CN207380238U - A kind of laser radar based on diffraction optics - Google Patents
A kind of laser radar based on diffraction optics Download PDFInfo
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Abstract
The utility model discloses a kind of laser radars based on diffraction optics, it includes：Laser emission element, diffraction optical element, laser echo signal receiving unit, signaling control unit, signal acquisition process unit and light scanning unit.The utility model is had the characteristics that low cost, high sensitivity, solves the problems, such as that high cost, structure that multi-laser is brought are too fat to move, the great market competitiveness is promoted in future market using single laser structure.
Description
Technical field
The utility model is related to a kind of laser radar, more particularly to a kind of laser radar based on diffraction optics belongs to sharp
Optical detector technology field.
Background technology
Laser radar is quickly become mapping and is built with the features such as its detection accuracy is high, speed of detection is fast, strong antijamming capability
Laser radar according to the difference of carrying platform, can be divided into airborne laser radar by the research hotspot in the fields such as mould and autonomous driving
System, mobile lidar system and ground laser radar system.Airborne laser radar system is mainly used for large range of number
Word city survey modeling etc., and ground laser radar system can obtain the geometric data of higher precision, commonly used in cultural attractions
Reconstruction W and target product reverse-engineering etc..In contrast, mobile lidar System Development is relatively slow, still
With autonomous driving in recent years, it is unmanned become research hotspot, mobile lidar technology also achieves rapid development.Vehicle
The atural objects tables such as building, vehicle and the pedestrian of road and both sides can be obtained under podium level mobile status by carrying laser radar system
Face data message, therefore become the important means of vehicle position Spatial data capture, suddenly become autonomous driving, nobody
The research hotspot in driving field.
At present, the domestic either mobile lidar used or the airborne laser radar overwhelming majority are external producers
Product.Particularly mobile lidar product is almost that foreign vendor is monopolized, the production of single line mobile lidar Sick companies
Product are representative, and the product of multi-line laser radar Velodyne companies is mark post.Although in recent years, the country is directed to laser radar neck
The research unit in domain is increasing, and technology also accordingly improves, but technically also has larger gap compared with external product.Mesh
Before, for the mobile lidar of autonomous driving, gradually developed from earliest single line ranging to multi-thread ranging, from two-dimensional scan to
3-D scanning develops, and measurement accuracy is higher and higher, and the reaction time is shorter and shorter, and reliability and stability are also higher and higher.
One of first technology is (referring to " Intergration of a Terrestrial Laser Scanner with
GPS uses the land laser scanning integrated technology of GPS ", Talaya J, Alamus R and Bosch E, et al., IMU
Orientation Sensors, ISPRS2004, July 12~23, Istanbul Turkey) it is given birth to using SICK companies of Germany
The LMS200 series lasers distance-measuring equipment of production realizes the autonomous driving of high quality, it is single line range radar to laser radar, base
In the measurement of flight time, with non-contact measurement principle, distance value is calculated by calculating laser time of return, it can be
Quick scanning sample is carried out with 5 degree of interval in the range of 180 degree, and sampled result is sent to processor.But the scanner
Scanning angle is only 180 degree, can not complete 360 degrees omnidirection scanning, and is the one-line scanning imaging based on single laser, is imitated
Rate is relatively low, is not used on automatic driving vehicle.
The two of first technology are (referring to " Static calibration and analysis of the Velodyne
HDL-64E S2 for high accuracy mobile scanning laser radar Velodyne HDL-64E S2 are for height
The static demarcating of precision motion scan and analysis, Glennie C and Lichti D D., Remote Sensing, 2 (6):
1610-1624,2010 " and " Feature-based self-calibration of Velodyne HDL-32E LiDAR
For terrestrial mobile mapping applications are used for the feature based value of geographical mobile message imaging
Velodyne HDL-32E laser radar self-calibration technologies, Chan T O and Lichti D D., The International
Symposium on Mobile Mapping technology, 2013 ") it is used for pilotless automobile using 64 line laser radars
On, three-dimensional real time imagery and navigation, automatic identification signal lamp and detection barrier are carried out, structure is sensor closely
Gondola, gondola are made of 64 2D line scanners.64 lasers are distributed in 27 degree of vertical field, entire 27 degree of visual fields 360
Degree rotation.Every 16 are divided into one group in 64 lasers, four groups altogether, and laser detector has two groups altogether per elder sister 32.It swashs
Light device output wavelength is 905 nanometers, has the angle of divergence of 2 milliradians.Carried out data transmission using UDP message bag, the inside includes
The distance and angle information that single laser beam returns.Change laser radar use laser it is excessive, cost is very high, be difficult to realize
It is popular.
