CN205175364U - A laser profile scanning device for data acquisition - Google Patents
A laser profile scanning device for data acquisition Download PDFInfo
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- CN205175364U CN205175364U CN201520984385.XU CN201520984385U CN205175364U CN 205175364 U CN205175364 U CN 205175364U CN 201520984385 U CN201520984385 U CN 201520984385U CN 205175364 U CN205175364 U CN 205175364U
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Abstract
The utility model discloses a laser profile scanning device for data acquisition and data acquisition, the device is including laser transmitting module and laser receiving module, still including the speculum that is used for adjusting laser beam, a light scan module for inciting somebody to action laser -bounce forms according to the scanning beam to the object, a power synthesis module for connecing laser base mark signal and laser echo signal be the synthetic single channel signal of telecommunication that is in the time domain, a system control and echo processing module for controlling light scan module's motor is at the uniform velocity rotatory, generate laser emission drive signal, receive the single channel signal of telecommunication and to the quantification of sampling of the single channel signal of telecommunication. Scanning device is simple for this laser profile, and the collection of the real -time high accuracy of data has been guaranteed in the miniaturization and the low -cost design that do benefit to the device, and constantly in step strict of the rotation angle that can guarantee rotatory scanning mirror and laser emission.
Description
Technical field
The utility model relates to lidar measurement technical field, is specifically related to a kind of laser profile device for data acquisition.
Background technology
Laser profile device (also claiming laser radar) is since appearance, be widely used in space flight, military field, in recent years along with the universal of laser technology and the reduction of cost, the application of laser aid is expanded to civilian, commercial just fast, all plays an important role in the field such as transport information monitoring, automobile assistant driving (as automatic Pilot), industry automatic control, region security monitoring.
Laser aid has broad application prospects in field of traffic as the data acquisition equipment of key, it can accurate detection vehicle location, motion state, contours profiles, can be used for the systems such as automatic vehicle classification, traffic flow investigation, intensity of passenger flow detection, lorry cubing.In order to moving vehicle, the state of pedestrian, profile accurately can be identified, the range frequency of laser sensor to reach tens of K time per second, distance accuracy reaches a centimetre rank, and the laser beam launched requires to reach a level security laser levels.In traffic system, a large amount of data collection points is usually set, strict requirement be it is also proposed to the cost of laser sensor and miniaturization.To sum up, described intelligent transportation system needs a kind of (tens of K range finding per second) at a high speed, high precision (centimetre-sized precision), meets the miniaturization of first order laser safety, the laser profile device of low cost.
Utility model content
For the defect existed in prior art, the purpose of this utility model is to provide a kind of performance high and the low laser profile device for data acquisition of cost.
For achieving the above object, the technical solution adopted in the utility model is: a kind of laser profile device for data acquisition, comprising for generation of the laser emitting module of laser and the laser pick-off module for receiving the laser echo signal reflected through object, also comprising for adjusting laser optical path with the catoptron making the laser after adjustment arrive photoscanning module; For laser reflection is formed according to the photoscanning module to the scanning light beam of object; For receiving laser datum signal and laser echo signal, and laser datum signal and laser echo signal are synthesized in time domain the power combing module of single channel electric signal; Motor for controlling photoscanning module at the uniform velocity rotates, generate Laser emission drive singal, receive single channel electric signal and single channel electric signal carried out to Systematical control and the Echo Processing module of sample quantization; Described photoscanning module also comprises rotating scan mirror and code-disc, and described motor, rotating scan mirror are coaxially connected with code-disc; Described Systematical control and Echo Processing module are connected with motor and code-disc respectively; Described laser datum signal is the electric signal that formed after opto-electronic conversion of laser that laser emitting module produces, and described laser echo signal is the electric signal that laser that laser pick-off module receives is formed after opto-electronic conversion.
Further, a kind of laser profile device for data acquisition as above, described laser emitting module comprises the laser drive circuit, laser diode and the photodiode that connect successively; Systematical control and Echo Processing module are connected with laser drive circuit, and laser emitting module is by photodiode and power combing model calling.
Further, a kind of laser profile device for data acquisition as above, described laser pick-off module comprise avalanche diode and for amplifying signal, the signal pre-processing circuit of shaping and denoising; Laser pick-off module is by signal pre-processing circuit and power combing model calling.
Further, a kind of laser profile device for data acquisition as above, described signal pre-processing circuit comprises Trans-impedance preamplifier.
