CN220019871U - Integral monitoring structure of laser radar ranging link and laser radar - Google Patents
Integral monitoring structure of laser radar ranging link and laser radar Download PDFInfo
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- CN220019871U CN220019871U CN202321137722.2U CN202321137722U CN220019871U CN 220019871 U CN220019871 U CN 220019871U CN 202321137722 U CN202321137722 U CN 202321137722U CN 220019871 U CN220019871 U CN 220019871U
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Abstract
The utility model relates to the technical field of laser radars, and discloses an integral monitoring structure of a laser radar ranging link and a laser radar. The reference measurement module comprises a pyramid prism, a diffuse reflection sheet and a diaphragm plate, and two diaphragm holes symmetrical to the vertex of the pyramid prism are arranged on the diaphragm plate; the overall monitoring structure of the laser radar ranging link is provided with a plurality of choices of the measured reference targets for monitoring. According to the selection of different reference targets, the following purposes are achieved: (1) Decoupling of the light beam path change and the self-reflectivity change of the measured target is realized by selecting a diffuse reflection material; (2) The diffuse reflection materials with different materials are selected as the detected targets at the same time, and the different detected targets are arranged at intervals, so that the negative influence of the self-reflection characteristic change of the detected targets is eliminated; (3) By selecting the insensitive light path structure and material setting of the light beam, the negative influence caused by the position deviation of the detected target is eliminated.
Description
Technical Field
The utility model relates to the technical field of laser radars, in particular to an integral monitoring structure of a laser radar ranging link and a laser radar.
Background
Safety-level lidars place stringent demands on their own reliability, for example, the IEC61508 standard for electrical/electronic/programmable electronic security and the mechanical standard EN61496 for Electrical Sensitive Protection Equipment (ESPE) are met. To meet these safety standards, a series of measures must be taken, such as safety assessment or performance-safe backup through a variety of electronic devices, functional monitoring, or monitoring of contamination of optical elements. The requirement for self-diagnostics depends on the radar's safety level requirements.
One of the assurance measures meeting the relevant safety standards is to set a specific reference target in the laser radar, calculate a distance value by receiving echoes of known target objects, and compare the distance value with an in-plant standard test value in an ideal state, so as to monitor the overall working state and performance level of the whole set of ranging links including a transmitting light source, a transmitting and receiving light path, a detector and a signal conditioning circuit.
In combination with the internal optical-mechanical architecture of the laser radar, the reference target is optically scanned in each deflection/rotation of the radar scanning module, and the evaluation is performed according to the intensity information and the distance information of the signal echoes of the reference target. And if the intensity information and the distance information exceed the preset interval range, the laser radar switches or shuts down the working mode in a safety-related mode. For a laser radar which uses a rotating motor to drive a rotating mirror to realize scanning, the common practice is to limit a continuous angle range of motor rotation to be a working blind area for external measurement of the radar, and the blind area is specially used for measuring an internal reference target by the radar.
The self-checking of the laser radar system of the safety level can in principle generate two types of faults, wherein the first type of faults is abnormal in the working state of the system, but the self-checking cannot be detected, and the faults are avoided by the safety system at all costs to the greatest extent. The second type of failure is that the system is operating normally, but a false positive occurs, triggering a safety-related shutdown or entering a safety protection mode, which will reduce the usability of the system.
The whole working state monitoring of the ranging link of the radar system is realized by measuring the reference target in the blind area, and compared with the real laser ranging, the real measured target outside the radar is replaced by the reference target inside the radar. The whole working states of a series of software and hardware modules such as a transmitting light source, a transmitting and receiving light path, a detector, a signal conditioning circuit, a data processing module, a processing algorithm and the like can be represented by echo signals of a reference target and a resolving result, so that the first type of faults can be effectively avoided. The only important consideration is the uncertainty introduced by the reference target, i.e. the erroneous judgment caused by the degradation of the reference target results in the occurrence of a second type of fault. Degradation is divided into two layers: (1) a change in the beam path of the optical path in which the reference object is located, such as monitoring an optical path deflection caused by a physical positional shift of a reflecting device as the reference object in the optical path; (2) variations in the reflection characteristics of the reference object itself. The utility model performs structural innovation aiming at the selection of the reference target and the setting of the reference light path.
