CN109212539A - A kind of optical detection and instrumentation radar with multisensor - Google Patents
A kind of optical detection and instrumentation radar with multisensor Download PDFInfo
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- CN109212539A CN109212539A CN201811058872.8A CN201811058872A CN109212539A CN 109212539 A CN109212539 A CN 109212539A CN 201811058872 A CN201811058872 A CN 201811058872A CN 109212539 A CN109212539 A CN 109212539A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 76
- 238000001514 detection method Methods 0.000 title claims abstract description 43
- 238000005259 measurement Methods 0.000 claims abstract description 45
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 6
- 201000009310 astigmatism Diseases 0.000 claims description 3
- 238000000338 in vitro Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000002366 time-of-flight method Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 10
- 230000007812 deficiency Effects 0.000 abstract 1
- 239000000523 sample Substances 0.000 description 11
- 238000012360 testing method Methods 0.000 description 10
- 230000008878 coupling Effects 0.000 description 8
- 238000010168 coupling process Methods 0.000 description 8
- 238000005859 coupling reaction Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 2
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- 230000005622 photoelectricity Effects 0.000 description 2
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Classifications
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- 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
-
- 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
- G01S17/04—Systems determining the presence of a target
-
- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The accuracy of ranging is limited to solve the problem of optical detection and instrumentation radar to the scanning times deficiency that barrier measures.The application provides a kind of optical detection with multisensor and instrumentation radar, including rotation shell and pedestal, and rotation shell is rotated relative to the pedestal；Two or more than two infrared light emission module are fixed on rotation enclosure interior, issue infrared acquisition light；Two or more than two electro-optical distance measurement unit are fixed on rotation enclosure interior, include photoelectric sensor on each electro-optical distance measurement unit, and the photoelectric sensor is used to received infrared signal being converted to electric signal；Rotary drive motor, for driving rotation shell at the uniform velocity to rotate；Slip ring and corresponding driving circuit.The application increases the pendulous frequency in single measurement period by two or the design of more than two sensor, optical detection and instrumentation radar relative to single-sensor, improves range measurement accuracy.
Description
Technical field
The application belongs to optical detection field of radar more particularly to a kind of optical detection with two or more sensors
With instrumentation radar (Light Detection And Ranging, LIDAR).
Background technique
Barrier evade be current intelligent robot, small drone area research important topic.Intelligent robot and
Unmanned plane wants real-time monitoring ambient enviroment barrier during action, quickly and accurately judges the position of barrier, so
Timely avoiding barrier afterwards.For avoiding barrier, it is necessary to pass through range unit robot measurement or unmanned plane and barrier
The distance between.
Have distance test method currently on the market, is mainly based upon the laser ranging technique of principle of triangulation.Laser
Emit infrared beam according to certain angle, after encountering object, light beam can be reflected；Reflected light is by detector
After detecting, using triangle relation, based on launch angle, the angle of filter and offset distance, the distance of sensor to barrier
It is calculated by geometrical relationship.But this method has apparent blind area.The swashing based on triangulation of consumer level at present
Ligh-ranging effective distance is within 6 meters.
A kind of mode of the substitution based on triangulation is to measure distance by flight time (TOF) method.Its work is former
For reason to issue detection light by light emitting diode (LED) or laser light source, infrared acquisition light passes through lens, and it is small and quasi- to issue the angle of divergence
Straight light is received after the infrared acquisition light is reflected by barrier by infrared remote receiver, emits and receive infrared light by measurement
Phase difference can calculate the distance away from barrier.Wherein when using laser light source, diversing lens are not needed.
However, due to containing a large amount of infrared beams in sunlight, being filled in optical detection and instrumentation radar under outdoor strong light
When setting work, the detection light of reflection is not only had received in receiver, but also has received the bias light reflected through sunlight, is caused
The numerical value inaccuracy of optical detection and instrumentation radar measurement.In addition, scanning head is in existing optical scanner detection device with up time
Needle or 360 degree rotation counterclockwise, limited to the scanning times of barrier measurement in each angle state of rotation, limitation
The accuracy of ranging.