Further, a kind of laser profile device for data acquisition as above, described Systematical control and Echo Processing module comprise interconnective micro-control unit and digital signal processing unit; Described micro-control unit is connected with motor, code-disc and laser emitting module respectively, described digital signal processing unit and power combing model calling.
Further, a kind of laser profile device for data acquisition as above, described micro-control unit comprises fpga chip, and described digital signal processing unit comprises single channel modulus conversion chip ADC.
Further, a kind of laser profile device for data acquisition as above, described micro-control unit comprises microcontroller, and described digital signal processing unit comprises single channel modulus conversion chip ADC and digital signal processor.
The beneficial effects of the utility model are: the laser profile device for data acquisition provided by the utility model, by photoscanning module, the sequential control of Systematical control and Echo Processing module and laser emitting module, the anglec of rotation and the stringent synchronization in Laser emission moment of the rotating scan mirror of High Rotation Speed can be ensured, ensure that the collection of the real-time high-precision of data, power combiner and single channel modulus conversion chip ADC is adopted to carry out the mode of signal transacting, can effectively reduce costs in the condition not reducing system performance, and the control of whole device and data acquisition storage can all have the ADC chip of Systematical control and Echo Processing module and fpga chip, be conducive to miniaturization and the low-cost design of device.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of laser profile device for data acquisition in embodiment;
Fig. 2 is the structural representation of each module of a kind of laser profile device for data acquisition in embodiment;
Fig. 3 is the process flow diagram of collecting method in embodiment;
Fig. 4 is the workflow diagram of laser profile device in embodiment;
Fig. 5 is the schematic diagram of Laser emission and laser pick-off in embodiment;
Fig. 6 is the work schedule schematic diagram of laser scanning device in embodiment.
Embodiment
Below in conjunction with Figure of description and embodiment, the utility model is described in further detail.
Fig. 1 shows a kind of laser profile device for data acquisition provided in the utility model embodiment, as can be seen from Figure, this device mainly comprises laser emitting module 10, catoptron, laser pick-off module 20, photoscanning module 30, power combing module 40 and Systematical control and Echo Processing module 50.
Wherein, namely described laser emitting module 10 produces LASER Light Source for Emission Lasers; Also comprise for adjusting laser optical path with the catoptron making the laser after adjustment arrive photoscanning module 30; Photoscanning module 30 is formed according to the scanning light beam to object for the laser reflection that will receive, and after the scanning light velocity arrives object, the laser reflected through target is received by laser pick-off module 20; The laser echo signal that power combing module 40 is launched for the laser datum signal and laser pick-off module 20 receiving laser emitting module 10 transmission, and laser datum signal and laser echo signal are synthesized single channel electric signal in time domain, the single channel electric signal after synthesis is sent to Systematical control and Echo Processing module 50; Systematical control and Echo Processing module 50 at the uniform velocity rotate for the motor 31 controlling photoscanning module 30, generate Laser emission drive singal, receive single channel electric signal and carry out sample quantization to single channel electric signal; Wherein, laser datum signal is the electric signal that laser that laser emitting module 10 is produced is formed after opto-electronic conversion, and laser echo signal is the electric signal that laser pick-off module 20 is received laser and will be formed after opto-electronic conversion.
As can be seen from Figure, Systematical control and Echo Processing module 50 are connected with photoscanning module 30, laser emitting module 10 and power combing module 40 respectively, and power combing module 40 is connected with laser emitting module 10 and laser pick-off module 20 respectively.
In present embodiment, as shown in Figure 2, described laser emitting module 10 comprises the laser drive circuit 11, laser diode 12 and the photodiode 13 that connect successively to the structural representation of described laser profile device each several part; Systematical control and Echo Processing module 50 are connected with laser drive circuit 11, and laser emitting module 10 is connected with power combing module 40 by photodiode 13.Systematical control and Echo Processing module 50 are by sending the control of Laser emission drive singal realization to Laser emission to laser drive circuit 11, photodiode 13 is sent to power combing module 40 after laser being converted to electric signal (laser datum signal).
