CN112946665A - Laser radar system - Google Patents
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- CN112946665A CN112946665A CN202110118733.5A CN202110118733A CN112946665A CN 112946665 A CN112946665 A CN 112946665A CN 202110118733 A CN202110118733 A CN 202110118733A CN 112946665 A CN112946665 A CN 112946665A
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention discloses a laser radar system. The laser radar system comprises a rotating module, a reflecting module, a transmitting module and a receiving module; the reflection module comprises at least one reflection surface and is positioned on the rotation module; the rotating module is used for driving the reflecting surface of the reflecting module to rotate around the rotating shaft so as to realize scanning in one direction; the receiving module of the transmitting module corresponds to the receiving module, the transmitting module and the receiving module are located on the same side of a reflecting surface of the reflecting module and are arranged side by side, an included angle between a central connecting line of the transmitting module and the receiving module and a rotating shaft is not zero, an optical axis of the transmitting module is parallel to that of the receiving module, the transmitting module is used for emitting at least one signal beam, the signal beam is reflected by the reflecting module and then enters a target to be detected, and the receiving module is used for receiving an echo beam reflected by the target to be detected. The technical scheme of the embodiment of the invention can reduce the height of the laser radar system and is beneficial to realizing the system meeting the requirements of the fields of vehicle-mounted and the like.
Description
Technical Field
The embodiment of the invention relates to the technical field of laser radars, in particular to a laser radar system.
Background
With the development of laser technology, laser scanning technology is more and more widely applied to the fields of measurement, traffic, driving assistance, mobile robots and the like. The laser radar system is a radar system for detecting the position, speed and other characteristic quantities of a target by laser, and the working principle of the radar system is that a detection laser beam is firstly emitted to the target, then a signal reflected from the target is compared with an emitted signal, and after appropriate processing, the information of the target, such as distance, direction, height, speed, attitude, even shape and the like, can be obtained.
At present, in order to increase the scanning range of the laser radar, a plurality of transmitters are generally arranged in one direction of a transmitting module, a plurality of receivers are arranged in a receiving module, and the surrounding environment is scanned through the rotation of a motor to form a multi-line laser radar optical system. Due to the fact that the transmitting module and the receiving module are arranged up and down correspondingly, the height of the laser radar system is high, and the requirements of some automobile enterprises cannot be met. The prior art generally provides certain challenges to the arrangement of the transmitter and the receiver by compressing the height of the transmitting module and the receiving module, respectively.
Disclosure of Invention
The embodiment of the invention provides a laser radar system, which is used for reducing the height of the laser radar system and is beneficial to realizing the requirement of the system in the fields of vehicle-mounted and the like.
The embodiment of the invention provides a laser radar system, which comprises a rotating module, a reflecting module, a transmitting module and a receiving module, wherein the rotating module is used for rotating a laser beam;
the reflection module comprises at least one reflection surface, and the reflection module is positioned on the rotation module; the rotating module is used for driving the reflecting surface of the reflecting module to rotate around a rotating shaft so as to realize scanning in one direction;
the receiving module of the transmitting module corresponds to the receiving module, the transmitting module and the receiving module are positioned on the same side of a reflecting surface of the reflecting module and are arranged side by side, the central connecting line of the transmitting module and the receiving module and the included angle of the rotating shaft are not zero, the transmitting module is used for emitting at least one signal beam, the signal beam is reflected by the reflecting module and then enters a target to be detected, and the receiving module is used for receiving the echo beam reflected by the target to be detected.
Optionally, an optical axis of the reflection module and an optical axis of the receiving module are located in a first plane, and the first plane is perpendicular to the rotation axis.
Optionally, the reflection module includes a rotating prism, and the rotating prism includes a top surface, a bottom surface, and at least three side surfaces located between the top surface and the bottom surface, where at least two of the side surfaces are reflection surfaces.
Optionally, included angles between at least two of the reflecting surfaces and the rotating shaft are not equal.
