CN113238242B - Self-adaptive constant gain laser scanning range finder - Google Patents
Self-adaptive constant gain laser scanning range finder Download PDFInfo
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- CN113238242B CN113238242B CN202110774964.1A CN202110774964A CN113238242B CN 113238242 B CN113238242 B CN 113238242B CN 202110774964 A CN202110774964 A CN 202110774964A CN 113238242 B CN113238242 B CN 113238242B
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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
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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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
- G01S7/497—Means for monitoring or calibrating
Abstract
The application discloses self-adaptation constant gain laser scanning distancer includes: the distance measurement module is used for obtaining distance measurement signal information of a measured object; the scanning module is rotatably connected inside the range finder; the light splitting module is arranged on a light path between the distance measuring module and the scanning module and is used for splitting laser, and the laser forms reflected light and transmitted light after being split by the light splitting module; the reference detection module is arranged opposite to the scanning module within one rotation angle range; the optical power monitoring module is arranged on a reflected light path of the light splitting module and is used for monitoring the optical power of the laser emitted in the distance measuring module; the transmitted light is projected to the measured object and the reference detection module through the scanning module. This application passes through the setting of optical power monitoring module and benchmark detection module, can the automatically regulated transmit laser's optical power, maintains the optical power of distancer operation in-process and does not weaken to satisfy the long-time operational reliability of distancer range finding performance.
Description
Technical Field
The application belongs to the technical field of laser scanning, and particularly relates to a self-adaptive constant gain laser scanning range finder.
Background
As a high-precision distance measurement scheme, the laser scanning distance measurement technology is more and more widely applied to autonomous positioning navigation service of an intelligent robot and used for strange environment identification and environment map construction due to the characteristics of long distance measurement limit, high beam directivity, high response speed and the like.
However, in the currently common laser scanning distance measuring instrument, the driving parameters of the emitted light are usually not changed, and therefore, in the long-time working process of the laser scanning distance measuring instrument, the attenuation of the optical power is inevitably caused, so that the distance measuring limit is gradually shortened, and the long-term operation reliability of the laser scanning distance measuring instrument is not facilitated.
Moreover, the evaluation parameter of the gain of the signal receiving end of the current laser scanning range finder is often set to a fixed value, and the fixed value is not adjusted along with the change of factors such as temperature and electromagnetism, so that the gain under the drive of the fixed value is not constant under the condition that interference factors exist, specifically, if the temperature is higher, the gain under the drive of the fixed value is reduced, which is the characteristic of a semiconductor device, so that the originally measured strong signal is weakened, and the range limit index of the device is shown to be not reached under the higher temperature state; when the temperature is low, the gain of the system is in a higher state, so that the background noise can be excited, and if the background noise is higher than a set threshold value, the distance measuring equipment generates a noise phenomenon, so that the distance measuring performance is influenced.
Disclosure of Invention
In view of the above-mentioned shortcomings or drawbacks of the prior art, the present application provides an adaptive constant gain laser scanning range finder.
In order to solve the technical problem, the application is realized by the following technical scheme:
the application provides a self-adaptation constant gain laser scanning distancer, the distancer includes:
the distance measurement module is used for obtaining distance measurement signal information of a measured object;
the scanning module is rotatably connected inside the range finder and can provide a scanning range of 360 degrees;
the light splitting module is arranged on a light path between the distance measuring module and the scanning module and is used for splitting laser emitted by the distance measuring module, and the laser forms reflected light and transmitted light after being split by the light splitting module;
the reference detection module is arranged opposite to the scanning module within one rotation angle range, and obtains the gain of the distance meter through the signal intensity of reflected light reflected by the reference detection module;
the optical power monitoring module is arranged on a reflected light path of the light splitting module and is used for monitoring the optical power of the laser emitted in the distance measuring module; the transmitted light is projected to a measured object and the reference detection module through the scanning module, and is reflected to the ranging module through the measured object or the reflected light reflected by the reference detection module.
Optionally, in the foregoing adaptive constant gain laser scanning range finder, the range finding module includes: the device comprises a control module, a processing module, a laser emission module and a focusing lens, wherein the laser emission module is used for emitting laser and adjusting and driving photocurrent according to optical power; the focusing lens is used for converging the reflected light reflected by the scanning module and projecting the reflected light onto a photosensitive element of the processing module; the processing module is used for sensing a received light signal and adjusting the bias voltage of the photosensitive element; the control module is used for processing the optical signal and outputting the ranging signal information.
