CN207764379U - A kind of laser radar apparatus - Google Patents
A kind of laser radar apparatus Download PDFInfo
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- CN207764379U CN207764379U CN201820011829.5U CN201820011829U CN207764379U CN 207764379 U CN207764379 U CN 207764379U CN 201820011829 U CN201820011829 U CN 201820011829U CN 207764379 U CN207764379 U CN 207764379U
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- area array
- array cameras
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Abstract
The utility model embodiment provides a kind of laser radar apparatus, including：Area array cameras, laser, crank and rocker mechanism, rotational angle measuring appliance and driving mechanism；Area array cameras and laser are fixed on the rocking bar in crank and rocker mechanism；The optical axis intersection of the optical axis and laser of area array cameras；One end of crank in crank and rocker mechanism is connect with driving mechanism；One end of rocking bar is co-axially mounted with rotational angle measuring appliance；Driving mechanism is for driving crank to rotate, the link rotatable in crank handle turns crank and rocker mechanism, and connecting rod drives rocking bar rotation；Rocking bar drives the shaft rotation of area array cameras, laser and rotational angle measuring appliance.The laser radar apparatus that the utility model embodiment provides can acquire the three-dimensional data of barrier, and manufacturing cost is cheap.
Description
Technical field
The utility model is related to technical field of laser detection, more particularly to a kind of laser radar apparatus.
Background technology
At present, it is often necessary in mobile robot and AGV (Automated Guided Vehicle, homing guidance transport
Vehicle) on laser radar apparatus is installed, to obtain the position etc. of trolley or robot peripheral obstacle by laser radar apparatus
Obstacle information, so that trolley or robot can intelligently hide obstacle according to obstacle informations such as the positions of barrier
Object.
But current laser radar apparatus be mostly stepper motor in the device drive under, in the horizontal direction into
360 degree of rotations of row.Also, since these laser radar apparatus mostly use greatly dot laser, thus, these laser radar apparatus are only
It can be right：Barrier scanning is carried out in each horizontal direction of same level height, it is, can only collect in level height
The 2-D data of the barrier of degree, and be difficult to collect barrier vertical direction depth distance information (i.e. altitude information),
It is difficult to collect the data in third dimension.In addition, can acquire barrier at present, in vertical direction, (i.e. third is tieed up
On degree) depth distance information laser radar apparatus, be by high-velocity scanning galvanometer come acquired disturbance object depth distance believe
Breath, but high-velocity scanning galvanometer cost is higher, it is difficult to meet high-volume use demand.
Utility model content
The utility model embodiment is designed to provide a kind of laser radar apparatus, can acquire the three-dimensional of barrier
Data and manufacturing cost is cheap.
In order to achieve the above object, the utility model embodiment provides a kind of laser radar apparatus, which can wrap
It includes：Area array cameras, laser, crank and rocker mechanism, rotational angle measuring appliance and driving mechanism；
Area array cameras and laser are fixed on the rocking bar in crank and rocker mechanism；The optical axis of area array cameras and laser
Optical axis intersects；
One end of crank in crank and rocker mechanism is connect with driving mechanism；One end of rocking bar and rotational angle measuring appliance are same
Axis is installed；
For driving crank to rotate, the link rotatable in crank handle turns crank and rocker mechanism, connecting rod band shakes driving mechanism
Bar rotates；Rocking bar drives the shaft rotation of area array cameras, laser and rotational angle measuring appliance.
Optionally, which can also include：Babinet；The first form and the second form are provided on babinet；Face
Array camera and laser are fixed on box house；
Laser emits laser to outside babinet by the first form；Area array cameras receives light by the second form；Face battle array
Camera and laser are fixed on by babinet on rocking bar.
Optionally, in the utility model embodiment, hole is provided on babinet；Babinet is nested in rotational angle by trepanning and surveys
In the shaft of measuring device.
Optionally, it is 10~20 degree that the optical axis of area array cameras and the optical axis of laser, which are formed by angle,.
Optionally, the distance between area array cameras and laser are 50~100 millimeters.
