CN112540373A - Laser radar device and laser measurement method - Google Patents
Laser radar device and laser measurement method Download PDFInfo
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- CN112540373A CN112540373A CN202011257915.2A CN202011257915A CN112540373A CN 112540373 A CN112540373 A CN 112540373A CN 202011257915 A CN202011257915 A CN 202011257915A CN 112540373 A CN112540373 A CN 112540373A
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- bias voltage
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- 238000000691 measurement method Methods 0.000 title claims abstract description 9
- 239000013307 optical fiber Substances 0.000 claims description 40
- 230000003287 optical effect Effects 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 21
- 239000000835 fiber Substances 0.000 claims description 16
- 238000005086 pumping Methods 0.000 claims description 8
- 230000003321 amplification Effects 0.000 claims description 5
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 abstract description 7
- 230000010354 integration Effects 0.000 abstract description 4
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- KWMNWMQPPKKDII-UHFFFAOYSA-N erbium ytterbium Chemical compound [Er].[Yb] KWMNWMQPPKKDII-UHFFFAOYSA-N 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- 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
-
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- 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
- G01S7/484—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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to the technical field of laser measurement, and discloses a laser radar device and a laser measurement method. According to the laser radar device and the laser measurement method provided by the invention, the laser diode is arranged, and the switching of the working mode of the laser diode is realized through the circuit module, so that the laser diode can be used as a light source to emit laser, and can also be used as a detector to receive echo signals to complete measurement, and therefore, the emission and the reception of the signals can be completed only by arranging one light path, the integration of receiving and emission is realized, the size of equipment is favorably reduced, the structural complexity is reduced, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of laser measurement, in particular to a laser radar device and a laser measurement method.
Background
Compared with a microwave radar, the laser radar technology has higher precision, longer detection distance and stronger anti-interference performance, is used for space detection at first and is widely applied to the fields of three-dimensional mapping, engineering measurement, automatic driving and the like.
The laser radar hardware mainly comprises a laser, a transmitting light path module, a receiving light path module and a detector module. Traditional laser radar is when the design, at first outsourcing laser instrument, then design emission light path with pulse laser projection object on, the great receiving optical path module in one set of light aperture of redesign receives from the echo signal of target object surface diffuse reflection, returns the final focus of light on the APD detector.
Traditional laser radar equipment need set up transmission light path and receiving light path to the laser instrument is great with receiving optical group size, leads to the equipment size to hardly do for a short time, and the structure is complicated, needs to use a lot of devices, and the cost is also high. However, in industrial applications, such as unmanned, three-dimensional mapping, higher demands are placed on the size and cost of lidar devices.
Disclosure of Invention
The invention provides a laser radar device and a laser measuring method, which are used for solving or partially solving the problems of larger size and complex structure of the conventional laser radar equipment.
The invention provides a laser radar device which comprises a light path module, wherein a laser diode is arranged at the first end of the light path module, a scanning unit is arranged at the second end of the light path module, the laser diode is connected with a circuit module, and the circuit module is used for providing forward bias voltage for the laser diode so that the laser diode is in a transmitting state or providing reverse bias voltage for the laser diode so that the laser diode is in a receiving state.
According to the laser radar device provided by the invention, the light path module further comprises a collimation focusing lens group and a transmission optical fiber which are sequentially arranged between the laser diode and the scanning unit; the laser diode is connected to one side of the collimation focusing mirror group, and the other side of the collimation focusing mirror group is connected to the transmission optical fiber.
According to the laser radar device provided by the invention, the collimating and focusing lens group comprises a collimating lens and a focusing lens which are sequentially arranged from a laser diode.
According to the laser radar device provided by the invention, the optical path module further comprises an optical fiber amplifying unit arranged between the laser diode and the scanning unit.
According to the laser radar device provided by the invention, the optical fiber amplification unit comprises a coupler and an active optical fiber which are sequentially arranged, the coupler is also connected with a pumping source, the coupler is arranged close to the laser diode, and the active optical fiber is connected with the scanning unit.
