CN107153197A - Laser radar and laser radar control method - Google Patents
Laser radar and laser radar control method Download PDFInfo
- Publication number
- CN107153197A CN107153197A CN201710152424.3A CN201710152424A CN107153197A CN 107153197 A CN107153197 A CN 107153197A CN 201710152424 A CN201710152424 A CN 201710152424A CN 107153197 A CN107153197 A CN 107153197A
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- laser
- speculum
- laser radar
- collimation lens
- horizontal plane
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000003287 optical effect Effects 0.000 claims abstract description 17
- 238000010586 diagram Methods 0.000 description 14
- 238000003860 storage Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- 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
-
- 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
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of laser radar and laser radar control method are disclosed in embodiments of the invention, the laser radar includes：Transmitter, for launching shoot laser；Transmitting terminal collimation lens, for collimating the shoot laser；Speculum, the light path for changing shoot laser after the collimation；Wherein, the angle between the speculum and horizontal plane is predetermined angle, and the optical axis of the transmitting terminal collimation lens is perpendicular to horizontal plane.The embodiment of the present invention can provide higher vertical resolution.
Description
Technical field
The present invention relates to detection field, more particularly to a kind of laser radar and laser radar control method.
Background technology
Laser radar is the radar system that the characteristic quantities such as position, the speed of target are detected to launch laser beam, its work
It is first to objective emission exploring laser light light beam, then by the signal reflected from target and transmission signal that receive as principle
It is compared, makees after proper treatment, so that it may obtain target for information about, for example target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Multi-line laser radar is one kind of laser radar, and multi-line laser radar of the prior art is by semiconductor laser
Transmitter launches laser, the motor rotation passed through, forms the scanning of a plurality of wire harness, and setting of being detected to echo optical signal
It is standby.In theory, the laser wire harness of multi-line laser radar transmitting is more, and what environment was described is more comprehensive, but multi-line laser radar
The height of component is limited in unit height can not accomplish very little, therefore can not infinitely increase the wire harness in unit height,
So as to which higher vertical resolution can not be obtained.
It can be seen that, vertical resolution during multi-line laser radar scanning of the prior art is not also high.
The content of the invention
A kind of laser radar and laser radar control method are provided in the embodiment of the present invention, higher vertical point can be provided
Resolution.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical scheme：
On the one hand there is provided a kind of laser radar, the laser radar includes：
Transmitter, for launching shoot laser；
Transmitting terminal collimation lens, for collimating the shoot laser；
Speculum, the light path for changing shoot laser after the collimation；
Wherein, the angle between the speculum and horizontal plane is predetermined angle, the optical axis of the transmitting terminal collimation lens
Vertical and horizontal face.
Optionally, the laser radar also includes：
Rotary shaft, is connected with the center of the speculum, for rotating the speculum；
Wherein, the rotary shaft is perpendicular to horizontal plane.
Optionally, the speculum is additionally operable to change the light path of reflection laser；
Wherein, the reflection laser be the shoot laser by testee reflect after laser.
Optionally, the laser radar also includes：
Receiving terminal collimation lens, for collimating the reflection laser after changing light path through the speculum；
Receiver, for receiving the reflection laser after the collimation.
Optionally, the optical axis of the receiving terminal collimation lens is perpendicular to horizontal plane.
Optionally, the transmitter, transmitting terminal collimation lens, receiving terminal collimation lens and receiver remains stationary.
On the other hand there is provided a kind of laser radar control method, methods described includes：
Transmitter launches shoot laser；
Transmitting terminal collimation lens collimates the shoot laser；
Speculum changes the light path of shoot laser after the collimation；
Wherein, the angle between the speculum and horizontal plane is predetermined angle, the optical axis of the transmitting terminal collimation lens
Perpendicular to horizontal plane.
Optionally, methods described also includes：
Rotary shaft rotates the speculum；
Wherein, the rotary shaft is connected with the center of the speculum, and the rotary shaft is perpendicular to horizontal plane.
Optionally, methods described also includes：
The speculum changes the light path of reflection laser；
Wherein, the reflection laser be the shoot laser by testee reflect after laser.
Optionally, methods described also includes：
Reflection laser of the receiving end collimation lens collimation after speculum change light path；
Receiver receives the reflection laser after the collimation.
