CN109188401A - laser radar optical system and laser radar - Google Patents
laser radar optical system and laser radar Download PDFInfo
- Publication number
- CN109188401A CN109188401A CN201811328852.8A CN201811328852A CN109188401A CN 109188401 A CN109188401 A CN 109188401A CN 201811328852 A CN201811328852 A CN 201811328852A CN 109188401 A CN109188401 A CN 109188401A
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- transmitting terminal
- cylindrical lens
- receiving end
- laser
- laser radar
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- 230000003287 optical effect Effects 0.000 title claims abstract description 65
- 238000009738 saturating Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 201000009310 astigmatism Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- 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
A kind of laser radar optical system and laser radar are disclosed in the embodiment of the present invention, the system comprises: transmitting terminal optical unit, for collimating shoot laser；Transmitting terminal corrects unit, including at least a piece of transmitting terminal cylindrical lens, for correcting the shoot laser；Wherein, for the bus of the transmitting terminal cylindrical lens perpendicular to the directrix of the transmitting terminal cylindrical lens, the directrix of the transmitting terminal cylindrical lens is parallel to horizontal plane, the optical axis coincidence of the symmetry axis of the transmitting terminal cylindrical lens and the transmitting terminal optical unit；The transmitting terminal cylindrical lens include first surface and the second curved surface, the emergent ray successively pass through the transmitting terminal optical unit, the first surface of transmitting terminal cylindrical lens, transmitting terminal cylindrical lens the second curved surface.In the embodiment of the present invention, it is provided with optical correction unit in transmitting terminal, influence of the lidar housings to shoot laser can be reduced, to improve laser radar range ability.
Description
Technical field
The present invention relates to detection field, in particular to a kind of laser radar optical system and laser radar.
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.
Rotary multi-line laser radar is one kind of laser radar, and outer cover majority uses cylinder or taper barrel shape,
Its outer surface directrix radius is greater than inner surface directrix radius, the cylindrical lens that focal length is negative value is equivalent to, by the light meeting of outer cover
Optics astigmatism is generated, the laser level directional divergence angle for causing laser radar to emit becomes larger, so that receiving laser facula water
Square become larger to length, reduces laser radar range ability.
In the prior art, there are no a kind of effective methods to correct above-mentioned error.
Summary of the invention
A kind of laser radar optical system and laser radar are provided in the embodiment of the present invention, can calibration of laser radar because
The error that shell generates.
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 optical system is provided, the system comprises:
Transmitting terminal optical unit, for collimating shoot laser；
Transmitting terminal corrects unit, including at least a piece of transmitting terminal cylindrical lens, for correcting the shoot laser；
Wherein, directrix of the bus of the transmitting terminal cylindrical lens perpendicular to the transmitting terminal cylindrical lens, the transmitting newel post
The directrix of lens is parallel to horizontal plane, the optical axis weight of the symmetry axis of the transmitting terminal cylindrical lens and the transmitting terminal optical unit
It closes；
The transmitting terminal cylindrical lens include first surface and the second curved surface, and the emergent ray successively passes through the transmitting terminal
Optical unit, the first surface of transmitting terminal cylindrical lens, transmitting terminal cylindrical lens the second curved surface.
Optionally, the absolute value of the radius of the first surface of the transmitting terminal cylindrical lens is greater than the transmitting terminal cylindrical lens the
The radius of two curved surfaces.
Optionally, the radius of the first surface of the transmitting terminal cylindrical lens is infinity.
Optionally, the radius of the first surface of the transmitting terminal cylindrical lens is negative value.
Second aspect provides a kind of laser radar optical system, the system comprises:
Receiving end optical unit, for focusing reflection laser, the reflection laser is the laser after shoot laser is reflected；
Receiving end corrects unit, including includes at least at least a piece of receiving end cylindrical lens, for correcting the reflection laser；
Wherein, directrix of the bus of the receiving end cylindrical lens perpendicular to the receiving end cylindrical lens, the reception newel post
The directrix of lens is parallel to horizontal plane, the optical axis weight of the symmetry axis of the receiving end cylindrical lens and the receiving end optical unit
It closes；
The transmitting terminal cylindrical lens include first surface and the second curved surface, and the reflection light successively passes through the transmitting terminal
Second curved surface of cylindrical lens, the first surface of transmitting terminal cylindrical lens, receiving end optical unit.
