CN208766302U - Three-dimensional laser radar - Google Patents
Three-dimensional laser radar Download PDFInfo
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- CN208766302U CN208766302U CN201820338021.8U CN201820338021U CN208766302U CN 208766302 U CN208766302 U CN 208766302U CN 201820338021 U CN201820338021 U CN 201820338021U CN 208766302 U CN208766302 U CN 208766302U
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Abstract
The utility model provides a kind of three-dimensional laser radar; including pedestal; lid is encapsulated in pedestal and is enclosed the light permeable protection of accommodating cavity with pedestal; the runner assembly for being rotationally connected with pedestal and being located in accommodating cavity; the Laser emission component for being used to emit laser on runner assembly; it is used to converge return laser beam in the guide-lighting microscope group of the photosensitive region of laser acquisition component for receiving the laser acquisition component of return laser beam, and on laser acquisition component on runner assembly and positioned at Laser emission component side.By adding guide-lighting microscope group on laser acquisition component, the laser experience reflected echo of target object is converged to the photosensitive region of laser acquisition component, to in the case where the echo of laser is generated and is deviated to a certain degree, also echo-signal can be received, and then reduces the blind area of three-dimensional laser radar；Meanwhile so that return laser beam have bigger probability fall in laser detector photosensitive region center, to obtain higher signal-to-noise ratio.
Description
Technical field
The utility model belongs to Radar Technology field, is to be related to a kind of three-dimensional laser radar more specifically.
Background technique
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.Its work is former
Reason is then to compare the laser beam of the reflected echo of slave target received and transmitting to objective emission laser beam
Compared with, be achieved with target for information about after making proper treatment, as target range, orientation, height, speed, posture even shape
Etc. parameters, to be detected, tracked and be identified to targets such as aircraft, guided missiles.Laser radar mainly includes laser emitter, swashs
Electric pulse is become light pulse emission and gone out by optical detector and information processing system, laser emitter, and photoreceiver is again from mesh
It marks reflected light pulse and is reduced into electric pulse, thus identified and calculating.
In current three-dimensional laser radar, since, there are spacing, laser is returning between laser detector and laser emitter
When returning to laser detector, the echo of laser may offset out the photosensitive region center even investigative range of detector, cause
Signal-to-noise ratio is low or even detection is less than echo, causes blind area existing for ranging larger.
Utility model content
The purpose of this utility model is to provide a kind of three-dimensional laser radars, can to solve the echo of laser in the prior art
The photosensitive region even investigative range that can offset out detector, causes signal-to-noise ratio low or even detection is less than echo, cause ranging
The larger technical problem in blind area.
In order to achieve the above purposes, the technical solution adopted by the utility model is: provides a kind of three-dimensional laser radar, including bottom
Seat, lid are encapsulated in the pedestal and are enclosed the light permeable protection of accommodating cavity with the pedestal, are rotationally connected with the bottom
Seat and the runner assembly being located in the accommodating cavity, the Laser emission group for being used to emit laser on the runner assembly
Part, for receiving the laser acquisition group of return laser beam on the runner assembly and positioned at Laser emission component side
Part, and be used to converge return laser beam in the leaded light of the photosensitive region of the laser acquisition component on laser acquisition component
Microscope group.
Further, the guide-lighting microscope group includes multiple guide-lighting mirrors, and the leaded light mirror is in open circles cone, the leaded light
The opposite end of mirror offers the first opening respectively and bore is less than the second opening of first opening, and the leaded light mirror is opened
One end equipped with second opening is connect with the laser acquisition component, and the photosensitive region of the laser acquisition component is located at
In second opening.
Further, the runner assembly includes being rotationally connected with the turntable locked describedly, is fixedly arranged on the phase of the turntable
The Laser emission component described in the first support and second support at both ends and the laser acquisition component are respectively arranged on described first
On bracket.
Further, the three-dimensional laser radar further includes the transmitting for converging beam in the second support
Lens and receiving lens, the diversing lens and the Laser emission component face, the receiving lens and the guide-lighting microscope group
Face.