The corner cube is also called a retro-reflector and the reflected light is always parallel to the incident light, regardless of the angle of incidence. The pyramid prism is mainly used for occasions such as target determination, quick alignment and the like. The method has wide application in projection systems, imaging systems, optical instruments and laser measurement systems. Cube-corner prism advantages: the prism is insensitive to the incident angle of incident light, and the incident light or the image is reflected by 180 degrees within a certain range of incident angles, so that the prism is an ideal reflective optical element. Pyramid prism disadvantages: the incident light and the emergent light do not overlap and are offset by a distance. When the light beam enters the corner cube, the light beam can be correctly returned at the same angle as the incident angle. When the incidence position of the light beam deviates from the center of the pyramid prism, the light beam is emitted from the other side of the center at the same distance from the center. The incident point and the emergent point are axisymmetrically distributed relative to the vertex of the pyramid prism.
Disclosure of Invention
Aiming at the defects existing in the prior art, the integral monitoring structure of the laser radar ranging link and the laser radar are provided, so that misjudgment caused by degradation of a reference target is avoided, shutdown related to safety is triggered or a safety protection mode is entered, and the usability of a system is improved.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
the utility model provides an overall monitoring structure of laser radar ranging link which characterized in that: the laser radar system comprises a shell, wherein a rotating mechanism, a laser emission module for generating an emergent beam, a reference measurement module for self-checking a laser radar system and a laser receiving module for receiving an echo beam are arranged on the shell, and the emergent angle of the emergent beam of the emission module has the function of 360-degree horizontal scanning around a rotating center under the action of the rotating mechanism; defining a ranging blind area in the range of an emergent angle of an emergent beam, wherein a reference measurement module is positioned in the ranging blind area;
the reference measurement module comprises a pyramid prism, a diffuse reflection sheet and a diaphragm plate, wherein the pyramid prism is positioned right behind the diaphragm plate along the direction of an outgoing beam and is transversely arranged; two diaphragm holes symmetrical to the vertex of the pyramid prism are arranged on the diaphragm plate, and one or more diffuse reflection sheets are arranged between the two diaphragm holes.
According to the technical scheme, a plurality of diffuse reflection sheets are selected, and the diffuse reflection sheets have different reflectivities.
According to the technical scheme, the diffuse reflection sheets are low in reflectivity.
According to the technical scheme, the diffuse reflection materials of the diffuse reflection sheets are not identical.
According to the technical scheme, two diffuse reflection sheets with low reflectivity, different reflectivities and different diffuse reflection materials are selected, two inclined planes are arranged between two diaphragm holes on the diaphragm plate, grooves or grooves are formed in the positions of the inclined planes, and the diffuse reflection sheets are arranged at the grooves or grooves.
According to the technical scheme, the laser emission module comprises a laser light source arranged on the shell, a laser collimation lens positioned on an emergent beam of the laser light source, and a reflecting mirror positioned on the emergent beam of the laser light source and behind the laser collimation lens, wherein the emergent beam of the laser light source and the laser collimation lens are both positioned on a rotation center line of the rotation mechanism, and the rotation center line of the rotation mechanism passes through the reflecting mirror; the emergent light beam is emitted by the laser light source, collimated by the laser collimating lens and reflected by the reflecting mirror.
According to the technical scheme, the emergent beam is vertical upwards, and the reflecting mirror forms an included angle of 45 degrees with the emergent beam.
According to the technical scheme, the laser receiving module comprises a laser receiving lens wrapped outside the laser light source and the laser collimating lens, a photoelectric detector positioned at a laser converging end of the laser receiving lens, a receiving amplifying circuit electrically connected with the photoelectric detector, and a main control circuit module electrically connected with the receiving amplifying circuit, wherein echo light beams are converged by the laser receiving lens and then irradiated on the photoelectric detector.
According to the technical scheme, the shell comprises a fixing frame body and an optical cover connected with the fixing frame body; the rotating mechanism, the laser emission module, the reference measurement module and the laser receiving module are arranged on the fixed frame body; the outgoing beam generated by the laser emitting module irradiates on the measured object or the reference measuring module after passing through the optical cover, the echo beam irradiates on the laser receiving module after passing through the optical cover, and the optical cover does not change the directions of the outgoing beam and the echo beam.
A lidar, characterized in that: the laser radar ranging system comprises an overall monitoring structure of any laser radar ranging link.
