WO2004099849A1 - Unite optique et systeme pour diriger un faisceau lumineux - Google Patents

Unite optique et systeme pour diriger un faisceau lumineux Download PDF

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Publication number
WO2004099849A1
WO2004099849A1 PCT/IL2004/000382 IL2004000382W WO2004099849A1 WO 2004099849 A1 WO2004099849 A1 WO 2004099849A1 IL 2004000382 W IL2004000382 W IL 2004000382W WO 2004099849 A1 WO2004099849 A1 WO 2004099849A1
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WO
WIPO (PCT)
Prior art keywords
prism
pair
array
optical
arrays
Prior art date
Application number
PCT/IL2004/000382
Other languages
English (en)
Inventor
Yaakov Amitai
Original Assignee
Elop Electro-Optics Industries Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Elop Electro-Optics Industries Ltd. filed Critical Elop Electro-Optics Industries Ltd.
Publication of WO2004099849A1 publication Critical patent/WO2004099849A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/0875—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more refracting elements
    • G02B26/0883—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more refracting elements the refracting element being a prism
    • G02B26/0891—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more refracting elements the refracting element being a prism forming an optical wedge
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/108—Scanning systems having one or more prisms as scanning elements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/04—Prisms
    • G02B5/045—Prism arrays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path

Definitions

  • the present invention relates to an optical unit and system for steering a light beam and for scanning a target.
  • the present invention is capable of being implemented in a large member of applications. For example, in laser rangefmders, laser target designators, light direction and ranging (Lidar) systems and the like. Background of the Invention
  • the f ndamental objective of the scanning optical Lidar is to scan a certain field of view, one pixel at a time, and determine the range information for that pixel.
  • the scanning optical Lidar may do this over very short and very long ranges and at a very high frame rates with high resolution in target position, both lateral position and range position.
  • the Lidar scanning device must also be capable of satisfying certain design constraints while meeting these objectives.
  • the design constraints include: small system size, i.e., the beam steering device must be compact enough to allow implementation in environments, especially for airborne systems, where space and weight are restricted; low system cost to allow wide use of the system; wide range of operation, namely, the scanning optical rangefmder should meet minimum performance standards independent of weather and atmospheric conditions; and data reliability, especially for collision avoidance systems.
  • the aperture of the transmitted beam is not very wide, usually a beam with a diameter of 20-30 mm can achieve the required high quality and the desired divergence of the transmission beam.
  • the optical quality of this beam should be very high, any non-desired aberration or distortion can significantly degrade the performance and reduce the detection range of the system.
  • the optical quality of the received beam deteriorated during the round trip through the atmosphere and high-quality receiving optics is usually not necessary.
  • the aperture of the receiving channel should be as high as possible to detect the maximal reflected energy. This is particularly important for airborne collision avoidance systems.
  • the transmitted power cannot be very high to avoid hazardous radiation in civilian regions.
  • the system should detect obstacles like high- voltage cables from large distances of a few hundreds of meters. These contradicted requirements can be achieved only by increasing the aperture of the receiving channel to more than 250 mm diameter. Therefore, the optical system should be very accurate and with high optical quality because of the transmission channel and with a very wide aperture because of the receiving channel. As a result, it is expected that a conventional solution will be very complicated, cumbersome and expensive.
  • an optical system for steering a light beam and for scanning a target comprising an optical unit consisting of at least one pair of prism arrays located in alignment along a common optical axis, wherein for each array the wedge angle of the prisms is identical for all the prisms in said array.
  • Fig. 1 schematically illustrates the arrangement of a light transmitter/receiver system having an optical beam steering unit
  • Figs. 2a and 2b schematically illustrate a Risley pair consisting of two sequential wedge prisms
  • Fig. 3 schematically illustrates the two parameters that describe the deviation of a scanned optical beam
  • Fig. 4 schematically depicts various angles of a deflected optical beam in relation to the four different surfaces of the Risley prism pair
  • Figs. 5a and 5b schematically illustrate a plurality of prism pairs arranged according to the invention
  • Fig. 6 schematically illustrates a side view of a beam steering unit consisting of a plurality of prism pairs according to the invention
  • Fig. 1 schematically illustrates the arrangement of a light transmitter/receiver system having an optical beam steering unit
  • Figs. 2a and 2b schematically illustrate a Risley pair consisting of two sequential wedge prisms