Further, the Laser emission component includes multiple laser emitters, and the laser acquisition component includes and institute
The identical laser detector of laser emitter quantity is stated, one end for offering the second opening of the leaded light mirror and the laser are visited
Survey device connection.
Further, the runner assembly further includes that opposite end is connected to the first support and second support
Lighttight third bracket, one end of the third bracket be located at the laser acquisition component and the Laser emission component it
Between, the other end is between the diversing lens and the receiving lens.
Further, the three-dimensional laser radar further includes below the pedestal for driving the turntable to rotate
Motor.
The beneficial effect of three-dimensional laser radar provided by the utility model is: compared with prior art, the utility model
Three-dimensional laser radar, by adding guide-lighting microscope group on laser acquisition component, which is used to laser meeting with object
The reflected echo of body converges on the photosensitive region of laser acquisition component, so that the echo generation in laser is inclined to a certain degree
In the case where shifting, echo-signal can be also received, and then reduces the blind area of three-dimensional laser radar, meanwhile, guide-lighting mirror adds
Enter the center so that the photosensitive region that return laser beam has bigger probability to fall in laser acquisition component, to obtain higher noise
Than；By the way that Laser emission component, laser acquisition component to be set on runner assembly, which is rotationally connected on pedestal,
Laser acquisition component and Laser emission component are rotated with runner assembly, it is each in three-dimensional space so as to detect
The target in orientation；By sealing a light permeable protection in base upper cover, so that energy under the premise of not influencing laser or echo passes through
Enough water proof and dust proofs, can also prevent from hitting.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the assembling structure schematic diagram of three-dimensional laser radar provided by the embodiment of the utility model；
Fig. 2 is the structural decomposition diagram of three-dimensional laser radar provided by the embodiment of the utility model；
Fig. 3 is the structural schematic diagram of guide-lighting mirror provided by the embodiment of the utility model；
Fig. 4 is the overlooking structure diagram of three-dimensional laser radar shown in FIG. 1；
Fig. 5 is the offset schematic diagram of return laser beam when guide-lighting mirror not being added；
Fig. 6 is the offset schematic diagram of the return laser beam of three laser radars provided by the utility model.
Wherein, each appended drawing reference in figure:
10- pedestal；11- shaft；20- light permeable protection；30- runner assembly；31- turntable；32- first support；33- second
Bracket；34- third bracket；40- Laser emission component；41- laser emitter；50- laser acquisition component；51- laser detector；
60- leaded light microscope group；61- leaded light mirror；70- diversing lens；80- receiving lens；H- accommodates cavity；H1- first is open；H2- second
Opening；The firstth area H3-；The secondth area H4-.
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
Also referring to Fig. 1 and Fig. 6, now three-dimensional laser radar provided by the utility model is illustrated.The three-dimensional
Laser radar, including pedestal 10 cover at pedestal 10 and are enclosed the light permeable protection 20 of accommodating cavity H with pedestal 10,
The runner assembly 30 for being rotationally connected with pedestal 10 and being located in accommodating cavity H is used to emit laser on runner assembly 30
Laser emission component 40, on runner assembly 30 and be located at 40 side of Laser emission component for receiving the echo of laser
Laser acquisition component 50, and on laser acquisition component 50 for converging echo in the photosensitive of laser acquisition component 50
Guide-lighting microscope group 60 on region.Specifically, three-dimensional laser radar provided by the utility model mainly includes pedestal 10, light transmission guarantor
Shield 20, runner assembly 30, Laser emission component 40, laser acquisition component 50 and guide-lighting microscope group 60, here, in pedestal 10
Center be equipped with a shaft 11, which is sheathed in the shaft 11 and can rotate around the shaft 11, it is possible to understand that ground,
The runner assembly 30 is set in the shaft 11 by bearing holder (housing, cover) (not shown), and is not limited to a certain specific bearing, with can
Realize that runner assembly 30 subject to 11 rotations, does not limit uniquely herein around the shaft；Laser emission component 40 swashs for emitting laser
Optical detection component 50 is used to receive echo of the laser in the back reflection for meeting with target object of the transmitting of Laser emission component 40, and
The echo is converted to the identifiable electric impulse signal of computer by signal converting circuit (not shown), in the process, by
There is distance always between Laser emission component 40 and laser acquisition component 50, causes three-dimensional laser radar in detection range
Always there is blind area, i.e., a part of echo can deviate the photosensitive region of laser acquisition component, or even can not be by laser acquisition component
It receives, to cause error, then the utility model adds guide-lighting microscope group 60 on laser acquisition component 50, the leaded light microscope group
60 pairs of return laser beams have convergence effect, the more echoes for being scattered in bigger region can be converged at laser acquisition component 50
Photosensitive region on so that the echo being scattered in bigger region can be received by laser acquisition component 50, make three-dimensional
The blind area of laser radar reduces, precision increases.