The three of first technology are (referring to " Mobile laser scanning in fluvial geomorphology:
Mobile laser scanning in mapping and change detection of point bars river morphologies：The imaging of point bar
With variation monitoring, Alho P, Vaaja M and Kukko A, et al., Zeitschrift FurGeomorphologie
Supplementary Issues,55(2):31-50,2011 ") be Britain 360 mobile lidar systems of StreetMapper
System is the top configuring product of mobile lidar, it is integrated with the VQ-250 type laser scanners of Riegl, mounted on roof
On, then coordinate two AVT Pike F421C type high-speed color digital imaging systems, the obstacle detection and road conditions of automobile can be completed
Acquisition of information.The system can quickly measure road, and range accuracy is up to 5 millimeters, and nearly 300 meters of ranging, single sweep instrument is per second to be surveyed
300000 points, measurement frequency nearly 300kHz, comprehensive pointing precision is up to centimetres.The information is soft using TERRAOoffice
Part carries out data prediction, and the pretreatment of laser data is carried out using RiWORLD, and data post-processing software commonly uses sweet smell in the world
The product of blue TerraSolid companies.The laser radar is of high cost also using classical multi-laser configuration, and needs to match somebody with somebody
It closes camera to be identified, replicability is little, belongs to high-end user product.
In the four of first technology, the R-Fans16 line laser radars of in May, 2016 issue are painted in day by Beijing North section, and pitching regards
Field is 30 degree, and measurement distance is 1-100 meters, scans frame frequency ＞ 15Hz, laser point frequency ＞ 300kHz.Shenzhen Sagitar gathers wound 2016
The RS-LiDAR16 line laser radars of issue in October in year, it uses the form of hybrid solid-state, 100 meters of measurement distance, precision
It is per second to go out 320,000 points of points in real time for 2cm, horizontal 360-degree, 30 degree vertical (± 15 degree).For data or even slightly it is better than
The 16 line products of Veledyne.The standing grain that Shanghai standing grain match Optoelectronics Technology is released in October, 2016 matches 32 line hybrid solid-state laser thunders
It reaches, 150 meters, measurement frequency 640kHZ, scan frequency 5-20HZ of detection range, 360 degree of horizontal field of view angle, -16 ° of vertical field of view angle
To 14 °；In addition, Shenzhen radium mind energy company will also release 16 line laser radars.Each company's mobile lidar system
System is seeking vehicle and is looking forward to testing research of cooperating.But these products are all based on traditional multi-laser array and carry out three-dimensional
Scanning, cost is excessively high, expensive, is not suitable for a wide range of promote.
Utility model content
The purpose of this utility model is that provide a kind of laser radar based on diffraction optics.The utility model is using single
Laser structure has the characteristics that low cost, highly sensitive, solves that high cost, structure that multi-laser is brought are too fat to move to ask
Topic promotes the great market competitiveness in future market.
The technical solution of the utility model：A kind of laser radar based on diffraction optics, the laser radar include：
Laser emission element, for emitting collimated pulses light；
Diffraction optical element is arranged on the transmitting terminal of laser emission element, for the collimation for sending laser emission element
The wavefront position of pulsed light is mutually modulated, and collimated pulses light is divided into M bunch matrix lamp light beams in vertical direction；
Laser echo signal receiving unit, built-in linear array signal sensor, for receiving the irradiation of linear array illuminating bundle
The laser signal of target back reflection；
Signaling control unit is connected with laser emission element and laser echo signal receiving unit, for laser to be controlled to send out
Penetrate unit and laser echo signal receiving unit；
Signal acquisition process unit is connected with laser echo signal receiving unit, is returned for gathering and handling laser in real time
The laser signal that ripple signal receiving unit receives；
Light scanning unit is connected with signaling control unit and laser emission element, for according to signaling control unit
Control command is modulated the direction of the launch of the laser signal of laser emission element transmitting.
In the foregoing laser radar based on diffraction optics, the diffraction optical element has not equidistant, cycle weight
Multiple binary phase grat
In the foregoing laser radar based on diffraction optics, the diffraction optical element is Darman raster.