The utility model has the following beneficial effects:
1. the reference measurement module comprises a pyramid prism, a diffuse reflection sheet and a diaphragm plate, and two diaphragm holes symmetrical to the vertex of the pyramid prism are arranged on the diaphragm plate; the overall monitoring structure of the laser radar ranging link is provided with a plurality of choices of the measured reference targets for monitoring. Thereby, according to the selection of different reference targets, the following purposes are achieved:
(1) Decoupling of the light beam path change and the self-reflectivity change of the detected target is realized by selecting a diffuse reflection material;
(2) By selecting multiple diffuse reflection materials with different materials as the measured targets at the same time, different measured targets are arranged at intervals, and negative effects of the change of the self-reflection characteristics of the measured targets are eliminated;
(3) By selecting the insensitive light path structure and material setting (pyramid prism, diffuse reflection sheet) of the light beam, the negative effect caused by the position deviation of the measured object is eliminated.
2. The purpose of setting up the multi-disc diffuse reflection piece is that, the echo data that the radar is when blind area monitoring multi-disc diffuse reflection piece corresponds can check each other, avoids causing the radar false detection because of the degradation of monolithic. The diffuse reflection sheets are respectively selected from low-reflectivity and high-reflectivity reference targets equivalent to the pyramid prism, so that the radar can scan, monitor and collect as many reflectivity targets as possible in the blind area. The diffuse reflection materials of the diffuse reflection sheets are not identical, so that common cause failure caused by external influence can be eliminated.
3. The pyramid prism is transversely placed and matched with the 45-degree reflecting mirror, so that the effect that echo laser reflected by the prism can be directly irradiated to the 45-degree reflecting mirror without being blocked by the L-shaped cylinder, and can be received and converged by the laser receiving lens without being blocked after being reflected by the 45-degree reflecting mirror can be ensured; secondly, the high-reflectivity targets equivalent to the pyramid prism can be secondarily utilized in the blind area monitoring process, echo light of the two high-reflectivity targets irradiates different positions of the 45-degree reflecting mirror respectively, and meanwhile, the comparison monitoring of the reflection light capacity of different positions of the 45-degree reflecting mirror surface can be realized while the available monitoring information is enriched.
Drawings
FIG. 1 is a diagram of a radar overall architecture of an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a reference measurement module according to an embodiment of the present utility model;
FIG. 3 is a view of a blind spot scanning optical path with a corner cube as a reference object according to an embodiment of the present utility model;
FIG. 4 is a schematic view of a scanning light path of a blind area using a diffuse reflection sheet as a reference object according to an embodiment of the present utility model;
in the figure, 1, a shell; 1-1, fixing a frame body; 1-2, an optical cover; 2. a rotation mechanism; 3. emitting a light beam; 4. a laser emitting module; 4-1, a laser light source; 4-2, a laser collimation lens; 4-3, a reflector; 5. a reference measurement module; 5-1, pyramid prism; 5-2, grooving or recess; 5-3, diaphragm plates; 5-4, diaphragm holes; 6. an echo beam; 7. a laser receiving module; 7-1, a laser receiving lens; 7-2, a photoelectric detector; 7-3, a receiving amplifying circuit; 7-4, a main control circuit module; 8. an L-shaped barrel.
Detailed Description
The utility model will now be described in detail with reference to the drawings and examples.
Referring to fig. 1 to 4, the utility model provides an overall monitoring structure of a laser radar ranging link.
Example 1
The laser radar system comprises a shell 1, wherein a rotating mechanism 2, a laser emission module 4 for generating an emergent beam 3, a reference measurement module 5 for self-checking a laser radar system and a laser receiving module 7 for receiving an echo beam 6 are arranged on the shell, and the emergent angle of the emergent beam of the emission module has the function of 360-degree horizontal scanning around a rotating center under the action of the rotating mechanism; defining a ranging blind area in the range of an emergent angle of an emergent beam, wherein a reference measurement module is positioned in the ranging blind area;
the reference measurement module comprises a pyramid prism 5-1, a diffuse reflection sheet (see a slot or a groove 5-2 for installing the diffuse reflection sheet in the figure) and a diaphragm plate 5-3, wherein the pyramid prism is positioned right behind the diaphragm plate along the direction of an emergent beam and is transversely arranged; two diaphragm holes 5-4 which are symmetrical with respect to the vertex of the pyramid prism are arranged on the diaphragm plate, so that light entering the pyramid prism from one diaphragm hole can be ensured to be emitted through the other diaphragm hole; one or more diffuse reflection sheets are arranged on a groove or a groove between two diaphragm holes.