Three-dimensional laser radar provided by the utility model, compared with prior art, by adding on laser acquisition component 50
If guide-lighting microscope group 60, which, which is used to laser meeting with the echo that target Somatic Reflection is returned, converges at laser acquisition group
On the photosensitive region of part 50, to can also receive echo letter in the case where the echo of laser is generated and deviated to a certain degree
Number, and then the blind area of three-dimensional laser radar is reduced, meanwhile, the addition of guide-lighting microscope group 60 is so that return laser beam has bigger probability to fall
At the center of the photosensitive region of laser acquisition component 50, to obtain higher signal-to-noise ratio；By by Laser emission component 40, swash
Optical detection component 50 is set on runner assembly 30, which is rotationally connected on pedestal 10, so that laser acquisition component
50 and Laser emission component 40 can be rotated with runner assembly 30, so as to detect the mesh in each orientation in three-dimensional space
Mark；By being provide with a light permeable protection 20 on pedestal 10, so that can prevent under the premise of not influencing laser or echo passes through
Water is dust-proof, can also prevent from hitting.
Further, referring to Fig. 3, a kind of specific embodiment party as three-dimensional laser radar provided by the utility model
Formula, guide-lighting microscope group 60 include multiple guide-lighting mirrors 61, and guide-lighting mirror 61 is in open circles cone cell, and the opposite end of guide-lighting mirror offers respectively
First opening H1 and bore less than first opening H1 second opening H2, one end for offering the second opening H2 of guide-lighting mirror 61 with
Laser acquisition component 50 connects, and the photosensitive region of laser acquisition component 50 is located in the second opening H2.Here, guide-lighting mirror 61 by
The excellent material of reflective function is made, or is coated with the excellent material layer of reflective function in the inner wall of the leaded light mirror 61；This is led
Light microscopic 61 is in open circles cone cell, unambiguously, has larger-size one end (in this reality in the guide-lighting mirror 61 of open circles cone cell
Be referred to as " big end " in novel) and lesser one end of size (being referred to as " small end " in the present invention), its big end with
Small end is respectively equipped with the opening of the first opening H1 and second H2, and the diameter of the first opening H1 is greater than the diameter of the second opening H2, and should
The small end of guide-lighting mirror 61 is connect with laser acquisition component, and makes the sense for being set to the second opening H2 and the laser acquisition component 60
Light region face, that is, the photosensitive region of laser acquisition component 50 is located at the intermediate region in the second opening H2, so that laser returns
Wave energy is enough to come small end from the big end of guide-lighting mirror 61 under the reflection of guide-lighting 61 inner wall of mirror and refraction action, enters eventually into laser
In the photosensitive region of probe assembly 60.
Fig. 5 and Fig. 6 is respectively the laser time that three-dimensional laser radar is not added guide-lighting mirror 61 and is added after guide-lighting mirror 51
Wave deviates schematic diagram, it can be seen that when guide-lighting mirror 61 is not added, the distance that can be detected is the distance between A2 and C1, is added
After having entered guide-lighting mirror 61, the distance that can be detected has been expanded to the distance from A1 to C2 the distance between from A2 to C1, from
And reduce detection blind area.
