is learned, measurement accuracy is influenced.
Detailed description of the invention
Fig. 1 is the laser radar optical system schematic diagram that the embodiment of the present application 1 provides.
Fig. 2 is ten thousand module connection diagrams that the embodiment of the present application 1 provides.
Fig. 3 is the laser radar optical system schematic diagram that the embodiment of the present application 2 provides.
Fig. 4 is the laser radar optical system datum level and window mirror positional diagram that the embodiment of the present application 2 provides
。
In figure:
1, laser；2, collimation lens；3, reflecting mirror with holes, 4, MEMS galvanometer；5, receiving lens；6, window mirror；7, datum level；
8, master control borad；9, optronic circuit board；10, photoelectric sensor；11, shell.
Specific embodiment
Further illustrate the technical solution of the application below with reference to the accompanying drawings and specific embodiments.
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, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
Embodiment 1
As shown in Figure 1, a kind of laser radar optical system, including transmitting optical unit, reception optical unit, emit optical unit
Including laser 1, collimation lens 2, MEMS galvanometer 4, receiving optical unit includes receiving lens 5, reflecting mirror with holes 3, wherein
Collimation lens 2, reflecting mirror with holes 3, MEMS galvanometer 4, laser transmitting are set gradually in the subsequent optical path of laser transmitting light beam
After the collimated lens 2 of light beam collimate, across the aperture incidence MEMS galvanometer 4 of reflecting mirror 3 with holes, MEMS galvanometer 4 is by incident laser
On deflecting reflection to object, object reflected light is reflected into reception optical unit through MEMS galvanometer 4.
The incidence angle of the laser transmitting light beam incidence MEMS galvanometer 4 is 25-30 degree, and MEMS galvanometer 4 is to laser
Emitting beam deflection angle degree is positive and negative 20 degree.
The incidence angle that laser emits light beam incidence MEMS galvanometer 4 is smaller, and the light passing ratio of receiving light path is higher, receives single
Member can received light signal strength it is bigger, laser radar optical system detection range is remoter.But laser transmitting light beam enters
Penetrate the angle too small of MEMS galvanometer 4, then will affect laser, reflecting mirror with holes, receiving lens layout, cause occupied space mistake
Big problem.It, can be before guaranteeing light passing ratio when the incidence angle of laser transmitting light beam incidence MEMS galvanometer 4 is spent for 25-30
Put the requirement for being also able to satisfy structure space limitation.
The optical scan angle that MEMS galvanometer 4 is realized depends on the angular width degree of galvanometer sweeping, and galvanometer sweeping angle is bigger, light
Scanning angle is bigger, then the range of laser radar is bigger.
Angle between 3 plane of reflecting mirror with holes and laser transmitting light beam is 30-60 degree.
Angle between 3 plane of reflecting mirror with holes and laser transmitting light beam is when being that 30-60 is spent, reflecting mirror 3 with holes with swash
Spaces compact between light device, receiving lens, assembly are simple；
The laser radar optical system further includes shell 11, window mirror 6, and the transmitting optical unit receives optics list
Member is arranged in shell 11, and window mirror 6 is arranged on the shell, and the MEMS of the emitted optical unit of Laser emission light beam shakes
It after mirror 4 deflects, is projected after window mirror 6, the laser light passes through windows mirror 6 of object reflection is reflected into again through MEMS galvanometer 4
Receive optical unit.
Laser radar further includes master control borad 8, optronic circuit board 9, the light including the laser radar optical system
Photoelectric sensor 10 is provided on electric circuit board 9, the master control borad 8 passes through circuit and optronic circuit board 9, laser radar optical system
System connection, laser 1 use optical fiber laser, and the optronic circuit board 9 is connect by circuit with laser radar optical system.
At work, master control borad 8 emits light beam by circuit control laser 1 to laser radar, and transmitting light beam is collimated
After mirror 2 collimates, across the aperture incidence MEMS galvanometer 4 of reflecting mirror 3 with holes, MEMS galvanometer 4 deflects incident laser across window
Mirror 6 is reflected on object, and object reflected light is reflected into reception optical unit after window mirror 6, through MEMS galvanometer 4, is connect
The reflecting mirror with holes 3 of optical unit is received by reflected light back to receiving lens 5, reflected light is converged into light by receiving lens 5
On electric transducer 10, photoelectric sensor 10 converts optical signals into electric signal, is sent to master control borad 8, master control through optronic circuit board 9
Range data is calculated in plate 8.