In the foregoing laser radar based on diffraction optics, the laser echo signal receiving unit is internally provided with M pictures
The linear array signal sensor of member.
In the foregoing laser radar based on diffraction optics, including pedestal, cylindrical shell, Laser emission are equipped with above pedestal
Unit and laser echo signal receiving unit are arranged on the bottom of cylindrical shell, and the top of the cylindrical shell is returned equipped with laser
Ripple signal receiving unit, the mirror tilt angle that the light scanning unit includes being fixed on cylindrical shell top is in 45 ° of reflection
Mirror, speculum top are equipped with rotation axis, and rotation axis is connected with electric rotating machine；The electric rotating machine and signaling control unit phase
Even.
Compared with prior art, the utility model has the advantages that：
(1) the utility model emits collimated pulses light by laser emission element, in the transmitting route of laser emission element
On be provided with diffraction optical element, the wavefront position that the collimation that diffraction optical element sends laser emission element is washed off forever mutually carries out
Collimated pulses light is divided into M bunch matrix lamp light beams by modulation in vertical direction, and the illumination light velocity is irradiated to target, through mesh
It is received after mark reflection by the highly sensitive linear array signal sensor inside laser echo signal receiving unit with M pixels, Gao Ling
Each pixel of sensitivity linear array signal sensor is corresponded with linear array illuminating bundle.By measuring collimated pulses light in laser
Two-way time t between transmitter unit and laser echo signal receiving unit, you can obtain target range L=c × t/2, wherein c
For the aerial spread speed of light.Due to the combination using diffraction optical element and linear array detector, single laser arteries and veins
Punching transmitting achieves that the range measurement of M point in vertical direction, it is achieved thereby that the parallel acquisition of range information.Laser emission
When repetition rate is N Hz, the point cloud chart picture of M × N can be realized.
(2) the preferred binary Darman raster element of diffraction optical element described in, Darman raster be it is a kind of have not equidistantly,
Single beam collimated pulses light, can be both divided into M bunch matrix lamp light, can also passed through by the binary phase grat that the cycle repeats
To the spatial coordinate location and the design optimization of phase in screen periods, make diffraction output light that there is same luminous intensity.
(3) the utility model designs specific apparatus structure, by laser emission element and laser echo signal
Receiving unit is arranged on the lower part of cylindrical shell, and the speculum that mirror tilt angle is in 45 ° is set on the top of cylindrical shell, passes through rotation
Rotating motor driving speculum rotation, realizes 360 ° of scannings of transmitting light, and the electric rotating machine is connected with signaling control unit, passes through
The rotation angle of electric rotating machine is adjusted in light scanning unit.Further, to avoid the isolation problem coaxially received and dispatched,
Transmitting is parallel with the optical axis of receiving light path, the oval metallic mirror that 45 ° of speculums are 65 × 92mm, it is ensured that covering transmitting
And receiving light path.
Description of the drawings
Fig. 1 is the operation principle schematic diagram of the utility model；
Fig. 2 is the structure diagram of the utility model；
Fig. 3 is the fundamental diagram of light scanning unit；
Fig. 4 is the structure diagram of 1 × 5 beam splitting Darman raster；
Fig. 5 is two-value Darman raster internal structure schematic diagram；
Fig. 6 is that multi-path laser combination Darman raster increases vertical scan direction angular range schematic diagram.
Specific embodiment
With reference to embodiment, the utility model is described in further detail, but be not intended as to the utility model limitation according to
According to.
Embodiment 1：Laser radar based on diffraction optics, as shown in Figure 1, the laser radar include：
Laser emission element 1, for emitting collimated pulses light；
Diffraction optical element 2 is arranged on the transmitting terminal of laser emission element 1, for the standard for sending laser emission element
The wavefront position that straight veins is washed off is mutually modulated, and collimated pulses light is divided into M bunch matrix lamp light beams in vertical direction；
Laser echo signal receiving unit 3, built-in linear array signal sensor 4 shine for receiving linear array illuminating bundle
Penetrate the laser signal of target back reflection；
Signaling control unit 5 is connected with laser emission element 1 and laser echo signal receiving unit 3, for controlling laser
Transmitter unit and laser echo signal receiving unit；
Signal acquisition process unit 6 is connected with laser echo signal receiving unit 3, for gathering and handling laser in real time
The laser signal that echo signal reception unit receives；
Light scanning unit 7 is connected with signaling control unit 5 and laser emission element 1, for according to signaling control unit
Control command, the direction of the launch of laser signal of laser emission element transmitting is modulated.
