CN112230202A - Single line laser radar - Google Patents

Single line laser radar Download PDF

Info

Publication number
CN112230202A
CN112230202A CN202011206127.0A CN202011206127A CN112230202A CN 112230202 A CN112230202 A CN 112230202A CN 202011206127 A CN202011206127 A CN 202011206127A CN 112230202 A CN112230202 A CN 112230202A
Authority
CN
China
Prior art keywords
laser
mirror
detector
reflector
rotary
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011206127.0A
Other languages
Chinese (zh)
Inventor
肖岗
肖伟
张帅
陈杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Siminics Photoelectric Technology Co ltd
Original Assignee
Shanghai Siminics Photoelectric Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Siminics Photoelectric Technology Co ltd filed Critical Shanghai Siminics Photoelectric Technology Co ltd
Priority to CN202011206127.0A priority Critical patent/CN112230202A/en
Publication of CN112230202A publication Critical patent/CN112230202A/en
Pending legal-status Critical Current

Links

Images

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
    • G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • 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
    • G01S7/4911—Transmitters
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The embodiment of the disclosure provides a single line laser radar, belongs to the technical field of measurement, specifically includes: a laser transmitter; the optical fiber is arranged at the transmitting end of the laser transmitter; the fixed reflector is arranged on a laser emission route; and rotating the reflector to reflect the laser reflected by the fixed reflector to the object to be detected again. The collimating mirror is arranged on a reflecting path of the laser between the fixed reflecting mirror and the rotary reflecting mirror; the convergence unit is sleeved on the collimating mirror; the detector is used for receiving the laser converged by the converging unit; the control ends of the laser emitter and the rotary reflector are electrically connected with the controller, and the controller is used for analyzing and processing the laser received by the detector to obtain the position information corresponding to the object to be detected. Through the scheme disclosed by the invention, the difference problem of the quality of the fast and slow axis beams of the laser is improved by reflecting and collimating the laser for multiple times, the divergence angle of the transmitting system is further compressed, and the measuring accuracy and the adaptability are improved.