In the embodiment, the reference measurement module comprises a pyramid prism, a diffuse reflection sheet and a diaphragm plate, and two diaphragm holes symmetrical to the vertex of the pyramid prism are arranged on the diaphragm plate; the overall monitoring structure of the laser radar ranging link is provided with a plurality of choices of the measured reference targets for monitoring. Thereby, according to the selection of different reference targets, the following purposes are achieved:
1. decoupling of the light beam path change and the self-reflectivity change of the detected target is realized by selecting a diffuse reflection material;
2. by selecting multiple diffuse reflection materials with different materials as the measured targets at the same time, different measured targets are arranged at intervals, and negative effects of the change of the self-reflection characteristics of the measured targets are eliminated;
3. by selecting the insensitive light path structure and material setting (pyramid prism, diffuse reflection sheet) of the light beam, the negative effect caused by the position deviation of the measured object is eliminated.
Example 2
The structure and principle of embodiment 2 are similar to those of embodiment 1, except that: multiple diffuse reflection sheets are selected, and the reflectivity among the diffuse reflection sheets is different. The purpose of setting up the multi-disc diffuse reflection piece is that, the echo data that the radar is when blind area monitoring multi-disc diffuse reflection piece corresponds can check each other, avoids causing the radar false detection because of the degradation of monolithic.
Example 3
The structure and principle of embodiment 3 are similar to those of embodiment 2, except that: the diffuse reflection sheets are respectively selected from low-reflectivity and high-reflectivity reference targets equivalent to the pyramid prism, so that the radar can scan, monitor and collect as many reflectivity targets as possible in the blind area.
Example 4
The structure and principle of embodiment 4 are similar to those of embodiment 2, except that: the diffuse reflection materials of the diffuse reflection sheets are not identical, so that common cause failure caused by external influence can be eliminated.
Example 5
The structure and principle of embodiment 5 is similar to those of embodiments 2 to 4, except that: a specific number of preferred embodiments of the diffusely reflective sheet are presented. Specifically, two diffuse reflection sheets with low reflectivity, different reflectivities and different diffuse reflection materials are selected for use, two inclined planes are arranged between two diaphragm holes on the diaphragm plate, grooves or grooves are formed in the positions of the inclined planes, and the diffuse reflection sheets are arranged at the grooves or grooves and can be replaced with diffuse reflection sheets with different materials or reflectivities according to requirements.
Example 6
The structure and principle of embodiment 6 is similar to those of embodiments 1 to 4, except that: a preferred embodiment of the laser transmitter module is provided.
Specifically, the laser emission module comprises a laser light source 4-1 arranged on the shell, a laser collimation lens 4-2 positioned on an outgoing beam of the laser light source, and a reflecting mirror 4-3 positioned on the outgoing beam of the laser light source and behind the laser collimation lens, wherein the outgoing beam of the laser light source and the laser collimation lens are both positioned on a rotation center line of the rotation mechanism, and the rotation center line of the rotation mechanism passes through the reflecting mirror; the emergent light beam is emitted by the laser light source, collimated by the laser collimating lens and reflected by the reflecting mirror.
In this embodiment, the outgoing beam is directed vertically upwards, and the reflecting mirror forms an angle of 45 ° with the outgoing beam (i.e. a 45 ° reflecting mirror). The pyramid prism is transversely placed and matched with the 45-degree reflecting mirror, so that the effect that echo laser reflected by the prism can be directly irradiated to the 45-degree reflecting mirror without being blocked by the L-shaped cylinder 8, and can be received and converged by the laser receiving lens without being blocked after being reflected by the 45-degree reflecting mirror can be ensured; secondly, the high-reflectivity targets equivalent to the pyramid prism can be secondarily utilized in the blind area monitoring process, echo light of the two high-reflectivity targets irradiates different positions of the 45-degree reflecting mirror respectively, and meanwhile, the comparison monitoring of the reflection light capacity of different positions of the 45-degree reflecting mirror surface can be realized while the available monitoring information is enriched.
