CN106249248A - Rotary optical scanning range unit and method - Google Patents
Rotary optical scanning range unit and method Download PDFInfo
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- CN106249248A CN106249248A CN201610799195.XA CN201610799195A CN106249248A CN 106249248 A CN106249248 A CN 106249248A CN 201610799195 A CN201610799195 A CN 201610799195A CN 106249248 A CN106249248 A CN 106249248A
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- 238000004989 laser desorption mass spectroscopy Methods 0.000 claims description 11
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention provides a kind of rotary optical scanning range unit and method, relating to range finding field, this device includes firm banking, angular encoder, rotation platform, rotor and stator, LASER Light Source, sensor devices, supplies electricity transmission and data sink and receive device, data processing module；Stator drives rotation platform to rotate by rotor；LASER Light Source and sensor devices are fixed on rotation platform, the laser that sensor devices sends for the LASER Light Source accepting reflection；Being fixed on firm banking for electricity transmission and data sink, power supply receives and wireless data transfer device is on rotation platform；Power supply receives and wireless data transfer device is for receiving the data and electric energy sent for electricity transmission and data sink；Power supply receives and wireless data transfer device is connected with sensor devices；Angular encoder is fixed on rotation platform；Data processing module is connected with angular encoder and sensor devices respectively.Present application addresses the technical problem that Compact Laser Radar internal components is easy to wear.
Description
Technical field
The present invention relates to ranging technology field, especially relate to a kind of rotary optical scanning range unit and method.
Background technology
Optical scanning range unit is a kind of device that target object is carried out noncontact scanning range finding by structure light.Logical
Cross rotating mechanism by structure light beam to environmental scanning, can the reality extraction to environment profile information.
Relative to the method such as ultrasound wave and depth camera, laser has the features such as high coherence, high directivity, can be significantly
Improve measuring accuracy, be therefore widely used on range unit.Laser distance measurement method has that measuring speed is fast, ranging is remote
Feature, at present, many Indoor Robot systems all use laser ranging system as sensor, it is achieved position, build map and
Obstacle.
Laser distance measurement method mainly has impulse method, time-of-flight method, phase method and triangular ranging method.Impulse method and phase place
Method, when finding range every time, needs longer stabilization time.Time-of-flight method needs many group optical texture camera lenses to realize scanning range finding,
Overall structure size is relatively big, relatively costly.Triangular ranging method measurement has the advantage that the time is short, application cost is low.
In order to solve size and Cost Problems, the Compact Laser Radar of the triangular ranging principle of appearance use at present, but this
Plant the signal of telecommunication transmission that rotary part is powered and communication needs use conducting slip ring etc. to realize between rotary body of device, this machinery
Mechanism is by strong influence bulk life time, and the situations such as abrasion easily occurs in conducting slip ring.And prior art revolving part and fixture
Between by bearings, and drive rotation by the mode such as gear, belt pulley, there is mechanical wear, affect the life-span.And exist
Mechanical vibration, the problem that datum mark is unbalance, affect measurement result so that precision reduces.
Based on this, the invention provides a kind of rotary optical scanning range unit and method and ask to solve above-mentioned technology
Topic.
Summary of the invention
It is an object of the invention to provide a kind of rotary optical scanning range unit and method, of the prior art to solve
Compact Laser Radar internal components is easy to wear, affects technical problem in service life.
Based on above-mentioned purpose, the invention provides a kind of rotary optical scanning range unit, compile including firm banking, angle
Code device, rotary system, LDMS, confession electricity transmission and data sink, power supply reception and wireless data transfer device
And data processing module；
Described rotary system includes a rotation platform, motor stator and rotor；Described electronics stator is solid with described
Determine base affixed；Described rotation platform is affixed with described rotor；
The casing center of described rotor is affixed with one end of support shaft；The other end of described support shaft and described electronics
The housing into rotation of rotor connects；The center of described rotation platform is affixed with described support shaft；
Described LDMS includes that LASER Light Source and sensor devices, described LASER Light Source and described sensor devices are fixed
On described rotation platform, the laser that the described LASER Light Source that described sensor devices comes for accepting reflection sends；
Described confession electricity transmission and data sink are fixed on described firm banking, and described power supply receives and wireless data
Transporter is connected with described rotation platform；Described power supply receives and wireless data transfer device is used for receiving described confession and transmits electrically
And the data that send of data sink and electric energy；
Described power supply receive and wireless data transfer device respectively with described sensor devices, described angular encoder and described
LASER Light Source connects；
Described angular encoder is fixed on described rotation platform；
Described data processing module is fixed on described firm banking, described data processing module and confession electricity transmission and data
Reception device connects.