Optionally, rotational angle measuring appliance is：Photoelectric encoder or angular transducer.
Optionally, laser is：Dot laser or laser line generator.
Optionally, rocking bar drives area array cameras and laser to be rotated in vertical direction.
Optionally, the length of crank, the length of rocking bar and laser meet mathematics in the scanning angle θ of vertical direction and close
System：
Length=sin (θ/2) of length/rocking bar of crank；The value range of θ is 10~40 degree.
Optionally, laser is：Emit the laser of infrared waves.
In the utility model embodiment, laser radar apparatus includes area array cameras and laser, due to area array cameras
After the optical axis of optical axis and laser intersects, thus the laser launched of laser encounters barrier, the laser energy of barrier reflection
It is enough to be received by area array cameras, so as to the 2-D data of acquired disturbance object.In addition, laser is integrally fixed at crank rocker machine
On the rocking bar of structure, and rocking bar can be rotated when driving mechanism drives crank rotation.Rocking bar is in rotation process, laser
Position changed, thus the laser that laser is sent out can be scanned in third dimension.And then it can be based on
Laser triangulation method measures laser to the distance of barrier, and is calculated according to the distance and the angle of laser rotation
Barrier third dimension data, it is hereby achieved that the three-dimensional data of barrier.Moreover, the utility model embodiment carries
For laser radar apparatus need not realize laser sweeping in third dimension using high-cost high-velocity scanning galvanometer
It retouches to obtain the data in third dimension, manufacturing cost is cheap.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of structural schematic diagram of laser radar apparatus provided by the utility model；
Fig. 2 is the structural schematic diagram of another laser radar apparatus provided by the utility model；
Fig. 3 for the provided laser radar apparatus of another the utility model structural schematic diagram；
Fig. 4 is that the laser that laser is sent out in Fig. 1 to Fig. 3 and the laser reflex to area array cameras 101 by barrier
Enlarged diagram；
Wherein, the correspondence in Fig. 1-Fig. 4 between each reference numeral and component Name is：
100 babinets, 101 area array cameras, 102 lasers, 100a inner walls, 100b inner walls, 100c inner walls, 100d inner walls；
200 crank and rocker mechanisms, OA cranks, AC connecting rods, CD rocking bars；
300 rotational angle measuring appliances, rotating shaft D；
400 driving mechanisms.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
In order to solve the problems in the existing technology, the utility model embodiment provides a kind of laser radar apparatus.
The laser radar apparatus that the utility model embodiment provides is more fully understood for the ease of those skilled in the art, it is existing
In conjunction with Fig. 1, the laser radar apparatus provided the utility model embodiment illustrates.
Referring to Fig. 1, the laser radar apparatus that the utility model embodiment provides may include：
Area array cameras 101, laser 102, crank and rocker mechanism 200, rotational angle measuring appliance 300 and driving mechanism 400；
(wherein, in Fig. 1 not area array cameras 101 and laser 102 are fixed on the rocking bar CD in crank and rocker mechanism 200
Show that area array cameras 101 and laser 102 are directly anchored to the fixed form on rocking bar CD)；The optical axis of area array cameras 101 and swash
The optical axis of light device 102 intersects；
One end ends O of crank OA in crank and rocker mechanism 200 are connect with driving mechanism 400；One end ends D of rocking bar CD with
Rotational angle measuring appliance 300 is co-axially mounted；
For driving mechanism 400 for driving crank OA to rotate, crank OA drives the connecting rod AC in crank and rocker mechanism 200 to turn
Dynamic, connecting rod AC drives rocking bar CD rotations；Rocking bar CD drives area array cameras 101, laser 102 and rotational angle measuring appliance 300
Rotating shaft D rotates.
It is understood that the ends D of rocking bar CD can be provided with trepanning, and the trepanning is co-axially mounted with rotating shaft D.
In the utility model embodiment, laser radar apparatus includes area array cameras and laser, due to area array cameras
After the optical axis of optical axis and laser intersects, thus the laser launched of laser encounters barrier, the laser energy of barrier reflection
It is enough to be received by area array cameras, so as to the 2-D data of acquired disturbance object.
