CN109581331A - A kind of laser radar and its revolving mirror Calculate Ways - Google Patents
A kind of laser radar and its revolving mirror Calculate Ways Download PDFInfo
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- CN109581331A CN109581331A CN201910002350.4A CN201910002350A CN109581331A CN 109581331 A CN109581331 A CN 109581331A CN 201910002350 A CN201910002350 A CN 201910002350A CN 109581331 A CN109581331 A CN 109581331A
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Classifications
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- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
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- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Mechanical Optical Scanning Systems (AREA)
Abstract
This application discloses a kind of laser radar and its revolving mirror Calculate Ways, the laser radar includes Laser emission component, laser pick-off component, and revolving mirror, revolving mirror can be rotated around the axis of rotation of revolving mirror, and revolving mirror is between Laser emission component and laser pick-off component, the axis of rotation of revolving mirror, the optical axis of Laser emission component, laser pick-off component optical axis be located on same axis, wherein, the side of revolving mirror is equipped with multiple with flat hole, with flat hole for placing mass, so that the mass center for placing the revolving mirror after mass is located on the axis of rotation.By the above-mentioned means, its mass center is located on its axis of rotation after the revolving mirror assembly of the application laser radar, helps to improve the image quality of laser radar, prolongs the service life.
Description
Technical field
This application involves measurement technical field of mapping, more particularly to a kind of laser radar and its revolving mirror Calculate Ways.
Background technique
In laser radar, especially in mechanical scanning type laser radar, one of its core component of revolving mirror, purpose
It is that rotation by single laser beam by revolving mirror around its axis of rotation becomes Surface scan, 360 ° of scannings of radar is realized, thus complete
At target acquisition.
Present inventor is by studying for a long period of time discovery, in revolving mirror later period assembling process, due to rigging error, assembles
The mass center and the axis of rotation of revolving mirror afterwards generate deviation, all cause passiveness to the image quality and service life of laser radar
It influences.
Summary of the invention
The application can be improved mainly solving the technical problems that provide a kind of laser radar and its revolving mirror Calculate Ways
The image quality of laser radar prolongs the service life.
In order to solve the above technical problems, the application the technical solution adopted is that: provide a kind of laser radar, the laser radar
It include: Laser emission component and laser pick-off component and revolving mirror, revolving mirror can be rotated around the axis of rotation of revolving mirror, and
Revolving mirror between Laser emission component and laser pick-off component, the axis of rotation of revolving mirror, Laser emission component optical axis, swash
The optical axis of light-receiving component is located on same axis, wherein flat hole is matched equipped with multiple in the side of revolving mirror, with flat hole for placing
Mass, so that the mass center for placing the revolving mirror after mass is located on the axis of rotation.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of rotation of laser radar
Tilting mirror Calculate Ways, the Calculate Ways are applied to the revolving mirror of above-mentioned laser radar, which includes: to obtain revolving mirror to exist
The uneven parameter of first angle；Based on uneven parameter, determine corresponding with matching in flat hole for being placed on first angle
The quality of weight；It is corresponding in flat hole that the mass for having determining quality is placed in first angle.
The beneficial effect of the application is: being in contrast to the prior art, the revolving mirror of laser radar provided by the present application
Between Laser emission component and laser pick-off component, the axis of rotation of revolving mirror, the optical axis of Laser emission component, laser pick-off
The optical axis of component is located on same axis, and the side of revolving mirror be equipped with it is multiple for place mass with flat hole so that
The mass center of revolving mirror after placing mass is located on the axis of rotation.By the above-mentioned means, the revolving mirror of the application laser radar fills
It is located on its axis of rotation with its rear mass center, helps to improve the image quality of laser radar, prolongs the service life.
Detailed description of the invention
In order to illustrate more clearly of the technical solution in the application, required attached drawing in embodiment description will be made below
It is simple to introduce, it should be apparent that, drawings discussed below is only some embodiments of the present application, skill common for this field
For art personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.Wherein:
Fig. 1 is the structural schematic diagram of one embodiment of the application laser radar；
Fig. 2 is the perspective view of the explosion of one embodiment of revolving mirror in Fig. 1；
Fig. 3 is the flow diagram of one embodiment of revolving mirror Calculate Ways of the application laser radar；
Fig. 4 is the reference that mass quality is calculated in another embodiment of revolving mirror Calculate Ways of the application laser radar
Schematic diagram.
