CN205103397U - Laser rangefinder radar - Google Patents
Laser rangefinder radar Download PDFInfo
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- CN205103397U CN205103397U CN201520761712.5U CN201520761712U CN205103397U CN 205103397 U CN205103397 U CN 205103397U CN 201520761712 U CN201520761712 U CN 201520761712U CN 205103397 U CN205103397 U CN 205103397U
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Abstract
The utility model provides a laser rangefinder radar wherein, includes among the laser rangefinder radar: laser transceiver module for the transmit and receive laser of finding range, the laser mirror for with the range finding laser -bounce of laser transceiver module transmission to the testee, and laser transceiver module is returned in the range finding laser -bounce that is used for reflecting the testee, the motor for the drive laser mirror is rotatory, the wireless power supply module for be motor power supply through wireless mode, wireless communication module for acquire the coded data of motor, the main control module for the rotation angle that obtain laser mirror is handled coded data, and be used for controlling the transmit and receive of laser transceiver module range finding laser to handle the distance that obtains the testee to range finding laser.
Description
Technical field
The utility model relates to Radar Technology field, and particularly relating to a kind of is wirelessly the range laser radar of motor.
Background technology
Laser radar is the Active Imaging technology that grows up on the basis of photoelectricity radiation detection and conventional radar, it is on the basis of continuing to use electromagnetism radar range finding principle, the light adopting detection wavelength shorter is as probe source, relative to microwave radar and millimeter wave, there is higher spatial resolution, the high resolution space imaging of millimeter magnitude can be reached by realize target profile, be widely used in each technical field.Laser ranging utilizes laser to carry out the method for Accurate Determining (also known as laser ranging) to the distance of testee, it operationally launches a branch of very thin laser to testee, the laser beam reflected by photovalve receiving target, timing unit measures laser beam from the time being transmitted into reception, calculates the distance of testee.
Existing range laser radar is generally divided into two kinds, 1) motor realizes the power supply of motor by the mode of wired connection and realizes data communication, in this case, due to the existence of supply lines and order wire etc., the angle causing laser to irradiate does not reach 360 °, and namely supply lines and order wire etc. can block sharp light-struck angle; 2) motor band movable contact spring rotates together, although sharp light-struck angle can be made like this to reach 360 °, because long-term wearing and tearing cause the life-span of motor not long.
Utility model content
For the problems referred to above, the utility model aims to provide a kind of range laser radar, and it adopts wireless mode to be motor, adopts wireless mode to realize intercommunication simultaneously, laser is irradiated can not be connected while line blocks, to improve the overall life-span.
The technical scheme that the utility model provides is as follows:
A kind of range laser radar, described range laser radar comprises:
Laser transmitting-receiving module, laser mirror, motor, wireless power supply module, wireless communication module and main control module; Wherein,
Described laser transmitting-receiving module, for transmitting and receiving range laser;
Described laser mirror, be arranged on the sending and receiving end place of described laser transmitting-receiving module, range laser for described laser transmitting-receiving module being launched reflexes to testee, and for the range laser reflected by described testee is reflected back described laser transmitting-receiving module;
Described motor, is connected with described laser mirror, rotates for driving described laser mirror;
Described wireless power supply module, is connected with described motor, for being wirelessly described motor;
Described wireless communication module, is connected with described motor and described main control module respectively, and described wireless communication module obtains the coded data of described motor, and described coded data is sent to described main control module;
Described main control module, respectively with described wireless power supply module, wireless communication module and laser transmitting-receiving model calling, described main control module is described motor for controlling described wireless power supply module; For being received the coded data of described motor by described wireless communication module, and described coded data is processed to the anglec of rotation obtaining described laser mirror; And for controlling the transmitting and receiving of described laser transmitting-receiving module range laser, and the distance obtaining described testee is processed to the described range laser that described laser transmitting-receiving module receives.
In the technical program, be embodied as the power supply of motor by wireless power supply module, realized the radio communication of range laser radar inside by wireless communication module, laser is irradiated can not be connected while line blocks, to improve the overall life-span.