Summary of the invention
In order to improve the distance measuring accuracy and measuring speed of infrared light detecting and instrumentation radar, and to reduce background red
Influence of the outer light to measurement, this application provides a kind of infrared light detectings with two or more sensors and measurement thunder
It reaches, by the design of two or more sensor structures, optical detection and instrumentation radar relative to single-sensor increase list
Pendulous frequency in a measurement period improves range measurement speed on the whole.Simultaneously on increased pendulous frequency basis,
By some of sensing units in sensor dedicated for measuring bias light, and in the sensor for measuring distance, lead to
The background light data removal that will be measured is crossed, reduces bias light and adjusts the distance the influence of measurement.In an alternate embodiment of the invention, by by two
A or more than two sensor is individually separated work respectively, functionally complementary, to improve radar installations on the whole
Range accuracy.
The application is to solve its technical problem, is achieved through the following technical solutions.A kind of tool there are two or it is more
The optical detection of a sensor and instrumentation radar, including rotation shell, infrared light emission module, infrared light emission lens, infrared light
Receiving lens, electro-optical distance measurement unit, pedestal, rotary drive motor, slip ring and corresponding driving circuit.Wherein, infrared light emission
Module, infrared light emission lens, infrared optical receiver lens, electro-optical distance measurement unit are each respectively provided with two or more than two
It is a, respectively two in a preferred embodiment, and be all fixed in shell of revolution body.Infrared light emission lens are located at infrared light hair
It penetrates in the infrared light optical path of module sending, infrared optical receiver lens are located in the received infrared light optical path of electro-optical distance measurement unit.Light
Electric distance measuring unit includes photoelectric sensor and circuit unit.Slip ring is located at the Pivot axle of rotation lower part of the housing, is used for light
Detection and instrumentation radar device rotate the power supply between shell and pedestal and transmit data.Shell of revolution body is located above pedestal,
Under optical detection and instrumentation radar working condition, rotation shell is rotated relative to pedestal.Driving circuit is used for as rotation shell
Interior power elements and control.
In selectable technical solution, slip ring is replaced by wireless power supply and wireless communication device.For example, in pedestal
First coupling coil is set, the second coupling coil is set in shell of revolution body, is powered to the first coupling coil, is made by coupling
With the second coil produces electricl energy, and is power elements in shell of revolution body.In addition, the first wireless communication device for example is set in pedestal,
Second wireless communication device is set in shell of revolution body, and the data communication of electro-optical distance measurement unit is wireless by described first, second
Communication device transfers.The wireless communication device is specially existing known mode, such as optical communications module, bluetooth module, Wi-
The modes such as Fi module, NRF24L01 module.
In optical detection and instrumentation radar device specific work process, it is fixed on the infrared light emission module of rotation enclosure interior
After receiving measuring command, infrared light is issued with voltage or current modulation system driving infrared light supply.Infrared light emission lens
In the transmitting optical path of infrared light emission module, after infrared light emission lens focus, light and collimation, from positioned at shell of revolution
In light-transmitting opening directive environment on body periphery.Wherein the infrared light supply in infrared transmission module is light emitting diode (LED) light
Source is laser light source, and number of light sources needs to be arranged according to specific light intensity.When selecting laser for the technical solution of light source,
The infrared light emission lens, infrared optical receiver lens omit removal.
Wherein the infrared light emission lens are the convex lens on infraluminescence light source optical path.
Infrared light after transmitting is propagated in air, and the boundary for encountering barrier or environment on the way is reflected and dissipated
It penetrates, by the infrared light for reflecting and scattering, a part injects infrared optical receiver lens, and infrared optical receiver lens are transmitted to after focusing
Electro-optical distance measurement unit.By the infrared light for reflecting and scattering, a part injects infrared optical receiver lens, through infrared optical receiver lens
Electro-optical distance measurement unit is transmitted to after focusing.Electro-optical distance measurement unit is fixed on rotation enclosure interior, and infrared optical receiver lens are located at light
On electric distance measuring unit receiving light path.The infrared optical receiver lens are two collector lenses, and one of collector lens leans on dipped beam
Electric distance measuring unit, another collector lens are located on the external circumferential surface of shell of revolution, and the optical axis of two collector lenses is point-blank.
The above-mentioned infrared light received and the light of sending are carried out phase bit comparison by electro-optical distance measurement unit, obtain transmitting infrared light
With the optical phase difference for receiving infrared light, is calculated using flight time (TOF) method, measure optical detection and instrumentation radar and barrier
The distance between.
