CN111398935B - Laser radar receiving system - Google Patents
Laser radar receiving system Download PDFInfo
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- CN111398935B CN111398935B CN201811612197.9A CN201811612197A CN111398935B CN 111398935 B CN111398935 B CN 111398935B CN 201811612197 A CN201811612197 A CN 201811612197A CN 111398935 B CN111398935 B CN 111398935B
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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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
- 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
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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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
- G01S7/4914—Circuits for detection, sampling, integration or read-out of detector arrays, e.g. charge-transfer gates
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application relates to a laser radar receiving system, including: the device comprises a receiving end optical unit, a metal wire grid micro-polarizer array and an avalanche photodiode APD detector array; the metal wire grid micro-polarizer array is used for passing through the laser beams matched with the detectors in the APD detector array and absorbing other laser beams; when the target object reflects the laser beam to the system, the laser beam sequentially passes through the receiving end optical unit and the metal wire grid micro-polarizer array to reach the APD detector array. By adopting the system, the resolution ratio of the target point cloud image is greatly improved, and the detection precision of the laser radar is further improved.
Description
Technical Field
The application relates to the technical field of optics, in particular to a laser radar receiving system.
Background
With the rapid development of optical technology and communication technology, the laser radar technology has rapidly developed. Laser radars are widely used in the field of target detection and the like because they can detect characteristic quantities such as the position and velocity of a target object by emitting a laser beam and receiving a laser beam reflected from the target object.
At present, in order to obtain a target point cloud image with higher resolution, a laser beam for transmitting and receiving laser of a laser radar is already spread from a single beam to a high beam. However, an Avalanche Photo Diode (APD) detector array used in the high-line beam laser radar has a high integration degree, and the interval between pixels is very small, so that mutual crosstalk between received optical signals of each field of view is easily caused, a target point cloud image is disordered, and the detection accuracy of the laser radar is reduced.
Disclosure of Invention
In view of the above, it is necessary to provide a laser radar receiving system capable of improving the detection accuracy of the laser radar.
The laser radar receiving system provided by the embodiment of the application comprises: the device comprises a receiving end optical unit, a metal wire grid micro-polarizer array and an avalanche photodiode APD detector array;
the metal wire grid micro-polarizer array is used for passing through the laser beams matched with the detectors in the APD detector array and absorbing other laser beams;
when the target object reflects the laser beam to the system, the laser beam sequentially passes through the receiving end optical unit and the metal wire grid micro-polarizer array to reach the APD detector array.
In one embodiment, the system further comprises a micro-stop array, the micro-stop array is arranged on the laser incidence side of the metal wire grid micro-polarizer array, the micro-stop array is a plate-shaped structure with a plurality of light through holes, and the light through holes correspond to the APD detectors in the APD detector array in a one-to-one mode;
and each light through hole on the micro diaphragm array is used for passing through a laser beam corresponding to the field of view of the corresponding APD detector.
In one embodiment, the system further comprises a microlens collimation array comprising a plurality of lens correction cells, the microlens collimation array positioned between the wire grid micro polarizer array and the micro aperture array.
In one embodiment, each lens correction unit is in one-to-one correspondence with the APD detectors.
In one embodiment, the system further comprises a microlens focusing array comprising a plurality of lens focusing cells, the microlens focusing array positioned between the wire grid micro polarizer array and the APD detector array.
In one embodiment, each lens focusing unit corresponds to one APD detector.
In one embodiment, the APD detector array includes a plurality of APD detector linear arrays, and the plurality of APD detector linear arrays are overlapped in a preset key region.
In one embodiment, the number of the APD detector linear arrays is four.
In one embodiment, the number of APD detectors in each of the APD detector linear arrays is sixteen.
In one embodiment, the metal wire grid micro-polarizer array is a metal wire grid micro-polarizer array plated with a narrow-band light filter film.