Optionally, being additionally provided with support platform below described rotation platform, described support platform is affixed with described support shaft.
Optionally, the described support platform of institute is additionally provided with upper cover；
Described LDMS and described data processing module are respectively positioned in described upper cover；
Being provided with window on the sidewall of described upper cover, described LDMS is arranged towards described window.
Optionally, described support platform is rounded；Described upper cover is cylinder；The external diameter of described upper cover and described support platform
External diameter identical.
Optionally, described power supply reception and wireless data transfer device are fixed on the lower section of described support platform.
Optionally, described confession electricity transmission and data sink include resonance ejection coil, and described power supply receives and wireless
Data link include resonate receiving coil, electric energy pass through described resonance ejection coil and described resonance receiving coil
The resonance of mutual inductance magnetic coupling is wirelessly transferred.
Optionally, described for electricity transmission and data sink and described power supply reception and wireless data transfer device it
Between data transmission use 2.4G radio communication.
Optionally, described 2.4G radio communication uses bluetooth.
Optionally, described sensor devices includes imager chip and imaging lens；Described imaging lens will be for reflecting laser
Collect on described imager chip；
Described imager chip is CMOS or CCD.
Based on above-mentioned purpose, present invention also offers a kind of rotary optical based on said apparatus scanning distance-finding method, institute
State rotary optical scanning distance-finding method to include:
Step 1, switch on power, the stator built-in line excitation in described motor stator, thus drive described rotor to rotate, institute
Stating rotation platform described in rotor to rotate, described angular encoder monitors described rotation platform rotating speed, treats described rotation
After the stabilization of speed of platform, enter next step；
Step 2, described LASER Light Source are by laser beam irradiation to target object；
The laser beam that described LASER Light Source is produced by step 3, object reflects；
Step 4, described sensor devices receive launches light, and picture signal is changed into the signal of telecommunication；
The position signalling of the described signal of telecommunication and described angular encoder is carried out warm by step 5, described data processing module,
Obtain the environmental information of target object.
The described rotary optical scanning range unit that the present invention provides, after switching on power, disk type electric machine stator coil magnetization,
Rotor generation synchronous rotary, thus platform and support shaft rotation are rotated, the stator of motor is arranged on firm banking, electricity
Machine rotor is installed on rotation platform, and rotation platform can be made to be in the rotation status of contact non-stress.Support shaft only serves support
Effect, not has driven by motor, decreases revolving part and the friction of fixture and vibrations.LASER Light Source on rotation platform is launched
Laser, arrives on target object, and reflection light enters sensor devices, thus obtains laser instrument to the distance of sensor devices.Along with flat
Platform rotates, and the most in like manner, this device can obtain the arbitrarily angled range information in the range of 360 °.The information of sensor devices and angle
The positional information of encoder received by power supply and wireless data transfer device with wireless mode pass to for electricity transmission and
Passing to data processing module after data sink, described data processing module is to the signal of telecommunication of sensor devices and angular coding
The position signalling of device carries out warm, obtains the environmental information of target object, then transfers out.Data processing module is permissible
Use microprocessor.The application is by providing the optical ranging system of 360 ° of continuous rotations, it is achieved environment noncontact is swept
Retouch range finding.Pass through laser ranging so that range measurement is more accurate.By the angular encoder installed, the angle that metering rotates
On the one hand information, on the one hand negative feedback stabilized (steady-state) speed, output the angle information when pre-test, thus institute in obtaining 360 degree
There are distance and the position of object.For relatively conventional range unit, this optical scanning range unit is divided into fixing seat and turntable two
Part, fixing seat is provided with the stator of disc type electric machine, and the rotor of disc type electric machine installed by turntable, and structure based on disc type electric machine is in rotation
Transhipment is more reliable time dynamic, the life-span is longer.The present invention is equivalent to integral installation on motor, rotates smoother, velocity-stabilization.
It is a feature of the present invention that on the basis of existing laser ranging means, change the electricity consumption form of sensor devices,
Supply electricity transmission and data sink and described power supply reception and wireless data transfer device by described, use magnetic coupling altogether
Mode of shaking wireless power transmission, it is not necessary to wire slip ring, decreases revolving part and the friction of fixture and vibrations, adds range-measurement system
Reliability, extends device service life.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to specifically
In embodiment or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not paying creative work
Put, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The explosive view of the rotary optical scanning range unit that Fig. 1 provides for the embodiment of the present invention one；Fig. 2 be Fig. 1 another regard
The schematic diagram at angle.