According to the laser radar device provided by the invention, the optical path module further comprises a filter.
According to the laser radar device provided by the invention, the scanning unit comprises a collimating lens group and a scanning rotating mirror, and the scanning rotating mirror can be rotatably arranged at the second end of the light path module.
The laser radar device further comprises a rotary table; the light path module and the circuit module are fixedly arranged on the rotary table.
According to the laser radar device provided by the invention, the circuit module is also used for applying a modulation current signal to the laser diode when a forward bias voltage is provided.
The invention also provides a laser measuring method based on the laser radar device, which comprises the following steps: applying forward bias voltage and a modulation current signal to a laser diode to enable the laser diode to emit pulse laser to an object to be detected along a light path module; and applying reverse bias voltage to the laser diode so that the laser diode receives echo signals from the surface of the object to be detected, which are returned along the optical path module.
According to the laser radar device and the laser measurement method provided by the invention, the laser diode is arranged, and the switching of the working mode of the laser diode is realized through the circuit module, so that the laser diode can be used as a light source to emit detection laser, and can also be used as a detector to receive echo signals to finish measurement, and therefore, the emission and the reception of the signals can be finished only by arranging one light path, the integration of the emission and the reception is realized, the size of equipment is favorably reduced, the structural complexity is reduced, and the cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser radar apparatus according to the present invention.
Reference numerals:
1. a laser diode; 2. a collimating focusing lens group; 3. a transmission optical fiber; 4. a filter; 5. a coupler; 6. a pump source; 7. an active optical fiber; 8. a collimating lens group; 9. and (4) scanning a rotating mirror.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The laser radar apparatus and the laser measuring method of the present invention will be described with reference to fig. 1.
Referring to fig. 1, the present embodiment provides a laser radar apparatus, which includes a light path module, a laser diode 1 is disposed at a first end of the light path module, and a scanning unit is disposed at a second end of the light path module. The laser diode 1 and the scanning unit are positioned at two end parts of the optical path module. The optical path module comprises an optical path. The laser diode 1 is connected with a circuit module, and the circuit module is used for providing forward bias voltage for the laser diode 1 to enable the laser diode 1 to be in an emitting state or providing reverse bias voltage for the laser diode 1 to enable the laser diode 1 to be in a receiving state.
The circuit module provides a control circuit for the voltage and current of the laser diode 1, and can be a circuit board structure. The circuit module has two working states, namely an emission state, wherein the laser diode 1 is in a state of emitting pulse laser by providing forward bias voltage for the laser diode; in this state, the optical path module serves as a transmission optical path. The second is a receiving state, wherein the laser diode 1 does not emit light but receives an echo signal by providing a reverse bias voltage for the laser diode 1; in this state, the optical path block serves as a reception optical path.
When the laser device is in a transmitting state, the laser diode 1 generates pulse laser, and the pulse laser is projected to the surface of an object through the scanning unit through the light path module. When the optical path is in a receiving state, according to the reversibility of the optical path, return light reflected from the surface of the object passes through the optical path module and finally reaches the laser diode 1, and the laser diode 1 is in a reverse bias state at the moment and is equivalent to a photoelectric detector for detecting the intensity of an echo signal.
The laser radar device that this embodiment provided sets up laser diode 1, realizes laser diode 1 mode's switching through circuit module for laser diode 1 both can regard as light source transmission detection laser, can regard as the detector again to receive echo signal and accomplish the measurement, thereby only need set up a light path can accomplish the transmission and the receipt of signal, realized receiving and transmitting integration, be favorable to reducing equipment size, reduce structure complexity and reduce cost.