Specific embodiment
Below with reference to the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiments are only a part of embodiments of the present application, rather than whole embodiments.Based on this Shen
Please in embodiment, those of ordinary skill in the art's every other reality obtained under the premise of not making creative labor
Example is applied, shall fall in the protection scope of this application.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of 1 one embodiment of the application laser radar.The laser radar 1 includes
Laser emission component 10 and laser pick-off component 20 and revolving mirror 30.Revolving mirror 30 can be around the axis of rotation (figure of revolving mirror 30
Shown in middle dotted line) rotation, and revolving mirror 30 is positioned at Laser emission component 10 and laser pick-off component 20 between, revolving mirror 30 oneself
Optical axis (in figure shown in dotted line) position of shaft, the optical axis (in figure shown in dotted line) of Laser emission component 10, laser pick-off component 20
In on same axis (in figure shown in dotted line)；Wherein, the side 301 of revolving mirror 30 is equipped with multiple with flat hole A, is used for flat hole A
Mass is placed, so that the mass center (solid arrow is signified in figure) for placing the revolving mirror 30 after mass is located on the axis of rotation.?
In one implement scene, each center (dotted arrow is signified in figure) with flat hole A can be located at vertical with the axis of rotation same
On plane B.In one embodiment, for the trim revolving mirror 30 that refines, standardizes, the internal diameter with flat hole A can be 2-3mm,
Such as 2mm, 2.5mm, 3mm, the depth with flat hole A can be 4mm etc..In another embodiment, in order to handle revolving mirror
Any uneven situation that 30 mass center may occur, the quantity with flat hole A are at least 8, such as 8,12 etc..
By above embodiment, the revolving mirror 30 of laser radar 1 provided by the present application is located at 10 He of Laser emission component
Between laser pick-off component 20, the axis of rotation of revolving mirror 30, the optical axis of Laser emission component 10, laser pick-off component 20 optical axis
On same axis, and the side 301 of revolving mirror 30 be equipped with it is multiple for place mass with flat hole A so that placing
The mass center of revolving mirror 30 after mass is located on the axis of rotation.By the above-mentioned means, the revolving mirror 30 of the application laser radar 1 fills
It is located on its axis of rotation with its rear mass center, helps to improve the image quality of laser radar 1, prolongs the service life.
Referring to Fig. 2, Fig. 2 is the perspective view of the explosion of an embodiment of revolving mirror 30 in Fig. 1.Revolving mirror 30 includes rotation
Part 302 and the reflection microscope group 303 being arranged on revolving part.In an implement scene, the material of revolving part 302 may be
The metal materials such as aluminium, steel, it is also possible to for nonmetallic materials such as polyethylene, polyvinyl chloride.The axis of rotation is surrounded (in figure with flat hole A
Shown in dotted line) it is set on the lateral surface 3021 of revolving part 302.In an implement scene, the lateral surface 3021 of revolving part 302 is
The side 301 of revolving mirror 30.In an implement scene, reflection microscope group 303 includes the first reflecting mirror 3031 and the second reflecting mirror
3032, the first reflecting mirror 3031 favours the light of Laser emission component 10 close to Laser emission component 10, the first reflecting mirror 3031
Axis setting, the second reflecting mirror 3032 favour laser pick-off component 20 close to laser pick-off component 20, the second reflecting mirror 3032
Optical axis setting, the first reflecting mirror 3031 are used for the transmitting light beam that reflection laser emitting module 10 issues, and the second reflecting mirror 3032 is used
Occur to reflect and the reception light beam of formation on target object in reflection transmitting light beam.First reflecting mirror 3031 and the second reflecting mirror
3032 be plane mirror.It is arranged on the lateral surface 3021 of revolving part 302 at equal intervals with flat hole A with the first predetermined angle φ.
The lateral surface 3021 of revolving part 302 is additionally provided at least one balance hole C, so that when 302 not set reflection microscope group 303 of revolving part
Mass center (in figure shown in solid arrow) be located on the axis of rotation.The quantity of balance hole C can be 1,2,3,4 etc..
Since the shape of revolving part 302 is not symmetrically, at least one balance hole C to be arranged on revolving part 302, according to
Actual conditions can be set balance weight in balance hole C or be not provided with balance weight, so that the not set reflecting mirror of revolving part 302
Mass center when group 303 is located on the axis of rotation.Balance hole C is set close to the reflecting surface (in figure shown in dotted arrow) of reflection microscope group 303
It is placed in the lateral surface 3021 of revolving part.
The effect of balance hole C is that mass center when making revolving part 302 is not set to reflect microscope group 303 is located on the axis of rotation.And it revolves
Turn part 302 after being fixedly installed with reflecting mirror 303, the reflecting mirror 30 being made of revolving part 302 and reflection microscope group 303 may be made
The centroid motion axis of rotation, therefore, the effect with flat hole A is so that the mass center of revolving mirror 30 is located on the axis of rotation.