  • Fig. 3 schematically illustrates the two parameters that describe the deviation of a
  • FIG. 7 schematically illustrates a top view of another embodiment of a beam steering arrangement based on a plurality of prism pairs according to the invention
  • Figs. 8a and 8b schematically illustrate another possible arrangement of a steering unit based on two different array pairs
  • Fig. 1 illustrates an embodiment of a light transmitter/receiver system with a beam steering unit for scanning and/or alignment purposes.
  • a light source transmitter 2 is expanded and collimated by a beam expander 4 into a high quality transmitted beam 6, wherein the expanded beam is optionally reflected by an optical element 8, e.g., a mirror into the required direction.
  • the beam 6 is then passed through a beam-splitter 10, which could be either a polarizing or a partial beam-splitter, and transmitted onto a distant target.
  • the beam 12 which is reflected from the target is reflected by the beam-splitter 10 and focused by a focusing lens 14 onto an optical receiver 16.
  • the optical element 8 and beam splitter 10 By proper disposition of the optical element 8 and beam splitter 10, it is possible to ensure that the transmitted beam 6 and the reflected beam 12 will be aligned along the same optical axis.
  • a beam steering unit 18 By positioning a beam steering unit 18 into the common path of said two beams, it is possible to deviate the beams into different directions.
  • the transmitted beam 20 is deflected into a new direction 22, which is different by an angle ⁇ from the original direction of beam 6. Since the beam steering unit covers the entire aperture of the receiving channel, the receiver 16 sees the reflected beam 24 arriving from the new direction 22.
  • a controller 26, which is connected to the beam steering unit 18 and the receiver 16 can calculate the reflectance of the target as a function of the new direction 22.
  • the controller 26 and receiver 16 may be operationally linked so as to form a feedback loop.
  • Rangefmder laser devices emit a single pulse or series of pulses toward a target and a counter is activated when the pulse is emitted. When the light contacts the target, acting as a diffuse reflector, it is scattered in all directions. The receiver 16 receives the light reflected back to the rangefmder and deactivates the counter.
  • the distance from the rangefmder to the target can be calculated from the time of travel between the laser and target and the speed of light using the formula
  • R represent the range in meters
  • c represents the speed of light (3 x 10 8 m/sec)
  • t represents time in seconds for the pulse of light to travel the round trip, which is why it is necessary to divide by 2.
  • a transmitter/receiver laser is as a target designator.
  • Laser systems accomplish tactical target designation by emitting a series of pulses toward a diffuse reflection target, which scatters the light.
  • the main use for laser designators is for military applications, where programmed optical sensors respond to the particular code of pulses that the designator emits and direct munitions toward the target.
  • the receiving channel is separated from the transmitting channel, for example, where an infantry soldier designates a target which is detected by an airborne system.
  • self-directed designators where both transmission and detection are performed by the same system.
  • One possible utilization of the beam steering device is for an accurate alignment of the laser axis with another separated optical module such as a surveillance or a thermal imaging system.
  • a surveillance or a thermal imaging system In this case, most of the alignment procedure is performed during the assembly process and only the fine-tuning is achieved using the beam steering device.
  • the dynamic range of the scanning device is limited to a field of view (FOV) of a few degrees.
  • FOV field of view
  • Lidar light direction and ranging
  • a warning system for cars, planes and helicopters which simultaneously provides range and lateral position data on targets for collision avoidance. In that case, a minimal FON of 30° in both axes is required for a practical operation.
  • Another application is as a three-dimensional object detector, where by utilizing the scanning system the laser beam can be directed to various parts of the target. By determining the small differences in distance to the target, the surface contours can be determined.
  • the Risley optical scanning system consists of two sequential wedge prisms 30, 32 (Fig. 2), which have wedge angles cti. and ⁇ 2 , that are capable of rotating about the optical scan axis at angular speeds ⁇ ⁇ and ⁇ 2 in any direction.
  • Fig. 2 sequential wedge prisms 30, 32
  • wedge angles cti. and ⁇ 2 that are capable of rotating about the optical scan axis at angular speeds ⁇ ⁇ and ⁇ 2 in any direction.
  • a second, identical prism 32 in series with it can cancel the deviation of the first prism or alternatively double the angle of the beam rotation and generate a circle of twice the radius (Fig. 2b). If they rotate in opposite directions, one motion is canceled and a line is generated. In fact, all sorts of scanning patterns can be obtained using this scheme.
  • the deviated beam As shown in Fig. 3 : the off-axis angle ⁇ between the deviated beam and the main axis of the system which is set by the relative orientation between the two prisms, and the phase angle ⁇ which is set by the rotation of the combined setup of the two prisms.