It include electro-optical distance measurement chip and circuit unit on electro-optical distance measurement unit, wherein the photoelectric sensor is integrated in photoelectricity
In range finding chip, the electro-optical distance measurement chip is EPC600, EPC610 or EPC660, in the alternative photoelectric sensor
S11961-01CR is integrated in line scan image sensor.Photoelectricity is focused on through the reflected infrared light incidence of barrier
After the sensor of distance measuring unit, received infrared signal is converted into electric signal.
Rotating electric machine is located at chassis interior or pedestal lower outer, drives rotation shell at the uniform velocity to rotate, system can be complete
At 360 degree of quickly scannings.
In optional technical solution, due to two or the design of more than two sensor structure, single swing circle
The interior ranging data to environment doubles, and operative sensor is for detecting background ambient light.
Optical detection and measurement thunder of the application by two or the design of more than two sensor, relative to single-sensor
It reaches, increases the pendulous frequency in single measurement period, while on increased pendulous frequency basis, different sensors are separated
Work, such as one of sensor are responsible for measuring bias light, another sensor is responsible for measuring distance, pass through the back that will be measured
The removal of scape light data reduces bias light and adjusts the distance the influence of measurement；Or two optical detections pass through different frequencies from instrumentation radar
Rate one is used to test at a distance, and one is used to test closely, thus maximum elimination blind range zone；Or one by strong
The weak reflective object with astigmatism of light signal collection, one is detected highlighted object with low light signals and is unlikely to so that sensor is full
With；Or two infrared light emission module one is that LED light source avoids blind area between two test points in a manner of Surface scan, one
It is a to provide accurately single-point distance test using laser acquisition.There can be more combinations between these functions probe, such as
It tests the probe of short distance and is responsible for the probe combination of measurement bias light, and multiple functions can be completed by multiple sensors
It exists simultaneously.Meanwhile the service life of the rotating part of optical radar, usually influence the key factor of entire radar service life.And this
A design may be implemented in the case where not changing look-in frequency, and revolving speed is reduced to 1/2 or the smaller (reduction that tradition is unidirectionally popped one's head in
Ratio becomes with probe quantity), which improves the service lifes of device.In addition to this, system can be improved in this design
Stability.For example, another can supplement, calibrate, even becoming abnormal probe occur when some probe operation irregularity
Function.
Detailed description of the invention
Fig. 1 is optical detection and instrumentation radar overall structure diagram with multisensor.
Fig. 2A is that the optical detection and instrumentation radar with multisensor rotate enclosure interior structural upright structural schematic diagram.
Fig. 2 B is that the optical detection and instrumentation radar with multisensor rotate enclosure interior structure top view.
Fig. 3 is optical detection and instrumentation radar light path schematic diagram with multisensor.
Specific embodiment
Shown in A and Fig. 2 B as shown in Figure 1, Figure 2, a kind of tool there are two or more than two sensor optical detection and instrumentation radar
Device, preferred embodiment are that there are two the optical detection of photoelectric sensor 14 and 14 ' and instrumentation radar devices, including shell of revolution for tool
Body 1, infrared light emission module, infrared light emission lens 11 and 11 ', infrared optical receiver lens 12 and 12 ', electro-optical distance measurement unit,
Pedestal 2, rotary drive motor, slip ring and corresponding driving circuit.Wherein, infrared light emission module, infrared light emission lens, red
Outer optical receiver lens, electro-optical distance measurement unit are each respectively provided with two, and are all fixed in shell of revolution body.Infrared light emission is saturating
Mirror is located in the infrared light optical path of infrared light emission module sending, and it is received red that infrared optical receiver lens are located at electro-optical distance measurement unit
In outer optical path.Electro-optical distance measurement unit includes photoelectric sensor and circuit unit.Slip ring is located in the rotation of rotation lower part of the housing
At mandrel, for the power supply between optical detection and instrumentation radar device rotation shell and pedestal and data are transmitted.Shell of revolution position
Above pedestal, under optical detection and instrumentation radar working condition, rotation shell is rotated relative to pedestal.Driving circuit is used
In for the intracorporal power elements of shell of revolution.