Reference:
1-upper cover；2-LASER Light Source；3-rotation platform；
4-supports platform；5-is for electricity transmission and data sink；6-firm banking；
7-sensor devices；8-motor stator；9-powers and receives and wireless data transfer device；
10-support shaft.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is clearly and completely described, it is clear that described enforcement
Example is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertically ",
Orientation or the position relationship of the instruction such as " level ", " interior ", " outward " they are based on orientation shown in the drawings or position relationship, merely to
Be easy to describe the present invention and simplifying describe rather than instruction or the hint device of indication or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicate or hint relative importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " is installed ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be fixing connection, it is also possible to be to removably connect, or be integrally connected；Can
To be mechanical connection, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, can understand that above-mentioned term is at this with concrete condition
Concrete meaning in invention.
Embodiment one
As shown in Figure 1-2, providing a kind of rotary optical scanning range unit in the present embodiment, described rotary optical is swept
Retouch range unit to include firm banking 6, angular encoder, rotary system, LDMS, fill for electricity transmission and data receiver
Put 5, power supply reception and wireless data transfer device 9 and data processing module；
Described rotary system includes a rotation platform 3, motor stator 8 and rotor；Described electronics stator is with described
Firm banking 6 is affixed；Described rotation platform 3 is affixed with described rotor；
The casing center of described rotor is affixed with one end of support shaft 10；The other end of described support shaft 10 is with described
The housing into rotation of electronics rotor connects；The center of described rotation platform 3 is affixed with described support shaft 10；
Described LDMS includes LASER Light Source 2 and sensor devices 7, described LASER Light Source 2 and described sensor devices
7 are fixed on described rotation platform 3, the laser that the described LASER Light Source 2 that described sensor devices 7 comes for accepting reflection sends；
Described confession electricity transmission and data sink 5 are fixed on described firm banking 6, and described power supply receives and wireless number
It is connected with described rotation platform 3 according to transporter 9；Described power supply receives and wireless data transfer device 9 is used for receiving described confession
Electricity transmission and the data that send of data sink 5 and electric energy；
Described power supply receive and wireless data transfer device 9 respectively with described sensor devices 7, described angular encoder and institute
State LASER Light Source 2 to connect；
Described angular encoder is fixed on described rotation platform 3；
Described data processing module is fixed on described firm banking 6, described data processing module and confession electricity transmission and number
Connect according to receiving device.Motor stator 8 uses disk type electric machine stator 8, including housing, including stator built-in line, stator fixed mount, tree
Fat potting compound etc..Electronics rotor uses the plate rotor matched.
The described rotary optical scanning range unit that the present invention provides, after switching on power, disk type electric machine stator 8 coil is encouraged
Magnetic, rotor generation synchronous rotary, thus platform 3 is rotated and support shaft 10 rotates, the stator of motor is arranged on the fixing end
On seat 6, rotor is installed on rotation platform 3, and rotation platform 3 can be made to be in the rotation status of contact non-stress.Support shaft
10 only serve supporting role, not have driven by motor, decrease revolving part and the friction of fixture and vibrations.On rotation platform 3
LASER Light Source 2 launch laser, arrive on target object, reflection light enters sensor devices 7, thus obtains laser instrument to photoreceptors
The distance of part 7.Along with platform rotates, the most in like manner, this device can obtain the arbitrarily angled range information in the range of 360 °.Described
Data processing module the signal of telecommunication of sensor devices 7 and the position signalling of angular encoder are carried out warm, obtain target object
Environmental information, then transfer out.Data processing module can use microprocessor.The application is by providing one
The optical ranging system of 360 ° of continuous rotations, it is achieved environment noncontact scanning range finding.Pass through laser ranging so that range measurement is more
Add accurately.By install angular encoder, metering rotate angle information, on the one hand negative feedback stabilized (steady-state) speed, the most defeated
Go out the angle information when pre-test, thus obtain distance and the position of all objects in 360 degree.Relatively conventional range unit
For, this optical scanning range unit is divided into fixing seat and turntable two parts, and fixing seat is provided with the stator of disc type electric machine, turntable
Installing the rotor of disc type electric machine, structure based on disc type electric machine is more reliable when rotary motion, the life-span is longer.The present invention is equivalent to
Integral installation, on motor, rotates smoother, velocity-stabilization.