Preferably, diffraction optical element has the binary phase grat that the not equidistant, cycle repeats, such as diffraction optics
Element is Darman raster.
Further, the light scanning unit can be used sets 45 ° of speculum in the top of diffraction optical element,
By the rotation of speculum, 360 ° of scannings of laser group are realized by rotating mirror.
The specific device structure of above-mentioned laser radar as shown in Figures 2 and 3, specifically includes pedestal 10,10 top of pedestal
Equipped with cylindrical shell 11, laser emission element 1 and laser echo signal receiving unit 3 are arranged on the bottom of cylindrical shell 11, institute
The top for the cylindrical shell 11 stated is equipped with laser echo signal receiving unit 3, and the light scanning unit 7 includes being fixed on column
The mirror tilt angle of shape housing upper is in 45 ° of speculum 12, and 12 top of speculum is equipped with rotation axis 13, and rotation axis 13 is connected with rotation
Rotating motor 14；The electric rotating machine 14 is connected with signaling control unit 5.
The scan method of laser radar based on above-mentioned diffraction optics, laser emission element emit accurate to diffraction optical element
Straight veins is washed off, and after diffraction optical element, the wavefront position of collimated pulses light is mutually modulated, and is divided into M bunch in vertical direction
Property matrix lamp light beam, the illumination light velocity is irradiated to target, had M inside laser echo signal receiving unit after target reflects
The highly sensitive linear array signal sensor of pixel receives, and each pixel and the linear array of highly sensitive linear array signal sensor illuminate
Light beam corresponds；So as to fulfill the parallel acquisition of range information.The light scanning unit is used in diffraction optical element
Top 45 ° of speculum is set, pass through rotating mirror and realize 360 ° of scannings of laser group.
By measuring two-way time of the collimated pulses light between laser emission element and laser echo signal receiving unit
T, you can obtain target range L=ct/2, wherein c is the aerial spread speed of light.Due to using linear array height
Sensitivity detector receives, and single laser pulse emits the range measurement for achieving that M point in vertical direction, it is achieved thereby that
The parallel acquisition of range information.When Laser emission repetition rate is NHz, the point cloud chart picture of M × N can be realized.Optical scanner list
Member drives speculum rotation in the horizontal direction, you can obtains the image of 360 ° of scope targets.The laser arteries and veins of mobile lidar
Repetition is rushed up to tens of kHz or 100kHz, seamless coverage can be realized to vehicle-periphery in tens of ms, be swept using middling speed
The high frame frequency imaging (being less than the human eye vision reaction time) of 10Hz~20Hz can be obtained by retouching mechanism.
Collimated pulses light equal strength beam splitting technology preferably uses binary Darman raster element in the laser emission element
Realize laser equal strength beam splitting.Darman raster is a kind of binary phase grat that there is the not equidistant, cycle to repeat.By to light
The design optimization of spatial coordinate location and phase in grid cycle makes diffraction output light have same luminous intensity, Darman raster
Beam splitting is realized as shown in Figure 4.
Fig. 5 is a kind of cut-away view of amplitude type Darman raster, and the distribution of amplitudes composed in plane is
Shown in light distribution such as formula (4),
P (m)=| Ta(m)|2 (4)
It is mutually the phase-type Darman raster of pi/2+θ and pi/2-θ for position, the distribution of amplitudes composed in plane is：
Tp(0)=[2Ta(0) -1] sin θ+icos θ, m=0 (5)
Tp(m)=sin θ Ta(m), m ≠ 0 (6)
Light distribution is：
P (m)=| Tp(m)|2 (7)
Grating internal modifications point coordinates { a1, b1 } is optimized using optimization algorithm so that the light intensity of m diffraction time
It is equal, you can to realize equal strength beam splitting.