Further, Fig. 1 to Fig. 2 is please referred to, a kind of specific reality as three-dimensional laser radar provided by the utility model
Mode is applied, runner assembly 30 includes the turntable 31 for being rotationally connected with 10 pedestals, is fixedly arranged on the first support 32 of 31 one end of turntable, is swashed
Light emission component 40 and laser acquisition component 50 are respectively arranged in first support 32.Specifically, turntable 31 is in the form of annular discs, at its bottom
Face offers mounting hole (not shown) compatible with the shaft 11 being set on pedestal 10, which is installed on this by bearing
In mounting hole, the rotation connection of turntable 31 and pedestal 10 is realized；The first support 32 primarily serves carrying and support Laser emission
The effect of component 40 and laser acquisition component 50.
Further, Fig. 1 to Fig. 2 is please referred to, a kind of specific reality as three-dimensional laser radar provided by the utility model
Mode is applied, three-dimensional laser radar further includes the second support for being fixedly arranged on 31 other end of turntable, and three-dimensional laser radar further includes being set to
The diversing lens 70 and receiving lens 80 for converging beam in second support 32, diversing lens 70 and Laser emission component 40
Face, 60 face of receiving lens 80 and guide-lighting microscope group.40 emission pulse laser of Laser emission component, diversing lens 70 and laser are sent out
40 face of component is penetrated, the pulse laser for emitting Laser emission component 40 directly reaches diversing lens 70, and diversing lens 70 are by arteries and veins
Impulse light pools the laser beam of diameter very little, and pulse laser is radiated on the target object in front after diversing lens 70,
Diffusing reflection echo is generated, the echo is after 80s by receiving lens, echo laser converged on the guide-lighting mirror 60 of face therewith, then
The photosensitive region of laser acquisition component 50 is further converged to after being reflected or reflected by the leaded light mirror 60.The second support 33
It primarily serves carrying and supports the effect of diversing lens 70 and receiving lens 80；The second support 33 also acts as and first support 33
The effect of counterweight, that is, so that the weight balancing of the opposite end of turntable 31, it can be when 11 rotation around the shaft of turntable 31 not
It shakes, to influence measurement effect.
Further, referring to Fig. 4, a kind of specific embodiment party as three-dimensional laser radar provided by the utility model
Formula, Laser emission component 40 include multiple laser emitters 41, and laser acquisition component 50 includes and 41 quantity phase of laser emitter
Same laser detector 51, one end for offering the second opening H2 of guide-lighting mirror 61 is connect with laser detector 51.Specifically, more
A laser emitter 41 lines up the array of specific shape as desired, and in the present embodiment, each laser emitter 41 lines up a word
Array, correspondingly, 41 side of each laser emitter is equipped with a laser detector 51, each laser detector 51 correspondingly lines up one
Word array, and guide-lighting mirror 61 is equipped on each laser detector 51, which offers the second opening H2's
One end is connected with laser detector 51, it is to be understood that the photosensitive region of laser detector 51 is located at the second of guide-lighting mirror 61
Be open the intermediate region of H2, that is, can also be with when the echo of laser beam can enter directly into the photosensitive region of laser detector 51
Via the photosensitive region for reaching the laser detector 51 after the big end inner wall of guide-lighting mirror 61, the reflection of small end inner wall and refraction.
