CN204044359U - A kind of two-dimensional scan formula laser ranging system - Google Patents

A kind of two-dimensional scan formula laser ranging system Download PDF

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Publication number
CN204044359U
CN204044359U CN201420382564.1U CN201420382564U CN204044359U CN 204044359 U CN204044359 U CN 204044359U CN 201420382564 U CN201420382564 U CN 201420382564U CN 204044359 U CN204044359 U CN 204044359U
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China
Prior art keywords
laser
described
dimensional scan
reflective mirror
ranging system
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CN201420382564.1U
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Chinese (zh)
Inventor
熊若讷
邓永强
张英杰
刘一郎
姚飞
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武汉万集信息技术有限公司
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Abstract

The utility model discloses a kind of two-dimensional scan formula laser ranging system, this device comprises: laser emission element, for generation of a branch of pulse type laser, through the inclination reflective mirror 105 of middle punching, gets on reflective tilting mirror 106, gets on measured object through reflection; Scanning element: for described pulse type laser is formed a two-dimensional scan face in space; Optically focused receiving element, with place, Laser emission direction axes normal, gets to for focusing on, receiving also amplifying laser the diffuse reflection backward energy number that measured object produces; Timing processing unit, obtains laser time of flight, calculates each point distance, realize the laser ranging for target area scan-type according to the described flight time.The light path of launching and receiving light path is successfully separated by the utility model, utilizes the design maximizes of punching in the middle of inclination reflective mirror to avoid the light path occlusion issue of Laser emission and reception, significantly improves laser emitting power; And accuracy of detection is high, with low cost, be easy to promote.

Description

A kind of two-dimensional scan formula laser ranging system

Technical field

The utility model relates to laser application technique field, particularly relates to a kind of two-dimensional scan formula laser ranging system.

Background technology

Laser technology, as the sophisticated technology of high and new technology development in recent years, is more and more applied to the every field of social production life.Laser has that monochromaticity is good, high directivity, brightness high.The working-laser material had now found that has several thousand kinds, and wavelength coverage is from grenz ray to far infrared.

And wherein laser ranging technique, especially an importance in laser technology expansion field.Laser range finder utilizes laser to carry out the instrument of Accurate Determining (also known as laser ranging) to the distance of target.Laser range finder is operationally to a branch of very thin laser of target injection, and the laser beam reflected by photovalve receiving target, timer measures laser beam from the time being transmitted into reception, calculates from observer's range-to-go.

In recent years, along with the development of science and technology, scanning type laser ranging technology is also ripe gradually.Laser scanner is a kind of instrument utilizing time flight theory to carry out the work such as size and shape of measuring workpieces, and laser scanning measurement system is based on laser distance measuring principle.The scanning plane forming two dimension is launched, with feasible region scanner uni profile measurement function by the optics rotated.Product is widely used in crashproof, measurement, navigation, security protection etc., as crashproof in equipment, bulk goods cubing, vehicle detection, automatic carriage navigation, sensitizing range protection etc.

And present stage, scanning type laser distance measuring equipment is normally used is all that coaxial system realizes.The coaxial system design received and launch, although effectively can ensure that the former road of light path returns, in light path is blocked, can cause the loss of large energy, the range finding effect that impact is actual.And existing Z-axis scheme, generally take less reflective mirror, can say that collimated light path reflects away, and for the supporting construction of little reflective mirror, then can have larger blocking for light path part.

, all there is various light path design defect and drawback in therefore existing scanning type laser ranging scheme.