The laser echo signal receiving unit will realize the accurate match of transmitting-receiving visual field, according to scalar diffraction theory,
Angle of diffraction of the laser after Darman raster can be expressed as under the conditions of normal incidence：
Wherein, α is the angle of diffraction of emergent light, and m is the diffraction time of emergent light, and λ is incident optical wavelength, and d is Dammam
Screen periods.(the α under the conditions of small angle approximation<5 °),Two neighboring diffraction time angle, i.e. vertical direction angle point
Resolution is：
In order to ensure that emission array light is corresponded with linear array detector pixel, according to imaging relations, two neighboring illumination
It needs to meet following relation between angular and detector pixel
F* Δs α=δ (9)
Wherein, f be receiving optics focal length, δ distances between detector pixel.It when the conditions are satisfied can be real
Now receive and dispatch visual field Auto-matching.
Laser radar pulse infrared light source can be selected in the laser emission element, intends using 905nm pulse laser LD, should
Band laser technical maturity is high, may be selected rich choice of products, and pulse peak power has 25W to the 650W available.This implementation
Example use the peak power of LD laser as 195W, pulse width 50ns, pulse recurrence frequency 5KHz, duty ratio corresponding be 0.25 ×
10-3, meet the requirement that laser duty cycle is less than 0.1%.
What is sent from 905nm lasers LD is divergencing laser pulsed light, it is necessary to be collimated with lens.Light beam after collimation
It is a diameter of
Wherein fTTo collimate the focal length of lens, D is the beam diameter after collimation, and θ is from laser LD outgoing laser beams
The angle of divergence.Design transmitting beam diameter 10mm.
Diffraction optical element in the laser emission element generally uses the Darman raster of 1 × 25 splitting ratio, if hanging down
Straight resolution ratio is 0.4 °, then the Darman raster cycle is 129.6 microns.Designed phase Darman raster diffraction efficiency is better than 70%.
Darman raster can be based in the laser emission element and carries out isocandela beam splitting extension, is combined using multi-path laser
Darman raster isocandela beam splitting technology, makes laser radar be extended splicing, realization side in the scanning angle scope of vertical direction
Formula is as shown in Figure 6.Transmitting 1 has identical vertical scanning angle scope and angular resolution with transmitting 2, adjusts its relative angle pass
System, makes ∠ α=∠ △, you can realizes scanning angle multiplication extension.After the multiplication of transmitting terminal scanning angle scope, end of probe is received
Will accordingly be doubled pixel quantity, can be realized by way of increasing linear array detector, due to the angle that simply doubled, work as reception
When optical system field of view can cover scanning angle, the flashlight of transmitting 1 and transmitting 2 can be received by receiving linear array detector.By
Transmitting, reception in multiplication can share original system light path, and the laser radar system of this programme has very strong autgmentability.
The 25 pixel Si APD detectors that the highly sensitive linear array signal sensor uses, pixel dimension 0.3mm, spirit
Sensitivity 31A/W@900nm.
Reception optical lens in the laser echo signal receiving unit is intended using 50mm bore receiving lens, according to
Preceding formula (1) can be 43mm in the hope of the focal length of lens.
The light scanning unit realizes the 360 ° of scannings of transmitting light using 45 ° of speculums are rotated, and designs scan frequency 10
~30Hz, i.e. 600~1800rpm of motor rotation speed.To avoid the isolation problem coaxially received and dispatched, transmitting and receiving light path
Optical axis is parallel, as shown in Figure 3.The oval metallic mirror that 45 ° of speculums are 65 × 92mm, it is ensured that covering transmitting and reception
Light path.
The pulse laser flight time measuring method of the laser radar uses time-to-digital converter technology (TDC),
TDC-GP2 high precision time measurements chip can realize the measurement accuracy of 65ps, corresponding 2cm precision.
Claims (5)
1. a kind of laser radar based on diffraction optics, it is characterised in that：The laser radar includes：
Laser emission element (1), for emitting collimated pulses light；
Diffraction optical element (2) is arranged on the transmitting terminal of laser emission element (1), for the standard for sending laser emission element
The wavefront position that straight veins is washed off is mutually modulated, and collimated pulses light is divided into M bunch matrix lamp light beams in vertical direction；
Laser echo signal receiving unit (3), built-in linear array signal sensor (4) are shone for receiving linear array illuminating bundle
Penetrate the laser signal of target back reflection；
Signaling control unit (5) is connected with laser emission element (1) and laser echo signal receiving unit (3), sharp for controlling
Light emitting unit and laser echo signal receiving unit；
Signal acquisition process unit (6) is connected with laser echo signal receiving unit (3), for gathering and handling laser in real time
The laser signal that echo signal reception unit receives；
Light scanning unit (7) is connected with signaling control unit (5) and laser emission element (1), single for being controlled according to signal
The control command of member is modulated the direction of the launch of the laser signal of laser emission element transmitting.