On the basis of the above embodiment, further, the optical path module further includes a collimating focusing lens group 2 and a transmission optical fiber 3 sequentially arranged between the laser diode 1 and the scanning unit; the laser diode 1 is connected to one side of the collimating and focusing lens group 2, and the other side of the collimating and focusing lens group 2 is connected to the transmission optical fiber 3. The collimating and focusing lens group 2 is used for realizing the collimation and focusing of light beams. Laser emitted by the laser diode 1 enters the transmission optical fiber 3 for transmission after passing through the collimating and focusing lens group 2.
On the basis of the above embodiment, further, the collimating and focusing mirror group 2 includes a collimating mirror and a focusing mirror, which are arranged in sequence from the laser diode 1. Namely, the laser emitted by the laser diode 1 firstly passes through the collimating lens and then passes through the focusing lens. So that the emitted laser light can better enter the transmission fiber 3. The laser diode 1, the collimating and focusing lens group 2 and the transmission optical fiber 3 form an optical fiber coupling unit.
On the basis of the above embodiment, further, the optical path module further includes an optical fiber amplifying unit disposed between the laser diode 1 and the scanning unit. The optical fiber amplifying unit is used for amplifying the transmitting signal and the echo signal.
On the basis of the above embodiment, further, the optical fiber amplifying unit includes a coupler 5 and an active optical fiber 7, which are sequentially arranged, and the coupler 5 is further connected with a pumping source 6. The coupler 5 is disposed close to the laser diode 1; i.e. the coupler 5 is a component of the fiber amplification unit close to the laser diode 1. The active fiber 7 is connected to the scanning unit.
Further, the pumping current intensity of the pumping source 6 when the laser diode 1 is in the emitting state is greater than the pumping current intensity when the laser diode 1 is in the receiving state.
On the basis of the above embodiment, further, the optical path module further includes a filter 4. Further, a filter 4 is provided between the transmission fiber 3 and the coupler 5. I.e. the filter 4 is arranged between the fiber coupling unit and the fiber amplifying unit. The filter 4 is mainly used for filtering ASE generated by the echo signal in the optical fiber amplification process.
On the basis of the above embodiment, further, the scanning unit includes a collimating lens group 8 and a scanning rotating mirror 9, and the scanning rotating mirror 9 is rotatably disposed at the second end of the optical path module. The collimating lens group 8 is used for converting divergent light output by the optical fiber into parallel light; the parallel light is output to an object to be measured after passing through the scanning rotating mirror 9. The rotation of the scanning mirror 9 is used to change the vertical angle of the outgoing beam. Specifically, the scanning rotating mirror 9 can be fixed by a supporting member, the supporting member can be rotatably arranged, and the supporting member can be driven by a motor to rotate to control and adjust. The support may be a spindle.
On the basis of the above embodiment, further, the laser radar apparatus provided in this embodiment further includes a turntable; the light path module and the circuit module are fixedly arranged on the rotary table. Multidirectional scanning of light path module is realized in the rotation of accessible revolving stage, improves the scanning angle.
Further, the turntable is rotatable about a first direction; the scanning turn mirror 9 is rotatable about a second direction. The first direction and the second direction can be different directions, so that angle adjustment of more directions of the emergent light beam of the light path module is realized, and the scanning range is enlarged.
On the basis of the above embodiment, further, the circuit module is also used for applying a modulation current signal to the laser diode 1 when the forward bias voltage is provided. For exciting the laser diode 1 to emit laser light. Specifically, the circuit module applies pulse modulation current to the laser diode 1 when forward bias voltage is provided to the laser diode 1, the pulse width is 3-8ns, and the frequency is 100kHz-2 MHz.
On the basis of the foregoing embodiments, further, the present embodiment provides a laser measurement method, which is based on the laser radar apparatus described in any of the foregoing embodiments, and the laser measurement method includes: applying forward bias voltage and a modulation current signal to the laser diode 1 to enable the laser diode to emit pulse laser to an object to be detected along the light path module; and applying reverse bias voltage to the laser diode 1 to enable the laser diode to receive echo signals from the surface of the object to be detected, which are returned along the optical path module.