Utility model content

The utility model embodiment provides a kind of two-dimensional scan formula laser ranging system, and be conducive to the extensive popularization of receiving and dispatching vertical scanning type laser distance measuring equipment, this device comprises:

Laser emission element, for generation of a branch of pulse type laser, and triggering timing START signal;

Scanning element: the mode rotated with the reflective tilting mirror of driven by motor 45 °, forms a two-dimensional scan face by described pulse type laser in space;

Optically focused receiving element, with place, Laser emission direction axes normal, the inclination reflective mirror of punching in the middle of utilizing a piece, at the described laser emission element of guarantee, while laser can being got from the aperture in the middle of described inclination reflective mirror, the direction of backward energy is reflexed to vertical direction from horizontal direction, and coordinates and focus on, to receive and amplifying laser gets to the diffuse reflection backward energy that measured object produces, and triggering timing STOP signal;

Timing processing unit, according to the trigger pip of described transmitting and receiving, obtains laser time of flight, calculates each point distance, realize the laser ranging for target area scan-type according to the described flight time; In an embodiment, described laser emission element adopts driving circuit driving laser diode, and mates collimation lens;

Wherein, the mode of punching in the middle of described inclination reflective mirror utilizes, is ensureing that described laser emission element can along while the parallel injection of horizontal optical path by the pulse laser produced, and backward energy is reflexed to a suitable receiving angle.

Wherein, the range of tilt angles interval of described inclination reflective mirror is: 30 °-60 °.

Wherein, described inclination reflective mirror is relative with 45 ° of reflective tilting mirror reflective surfaces in described scanning element, and the direction for changing backward energy is convenient to receive.

Wherein, the shape of described inclination reflective mirror can be oval and octagon.

In an embodiment, described spectrophotometric unit comprises: the combination of optical component and motion control;

In an embodiment, described optical component comprises: reflective mirror and/or spectroscope;

In an embodiment, described motion control comprises: motor;

In an embodiment, described optically focused receiving element comprises: reflective mirror, condenser lens, photodiode and amplifying circuit;

In an embodiment, described reflective mirror is coaxial with spectrophotometric unit reflective mirror;

In an embodiment, described condenser lens is separated by reflective mirror with collimation lens place axis;

In an embodiment, described timing processing unit comprises:

Timing chip module, for the trigger pip by accepting laser emission element and laser pick-off unit, obtains the time that laser flies aloft;

Distance calculation module, for the time of being flown by laser, calculates the range information of scanning area each point aloft.

In the utility model embodiment, integral type laser scanning transport investigation device is based on laser ranging technique, without the need to other device with the use of, the dynamic scan of each point in a two-dimensional scan face for target area can be realized, realize the contactless accurate distance for target area and measure.

The utility model one piece of inclination reflective mirror realizes the significantly improvement for the coaxial design of the launching and receiving of traditional scanning type laser stadimeter light path.By reflective mirror, overall light path is overturn on a Z-axis, thus can realize light path receive and send be thoroughly separated.And while transmission is separated with receiving light path, the integrality of light path can be ensured largely, by the design burrowed on inclination reflective mirror, the energy receiving light can be maximized, increase substantially the ability that scanning type laser detecting device receives backward energy, for present stage on the market scanning type laser range finding product and scheme, have breakthrough progress.

Accompanying drawing explanation

In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.In the accompanying drawings:

Fig. 1 is the overall schematic of a kind of two-dimensional scan formula laser ranging system in the utility model embodiment;

Fig. 2 is the general flow chart of a kind of two-dimensional scan formula laser ranging system in the utility model embodiment;

Fig. 3 is the particular flow sheet of a kind of two-dimensional scan formula laser ranging system in the utility model embodiment;

Fig. 4 is the range finding implementation method schematic diagram for target area in the utility model embodiment;

Embodiment

For making the object of the utility model embodiment, technical scheme and advantage clearly understand, below in conjunction with accompanying drawing, the utility model embodiment is described in further details.At this, schematic description and description of the present utility model for explaining the utility model, but not as to restriction of the present utility model.

In order to solve above-mentioned problems of the prior art, the utility model embodiment, based on single-point laser range measurement principle, provides that a kind of cost is low, accuracy of detection and reliability is high, the simple a kind of two-dimensional scan formula laser ranging system of site installation test.By increasing the mode of one piece of 45 ° of reflective mirror, realizing the optimization greatly for existing common approach light path, effectively improving every Testing index of scanning type laser stadimeter.