Optionally, the included angle between the two opposite reflecting surfaces and the rotating shaft is greater than or smaller than, and the included angle between at least one reflecting surface between the two reflecting surfaces and the rotating shaft is smaller than.
Optionally, the included angle between the two opposite reflecting surfaces and the rotating shaft is equal.
Optionally, at least one of the reflective surfaces is perpendicular to both the top surface and the bottom surface.
Optionally, the top surface, the bottom surface and the side surfaces enclose a hollow shaft;
the rotating module is arranged in the hollow shaft of the rotating prism.
Optionally, the emitting module includes a plurality of lasers, an included angle between an outgoing beam of at least some of the lasers and a first direction is not zero, and the first direction is perpendicular to the direction of the rotating shaft;
the receiving module comprises a plurality of photoelectric detectors, and each photoelectric detector is used for receiving a light beam emitted by a corresponding laser and returned by the target to be detected.
Optionally, the emission module further includes an emission mirror group, which is located between the laser and the reflection module, and is configured to collimate a laser beam emitted by the laser and then emit the collimated laser beam onto the reflection module;
the receiving module further comprises a receiving mirror group which is positioned between the photoelectric detector and the reflecting module and is used for focusing the laser beams reflected by the reflecting module and then enabling the laser beams to enter the photoelectric detector.
The laser radar system provided by the embodiment of the invention comprises a rotating module, a reflecting module, a transmitting module and a receiving module; the reflection module comprises at least one reflection surface and is positioned on the rotation module; the rotating module is used for driving the reflecting surface of the reflecting module to rotate around the rotating shaft so as to realize scanning in one direction; the receiving module of the transmitting module corresponds to the receiving module, the transmitting module and the receiving module are positioned on the same side of a reflecting surface of the reflecting module and are arranged side by side, the included angle between the central connecting line of the transmitting module and the receiving module and the rotating shaft is not zero, the transmitting module is used for emitting at least one signal beam, the signal beam is reflected by the reflecting module and then enters the target to be detected, and the receiving module is used for receiving the echo beam reflected by the target to be detected. Emitting a signal light beam through the emitting module, and receiving an echo light beam through the receiving module to realize the detection of the target to be detected; the reflection module is arranged on the rotation module, and the rotation module drives the reflection surface of the reflection module to rotate, so that light beam scanning is realized; through setting up emission module and receiving module in same one side of a plane of reflection module and set up side by side, the line of center of emission module and receiving module and the contained angle of rotation axis are nonzero, can avoid emission module and receiving module to set up from top to bottom to reduce laser radar system's height, be favorable to realizing that the system reaches the demand in fields such as on-vehicle.
Drawings
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention;
fig. 2 is a schematic top view of a lidar system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a reflection module according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another lidar system according to an embodiment of the present disclosure;
fig. 5 and fig. 6 are schematic diagrams illustrating an emission state of a laser according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. It should be noted that the terms "upper", "lower", "left", "right", and the like used in the description of the embodiments of the present invention are used in the angle shown in the drawings, and should not be construed as limiting the embodiments of the present invention. In addition, in this context, it is also to be understood that when an element is referred to as being "on" or "under" another element, it can be directly formed on "or" under "the other element or be indirectly formed on" or "under" the other element through an intermediate element. The terms "first," "second," and the like, are used for descriptive purposes only and not for purposes of limitation, and do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention, and fig. 2 is a schematic top view of the laser radar system according to the embodiment of the present invention, referring to fig. 1 and fig. 2, the laser radar system according to the present embodiment includes a rotation module 10, a reflection module 20, a transmission module 30, and a reception module 40; the reflective module 20 includes at least one reflective surface (for example, the reflective module 20 may be a side wall surface, fig. 1 illustrates four side wall surfaces, and in other embodiments, the reflective module 20 may also be a reflective surface of a galvanometer mirror), and the reflective module 20 is located on the rotating module 10; the rotating module 10 is used for driving the reflecting surface of the reflecting module 20 to rotate around a rotating axis AA so as to realize scanning in one direction; the transmitting module 30 corresponds to the receiving module 40, the transmitting module 30 and the receiving module 40 are located on the same side of one reflecting surface of the reflecting module 20 and are arranged side by side, an included angle between a central connecting line BB of the transmitting module 30 and the receiving module 40 and a rotating axis AA is not zero, the transmitting module 30 is used for emitting at least one signal light beam, the signal light beam is reflected by the reflecting module 20 and then enters a target to be measured (not shown in fig. 1 and 2), and the receiving module 40 is used for receiving an echo light beam reflected by the target to be measured.