Photoscanning module 30, except comprising motor 31, also comprises rotating scan mirror 32 and code-disc 33, and described motor 31, rotating scan mirror 32 are coaxially connected with code-disc 33.Described Systematical control and Echo Processing module 50 are connected with motor 31 and code-disc 33 respectively, Systematical control and Echo Processing module 50 control motor 31 by pulse-modulated signal pwm signal and at the uniform velocity rotate, motor 31 driven rotary scanning mirror 32 and code-disc 33 rotate, code-disc 33 is for recording the rotation angle increment of rotating scan mirror 32, when this rotation angle increment reaches certain value (resolution of 360 °/code-disc), code-disc 33 can send a pulse signal to Systematical control and Echo Processing module 50, Systematical control and Echo Processing module 50 generate Laser emission drive singal according to this pulse signal, driving laser transmitter module 10 Emission Lasers, thus ensure that the anglec of rotation and the stringent synchronization in Laser emission moment of rotating scan mirror 32.
Described laser pick-off module 20 comprise avalanche diode 21 and for amplifying signal, the signal pre-processing circuit 22 of shaping and denoising, signal pre-processing circuit 22 comprises Trans-impedance preamplifier and other signal pre-processing circuit; Laser pick-off module 20 is connected with power combing module 40 by signal pre-processing circuit 22.Avalanche diode 21 is for the laser after the reflection of receiving target thing, and being sent to signal pre-processing circuit 22 after laser is converted to electric signal (laser echo signal) by light signal, signal pre-processing circuit 22 pairs of laser echo signals are sent to power combing module 40 after carrying out the process such as amplification denoising.
After power combing module 40 receives laser datum signal and laser echo signal, be sent to Systematical control and Echo Processing module 50 by after laser datum signal and laser echo signal synthesis single-pass electric signal.
Described Systematical control and Echo Processing module 50 comprise interconnective micro-control unit 51 and digital signal processing unit 52; Described micro-control unit 51 is connected with motor 31, code-disc 33 and laser emitting module 10 respectively, and described digital signal processing unit 52 is connected with power combing module 40.Micro-control unit 51, by sending to the motor 31 of photoscanning module 30 the at the uniform velocity rotation that pulse-modulated signal controls motor, generates Laser emission drive singal according to the pulse signal that the code-disc 33 that receives sends, and is used for the transmitting of triggering laser; The single channel electric signal that digital signal processing unit 52 received power synthesis module 40 sends, and sample quantization process is carried out to single channel electric signal.
Wherein, a kind of specific implementation of described Systematical control and Echo Processing module 50 is: micro-control unit 51 comprises fpga chip, and digital signal processing unit 52 comprises single channel modulus conversion chip ADC; Another kind of implementation is: described micro-control unit 51 comprises microcontroller, and described digital signal processing unit 52 comprises single channel modulus conversion chip ADC and digital signal processor.In the first implementation, ADC chip is responsible for laser datum signal and laser echo signal sample quantization, fpga chip is by controlling the operation of whole system to the sequential control of photoscanning module 30, laser emitting module 10, the laser pulse shape of the DSP check figures of fpga chip inside can be used to process simultaneously, calculate laser ranging numerical value; In second in implementation, microcontroller and digital signal processor DSP is adopted to carry out alternative FPGA, microcontroller is by controlling the operation of whole system to the sequential control of photoscanning module 30, laser emitting module 10, digital signal processor DSP processes digitized laser pulse shape, calculates laser ranging numerical value.
The laser profile device provided in present embodiment is provided, by the sequential control of Systematical control and Echo Processing module 50 pairs of scan modules 30 and laser emitting module 10, the rotating scan mirror 31 of scan module 30 and the stringent synchronization in Laser emission moment can be ensured, for the accurate acquisition of data and process provide the foundation.
Fig. 3 shows the process flow diagram of a kind of collecting method based on the laser profile device for data acquisition provided in the utility model embodiment, and the method mainly comprises the following steps:
The motor 31 that Systematical control and Echo Processing module 50 control photoscanning module 30 by pulse-modulated signal PWM at the uniform velocity rotates, motor 31 driven rotary scanning mirror 32 and code-disc 33 coaxial rotating, and code-disc 33 records the rotation angle increment △ θ of rotating scan mirror 32;
When described rotation angle increment △ θ meets
time, code-disc 33 sends pulse signal to Systematical control and Echo Processing module 50, and Systematical control and Echo Processing module 50 generate Laser emission drive singal according to described pulse signal, drives triggering laser transmitter module 10 Emission Lasers;
Laser is carried out opto-electronic conversion and obtains laser datum signal by laser emitting module 10, and laser datum signal is sent to power combing module 40, and power combing module 40 receives laser datum signal, and the launch time of recording laser reference signal;
Laser shines to object after catoptron and rotating scan mirror 32, laser pick-off module 20 receives the laser after object reflection, and the laser received is carried out opto-electronic conversion obtain laser echo signal, laser echo signal is sent to power combing module 40, power combing module 40 receives laser datum signal, and the launch time of recording laser reference signal;
Power combing module 40 synthesizes single channel electric signal by through the laser datum signal of opto-electronic conversion and laser echo signal and is sent to Systematical control and Echo Processing module 50 in time domain;
Store after single channel signal is carried out sample quantization by Systematical control and Echo Processing module 50, complete a data acquisition.