A kind of laser radar is disclosed in embodiments of the invention, the laser radar includes transmitter, for launching
Penetrate laser；Transmitting terminal collimation lens, for collimating the shoot laser；Speculum, for changing shoot laser after the collimation
Light path；Wherein, the angle between the speculum and horizontal plane is predetermined angle, and the optical axis of the transmitting terminal collimation lens hangs down
Directly and horizontal plane.Speculum is with the addition of in the embodiment of the present invention, due to there is default angle between speculum and horizontal plane, and it is described
The optical axis vertical and horizontal face of transmitting terminal collimation lens, when speculum rotates, the vertical resolution alterable of laser radar, and
And higher vertical resolution can be provided in a particular direction.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 show the schematic diagram of laser radar of the embodiment of the present invention；
The light path schematic diagram of laser radar when Fig. 2 show the reference planes of inventive embodiments perpendicular to center line；
Fig. 3 show the laser facula schematic diagram of the embodiment of the present invention；
The light path schematic diagram of laser radar when Fig. 4 show reference planes and the centerline parallel of the embodiment of the present invention；
Fig. 5 show the laser facula schematic diagram of the embodiment of the present invention；
Fig. 6 show the vertical resolution change schematic diagram of the laser radar of the embodiment of the present invention.
Embodiment
Following examples of the present invention provide a kind of laser radar and laser radar control method, can provide higher vertical
Resolution ratio.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 show the schematic diagram of the laser radar of the embodiment of the present invention, as shown in figure 1, the laser radar includes：
Transmitter 110, for launching shoot laser；
Transmitting terminal collimation lens 120, for collimating the shoot laser；
Speculum 130, the light path for changing shoot laser after the collimation；
Wherein, the angle between the speculum 130 and horizontal plane is predetermined angle, the transmitting terminal collimation lens 120
Optical axis perpendicular to horizontal plane.
In one embodiment of the invention, the angle between speculum 130 and horizontal plane is 45 degree.
The laser radar also includes：
Rotary shaft 140, is connected with the center of the speculum 130, for rotating the speculum 130；
Wherein, the median perpendicular of the rotary shaft 140 is in horizontal plane.
In the embodiment of the present invention, the speculum 130 can be circular, or can be ellipse, or can be other shapes
Shape.
By in the embodiment of the present invention, the speculum 130 is additionally operable to change the light path of reflection laser；
Wherein, the reflection laser be the shoot laser by testee reflect after laser.
The laser radar also includes：
Receiving terminal collimation lens 150, for collimating the reflection laser after changing light path through the speculum 130；
Receiver 160, for receiving the reflection laser after the collimation.
As shown in figure 1, in the embodiment of the present invention, the optical axis of the receiving terminal collimation lens 150 is perpendicular to horizontal plane.
In the embodiment of the present invention, the transmitter 110, transmitting terminal collimation lens 120, receiving terminal collimation lens 150 and
The remains stationary of receiver 160, only speculum 130 rotate under the drive of rotary shaft 140.
The laser radar of inventive embodiments includes a speculum, and the vertical resolution of the laser radar is variable, specific
Orientation can provide high vertical resolution.The laser radar of the embodiment of the present invention is improved on original laser radar,
Cost is relatively low.
In the embodiment of the present invention, when speculum 130 rotates, the spatial distribution of emergent light is different.
With reference to shown in Fig. 1, transmitting terminal collimation lens 120 and the center line of receiving terminal collimation lens 150 are located at same level
On, both lines of centres 100 are as shown in figure 1, center line 100 is parallel to horizontal plane.
The normal of speculum, i.e. line and rotary shaft perpendicular to speculum determine a plane, and the plane is referred to as with reference to flat
Face, reference planes are both perpendicular to speculum, and perpendicular to horizontal plane.
In practical application, rotary shaft is typically a cylinder, not straight line, so generally taking rotation in practical application
Turn the rotation center line of cylinder as rotary shaft.
The light path schematic diagram of laser radar when Fig. 2 show reference planes perpendicular to center line, as shown in Fig. 2 with reference to flat
When face and central axis, central axis paper plane, reference planes are parallel to paper, reference planes and center line in fig. 2
It is not shown.Now, the side view of laser radar is as shown in Figure 2, it can be seen that transmitter 110 and transmitting terminal collimation lens 120.