On the basis of the above embodiments, further, the present embodiment provides a laser radar apparatus integrating transceiving, including a circuit module and an optical path module. The circuit module has two working states, namely a transmitting state for providing forward bias voltage and a modulation current signal for the laser diode 1 to enable the laser diode 1 to transmit pulse laser, and a receiving state for providing reverse bias voltage for the laser diode 1 to enable the laser diode 1 not to emit light but to receive echo signals. The optical path module comprises an optical fiber coupling unit, a filter 4, an optical fiber amplifying unit and a collimation scanning unit. The optical fiber coupling unit comprises a laser diode 1, a collimation focusing lens group 2 and a transmission optical fiber 3; the filter 4 is used for filtering ASE generated by the echo signal in the optical fiber amplification process; the optical fiber amplifying unit comprises a pumping source 6, a coupler 5 and an active optical fiber 7; the collimation scanning unit comprises a collimation lens group 8 and a scanning rotating mirror 9.
In the emitting state, the laser diode 1 generates pulse laser, the pulse laser enters the transmission optical fiber 3 through the optical fiber coupling unit, the optical signal is amplified through the optical fiber amplifying unit, and finally the pulse laser is projected to the surface of an object through the collimation scanning unit. When the laser diode is in a receiving state, according to the reversibility of an optical path, return light reflected from the surface of an object sequentially passes through the collimation scanning unit, the optical fiber amplifying unit, the filter 4 and the optical fiber coupling unit and finally reaches the laser diode 1, and the laser diode 1 is in a reverse bias state and is equivalent to a photoelectric detector for detecting the intensity of an echo signal. The optical fiber amplifying unit can amplify laser signals and return light signals, and the receiving and transmitting integration is achieved by rapidly switching the working mode of the laser diode 1.
Specifically, the circuit module has two working states, namely a transmitting state for outputting forward bias voltage and pulse modulation current with the pulse width of 3-8ns and the frequency of 100kHz-2MHz, and a receiving state for outputting reverse bias voltage. The optical fiber coupling unit comprises a laser diode 1, a collimating and focusing lens group 2 and a transmission optical fiber 3. The laser diode 1 emits 1550nm laser; coupled to a transmission optical fiber 3 through a collimating and focusing lens group 2. The collimating and focusing lens group 2 comprises a fast axis collimating lens, a slow axis collimating lens and a focusing lens which are arranged in sequence. The transmission fiber 3 is preferably 10/125um single mode fiber.
The filter 4 is a narrow band pass optical fiber filter 4 with a center wavelength of 1550nm and a full width at half maximum of 1 nm. The optical fiber amplifying unit comprises a pumping source 6, a coupler 5 and an active optical fiber 7; the pump source 6 is preferably a 10W multimode 915nm semiconductor laser; the active fiber 7 is preferably erbium ytterbium co-doped fiber. The collimation scanning unit comprises a collimating mirror group 8 and a scanning rotating mirror 9, and the collimating mirror group 8 is used for converting divergent light output by the optical fiber into parallel light. The collimating lens group 8 is preferably a double cemented lens or a three-piece lens group. The scanning turning mirror 9 is used for changing the vertical angle of the emergent light beam, and the maximum vertical field angle is 300 degrees. The scanning rotating mirror 9 can rotate in the vertical direction, that is, the scanning rotating mirror 9 rotates around the horizontal direction. The circuit module and the light path module are fixed on the horizontal rotary table, and 360-degree horizontal scanning is realized. The horizontal turntable realizes rotation in the horizontal direction, namely rotation around the vertical direction.
The embodiment is suitable for the technical field of laser three-dimensional measurement, and solves the problems of large volume, high cost and complex structure of the existing laser radar device to a certain extent.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The laser radar device is characterized by comprising a light path module, wherein a laser diode is arranged at the first end of the light path module, a scanning unit is arranged at the second end of the light path module, the laser diode is connected with a circuit module, and the circuit module is used for providing forward bias voltage for the laser diode so that the laser diode is in a transmitting state or providing reverse bias voltage for the laser diode so that the laser diode is in a receiving state.