It is a feature of the present invention that on the basis of existing laser ranging means, change the electricity consumption shape of sensor devices 7
Formula, supplies electricity transmission and data sink 5 and described power supply to receive and wireless data transfer device by described, uses magnetic coupling
Close resonance mode wireless power transmission, it is not necessary to wire slip ring, decrease revolving part and the friction of fixture and vibrations, adding range finding system
The reliability of system, extends device service life.
Such as Fig. 1-2, in the alternative of the present embodiment, it is additionally provided with below described rotation platform 3 and supports platform 4, described
Support platform 4 is affixed with described support shaft.
By support platform, make described rotation platform 3 the most firm, support platform 4 area bigger, it is simple to upper cover 1 is installed
In remaining device.
Further, described support platform 4 is additionally provided with upper cover 1；
Described LDMS and described data processing module are respectively positioned in described upper cover 1；
Being provided with window on the sidewall of described upper cover 1, described LDMS is arranged towards described window.
Arranging upper cover 1 is to protect LASER Light Source 2 equipment such as grade, meanwhile, arranging window, be for convenience laser injection and
Accepting, laser is unobstructed.
Further, described support platform 4 is rounded；Described upper cover 1 is in cylinder；The external diameter of described upper cover 1 with described
The external diameter of support platform is identical.
The circular good processing of support platform 4, steadily of centre of gravity during rotation, will not rock.Make the form that external diameter is identical, also allow for
Processing and installation, overall more aesthetically pleasing.Preferably, described firm banking 6 is also configured as cylinder, external diameter and described support platform 4
Identical, the parts such as motor are positioned at firm banking 6, and the most whole device is a cylinder, elegant in appearance.
Further, described power supply reception and wireless data transfer device 9 are fixed on the lower section of described support platform 4.
So arranging, distance wireless data and power supply dispensing device more enter, and middle do not have to stop, signal is more preferable, and electric energy passes
Pass in hgher efficiency.
In the alternative of the present embodiment, described confession electricity transmission and data sink 5 include resonance ejection coil, described
Power supply receive and wireless data transfer device 9 include resonate receiving coil, electric energy pass through described resonance ejection coil and
The resonance of described resonance receiving coil mutual inductance magnetic coupling is wirelessly transferred.
Existing for electricity transmission and data sink 5, typically by power management module, agitator, power amplifier, humorous
Shake the compositions such as transmitting coil, and power supply receives and wireless data transfer device 9 is then adjusted by resonance receiving coil, control circuit, electric current
The compositions such as reason circuit.The mutual inductance magnetic coupling resonance that passes through of electric energy is wirelessly transferred.Wireless power, is a kind of convenient and safe new
Technology, it is not necessary to any connection physically, electric energy can the most contactlessly be transferred to load.The most in-plant wireless
Power supply technique occurred before more than 100 years, and carrying out wireless power now by electromagnetic induction is highly developed skill
Art.
Further, described for electricity transmission and data sink 5 and described power supply receive and Wireless data transmission dress
The data transmission put between 9 uses 2.4G radio communication.Preferably, described 2.4G radio communication uses bluetooth.The most also
Can use, WIFI, ZigBee, RF radio frequency, the wireless technology such as low frequency shortwave.
In the alternative of the present embodiment, described sensor devices 7 includes imager chip and imaging lens；Described imaging lens
For reflection laser is collected in described imager chip；
Described imager chip is CMOS or CCD.
Described imager chip becomes the angle more than 90 ° and less than 180 ° with described imaging lens；Described imaging lens
Head central optical axis becomes an angle more than 0 ° less than 90 ° with the vertical line of described LASER Light Source 2.So it is disposed to conveniently pacify
Dress, this, to different device models etc., can arrange different angles.Sensor devices 7 and LASER Light Source 2 use existing product i.e.
Can, technology full maturity.The application passes through described LASER Light Source 2 by laser beam irradiation to target object；Object pair
The laser beam that described LASER Light Source 2 produces reflects；Reflection light, by imaging len, converges on imager chip, chip
Picture signal is changed into the signal of telecommunication；The position signalling of the described signal of telecommunication and angular encoder is entered by described data processing module
Row is warm, obtains the environmental information of target object.
Embodiment two
A kind of rotary optical scanning distance-finding method that the present embodiment provides is to provide described rotary optical to sweep in embodiment one
Retouch realization on range unit.
Specifically, described rotary optical scanning distance-finding method includes:
Step 1, switch on power, the stator built-in line excitation in described motor stator, thus drive described rotor to rotate, institute
Stating rotation platform described in rotor to rotate, described angular encoder monitors described rotation platform rotating speed, treats described rotation
After the stabilization of speed of platform, enter next step；
Step 2, described LASER Light Source are by laser beam irradiation to target object；
The laser beam that described LASER Light Source is produced by step 3, object reflects；
Step 4, described sensor devices receive launches light, and picture signal is changed into the signal of telecommunication；Wherein, reflection light passes through into
As lens, converging on imager chip, picture signal is changed into the signal of telecommunication by chip.