Optionally, in the foregoing adaptive constant gain laser scanning range finder, the range finding module further includes: the collimating lens is arranged on a laser emitting light path of the laser emitting module and enables laser with a certain divergence angle to form parallel light beams and project the light beams onto a measured object.
Optionally, in the foregoing adaptive constant gain laser scanning range finder, the range finding module further includes: the emission sleeve is arranged on the optical axis of the focusing lens, and the collimation lens is further arranged on the emission sleeve.
Optionally, in the foregoing adaptive constant gain laser scanning distance meter, the light splitting module is mounted on the transmitting sleeve.
Optionally, in the adaptive constant gain laser scanning distance meter, the light splitting module and the optical axis of the laser are arranged at an included angle.
Optionally, in the foregoing adaptive constant gain laser scanning distance meter, a driving current of the laser emitting module is set to be programmably adjustable.
Optionally, the adaptive constant gain laser scanning rangefinder described above, wherein the bias voltage of the photosensitive element is set to be programmably adjustable.
Optionally, in the adaptive constant gain laser scanning distance meter, when the scanning module rotates to face the reference detection module, the laser emitted by the laser emitting module is projected onto the light splitting module, and the reflected light reflected by the light splitting module is projected onto the optical power monitoring module;
the part transmitted by the light splitting module is projected to the reference detection module through the scanning module, the reflected light reflected by the reference detection module is projected to the focusing lens through the scanning module, and is converged into converged light by the focusing lens and converged to the processing module to form a reference gain detection signal; and adjusting a bias voltage of a photosensitive element on the processing module based on the reference gain detection signal to keep the gain of the rangefinder constant.
Optionally, in the adaptive constant gain laser scanning distance meter, two reference values are preset in a control module of the distance measuring module: calibrating the laser emission power under the condition and the signal intensity of a reference detection module;
the laser emission module emits laser, the optical power monitoring module monitors real-time laser emission power, and based on the real-time laser emission power and the laser emission power under a calibration condition, the laser emission module adjusts the magnitude of the driving current so that the real-time laser emission power is the same as the laser emission power under the calibration condition;
and the scanning module operates, and when the scanning module rotates to be opposite to the reference detection module, the processing module reads the signal intensity at the moment and adjusts the bias voltage of the photosensitive element according to the signal intensity, so that the signal intensity read by the processing module at the moment is equal to the signal intensity of the reference detection module under the calibration condition.
Compared with the prior art, the method has the following technical effects:
the optical power monitoring module and the reference detection module are arranged, so that the optical power of emitted laser can be automatically adjusted, the optical power of the distance meter in the operation process is kept not to be weakened, and the long-time operation reliability of the distance measuring performance of the distance meter is met; the gain of the distance measuring instrument can be automatically adjusted, the gain of the distance measuring instrument is not influenced by factors influencing the gain, such as temperature, electromagnetism and the like, the gain of the distance measuring instrument is kept constant, noise can not occur due to too high gain at a lower temperature, and the limit distance measuring capability can not be compressed due to too weak signals caused by too low gain at a higher temperature.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1: the structure schematic diagram of the adaptive constant gain laser scanning range finder in the embodiment of the application;
FIG. 2: a schematic structural diagram of an adaptive constant gain laser scanning rangefinder according to another embodiment of the present application;
FIG. 3: the calibration flow chart of the self-adaptive constant gain laser scanning distance measuring instrument before leaving factory is provided.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
In one embodiment of the present application, as shown in fig. 1 and 2, an adaptive constant gain laser scanning rangefinder comprises:
the distance measurement module 1 is used for obtaining distance measurement signal information of a measured object;
the scanning module 2 is rotatably connected inside the range finder and can provide a scanning range of 360 degrees;
the light splitting module 10 is arranged on a light path between the distance measuring module 1 and the scanning module 2 and is used for performing light splitting processing on laser emitted from the distance measuring module 1, and the laser forms reflected light and transmitted light after being split by the light splitting module 10;
the reference detection module 3 is arranged opposite to the scanning module 2 within one rotation angle range, and the reference detection module 3 acquires the gain of the distance meter through the signal intensity of reflected light reflected by the reference detection module 3;
the optical power monitoring module 4 is arranged on a reflected light path of the light splitting module 10 and is used for monitoring the optical power of the laser emitted in the distance measuring module 1; the transmitted light is projected to a measured object and the reference detection module 3 through the scanning module 2, and is reflected to the ranging module 1 through the measured object or the reflected light reflected by the reference detection module 3.
