CN215526099U - Optical scanning device and laser radar - Google Patents
Optical scanning device and laser radar Download PDFInfo
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- CN215526099U CN215526099U CN202121267706.6U CN202121267706U CN215526099U CN 215526099 U CN215526099 U CN 215526099U CN 202121267706 U CN202121267706 U CN 202121267706U CN 215526099 U CN215526099 U CN 215526099U
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Abstract
The utility model discloses an optical scanning device and a laser radar. An optical scanning device according to an embodiment of the present invention includes: a support part rotating around the rotating shaft and having a plurality of side surfaces separated from the rotating shaft; a rotating baffle fixed on the support part, wherein a gap capable of being inserted into the reflector is formed between the side surface of the support part and the rotating baffle; and a reflecting mirror inserted into the gap between the rotating baffle and the supporting part, wherein a bottom plate protruding from the supporting part is formed at a first end of a first side surface in the rotating shaft direction, and the reflecting mirror is in contact with the bottom plate.
Description
Technical Field
The utility model relates to a laser radar, in particular to a laser radar capable of rotating and scanning laser.
Background
In the field of autonomous driving and autonomous walking robots, surrounding objects can be detected by means of devices such as laser radar (LIDAR). The lidar may obtain related information such as a distance, a speed, and the like about the surrounding object by emitting a laser beam to the surrounding three-dimensional space as a detection signal, and causing the laser beam to be reflected as an echo signal and return after being irradiated to the object in the surrounding space, and comparing the received echo signal with the emitted detection signal.
The laser radar as described above comprises a transmitting module and a receiving module. The emitting module generates and emits laser beams, and the laser beams which are irradiated on surrounding objects and reflected back are received by the receiving module. Since the speed of light is known, the distance of surrounding objects relative to the lidar can be measured by the propagation time of the laser.
Also, since the number of transmitting modules or receiving modules included in the laser radar is limited, the laser light emitted from the transmitting modules can be scanned over a wide field of view by providing the optical scanning device.
SUMMERY OF THE UTILITY MODEL
The utility model provides an optical scanning device capable of improving the scanning range of laser light emitted from a transmitting module of a laser radar and the laser radar having the same.
An optical scanning device according to an embodiment of the present invention includes: a support part rotating around the rotating shaft and having a plurality of side surfaces separated from the rotating shaft; a rotating baffle fixed on the support part, wherein a gap capable of being inserted into the reflector is formed between the side surface of the support part and the rotating baffle; and a reflecting mirror inserted into the gap between the rotating baffle and the supporting part, wherein a bottom plate protruding from the supporting part is formed at a first end of a first side surface in the rotating shaft direction, and the reflecting mirror is in contact with the bottom plate.
Also, a first end of the first side surface may be closer to the rotation axis than a second end of the first side surface opposite to the first end.
A stepped portion may be formed between the first end and the second end of the first side surface, a distance between each point of the first side surface and the rotation shaft may be varied at the stepped portion, and the reflecting mirror may be in contact with the stepped portion.
And, the stepped portion may be formed in a direction perpendicular to the rotation shaft.
Also, the plurality of sides may be parallel to the rotation axis.
A support base may be formed between the plurality of side surfaces of the support portion, and the rotating shutter may be fixed to the support base.
And, a protrusion may be formed on a side surface of the support part, the protrusion contacting the mirror, the protrusion being formed in a direction perpendicular to the forming direction of the base plate.
And, the bottom plate may be formed in a direction perpendicular to the rotation axis.
The support portion, the rotating shutter, and the mirror may be rotated about the rotating shaft by the motor.
Also, the reflecting mirror may be in the form of a flat mirror, and formed in a rectangular shape.
A lidar according to another embodiment of the present invention may include: the optical scanning device as described above; the transmitting module is used for transmitting laser to the optical scanning device; and a receiving module for receiving the laser beam emitted from the emitting module, reflected by the optical scanning device, reflected by an object outside the laser radar, and reflected by the optical scanning device.
According to an embodiment of the present invention, at least one of the following effects may be obtained: 1) the number of laser lines can be increased by making the inclination angles of the plurality of mirrors with respect to the rotation axis different; 2) the assembly is simple, and the reflector can be inserted after the supporting part and the rotary baffle are fixed; 3) the manufacturing cost of the reflecting mirror can be reduced by using the plane mirror; 4) the rotary baffle and the support part are combined to form the laser radar, and light isolation between the transmitting part and the receiving part of the laser radar is facilitated.