Now receiving terminal collimation lens 150 is blocked with receiver 160, therefore not shown in fig. 2.
In schematic diagram shown in Fig. 2, transmitter is multiple expelling plates.
Fig. 3 is shown under Fig. 2 scene, the signal of the laser facula on the vertical plane of laser radar certain distance
Figure.
As shown in figure 3, hot spot is separated in vertical direction, now the vertical resolution of laser radar is minimum, and this hangs down
Straight gap of the resolution ratio between the focal length and expelling plate of transmitting terminal collimation lens is determined.
With the rotation of speculum 130, reference planes also progressively change, and therefore vertical resolution also changes.
The light path schematic diagram of laser radar, Fig. 5 when Fig. 4 show reference planes and the centerline parallel of the embodiment of the present invention
Laser radar side view is shown, as shown in figure 4, left side is transmitter 110, right side is receiver 160.
After the emitted end collimation lens collimation of shoot laser, optical path direction is changed by speculum 530.Now due to
The emergent light that transmitter 510 is launched is each parallel to paper, so in the figure shown in Fig. 4, can only see outermost emergent light.
Similarly, the emergent light that reflected mirror changes after light path is also only capable of seeing a line.
Fig. 5 is shown under Fig. 4 application scenarios, the laser facula on the vertical plane of laser radar certain distance
Schematic diagram, as shown in figure 5, hot spot be located at be same as on horizontal plane, and in the horizontal direction separate.
Under the application scenarios shown in Fig. 4, Fig. 5, the vertical resolution highest of laser radar, in the ideal situation, it hangs down
Straight resolution ratio can reach infinity.
Fig. 6 show the vertical resolution change schematic diagram of the laser radar of the embodiment of the present invention, as shown in fig. 6,610
Place, vertical resolution is minimum, at 620, vertical resolution highest.
Laser radar 600 is only to illustrate in Fig. 6, the putting position of laser radar 600, the direction of rotation of speculum in Fig. 6
The vertical resolution of corresponding position is not represented.
Corresponding diagram 2 at 610, the application scenarios shown in Fig. 3, corresponding diagram 4 at 620, the application scenarios shown in Fig. 5.
As shown in fig. 6, speculum rotates a circle, there is the vertical resolution highest at two, equally there is the vertical resolution at two
Rate is minimum.
A kind of laser radar is disclosed in embodiments of the invention, a speculum is with the addition of, due to speculum and level
Have default angle between face, and transmitting terminal collimation lens optical axis perpendicular to horizontal plane, when speculum rotates, laser radar
Vertical resolution alterable.Center line between reference planes and transmitting terminal collimation lens and receiving terminal collimation lens is perpendicular
When, the hot spot of the emergent light of laser radar is separated in vertical direction, and now the vertical resolution of laser radar is minimum, should
Gap of the vertical resolution between the focal length and expelling plate of transmitting terminal collimation lens is determined.In reference planes and above-mentioned center
When line is parallel, the emergent light hot spot of laser radar, which is located at, to be same as on horizontal plane, and is separated in the horizontal direction, ideally
Vertical resolution is maximum.
It can be seen that, the vertical resolution of the laser radar of inventive embodiments is variable, and high hang down can be provided in particular orientation
Straight resolution ratio.In addition, the laser radar of the embodiment of the present invention is improved on original laser radar, cost is relatively low.
Corresponding with above-mentioned laser radar, the embodiment of the invention also discloses a kind of laser radar control method, the side
Method includes：
Transmitter launches shoot laser；
Transmitting terminal collimation lens collimates the shoot laser；
Speculum changes the light path of shoot laser after the collimation；
Wherein, the angle between the speculum and horizontal plane is predetermined angle, the optical axis of the transmitting terminal collimation lens
Perpendicular to horizontal plane.
In the embodiment of the present invention, methods described also includes：
Rotary shaft rotates the speculum；
Wherein, the rotary shaft is connected with the center of the speculum, and the rotary shaft is perpendicular to horizontal plane.
In the embodiment of the present invention, methods described also includes：
The speculum changes the light path of reflection laser；
Wherein, the reflection laser be the shoot laser by testee reflect after laser.