In addition, laser is integrally fixed on the rocking bar of crank and rocker mechanism, and rocking bar can drive crank in driving mechanism
It is rotated when rotation.Wherein, driving mechanism can drive crank to rotate, and link rotatable, connecting rod are driven in crank rotation process
Rocking bar rotation is driven in rotation process.Rocking bar is in rotation process, and the position of laser is changed, thus laser is sent out
Laser can be scanned in third dimension.Wherein, laser radar apparatus can to barrier that laser scanning is arrived into
Row detection.
In turn, can be measured based on laser triangulation method laser to barrier distance, and according to the distance and
Laser rotation angle come calculate barrier third dimension data, it is hereby achieved that the three-dimensional data of barrier.
Moreover, the laser radar apparatus that the utility model embodiment provides need not be sharp to realize using high-cost high-velocity scanning galvanometer
Light device scanning to obtain the data in third dimension in third dimension, manufacturing cost is cheap.It is, using crank
Rocker device scanning substitution high-speed vibrating mirror mechanism or the scanning of 360 degree rotation mechanism, are scanned using mechanical movement instead of ray machine
Scanning, significantly reduces the manufacturing cost of laser radar apparatus.
For example, laser radar installations can be mounted on AGV (Automated according to mode as shown in Figure 1
Guided Vehicle, automated guided vehicle) on roof, laser radar apparatus is presented as shown in Figure 1 on roof at this time
State (i.e. O points and D points point-blank, and O points and D points place straight line are parallel with the plane where roof), this kind of situation
Can calculate down laser to barrier horizontal distance, further according to the rotation of the horizontal distance, shaft of laser to barrier
The mounting height of angle and laser radar apparatus calculates the depth distance information (i.e. the data of third dimension) of barrier.
Wherein, laser radar installations is mounted on AGV (Automated Guided Vehicle, automated guided vehicle)
On height can be set according to actual conditions by those skilled in the art, it is not described here in detail.In addition, laser radar
Device can also be packaged laser radar installations shown in Fig. 1 by an encapsulating housing.The encapsulating housing is provided with shell
Form, laser can emit laser outward by the housing window, and area array cameras can receive light by the housing window.
Wherein, those skilled in the art can set laser radar installations in the equipment such as AGV according to actual conditions
Mounting means, it is not described here in detail.In addition, rotational angle measuring appliance 300 can be photoelectric encoder or angular transducer, specifically
It is to use photoelectric encoder or angular transducer, can be selected according to actual conditions by those skilled in the art.
It should be noted that there are one the four-bar linkages of crank and a rocking bar to be known as crank and rocker mechanism for tool.It is logical
Often, crank is driving link and constant velocity rotation, and rocking bar makees speed change reciprocating swing for driven member, and connecting rod makees Planar Compound movement.
In addition, the laser radar apparatus that the utility model embodiment provides can also include babinet；It can be opened on the babinet
There are the first form and the second form.Area array cameras and laser can be fixed on the box house, also, the area array cameras and swash
Light device is indirectly fixed to by the babinet on rocking bar.Wherein, which can emit laser to outside babinet by the first form.
The area array cameras can receive light by the second form.First form and the second form can be the same form, also may be used
To be different two forms, this is all reasonable.
Wherein, babinet can be the babinet of square, naturally it is also possible to be the babinet of the babinet and ball-type of cuboid, certainly
It is not limited thereto.Below using the babinet for square as example, to the laser radar apparatus of the utility model embodiment offer
It is described in detail.
Illustrate for clarity, first combine Fig. 2 the utility model embodiment is provided babinet 100,102 knead dough battle array of laser
Camera 101 illustrates.
Referring to Fig. 2, babinet is specifically as follows the babinet 100 of square.Wherein, the case for square is illustrated only in Fig. 2
The diagrammatic cross-section of body 100.This can have 6 face inner walls for the babinet 100 of square, and inner wall 100a, inner wall are illustrated only in Fig. 2
100b, inner wall 100c and inner wall 100d.