The effects of the present invention are not limited to the above-described effects, and those skilled in the art can derive the effects not described above from the following description.
Drawings
Fig. 1 is a schematic diagram showing a transmitting portion of a laser radar according to an embodiment of the present invention.
Fig. 2 is a perspective view illustrating an optical scanning apparatus according to an embodiment of the present invention.
Fig. 3 is a perspective view illustrating a support part according to an embodiment of the present invention.
Fig. 4 is a perspective view illustrating a support part and a rotation blocking plate according to an embodiment of the present invention.
Fig. 5 to 6 are plan views illustrating a rotating barrier according to an embodiment of the present invention.
Fig. 7 is a schematic diagram illustrating a manner in which the mirror is provided to the support portion and the rotating shutter.
Fig. 8 is a schematic view showing a connection relationship of the rotating barrier and the fixed barrier.
Detailed Description
The technical solutions of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings of the embodiments of the present invention. It is to be understood that the following disclosed embodiments are merely exemplary of the utility model, and are not intended to be exhaustive or all exemplary embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the following examples, belong to the scope of protection of the present invention.
Also, in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the drawings, and are simply for convenience of description of the simplified description of the present invention, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Fig. 1 is a schematic diagram showing a transmitting portion of a laser radar according to an embodiment of the present invention. Fig. 2 is a perspective view illustrating an optical scanning apparatus according to an embodiment of the present invention.
As shown in fig. 1, a transmitting portion of a laser radar according to an embodiment of the present invention includes a transmitting module 10, a collimator lens 40, and an optical scanning device 30. The laser light emitted from the emission module 10 in the horizontal direction may be incident on the collimating lens 40. The collimator lens 40 may be a focusing lens to convert the incident laser light into collimated light, and the laser light collimated by the collimator lens 40 may be incident on the optical scanning device 30. The optical scanning device 30 may be in a turning mirror type, and the laser beam incident on the optical scanning device 30 may be reflected by one reflecting surface to change the angle and be emitted to the outside of the laser radar. However, the laser light reflected by one of the reflecting surfaces of the optical scanning device 30 can be scanned within a predetermined horizontal range by the rotation of the optical scanning device 30.
Fig. 1 shows a case where the optical scanning device 30 has 4 reflection surfaces, but the present invention is not limited thereto. The optical scanning device 30 may have 2, 3, or 5 or more reflecting surfaces. The number of the reflecting surfaces may be appropriately selected according to the need.
The optical scanning device 30 may have a rotation axis, and the optical scanning device 30 may rotate around the rotation axis. In fig. 1, the rotation axis may be located at the center of the optical scanning device 30 and perpendicular to the paper surface. The four reflecting surfaces of the optical scanning device 30 may or may not be parallel to the rotation axis. The 4 reflecting surfaces may have different inclination angles with respect to the rotation axis, respectively.
As shown in fig. 2, the optical scanning device 30 may have 4 mirrors 300, and four mirrors 300 may be provided on four side surfaces of the optical scanning device 30. The four mirrors 300 may be substantially parallel to the rotation axis, but may not be completely parallel to the rotation axis. The C mirror may be in a form in which an upper portion is closer to the rotation axis than a lower portion; the B reflector may be configured such that the lower portion is closer to the rotation axis than the upper portion; the a reflecting surface may be configured such that the upper portion is closer to the rotation axis than the lower portion. The degree of inclination of the A-C mirrors can be appropriately selected as required. By making the four mirrors of the optical scanning device 30 have different inclination angles with respect to the rotation axis, it is possible to reflect the laser beams reflected on the four mirrors to different positions in the vertical direction and improve the resolution of the laser radar in the vertical direction. For example, when the inclination angles of the four reflecting mirrors 300 are different from each other, the laser light emitted from one emission module may be located at four different positions in the vertical direction.