The vertical resolution of the laser radar of the embodiment of the present invention is variable, and high vertical point can be provided in particular orientation
Resolution.
Disclose a kind of laser radar and laser radar control method in embodiments of the invention, the embodiment of the present invention swashs
A speculum is with the addition of in optical radar, due to there is default angle between speculum and horizontal plane, and transmitting terminal collimation lens
Optical axis is perpendicular to horizontal plane, when speculum rotates, the vertical resolution alterable of laser radar.In reference planes and transmitting terminal
When center line between collimation lens and receiving terminal collimation lens is perpendicular, the hot spot of the emergent light of laser radar is in vertical direction
On be separated, now the vertical resolution of laser radar is minimum, the vertical resolution by the focal length of transmitting terminal collimation lens with
And the gap between expelling plate is determined.When reference planes are parallel with above-mentioned center line, the emergent light hot spot position of laser radar
Separated in being same as on horizontal plane, and in the horizontal direction, ideally vertical resolution is maximum.In addition, the embodiment of the present invention
Laser radar improved on original laser radar, cost is relatively low.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to application specific integrated circuit, dedicated cpu, private memory, special components and parts etc. are included come real by specialized hardware
It is existing, but the former is more preferably embodiment in many cases.Understood based on such, the technical scheme sheet in the embodiment of the present invention
The part contributed in other words to prior art in matter can be embodied in the form of software product, computer software production
Product can be stored in storage medium, such as read-only storage (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disc, CD etc., including some instructions are to cause a computer equipment (can be
People's computer, server, or network equipment etc.) perform described in some parts of each embodiment of the invention or embodiment
Method.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for system
Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the scope of the protection.
Claims (10)
1. a kind of laser radar, it is characterised in that the laser radar includes：
Transmitter, for launching shoot laser；
Transmitting terminal collimation lens, for collimating the shoot laser；
Speculum, the light path for changing shoot laser after the collimation；
Wherein, the angle between the speculum and horizontal plane is predetermined angle, and the optical axis of the transmitting terminal collimation lens is vertical
In horizontal plane.
2. laser radar as claimed in claim 1, it is characterised in that the laser radar also includes：
Rotary shaft, is connected with the center of the speculum, for rotating the speculum；
Wherein, the rotary shaft is perpendicular to horizontal plane.
3. laser radar as claimed in claim 1 or 2, it is characterised in that the speculum is additionally operable to change reflection laser
Light path；
Wherein, the reflection laser be the shoot laser by testee reflect after laser.
4. laser radar as claimed in claim 3, it is characterised in that the laser radar also includes：
Receiving terminal collimation lens, for collimating the reflection laser after changing light path through the speculum；
Receiver, for receiving the reflection laser after the collimation.
5. laser radar as claimed in claim 4, it is characterised in that the optical axis of the receiving terminal collimation lens is perpendicular to level
Face.
6. the laser radar as described in claim 4 or 5, it is characterised in that the transmitter, transmitting terminal collimation lens, reception
Hold collimation lens and receiver remains stationary.
7. a kind of laser radar control method, it is characterised in that methods described includes：
Transmitter launches shoot laser；
Transmitting terminal collimation lens collimates the shoot laser；
Speculum changes the light path of shoot laser after the collimation；
Wherein, the angle between the speculum and horizontal plane is predetermined angle, and the optical axis of the transmitting terminal collimation lens is vertical
In horizontal plane.
8. the method as described in claim 7, it is characterised in that methods described also includes：
Rotary shaft rotates the speculum；
Wherein, the rotary shaft is connected with the center of the speculum, and the rotary shaft is perpendicular to horizontal plane.
9. method as claimed in claim 7 or 8, it is characterised in that methods described also includes：
The speculum changes the light path of reflection laser；
Wherein, the reflection laser be the shoot laser by testee reflect after laser.