In this embodiment, through the setting of optical power monitoring module 4 and benchmark detection module 3, can automatically regulated emission laser's optical power, maintain the optical power of distancer operation in-process and do not weaken to satisfy the long-time operational reliability of distancer range finding performance.
In the present embodiment, the material and reflectivity of the laser projection surface of the reference detection module 3 are stable, and the position and distance of the reference detection module relative to the distance measuring module 1 are stable, and the position and distance of the reference detection module will not change with the change of the installation position of the distance measuring device, nor will the position and distance change with the operation state of the laser scanning distance measuring device itself, and the angular position of the reference detection module relative to the scanning module 2 in the scanning direction is also stable.
In this embodiment, the ranging module 1 includes: the device comprises a control module 5, a processing module 6, a laser emission module 7 and a focusing lens 8, wherein the laser emission module 7 is used for emitting laser and adjusting and driving photocurrent according to optical power; the focusing lens 8 is used for collecting the reflected light 14 reflected back by the scanning module 2 or the reflected light 16 reflected back by the reference detection module 3 and projecting the collected light onto the photosensitive element of the processing module 6; the processing module 6 is used for sensing a received light signal and adjusting the bias voltage of the photosensitive element; the control module 5 is configured to process the optical signal and output the ranging signal information.
Wherein, for the focusing lens 8, when the present embodiment is in the calibration state, referring to fig. 2, at this time, when the scanning module 2 is facing the reference detection module 3, the laser beam emitted by the laser emitting module 7 is shaped into a flat beam by the collimating lens 9, and then is projected onto the light splitting module 10, the portion 12 reflected by the light splitting module 10 is projected onto the optical power monitoring module 4 for emitting the power adjusting basis of the laser, the portion 13 transmitted by the light splitting module 10 is projected onto the reference detection module 3 by the scanning module 2, the reflected light 16 reflected by the reference detection module 3 is projected onto the focusing lens 8 by the scanning module 2, and is collected into the collected light by the focusing lens 8 to the processing module 6, so as to form the reference gain detection signal, and the bias voltage of the photosensitive element on the processing module 6 is adjusted by the reference gain detection signal, to keep the system gain constant.
Wherein, in this embodiment, the ranging module 1 further includes: and the collimating lens 9 is arranged on the laser emitting light path of the laser emitting module 7, and enables the laser with a certain divergence angle to form a parallel light beam and project the parallel light beam onto a measured object.
Further, in this embodiment, the ranging module 1 further includes: and the emission sleeve 11, the emission sleeve 11 is installed on the optical axis of the focusing lens 8, and the collimating lens 9 is further installed on the emission sleeve 11. Wherein the transmitting sleeve 11 is used for mounting the collimating lens 9 and the light splitting module 10 to keep the relative positions stable.
The light splitting module 10 is mounted on the launch sleeve 11. In the present embodiment, the light splitting module 10 has reflection and projection functions.
Preferably, in this embodiment, the optical splitting module 10 is disposed at an angle with respect to the optical axis of the laser, see the inclined arrangement shown in fig. 1 and fig. 2, wherein the inclined plane of the optical splitting module 10 is disposed toward the optical power monitoring module 4.
Further optionally, the light splitting module 10 is configured to split the laser beam into two parts, one part of the laser beam is projected to the object to be measured, and the other part of the laser beam is projected to the optical power monitoring module 4 and is configured to measure the emitted optical power, and is disposed on the laser emission optical path and arranged at an included angle with the axis of the emitted laser, so that part of the emitted laser beam is reflected and projected onto the optical power monitoring module 4 for detecting the optical power of the emitted laser, and the other part of the emitted laser beam is transmitted and projected onto the object to be measured and the reference detection module 3 through the scanning module 2.
The driving current of the laser emitting module 7 is set to be programmable and adjusted, wherein the laser emitting module 7 is used for emitting laser, and driving light current is adjusted according to light power, and the driving current of the laser emitter is set to be programmable and adjusted, so that the effect of constantly emitting laser power is achieved by adjusting the driving current of the laser emitter.
The bias voltage of the photosensitive element is set to be programmable and adjusted, so that the effect of adjusting and keeping the gain of the embodiment constant is achieved by adjusting the bias voltage of the photosensitive element.