As described above, the transmitting portion of the laser radar is explained with reference to fig. 1 to 2. The structure of the receiving section of the lidar may be similar to the transmitting section. In fig. 1, the structure of the receiving section can be obtained by replacing the transmitting module 10 with a receiving module. The transmitting portion and the receiving portion of the laser radar are preferably formed to be spaced apart from each other. As shown in fig. 2, the emission module 10 may be positioned above the rotating bezel 200 such that the laser light emitted from the emission module 10 strikes above the rotating bezel 200; the receiving module may be located below the rotating barrier 200 to receive the laser light reflected by the reflecting mirror 300 below the rotating barrier 200.
The laser radar according to an embodiment of the present invention may detect an object outside the laser radar by emitting laser light to the outside of the laser radar and receiving the laser light reflected at the outside of the laser radar in the above manner.
Next, the optical scanning device 30 according to an embodiment of the present invention will be described in more detail with reference to fig. 2 to 8.
Fig. 2 is a perspective view illustrating an optical scanning apparatus according to an embodiment of the present invention. Fig. 3 is a perspective view illustrating the support part 100 according to an embodiment of the present invention. Fig. 4 is a perspective view illustrating the support part 100 and the rotation damper 200 according to an embodiment of the present invention. Fig. 5-6 are plan views illustrating a rotating shutter 200 according to an embodiment of the present invention. Fig. 7 is a schematic diagram illustrating a manner in which the reflecting mirror 300 is provided to the support part 100 and the rotating shutter 200. Fig. 8 is a schematic view showing a connection relationship of the rotating barrier 200 and the fixed barrier.
As shown in fig. 2, the optical scanning device 30 may include a support portion 100, a rotating bezel 200, and four mirrors 300.
The support part 100 may function to support the rotating barrier 200 and the reflecting mirror 300. The support 100 may be hollow, and a rotation motor may be provided in the support 100 to rotate the rotary shutter 200 and the reflecting mirror 300 by the support 100. Here, assuming that the rotation axis is disposed in a vertical direction, the support part 100 may be disposed in the vertical direction, and the rotation damper 200 may be disposed in a horizontal direction.
As shown in fig. 3, the supporting part 100 may include a base plate 110, a step part 120, a protrusion 130, and a supporting stage 140.
The support portion 100 may be formed substantially in a hollow rectangular parallelepiped shape. The base plate 110 may be located at an upper or lower end of one side of the support part 100, and the forming direction may be perpendicular to the rotation axis. Also, the bottom plate 110 may be formed along the upper/lower end edge of the support part 100 and protrude outward from the side of the support part 100 by a predetermined height. The predetermined height is a height at which the mirror 300 described later can be placed.
The step part 120 may be formed in a direction perpendicular to the rotation axis, or may be formed in parallel with the base plate 110. The step part 120 may divide the side surface of the support part 100 into two regions of high and low in the up and down direction. That is, in fig. 3, on the a-plane of the support portion 100, the region above the step portion 120 may be a low thickness region; the region below the step part 120 may be a high thickness region, that is, the distance of each point of the a-plane of the support part 100 from the rotation axis may be abruptly changed at the step part 120. The base plate 110 may be formed at a low thickness region above the a-plane. Also, on the B-surface of the support portion 100, the region above the step portion 120 may be a high thickness region; the region below the stepped portion 120 may be a low thickness region. The base plate 110 may be formed at a low thickness region below the B-plane. Among them, the bottom plate 110 is preferably formed on a side of the support part 100 closer to the rotation axis.
The case where one stepped portion 120 is formed at one side surface of the support portion 100 is explained in the present invention. However, the present invention is not limited thereto, and the plurality of steps 120 may be formed on one side surface of the support portion 100 to divide the side surface of the support portion 100 into a plurality of regions having different thicknesses in the up-down direction. The thickness may become gradually thicker or thinner in the up-down direction.
In another embodiment of the present invention, the step portion 120 may not be formed, and the entire side surface of the support portion 100 may be inclined with respect to the rotation axis. That is, the thickness of the side surface of the support portion 100 may be gradually decreased from top to bottom or from bottom to top without making the thickness of the support portion 100 abruptly change at the stepped portion 120.
The support 100 may also be formed with a support table 140. The support stage 140 may be formed at a position between the sides of the support 100. The support table 140 may be used to place a spin-stop 200, described below. Also, the upper portion of the support base 140 may be opened to facilitate the placement of the rotating shutter 200 on the support base 140 from above and downward. Threaded holes may be formed in the support table 140 and the spin shutter 200 so that the spin shutter 200 may be fixed to the support table 140 by screws when the spin shutter 200 is placed on the support table 140. The relative height positions of the support table 140 and the step portion 120 are not limited, and the support table 140 may be located above or below the step portion 120.