2. The lidar apparatus of claim 1, wherein the optical path module further comprises a collimating focusing mirror group and a transmission fiber sequentially disposed between the laser diode and the scanning unit; the laser diode is connected to one side of the collimation focusing mirror group, and the other side of the collimation focusing mirror group is connected to the transmission optical fiber.
3. The lidar apparatus of claim 2, wherein the collimating and focusing mirror group comprises a collimating mirror and a focusing mirror disposed in sequence from a laser diode.
4. The lidar device of any of claims 1 to 3, wherein the optical path module further comprises a fiber amplification unit disposed between the laser diode and the scanning unit.
5. The lidar apparatus of claim 4, wherein the fiber amplifying unit comprises a coupler and an active fiber, the coupler and the active fiber are sequentially arranged, the coupler is further connected with a pumping source, the coupler is arranged close to the laser diode, and the active fiber is connected with the scanning unit.
6. The lidar apparatus of any of claims 1 to 3, wherein the optical path module further comprises a filter.
7. The lidar device according to any of claims 1 to 3, wherein the scanning unit comprises a collimating lens set and a scanning rotating lens, and the scanning rotating lens is rotatably disposed at the second end of the optical path module.
8. The lidar apparatus according to any one of claims 1 to 3, further comprising a turntable; the light path module and the circuit module are fixedly arranged on the rotary table.
9. The lidar apparatus of any of claims 1-3, wherein the circuit module is further configured to apply a modulated current signal to the laser diode when the forward bias voltage is provided.
10. A laser measurement method, based on the laser radar apparatus of any one of claims 1 to 9, comprising:
applying forward bias voltage and a modulation current signal to a laser diode to enable the laser diode to emit pulse laser to an object to be detected along a light path module;
and applying reverse bias voltage to the laser diode so that the laser diode receives echo signals from the surface of the object to be detected, which are returned along the optical path module.
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| CN202011257915.2A CN112540373A (en) | 2020-11-11 | 2020-11-11 | Laser radar device and laser measurement method |
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| CN202011257915.2A CN112540373A (en) | 2020-11-11 | 2020-11-11 | Laser radar device and laser measurement method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5872764A (en) * | 1995-10-17 | 1999-02-16 | Thomson-Csf | Light emitter-receiver device and optical reading system |
| US20160344156A1 (en) * | 2015-05-20 | 2016-11-24 | Quantum-Si Incorporated | Pulsed laser and bioanalytic system |
| CN206515461U (en) * | 2017-03-09 | 2017-09-22 | 武汉大学 | A kind of new ionosonde emission system |
| CN107643516A (en) * | 2017-09-27 | 2018-01-30 | 北京因泰立科技有限公司 | A kind of 3-D scanning laser radar based on MEMS micromirror |
| CN214097783U (en) * | 2020-11-11 | 2021-08-31 | 武汉锐科光纤激光技术股份有限公司 | Laser radar device |
-
2020
- 2020-11-11 CN CN202011257915.2A patent/CN112540373A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5872764A (en) * | 1995-10-17 | 1999-02-16 | Thomson-Csf | Light emitter-receiver device and optical reading system |
| US20160344156A1 (en) * | 2015-05-20 | 2016-11-24 | Quantum-Si Incorporated | Pulsed laser and bioanalytic system |
| CN206515461U (en) * | 2017-03-09 | 2017-09-22 | 武汉大学 | A kind of new ionosonde emission system |
| CN107643516A (en) * | 2017-09-27 | 2018-01-30 | 北京因泰立科技有限公司 | A kind of 3-D scanning laser radar based on MEMS micromirror |
| CN214097783U (en) * | 2020-11-11 | 2021-08-31 | 武汉锐科光纤激光技术股份有限公司 | Laser radar device |
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