Revolving part 302 is equipped with the first hole D for running through revolving part 302 along the axis of rotation, reflects the first reflecting mirror of microscope group 303
3031 are arranged in the first hole D；The lateral surface 3021 of revolving part 302 is equipped with the first conduit E being connected to the first hole D, so that
It obtains the transmitting light beam that Laser emission component 10 emits and passes through the first conduit after the first reflecting mirror 3031 reflection in the first hole D
E is projected.
Revolving part 302 further includes being disposed adjacent with the lateral surface 3021 of revolving part 302 and close to Laser emission component 10
Surface 3022；Surface 3022 is equipped with the second hole of at least three F, and the second hole hole F is arranged around the first hole D, for being fixedly mounted
Revolving part 302.The quantity of second hole F can be 3,4,5 etc..Second hole F can be about the axis of rotation at equal intervals
Setting, such as when the quantity of the second hole F is 3, the angle between two the second hole F of arbitrary neighborhood is 120 degree, the second hole
When the quantity in hole is 4, the angle between two the second hole F of arbitrary neighborhood is 90 degree.
Revolving part 302 is additionally provided with the raised G that at least two is fixedly connected with surface 3022, raised G about rotation axial symmetry,
Installation site for position rotating part 302.The shape of raised G can be cylindrical, square column type etc..
Referring to Fig. 3, Fig. 3 is the process signal of 30 Calculate Ways of revolving mirror, one embodiment of the application laser radar 1
Figure.The Calculate Ways are applied to laser radar 1 described in above embodiment.The Calculate Ways include:
Step S31: revolving mirror 30 is obtained in the uneven parameter of first angle.
Revolving part 302 may make to be made of revolving part 302 and reflection microscope group 303 after being fixedly installed with reflecting mirror 303
Reflecting mirror 30 the centroid motion axis of rotation, need at this time to reflecting mirror 30 carry out trim operation.
The method for obtaining uneven parameter of the revolving mirror 30 at first angle includes but is not limited to: being obtained by dynamic balancing machine
It takes.
Step S32: it based on uneven parameter, determines for being placed on the corresponding mass in flat hole A of first angle
Quality.
The quality of mass may be configured as series of values, such as 0.1g, 0.2g, 0.3g, 0.4g etc..
Step S33: it is corresponding in flat hole A that the mass with determining quality is placed in first angle.
In an implement scene, mass can be equipped with screw thread with the surface of revolving mirror 30 contacted with flat hole A, match flat hole
The inner circumferential of A can have matched screw thread, and mass is mutually permanently connected with flat hole A by screw thread, so that revolving mirror 30
When rotated, mass is securely connect with revolving mirror 30, without being thrown out of due to centrifugal force.In another implement scene,
Mass can also be fixedly connected by dispensing with flat hole A.
By above embodiment, its mass center is located on its axis of rotation after the revolving mirror 30 of the application laser radar 1 assembles,
It helps to improve the image quality of laser radar 1, prolong the service life.
Wherein, in one embodiment, before above-mentioned steps S32, the application Calculate Ways further include: judge revolving mirror
Whether 30 be equipped at first angle with flat hole A；If not matching flat hole A at first angle, by first angle it is adjacent first
It is corresponding with flat hole A as first angle with flat hole A2 with flat hole A1 and second；It, will be if having at first angle with flat hole A
Match flat hole A as first angle is corresponding with flat hole A at first angle, or by first angle it is adjacent first with flat hole A1
It is corresponding with flat hole A as first angle with flat hole A2 with second.
Wherein, in another embodiment, uneven parameter includes corresponding with amount of unbalance at first angle
One mass and first distance, in an implement scene, the first mass and first distance can be directly acquired by dynamic balancing machine.Its
In, first distance is distance of the mass center of revolving mirror 30 to revolving mirror 30 between the circumferential point at first angle.