It can be understood that the laser radar system provided by the embodiment can be used in the fields of unmanned vehicles, automatic navigation robots and the like, and can also be independently applied to 3D mapping, obstacle avoidance and the like. The transmitting module 30 and the receiving module 40 are respectively configured to emit a signal light beam and receive an echo light beam under the control of a control module (e.g., a field programmable gate array FPGA), where the signal light beam may be an infrared laser light beam, and the receive echo light beam may use an Avalanche Photodiode (APD) as a light receiving element, and may be selected according to actual situations in specific implementation. The signal beam emitted from the emitting module 30 is reflected by the reflecting surface of the reflecting module 20 and then transmitted to the target to be measured, and the echo beam returned from the target to be measured is reflected by the reflecting surface of the reflecting module 20 and then received by the receiving module 40. When the rotating module 10 drives the reflecting module 20 to rotate, the signal beam emitted from the emitting module 30 can be scanned horizontally, where the horizontal direction refers to a direction perpendicular to the rotating axis AA. In practical implementation, the transmitting module 30 may set multiple outputs, and correspondingly, the receiving module 40 sets multiple receptions to form scanning ranges of different viewing angles. Optionally, in a certain embodiment, a central connection line of the receiving module 40 of the transmitting module 30 is located in a first plane, and the first plane is perpendicular to the rotation axis AA, so that the transmitting module 30 and the receiving module 40 are prevented from being arranged in a vertical direction (a direction parallel to the rotation axis AA), and the height of the lidar system is reduced to the maximum extent. In an embodiment, the rotating module 10 may include a motor, and the rotating of the motor drives the reflecting module 20 to rotate. In other embodiments, the optical axes of the transmitting module 30 and the receiving module 40 may also be located in two planes that are parallel to each other and are close to each other, which is not limited in the embodiments of the present invention.
According to the technical scheme of the embodiment, the signal light beam is emitted through the emitting module, the echo light beam is received through the receiving module, and the detection of the target to be detected is realized; the reflection module is arranged on the rotation module, and the rotation module drives the reflection surface of the reflection module to rotate, so that light beam scanning is realized; through setting up emission module and receiving module in same one side of a plane of reflection module, and emission module's optical axis and receiving module's optical axis are parallel, can avoid emission module and receiving module to set up from top to bottom to reduce laser radar system's height, be favorable to realizing that the system reaches the demand in fields such as on-vehicle.
On the basis of the above technical solution, optionally, the reflection module includes a rotating prism, and the rotating prism includes a top surface, a bottom surface, and at least three side surfaces located between the top surface and the bottom surface, where at least two side surfaces are reflection surfaces.
Exemplarily, fig. 3 shows a schematic structural diagram of a reflection module according to an embodiment of the present invention, and referring to fig. 3, the reflection module includes a rotating prism 21, the rotating prism 21 includes a top surface 211, a bottom surface 212, and a first side surface 213, a second side surface 214, a third side surface 215, and a fourth side surface 216 located between the top surface 211 and the bottom surface 212, and the first side surface 213, the second side surface 214, the third side surface 215, and the fourth side surface 216 are reflection surfaces. In other embodiments, the reflection module may include other numbers of side surfaces, for example, three, five, six, or the like, or only a part of the side surfaces may be provided as the reflection surfaces, and it is only necessary to provide the number of the reflection surfaces to be greater than or equal to 1. Optionally, included angles between the at least two reflecting surfaces and the rotating shaft are not equal.