The embodiment of the present application sets gradually collimation lens 2 in the subsequent optical path of laser transmitting light beam, sends out with laser
Irradiating light beam in 30-60 degree angles reflecting mirror with holes 3, MEMS galvanometers 4, and in set gradually on receiving light path MEMS galvanometer 4,
Reflecting mirror 3 with holes, receiving lens 5, i.e., it is dexterously that MEMS galvanometer 4, reflecting mirror with holes 3 is common as transmitting and receiving light path
Components, when MEMS galvanometer 4, reflecting mirror with holes 3 are as emission element, laser emits light beam by reflecting mirror 3 with holes
Aperture is irradiated on MEMS galvanometer 4, and MEMS galvanometer 4 will be on light beam deflecting reflection to object；When it is as receiving part,
MEMS galvanometer receives object reflected light, and by reflected light deflecting reflection to reflecting mirror 3 with holes, reflecting mirror 3 with holes will reflection
Light is reflected into receiving lens 5.After sharing MEMS galvanometer 4, reflecting mirror with holes 3, Laser emission and echo-signal (reflected light) are received
Using same optical system, truly axis optical structure is realized.Under the conditions of this coaxial configuration, light source direction
Micro variation (no matter come from which kind of reason) be variation synchronous with echo, will not occur to emit between optical axis and reception optical axis
It is not parallel, Laser emission and echo-signal combined beam light loss of signal at reflecting mirror with holes are few, greatly improve detection range；Together
When, the present embodiment also has structure simple, it is easily installed debugging, the advantages of low cost, and an object of MEMS galvanometer, reflecting mirror with holes
It is multi-purpose, not only reduced a set of optical system, but also make the stable and reliable in work of complete machine, without to laser beam reshaping, optical system work
Make reliable and stable, also greatly reduces time and the expense of maintenance.
Embodiment 2
As shown in Fig. 2, a kind of laser radar optical system, including transmitting optical unit, reception optical unit, emit optical unit
Including laser 1, collimation lens 2, MEMS galvanometer 4, receiving optical unit includes receiving lens 5, reflecting mirror with holes 3, wherein
Collimation lens 2, reflecting mirror with holes 3, MEMS galvanometer 4, laser transmitting are set gradually in the subsequent optical path of laser transmitting light beam
After the collimated lens 2 of light beam collimate, across the aperture incidence MEMS galvanometer 4 of reflecting mirror 3 with holes, MEMS galvanometer 4 is by incident laser
On deflecting reflection to object, object reflected light is reflected into reception optical unit through MEMS galvanometer 4.
The incidence angle of the laser transmitting light beam incidence MEMS galvanometer 4 is 26-28 degree, and MEMS galvanometer 4 is to laser
Emitting beam deflection angle degree is positive and negative 10 degree.
The incidence angle that laser emits light beam incidence MEMS galvanometer 4 is smaller, and the light passing ratio of receiving light path is higher, receives single
Member can received light signal strength it is bigger, laser radar optical system detection range is remoter.But laser transmitting light beam enters
Penetrate the angle too small of MEMS galvanometer 4, then will affect laser, reflecting mirror with holes, receiving lens layout, cause occupied space mistake
Big problem.When the incidence angle of laser transmitting light beam incidence MEMS galvanometer 4 is spent for 26-28, it can guarantee maximum light passing ratio
Under the premise of be also able to satisfy structure space limitation requirement.
Angle between 3 plane of reflecting mirror with holes and laser transmitting light beam is 45 degree.
The receiving lens optical axis and laser transmitting beam optical axis are orthogonal.
In the case that angle is 45 degree between 3 plane of reflecting mirror with holes and laser transmitting light beam, reflecting mirror 3 with holes with swash
It is compact-sized between light device 1, receiving lens 5, meet assembly demand.
A kind of laser radar optical system, further includes shell 11, window mirror 6, and the transmitting optical unit connects
It receives optical unit to be arranged in shell 11, window mirror 6 is arranged on shell 11, the emitted optics list of the Laser emission light beam
It after first MEMS galvanometer 4 deflects, is projected after window mirror 6, the laser of object reflection is reflected into reception through MEMS galvanometer 4 again
Optical unit.