Fig. 1 is the structural representation of a kind of two-dimensional scan formula laser ranging system in the utility model embodiment.As shown in Figure 1, in the utility model embodiment, integral type laser scanning transport investigation device can comprise:

Laser emission element, spectrophotometric unit, optically focused receiving unit, timing processing unit.

Described laser emission element can comprise again:

Laser Driven 101, luminous for driving laser, the STRAT signal of triggering timing circuit simultaneously;

Laser alignment 102, for after receiving laser-driven signal, produces pulse laser, utilizes optical lens to be collimated by described pulse laser simultaneously, vertically penetrate;

Described point of photoelectric source can comprise again:

Scan module 103, for driving tilting mirror to rotate, forms two-dimensional scan face by being rotated in space;

45 ° of reflective tilting mirrors 104, for being arranged on described scan module 103, carrying out rotation light splitting by the collimation laser that described laser alignment 102 produces, in space, forming two-dimensional scan face.Described collimation laser can also be got to the directional light that measured object returns to reflex to optically focused and accept in system simultaneously;

Described optically focused receiving element can comprise again:

Inclination reflective mirror 105, described collimation laser gets to the backward energy that measured object is reflected back, and is mapped on described 45 ° of reflective tilting mirrors 104, gets on inclination reflective mirror 105, entering in condenser lens cylinder through primary event through reflection;

Condenser system 106, for focusing on to backward energy condenser lens through multiple reflections;

Photodiode 107, for converting the light signal after focusing to electric signal;

Described timing processing unit can comprise again:

Pre-amplification circuit 108, amplifies for the electric signal produced by described photodiode 107, simultaneously triggering timing circuit 109;

Timing circuit 109, for the STOP signal that the START signal by utilizing described Laser Driven 101 to produce and described pre-amplification circuit 108 produce, calculates the time of laser flying;

Master control borad 110, utilizes the laser time of flight that described timely circuit 109 produces, and coordinates relevant Processing Algorithm, calculates the distance between affiliated laser instrument to measured object;

Host computer 111, the distance calculated by master control borad 110 carries out analysis display.

During concrete enforcement, Laser Driven 101 can be implemented by the device that can realize its function, such as, can be the laser diode driven by drive singal, also can be laser instrument, or other modes that can produce pulse type laser sends laser.

During concrete enforcement, laser alignment 102 can be implemented by the device enough realizing its function, such as, can be to adopt the method for coupling fiber and/or collimation lens collimation to realize, or other methods that can realize fiber optic collimator realize;

During concrete enforcement, scan module 103 can be realized by motor, also can be realized by other rotating structural elements;

During concrete enforcement, the plane mirror that 45 ° of reflective tilting mirrors 104 can be arranged on described scan module 103 with a piece realizes, or other methods that can realize light path reflection realize;

During concrete enforcement, inclination reflective mirror 105 can realize with one piece of plane mirror with described 45 ° of reflective tilting mirror 104 vis-a-vis, or other methods that can realize light path reflection realize;

During concrete enforcement, condenser system 106 can be realize with one or more condenser lens, or other methods that can realize light path focusing realize;

During concrete enforcement, photodiode 107, can use APD (Avalanche Photo Diode, avalanche photodide) that light signal is converted to electric signal, or other methods that can realize opto-electronic conversion realize;

During concrete enforcement, pre-amplification circuit 108, can amplify electric signal with operational amplification circuit, or other methods that can realize signal transacting realize;

During concrete enforcement, timing circuit 109, also can realize with accurate timing chip, or other can realize chip and/or the circuit realiration of clocking capability;

During concrete enforcement, master control borad 110, can realize, or other can realize chip and/or the circuit realiration of controlling functions with the chip with control treatment function;