Description

Single line laser radar
Technical Field
The present disclosure relates to the field of measurement technology, and in particular, to a single line laser radar.
Background
At present, along with the development of science and technology, when carrying out accurate range finding to remote object, the error appears easily in traditional yardstick measurement mode, and measurement of efficiency is low, and people begin to use optical ranging instrument, for example single line laser etc. but current single line laser radar, owing to be limited to the product volume, radar transmitting system adopts the scheme of semiconductor laser with the direct collimation of collimating mirror to carry out transmitting system design mostly. Because the quality difference of the fast and slow axis light beams of the semiconductor laser is large, and the divergence angle of the fast axis is very large, the focal length of the collimating mirror is very short, the characteristics difference of the fast and slow axes of the collimated light spot is large, and the collimating effect of the laser emitting system is not very ideal.
In order to take account of the volume of the whole product, the divergence angle of the emitted laser of most of the prior single-line laser radars is about 1.5 degrees, the divergence of the light spot is fast, so that the whole ranging capability is influenced, and meanwhile, in order to match the emission view field, the whole receiving view field is also large, and the background noise resistance is reduced. In addition, the divergence angle of the transmitting system is large, the detail resolving power of the radar is poor, and partial object distortion can be caused under some high-requirement scenes, so that the using effect is poor.
Therefore, the existing single-line laser radar has the problems of poor measurement accuracy and poor adaptability.
Disclosure of Invention
In view of the above, the embodiments of the present disclosure provide a single line laser radar, which at least partially solves the problems in the prior art.
The disclosed embodiment provides a single line laser radar, including:
a laser transmitter for transmitting laser light;
the optical fiber is arranged at the transmitting end of the laser transmitter;
the fixed reflector is arranged on the emission route of the laser;
and the rotating reflector is used for adjusting the reflection angle and reflecting the laser reflected by the fixed reflector to the object to be detected again.
A collimator lens disposed on a reflection path of the laser light between the fixed reflective mirror and the rotary reflective mirror;
the converging unit is sleeved on the collimating mirror and is used for converging the laser reflected by the object to be detected;
the detector is used for receiving the laser converged by the converging unit;
and the control ends of the laser emitter and the rotary reflector are electrically connected with the controller, and the controller is used for analyzing and processing the laser received by the detector to obtain the position information corresponding to the object to be detected.
According to a specific implementation manner of the embodiment of the disclosure, the center of the detector, the center of the collimating mirror and the center of the rotating reflective mirror are located on the same straight line.
According to a specific implementation manner of the embodiment of the present disclosure, the collimating lens and the converging unit are both focusing lenses.
According to a specific implementation manner of the embodiment of the present disclosure, the focal length of the collimating mirror is smaller than the focal length of the converging unit.
According to a specific implementation manner of the embodiment of the present disclosure, the rotary mirror includes a rotary motor and a mirror body, a driving shaft of the rotary motor is connected to the mirror body, and the rotary motor is configured to drive the mirror body to rotate along an axis of the driving shaft.
According to a specific implementation manner of the embodiment of the present disclosure, a radiator is disposed at the position of the laser emitter.
According to a specific implementation manner of the embodiment of the disclosure, the single line laser radar further comprises a shell, and the laser emitter, the optical fiber, the fixed reflective mirror, the rotary reflective mirror, the collimating mirror, the converging unit, the detector and the controller are all arranged in the shell.
According to a specific implementation manner of the embodiment of the disclosure, an opening is formed in the housing at a position corresponding to the rotary reflector.
According to a specific implementation manner of the embodiment of the disclosure, the housing bottom plate is provided with a fixing component, and the fixing component is used for fixing the housing to an external device.
According to a specific implementation manner of the embodiment of the disclosure, an ultrasonic sensor is arranged in the shell and electrically connected with the controller.
The single line laser radar in the embodiment of the present disclosure includes: a laser transmitter for transmitting laser light; the optical fiber is arranged at the transmitting end of the laser transmitter; the fixed reflector is arranged on the emission route of the laser; and the rotating reflector is used for adjusting the reflection angle and reflecting the laser reflected by the fixed reflector to the object to be detected again. A collimator lens disposed on a reflection path of the laser light between the fixed reflective mirror and the rotary reflective mirror; the converging unit is sleeved on the collimating mirror and is used for converging the laser reflected by the object to be detected; the detector is used for receiving the laser converged by the converging unit; and the control ends of the laser emitter and the rotary reflector are electrically connected with the controller, and the controller is used for analyzing and processing the laser received by the detector to obtain the position information corresponding to the object to be detected. Through the scheme disclosed by the invention, the difference problem of the quality of the fast and slow axis beams of the laser is improved by reflecting and collimating the laser for multiple times, the divergence angle of the transmitting system is further compressed, and the measuring accuracy and the adaptability are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a single-line laser radar according to an embodiment of the present disclosure.
Summary of reference numerals:
a single line laser radar 100;
a laser emitter 110;
an optical fiber 120;
a fixed mirror 130;
a rotary mirror 140, a rotary motor 141, a mirror body 142;
a collimating mirror 150;
a convergence unit 160;
a detector 170.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
At present, along with the development of science and technology, when carrying out accurate range finding to remote object, the error appears easily in traditional yardstick measurement mode, and measurement of efficiency is low, and people begin to use optical ranging instrument, for example single line laser etc. but current single line laser radar, owing to be limited to the product volume, radar transmitting system adopts the scheme of semiconductor laser with the direct collimation of collimating mirror to carry out transmitting system design mostly. Because the quality difference of the fast and slow axis light beams of the semiconductor laser is large, and the divergence angle of the fast axis is very large, the focal length of the collimating mirror is very short, the characteristics difference of the fast and slow axes of the collimated light spot is large, and the collimating effect of the laser emitting system is not very ideal.
In order to take account of the volume of the whole product, the divergence angle of the emitted laser of most of the prior single-line laser radars is about 1.5 degrees, the divergence of the light spot is fast, so that the whole ranging capability is influenced, and meanwhile, in order to match the emission view field, the whole receiving view field is also large, and the background noise resistance is reduced. In addition, the divergence angle of the transmitting system is large, the detail resolving power of the radar is poor, and partial object distortion can be caused under some high-requirement scenes, so that the using effect is poor. The embodiment of the disclosure provides a single line laser radar method, which can be applied to a middle-long distance ranging process.