When in order to make the laser irradiation that laser 102 is launched to outside babinet 100 to barrier, the laser of reflection can be into
Enter to area array cameras 101, area array cameras 101 and laser 102 can be installed on the inner wall 100b of babinet 100, and
Ensure the optical axis intersection of the optical axis and laser 102 of the area array cameras 101 after installation.
Wherein, in order to enable laser 102 to emit laser to outside babinet 100, in 100 inner wall 100b of babinet and can swash
One the first form is set at the corresponding position of Laser emission mouth of light device 102, to, laser 102 can by this first
Form emits laser to outside babinet 100.
In addition, in order to allow area array cameras 101 to receive the light outside babinet 100, it can be in 100 inner wall of babinet
One the second form is set in 100b at position corresponding with the light receiver mouth of area array cameras 101, to area array cameras 101
The reflected laser of barrier can be received by second form.
In this way so that the laser radar apparatus that the utility model embodiment provides can be sent out by area array cameras 101
It is emitted back towards the image space of the laser come, and obtains angle and area array cameras 101 and laser that laser 102 emits laser
The distance between 102, then can utilize laser triangulation method, calculate laser to barrier distance.Specifically, originally
The laser radar apparatus that utility model embodiment provides can also include information processing system, and can pass through the information processing system
Statistics calculates laser to information such as the distances of barrier, this is reasonable.Wherein, laser triangulation method is existing algorithm,
It is not described here in detail.
Wherein, trepanning is also provided on babinet 100, babinet 100 can be nested in rotational angle survey by the trepanning
In the rotating shaft D of measuring device 300, realization babinet 100 is co-axially mounted with rotational angle measuring appliance 300 so that babinet 100 and angle of rotation
Degree measuring appliance 300 is rotated coaxially under the drive of rocking bar CD.
Inventor has found, when the distance between area array cameras 101 and laser 102 are set as 50~100 millimeters, calculates
The horizontal distance of obtained laser to barrier is more accurate.In addition, when ensure install after area array cameras 101 optical axis and
The optical axis of laser 102 is formed by angle when being 10~20 degree, the horizontal distance of the laser being calculated to barrier
It is more accurate.
It is worth noting that the laser radar apparatus of the depth distance information of vertical direction can be acquired at present, passing through
During high-velocity scanning galvanometer carrys out the depth distance information of acquired disturbance object, need to measure by phase-shift laser rangefinder method sharp
Horizontal distance of the light device to barrier.And since the computation complexity of phase-shift laser rangefinder method will be far above triangle telemetry, because
And the calculating cost of this kind of laser radar apparatus in the prior art is above the laser radar of the utility model embodiment offer
The calculating cost of device.That is, the calculating cost for the laser radar apparatus that the utility model embodiment provides is relatively low.
In the following, in conjunction with the depth of Fig. 1 to Fig. 3 laser radar apparatus acquired disturbance objects provided the utility model embodiment
The operation principle of range information illustrates.
Referring to Fig. 1 to Fig. 3 it is found that in the utility model embodiment, the rocking bar CD in crank and rocker mechanism 200 is fixed
On a face of 100 babinet 100.Wherein, which is：, babinet parallel with the section of babinet 100 of Fig. 1 to Fig. 3
100 face.Specifically, rocking bar CD can be fixed on to fixed face diagonal position, for example, can be fixed on such as figure
1 at the cornerwise CD segment positions of stationary plane shown in Fig. 3.Certainly it is not limited thereto.
And it is possible to pre-set when crank OA rotates to obtain position as shown in Figure 1, babinet 100 is turned to such as Fig. 1
Shown in position, at this time laser can scan extreme lower position；It is arranged when crank OA rotates to obtain position as shown in Figure 2
When, babinet 100 turns to position as shown in Figure 2, and laser can be scanned to horizontal position at this time；Setting is when crank OA rotations
When obtaining position as shown in Figure 3, babinet 100 turns to position as shown in Figure 3, and laser can scan highest order at this time
It sets.It is, rocking bar CD can drive area array cameras 101 and laser 102 to be rotated in vertical direction.