Optionally, the absolute value of the radius of the first surface of the receiving end cylindrical lens is greater than the receiving end cylindrical lens the
The radius of two curved surfaces.
Optionally, the radius of the first surface of the receiving end cylindrical lens is infinity.
Optionally, the radius of the first surface of the receiving end cylindrical lens is negative value.
The third aspect provides a kind of laser radar optical system, and the system comprises described in any item laser as above
Radar optics system further includes described in any item laser radar optical systems as above.
Fourth aspect, provides a kind of laser radar, and the laser radar includes described in any item laser radars as above
Optical system.
A kind of laser radar optical system and laser radar are disclosed in the embodiment of the present invention, the system comprises: hair
End optical unit is penetrated, for collimating shoot laser；Transmitting terminal corrects unit, including at least a piece of transmitting terminal cylindrical lens, is used for school
The just described shoot laser；Wherein, directrix of the bus of the transmitting terminal cylindrical lens perpendicular to the transmitting terminal cylindrical lens, the hair
The directrix for penetrating newel post's lens is parallel to horizontal plane, the light of the symmetry axis of the transmitting terminal cylindrical lens and the transmitting terminal optical unit
Overlapping of axles；The transmitting terminal cylindrical lens include first surface and the second curved surface, and the emergent ray successively passes through the transmitting terminal
Optical unit, the first surface of transmitting terminal cylindrical lens, transmitting terminal cylindrical lens the second curved surface.In the embodiment of the present invention, emitting
End is provided with optical correction unit, can reduce influence of the lidar housings to shoot laser, to improve laser radar range
Ability.
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 optical system of the embodiment of the present invention；
Fig. 2 show the schematic diagram of the transmitting terminal cylindrical lens of the embodiment of the present invention；
Fig. 3 show the schematic diagram of the transmitting terminal cylindrical lens of the embodiment of the present invention；
Fig. 4 show the schematic diagram of the transmitting terminal cylindrical lens of the embodiment of the present invention；
Fig. 5 show the contrast schematic diagram that do not add transmitting terminal cylindrical lens and add hot spot after transmitting terminal cylindrical lens；
Fig. 6 show the schematic diagram of the laser radar of the embodiment of the present invention.
Specific embodiment
Following examples of the present invention provide a kind of laser radar optical system and laser radar, can reduce outside laser radar
Influence of the shell to shoot laser, to improve laser radar range ability.
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 optical system of the embodiment of the present invention, as shown in Figure 1, the system packet
It includes:
Transmitting terminal optical unit 110, for collimating shoot laser；
Transmitting terminal corrects unit 120, including at least a piece of transmitting terminal cylindrical lens, for correcting the shoot laser；
Wherein, directrix of the bus 121 of the transmitting terminal cylindrical lens perpendicular to the transmitting terminal cylindrical lens, the transmitting terminal
The directrix 122 of cylindrical lens is parallel to horizontal plane, the symmetry axis 123 of the transmitting terminal cylindrical lens and the transmitting terminal optical unit
110 optical axis coincidence；
The transmitting terminal cylindrical lens include first surface and the second curved surface, and the emergent ray successively passes through the transmitting terminal
Optical unit, the first surface of transmitting terminal cylindrical lens, transmitting terminal cylindrical lens the second curved surface.
Fig. 2, Fig. 3, Fig. 4 show the schematic diagram of the transmitting terminal cylindrical lens of the embodiment of the present invention, Fig. 2 to view shown in Fig. 4
Angle is perpendicular to horizontal plane.