During concrete enforcement, host computer 111, can realize with upper dynamo-electric brain, or other methods that can realize controlling output display realize;

Fig. 2 is the general flow chart of a kind of two-dimensional scan formula laser ranging system in the utility model embodiment, composition graphs 2, range finding flow process for system is simply set forth, as shown in the figure: pulse laser produces through transmitter unit 201, single bundle of pulsed laser is formed two-dimensional scan face by spectrophotometric unit 202 in space, then get on testee, then by optically focused receiving unit 203, focus on the backward energy of described laser, and be converted into electric signal, be transferred to rear class timing processing unit, amplification process is carried out to described signal, realizes timing range finding.

Fig. 3 is the particular flow sheet of a kind of two-dimensional scan formula laser ranging system in the utility model embodiment, composition graphs 2, and the whole range finding flow process for system carries out system description, as shown in the figure:

301, laser instrument is under Laser Driven, produce a branch of pulse type laser, described pulse type laser is through the collimation of collimation lens, and horizontal direction penetrates, through central bore 45 degree of reflective mirrors 1, get to and be arranged on the reflective tilting mirror 2 of motor load, then reflect away, get on measured object and find range, Laser Driven is while drive laser luminescence simultaneously, the START signal of triggering timing chip;

302, the reflective tilting mirror 2 of driven by motor carries out High Rotation Speed, the pulse type laser getting to reflective tilting mirror 2 spatially can be formed two-dimensional scan face, realize the two-dimensional scan for target area described in 301;

303, described in described 301, pulse laser is got on measured object, after the backward energy of generation returns, return on reflective tilting mirror 2, get to 45 degree of reflective mirrors 1, through two secondary reflections through reflection, come back in receiver lens cylinder, be accepted lens and focusing amplification is carried out to this return laser beam energy;

304, described receiver lens cylinder is got on light activated element APD after being focused on by the clawback energy of the laser reflection described in 303, triggers photodiode and produces electric signal, through the amplification process of rear class, and the STOP signal of triggering timing chip again;

305, by START and STOP two signal difference of described timing chip, accurate timing is carried out to laser time of flight, the light path of laser flying can be calculated, realize scanning type laser range finding.

Fig. 4 is the range finding implementation method schematic diagram for target area in the utility model embodiment, is defined as follows data, simply sets forth the calculating aspect of laser ranging, as shown in the figure:

The mistiming of t: described timing chip START and STOP two signals;

C: the light velocity;

By the described mistiming, the distance that can calculate between laser ranging system to testee is:

From above-described embodiment, the vertical scanning type laser distance measuring equipment of transmitting-receiving is planted based on laser ranging technique in the utility model embodiment, by vertical shaft design, can greatly optimize whole system light path, effectively avoid the light path eclipse phenomena of the various schemes such as the coaxial system of the laser ranging system of present stage main flow, success maximizes light path Energy transmission, has larger realistic meaning; Only use the optimization of light path design, minimizing of optical block can be realized, increase substantially distance accuracy; And accuracy of detection is high, with low cost, be easy to promote.

Those skilled in the art should understand, embodiment of the present utility model can be provided as method, system or computer program.Therefore, the utility model can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the utility model can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code.

The utility model describes with reference to according to the process flow diagram of the method for the utility model embodiment, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.

These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.

These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.

Above-described specific embodiment; the purpose of this utility model, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiment of the utility model; and be not used in restriction protection domain of the present utility model; all within spirit of the present utility model and principle, any amendment made, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.