Below in conjunction with specific embodiment, the laser profile device for data acquisition that the utility model provides is further elaborated.
Embodiment
Based on the laser profile device shown in Fig. 2, the process adopting this device to carry out data acquisition is further described in the present embodiment.
In the present embodiment, the individual pen absolute encoder of what the code-disc 33 of photoscanning module 30 adopted is 1000 lines, it has A, Z two paths of signals to export, and sees Fig. 6.A-signal is angular rate signal, and for recording the rotation angle increment of rotating scan mirror 32, code-disc 33 often rotates a fixed angle degree can generate a pulse square wave; Z signal is individual pen count signal, and code-disc 33 often revolves the generation pulse square wave that turns around, and code-disc 33 often revolves the indication device that turns around and transmitted 1000 laser pulses, completes the data acquisition for finding range of 1000 objects.
Systematical control and return laser beam processing module 50 adopt single channel ADC chip and fpga chip, ADC chip is responsible for laser datum signal and laser echo signal sample quantization, fpga chip is by controlling the operation of whole system to the sequential control of photoscanning module, laser emitting module, the follow-up laser pulse shape of the DSP check figures of fpga chip inside that uses when data processing processes, and calculates laser ranging numerical value.
Fig. 4 illustrates the simple process figure of this device work, Fig. 5 shows the schematic diagram of Laser emission and laser pick-off, Fig. 6 shows the sequential chart of each several part in the device course of work: first FPGA signal-processing board is controlled motor at the uniform velocity rotated by pwm signal (pulsed modulation), motor and rotating scan mirror coaxial with code-disc, when scanning mirror rotate angle step reach
code-disc can send a square-wave pulse (see the angle pulse A shown in Fig. 6 to FPGA signal-processing board, code-disc often rotates an angle △ θ, an angle pulse A will be produced, FPGA signal-processing board will generate Laser emission drive singal (see the laser triggering pulse shown in Fig. 6 according to this signal, second row laser triggering sequential chart is the enlarged drawing of the first row laser triggering), be used for triggering laser transmitter module Emission Lasers, while Laser emission, laser diode in transmitter module can produce Laser emission basic pulse, laser is on the one hand through catoptron, rotating scan mirror (as shown in Figure 5) shines afterwards to object, be sent to power combing module after on the other hand laser being converted to laser datum signal Tstart to receive, as the Calculation Basis of echo time delay, after laser runs into object reflection, laser pick-off module (laser line focus mirror arrive in avalanche diode) after reflection receives return laser beam, it is amplified, be converted into laser echo signal Tstop after the pre-service such as filtering after be sent to power combing module, laser datum signal Tstart and laser echo signal Tstop is synthesized single channel electric signal by power combing module, store after sample quantization being carried out to single channel electric signal by single channel ADC chip, complete the data acquisition of a measurement point, for the calculating of succeeding target thing distance provides data.When code-disc continues to rotate, after angle step reaches Δ θ, triggering laser launches the data acquisition carrying out next tested point again.
The laser profile device provided in the present embodiment is provided, structure is simple and cost is lower, adopted by single channel ADC chip again after laser datum signal and laser echo signal being superposed in time domain by power combing module 40, adopt single pass ADC chip to reduce costs further.The scan control of laser signal and the process of signal all adopt Systematical control and Echo Processing module 50 to realize, and are conducive to the Miniaturization Design of device.
Obviously, those skilled in the art can carry out various change and modification to the utility model and not depart from spirit and scope of the present utility model.Like this, if these amendments of the present utility model and modification belong within the scope of the utility model claim and equivalent technology thereof, then the utility model is also intended to comprise these change and modification.