Referring to fig. 1, a schematic structural diagram of a single line laser radar provided in the embodiment of the present disclosure is shown. As shown in fig. 1, the single-line laser radar 100 mainly includes:
a laser transmitter 110, the laser transmitter 110 being configured to transmit laser light;
an optical fiber 120, wherein the optical fiber 120 is arranged at the emission end of the laser emitter 110;
a fixed reflective mirror 130, the fixed reflective mirror 130 being disposed on an emission path of the laser light;
and a rotating reflective mirror 140, wherein the rotating reflective mirror 140 is used for adjusting the reflection angle and reflecting the laser light reflected by the fixed reflective mirror 130 to the object to be detected again.
A collimator lens 150, the collimator lens 150 being disposed on a reflection path of the laser light between the fixed mirror 130 and the rotary mirror 140;
the converging unit 160 is sleeved on the collimating mirror 150, and the converging unit 160 is used for converging the laser reflected by the object to be detected;
a detector 170, wherein the detector 170 is configured to receive the laser light converged by the converging unit 160;
and the control ends of the laser emitter 110 and the rotary reflector 140 are electrically connected with the controller, and the controller is used for analyzing and processing the laser received by the detector 170 to obtain the position information corresponding to the object to be detected.
During assembly, the optical fiber 120 may be disposed at the emitting end of the laser emitter 110, the fixed reflective mirror 130 may be disposed on the emitting path of the laser, the rotary reflective mirror 140 may be disposed on the reflecting path of the fixed reflective mirror 130, the collimating mirror 150 may be disposed on the reflecting path of the laser between the fixed reflective mirror 130 and the rotary reflective mirror 140, and the converging unit 160 may be sleeved on the collimating mirror 150.
When the laser light source is used, the laser emitter 110 emits laser light, when the laser light passes through the optical fiber 120, the optical fiber 120 compresses the divergence angle of the laser light, then the laser light is reflected to the collimating mirror 150 through the fixed reflective mirror 130 to be collimated for the second time, and then is emitted to the rotary reflective mirror 140, and the rotary reflective mirror 140 reflects the laser light to the object to be detected. After the laser light is emitted to the object to be detected, the laser light is reflected by the object to be detected, emitted to the rotary reflector 140 again, and then reflected to the converging unit 160, the converging unit 160 converges all the laser light into one point to the detector 170, the detector 170 emits the received laser light to the controller, and the controller analyzes and processes the laser light received by the detector 170 to obtain the position information corresponding to the object to be detected. For example, when the laser emitter 110 starts to time the laser, the detector 170 finishes timing the laser that receives the reflected laser, and the controller calculates the distance between the object to be detected according to the laser emitting time and the reflected time.
The single-line laser radar of the embodiment improves the difference problem of the quality of the fast and slow axis light beams of the laser by reflecting and collimating the laser for multiple times, further compresses the divergence angle of the transmitting system, and improves the measuring accuracy and the adaptability.
On the basis of the above embodiment, the center of the detector 170, the center of the collimator mirror 150, and the center of the rotating mirror 140 are located on the same straight line.
In use, the center of the detector 170, the center of the collimating mirror 150 and the center of the rotating reflector 140 may be disposed on the same straight line to improve the measurement accuracy and avoid the loss of the light source during the transmission process, considering the characteristic that the light travels along the straight line.
Specifically, the collimating lens 150 and the converging unit 160 are both focusing lenses.
Optionally, the focal length of the collimating mirror 150 is smaller than the focal length of the converging unit 160.
In specific implementation, in consideration of the fact that the laser has a large difference between the quality of the fast axis and the quality of the slow axis light beams and a large divergence angle of the fast axis light beams during the propagation process, the focal length of the collimating mirror 150 is short, and the difference between the characteristics of the fast axis and the slow axis light spots after collimation is large, a focusing lens may be used as the collimating mirror 150 and the converging unit 160 to compress the divergence angles of the fast axis and the slow axis light beams of the laser. And the focal length of the collimating mirror 150 is smaller than that of the condensing unit 160, so that the assembly is more convenient.
On the basis of the above embodiment, the rotary mirror 140 includes a rotary motor 141 and a mirror body 142, a driving shaft of the rotary motor 141 is connected to the mirror body 142, and the rotary motor 141 is configured to drive the mirror body 142 to rotate along an axial center of the driving shaft.
In specific implementation, in consideration of the fact that the object to be detected may be located at different positions or different directions during measurement, the driving shaft of the rotating motor 141 may be connected to the mirror body 142, and the rotating motor 141 is configured to drive the mirror body 142 to rotate along the axis of the driving shaft, so as to adjust the angle of the mirror body 142, and enable the laser to be reflected to the object to be detected.
Optionally, a heat sink is disposed at the position of the laser emitter 110.
When the laser emitter 110 is used, in consideration of the fact that the laser emitter 110 generates heat when being used, and is easy to cause loss to components of equipment, the heat sink, such as a fan or a water-cooling heat sink, may be disposed at the position of the laser emitter 110, so as to reduce the temperature of the laser emitter 110 when being used, and improve the service life of the equipment.
On the basis of the above embodiments, the single line laser radar 100 further includes a housing, and the laser transmitter 110, the optical fiber 120, the fixed reflective mirror 130, the rotary reflective mirror 140, the collimating mirror 150, the converging unit 160, the detector 170, and the controller are all disposed in the housing.
In specific implementation, the laser emitter 110, the optical fiber 120, the fixed reflective mirror 130, the rotating reflective mirror 140, the collimating mirror 150, the converging unit 160, the detector 170, and the controller may be disposed in the housing in consideration of interference of an external light source to the laser.
Optionally, the housing is provided with an opening corresponding to the position of the rotating mirror 140.
In use, laser light reflected by the rotating mirror 140 and the object to be detected may pass through the opening. Of course, a black transparent plate or the like may be disposed at the opening to isolate external interference light and not obstruct the propagation of the laser.
Further, the bottom plate of the shell is provided with a fixing component, and the fixing component is used for fixing the shell to an external device.
When the device is used, the shell needs to be kept in a fixed state in consideration of ranging the object to be detected so as to avoid measurement errors, a fixing component can be arranged on the bottom plate of the shell and used for fixing the shell on external equipment, and meanwhile, the shell can be conveniently moved.
On the basis of the above embodiment, an ultrasonic sensor is arranged in the housing, and the ultrasonic sensor is electrically connected with the controller.
Considering that there may be a moving process when performing real-time distance measurement, but when encountering a transparent obstacle such as glass, the laser may pass through the obstacle, thereby causing collision, an ultrasonic sensor may be disposed in the housing, and the ultrasonic sensor may detect the transparent obstacle, so as to implement an obstacle avoidance function.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (10)