Claims (6)

1. a two-dimensional scan formula laser ranging system, is characterized in that, comprising:
Laser emission element, for generation of a branch of pulse type laser, and triggering timing START signal;
Scanning element: the mode rotated with the reflective tilting mirror of driven by motor 45 °, forms a two-dimensional scan face by described pulse type laser in space;
Optically focused receiving element, with place, Laser emission direction axes normal, the inclination reflective mirror of punching in the middle of utilizing a piece, at the described laser emission element of guarantee, while laser can being got from the aperture in the middle of described inclination reflective mirror, the direction of backward energy is reflexed to vertical direction from horizontal direction, and coordinates and focus on, to receive and amplifying laser gets to the diffuse reflection backward energy that measured object produces, and triggering timing STOP signal;
Timing processing unit, according to the trigger pip of described transmitting and receiving, obtains laser time of flight, calculates each point distance, realize the laser ranging for target area scan-type according to the described flight time.
2. a kind of two-dimensional scan formula laser ranging system as claimed in claim 1, it is characterized in that, described optically focused receiving element comprises: inclination reflective mirror, condenser lens, photodiode and amplifying circuit.
3. a kind of two-dimensional scan formula laser ranging system as claimed in claim 2, it is characterized in that, the mode of punching in the middle of described inclination reflective mirror utilizes, ensureing that described laser emission element can along while the parallel injection of horizontal optical path by the pulse laser produced, backward energy is being reflexed to a suitable receiving angle.
4. a kind of two-dimensional scan formula laser ranging system as claimed in claim 2, it is characterized in that, the range of tilt angles interval of described inclination reflective mirror is: 30 °-60 °.
5. a kind of two-dimensional scan formula laser ranging system as claimed in claim 2, is characterized in that, described inclination reflective mirror is relative with 45 ° of reflective tilting mirror reflective surfaces in described scanning element, and the direction for changing backward energy is convenient to receive.
6. a kind of two-dimensional scan formula laser ranging system as claimed in claim 2, is characterized in that, the shape of described inclination reflective mirror can be oval and octagon.
CN201420382564.1U 2014-07-11 2014-07-11 A kind of two-dimensional scan formula laser ranging system CN204044359U (en)

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CN105759253A (en) * 2016-03-02 2016-07-13 四川经曼光电科技有限公司 Laser scanning range finder
CN105911561A (en) * 2016-06-30 2016-08-31 西安交通大学 Unmanned aerial vehicle obstacle avoiding device and method based on laser radar
CN105912027A (en) * 2016-06-30 2016-08-31 西安交通大学 Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle
CN106019297A (en) * 2016-07-29 2016-10-12 成都希德电子信息技术有限公司 2D laser radar scanning system and device thereof
CN106019298A (en) * 2016-07-29 2016-10-12 成都希德电子信息技术有限公司 Two-dimensional laser radar scanning method
CN106019299A (en) * 2016-07-29 2016-10-12 成都希德电子信息技术有限公司 Two-dimensional laser radar scanning ranging system beneficial to expansion of monitoring range
CN106019294A (en) * 2016-05-19 2016-10-12 上海思岚科技有限公司 Laser scanning range unit
CN106054207A (en) * 2016-08-08 2016-10-26 成都希德电子信息技术有限公司 Laser radar system and method for providing prompt against dangerous road condition
CN106093916A (en) * 2016-08-08 2016-11-09 成都希德电子信息技术有限公司 Laser radar sensing illuminator and method
CN106093914A (en) * 2016-07-29 2016-11-09 成都希德电子信息技术有限公司 A kind of Laser Radar Scanning system for two dimension
CN106226756A (en) * 2016-07-29 2016-12-14 成都希德电子信息技术有限公司 A kind of Laser Radar Scanning device of two dimension
CN106291570A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of Laser Radar Scanning devices and methods therefor of two dimension
CN106291573A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of Laser Radar Scanning system and method for two dimension
CN106291571A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of integrated two-dimensional Laser Radar Scanning range-measurement system
CN106291572A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of for 2D Laser Radar Scanning devices and methods therefor
CN106291569A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of for 2D Laser Radar Scanning device
CN106324611A (en) * 2016-07-29 2017-01-11 成都希德电子信息技术有限公司 Two-dimensional laser radar scanning system and device thereof
CN106353765A (en) * 2016-08-23 2017-01-25 深圳市速腾聚创科技有限公司 Two-dimensional laser radar ranging device and method
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CN106546993A (en) * 2016-11-04 2017-03-29 武汉万集信息技术有限公司 A kind of range unit and distance-finding method for improving pulse type laser range accuracy
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WO2019205149A1 (en) * 2018-04-28 2019-10-31 深圳市大疆创新科技有限公司 Distance detection apparatus