As shown in attached drawing 2A, Fig. 2 B and Fig. 3, in optical detection and instrumentation radar device specific work process, it is fixed on rotation
After the infrared light emission module of enclosure interior receives measuring command, infrared light supply 13 is driven with voltage or current modulation system
And 13 ' issue infrared light, through infrared light emission lens focus, light and collimation after, from rotation shell periphery on light-transmitting opening 3
In directive environment.The infrared light emission lens are the convex lens on infraluminescence light source optical path.Its mid-infrared light source is
Light emitting diode (LED) light source is laser light source, and when select laser for the technical solution of light source, the infrared light is sent out
Penetrate lens, infrared optical receiver lens individually omit removal or the infrared light emission lens and infrared optical receiver lens are same
When omit removal.In a preferred embodiment, select LED as infrared light supply, number is 4, is symmetrically disposed at optical signal
Manage the photoelectric sensor surrounding in device.
Light path schematic diagram as shown in Figure 3, the infrared light after transmitting are propagated in air, encounter barrier 4 or ring on the way
The boundary in border is reflected and is scattered, and by the infrared light for reflecting and scattering, a part injects infrared optical receiver lens, infrared light
Receiving lens are transmitted to electro-optical distance measurement unit after focusing.The infrared optical receiver lens are two collector lenses, one of them is poly-
Optical lens is located on the external periphery of shell of revolution close to electro-optical distance measurement unit, another collector lens, the light of two collector lenses
Axis is point-blank.
The above-mentioned infrared light received and the infrared light of sending are carried out phase bit comparison by electro-optical distance measurement unit, and it is red to obtain transmitting
Outer light and the optical phase difference for receiving infrared light, are calculated using flight time (TOF) method, measure optical detection and instrumentation radar device
The distance between barrier.
Electro-optical distance measurement unit includes photoelectric sensor 14,14 ' and circuit unit, wherein the photoelectric sensor is integrated in light
In electric range finding chip EPC600, EPC610 or EPC660, photoelectric sensor is integrated in S11961-01CR in the alternative
In line scan image sensor.After the reflected infrared waves of barrier focus on the sensor of electro-optical distance measurement unit,
Optical signal is converted into electric signal, couples through impedance transformation amplifier with main amplifier, makees complementary output by differential amplifier.
Rotating electric machine is located at chassis interior or pedestal lower outer, drives rotation shell at the uniform velocity to rotate, system can be complete
At 360 degree of quickly scannings.
It is right in single swing circle due to the design of two or more sensor structures in optional technical solution
The ranging data of environment doubles, and part of sensor is for detecting background ambient light.
In selectable technical solution, slip ring is replaced by wireless power supply and wireless communication device.For example, in pedestal
First coupling coil is set, the second coupling coil is set in shell of revolution body, is powered to the first coupling coil, is made by coupling
With the second coil produces electricl energy, and is power elements in shell of revolution body.In addition, the first wireless communication device for example is set in pedestal,
Second wireless communication device is set in shell of revolution body, and the data communication of electro-optical distance measurement unit is wireless by described first, second
Communication device transfers.The wireless communication device is specially existing known mode, such as optical communications module, bluetooth module, Wi-
The modes such as Fi module, NRF24L01 module.
In optional technical solution, drive pulley is provided at rotary drive motor rotor, a transmission belt, which covers, to be driven
Band and shell of revolution are all in vitro, and motor makes to rotate shell Rotating with Uniform by transmission belt.
Optical detection and measurement thunder of the application by two or the design of more than two sensor, relative to single-sensor
It reaches, increases the pendulous frequency in single measurement period, while on increased pendulous frequency basis, different sensors are separated
Work, such as one of sensor are responsible for measuring bias light, another sensor is responsible for measuring distance, pass through the back that will be measured
The removal of scape light data reduces bias light and adjusts the distance the influence of measurement；Or two optical detections pass through different frequencies from instrumentation radar
Rate one is used to test at a distance, and one is used to test closely, thus maximum elimination blind range zone；Or one by strong
The weak reflective object with astigmatism of light signal collection, one is detected highlighted object with low light signals and is unlikely to so that sensor is full
With；Or two infrared light emission module one is that LED light source avoids blind area between two test points in a manner of Surface scan, one
It is a to provide accurately single-point distance test using laser acquisition.There can be more combinations between these functions probe, such as
It tests the probe of short distance and is responsible for the probe combination of measurement bias light, and multiple functions can be completed by multiple sensors
It exists simultaneously.Meanwhile the service life of the rotating part of optical radar, usually influence the key factor of entire radar service life.And this
A design may be implemented in the case where not changing look-in frequency, and revolving speed is reduced to 1/2 or smaller that tradition is unidirectionally popped one's head in, reduce
Ratio becomes with probe quantity, and which improves the service lifes of device.In addition to this, system can be improved in this design
Stability.For example, another can supplement, calibrate when some probe operation irregularity, even become occurring popping one's head in extremely
Function.