1. A single line lidar, comprising:
a laser transmitter for transmitting laser light;
the optical fiber is arranged at the transmitting end of the laser transmitter;
the fixed reflector is arranged on the emission route of the laser;
and the rotating reflector is used for adjusting the reflection angle and reflecting the laser reflected by the fixed reflector to the object to be detected again.
A collimator lens disposed on a reflection path of the laser light between the fixed reflective mirror and the rotary reflective mirror;
the converging unit is sleeved on the collimating mirror and is used for converging the laser reflected by the object to be detected;
the detector is used for receiving the laser converged by the converging unit;
and the control ends of the laser emitter and the rotary reflector are electrically connected with the controller, and the controller is used for analyzing and processing the laser received by the detector to obtain the position information corresponding to the object to be detected.
2. The singlet lidar of claim 1, wherein a center of the detector, a center of the collimating mirror, and a center of the rotating mirror are collinear.
3. The singlet lidar of claim 1, wherein the collimating mirror and the condensing unit are both focusing lenses.
4. The singlet lidar of claim 3, wherein a focal length of the collimating mirror is less than a focal length of the condensing unit.
5. The singlet lidar of claim 1, wherein the rotary mirror comprises a rotary motor and a mirror body, a drive shaft of the rotary motor is connected to the mirror body, and the rotary motor is configured to rotate the mirror body along an axial center of the drive shaft.
6. The singlet lidar of claim 1, wherein the laser transmitter location is provided with a heat sink.
7. The singlet lidar of claim 1, further comprising a housing, the laser emitter, the optical fiber, the fixed mirror, the rotatable mirror, the collimating mirror, the condensing unit, the detector, and the controller all disposed within the housing.
8. The singlet lidar of claim 7, wherein the housing is provided with an opening corresponding to a position of the rotating mirror.
9. The singlet lidar of claim 8, wherein the housing base plate is provided with a securing assembly for securing the housing to an external device.
10. The singlet lidar of claim 9, wherein an ultrasonic sensor is disposed within the housing, the ultrasonic sensor being electrically connected to the controller.
CN202011206127.0A 2020-11-02 2020-11-02 Single line laser radar Pending CN112230202A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011206127.0A CN112230202A (en) 2020-11-02 2020-11-02 Single line laser radar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011206127.0A CN112230202A (en) 2020-11-02 2020-11-02 Single line laser radar