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CN105759253A (en) * 2016-03-02 2016-07-13 四川经曼光电科技有限公司 Laser scanning range finder
CN105759253B (en) * 2016-03-02 2018-01-12 四川经曼光电科技有限公司 Laser scanning and ranging instrument
CN106019294A (en) * 2016-05-19 2016-10-12 上海思岚科技有限公司 Laser scanning range unit
CN105911561A (en) * 2016-06-30 2016-08-31 西安交通大学 Unmanned aerial vehicle obstacle avoiding device and method based on laser radar
CN105912027A (en) * 2016-06-30 2016-08-31 西安交通大学 Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle
CN106291569A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of for 2D Laser Radar Scanning device
CN106019299A (en) * 2016-07-29 2016-10-12 成都希德电子信息技术有限公司 Two-dimensional laser radar scanning ranging system beneficial to expansion of monitoring range
CN106019298A (en) * 2016-07-29 2016-10-12 成都希德电子信息技术有限公司 Two-dimensional laser radar scanning method
CN106324611A (en) * 2016-07-29 2017-01-11 成都希德电子信息技术有限公司 Two-dimensional laser radar scanning system and device thereof
CN106093914A (en) * 2016-07-29 2016-11-09 成都希德电子信息技术有限公司 A kind of Laser Radar Scanning system for two dimension
CN106226756A (en) * 2016-07-29 2016-12-14 成都希德电子信息技术有限公司 A kind of Laser Radar Scanning device of two dimension
CN106291570A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of Laser Radar Scanning devices and methods therefor of two dimension
CN106291573A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of Laser Radar Scanning system and method for two dimension
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CN106291572A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of for 2D Laser Radar Scanning devices and methods therefor
CN106291571A (en) * 2016-07-29 2017-01-04 成都希德电子信息技术有限公司 A kind of integrated two-dimensional Laser Radar Scanning range-measurement system
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CN106054207A (en) * 2016-08-08 2016-10-26 成都希德电子信息技术有限公司 Laser radar system and method for providing prompt against dangerous road condition
CN106353765B (en) * 2016-08-23 2019-01-18 深圳市速腾聚创科技有限公司 Two-dimensional laser radar range unit and method
CN106353765A (en) * 2016-08-23 2017-01-25 深圳市速腾聚创科技有限公司 Two-dimensional laser radar ranging device and method
CN106546993A (en) * 2016-11-04 2017-03-29 武汉万集信息技术有限公司 A kind of range unit and distance-finding method for improving pulse type laser range accuracy
CN106546993B (en) * 2016-11-04 2019-04-16 武汉万集信息技术有限公司 A kind of range unit and distance measuring method improving pulse type laser range accuracy
CN106514673A (en) * 2016-12-30 2017-03-22 上海木爷机器人技术有限公司 Obstacle detecting device, robot and obstacle detecting method
CN106950557A (en) * 2017-04-26 2017-07-14 哈尔滨工业大学 A kind of single photon ranging ambient noise filtering method and single photon range unit modulated based on photon trajectory angular momentum
CN107290735A (en) * 2017-08-22 2017-10-24 北京航空航天大学 A kind of point cloud error calibration method based on self-control ground laser radar verticality error
CN107290734A (en) * 2017-08-22 2017-10-24 北京航空航天大学 A kind of point cloud error calibration method based on the self-control ground laser radar error of perpendicularity
WO2019205149A1 (en) * 2018-04-28 2019-10-31 深圳市大疆创新科技有限公司 Distance detection apparatus

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