  • Figure 4 illustrates the various angles of the deflected beam in relation to the four different surfaces of the system.
  • the deviated beam impinges on the first surface of the second prism with the off-axis angle o
  • the beam now impinges on the second surface of the second prism with an off-axis angle
  • the complication of the scanning system is a result of the combination of the two optical channels: the very wide aperture of the receiving channel and the high quality requirements of the transmission channel. Consequentially, it is advisable to separate between the two channels.
  • a possible approach is to totally separate between the two channels, that is, to insert a different scanning device for each one of the optical channel.
  • a very accurate alignment device must be added to the system to ensure that the two separated channels are aligned along the same optical axis. This alignment device might be very complicated and expensive; hence this approach is unpractical for most of the applications.
  • a different approach is to perform a "functional separation" rather than total physical separation between the channels. That is, the two channels are kept together along the same axis but a different scanning mechanism operates on each different channel.
  • Figs. 5a and 5b illustrate the basic concept that the invention is based upon.
  • a plurality of prism pairs 30 ⁇ , 32 ⁇ ; 30 2 , 32 2 to 30 n , 32 n are arranged together to form a prism array 34 with a similar operation to that of a single pair device 28 (Figs. 2a, 2b).
  • the different prism pairs should not necessarily be of the exact same size, but they should have the same wedge angle and they should be arrange in the same orientation.
  • the optical quality of the prism array is inferior compared to that of a single pair. That is, assuming that there are n identical prism pairs, the diffraction- limited performance of the prism array is deteriorated by a factor of n compared to that of a single pair. In addition, there is some energy loss on the boundary area between the different pairs. On the other hand, the volume and the mass of the prism array can be reduced by a factor of n compared to that of a single pair with the same wedge angle.
  • Figure 6 illustrates a side view of a beam steering unit 18 based on a plurality of prism pairs.
  • the transmitted beam 36 which is much narrower than the reflected beam 38, passes through the central prism pair, while the reflected beam 38 passes through the entire array.
  • Figure 7 illustrates a top view of another embodiment of the present invention.
  • the optical aperture 40 of the received beam is as large as the aperture of the entire array while the optical aperture 42 of the transmitted array is inside the aperture of the central pair.
  • the optical aperture 42 of the central pair is a little bit wider than those of the other pairs.
  • the advantages of this embodiment are apparent.
  • the volume and the weight of the optical elements are reduced by an order of magnitude. Therefore, a much simpler, faster and more stabilized steering device can be implemented even for systems with a very wide FOV and a large receiving aperture.
  • the performance of the receiving channel is decreased because of the array, but this decrease is practically negligible.
  • the diffraction limit of the receiving channel along the array axis 44 is increased from a few microns to a few tens of microns (the diffraction limit remains the same along the orthogonal axis 46).
  • a typical size of the detector is, however, in the order of 100-200 microns, hence, this increase can be easily compensated and the overall performance is not really reduced.
  • the optical performance of this beam is not affected at all.
  • the thickness of the central beam is much smaller then a single large prism pair with the same aperture of the receiving channel, it is expected that the distortion and the absorption as a result of the optical material imperfections will be reduced.
  • the facts that the required aperture of the transmitted beam is much narrower than that of the received beam, while the required optical performance of the received beam is much lower than that of the transmitted beam are exploited.
  • the beam steering in both horizontal and vertical axes can be performed by the rotation of the two prisms arrays: the off-axis angle ⁇ between the deviated beam and the central direction of the FOV is set by the relative orientation between the two arrays, and the phase angle ⁇ is set by the rotation of the combined setup of the two arrays.
  • a complete scanning process in the two required axes can be performed by two arrays of prisms. However, this scanning process involves two different rotations - one is the relative rotation between the arrays and the second is the rotation of the entire module. As a result, the rotating function of each array can be fairly complex and significantly different from that of the other array.
  • This computer is programmed with a specific scan pattern and can be periodically changed.
  • the program is based on equations (2) to (8), thus being capable of calculating and controlling any speed and direction of rotation of each array.
  • FIGs. 8a and 8b An alternative steering approach is illustrated in Figs. 8a and 8b.
  • the beam steering in the orthogonal axis might be performed by a second array pair 34', with an orthogonal orientation. In that case, a different wedge angle may be chosen for each different array pair.