Fig. 4 shows a shape of the rotating shutter 200 after being placed on the support table 140. As shown in fig. 4, after the rotating barrier 200 is disposed on the support base 140, a predetermined gap may be formed between the inner side of the rotating barrier 200 and the side surface of the support portion 100, and the gap may correspond to the shape of the reflecting mirror 300. A mirror 300, which will be described later, may be inserted between the rotating shutter 200 and the support portion 100 through the gap.
A method of inserting the reflecting mirror 300 between the rotating barrier 200 and the supporting part 100 will be described with reference to fig. 7. As shown in fig. 4 and 7 (a), when the rotating shutter 200 is disposed on the support base 140, a gap as shown in fig. 4 and 7 is formed between the side surface of the support 100 and the rotating shutter 200. The mirror 300 can be inserted from the high thickness side (upper side) to the low thickness side (lower side) of the step portion 120 through the slit. Also, the bottom surface of the reflecting mirror 300 may abut against the bottom plate 110 below the supporting part 100. So that the position of the rotary mirror 300 can be fixed between the rotary shutter 200 and the support portion 100. Among them, the size of the gap between the rotating barrier 200 and the supporting part 100 is preferably similar to the thickness of the reflecting mirror 300 to facilitate the insertion of the reflecting mirror 300 and prevent the reflecting mirror 300 from shaking. Also, even if there is an unnecessary rotation of the mirror 300 when inserted into the gap, the rotation can be corrected after the mirror 300 abuts on the base plate 110. After the mirror 300 is inserted, an adhesive may be applied to a position where the mirror 300 contacts the rotating shutter 200 or the support 100 to further fix the position of the mirror 300.
In this manner, the inclination of the mirror 300 with respect to the rotation axis of the optical scanning device 30 can be effectively controlled by appropriately setting the height of the stepped portion 120 and the size of the gap between the rotating bezel 200 and the supporting portion 100.
The support portion 100 may further include a projection 130. The protrusion 130 may be formed in the up-down direction at the side of the support 100, compared to the step 120 formed in the lateral direction. Also, the protrusion 130 may be formed above or below the support stage 140. The case where the protrusion 130 is formed under the support stage 140 is shown in fig. 3. Among them, it is preferable that the protrusion 130 is formed under the support stage 140, and the protrusion 130 and the support stage 140 are formed at substantially the same position in the horizontal direction, so that the area where the reflecting mirror 300 is disposed can be maximized.
And, the convex portion 130 is formed at one side of the position of the side surface of the support portion 100 for forming the reflecting mirror 300. Thus, when the mirror 300 is inserted, the side of the protrusion 130 may contact the side of the mirror 300 for fixing the lateral position of the mirror 300. In fig. 3, the protrusion 130 is formed at the left side end at both the a-plane and the B-plane, and may extend to the bottom of the support portion 100 in the up-down direction. The specific formation position of the convex portion 130 is not limited to this as long as it is formed at a position abutting against the side surface of the reflecting mirror 300.
Next, the whirl-stop plate 200 of the present invention will be described with reference to fig. 4 to 6. As shown in fig. 4, the rotating shutter 200 is placed on the support base 140 of the support part 100.
Fig. 5 and 6 are plan views showing two examples of the whirl-stop plate 200. As shown in fig. 5 to 6, the periphery of the rotating baffle 200 may be circular, and the interior thereof may form a rectangular hollow area. Also, referring to fig. 2 and 4, the whirl-stop plate 200 is formed in a plate shape having a predetermined thickness. The rotation damper 200 may be provided to the support 100 so as to be perpendicular to the rotation axis.
As shown in fig. 5, coupling members 210 protruding inward may be formed at four corners of the interior of the rotating barrier 200. The coupling members 210 may protrude inward from corners of the hollow interior region of the rotating baffle 200 and serve to couple and secure with the support base 140 of the support 100. The case where 4 connection members 210 are formed is shown in fig. 5. The number of the connection members 210 may correspond to the number of the mirrors 300 included in the optical scanning device 30.