The laser radar receiving system includes: the device comprises a receiving end optical unit, a metal wire grid micro-polarizer array and an avalanche photodiode APD detector array; the metal wire grid micro-polarizer array is used for passing through the laser beams matched with all detectors in the APD detector array and absorbing other laser beams; when the target object reflects the laser beam to the system, the laser beam sequentially passes through the receiving end optical unit and the metal wire grid micro-polarizer array to reach the APD detector array. Because each clear aperture of the metal wire grid micro-polarizer array can pass through the laser beam with a specific polarization angle and absorb other laser beams, the laser beams entering each detector in the APD detector array can be matched with the detector, and the laser beams which are not matched with the detector cannot pass through the region of the metal wire grid micro-polarizer array corresponding to the detector, so that the interference between the receiving signals of the laser radar and the crosstalk between the detection pixels of the laser radar are avoided, the resolution of a target point cloud image is greatly improved, and the detection precision of the laser radar is greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of a lidar receiving system according to an embodiment;
FIG. 1a is a schematic diagram of a polarization filtering unit in an embodiment of a metal wire grid micro-polarizer array;
FIG. 1b is a schematic illustration of an embodiment of a polarization filtering unit in a wire grid micro-polarizer array for immunity to interference;
FIG. 1c is a schematic diagram of a metal wire grid micro-polarizer array in accordance with an embodiment;
fig. 2 is a schematic structural diagram of a laser radar receiving system according to another embodiment;
FIG. 2a is a schematic diagram of the path of a laser beam through a micro-aperture array in one embodiment;
fig. 3 is a schematic structural diagram of a lidar receiving system according to yet another embodiment;
fig. 4 is a schematic structural diagram of a lidar receiving system according to yet another embodiment;
FIG. 5 is a schematic diagram of an arrangement of APD detectors according to an embodiment.
Description of reference numerals:
the receiving system: 200 of a carrier; a receiving-end optical unit: 210;
an APD detector array: 220, 220; an APD detector linear array: 221;
an APD detector: 221 a; metal wire grid micro-polarizer array: 230;
micro-iris array: 240; microlens collimating array: 250 of (a);
a lens correction unit: 251; microlens focusing array: 260 of a nitrogen atom;
a lens focusing unit: 261.
Detailed Description
With the rapid development of laser radar technology, the laser beam transmitted and received by the laser radar is spread from a single beam to a high beam. However, the APD detector array used in the high-line beam laser radar has a high integration degree, and the interval between pixels is very small, so that mutual crosstalk between receiving optical signals of each field of view is easily caused, interference is easily caused between each laser radar, a target point cloud image is disordered, and the detection accuracy of the laser radar is reduced. The laser radar receiving system provided by the embodiment of the application aims at solving the technical problem.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is a schematic structural diagram of a lidar receiving system according to an embodiment, where the system 200 includes: a receiving end optical unit 210, a metal wire grid micro-polarizer array 230 and an APD detector array 220; the metal wire grid micro-polarizer array 230 is used to pass the laser beam matched to each detector in the APD detector array 220 and absorb the other laser beams. The metal wire grid micro-polarizer array 230 is used to pass the laser beam matched to each detector in the APD detector array 220 and absorb the other laser beams. When the laser beam emitted by the emitting system of the laser radar reaches the target object, the laser beam is reflected by the target object back to the receiving system 200, and passes through the receiving end optical unit 210 and the metal wire grid micro-polarizer array 230 in sequence to reach the APD detector array 220.
Specifically, the lidar receiving system 200 includes a receiving-end optical unit 210, a metal wire grid micro-polarizer array 230, and an APD detector array 220. APD detector array 220 includes a plurality of APD detectors 221a for receiving the laser light beams. Wherein, the metal wire grid micro-polarizer array 230 includes a plurality of polarization filtering units, and the structure thereof can be seen in fig. 1a, and the structure in fig. 1a is only an example and does not limit the present application. The laser beam reflects off the target object, passes through the receiving end optical unit 210, then through the wire grid micro-polarizer array 230, and reaches the APD detector array 220. The receiving-end optical unit 210 can reasonably select the focal length and the aperture to satisfy the divergence angle requirement under the condition of ensuring the laser beam aperture requirement, which is not limited in this embodiment.
The specific process is as follows, the laser beam is emitted by the emitting system of the laser radar, reaches the target object, is reflected by the target object to the receiving system 200, and first passes through the receiving end optical unit 210 and then passes through the metal wire grid micro-polarizer array 230, it should be noted that the detector in the APD detector array 220 is arranged corresponding to the clear aperture of the metal wire grid micro-polarizer array 230. Because each clear aperture of the metal wire grid micro-polarizer array 230 can pass through a laser beam with a specific polarization angle and block laser beams with other polarization angles, the laser beam enters the APD detector array 220 through the metal wire grid micro-polarizer array 230, which enables each detector in the APD detector array 220 to receive the laser beam with the matched polarization angle, and other laser beams unmatched with the detector, including laser beams, background light, light of other radars and stray light corresponding to the fields of view of other detectors, cannot pass through a specific area of the metal wire grid micro-polarizer array 230 corresponding to the detector, thereby avoiding interference between receiving signals of the laser radars and crosstalk between detection pixels. Specifically, as shown in fig. 1b, fig. 1b is a schematic diagram of the interference rejection process of the metal wire grid micro-polarizer array 230 in an embodiment, for example, in fig. 1b, linearly polarized light of other fields of view as the interference light, linearly polarized light of the present field of view as the signal light, and other non-polarized light, such as the background light, pass through the metal wire grid micro-polarizer array 230 together, so that the signal light, fifty percent of the background light, and very little interference light can be obtained. A schematic diagram of the structure of the metal wire grid micro-polarizer array can be seen in fig. 1 c.