Preferably, described wireless communication module comprises radio communication transmitting terminal and described wireless communication receiver end, described radio communication transmitting terminal is connected with described motor, described wireless communication receiver end is connected with described main control module, described radio communication transmitting terminal obtains described coded data from described motor, and described coded data is sent to described wireless communication receiver end, and then described coded data is sent to described main control module by described wireless communication receiver end.
Preferably, described wireless power supply module comprises wireless power transmitting terminal and wireless power receiving end, described wireless power transmitting terminal is connected with described main control module, described wireless power receiving end is connected with described motor, described wireless power transmitting terminal utilizes galvanomagnetic effect to make described wireless power receiving end generation current under the control of described main control module, and then is described motor;
Preferably, described wireless power sends to rectify and arranges described wireless power receiving end, described wireless power transmitting terminal is energized and generates electromagnetic field under the control of described main control module, and described wireless power receiving end is responded to described electromagnetic field and generates electric current, and then is described motor.
In the technical program, wireless power is sent to rectify wireless power receiving end is arranged, to be arranged on immediately below wireless power receiving end by wireless power transmitting terminal or directly over, powering that transmitting terminal and electromagnetism power between receiving end due to electromagnetism is by galvanomagnetic effect, electromagnetism is powered generation current in receiving end, this setup substantially increases the magnetic flux in wireless power receiving end, thus increase the electric current produced, improve power supplying efficiency.
Preferably, described motor and described laser mirror are connected perpendicular to the connecting link of described motor by one, and the horizontal direction of described laser mirror and described motor is predetermined angle arranges.
In the technical program, laser mirror is installed on connecting link with predetermined angle, drive laser mirror to rotate time such motor drives connecting link to rotate, thus the sweep limit obtaining range laser radar reaches 360 °.
Preferably, the horizontal direction of described laser mirror and described motor is that 45° angle is arranged.
Preferably, described range laser radar also comprises: the power interface be connected with described main control module respectively and external communication interface, described power interface is used for for described range laser radar access external communication electricity, and described external communication interface is for realizing described range laser radar and extraneous communication.
By the range laser radar that the utility model provides, following at least one beneficial effect can be brought:
In the utility model, because the power supply of motor all adopts wireless mode with communicating of range laser radar inside, compared to existing range laser radar, no longer include supply lines and order wire and stop the scope that range laser radar scans at work, thus achieve the scanning of range laser radar to 360 °, plane, and then improve work efficiency and the degree of accuracy of range laser radar;
Have again, in the utility model, motor power supplying wireless penetration in range laser radar and intercommunication wireless penetration, compared to the existing mode rotated together by motor band movable contact spring, decrease unnecessary friction, thus substantially increase the life-span of motor, also improve the serviceable life of overall range laser radar simultaneously.
Accompanying drawing explanation
Below by clearly understandable mode, accompanying drawings preferred implementation, is further described above-mentioned characteristic, technical characteristic, advantage and implementation thereof.
Fig. 1 is the first embodiment structural representation of range laser radar in the utility model;
Fig. 2 is range laser radar the second embodiment structural representation in the utility model;
Fig. 3 is galvanomagnetic effect structural representation in wireless power transmitting terminal and wireless power receiving end in the utility model;
Fig. 4 is johning knot composition in kind between motor and laser mirror in the utility model;
Fig. 5 is the third embodiment structural representation of range laser radar in the utility model;
Drawing reference numeral illustrates:
100-range laser radar, 110-laser transmitting-receiving module, 120-laser mirror, 130-motor,
140-wireless power supply module, 141-wireless power transmitting terminal, 142-wireless power receiving end,
150-wireless communication module, 151-radio communication transmitting terminal, 152-wireless communication receiver end,
160-main control module, 170-connecting link, 180-power interface, 190-external communication interface.
Embodiment
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, contrast accompanying drawing is illustrated embodiment of the present utility model below.Apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, and obtain other embodiment.
Be illustrated in figure 1 the first embodiment structural representation of range laser radar 100 that the utility model provides, as can be seen from the figure, this range laser radar 100 comprises: laser transmitting-receiving module 110, laser mirror 120, motor 130, wireless power supply module 140, wireless communication module 150 and main control module 160; Wherein, laser mirror 120 is arranged on the sending and receiving end place of laser transmitting-receiving module 110, motor 130 is connected with laser mirror 120, wireless power supply module 140 is connected with main control module 160 and motor 130 respectively, wireless communication module 150 is connected with motor 130 and main control module 160 respectively, and main control module 160 is connected with wireless power supply module 140, wireless communication module 150 and laser transmitting-receiving module 110 respectively.