2. the laser radar according to claim 1 based on diffraction optics, it is characterised in that：The diffraction optical element
(2) there is the binary phase grat that the not equidistant, cycle repeats.
3. the laser radar according to claim 2 based on diffraction optics, it is characterised in that：The diffraction optical element
(2) it is Darman raster.
4. the laser radar according to claim 1 based on diffraction optics, it is characterised in that：The laser echo signal
Receiving unit (3) is internally provided with the linear array signal sensor (4) of M pixels.
5. the laser radar according to claim 1 based on diffraction optics, it is characterised in that：Pedestal (10) is specifically included,
Cylindrical shell (11) is equipped with above pedestal (10), laser emission element (1) and laser echo signal receiving unit (3) are arranged on column
The bottom of shape housing (11), the top of the cylindrical shell (11) are equipped with laser echo signal receiving unit (3), the light
Learning scanning element (7) includes being fixed on the mirror tilt angle on cylindrical shell top in 45 ° of speculum (12), speculum (12) top
Equipped with rotation axis (13), rotation axis (13) is connected with electric rotating machine (14)；The electric rotating machine (14) and signaling control unit
(5) it is connected.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107991681A (en) * | 2017-11-22 | 2018-05-04 | 杭州爱莱达科技有限公司 | Laser radar and its scan method based on diffraction optics |
| CN109213172A (en) * | 2018-09-26 | 2019-01-15 | 同济大学 | A kind of more sensor stream navigation system based on optical navigation device |
| CN109343033A (en) * | 2018-09-19 | 2019-02-15 | 中国电子科技集团公司第三十八研究所 | A kind of time-multiplexed laser radar emission system based on diffraction beam splitting element |
| CN110658509A (en) * | 2018-06-28 | 2020-01-07 | 探维科技(北京)有限公司 | Laser radar system based on one-dimensional diffraction optical element DOE |
| CN110873868A (en) * | 2018-08-31 | 2020-03-10 | 探维科技(北京)有限公司 | Laser radar system based on MEMS scanning mirror |
| CN111337902A (en) * | 2020-04-29 | 2020-06-26 | 杭州爱莱达科技有限公司 | Multi-channel high-repetition-frequency large-dynamic-range distance and speed measuring laser radar method and device |
| CN111580069A (en) * | 2019-02-15 | 2020-08-25 | 苏州镭智传感科技有限公司 | Multi-line laser radar system and scanning method based on same |
| CN112904559A (en) * | 2021-01-20 | 2021-06-04 | 山东梦幻视界智能科技有限公司 | Fusion reality (MR) space sensing device based on laser radar |
-
2017
- 2017-11-22 CN CN201721570537.7U patent/CN207380238U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107991681A (en) * | 2017-11-22 | 2018-05-04 | 杭州爱莱达科技有限公司 | Laser radar and its scan method based on diffraction optics |
| CN110658509A (en) * | 2018-06-28 | 2020-01-07 | 探维科技(北京)有限公司 | Laser radar system based on one-dimensional diffraction optical element DOE |
| CN110873868A (en) * | 2018-08-31 | 2020-03-10 | 探维科技(北京)有限公司 | Laser radar system based on MEMS scanning mirror |
| CN109343033A (en) * | 2018-09-19 | 2019-02-15 | 中国电子科技集团公司第三十八研究所 | A kind of time-multiplexed laser radar emission system based on diffraction beam splitting element |
| CN109213172A (en) * | 2018-09-26 | 2019-01-15 | 同济大学 | A kind of more sensor stream navigation system based on optical navigation device |
| CN111580069A (en) * | 2019-02-15 | 2020-08-25 | 苏州镭智传感科技有限公司 | Multi-line laser radar system and scanning method based on same |
| CN111337902A (en) * | 2020-04-29 | 2020-06-26 | 杭州爱莱达科技有限公司 | Multi-channel high-repetition-frequency large-dynamic-range distance and speed measuring laser radar method and device |
| CN112904559A (en) * | 2021-01-20 | 2021-06-04 | 山东梦幻视界智能科技有限公司 | Fusion reality (MR) space sensing device based on laser radar |
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