It can be understood that, through setting up the contained angle inequality between at least two plane of reflection and the rotation axis, promptly at least two sides set up to the plane of reflection that the inclination is different to make the light beam that shines on different planes of reflection become many light beams on the vertical direction when the prism rotates, increase laser radar's line number, reduce LD and APD use quantity, thereby improve system stability and reduce cost.
Optionally, the included angle between all the reflecting surfaces and the rotation axis is greater than or equal to 0 °.
It should be understood that the included angle between the reflection surface and the rotation axis is a numerical value of the included angle between the reflection surface and the rotation axis, and in practical implementation, the reflection surface may be inclined outward relative to the rotation axis or inclined inward relative to the rotation axis, and if the angle when the reflection surface is inclined inward is defined as a negative value, the included angle between the reflection surface and the rotation axis is less than 0 °.
In the present embodiment, the rotating prism includes four reflecting surfaces. For any reflecting surface, the included angle between the reflecting surface and the rotating shaft is simultaneously larger than the included angles between the two adjacent reflecting surfaces and the rotating shaft, or simultaneously smaller than the included angles between the two adjacent reflecting surfaces and the rotating shaft. For example, the included angles between the four reflecting surfaces of the rotating prism and the rotating shaft clockwise are marked as ═ 1, < 2, < 3, and < 4, where ≦ 0 °, < 2 °, < 3 °, < 1 °, < 4 ≦ 1.5 °. The angle 2 is simultaneously greater than the angles 1 and 3, and the angle 3 is simultaneously less than the angles 2 and 4, so that the rotary prism can be more stable in the rotating process. Furthermore, at least one reflecting surface of the rotating prism can be arranged into a layered structure, and the included angle between each layer and the top surface is different, so that laser beams emitted by the plurality of lasers are non-uniformly distributed in the vertical direction when passing through the layered structure, for example, the laser beams in the vertical direction are distributed densely in the middle and sparsely in the upper and lower directions.
Optionally, the included angle between each two opposite reflecting surfaces and the rotation axis is greater than or smaller than the included angle between at least one reflecting surface between the two reflecting surfaces and the rotation axis. The arrangement can prevent the included angle between each reflecting surface and the rotating shaft from being gradually increased or gradually reduced, thereby avoiding the occurrence of serious uneven moment of a plurality of reflecting surfaces of the rotating prism.
Optionally, the two opposite reflecting surfaces have the same included angle with the rotation axis. The two opposite reflecting surfaces have the same inclination degree by setting the included angles between the two opposite reflecting surfaces and the rotating shaft to be equal, so that when the rotating prism rotates around the rotating shaft, the two opposite reflecting surfaces cannot generate moment unevenness, and the moment balance of the plurality of reflecting surfaces of the rotating prism is further realized.
Optionally, in another embodiment, at least one of the reflective surfaces is perpendicular to both the top and bottom surfaces.
Fig. 4 is a schematic structural diagram of another lidar system according to an embodiment of the present invention, and referring to fig. 4, optionally, a top surface 211, a bottom surface 212, and side surfaces of a rotating prism enclose a hollow shaft 217; the rotating module 10 is arranged in the hollow shaft 217 of the rotating prism.
Optionally, in another embodiment, the reflection module includes a MEMS galvanometer, and the implementation may be selected according to actual situations.
Optionally, the emitting module includes a plurality of lasers, an included angle between an outgoing beam of at least some of the lasers and a first direction is not zero, and the first direction is perpendicular to the direction of the rotating shaft; the receiving module comprises a plurality of photoelectric detectors, and each photoelectric detector is used for receiving light beams which are emitted by the corresponding laser and returned by the target to be detected.