It is when matching flat hole A, to be based on uneven parameter at first angle in the corresponding flat hole A that matches of first angle, it is determining
Include: for being placed on the corresponding quality with the mass in flat hole A of first angle
The first mass at first angle is determined as being used to be placed on the mass matched in flat hole A at first angle
Quality；
First angle it is corresponding with flat hole A include first match flat hole A2 with flat hole A1 and second when, based on uneven ginseng
Number, it is determining to include: for being placed on the corresponding quality with the mass in flat hole A of first angle
Obtain first with flat hole A1, second with flat hole A2 respectively first angle where second angle between radius, the
Three angles；Calculate separately first with flat hole A1, second with the second distance of mass center of the flat hole A2 apart from revolving mirror 30, third away from
From；It obtains the second mass for being placed on first the first mass with flat hole A1 using following formula and is placed on second to match
The third quality of the second mass in flat hole A2:
MR=m1r1 cosα+m2r2 cosβ
Wherein, m is the first mass, R is first distance, m1For the second mass of the first mass, r1It is for second distance, α
Second angle, m2For the third quality of the second mass, r2It is third angle for third distance, β.
Due to being had according to the method and dynamic balancing theory of resolution of vectors:
It can be obtained after simplification:
MR=m1r1 cosα+m2r2 cosβ
Therefore, as long as the second mass of the first mass and the third quality of the second mass is made to meet above formula
So that the mass center of revolving mirror 30 is located on the axis of rotation.
Wherein, in yet another embodiment, before above-mentioned steps S31, the application Calculate Ways further include: obtain rotation
The position of the mass center of mirror 30；Judge whether mass center is located on the axis of rotation of revolving mirror 30 according to the position of mass center；If not, it is determined that
Revolving mirror 30 is uneven, and executes above-mentioned this step S31 and its subsequent step.In an implement scene, if judgement is got
The mass center of revolving mirror 30 be located on the axis of rotation of revolving mirror 30, it is determined that revolving mirror 30 has balanced.
Referring to Fig. 4, Fig. 4 be the application laser radar another embodiment of revolving mirror Calculate Ways in calculate mass
The reference view of quality.Illustrate the application Calculate Ways below in conjunction with Fig. 4.
(1) whether the position for obtaining the mass center of revolving mirror 30, judge mass center on the axis of rotation of revolving mirror 30.
(2) if mass center is located on the axis of rotation, judge the trim of revolving mirror 30.
(3) if mass center is not on the axis of rotation, revolving mirror 30 is obtained in the first mass of uneven parameter m of first angle θ
With first distance R, wherein first distance R be revolving mirror 30 mass center (in figure shown in solid arrow) to revolving mirror 30 first
The distance of circumferential point at angle, θ.
(3) judge whether first angle θ is equipped with flat hole A.
(4) match flat hole A if being equipped at first angle θ, continue to determine whether that quality is the mass of the first mass m.
(5) if having quality is the mass of the first mass m, at first angle θ is m with quality is placed in flat hole A
Mass.
(6) if the mass for being the first mass m without quality, is calculated by the following formula and is arranged respectively at and first jiao
Spend first adjacent the second mass m with flat hole A1 and second with the first mass in flat hole A2 of θ1With the of the second mass
Three mass m2:
MR=m1r1 cosα+m2r2 cosβ
Wherein, m is the first mass, R is first distance, m1For the second mass of the first mass, r1Match flat hole A1 for first
Second distance, the α of mass center apart from revolving mirror 30 are first with second jiao where flat hole A1 and first angle θ between radius
Degree, m2For the third quality of the second mass, r2For the second third distance with mass center of the flat hole A2 apart from revolving mirror 30, β the
Two with the third angle where flat hole A2 and first angle θ between radius.
In addition, by mass center H, the center of circle I (in figure shown in dotted arrow) of revolving mirror 30, the first triangle formed with flat hole A1
The value of a line HI of shape HIA1 is R-r, and the value of another a line IA1 is r and the angle 180- α on this two sides, according to cosine
Theorem can acquire the value r of Article 3 side HA11；And by mass center H, the center of circle I of revolving mirror 30, the second triangle formed with flat hole A2
The value of a line HI of shape HIA2 is R-r, and the value of another a line IA2 is r and the angle 180- β on this two sides, according to cosine
The value that theorem can acquire Article 3 side HA2 is r2.In an implement scene, above-mentioned r1、r2It can also be acquired by sine.
(7) it if without matching flat hole A at first angle θ, is arranged respectively at and first by the formula calculating in step (6)
First adjacent the second mass m with flat hole A1 and second with the first mass in flat hole A2 of angle, θ1With the second mass
Third quality m2。
(8) that the mass with determining quality is placed in first angle θ is corresponding in flat hole A.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of laser radar, which is characterized in that the laser radar includes:
Laser emission component and laser pick-off component；
Revolving mirror, the revolving mirror can be rotated around the axis of rotation of the revolving mirror, and the revolving mirror is located at laser hair
It penetrates between component and the laser pick-off component, the axis of rotation of the revolving mirror, the optical axis of the Laser emission component, institute
The optical axis for stating laser pick-off component is located on same axis；
Wherein, the side of the revolving mirror is equipped with multiple with flat hole, and the flat hole of matching is for placing mass, so that described in placing
The mass center of revolving mirror after mass is located on the axis of rotation.