When the scanning module 2 is rotated to face the reference detection module 3, the laser emitted by the laser emitting module 7 is projected onto the light splitting module 10, and the reflected light portion reflected by the light splitting module 10 is projected onto the optical power monitoring module 4;
a part 13 transmitted by the light splitting module 10 is projected to the reference detection module 3 through the scanning module 2, reflected light 16 reflected by the reference detection module 3 is projected to the focusing lens 8 through the scanning module 2, and is converged into converged light 15 by the focusing lens 8 and converged to the processing module 6, so as to form a reference gain detection signal; and adjusts the bias voltage of the photosensitive element on the processing module 6 based on the reference gain detection signal to keep the gain of the rangefinder constant.
As shown in fig. 3, the range finder of this embodiment is started to start working, and two reference values are preset in the control module 5 of the range finding module 1: laser emission power P0 under calibration conditions and signal intensity W0 of the reference detection module 3; preferably, in this embodiment, two reference values are preset in the control module 5 of the ranging module 1 before shipment;
then, starting the ranging module 1 and the scanning module 2;
the laser emitting module 7 emits laser, the optical power monitoring module 4 monitors real-time emitting power Pi of the laser, and based on the real-time emitting power Pi of the laser and the emitting power P0 under the calibration condition, the laser emitting module 7 adjusts the driving current so that the real-time emitting power Pi of the laser is the same as the emitting power P0 under the calibration condition;
specifically, when the laser real-time emission power Pi is greater than the laser emission power P0 under the calibration condition, the laser emission module 7 adjusts and decreases the drive current so that the laser real-time emission power Pi is reduced to the laser emission power P0 under the calibration condition; when the real-time laser emission power Pi is less than the laser emission power P0 under the calibration condition, the laser emission module 7 adjusts and increases the driving current so that the real-time laser emission power Pi is reduced to the laser emission power P0 under the calibration condition; when the real-time laser emission power Pi is equal to the laser emission power P0 under the calibration condition, the laser emission module 7 does not adjust the driving current any more; and after the adjustment is finished according to the three conditions, entering the next adjustment link.
With the operation of the scanning module 2, when the scanning module 2 is not arranged opposite to the reference detection module 3, the ranging module 1 processes measured object ranging data; when the scanning module 2 is rotated to be disposed opposite to the reference detecting module 3, the processing module 6 reads the signal intensity Wi at this time and adjusts the bias voltage of the photosensitive element according to the signal intensity, so that the signal intensity Wi read at this time by the processing module 6 is equal to the signal intensity W0 of the reference detecting module 3 under the calibration condition.
Specifically, when the processing module 6 reads that the signal intensity Wi at this time is greater than the signal intensity W0 of the reference detection module 3 under the calibration condition, the processing module 6 adjusts and decreases the bias voltage of the photosensitive element so that the processing module 6 reads that the signal intensity Wi at this time is equal to the signal intensity W0 of the reference detection module 3 under the calibration condition; when the processing module 6 reads that the signal intensity Wi at this time is less than the signal intensity W0 of the reference detection module 3 under the calibration condition, the processing module 6 adjusts and increases the bias voltage of the photosensitive element so that the processing module 6 reads that the signal intensity Wi at this time is equal to the signal intensity W0 of the reference detection module 3 under the calibration condition; when the processing module 6 reads that the signal strength Wi at this time is equal to the signal strength W0 of the reference detection module 3 under the calibration condition, the processing module 6 does not adjust the bias voltage of the photosensitive element any more.
The optical power monitoring module and the reference detection module are arranged, so that the optical power of emitted laser can be automatically adjusted, the optical power of the distance meter in the operation process is kept not to be weakened, and the long-time operation reliability of the distance measuring performance of the distance meter is met; the gain of the distance measuring instrument can be automatically adjusted, the gain of the distance measuring instrument is not influenced by factors influencing the gain, such as temperature, electromagnetism and the like, the gain of the distance measuring instrument is kept constant, noise can not occur due to too high gain at a lower temperature, and the limit distance measuring capability can not be compressed due to too weak signals caused by too low gain at a higher temperature.
In the description of the present application, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The above embodiments are merely to illustrate the technical solutions of the present application and are not limitative, and the present application is described in detail with reference to preferred embodiments. It will be understood by those skilled in the art that various modifications and equivalent arrangements may be made in the present invention without departing from the spirit and scope of the present invention and shall be covered by the appended claims.