As shown in Fig. 2, transmitting terminal cylindrical lens include two curved surfaces, the absolute value of the radius of first surface 210 is greater than described
The radius of the second curved surface of transmitting terminal cylindrical lens 220.In embodiment shown in Fig. 2, the radius of two curved surfaces of cylindrical lens is all just
Number, is referred to as biconvex cylindrical lens.
In embodiment shown in Fig. 3, the radius of the first surface 310 of the transmitting terminal cylindrical lens is infinity, and second is bent
The radius in face 320 is positive number.
Curved surface, that is, plane of infinite radius, so transmitting terminal cylindrical lens first surface is flat in embodiment shown in Fig. 3
Face, the second curved surface are the curved surfaces that radius is positive number, are referred to as plano-convex cylindrical lens.
In embodiment shown in Fig. 4, the radius of the first surface 410 of the transmitting terminal cylindrical lens is negative value, the second curved surface
420 radius is positive value.Cylindrical lens in embodiment shown in Fig. 4 are referred to as bent moon cylindrical lens.
Fig. 5 show the contrast schematic diagram that do not add transmitting terminal cylindrical lens and add hot spot after transmitting terminal cylindrical lens, Fig. 5
It (a) is the hot spot figure for being not added with transmitting terminal cylindrical lens, Fig. 5 (b) is the hot spot figure added after transmitting terminal cylindrical lens, can by comparison
Know, after adding transmitting terminal cylindrical lens, the angle of divergence of hot spot improves significantly.
The embodiment of the present invention gives the embodiment of a variety of transmitting terminal cylindrical lens, but is not limited to aforesaid way, other knots
The cylindrical lens of structure may also reach said effect, and details are not described herein.
A kind of laser radar optical system is disclosed in the embodiment of the present invention, the system comprises: transmitting terminal optics list
Member, for collimating shoot laser；Transmitting terminal corrects unit, including at least a piece of transmitting terminal cylindrical lens, for correcting the outgoing
Laser；Wherein, directrix of the bus of the transmitting terminal cylindrical lens perpendicular to the transmitting terminal cylindrical lens, the transmitting terminal cylindrical lens
Directrix be parallel to horizontal plane, the optical axis coincidence of the symmetry axis of the transmitting terminal cylindrical lens and the transmitting terminal optical unit；Institute
Stating transmitting terminal cylindrical lens includes first surface and the second curved surface, the emergent ray successively pass through the transmitting terminal optical unit,
Second curved surface of the first surfaces of transmitting terminal cylindrical lens, transmitting terminal cylindrical lens.In the embodiment of the present invention, light is provided in transmitting terminal
The positive unit of school can reduce influence of the lidar housings to shoot laser, to improve laser radar range ability.
In the embodiment of the present invention, a kind of laser radar optical system is additionally provided, the system comprises:
Receiving end optical unit, for focusing reflection laser, the reflection laser is the laser after shoot laser is reflected；
Receiving end corrects unit, including includes at least at least a piece of receiving end cylindrical lens, for correcting the reflection laser；
Wherein, directrix of the bus of the receiving end cylindrical lens perpendicular to the receiving end cylindrical lens, the reception newel post
The directrix of lens is parallel to horizontal plane, the optical axis weight of the symmetry axis of the receiving end cylindrical lens and the receiving end optical unit
It closes；
The transmitting terminal cylindrical lens include first surface and the second curved surface, and the reflection light successively passes through the transmitting terminal
Second curved surface of cylindrical lens, the first surface of transmitting terminal cylindrical lens, receiving end optical unit.
In the embodiment of the present invention, the absolute value of the radius of the first surface of the receiving end cylindrical lens is greater than the receiving end
The radius of the second curved surface of cylindrical lens.
In the embodiment of the present invention, the radius of the first surface of the receiving end cylindrical lens is infinity.
In the embodiment of the present invention, the radius of the first surface of the receiving end cylindrical lens is negative value.
In the embodiment of the present invention is the structure of receiving end cylindrical lens, to be set to transmitting terminal cylindrical lens be same or similar
, details are not described herein.