Also, the laser of position shown in Fig. 1 can scan extreme lower position, and the laser of position shown in Fig. 2 can be swept
It retouches to horizontal position, the laser of position shown in Fig. 3 can be scanned to extreme higher position.In this way, babinet 100 can be made to carry out pitching
Rotation, it is, from the minimum spot scans of Fig. 1 to Fig. 3 peaks, to which the laser 102 obtained in babinet 100 can be in vertical side
To the scanning for realizing maximum height, and the shaft of the rotational angle measuring appliance 300 can be measured by rotational angle measuring appliance 300
The angle of rotation, you can to measure the angle of the rotation of laser 102, so that laser radar apparatus can collect barrier
In the depth distance information of vertical direction.
Then, the laser radar apparatus that the utility model embodiment provides can carry out barrier in conjunction with Fig. 1 to Fig. 4
The operation principle of 3-D scanning illustrates.
It is understood that the laser 102 installed in babinet 100 can be dot laser, or laser line generator.
Wherein, laser 102 uses laser line generator, when area array cameras 101 is using high-resolution area array cameras, can by laser and
Area array cameras realizes that high-precision two-dimensional measures.Also, when laser and area array cameras rotate, the utility model embodiment provides
Laser radar apparatus the 3-D scanning to barrier may be implemented, it is hereby achieved that the three-dimensional information of barrier.And then it can
To calculate the three-dimensional point coordinate of barrier in real time, it can determine that the size of distant place barrier and depth are believed according to three-dimensional point coordinate
Breath, so as to provide location information for path planning and avoidance.
This is because two-dimensional scan can be carried out to barrier in the horizontal direction by laser line generator 102.Also, when drive
When motivation structure 400 drives crank OA uniform motion, babinet 100 can carry out pitching movement, in this way so that swashing in babinet 100
Light device 102 scans the barrier of vertical direction, to carry out stereoscan to the barrier of vertical direction, to realize that three-dimensional is swept
It retouches, and then can be with the three-dimensional information of acquired disturbance object.
Wherein, relative to using for dot laser, the range of laser irradiation can be improved using laser line generator, so as to
To improve accuracy of detection.Wherein, referring to Fig. 4 it is found that plane and inner wall where the ray that laser line generator 102 is sent out can be arranged
100b is vertical, and the optical axis of laser line generator 102 is shown in Fig. 4, point h1、h0And h2The straight line at place.When assuming that passing point h2And it hangs down
Directly where the horizontal dotted line of the optical axis of laser line generator 102 horizontal plane there are when barrier, then, passing point h2And perpendicular to
The horizontal dotted line of the optical axis of laser line generator 102 indicates：The barrier that the laser line generator 102 can be scanned in the level height is most
Big width can carry out two-dimensional scan to barrier at this time.In turn, the laser on the dotted line reflexes to area array cameras by barrier
101.Wherein, passing point h0And the straight line for passing through area array cameras 101 is straight line where the optical axis of area array cameras 101；h1Place dotted line
To h2Place dotted line is：Two visual field corner edges of area array cameras 101.Visual field corner edge be area array cameras 101 it is observed that
The farthest and minimum distance of object.
Wherein it is possible to which laser link and laser triangulation method according to Fig.4, arrives barrier to calculate laser 102
Horizontal distance, specific calculating process is not described in detail herein.
It is worth noting that driving mechanism 400 specifically could be provided as stepper motor, which can specifically set
It is set to the laser of transmitting infrared waves, this is reasonable.Wherein, it since the infrared waves of transmitting naked eyes are invisible, thus can keep away
Exempt from the vision interference to people during obstacle detection.
Furthermore it is possible to which the scanning angle θ that crank OA length, the length of rocking bar CD and laser is arranged in vertical direction meets
Mathematical relationship：Length=sin (θ/2) of length/rocking bar of crank；The value range of the θ is 10~40 degree, at this point it is possible to make
Rocking bar CD is at the uniform velocity swung in pitch orientation realization.Wherein, laser refers in the scanning angle of vertical angles：Laser and shaft
Straight line where D is formed by acute angle with vertical line perpendicular to the ground.