It can be understood that by arranging the transmitting module to include a plurality of lasers and the receiving module to include a plurality of photodetectors, the angle of view of the lidar system in the vertical direction, which is herein referred to as the direction parallel to the rotation axis of the reflecting module, can be effectively increased. In specific implementation, the laser may be a laser diode LD or a vertical cavity surface emitting laser VCSEL, where both the LD and the VCSEL may be free space output or coupled output through an optical fiber; the laser can also be a fiber laser, a gas laser, a solid laser, or the like. The photodetector may be a plurality of Avalanche Photodiodes (APDs) arranged in an array or Silicon photomultipliers (SIPM), or may be a single large-area APD, a focal plane array detector, a single-point or array Silicon photomultiplier (MPPC) detector or other types of array detectors known to those skilled in the art.
In specific implementation, optionally, the outgoing beams of the lasers in the emission module are arranged in a divergent state or in a convergent state.
For example, fig. 5 and fig. 6 are schematic diagrams respectively illustrating an emitting state of a laser in an embodiment of the present invention, and both fig. 5 and fig. 6 schematically illustrate that the emitting module includes 4 lasers, in other embodiments, other numbers such as 8, 16, and the like may also be used, and the emitting module may be selected according to actual requirements in specific implementation. Referring to fig. 5 and 6, all the laser beams of the 4 lasers are located in the same exit plane M, and the emission elevation angles of the respective laser beams in the emission module are different. With four different spatial angles, 4 lasers can produce 16 scan lines. The 4 laser beams of fig. 5 are arranged in a diverging state and the 4 laser beams of fig. 6 are arranged in a converging state.
It can be understood that, when the reflecting surfaces of the reflecting module are vertically arranged, each laser beam can only generate one scanning line after passing through the reflecting module, so as to realize scanning in one direction.
In the above embodiment, optionally, the plurality of lasers of the transmitting module and the plurality of photodetectors of the receiving module are respectively integrated on the same number of circuit boards. For example, the laser radar can be respectively integrated on a circuit board, and a plurality of lasers and a plurality of photoelectric detectors are respectively integrated on a circuit board, so that unified debugging can be realized, the debugging difficulty is simplified, and the cost of the laser radar is reduced. It should be noted that, in a specific implementation, the plurality of lasers and the plurality of photodetections may be arranged in a single group, or may be arranged in multiple groups, which is not limited in this embodiment of the present invention.
With reference to fig. 2, optionally, the emission module 30 further includes an emission mirror group 32, located between the laser 31 and the reflection module 20, and configured to collimate a laser beam emitted by the laser 31 and then make the collimated laser beam incident on the reflection module 20; the receiving module 40 further includes a receiving mirror group 42, which is located between the photodetector 41 and the reflection module 20, and is configured to focus the laser beam reflected by the reflection module 20 and then to be incident on the photodetector 41.
It can be understood that the quality of the light beam directly emitted from the laser 31 in the emitting module 30 may not meet the requirement of the radar detection distance, so that the emitting mirror group 32 may be disposed on the light emitting side of the emitting module 30 for focusing and collimating the light beam emitted from the emitting module 30, so that the light beam is emitted at a relatively small divergence angle to achieve the detection of the long-distance target. The light beam returned by the target to be measured is attenuated through spatial transmission, so that the receiving mirror group 42 may be disposed on the light incident side of the receiving module 40, so that the receiving module 40 collects as many echo light beams as possible, in specific implementation, the transmitting mirror group 32 and the receiving mirror group 42 may include at least one spherical lens or an aspheric lens, and the field of view of the receiving mirror group 42 is between 0 ° and 180 °. In other embodiments, a filter may be disposed between the receiving lens group 42 and the photodetector 41, and the filter is used for transmitting the echo light beam and filtering ambient light such as sunlight and incandescent light, so as to improve the recognition accuracy of the target to be detected.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A laser radar system is characterized by comprising a rotating module, a reflecting module, a transmitting module and a receiving module;
the reflection module comprises at least one reflection surface, and the reflection module is positioned on the rotation module; the rotating module is used for driving the reflecting surface of the reflecting module to rotate around a rotating shaft so as to realize scanning in one direction;
the receiving module of the transmitting module corresponds to the receiving module, the transmitting module and the receiving module are positioned on the same side of a reflecting surface of the reflecting module and are arranged side by side, the central connecting line of the transmitting module and the receiving module and the included angle of the rotating shaft are not zero, the transmitting module is used for emitting at least one signal beam, the signal beam is reflected by the reflecting module and then enters a target to be detected, and the receiving module is used for receiving the echo beam reflected by the target to be detected.