Claims (8)
1. An adaptive constant gain laser scanning rangefinder, the rangefinder comprising:
the distance measurement module is used for obtaining distance measurement signal information of a measured object;
the scanning module is rotatably connected inside the range finder and can provide a scanning range of 360 degrees;
the light splitting module is arranged on a light path between the distance measuring module and the scanning module and is used for splitting laser emitted by the distance measuring module, and the laser forms reflected light and transmitted light after being split by the light splitting module;
the reference detection module is arranged opposite to the scanning module within one rotation angle range, and obtains the gain of the distance meter through the signal intensity of reflected light reflected by the reference detection module;
the optical power monitoring module is arranged on a reflected light path of the light splitting module and is used for monitoring the optical power of the laser emitted in the distance measuring module; the transmitted light is projected onto a measured object and the reference detection module through the scanning module, and reflected light reflected by the measured object or the reference detection module is transmitted to the distance measurement module;
when the scanning module rotates to face the reference detection module, laser emitted by a laser emitting module in the ranging module is projected onto the light splitting module, and part of reflected light reflected by the light splitting module is projected onto the optical power monitoring module;
the part transmitted by the light splitting module is projected to the reference detection module through the scanning module, the reflected light reflected by the reference detection module is projected to the focusing lens through the scanning module, and the reflected light is converged into converged light by the focusing lens and converged to the processing module to form a reference gain detection signal; and adjusting a bias voltage of a photosensitive element on the processing module based on a reference gain detection signal to keep the gain of the range finder constant;
two reference values are preset in a control module of the ranging module: calibrating the laser emission power under the condition and the signal intensity of a reference detection module;
the laser emission module emits laser, the optical power monitoring module monitors real-time laser emission power, and based on the real-time laser emission power and the laser emission power under a calibration condition, the laser emission module adjusts the magnitude of the driving current so that the real-time laser emission power is the same as the laser emission power under the calibration condition;
and the scanning module operates, and when the scanning module rotates to be opposite to the reference detection module, the processing module reads the signal intensity at the moment and adjusts the bias voltage of the photosensitive element according to the signal intensity, so that the signal intensity read by the processing module at the moment is equal to the signal intensity of the reference detection module under the calibration condition.
2. The rangefinder of claim 1, wherein the rangefinder module comprises: the device comprises a control module, a processing module, a laser emission module and a focusing lens, wherein the laser emission module is used for emitting laser and adjusting and driving photocurrent according to optical power; the focusing lens is used for converging the reflected light reflected by the scanning module and projecting the reflected light onto a photosensitive element of the processing module; the processing module is used for sensing a received light signal and adjusting the bias voltage of the photosensitive element; the control module is used for processing the optical signal and outputting the ranging signal information.
3. The rangefinder of claim 2, wherein the rangefinder module further comprises: the collimating lens is arranged on a laser emitting light path of the laser emitting module and enables laser with a certain divergence angle to form parallel light beams and project the light beams onto a measured object.
4. The rangefinder of claim 3, wherein the rangefinder module further comprises: the emission sleeve is arranged on the optical axis of the focusing lens, and the collimation lens is further arranged on the emission sleeve.
5. The rangefinder of claim 4 wherein the spectroscopy module is mounted on the launch sleeve.
6. The range finder of any one of claims 1 to 5, wherein the light splitting module is disposed at an angle to the optical axis of the laser.
7. The rangefinder of any of claims 2 to 5 wherein the drive current of the laser emitting module is arranged to be programmably adjustable.
8. The range finder of any one of claims 2 to 5, wherein the bias voltage of the light sensing element is set to be programmably adjustable.
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| CN104483675A (en) * | 2014-12-18 | 2015-04-01 | 扬州天目光电科技有限公司 | Self-adaptive laser ranging device and self-adaptive laser ranging method |
| CN105467398B (en) * | 2015-12-31 | 2018-08-21 | 上海思岚科技有限公司 | Scan distance-measuring equipment |
| US10114111B2 (en) * | 2017-03-28 | 2018-10-30 | Luminar Technologies, Inc. | Method for dynamically controlling laser power |
| CN108132472A (en) * | 2017-12-08 | 2018-06-08 | 上海禾赛光电科技有限公司 | Laser radar system |
| US10483717B2 (en) * | 2017-11-01 | 2019-11-19 | Daylight Solutions, Inc. | Laser power adjustment during tuning to compensate for detector response and varying background absorption |
| CN112255617B (en) * | 2020-12-17 | 2021-06-22 | 上海思岚科技有限公司 | Can anti sunshine interference type laser scanning distancer |
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