Claims (7)
1., for a laser profile device for data acquisition, comprising for generation of the laser emitting module (10) of laser and the laser pick-off module (20) for receiving the laser reflected through object, it is characterized in that:
Also comprise for adjusting laser optical path with the catoptron making the laser after adjustment arrive photoscanning module (30);
For laser reflection is formed according to the photoscanning module (30) to the scanning light beam of object;
For receiving laser datum signal and laser echo signal, and laser datum signal and laser echo signal are synthesized in time domain the power combing module (40) of single channel electric signal; Described laser datum signal is the electric signal that laser that laser emitting module (10) produces is formed after opto-electronic conversion, and described laser echo signal is the electric signal that laser that laser pick-off module (20) receives is formed after opto-electronic conversion;
Motor (31) for controlling photoscanning module (30) at the uniform velocity rotates, generate Laser emission drive singal, receive single channel electric signal and single channel electric signal carried out to Systematical control and the Echo Processing module (50) of sample quantization;
Described photoscanning module (30) also comprises rotating scan mirror (32) and code-disc (33), and described motor (31), rotating scan mirror (32) are coaxially connected with code-disc (33); Described Systematical control and Echo Processing module (50) are connected with motor (31) and code-disc (33) respectively.
2. a kind of laser profile device for data acquisition according to claim 1, is characterized in that: described laser emitting module (10) comprises the laser drive circuit (11), laser diode (12) and the photodiode (13) that connect successively; Systematical control and Echo Processing module (50) are connected with laser drive circuit (11), and laser emitting module (10) is connected with power combing module (40) by photodiode (13).
3. a kind of laser profile device for data acquisition according to claim 1, is characterized in that: described laser pick-off module (20) comprise avalanche diode (21) and for amplifying signal, the signal pre-processing circuit (22) of shaping and denoising; Laser pick-off module (20) is connected with power combing module (40) by signal pre-processing circuit (22).
4. a kind of laser profile device for data acquisition according to claim 3, is characterized in that: described signal pre-processing circuit (22) comprises Trans-impedance preamplifier.
5. a kind of laser profile device for data acquisition according to claim 1, is characterized in that: described Systematical control and Echo Processing module (50) comprise interconnective micro-control unit (51) and digital signal processing unit (52); Described micro-control unit (51) is connected with motor (31), code-disc (33) and laser emitting module (10) respectively, and described digital signal processing unit (52) is connected with power combing module (40).
6. a kind of laser profile device for data acquisition according to claim 5, it is characterized in that: described micro-control unit (51) comprises fpga chip, described digital signal processing unit (52) comprises single channel modulus conversion chip ADC.
7. a kind of laser profile device for data acquisition according to claim 5, it is characterized in that: described micro-control unit (51) comprises microcontroller, described digital signal processing unit (52) comprises single channel modulus conversion chip ADC and digital signal processor.
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| CN201520984385.XU CN205175364U (en) | 2015-12-02 | 2015-12-02 | A laser profile scanning device for data acquisition |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105403169A (en) * | 2015-12-02 | 2016-03-16 | 北京握奇智能科技有限公司 | Laser contour scanning device for data acquisition and data acquisition 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN107085207A (en) * | 2017-04-01 | 2017-08-22 | 北京图来激光科技有限公司 | A kind of 360 ° of scanning probe laser radar apparatus |
| CN108931781A (en) * | 2018-05-25 | 2018-12-04 | 深圳新亮智能技术有限公司 | high speed three-dimensional laser radar system based on VCSEL laser light source |
| CN112785856A (en) * | 2021-03-23 | 2021-05-11 | 山东交通学院 | Traffic density detection device and method |
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- 2015-12-02 CN CN201520984385.XU patent/CN205175364U/en not_active Withdrawn - After Issue
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| CN105403169A (en) * | 2015-12-02 | 2016-03-16 | 北京握奇智能科技有限公司 | Laser contour scanning device for data acquisition and data acquisition method |
| CN105403169B (en) * | 2015-12-02 | 2018-04-13 | 北京握奇智能科技有限公司 | A kind of laser profile device and collecting method for data acquisition |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN107085207A (en) * | 2017-04-01 | 2017-08-22 | 北京图来激光科技有限公司 | A kind of 360 ° of scanning probe laser radar apparatus |
| CN107085207B (en) * | 2017-04-01 | 2020-05-01 | 北京图来激光科技有限公司 | 360 scanning detection laser radar device |
| CN108931781A (en) * | 2018-05-25 | 2018-12-04 | 深圳新亮智能技术有限公司 | high speed three-dimensional laser radar system based on VCSEL laser light source |
| CN112785856A (en) * | 2021-03-23 | 2021-05-11 | 山东交通学院 | Traffic density detection device and method |
| CN112785856B (en) * | 2021-03-23 | 2022-04-01 | 山东交通学院 | Traffic density detection device and method |
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