Specifically, laser transmitting-receiving module 110, transmits and receives range laser under the control of main control module 160.More particularly, laser transmitting-receiving module 110 comprises the laser emission element and laser pick-off unit that are connected with main control module 160 respectively, and wherein, laser emission element launches range laser under the control of main control module 160; The range laser received for receiving the range laser reflected by laser mirror 120, and is sent in main control module 160 by laser pick-off unit; And the parallel setting towards same direction of the receiving end of the transmitting terminal of laser emission element and laser pick-off unit, laser pick-off unit is arranged on immediately below laser transmitting-receiving module 110 by laser mirror 120, so that can receive the range laser reflected by laser mirror 120.In a particular embodiment, when in range laser radar 100, preliminary work starts to find range to testee after completing, then main control module 160 sending controling instruction is in laser emission element, open laser emission element and carry out work, launch range laser, and by laser mirror 120, this range laser is reflexed on testee; Finally, laser pick-off unit receives the range laser reflected through testee and laser mirror 120 again, again the range laser received is sent in main control module 160 and processes, calculate the distance between testee and range laser radar 100.In this process, we are noted that, owing to being subject to the impact of the factor such as the reflectivity of laser mirror 120, the reflectivity on testee surface, the range laser that laser emission element emits and the range laser that laser pick-off unit receives have some gaps, and not exclusively equivalent, and these factors all can be taken into account when calculating distance by main control module 160.Certainly, in the present embodiment, we do not limit the concrete model of laser transmitting-receiving module 110, e.g., model can be used for LIDARLite laser ranging module, as long as it can realize the purpose of this utility model, be all included in content of the present utility model.
Laser mirror 120, is arranged on the sending and receiving end place of laser transmitting-receiving module 110, reflexes to testee for range laser laser transmitting-receiving module 110 launched, and for the range laser reflected by testee is reflected back laser transmitting-receiving module 110.In the present embodiment, the effect of laser mirror 120 is exactly reflect range laser, the range laser emitted from laser emission element is reflexed on testee, again the measured laser reflected from testee is launched back in laser pick-off unit, so in actual applications, laser mirror 120 is arranged on and just the direction of range laser and laser pick-off unit is launched to laser transmitting element and receive range laser.Specifically, we do not limit the concrete model of laser mirror 120, as long as it can realize above-mentioned purpose, are all included in content of the present utility model.
Motor 130, is connected with laser mirror 120, rotates for driving laser mirror 120.In the present embodiment, after motor 130 is energized, start immediately to rotate to drive laser mirror 120 to rotate, the angle realizing range laser radar 100 irradiation reaches 360 °, namely makes the range laser reflection of launching from laser emission element be covered in a plane.Similarly, in the present embodiment, we also do not limit the concrete model of motor 130, e.g., model can be used for R550 major axis direct current high-speed electric expreess locomotive, as long as it can realize the purpose of this utility model, be all included in content of the present utility model.
Wireless power supply module 140, is connected with motor 130, for wirelessly powering for motor 130.In the present embodiment, wireless power supply module 140 here utilizes galvanomagnetic effect to be passed to by electric current in motor 130, for motor 130 is powered under the control of main control module 160.Specifically, here, wireless power supply module 140 can be used but not limited to the wireless power supply module 140 that model is WCM01.
Wireless communication module 150, is connected with motor 130 and main control module 160 respectively, and wireless communication module 150 obtains the coded data of motor 130, and coded data is sent to main control module 160.In the present embodiment, wireless communication module 150 here, for realizing the radio communication of range laser radar 100 inside, so namely decreases the order wire in range laser radar 100.Specifically, here, wireless communication module 150 can be used but not limited to the bluetooth module that model is HC-06.