Inventor has found that the transmitting light beam after the deflection of MEMS galvanometer is when passing through window mirror 6 in the design process, one
Shunt excitation light is emitted by window mirror 6, is then found on object, and the laser of object reflection enters through window mirror 6 receives list
Member, another part laser can then be reflected by window mirror 6, this part can also be entered by the reflected light of window mirror 6 receives list
Member is received by photoelectric sensor, is influenced detector and is received the light that testee is reflected back, final to influence actual measurement knot
Fruit.
In order to avoid the generation of above-mentioned interference, the application does inclination and sets to window mirror 6 relative to transmitting optical path, receiving light path
It sets, as shown in Figure 3, Figure 4, the plane where center to collimate camera lens, reflecting mirror with holes 3, MEMS galvanometer and reception camera lens is
Datum level 7, the angle between the window mirror 6 and datum level 7 are greater than 0 degree, and less than 20 degree.
In this case, the light that transmitting light beam is reflected in window mirror 6, reflection direction and datum level 7 be not flat at one
On face, light would not also enter receiving unit, reduce the influence of laser radar complete machine internal reflection veiling glare, and then reduce
Measurement error；Also avoiding laser 1 simultaneously will not be damaged because window mirror reflects veiling glare.
As shown in figure 4, a kind of laser radar further includes master control borad 8, photoelectricity including the laser radar optical system
Circuit board 9, is provided with photoelectric sensor 10 on the optronic circuit board 9, the master control borad 8 by circuit and optronic circuit board 9,
Laser radar optical system connection, the optronic circuit board 9 are connect by circuit with laser radar optical system.
At work, master control borad 8 emits light beam by circuit control laser 1 to laser radar, and transmitting light beam is collimated
After mirror 2 collimates, across the aperture incidence MEMS galvanometer 4 of reflecting mirror 3 with holes, incident laser is deflected through window by MEMS galvanometer 4
Mirror 6 is reflected on object, and the optical target object reflected light that window mirror 6 reflects is reflected into reception optical unit through MEMS galvanometer 4,
The reflecting mirror with holes 3 of optical unit is received by reflected light back to receiving lens 5, is converged to reflected light by receiving lens 5
On photoelectric sensor 10, photoelectric sensor 10 converts optical signals into electric signal, is sent to master control borad 8 through optronic circuit board 9, main
Range data is calculated in control plate 8.
Describe the technical principle of the application in conjunction with specific embodiments above.These descriptions are intended merely to explain the application's
Principle, and it cannot be construed to the limitation to the application protection scope in any way.Based on the explanation herein, the technology of this field
Personnel do not need to pay for creative labor the other specific embodiments that can associate the application, these modes are fallen within
Within the protection scope of the application.
Claims (10)
1. a kind of laser radar optical system, which is characterized in that including transmitting optical unit, receive optical unit, emit optics
Unit includes laser, collimation lens, MEMS galvanometer, and receiving optical unit includes receiving lens, reflecting mirror with holes, wherein
Collimation lens, reflecting mirror with holes, MEMS galvanometer are set gradually in the subsequent optical path of laser transmitting light beam, laser emits light beam
After collimated collimated, across the aperture incidence MEMS galvanometer of reflecting mirror with holes, MEMS galvanometer is by incident laser deflecting reflection
Onto object, object reflected light enters reception optical unit through MEMS vibration mirror reflected.
2. a kind of laser radar optical system according to claim 1, which is characterized in that the laser emits light beam
The incidence angle of incident MEMS galvanometer is 25-30 degree, and MEMS galvanometer is positive and negative 20 degree to laser transmitting beam deflection angle degree.
3. a kind of laser radar optical system according to claim 2, which is characterized in that the laser emits light beam
The incidence angle of incident MEMS galvanometer is 26-28 degree, and MEMS galvanometer is positive and negative 10 degree to laser transmitting beam deflection angle degree.
4. a kind of laser radar optical system according to claim 3, which is characterized in that the mirror plane with holes
Angle between laser transmitting light beam is 30-60 degree.
5. a kind of laser radar optical system according to claim 4, which is characterized in that the mirror plane with holes
Angle between laser transmitting light beam is 45 degree.
6. a kind of laser radar optical system according to claim 5, which is characterized in that the receiving lens optical axis with
It is orthogonal that laser emits beam optical axis.
7. -6 any a kind of laser radar optical system according to claim 1, which is characterized in that further include shell, window
Mouth mirror, the transmitting optical unit receive optical unit setting inside the shell, and window mirror is arranged on the shell, and described swashs
It after the MEMS galvanometer deflection of the emitted optical unit of light emitting light beam, is projected after window mirror, the laser of object reflection passes through
Window mirror is reflected into reception optical unit through MEMS galvanometer again.