The laser radar of the embodiment of the present invention, shoot laser need when being emitted by shell, therefore in the preparatory school in receiving end
Just；Reflection laser is also intended to by shell before being received, and shell equally has disperse function to reflection laser, therefore in receiving end
Reflected light is corrected, also can reduce influence of the lidar housings to reflection laser, to improve laser radar range
Ability.
In the embodiment of the present invention, transmitting terminal corrects unit and receiving end correction unit can be with individualism, it can only exists
Transmitting terminal is arranged transmitting terminal and corrects unit, only can also correct unit in receiving end setting receiving end.In other realities of the invention
Apply in example, correction unit can also be set simultaneously in transmitting terminal and receiving end, thus to transmitting laser and reflection laser simultaneously into
Row correction, reaches better ranging effect.
In the embodiment of the present invention, including the above-mentioned laser radar optical system for being set to transmitting terminal, further include it is above-mentioned very
As for the laser radar optical system of receiving end.
The embodiment of the invention also provides a kind of laser radar, the laser radar includes above-mentioned laser radar optical system
System.
Fig. 6 show the schematic diagram of the laser radar of the embodiment of the present invention, in embodiment shown in fig. 6, laser radar
Receiving end and transmitting terminal are provided with correction unit.It in other embodiments of the present invention, can be only in the transmitting terminal of laser radar
Transmitting terminal is set and corrects unit, only can also correct unit in the receiving end of laser radar setting receiving end.
A kind of laser radar optical system and laser radar are disclosed in the embodiment of the present invention, the system comprises: hair
End optical unit is penetrated, for collimating shoot laser；Transmitting terminal corrects unit, including at least a piece of transmitting terminal cylindrical lens, is used for school
The just described shoot laser；Wherein, directrix of the bus of the transmitting terminal cylindrical lens perpendicular to the transmitting terminal cylindrical lens, the hair
The directrix for penetrating newel post's lens is parallel to horizontal plane, the light of the symmetry axis of the transmitting terminal cylindrical lens and the transmitting terminal optical unit
Overlapping of axles；The transmitting terminal cylindrical lens include first surface and the second curved surface, and the emergent ray successively passes through the transmitting terminal
Optical unit, the first surface of transmitting terminal cylindrical lens, transmitting terminal cylindrical lens the second curved surface.It, can be in the embodiment of the present invention
Can also correction unit only be arranged in receiving end in transmitting terminal setting correction unit, or can be simultaneously in transmitting terminal and receiving end
Setting correction unit.The embodiment of the present invention can reduce influence of the lidar housings to shoot laser, to improve laser radar
Range capability.
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 optical system, which is characterized in that the system comprises:
Transmitting terminal optical unit, for collimating shoot laser；
Transmitting terminal corrects unit, including at least a piece of transmitting terminal cylindrical lens, for correcting the shoot laser；
Wherein, directrix of the bus of the transmitting terminal cylindrical lens perpendicular to the transmitting terminal cylindrical lens, the transmitting terminal cylindrical lens
Directrix be parallel to horizontal plane, the optical axis coincidence of the symmetry axis of the transmitting terminal cylindrical lens and the transmitting terminal optical unit；
The transmitting terminal cylindrical lens include first surface and the second curved surface, and the emergent ray successively passes through the transmitting terminal optics
Unit, the first surface of transmitting terminal cylindrical lens, transmitting terminal cylindrical lens the second curved surface.
2. the system as claimed in claim 1, which is characterized in that the radius of the first surface of the transmitting terminal cylindrical lens it is absolute
Value is greater than the radius of second curved surface of transmitting terminal cylindrical lens.
3. system as claimed in claim 2, which is characterized in that the radius of the first surface of the transmitting terminal cylindrical lens is infinite
Greatly.
4. system as claimed in claim 2, which is characterized in that the radius of the first surface of the transmitting terminal cylindrical lens is negative
Value.