Main control module 160, be connected with wireless power supply module 140, wireless communication module 150 and laser transmitting-receiving module 110 respectively, in the present embodiment, specifically, first, main control module 160 sends a control signal to wireless power supply module 140 and controls wireless power supply module 140 and start working, and like this, namely wireless power supply module 140 starts as motor 130 is powered; Immediately, wireless communication module 150 receives the coded data of motor 130, and coded data is sent in main control module 160, and like this, main control module 160 processes the anglec of rotation obtaining laser mirror 120 to the coded data received; Finally, main control module 160 controls laser transmitting-receiving module 110 and transmits and receives range laser, and processes to the range laser that laser transmitting-receiving module 110 receives the distance obtaining testee, completes the range finding work of range laser radar 100.
As shown in Figure 2, for range laser radar 100 the second embodiment structural representation that the utility model provides, as can be seen from the figure, wireless communication module 150 comprises radio communication transmitting terminal 151 and wireless communication receiver end 152, wherein, radio communication transmitting terminal 151 is connected with motor 130, wireless communication receiver end 152 is connected with main control module 160, in this embodiment, radio communication transmitting terminal 151 obtains coded data from motor, subsequently coded data is sent to wireless communication receiver end 152, coded data is sent to main control module 160 by last wireless communication receiver end 152, like this, main control module 160 calculates the anglec of rotation of laser mirror 120 according to this coded data, more particularly, wireless communication module 150 utilizes electric wave signal to propagate in free space to realize the communication between wireless communication receiver end 151 and radio communication transmitting terminal 152, certainly, in order to realize communication between the two, the frequency used between wireless communication receiver end 151 and radio communication transmitting terminal 152 is identical.Have again, it can also be seen that from figure, wireless power supply module 140 comprises wireless power transmitting terminal 141 and wireless power receiving end 142, wherein, wireless power transmitting terminal 141 is connected with main control module 160, and wireless power receiving end 142 is connected with motor 130, in this embodiment, wireless power transmitting terminal 141 utilizes galvanomagnetic effect to make wireless power receiving end 142 generation current under the control of main control module 160, and then powers for motor 130.Further, wireless power transmitting terminal 141 is just arranged wireless power receiving end 142, to be arranged on directly over wireless power receiving end 142 by wireless power transmitting terminal 141 or immediately below.Be illustrated in figure 3 wireless power transmitting terminal 141 and be arranged on galvanomagnetic effect structural representation immediately below wireless power receiving end 142, as can be seen from the figure, wireless power transmitting terminal 141 is energized and generates electromagnetic field under the control of main control module 160, wireless power receiving end 142 induction field also generates electric current, and then power for motor 130, achieve and wirelessly power for motor 130.In other embodiments, radio communication transmitting terminal 151 is just arranged wireless communication receiver end 152, like this, improves the communication efficiency between wireless communication module 150.
More particularly, in the above two embodiments, between motor 130 and laser mirror 120, johning knot composition in kind as shown in Figure 4, as can be seen from the figure, motor 130 and laser mirror 120 are connected perpendicular to the connecting link 170 of motor 130 by one, and laser mirror 120 is that predetermined angle is arranged with the horizontal direction of motor 130, and in order to improve the reflection efficiency of laser mirror 120, in this embodiment, be that 45° angle is arranged by laser mirror 120 and the horizontal direction of motor 130.Like this, after motor 130 communicates, motor 130 drives laser mirror 120 to rotate by connecting link 170.Certainly, in embodiment of the present utility model, we do not limit the occurrence of this predetermined angle, as, angularly can also arrange in 30 °, 60 °, as long as it can realize range laser radar 100 in the utility model reach the irradiating angle of 360 °, be all included in content of the present utility model.
As shown in Figure 5, for the third embodiment structural representation of range laser radar in the utility model 100, as can be seen from the figure, the power interface 180 and external communication interface 190 that are connected with main control module 160 respectively is also comprised in range laser radar 100, wherein, power interface 180 is for accessing external communication electricity for range laser radar 100, external communication interface 190 is for realizing range laser radar 100 and extraneous communication, so that the anglec of rotation of laser mirror 120 obtained and the distance of testee send by main control module 160, manage concentratedly.