10. method as claimed in claim 9, it is characterised in that methods described also includes：
Reflection laser of the receiving end collimation lens collimation after speculum change light path；
Receiver receives the reflection laser after the collimation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152424.3A CN107153197A (en) | 2017-03-15 | 2017-03-15 | Laser radar and laser radar control method |
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| CN201710152424.3A CN107153197A (en) | 2017-03-15 | 2017-03-15 | Laser radar and laser radar control method |
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| CN107153197A true CN107153197A (en) | 2017-09-12 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656258A (en) * | 2017-10-19 | 2018-02-02 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN108414999A (en) * | 2017-12-01 | 2018-08-17 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN108761425A (en) * | 2018-07-13 | 2018-11-06 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN109188401A (en) * | 2018-11-09 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | laser radar optical system and laser radar |
| CN109597050A (en) * | 2018-11-16 | 2019-04-09 | 上海禾赛光电科技有限公司 | A kind of laser radar |
| CN109613515A (en) * | 2018-11-16 | 2019-04-12 | 上海禾赛光电科技有限公司 | A kind of laser radar system |
| CN110133618A (en) * | 2019-04-19 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | Laser radar and detection method |
| CN110530283A (en) * | 2018-05-23 | 2019-12-03 | 宁波舜宇光电信息有限公司 | Project structured light device and its manufacturing method |
| CN111273254A (en) * | 2018-12-04 | 2020-06-12 | 苏州旭创科技有限公司 | Laser radar transmitting device and laser radar |
| CN111273255A (en) * | 2018-12-04 | 2020-06-12 | 苏州旭创科技有限公司 | Laser radar transmitting device and laser radar |
| CN111381219A (en) * | 2018-12-27 | 2020-07-07 | 余姚舜宇智能光学技术有限公司 | Laser transmitting and receiving assembly, laser radar system and scanning method |
| CN111610508A (en) * | 2019-02-25 | 2020-09-01 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN111766586A (en) * | 2019-03-29 | 2020-10-13 | 宁波舜宇车载光学技术有限公司 | Laser radar detection system and laser radar detection method |
| CN113433531A (en) * | 2021-06-23 | 2021-09-24 | 森思泰克河北科技有限公司 | Multi-line laser radar and control method thereof |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656258A (en) * | 2017-10-19 | 2018-02-02 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN108414999A (en) * | 2017-12-01 | 2018-08-17 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN110530283A (en) * | 2018-05-23 | 2019-12-03 | 宁波舜宇光电信息有限公司 | Project structured light device and its manufacturing method |
| CN108761425A (en) * | 2018-07-13 | 2018-11-06 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
| CN109188401A (en) * | 2018-11-09 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | laser radar optical system and laser radar |
| CN109597050A (en) * | 2018-11-16 | 2019-04-09 | 上海禾赛光电科技有限公司 | A kind of laser radar |
| CN109613515A (en) * | 2018-11-16 | 2019-04-12 | 上海禾赛光电科技有限公司 | A kind of laser radar system |
| CN109613515B (en) * | 2018-11-16 | 2022-04-01 | 上海禾赛科技有限公司 | Laser radar system |
| CN111273254A (en) * | 2018-12-04 | 2020-06-12 | 苏州旭创科技有限公司 | Laser radar transmitting device and laser radar |
| CN111273255A (en) * | 2018-12-04 | 2020-06-12 | 苏州旭创科技有限公司 | Laser radar transmitting device and laser radar |
| CN111273254B (en) * | 2018-12-04 | 2024-05-10 | 无锡驭风智研科技有限公司 | Laser radar transmitting device and laser radar |
| CN111381219A (en) * | 2018-12-27 | 2020-07-07 | 余姚舜宇智能光学技术有限公司 | Laser transmitting and receiving assembly, laser radar system and scanning method |
| CN111610508A (en) * | 2019-02-25 | 2020-09-01 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN111766586A (en) * | 2019-03-29 | 2020-10-13 | 宁波舜宇车载光学技术有限公司 | Laser radar detection system and laser radar detection method |
| CN110133618B (en) * | 2019-04-19 | 2021-08-17 | 深圳市速腾聚创科技有限公司 | Laser radar and detection method |
| CN110133618A (en) * | 2019-04-19 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | Laser radar and detection method |
| CN113433531A (en) * | 2021-06-23 | 2021-09-24 | 森思泰克河北科技有限公司 | Multi-line laser radar and control method thereof |
| CN113433531B (en) * | 2021-06-23 | 2022-07-01 | 森思泰克河北科技有限公司 | Multi-line laser radar and control method thereof |
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