A space into which the reflecting mirror 300 can be inserted is formed between two adjacent connectors 210. A space into which the reflecting mirror 300 can be inserted is formed between the inner edge of the rotating bezel 200 and the side surface of the support 100. Accordingly, as shown in fig. 4, when the connection member 210 is coupled to the support stage 140 of the support part 100, 4 spaces into which the reflecting mirror 300 can be inserted may be formed between the rotating shutter 200 and the support part 100.
A case of reducing the width of the connection part between the connection member 210 and the body of the whirl-stop plate 200 is shown in fig. 5. By forming the whirl-stop plate 200 as shown in fig. 5, it is possible to increase a distance between two adjacent coupling members 210 and increase a space between the coupling members 210 into which the mirror 300 can be inserted, compared to forming the whirl-stop plate 200 as shown in fig. 6. Therefore, the connector 200 of fig. 5 enables the insertion of the reflector 300 having a larger width than the connector 200 of fig. 6.
In the above, the function of the rotating shutter 200 to form the space into which the reflecting mirror 300 is inserted is explained. Next, the blocking action of the rotation damper 200 will be described with reference to fig. 8. Fig. 8 is a schematic view illustrating a connection relationship of the rotating barrier 200 and the fixed barrier 500. Fig. 8 is a vertical sectional view of the rotating barrier 200 and the fixed barrier 500.
As described above, a rotation motor may be provided inside the support part 100, and the rotation motor may rotate the rotation baffle 200 and the reflecting mirror 300 by the support part 100. Therefore, the rotating shutter 200 belongs to a rotating member. The rotating shutter 200 is coupled to the fixed shutter 500 which does not rotate, and prevents the laser light from being directly incident on the receiving portion of the lower portion of the rotating shutter 200 from the emitting portion of the upper portion of the rotating shutter 200. Wherein, the fixed baffle 500 can form along the horizontal direction inside the laser radar and play the effect of separating the transmitting part and the receiving part to can make the laser that sends from the transmitting module send the back through the window portion after laser radar's outside object reflection, through the incident of window portion and get into the receiving module from the opposite side of fixed baffle. Further, a hole corresponding to the shape of the rotating bezel 200 may be formed in the fixed bezel 500, and the rotating bezel 200 and the optical scanning device 30 may be installed inside the hole. As shown in fig. 8 (a), the left side member of the rotating barrier 200 may be a fixed barrier 500. Direct incidence of laser light from the emitting portion to the receiving portion can be reduced by reducing the separation distance between the rotating shutter 200 and the fixed shutter 500. Alternatively, as shown in fig. 8 (b), the rotating shutter 200 may be positioned below the projection of the fixed shutter 500 to further block light leakage between the rotating shutter 200 and the fixed shutter 500.
Next, a description is given of the reflecting mirror 300 according to an embodiment of the present invention. As shown in fig. 1 and 7, the reflecting mirror 300 may be a rectangular plane mirror. In the present invention, the mirror 300 can be provided in an inclined manner by the shapes of the support portion 100 and the rotating shutter 200. Therefore, the reflecting mirror 300 may be formed as a plane mirror. The difficulty of processing the mirror 300 can be reduced and the cost can be reduced compared to the mirror 300 in a non-planar mirror form.
Before the mirror 300 is mounted, the rotating barrier 200 may be first disposed on the support base 140 of the support part 100 as shown in fig. 4, and then the mirror 300 may be inserted between the rotating barrier 200 and the support part 100. On the a-plane of the support part 100, the bottom plate 110 is formed on the upper side of the support part 100 where the thickness is thin, and thus the mirror 300 can be inserted from below the support part 100; on the B-surface of the support part 100, the bottom plate 110 is formed on the lower side of the support part 100 where the thickness is thin, and thus the mirror 300 can be inserted from above the support part 100. When the mirror 300 is inserted, the mirror 300 may be pushed along the side of the protrusion 130, so that the lateral position of the mirror 300 may be better fixed. After the mirror 300 is inserted into the gap between the rotating bezel 200 and the support portion 100, the mirror 300 may be pushed to contact the base plate 110, thereby completing the installation of the mirror 300. After the mirror 300 is inserted, one side surface of the mirror 300 may contact the step part 120; or the other side surface of the reflecting mirror 300 may contact the rotating shutter 200; or the reflecting mirror 300 may contact the stepped portion 120 and the rotating shutter 200 at the same time. After the mirror 300 is inserted, the position of the mirror 300 may be fixed by dispensing at a position where the mirror 300 contacts the support portion 100 or the rotating shutter 200.