5. a kind of laser radar optical system, which is characterized in that the system comprises:
Receiving end optical unit, for focusing reflection laser, the reflection laser is the laser after shoot laser is reflected；
Receiving end corrects unit, including includes at least at least a piece of receiving end cylindrical lens, for correcting the reflection laser；
Wherein, directrix of the bus of the receiving end cylindrical lens perpendicular to the receiving end cylindrical lens, the receiving end cylindrical lens
Directrix be parallel to horizontal plane, the optical axis coincidence of the symmetry axis of the receiving end cylindrical lens and the receiving end optical unit；
The transmitting terminal cylindrical lens include first surface and the second curved surface, and the reflection light is successively saturating by the transmitting newel post
Second curved surface of mirror, the first surface of transmitting terminal cylindrical lens, receiving end optical unit.
6. system as claimed in claim 5, which is characterized in that the radius of the first surface of the receiving end cylindrical lens it is absolute
Value is greater than the radius of second curved surface of receiving end cylindrical lens.
7. system as claimed in claim 6, which is characterized in that the radius of the first surface of the receiving end cylindrical lens is infinite
Greatly.
8. system as claimed in claim 6, which is characterized in that the radius of the first surface of the receiving end cylindrical lens is negative
Value.
9. a kind of laser radar optical system, which is characterized in that the system comprises such as Claims 1-4 is described in any item
Laser radar optical system further includes such as the described in any item laser radar optical systems of claim 5 to 8.
10. a kind of laser radar, which is characterized in that the laser radar, which includes that the claim 1 to 9 is described in any item, to swash
Optical radar optical system.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811328852.8A CN109188401A (en) | 2018-11-09 | 2018-11-09 | laser radar optical system and laser radar |
| PCT/CN2019/116718 WO2020094129A1 (en) | 2018-11-09 | 2019-11-08 | Laser radar system and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811328852.8A CN109188401A (en) | 2018-11-09 | 2018-11-09 | laser radar optical system and laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109188401A true CN109188401A (en) | 2019-01-11 |
Family
ID=64938672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811328852.8A Pending CN109188401A (en) | 2018-11-09 | 2018-11-09 | laser radar optical system and laser radar |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109188401A (en) |
| WO (1) | WO2020094129A1 (en) |
Cited By (6)
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| CN109975784A (en) * | 2019-03-21 | 2019-07-05 | 深圳市速腾聚创科技有限公司 | Collimating element, emission system and laser radar |
| CN110045352A (en) * | 2019-04-03 | 2019-07-23 | 北京科航理达技术有限公司 | A kind of method and optical system of arranged in dislocation optical system |
| CN111007479A (en) * | 2019-11-27 | 2020-04-14 | 广东博智林机器人有限公司 | Laser radar detection system |
| CN111007478A (en) * | 2019-11-27 | 2020-04-14 | 广东博智林机器人有限公司 | Laser radar detection device |
| WO2020094129A1 (en) * | 2018-11-09 | 2020-05-14 | 深圳市速腾聚创科技有限公司 | Laser radar system and laser radar |
| CN111562587A (en) * | 2019-02-14 | 2020-08-21 | 宁波舜宇车载光学技术有限公司 | Radar device and transmitting terminal thereof |
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| CN109975784B (en) * | 2019-03-21 | 2021-08-17 | 深圳市速腾聚创科技有限公司 | Collimating device, transmitting system and laser radar |
| CN110045352A (en) * | 2019-04-03 | 2019-07-23 | 北京科航理达技术有限公司 | A kind of method and optical system of arranged in dislocation optical system |
| CN111007479A (en) * | 2019-11-27 | 2020-04-14 | 广东博智林机器人有限公司 | Laser radar detection system |
| CN111007478A (en) * | 2019-11-27 | 2020-04-14 | 广东博智林机器人有限公司 | Laser radar detection device |
| CN111007478B (en) * | 2019-11-27 | 2021-10-26 | 广东博智林机器人有限公司 | Laser radar detection device |
| CN111007479B (en) * | 2019-11-27 | 2022-01-04 | 广东博智林机器人有限公司 | Laser radar detection system |
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| WO2020094129A1 (en) | 2020-05-14 |
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