Example 7
The structure and principle of embodiment 7 is similar to those of embodiments 1 to 4, except that: a preferred embodiment of the laser receiving module is provided.
The laser receiving module comprises a laser receiving lens 7-1 wrapped outside the laser light source and the laser collimating lens, a photoelectric detector 7-2 positioned at the laser converging end of the laser receiving lens, a receiving amplifying circuit 7-3 electrically connected with the photoelectric detector, and a main control circuit module 7-4 electrically connected with the receiving amplifying circuit, wherein echo light beams are converged by the laser receiving lens and then irradiated on the photoelectric detector.
Example 8
The structure and principle of embodiment 8 is similar to those of embodiments 1 to 7, except that: a preferred embodiment of the housing is provided.
Specifically, the shell comprises a fixed frame body 1-1 and an optical cover 1-2 connected with the fixed frame body; the rotating mechanism, the laser emission module, the reference measurement module and the laser receiving module are arranged on the fixed frame body; the outgoing beam generated by the laser emitting module irradiates on the measured object or the reference measuring module after passing through the optical cover, the echo beam irradiates on the laser receiving module after passing through the optical cover, and the optical cover does not change the directions of the outgoing beam and the echo beam.
The utility model also provides a laser radar, which comprises the integral monitoring structure of any laser radar ranging link.
The working principle of the utility model is as follows:
as shown in fig. 3, the pyramid prism is matched with the diaphragm holes as a reference target, the laser emitted by the laser light source is converted into collimated laser output with a small divergence angle through the laser collimating lens, the collimated laser is reflected by the 45-degree reflecting mirror, the transmission direction of the laser beam is changed, then the laser penetrates through the optical cover to pass through one diaphragm hole, then is reflected by the pyramid prism, passes through the reflected laser penetrating optical cover from the other diaphragm hole, then is reflected by the 45-degree reflecting mirror, changes the transmission direction of the laser beam, is converged through the laser receiving lens, the converged light is focused on the target surface of the photoelectric detector, the photoelectric detector converts the echo light signal into an electric signal, and then the corresponding information is obtained through signal conditioning of the receiving amplifying circuit and resolving of the main control circuit module. The main control circuit module controls the rotating structure to drive the 45-degree reflecting mirror to rotate, and meanwhile, the directions of emergent laser of the radar and the received echo laser of the detected target are changed, so that the spatial scanning of the radar is realized. The method aims at isolating degradation caused by position deviation of a reference target by utilizing the characteristic that the parallelism and intensity ratio of incident and emergent light rays of the pyramid prism are insensitive to the position deviation of the pyramid prism, wherein the slight deviation of the installation position of the pyramid prism can not cause intensity fluctuation of echo signals in the radar working process.
As shown in fig. 4, the diffuse reflection sheet is used as a reference target, the laser emitted by the laser source is converted into collimated laser output with a small divergence angle through the laser collimating lens, the collimated laser is reflected by the 45-degree reflecting mirror, the transmission direction of the beam is changed, the collimated laser is emitted to the diffuse reflection sheet through the optical cover, the laser reflected by the diffuse reflection sheet penetrates through the optical cover and is converged through the laser receiving lens, the converged light is focused on the target surface of the photoelectric detector, the photoelectric detector converts echo light signals into electric signals, and the electric signals are conditioned by the signal conditioning of the receiving amplifying circuit and the resolving of the main control circuit module to obtain corresponding information. The purpose is to utilize the characteristic that the diffuse reflection light space angle of the diffuse reflection sheet is distributed uniformly, and the slight deviation of the diffuse reflection sheet position can not cause the fluctuation of the echo signal intensity.
The reference target is set in a pyramid prism and diffuse reflection sheet combination mode, and the purpose is that the pyramid prism can be used for monitoring the change of the coaxiality of a laser radar receiving and transmitting optical path (comprising the directivity index of a collimated light beam and the field-of-view offset of a receiving optical path) and the diffuse reflection sheet can be used for monitoring the fluctuation of the energy level of a laser radar ranging link (comprising the fluctuation of the power of a light source, the response sensitivity of a detector and the fluctuation of the gain of an amplifying circuit). The pyramid prism is used as a reference target, the equivalent reflectivity is determined by the shape and the size of a diaphragm hole, the prism material and a coating film, the diffuse reflection sheet is used as the reference target, the reflectivity is determined by the chemical composition of a reflective coating material and the roughness of the coating surface, the two reference targets have obvious structural differences, the reflectivity caused by the same external factors such as temperature and vibration is low in probability of simultaneous degradation (common cause failure), and the safety level of a radar system is improved.