Abstract

L'invention concerne un système optique pour diriger un faisceau lumineux et/ou pour scanner une cible, comprenant une unité optique constituée d'au moins une paire d'agencements prismatiques situés en alignement le long d'un axe optique commun. Pour chaque agencement, l'angle de prise des prismes est identique pour tous les prismes de l'agencement, et chaque agencement peut être mis en rotation indépendamment autour de l'axe.
PCT/IL2004/000382 2003-05-12 2004-05-06 Unite optique et systeme pour diriger un faisceau lumineux WO2004099849A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL15585903A IL155859A0 (en) 2003-05-12 2003-05-12 Optical unit and system for steering a light beam
IL155859 2003-05-12

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WO2004099849A1 true WO2004099849A1 (fr) 2004-11-18

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WO (1) WO2004099849A1 (fr)

Cited By (18)

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Publication number Priority date Publication date Assignee Title
EP1986032A1 (fr) * 2007-04-25 2008-10-29 Saab Ab Lecteur optique
WO2010041182A1 (fr) * 2008-10-09 2010-04-15 Koninklijke Philips Electronics N.V. Dispositif de contrôle de direction de faisceau et dispositif d'émission de lumière
DE102012015238A1 (de) * 2012-08-04 2014-02-06 Open Grid Europe Gmbh Vorrichtung zum optischen Abtasten von Flächen oder Objekten
US20160018085A1 (en) * 2014-07-18 2016-01-21 Soraa, Inc. Compound light control lens field
EP3056856A1 (fr) * 2015-02-16 2016-08-17 Kabushiki Kaisha Topcon Instrument d'arpentage et caméra tridimensionnelle
US20170138730A1 (en) * 2015-11-18 2017-05-18 Topcon Corporation Surveying Instrument
EP3179209A1 (fr) * 2015-12-10 2017-06-14 Topcon Corporation Instrument de mesure
US20180224549A1 (en) * 2017-02-07 2018-08-09 Topcon Corporation Surveying System
US10048377B2 (en) 2015-02-16 2018-08-14 Kabushiki Kaisha Topcon Posture detecting device and data acquiring device
EP3249422A4 (fr) * 2015-01-21 2018-10-03 Mitsubishi Electric Corporation Dispositif de radar laser
US10520307B2 (en) 2016-02-08 2019-12-31 Topcon Corporation Surveying instrument
WO2020142954A1 (fr) * 2019-01-09 2020-07-16 深圳市大疆创新科技有限公司 Dispositif de mesure de distance
US10823823B2 (en) * 2017-02-13 2020-11-03 Topcon Corporation Measuring instrument
US10983196B2 (en) 2017-07-06 2021-04-20 Topcon Corporation Laser scanner and surveying system
US11029154B2 (en) * 2017-05-12 2021-06-08 Topcon Corporation Deflecting device and surveying instrument
US11035936B2 (en) 2017-06-28 2021-06-15 Topcon Corporation Deflecting device and surveying instrument
WO2021137208A1 (fr) * 2019-12-30 2021-07-08 Lumus Ltd. Systèmes de détection et de télémétrie employant des guides d'ondes optiques
US11422237B2 (en) 2019-01-15 2022-08-23 Seagate Technology Llc Pyramidal mirror laser scanning for lidar

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US4079230A (en) * 1974-11-01 1978-03-14 Hitachi, Ltd. Laser working apparatus
US4118109A (en) * 1976-01-31 1978-10-03 Ferranti Limited Optical apparatus for controlling the direction of a beam of optical radiation
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Cited By (31)