Further, Fig. 1 to Fig. 2 is please referred to, a kind of specific reality as three-dimensional laser radar provided by the utility model
Mode is applied, runner assembly 30 further includes the lighttight third that opposite end is connected to first support 32 and second support 33
Bracket 34, between laser acquisition component 50 and Laser emission component 40, the other end is located at transmitting for one end of third bracket 34
Between lens 70 and receiving lens 80.Specifically, here first support 32, second support 33 and the substantially group of third bracket 33
At an I-shaped structure frame, wherein third bracket 34, which separates the region that first support 32 and second support 33 are enclosed, is
First area H3 and the second area H4, and Laser emission component 40 and diversing lens 70 are located in firstth area H3, correspondingly, laser is visited
Survey component 50 and receiving lens 80 and be located at the second area H4, due to third bracket 34 be can not transmission element, visited so as to avoid laser
The echo for surveying laser and reflected laser beam that device 41 issues interferes with each other, and influences measurement and computational accuracy.
Further, as a kind of specific embodiment of three-dimensional laser radar provided by the utility model, three-dimensional laser
Radar further includes the motor (not shown) for driving turntable 31 to rotate set on 10 lower section of pedestal.Here, motor is mainly used for
11 rotation around the shaft of turntable 31 is driven, meanwhile, motor is laid under pedestal 10 by three-dimensional laser radar provided by the utility model
Side avoids conventional three-dimensional radar for motor and is laid in 31 top of turntable, it is made to have to add the optical paths such as reflecting mirror auxiliary member
Part sends out laser beam from diversing lens, or by the echo reflection Jing Guo receiving lens to the photosensitive region of laser detector,
The problem of the optical path complexity in turn resulted in；The utility model three-dimensional laser radar makes laser directly come hair from laser emitter 41
Lens 70 are penetrated, after encountering target object reflection, guide-lighting mirror 61 is directly reached by receiving lens 80, finally comes laser detector
51 photosensitive region enormously simplifies the optical path and structure of three-dimensional laser radar, reduces Material Cost, time cost, also between
It connects and improves measurement accuracy.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (7)
1. three-dimensional laser radar, it is characterised in that: including pedestal, cover at the pedestal and be enclosed appearance with the pedestal
The light permeable protection for emptying chamber, the runner assembly for being rotationally connected with the pedestal and being located in the accommodating cavity, is set to described
The Laser emission component for being used to emit laser on runner assembly is set on the runner assembly and is located at the Laser emission group
The laser acquisition component for being used to receive return laser beam of part side, and it is sharp for converging on the laser acquisition component
Optical echo is in the guide-lighting microscope group of the photosensitive region of the laser acquisition component.
2. three-dimensional laser radar as described in claim 1, it is characterised in that: the leaded light microscope group includes multiple guide-lighting mirrors, institute
Guide-lighting mirror is stated in open circles cone cell, the opposite end of the leaded light mirror offers the first opening respectively and bore is less than described first
One end for offering second opening of second opening of opening, the leaded light mirror is connect with the laser acquisition component, and
The photosensitive region of the laser acquisition component is located in second opening.
3. three-dimensional laser radar as claimed in claim 2, it is characterised in that: the runner assembly is described including being rotationally connected with
The turntable of pedestal is fixedly arranged on the first support of one end of the turntable, the Laser emission component and the laser acquisition component
In the first support.
4. three-dimensional laser radar as claimed in claim 3, it is characterised in that: the runner assembly further includes being fixedly arranged on described turn
The second support of the disk other end；The three-dimensional laser radar further includes the hair for converging beam in the second support
Penetrate lens and receiving lens, the diversing lens and the Laser emission component face, the receiving lens and the guide-lighting mirror
Group face.
5. three-dimensional laser radar as claimed in claim 4, it is characterised in that: the Laser emission component includes multiple laser hairs
Emitter, the laser acquisition component include laser detector identical with the laser emitter quantity, and the leaded light mirror is opened
One end equipped with second opening is connect with the laser detector.
6. three-dimensional laser radar as claimed in claim 5, it is characterised in that: the runner assembly further includes opposite end difference
It is connected to the lighttight third bracket of the first support and the second support, one end of the third bracket is located at described
Between laser acquisition component and the Laser emission component, the other end is between the diversing lens and the receiving lens.