The foregoing is merely illustrative of the present utility model and is not intended to limit the scope of the utility model, which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides an overall monitoring structure of laser radar ranging link which characterized in that: the laser radar system comprises a shell, wherein a rotating mechanism, a laser emission module for generating an emergent beam, a reference measurement module for self-checking a laser radar system and a laser receiving module for receiving an echo beam are arranged on the shell, and the emergent angle of the emergent beam of the emission module has the function of 360-degree horizontal scanning around a rotating center under the action of the rotating mechanism; defining a ranging blind area in the range of an emergent angle of an emergent beam, wherein a reference measurement module is positioned in the ranging blind area;
the reference measurement module comprises a pyramid prism, a diffuse reflection sheet and a diaphragm plate, wherein the pyramid prism is positioned right behind the diaphragm plate along the direction of an outgoing beam and is transversely arranged; two diaphragm holes symmetrical to the vertex of the pyramid prism are arranged on the diaphragm plate, and one or more diffuse reflection sheets are arranged between the two diaphragm holes.
2. The overall monitoring architecture for a lidar ranging link of claim 1, wherein: multiple diffuse reflection sheets are selected, and the reflectivity among the diffuse reflection sheets is different.
3. The overall monitoring architecture for a lidar ranging link of claim 2, wherein: the diffuse reflection sheets are all low in reflectivity.
4. The overall monitoring architecture for a lidar ranging link of claim 2, wherein: the diffuse reflection materials of the plurality of diffuse reflection sheets are not identical.
5. The overall monitoring architecture for a lidar ranging link according to any of claims 2-4, wherein: two diffuse reflection sheets with low reflectivity, different reflectivities and different diffuse reflection materials are selected, two inclined planes are arranged between two diaphragm holes on the diaphragm plate, grooves or grooves are arranged at the positions of the inclined planes, and the diffuse reflection sheets are arranged at the grooves or grooves.
6. The overall monitoring architecture for a lidar ranging link according to any of claims 1-4, wherein: the laser emission module comprises a laser light source arranged on the shell, a laser collimation lens positioned on an emergent beam of the laser light source, and a reflecting mirror positioned on the emergent beam of the laser light source and behind the laser collimation lens, wherein the emergent beam of the laser light source and the laser collimation lens are both positioned on a rotation center line of the rotation mechanism, and the rotation center line of the rotation mechanism passes through the reflecting mirror; the emergent light beam is emitted by the laser light source, collimated by the laser collimating lens and reflected by the reflecting mirror.
7. The overall monitoring architecture for a lidar ranging link of claim 6, wherein: the emergent beam is vertical upwards, and the reflecting mirror forms an included angle of 45 degrees with the emergent beam.
8. The overall monitoring architecture for a lidar ranging link of claim 6, wherein: the laser receiving module comprises a laser receiving lens wrapped outside the laser light source and the laser collimating lens, a photoelectric detector positioned at the laser converging end of the laser receiving lens, a receiving amplifying circuit electrically connected with the photoelectric detector, and a main control circuit module electrically connected with the receiving amplifying circuit, wherein echo light beams are converged by the laser receiving lens and then irradiated on the photoelectric detector.
9. The overall monitoring architecture for a lidar ranging link of claim 1, wherein: the shell comprises a fixing frame body and an optical cover connected with the fixing frame body; the rotating mechanism, the laser emission module, the reference measurement module and the laser receiving module are arranged on the fixed frame body; the outgoing beam generated by the laser emitting module irradiates on the measured object or the reference measuring module after passing through the optical cover, the echo beam irradiates on the laser receiving module after passing through the optical cover, and the optical cover does not change the directions of the outgoing beam and the echo beam.
10. A lidar, characterized in that: an overall monitoring structure comprising a lidar ranging link according to any of claims 1 to 9.
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| CN202321137722.2U CN220019871U (en) | 2023-05-09 | 2023-05-09 | Integral monitoring structure of laser radar ranging link and laser radar |
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| CN202321137722.2U CN220019871U (en) | 2023-05-09 | 2023-05-09 | Integral monitoring structure of laser radar ranging link and laser radar |
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