Publications (1)

Publication Number Publication Date
CN112230202A true CN112230202A (en) 2021-01-15

Family

ID=74121935

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011206127.0A Pending CN112230202A (en) 2020-11-02 2020-11-02 Single line laser radar

Country Status (1)

Country Link
CN (1) CN112230202A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120212727A1 (en) * 2011-02-22 2012-08-23 Sick Ag Optoelectronic sensor and method for detecting objects
CN103512868A (en) * 2013-09-10 2014-01-15 华中科技大学 Micro-domain laser probe component analyzer based on optical fiber waveguide
CN106291510A (en) * 2016-10-28 2017-01-04 深圳市镭神智能系统有限公司 A kind of laser radar optical system based on time flight method
CN108710134A (en) * 2018-07-17 2018-10-26 苏州元联传感技术有限公司 Two-dimensional scanning laser range radar based on receiving and transmitting combined lens
CN110611243A (en) * 2019-09-27 2019-12-24 浙江大学德清先进技术与产业研究院 Tunable laser plane generating device
CN111308491A (en) * 2020-03-09 2020-06-19 中振同辂(江苏)机器人有限公司 Obstacle sensing method based on multi-sensor combination
CN111413686A (en) * 2020-05-18 2020-07-14 武汉天眸光电科技有限公司 Laser radar optical system and laser radar

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120212727A1 (en) * 2011-02-22 2012-08-23 Sick Ag Optoelectronic sensor and method for detecting objects
CN103512868A (en) * 2013-09-10 2014-01-15 华中科技大学 Micro-domain laser probe component analyzer based on optical fiber waveguide
CN106291510A (en) * 2016-10-28 2017-01-04 深圳市镭神智能系统有限公司 A kind of laser radar optical system based on time flight method
CN108710134A (en) * 2018-07-17 2018-10-26 苏州元联传感技术有限公司 Two-dimensional scanning laser range radar based on receiving and transmitting combined lens
CN110611243A (en) * 2019-09-27 2019-12-24 浙江大学德清先进技术与产业研究院 Tunable laser plane generating device
CN111308491A (en) * 2020-03-09 2020-06-19 中振同辂(江苏)机器人有限公司 Obstacle sensing method based on multi-sensor combination
CN111413686A (en) * 2020-05-18 2020-07-14 武汉天眸光电科技有限公司 Laser radar optical system and laser radar

Similar Documents

Publication Publication Date Title
CN108445467B (en) Scanning laser radar system
CN110133620B (en) Multi-line laser radar
CN108646232A (en) A kind of the correction system and laser radar range device of laser radar
CN111337901B (en) Laser radar for remote detection and detection method thereof
CN109975783B (en) Laser radar
CN106767513A (en) There-dimensional laser scanning device
CN109387844A (en) Scanning type laser radar
CN206546432U (en) A kind of laser radar optical system based on time flight method
US20220120899A1 (en) Ranging device and mobile platform
CN110531369B (en) Solid-state laser radar
CN111060891B (en) Laser radar
CN111766588A (en) Panoramic laser radar
CN210199305U (en) Scanning module, range unit and movable platform
CN110988893B (en) Laser radar device
CN112230202A (en) Single line laser radar
CN213957611U (en) Multi-line laser radar
CN111381218B (en) Hybrid solid-state laser radar and manufacturing method and detection method thereof
CN116008960A (en) Laser transmitting and receiving module and single-line laser scanning radar
CN211718513U (en) Scanning type laser radar
CN218003712U (en) Laser transmitting and receiving module and single-line laser scanning radar
CN218824680U (en) Laser radar's coaxial light path structure and laser radar
CN116008954B (en) Laser ranging system, laser transmitting and receiving module and double-line laser radar
CN210572749U (en) Laser radar system
CN111665485B (en) Laser radar
CN220419566U (en) Receiving system of TOF narrow window non-coaxial laser scanner

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20210115

RJ01 Rejection of invention patent application after publication