8. a kind of laser radar optical system according to claim 7, which is characterized in that collimate camera lens, reflection with holes
Plane where the center of mirror, MEMS galvanometer and reception camera lens is benchmark face, the angle between the window mirror and datum level
Greater than 0 degree, and less than 20 degree.
9. a kind of laser radar optical system according to claim 8, which is characterized in that the window mirror and datum level
Between angle be greater than 0 degree, and less than 15 degree.
10. a kind of laser radar, which is characterized in that including any laser radar optical system of claim 1-9, also wrap
Master control borad, optronic circuit board are included, photoelectric sensor is provided on the optronic circuit board, the master control borad passes through circuit and photoelectricity
Circuit board, laser radar optical system connection, the optronic circuit board are connect by circuit with laser radar optical system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810932695.5A CN109031244A (en) | 2018-08-16 | 2018-08-16 | A kind of laser radar coaxial optical system and laser radar |
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| CN201810932695.5A CN109031244A (en) | 2018-08-16 | 2018-08-16 | A kind of laser radar coaxial optical system and laser radar |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109655812A (en) * | 2019-01-29 | 2019-04-19 | 湖北三江航天红峰控制有限公司 | Solid-state laser radar Method of Adjustment based on the micro- galvanometer of MEMS |
| CN110058253A (en) * | 2019-04-28 | 2019-07-26 | 深圳力策科技有限公司 | Laser radar |
| CN110275177A (en) * | 2019-06-10 | 2019-09-24 | 深圳市速腾聚创科技有限公司 | Solid-state laser radar, structure and its control method |
| CN110333511A (en) * | 2019-07-22 | 2019-10-15 | 西安知微传感技术有限公司 | A kind of transmitting-receiving synchronization laser radar optical system |
| CN110988893A (en) * | 2019-12-11 | 2020-04-10 | 武汉万集信息技术有限公司 | Laser radar device |
| CN111060891A (en) * | 2019-12-30 | 2020-04-24 | 广东博智林机器人有限公司 | Laser radar |
| CN111273261A (en) * | 2020-03-11 | 2020-06-12 | 苏州岭纬智能科技有限公司 | Coaxial transmitting and receiving laser radar based on off-axis incidence |
| CN111381239A (en) * | 2018-12-29 | 2020-07-07 | 华为技术有限公司 | Laser measurement module and laser radar |
| WO2020143003A1 (en) * | 2019-01-10 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging system and mobile platform |
| CN111537978A (en) * | 2020-04-01 | 2020-08-14 | 广东博智林机器人有限公司 | Coaxial laser radar |
| CN111670383A (en) * | 2019-01-07 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
| WO2020199747A1 (en) * | 2019-04-04 | 2020-10-08 | Suteng Innovation Technology Co., Ltd. | Lidar and adjustment method thereof |
| CN112034478A (en) * | 2019-06-03 | 2020-12-04 | 北醒（北京）光子科技有限公司 | Laser radar and ranging method thereof |
| CN112180344A (en) * | 2019-07-04 | 2021-01-05 | 北醒（北京）光子科技有限公司 | Laser radar optical system |
| CN112327311A (en) * | 2020-10-23 | 2021-02-05 | 北醒（北京）光子科技有限公司 | Receiving device of laser radar and laser radar |
| CN112799033A (en) * | 2021-01-20 | 2021-05-14 | 湖北三江航天红峰控制有限公司 | Large-field-of-view scanning MEMS laser radar device and scanning system |
| CN113126106A (en) * | 2019-12-31 | 2021-07-16 | 北醒（北京）光子科技有限公司 | Laser radar |
| CN113447938A (en) * | 2020-03-27 | 2021-09-28 | 北醒（北京）光子科技有限公司 | Laser radar optical system |
| CN113567994A (en) * | 2020-08-05 | 2021-10-29 | 北京一径科技有限公司 | Optical system of laser radar and laser radar system |
| CN113794520A (en) * | 2021-08-17 | 2021-12-14 | 长春理工大学 | Miniaturized unmanned aerial vehicle laser communication device |
| CN115291245A (en) * | 2022-09-28 | 2022-11-04 | 北醒（北京）光子科技有限公司 | Laser radar and car |
| CN115877361A (en) * | 2023-01-29 | 2023-03-31 | 深圳煜炜光学科技有限公司 | Laser radar with surface dirt rapid detection function and implementation method thereof |
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