As in a complete embodiment, we are described the complete procedure that this range laser radar 100 pairs of testees are found range:
First, range laser radar 100 top cover is used to fix motor 130, wireless power supply module 140 receiving end and wireless communication module 150 transmitting terminal, wherein, motor 130 is connected with wireless power supply module 140 receiving end and wireless communication module 150 transmitting terminal, to, wireless power transmitting terminal and wireless communication receiver end are connected with main control module respectively simultaneously; Further, connect a connecting link 170 at motor 130 downward vertical, one laser mirror 120 is set at the other end of this connecting link 170 and motor 130 horizontal direction angle 45 ° of directions.
Subsequently, access external communication electricity by power interface 180 for range laser radar 100, for whole range laser radar 100 is powered; Then, main control module 160 controls wireless power transmitting terminal 141 and starts working, and is energized and generates electromagnetic field, and like this, wireless power receiving end 142 is generation current under the impact of electromagnetic field, and for motor 130 is powered, drive motor 130 rotates.After motor 130 rotates, rotate to drive laser mirror 120 to rotate by driving connecting link 170, afterwards, bluetooth transmitting terminal receives coded data, and this coded data is sent to Bluetooth receptions end is sent to main control module 160 again, namely such main control module 160 receives coded data starts to carry out processing the anglec of rotation obtaining generating laser.
Finally, main control module 160 controls laser emission element and launches range laser towards laser mirror 120, like this, range laser reflexes on testee by laser mirror 120, testee again can laser mirror 120 by being irradiated to its range laser reflection with it, the range laser received is reflected back laser pick-off unit by laser mirror 120 again, laser pick-off unit is sent in main control module 160 with the data of the range laser being about to receive, the range laser that main control module 160 receives according to laser pick-off unit and the anglec of rotation obtained before calculate the distance of testee.
In the embodiment above, laser transmitting-receiving module 110 comprises the laser emission element and laser pick-off unit that are connected with main control module 160 respectively, and laser emission element launches range laser under the control of main control module 160; The range laser received for receiving the range laser reflected by laser mirror 120, and is sent in main control module 160 by laser pick-off unit.As for, the concrete structure of laser transmitting-receiving module 110 describes in above range laser radar 100, does not repeat at this.
It should be noted that above-described embodiment all can independent assortment as required.The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (7)
1. a range laser radar, is characterized in that, described range laser radar comprises:
Laser transmitting-receiving module, laser mirror, motor, wireless power supply module, wireless communication module and main control module; Wherein,
Described laser transmitting-receiving module, for transmitting and receiving range laser;
Described laser mirror, be arranged on the sending and receiving end place of described laser transmitting-receiving module, range laser for described laser transmitting-receiving module being launched reflexes to testee, and for the range laser reflected by described testee is reflected back described laser transmitting-receiving module;
Described motor, is connected with described laser mirror, rotates for driving described laser mirror;
Described wireless power supply module, is connected with described motor, for being wirelessly described motor;
Described wireless communication module, is connected with described motor and described main control module respectively, and described wireless communication module obtains the coded data of described motor, and described coded data is sent to described main control module;
Described main control module, respectively with described wireless power supply module, wireless communication module and laser transmitting-receiving model calling, described main control module is described motor for controlling described wireless power supply module; For being received the coded data of described motor by described wireless communication module, and described coded data is processed to the anglec of rotation obtaining described laser mirror; And for controlling described laser transmitting-receiving module transmitting and receiving range laser, and the distance obtaining described testee is processed to the range laser that described laser transmitting-receiving module receives.
2. range laser radar as claimed in claim 1, is characterized in that:
Described wireless communication module comprises radio communication transmitting terminal and described wireless communication receiver end, described radio communication transmitting terminal is connected with described motor, described wireless communication receiver end is connected with described main control module, described radio communication transmitting terminal obtains described coded data from described motor, and described coded data is sent to described wireless communication receiver end, and then described coded data is sent to described main control module by described wireless communication receiver end.
3. range laser radar as claimed in claim 1 or 2, is characterized in that:
Described wireless power supply module comprises wireless power transmitting terminal and wireless power receiving end, described wireless power transmitting terminal is connected with described main control module, described wireless power receiving end is connected with described motor, described wireless power transmitting terminal utilizes galvanomagnetic effect to make described wireless power receiving end generation current under the control of described main control module, and then is described motor.