Claims (8)
1. a kind of optical detection and instrumentation radar with multisensor, including rotation shell and pedestal, shell of revolution body are located at pedestal
Top, the rotation shell are rotated relative to the pedestal；It is characterized in that, the optical detection with multisensor with
Instrumentation radar further includes two infrared light emission modules, is fixed on rotation enclosure interior, issues infrared acquisition light, and by rotation
Loophole on shell projects；Two electro-optical distance measurement units are fixed on rotation enclosure interior, include on each electro-optical distance measurement unit
Photoelectric sensor, the photoelectric sensor are used to received infrared signal being converted to electric signal；Rotary drive motor is used for
Rotation shell is driven at the uniform velocity to rotate；Slip ring and corresponding driving circuit, the slip ring are used to rotate the confession between shell and pedestal
Electricity simultaneously transmits data；One of sensor is for measuring bias light, another is for measuring distance；Or one of sensing
Device detects highlighted object with low light signals by the weak reflective object with astigmatism of strong light signal collection, another sensor.
2. the optical detection and instrumentation radar according to claim 1 with multisensor, which is characterized in that further include two
Or more than two infrared light emission lens, in the infrared light optical path that infrared light emission module issues.
3. the optical detection and instrumentation radar according to claim 1 or 2 with multisensor, which is characterized in that further include
Two or the infrared optical receiver lens of more than two are located in received infrared light optical path.
4. the optical detection and instrumentation radar according to claim 1 or 2 with multisensor, which is characterized in that the light
Electric distance measuring unit obtains transmitting infrared light and receives the optical phase difference of infrared light, measure optical detection using time-of-flight method and survey
Measure the distance between radar and barrier.
5. the optical detection and instrumentation radar according to claim 1 or 2 with multisensor, which is characterized in that Mei Geguang
In electric distance measuring unit include photoelectric sensor, the photoelectric sensor be integrated in electro-optical distance measurement chip EPC600, EPC610 or
In EPC660 or the photoelectric sensor is integrated in S11961-01CR in line scan image sensor.
6. the optical detection and instrumentation radar according to claim 1 or 2 with multisensor, which is characterized in that the cunning
Ring is replaced by wireless power supply and wireless communication device.
7. the optical detection and instrumentation radar according to claim 1 or 2 with multisensor, which is characterized in that described red
Infrared light supply in outer transmitting module is light emitting diode or is laser light source.
8. the optical detection and instrumentation radar according to claim 1 or 2 with multisensor, which is characterized in that rotation is driven
It is provided with drive pulley at dynamic rotor, a transmission belt covers all in vitro in transmission belt and shell of revolution, and motor is made by transmission belt
Shell Rotating with Uniform must be rotated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811058872.8A CN109212539A (en) | 2016-03-01 | 2016-03-01 | A kind of optical detection and instrumentation radar with multisensor |
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| CN201811058872.8A CN109212539A (en) | 2016-03-01 | 2016-03-01 | A kind of optical detection and instrumentation radar with multisensor |
| CN201610114690.2A CN105548988B (en) | 2016-03-01 | 2016-03-01 | A Light Detection and Measurement Radar with Multiple Sensors |
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| CN201610114690.2A Division CN105548988B (en) | 2016-03-01 | 2016-03-01 | A Light Detection and Measurement Radar with Multiple Sensors |
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| WO2018014252A1 (en) * | 2016-07-20 | 2018-01-25 | SZ DJI Technology Co., Ltd. | Circular light source for obstacle detection |
| WO2018014305A1 (en) * | 2016-07-21 | 2018-01-25 | 武汉芯泰科技有限公司 | Multi-wave detection and imaging system |
| CN107356929B (en) * | 2016-08-29 | 2020-07-28 | 北醒（北京）光子科技有限公司 | Rapid scanning detection method |
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| CN105548988A (en) | 2016-05-04 |
| CN105548988B (en) | 2018-10-19 |
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