7. such as the described in any item three-dimensional laser radars of claim 3 to 6, it is characterised in that: the three-dimensional laser radar also wraps
Include the motor for driving the turntable to rotate being set to below the pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820338021.8U CN208766302U (en) | 2018-03-12 | 2018-03-12 | Three-dimensional laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820338021.8U CN208766302U (en) | 2018-03-12 | 2018-03-12 | Three-dimensional laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN208766302U true CN208766302U (en) | 2019-04-19 |
Family
ID=66125080
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820338021.8U Active CN208766302U (en) | 2018-03-12 | 2018-03-12 | Three-dimensional laser radar |
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Cited By (8)
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| CN110618415A (en) * | 2019-09-25 | 2019-12-27 | 深圳市速腾聚创科技有限公司 | Baffle fixing structure for laser radar and laser radar |
| CN111308721A (en) * | 2020-03-04 | 2020-06-19 | 广东博智林机器人有限公司 | Optical window and laser radar |
| WO2020215577A1 (en) * | 2019-04-26 | 2020-10-29 | 上海禾赛光电科技有限公司 | Lidar and probe apparatus thereof |
| CN112740074A (en) * | 2019-08-14 | 2021-04-30 | 深圳市速腾聚创科技有限公司 | Flash laser radar |
| CN113267782A (en) * | 2021-05-18 | 2021-08-17 | 沈阳工程学院 | Self-generating heating type acoustic radar protection device and control method thereof |
| CN113406596A (en) * | 2021-05-27 | 2021-09-17 | 宁波傲视智绘光电科技有限公司 | Optical isolator and laser radar |
| CN113853279A (en) * | 2019-05-28 | 2021-12-28 | X开发有限责任公司 | Robot configuration with three-dimensional lidar |
| CN113866784A (en) * | 2019-08-08 | 2021-12-31 | 上海禾赛科技有限公司 | Laser radar and control method thereof |
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| CN113640814A (en) * | 2019-04-26 | 2021-11-12 | 上海禾赛科技有限公司 | Laser radar and detection device thereof |
| EP3919937A4 (en) * | 2019-04-26 | 2022-03-16 | Hesai Technology Co., Ltd. | Lidar and probe apparatus thereof |
| WO2020215577A1 (en) * | 2019-04-26 | 2020-10-29 | 上海禾赛光电科技有限公司 | Lidar and probe apparatus thereof |
| CN113853279A (en) * | 2019-05-28 | 2021-12-28 | X开发有限责任公司 | Robot configuration with three-dimensional lidar |
| CN113866784A (en) * | 2019-08-08 | 2021-12-31 | 上海禾赛科技有限公司 | Laser radar and control method thereof |
| CN113866784B (en) * | 2019-08-08 | 2023-02-03 | 上海禾赛科技有限公司 | Laser radar and control method thereof |
| CN112740074A (en) * | 2019-08-14 | 2021-04-30 | 深圳市速腾聚创科技有限公司 | Flash laser radar |
| CN110618415B (en) * | 2019-09-25 | 2021-11-30 | 深圳市速腾聚创科技有限公司 | Baffle fixing structure for laser radar and laser radar |
| CN110618415A (en) * | 2019-09-25 | 2019-12-27 | 深圳市速腾聚创科技有限公司 | Baffle fixing structure for laser radar and laser radar |
| CN111308721A (en) * | 2020-03-04 | 2020-06-19 | 广东博智林机器人有限公司 | Optical window and laser radar |
| CN111308721B (en) * | 2020-03-04 | 2022-05-10 | 广东博智林机器人有限公司 | Optical window and laser radar |
| CN113267782A (en) * | 2021-05-18 | 2021-08-17 | 沈阳工程学院 | Self-generating heating type acoustic radar protection device and control method thereof |
| CN113267782B (en) * | 2021-05-18 | 2023-10-03 | 沈阳工程学院 | Sodar protection device capable of self-heating and control method thereof |
| CN113406596A (en) * | 2021-05-27 | 2021-09-17 | 宁波傲视智绘光电科技有限公司 | Optical isolator and laser radar |
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