2. laser radar according to claim 1, which is characterized in that
The revolving mirror includes revolving part and the reflection microscope group being arranged on the revolving part, it is described with flat hole around it is described from
Shaft is set on the lateral surface of the revolving part.
3. laser radar according to claim 2, which is characterized in that
The lateral surface that the revolving part is set with flat hole with the first predetermined angle at equal intervals.
4. laser radar according to claim 2, which is characterized in that
The lateral surface of the revolving part is additionally provided at least one balance hole, so that the not set reflection of the revolving part
Mass center when microscope group is located on the axis of rotation.
5. laser radar according to claim 4, which is characterized in that
The balance hole is set to the lateral surface of the revolving part close to the reflecting surface of the reflection microscope group.
6. laser radar according to claim 1, which is characterized in that the flat hole of matching includes at least one following feature:
Each center with flat hole is located on the same plane vertical with the axis of rotation；
The internal diameter with flat hole is 2-3mm；
The quantity with flat hole is at least eight.
7. a kind of revolving mirror Calculate Ways of laser radar, which is characterized in that the Calculate Ways are appointed applied to claim 1-6
The revolving mirror of laser radar described in one, the Calculate Ways include:
The revolving mirror is obtained in the uneven parameter of first angle；
Based on the uneven parameter, determine for being placed on the corresponding matter with the mass in flat hole of the first angle
Amount；
It is corresponding in flat hole that the mass of quality with the determination is placed in the first angle.
8. Calculate Ways according to claim 7, which is characterized in that described based on the uneven parameter, determine and use
Before being placed on the corresponding quality with the mass in flat hole of the first angle, the Calculate Ways include:
It is described with flat hole to judge whether the revolving mirror is equipped at the first angle；
If matching flat hole without described at the first angle, by the first angle it is adjacent first match flat hole and the second trim
Hole is corresponding with flat hole as the first angle；
If there is the trim hole at the first angle, using described at the first angle with flat hole as described first
Angle it is corresponding match flat hole, or using the first angle it is adjacent first with flat hole and second with flat hole as described first jiao
It spends corresponding with flat hole.
9. Calculate Ways according to claim 8, which is characterized in that the imbalance parameter includes at the first angle
Corresponding first mass of amount of unbalance and first distance, wherein the first distance is the mass center of the revolving mirror to described
Distance of the revolving mirror between the circumferential point at the first angle；
The first angle it is corresponding with flat hole be at the first angle match flat hole when, it is described be based on the imbalance
Parameter, it is determining to include: for being placed on the corresponding quality with the mass in flat hole of the first angle
First mass at the first angle is determined as being used to be placed on matching in flat hole at the first angle
The quality of mass；
The first angle it is corresponding with flat hole include described first with flat hole and described second with flat hole when, it is described to be based on institute
Uneven parameter is stated, it is determining to include: for being placed on the corresponding quality with the mass in flat hole of the first angle
It obtains described first and matches second jiao of flat hole respectively between radius where the first angle with flat hole, described second
Degree, third angle；
It calculates separately described first and matches the second distance of the mass center of flat hole, second trim hole apart from the revolving mirror, third
Distance；
The second mass for being placed on described first the first mass with flat hole is obtained using following formula and is placed on institute
State the second third quality with the second mass in flat hole:
MR=m1r1cosα+m2r2cosβ
Wherein, m is first mass, R is the first distance, m1For second mass of first mass, r1For
The second distance, α are the second angle, m2For the third quality of second mass, r2For the third away from
It is the third angle from, β.
10. Calculate Ways according to claim 7, which is characterized in that obtain the revolving mirror in first angle described
Uneven parameter before, the Calculate Ways further include:
Obtain the position of the mass center of the revolving mirror；
Judge whether the mass center is located on the axis of rotation of the revolving mirror according to the position of the mass center；
If not, it is determined that the revolving mirror is uneven, and executes the acquisition revolving mirror in the imbalance ginseng of first angle
Several and its subsequent step.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231608A (en) * | 2019-08-07 | 2019-09-13 | 深圳市速腾聚创科技有限公司 | Laser radar and intelligent-induction equipment |
| EP4006577A4 (en) * | 2019-08-07 | 2022-09-07 | Suteng Innovation Technology Co., Ltd. | Laser radar and smart sensing device |
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