The laser radar transmitting system provided by the embodiment comprises a receiving end optical unit, a metal wire grid micro-polarizer array and an Avalanche Photodiode (APD) detector array; the metal wire grid micro-polarizer array is used for passing through the laser beams matched with all detectors in the APD detector array and absorbing other laser beams; when the target object reflects the laser beam to the system, the laser beam sequentially passes through the receiving end optical unit and the metal wire grid micro-polarizer array to reach the APD detector array. Because each clear aperture of the metal wire grid micro-polarizer array can pass through the laser beam with a specific polarization angle and block the laser beam with other polarization angles, the laser beam entering each detector in the APD detector array can be matched with the detector, and the laser beam unmatched with the detector can not pass through the region of the metal wire grid micro-polarizer array corresponding to the detector, so that the interference between the receiving signals of the laser radar and the crosstalk between the detection pixels of the laser radar are avoided, the resolution of a target point cloud image is greatly improved, and the detection precision of the laser radar is greatly improved.
Alternatively, on the basis of the above embodiment, the metal wire grid micro-polarizer array 230 is a metal wire grid micro-polarizer array plated with a narrow band filter film. Because the metal wire grid micro-polarizer array 230 is a metal wire grid micro-polarizer array plated with a narrow-band light filter film, the light filtering effect is better, the interference between the receiving signals of the laser radar and the crosstalk between the detection pixels of the laser radar are further reduced, and the detection precision of the laser radar is further improved.
Fig. 2 is a schematic structural diagram of a laser radar receiving system according to another embodiment. Optionally, on the basis of the embodiment shown in fig. 1, the system may further include a micro-stop array 240, the micro-stop array 240 is disposed on the laser incident side of the metal wire grid micro-polarizer array 230, the micro-stop array 240 is a plate-shaped structure having a plurality of light passing holes, and the plurality of light passing holes correspond to the plurality of APD detectors 221a in the APD detector array 220 one to one. Wherein each light passing aperture on the micro stop array 240 is used for passing the corresponding laser beam of the field of view of the corresponding APD detector 221 a.
In particular, the system may further include a micro-stop array 240. The micro-aperture array 240 is a plate-shaped structure with a plurality of light passing holes, and is arranged on the laser incident side of the metal wire grid micro-polarizer array 230, the light passing holes on the micro-aperture array are in one-to-one correspondence with a plurality of APD detectors 221a in the APD detector array 220, and the light passing holes on the micro-aperture array 240 can be provided with specific light passing apertures, light blocking apertures and thicknesses, so that the micro-aperture array is used for passing laser beams corresponding to the fields of view of the corresponding APD detectors 221a and blocking laser beams corresponding to the fields of view of other APD detectors 221 a. When an incident laser beam enters from the receiving optical system lens 210 and passes through the micro diaphragm array 240, since the multiple light-passing holes on the micro diaphragm array 240 correspond to the multiple APD detectors 221a in the APD detector array 220 one by one, each light-passing hole on the micro diaphragm array 240 can pass through the laser beam of the field of view corresponding to its corresponding APD detector 221a and block the laser beams of other fields of view, as shown in fig. 2a, fig. 2a is a schematic diagram of the light paths of the laser beams passed by the micro diaphragm array 240 in one embodiment, where f1 and f2 represent the focal lengths of the receiving optical lens 210 and the micro lens 250, respectively. Alternatively, the plate-shaped structure may be a metal plate provided with a plurality of light holes, or may be a glass substrate coated with a light absorbing film, which is etched at corresponding positions to form the light holes, and this embodiment is not limited in this respect. Such as
In the embodiment, as shown in fig. 2a, the micro-aperture array is a plate-shaped structure having a plurality of light-passing holes, and is disposed on the laser incident side of the metal wire grid micro-polarizer array, and the light-passing holes on the micro-aperture array correspond to the APD detectors 221a in the APD detector array one by one. In this embodiment, the plurality of light passing holes on the micro-diaphragm array can pass through the laser beams of the field of view corresponding to the corresponding APD detector and block the laser beams of other field of view, thereby further preventing crosstalk of signals among the detection pixels of the laser radar, further improving the resolution of the target point cloud image, and further improving the detection precision of the laser radar.