4. range laser radar as claimed in claim 3, is characterized in that:
Described wireless power sends to rectify and arranges described wireless power receiving end, described wireless power transmitting terminal is energized and generates electromagnetic field under the control of described main control module, described wireless power receiving end is responded to described electromagnetic field and generates electric current, and then is described motor.
5. the range laser radar as described in claim 1 or 2 or 4, it is characterized in that: described motor and described laser mirror are connected perpendicular to the connecting link of described motor by one, and the horizontal direction of described laser mirror and described motor is predetermined angle arranges.
6. range laser radar as claimed in claim 5, is characterized in that: the horizontal direction of described laser mirror and described motor is that 45° angle is arranged.
7. range laser radar as claimed in claim 6, it is characterized in that, described range laser radar also comprises: the power interface be connected with described main control module respectively and external communication interface, described power interface is used for for described range laser radar access external communication electricity, and described external communication interface is for realizing described range laser radar and extraneous communication.
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| CN201520761712.5U CN205103397U (en) | 2015-09-23 | 2015-09-23 | Laser rangefinder radar |
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| CN201520761712.5U CN205103397U (en) | 2015-09-23 | 2015-09-23 | Laser rangefinder radar |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277944A (en) * | 2015-09-23 | 2016-01-27 | 上海物景智能科技有限公司 | Laser ranging radar and power supply control method therefor |
| CN105911560A (en) * | 2016-06-30 | 2016-08-31 | 西安深穹光电科技有限公司 | Unmanned aerial vehicle obstacle avoidance laser radar device and obstacle avoidance method thereof |
| CN106157591A (en) * | 2016-08-31 | 2016-11-23 | 江苏中利电子信息科技有限公司 | A kind of police radar wireless remote-control system |
| CN106199630A (en) * | 2016-06-30 | 2016-12-07 | 西安深穹光电科技有限公司 | Unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method thereof |
| CN106324582A (en) * | 2016-10-28 | 2017-01-11 | 深圳市镭神智能***有限公司 | Laser radar system based on time of flight |
| CN106655535A (en) * | 2016-11-07 | 2017-05-10 | 深圳市镭神智能***有限公司 | 360-DEG TOF laser scanning radar based on wireless transmission |
| WO2018082200A1 (en) * | 2016-11-01 | 2018-05-11 | 北科天绘（苏州）激光技术有限公司 | Two-dimensional scanning device and laser radar device with two-dimensional scanning device |
| CN111599032A (en) * | 2019-02-21 | 2020-08-28 | 天津工业大学 | Laser correlation type scoring system for computer mouse maze competition |
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2015
- 2015-09-23 CN CN201520761712.5U patent/CN205103397U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277944A (en) * | 2015-09-23 | 2016-01-27 | 上海物景智能科技有限公司 | Laser ranging radar and power supply control method therefor |
| CN105911560A (en) * | 2016-06-30 | 2016-08-31 | 西安深穹光电科技有限公司 | Unmanned aerial vehicle obstacle avoidance laser radar device and obstacle avoidance method thereof |
| CN106199630A (en) * | 2016-06-30 | 2016-12-07 | 西安深穹光电科技有限公司 | Unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method thereof |
| CN106157591A (en) * | 2016-08-31 | 2016-11-23 | 江苏中利电子信息科技有限公司 | A kind of police radar wireless remote-control system |
| CN106324582A (en) * | 2016-10-28 | 2017-01-11 | 深圳市镭神智能***有限公司 | Laser radar system based on time of flight |
| WO2018082200A1 (en) * | 2016-11-01 | 2018-05-11 | 北科天绘（苏州）激光技术有限公司 | Two-dimensional scanning device and laser radar device with two-dimensional scanning device |
| CN106655535A (en) * | 2016-11-07 | 2017-05-10 | 深圳市镭神智能***有限公司 | 360-DEG TOF laser scanning radar based on wireless transmission |
| CN111599032A (en) * | 2019-02-21 | 2020-08-28 | 天津工业大学 | Laser correlation type scoring system for computer mouse maze competition |
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