2. The lidar system of claim 1, wherein an optical axis of the reflection module and an optical axis of the reception module lie in a first plane, the first plane being perpendicular to the rotation axis.
3. The lidar system of claim 1, wherein the reflection module comprises a rotating prism comprising a top surface, a bottom surface, and at least three side surfaces between the top surface and the bottom surface, wherein at least two of the side surfaces are reflective surfaces.
4. The lidar system of claim 3, wherein at least two of the reflective surfaces have unequal angles with respect to the axis of rotation.
5. The lidar system of claim 4, wherein the angles between the two opposing reflective surfaces and the axis of rotation are both greater than or both less than the angle between the axis of rotation and at least one of the reflective surfaces between the two reflective surfaces.
6. The lidar system of claim 3, wherein the two opposing reflective surfaces are angled at the same angle relative to the axis of rotation.
7. The lidar system of claim 3, wherein at least one of the reflective surfaces is perpendicular to both the top surface and the bottom surface.
8. The lidar system of claim 3, wherein the top surface, the bottom surface, and the side surfaces enclose a hollow shaft;
the rotating module is arranged in the hollow shaft of the rotating prism.
9. The lidar system of claim 1, wherein the transmitting module comprises a plurality of lasers, wherein at least some of the emitted beams of the lasers are at non-zero angles to a first direction, the first direction being perpendicular to the direction of the rotation axis;
the receiving module comprises a plurality of photoelectric detectors, and each photoelectric detector is used for receiving a light beam emitted by a corresponding laser and returned by the target to be detected.
10. The lidar system of claim 9, wherein the transmitting module further comprises a transmitting mirror group, which is located between the laser and the reflecting module, and is configured to collimate a laser beam emitted from the laser and then to be incident on the reflecting module;
the receiving module further comprises a receiving mirror group which is positioned between the photoelectric detector and the reflecting module and is used for focusing the laser beams reflected by the reflecting module and then enabling the laser beams to enter the photoelectric detector.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113655462A (en) * | 2021-08-26 | 2021-11-16 | 探维科技(北京)有限公司 | Laser radar receiving and transmitting light path horizontal contraposition system |
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| CN109709529A (en) * | 2019-03-05 | 2019-05-03 | 深圳市镭神智能系统有限公司 | A kind of rotating prism and multi-line laser radar range-measurement system |
| CN110286386A (en) * | 2019-07-18 | 2019-09-27 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar system |
| CN211554313U (en) * | 2019-11-19 | 2020-09-22 | 深圳市镭神智能系统有限公司 | Multi-line laser radar |
| CN211718520U (en) * | 2019-12-26 | 2020-10-20 | 深圳市镭神智能系统有限公司 | Multi-line laser radar |
| CN111157975A (en) * | 2020-03-05 | 2020-05-15 | 深圳市镭神智能系统有限公司 | Multi-line laser radar and self-moving vehicle |
| CN111308444A (en) * | 2020-04-15 | 2020-06-19 | 深圳市镭神智能系统有限公司 | Laser radar system |
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| CN113655462A (en) * | 2021-08-26 | 2021-11-16 | 探维科技(北京)有限公司 | Laser radar receiving and transmitting light path horizontal contraposition system |
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