Fig. 3 is a schematic structural diagram of a lidar receiving system according to yet another embodiment. Optionally, on the basis of the above embodiments, the system may further include a microlens collimation array 250, the microlens collimation array 250 includes a plurality of lens correction units 251, and the microlens collimation array 250 is located between the metal wire grid micro polarizer array 230 and the micro-stop array 240.
In particular, the receiving system 200 may further include a microlens collimation array 250. The microlens collimation array 250 includes a plurality of lens correction units 251, and optionally, each lens correction unit 251 may be an optical lens, or may be a combination unit of optical lenses, which is not limited in this embodiment. A microlens collimation array 250, for correcting the direction of incident light, is disposed between the wire grid micro polarizer array 230 and the micro stop array 240. When laser beams pass through each lens correction unit 251 of the micro-lens collimation array 250 after passing through the micro-diaphragm array 240, the direction of incident laser beams can be corrected, so that the laser beams can enter the metal wire grid micro-polarizer array 230 in a nearly parallel manner, the polarization state of the received laser beams is conveniently filtered by the metal wire grid micro-polarizer array 230, the anti-interference capacity of the laser radar is improved, the incidence rate of the incident laser beams entering the corresponding APD detector is improved, and the energy utilization rate is greatly improved. Meanwhile, the metal wire grid micro-polarizer array 230 is a micro-polarizer array, and the azimuth angles of the micro-polarizers corresponding to different positions of the metal wire grid micro-polarizer array are different, so that the allowed polarization states are different, and the azimuth angles of the micro-polarizers corresponding to adjacent APD detectors are greatly different, thereby further improving the effect of crosstalk prevention.
Alternatively, on the basis of the above-described embodiment shown in fig. 3, each lens correction unit 251 corresponds to an APD detector 221a one-to-one. By arranging each lens correction unit 251 and the APD detector 221a in a one-to-one correspondence manner, the laser beams in each polarization state can be better corrected, and the crosstalk prevention effect of the laser radar receiving system is further improved.
Fig. 4 is a schematic structural diagram of a lidar receiving system according to yet another embodiment. Optionally, on the basis of the above embodiment, the receiving system 200 may further include a microlens focusing array 260, the microlens focusing array 260 includes a plurality of lens focusing units 261, and the microlens focusing array 260 is located between the metal wire grid micro polarizer array 230 and the APD detector array 220.
In particular, the receiving system 200 may further include a microlens focusing array 260. The microlens focusing array 260 includes a plurality of lens focusing units 261, and optionally, each lens focusing unit 261 may be an optical lens, and may also be a combination unit of an optical lens, which is not limited in this embodiment. A microlens focusing array 260 is disposed between the wire grid micro-polarizer array 230 and the APD detector array 220. When the laser beam passes through the metal wire grid micro-polarizer array 230 and then passes through each lens focusing unit 261 of the micro-lens focusing array 260, the laser beam can be focused, and the focused laser beam can enter into the APD detector more, so that the incidence rate of the incident laser entering into the corresponding APD detector is further improved, and the energy utilization rate is further improved.
Alternatively, on the basis of the above-described embodiment shown in fig. 4, each lens focusing unit 261 corresponds to an APD detector 221 a. By arranging each lens focusing unit 261 and the APD detector 221a in a one-to-one correspondence manner, the incident beam of each APD detector 221a can be focused, so that the energy utilization rate is further improved, and the crosstalk prevention effect of the laser radar receiving system is further improved.
In one embodiment, APD detector array 220 may include a plurality of APD detector linear arrays 221, and in particular, as shown in fig. 5, each APD detector linear array 221 may include a plurality of APD detectors 221 a. Specifically, a plurality of APD detectors 221a form one APD detector linear array 221, for example, the number of APD detectors 221a in each APD detector linear array 221 may be two, four, six, eight or more, and fig. 5 illustrates that the number of APD detectors 221a in each APD detector linear array 221 is eight; for example, the number of APD detector linear arrays 221 in each APD detector array 220 may be two, four, six, eight or more, and fig. 5 illustrates that the number of APD detector linear arrays 221 in each APD detector array 220 is four. In this embodiment, the number of APD detectors 221a in each APD detector linear array 221 and the number of APD detector linear arrays 221 in each APD detector array 220 are not limited. In this embodiment, the number of APD detectors 221a in each APD detector linear array and the number of APD detector linear arrays 221 in each APD detector array 220 are not limited. In this embodiment, the APD detector array may be composed of a plurality of APD detector linear arrays, and each APD detector linear array is composed of a plurality of APD detectors, which enables the arrangement of APD detectors to be more convenient and faster, and is convenient for design and mass production.