It should also be noted that, after carrying out 3-D scanning to barrier, can also be calculated by three-dimensional developing algorithm
The three-dimensional coordinate of trolley or VGA.Certainly, it is not limited to this.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, identical similar portion between each embodiment
Point just to refer each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so description is fairly simple, related place is referring to embodiment of the method
Part explanation.
The above is only the preferred embodiment of the utility model only, is not intended to limit the protection model of the utility model
It encloses.Any modification, equivalent substitution, improvement and etc. made within the spirit and principle of the present invention, are all contained in this reality
With in novel protection domain.
Claims (10)
1. a kind of laser radar apparatus, which is characterized in that including：Area array cameras, laser, crank and rocker mechanism, rotational angle
Measuring appliance and driving mechanism；
The area array cameras and laser are fixed on the rocking bar in the crank and rocker mechanism；The optical axis of the area array cameras and
The optical axis of the laser intersects；
One end of crank in the crank and rocker mechanism is connect with the driving mechanism；One end of the rocking bar and the rotation
Angle measurement equipment is co-axially mounted；
For driving the crank to rotate, the connecting rod in crank and rocker mechanism described in the crank handle turns turns the driving mechanism
Dynamic, the connecting rod drives the rocking bar rotation；The rocking bar drives the area array cameras, laser and the rotational angle to measure
The shaft of device rotates.
2. the apparatus according to claim 1, which is characterized in that the laser radar apparatus further includes：Babinet；The babinet
On be provided with the first form and the second form；The area array cameras and the laser are fixed on the box house；
The laser emits laser by first form to outside the babinet；The area array cameras is regarded by described second
Window receives light；The area array cameras and the laser are fixed on by the babinet on the rocking bar.
3. the apparatus of claim 2, which is characterized in that be provided with hole on the babinet；The babinet passes through the hole
It is nested in the shaft of the rotational angle measuring appliance.
4. the apparatus according to claim 1, which is characterized in that the optical axis of the area array cameras and the optical axis institute shape of laser
At angle be 10~20 degree.
5. according to the device described in any one of claim 1-4, which is characterized in that the area array cameras and the laser it
Between distance be 50~100 millimeters.
6. the apparatus according to claim 1, which is characterized in that the rotational angle measuring appliance is：Photoelectric encoder or angle
Spend sensor.
7. the apparatus according to claim 1, which is characterized in that the laser is：Dot laser or laser line generator.
8. the apparatus according to claim 1, which is characterized in that the rocking bar drives the area array cameras and laser perpendicular
Histogram is to rotation.
9. device according to claim 8, which is characterized in that the length of the crank, the length of rocking bar and the laser
Device meets mathematical relationship in the scanning angle θ of vertical direction：
Length=sin (θ/2) of length/rocking bar of crank；The value range of the θ is 10~40 degree.
10. the apparatus according to claim 1, which is characterized in that the laser is：Emit the laser of infrared waves.
Priority Applications (1)
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|---|---|---|---|
| CN201820011829.5U CN207764379U (en) | 2018-01-04 | 2018-01-04 | A kind of laser radar apparatus |
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| CN201820011829.5U CN207764379U (en) | 2018-01-04 | 2018-01-04 | A kind of laser radar apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111983638A (en) * | 2020-08-20 | 2020-11-24 | 江苏美的清洁电器股份有限公司 | Laser radar and equipment with cleaning function |
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2018
- 2018-01-04 CN CN201820011829.5U patent/CN207764379U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111983638A (en) * | 2020-08-20 | 2020-11-24 | 江苏美的清洁电器股份有限公司 | Laser radar and equipment with cleaning function |
| CN111983638B (en) * | 2020-08-20 | 2023-12-15 | 美智纵横科技有限责任公司 | Laser radar and equipment with cleaning function |
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Granted publication date: 20180824 Termination date: 20210104 |