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Publication number Priority date Publication date Assignee Title
EP1986032A1 (fr) * 2007-04-25 2008-10-29 Saab Ab Lecteur optique
WO2010041182A1 (fr) * 2008-10-09 2010-04-15 Koninklijke Philips Electronics N.V. Dispositif de contrôle de direction de faisceau et dispositif d'émission de lumière
CN102177448A (zh) * 2008-10-09 2011-09-07 皇家飞利浦电子股份有限公司 光束方向控制装置及光输出装置
RU2508562C2 (ru) * 2008-10-09 2014-02-27 Конинклейке Филипс Электроникс Н.В. Устройство управления направлением луча и светоизлучающее устройство
DE102012015238A1 (de) * 2012-08-04 2014-02-06 Open Grid Europe Gmbh Vorrichtung zum optischen Abtasten von Flächen oder Objekten
US20160018085A1 (en) * 2014-07-18 2016-01-21 Soraa, Inc. Compound light control lens field
US10539666B2 (en) 2015-01-21 2020-01-21 Mitsubishi Electric Corporation Laser radar device
EP3249422A4 (fr) * 2015-01-21 2018-10-03 Mitsubishi Electric Corporation Dispositif de radar laser
EP3056856A1 (fr) * 2015-02-16 2016-08-17 Kabushiki Kaisha Topcon Instrument d'arpentage et caméra tridimensionnelle
US10309774B2 (en) 2015-02-16 2019-06-04 Kabushiki Kaisha Topcon Surveying instrument and three-dimensional camera
EP3407013A1 (fr) * 2015-02-16 2018-11-28 Kabushiki Kaisha Topcon Instrument d'arpentage et caméra tridimensionnelle
US10048377B2 (en) 2015-02-16 2018-08-14 Kabushiki Kaisha Topcon Posture detecting device and data acquiring device
US10088307B2 (en) 2015-02-16 2018-10-02 Kabushiki Kaisha Topcon Surveying instrument and three-dimensional camera
US20170138730A1 (en) * 2015-11-18 2017-05-18 Topcon Corporation Surveying Instrument
EP3171130A1 (fr) * 2015-11-18 2017-05-24 Topcon Corporation Instrument de surveillance
US10823558B2 (en) 2015-11-18 2020-11-03 Topcon Corporation Surveying instrument
JP2017106813A (ja) * 2015-12-10 2017-06-15 株式会社トプコン 測定装置
US20170168142A1 (en) * 2015-12-10 2017-06-15 Topcon Corporation Measuring Instrument
US10185026B2 (en) 2015-12-10 2019-01-22 Topcon Corporation Measuring instrument
EP3179209A1 (fr) * 2015-12-10 2017-06-14 Topcon Corporation Instrument de mesure
US10520307B2 (en) 2016-02-08 2019-12-31 Topcon Corporation Surveying instrument
US20180224549A1 (en) * 2017-02-07 2018-08-09 Topcon Corporation Surveying System
US10816665B2 (en) 2017-02-07 2020-10-27 Topcon Corporation Surveying system
US10823823B2 (en) * 2017-02-13 2020-11-03 Topcon Corporation Measuring instrument
US11029154B2 (en) * 2017-05-12 2021-06-08 Topcon Corporation Deflecting device and surveying instrument
US11035936B2 (en) 2017-06-28 2021-06-15 Topcon Corporation Deflecting device and surveying instrument
US10983196B2 (en) 2017-07-06 2021-04-20 Topcon Corporation Laser scanner and surveying system
CN111670373A (zh) * 2019-01-09 2020-09-15 深圳市大疆创新科技有限公司 一种距离探测装置
WO2020142954A1 (fr) * 2019-01-09 2020-07-16 深圳市大疆创新科技有限公司 Dispositif de mesure de distance
US11422237B2 (en) 2019-01-15 2022-08-23 Seagate Technology Llc Pyramidal mirror laser scanning for lidar
WO2021137208A1 (fr) * 2019-12-30 2021-07-08 Lumus Ltd. Systèmes de détection et de télémétrie employant des guides d'ondes optiques

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