In this way, the optical scanning device 30 in which the inclinations of the mirrors 300 with respect to the rotation axis are different from each other can be formed. Alternatively, the optical scanning device 30 may be formed such that at least one of the mirrors 300 is not parallel with respect to the rotation axis. The reflecting mirror 300 is divided into vertically spaced portions by the rotary shutter 200, so that the transmitting portion and the receiving portion of the laser radar can be vertically spaced. That is, the laser radar's transmit module 10 may be located above or below the rotating barrier 200 and the receive module may be located on the other side of the rotating barrier.
In the above manner, it is possible to scan the light emitted from the emission module 10 in the horizontal direction and increase the number of lines of the laser light in the vertical direction by the mirrors 300 of different inclination angles.
Although the case where four mirrors 300 are formed is explained in the present application, the present invention is not limited thereto, and may be applied to the case where 2 or more mirrors 300 are provided. When the number of the reflection mirrors 300 is changed, the number of the sides of the support part 100 and the shape of the rotary shutter 200 may be changed correspondingly.
In the present invention, the vertical direction of the optical scanning device 30 may be reversed, and the operation of the optical scanning device 30 in the laser radar is not affected.
The embodiments described above with respect to the apparatus and method are merely illustrative, where separate units described may or may not be physically separate, and the components shown as units may or may not be physical units, i.e. may be located in one location, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the technical solution of the present invention.
Claims (10)
1. An optical scanning device, comprising:
a support part rotating around the rotating shaft and having a plurality of side surfaces separated from the rotating shaft;
a rotating baffle fixed on the support part, wherein a gap capable of being inserted into the reflector is formed between the side surface of the support part and the rotating baffle;
a reflecting mirror inserted into the gap between the rotating baffle and the supporting part,
a bottom plate protruding from the support portion is formed at a first end of the first side surface in the rotation axis direction, and the mirror is in contact with the bottom plate.
2. The optical scanning device as claimed in claim 1,
a first end of the first side is closer to the axis of rotation than a second end of the first side opposite the first end.
3. The optical scanning device as claimed in claim 2,
a step part is formed between the first end and the second end of the first side surface, the distance between each point of the first side surface and the rotating shaft is suddenly changed at the step part,
the reflecting mirror is in contact with the step portion.
4. The optical scanning device as claimed in claim 3,
the step portion is formed in a direction perpendicular to the rotation shaft.
5. The optical scanning device as claimed in claim 3,
a plurality of the side faces are parallel to the rotation axis.
6. The optical scanning device as claimed in claim 1,
a support table is formed between the side surfaces of the support portion, and the rotating baffle is fixed to the support table.
7. The optical scanning device as claimed in claim 1,
a convex part is formed on the side surface of the supporting part, the convex part is contacted with the reflector, and the forming direction of the convex part is vertical to the forming direction of the bottom plate.
8. The optical scanning device as claimed in claim 1,
a motor for driving the support part to rotate around the rotating shaft is arranged in the support part,
the support portion, the rotating baffle, and the reflecting mirror are rotated about the rotating shaft by a motor.
9. The optical scanning device as claimed in claim 1,
the reflecting mirror is in a flat mirror shape and is formed in a rectangular shape.
10. A lidar, comprising:
an optical scanning device according to any one of claims 1 to 9;
the transmitting module is used for transmitting laser to the optical scanning device;
and a receiving module for receiving the laser beam emitted from the emitting module, reflected by the optical scanning device, reflected by an object outside the laser radar, and reflected by the optical scanning device.
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| CN202121267706.6U CN215526099U (en) | 2021-06-08 | 2021-06-08 | Optical scanning device and laser radar |
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| CN202121267706.6U CN215526099U (en) | 2021-06-08 | 2021-06-08 | Optical scanning device and laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115453493A (en) * | 2021-06-08 | 2022-12-09 | 锐驰智光(北京)科技有限公司 | Optical scanning device and laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115453493A (en) * | 2021-06-08 | 2022-12-09 | 锐驰智光(北京)科技有限公司 | Optical scanning device and laser radar |
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