In an embodiment, a plurality of APD detector linear arrays 221 in the APD detector array 220 may also be overlapped in a preset critical region, and likewise, their corresponding LD emitter linear arrays 121 are also overlapped in a preset critical region. As shown in fig. 5, fig. 5 is a schematic layout diagram of an APD detector provided by an embodiment, and includes four APD detector linear arrays 221-1, 221-2, 221-3, and 221-4, where the APD detector linear array 221-2 and the APD detector linear array 221-3 are arranged in an overlapping manner. The number and arrangement of APD detector linear arrays 221 and the number and arrangement of APD detectors 221a in fig. 5 are only an example, and do not limit the present embodiment. In this embodiment, the plurality of APD detector linear arrays are arranged in an overlapping manner in a preset key area, so that the density of signals received by the key area can be increased, the resolution of a target point cloud image of the key area is further improved, and the detection angle resolution precision of the laser radar is further improved.
Optionally, on the basis of the above embodiment, the number of the APD detector linear arrays is four, and four APD detector linear arrays are provided, which can meet the detection of the field of view; optionally, the number of APD detectors 221a in each APD detector linear array is sixteen, for example, as shown in fig. 5, each APD detector linear array includes sixteen APD detectors 221a, that is, a 16 × 4 array arrangement may be implemented, so as to form a 64-beam laser radar, which satisfies detection of a sufficient field of view, and at the same time, cost is effectively controlled.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A lidar receiving system, the system comprising: the device comprises a receiving end optical unit, a metal wire grid micro-polarizer array and an avalanche photodiode APD detector array;
the metal wire grid micro-polarizer array is used for passing through the laser beams matched with the detectors in the APD detector array and absorbing other laser beams;
when a target object reflects a laser beam to the system, the laser beam sequentially passes through the receiving end optical unit and the metal wire grid micro-polarizer array to reach the APD detector array;
wherein, the detectors in the APD detector array are arranged corresponding to the light transmission apertures of the metal wire grid micro-polarizer array; the clear aperture passes through the laser beam with the polarization angle matched with the corresponding detector and blocks the laser beams with other polarization angles;
in the metal wire grid micro-polarizer array, the polarization angle difference of the micro-polarizer units of the adjacent group is the largest.
2. The system of claim 1, further comprising a micro-stop array disposed on a laser incident side of the metal wire grid micro-polarizer array, the micro-stop array being a plate-like structure having a plurality of clear apertures in one-to-one correspondence with the plurality of APD detectors in the APD detector array;
and each light through hole on the micro diaphragm array is used for passing through a laser beam corresponding to the field of view of the corresponding APD detector.
3. A system according to claim 2, further comprising a microlens collimation array comprising a plurality of lens correction cells, the microlens collimation array positioned between the wire grid micro polarizer array and the micro stop array.
4. The system of claim 3, wherein each of the lens correction cells is in one-to-one correspondence with the APD detectors.
5. The system of claim 2, further comprising a microlens focusing array comprising a plurality of lens focusing cells, the microlens focusing array positioned between the wire grid micro polarizer array and the APD detector array.
6. The system of claim 5, wherein each of the lens focusing cells is in one-to-one correspondence with the APD detectors.
7. The system of claim 6, wherein the APD detector array comprises a plurality of APD detector linear arrays, and the plurality of APD detector linear arrays are arranged in an overlapping manner in a preset critical area.
8. The system of claim 6 or 7, wherein the number of APD detector linear arrays is four.
9. The system of claim 8, wherein the number of APD detectors in each of said APD detector linear arrays is sixteen.
10. The system according to claim 1, wherein the wire grid micro-polarizer array is a narrow band filter coated wire grid micro-polarizer array.
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| CN202210830897.5A CN115267742A (en) | 2018-12-27 | 2018-12-27 | Laser radar receiving system |
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| CN114594449A (en) * | 2020-12-04 | 2022-06-07 | 上海禾赛科技有限公司 | Detection device, detection method and laser radar |
| CN114325741B (en) * | 2021-12-31 | 2023-04-07 | 探维科技(北京)有限公司 | Detection module and laser ranging system |
| CN115015874B (en) * | 2022-08-08 | 2022-11-08 | 探维科技(北京)有限公司 | Laser radar crosstalk point cloud processing method and device, electronic equipment and medium |
| WO2024044997A1 (en) * | 2022-08-30 | 2024-03-07 | 华为技术有限公司 | Optical receiving module and receiving system, and detection apparatus and terminal device |
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| CN115267742A (en) | 2022-11-01 |
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