The position signalling of the described signal of telecommunication and described angular encoder is carried out warm by step 5, described data processing module,
Obtain the environmental information of target object, finally give range finding distance and 360 degree interior whole environmental informations, i.e. each object
Distance and relative position.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a rotary optical scanning range unit, it is characterised in that include firm banking, angular encoder, rotary system, swash
Ligh-ranging system, confession electricity transmission and data sink, power supply reception and wireless data transfer device and data processing module；
Described rotary system includes a rotation platform, motor stator and rotor；Described electronics stator and the described fixing end
Seat is affixed；Described rotation platform is affixed with described rotor；
The casing center of described rotor is affixed with one end of support shaft；The other end of described support shaft and described electronics rotor
Housing into rotation connect；The center of described rotation platform is affixed with described support shaft；
Described LDMS includes that LASER Light Source and sensor devices, described LASER Light Source and described sensor devices are fixed on institute
State on rotation platform, the laser that the described LASER Light Source that described sensor devices comes for accepting reflection sends；
Described confession electricity transmission and data sink are fixed on described firm banking, and described power supply receives and Wireless data transmission
Device is connected with described rotation platform；Described power supply receives and wireless data transfer device is used for receiving described confession and transmits electrically and number
According to receiving data and the electric energy that device sends；
Described power supply receive and wireless data transfer device respectively with described sensor devices, described angular encoder and described laser
Light source connects；
Described angular encoder is fixed on described rotation platform；
Described data processing module is fixed on described firm banking, described data processing module and confession electricity transmission and data receiver
Device connects.
Rotary optical the most according to claim 1 scanning range unit, it is characterised in that also set below described rotation platform
Being equipped with support platform, described support platform is affixed with described support shaft.
Rotary optical the most according to claim 2 scanning range unit, it is characterised in that also set up on the described support platform of institute
There is upper cover；
Described LDMS and described data processing module are respectively positioned in described upper cover；
Being provided with window on the sidewall of described upper cover, described LDMS is arranged towards described window.
Rotary optical the most according to claim 3 scanning range unit, it is characterised in that described support platform is rounded；Institute
Stating upper cover is cylinder；The external diameter of described upper cover is identical with the external diameter of described support platform.
Rotary optical the most according to claim 3 scanning range unit, it is characterised in that described power supply receives and wireless number
The lower section of described support platform it is fixed on according to transporter.
Rotary optical the most according to claim 1 scanning range unit, it is characterised in that described confession electricity transmission and data connect
Receiving apparatus includes that resonance ejection coil, described power supply reception and wireless data transfer device include the receiving coil that resonates, electric energy
Pass through described resonance ejection coil and the resonance of described resonance receiving coil mutual inductance magnetic coupling is wirelessly transferred.
Rotary optical the most according to claim 6 scanning range unit, it is characterised in that described confession electricity transmission and data connect
Data transmission between receiving apparatus and described power supply reception and wireless data transfer device uses 2.4G radio communication.
Rotary optical the most according to claim 7 scanning range unit, it is characterised in that described 2.4G radio communication is adopted
Use bluetooth.
Rotary optical the most according to claim 1 scanning range unit, it is characterised in that described sensor devices includes imaging
Chip and imaging lens；Described imaging lens is for collecting in described imager chip by reflection laser；
Described imager chip is CMOS or CCD.
10. the rotary optical scanning range finding scanning range unit based on the rotary optical described in any one of claim 1-9
Method, it is characterised in that described rotary optical scanning distance-finding method includes:
Step 1, switch on power, the stator built-in line excitation in described motor stator, thus drive described rotor to rotate, described electricity
Described in machine rotor, rotation platform rotates, and described angular encoder monitors described rotation platform rotating speed, treats described rotation platform
Stabilization of speed after, enter next step；
Step 2, described LASER Light Source are by laser beam irradiation to target object；
The laser beam that described LASER Light Source is produced by step 3, object reflects；
Step 4, described sensor devices receive launches light, and picture signal is changed into the signal of telecommunication；
The position signalling of the described signal of telecommunication and described angular encoder is carried out warm by step 5, described data processing module, obtains
The environmental information of target object.
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| CN106646504A (en) * | 2016-12-25 | 2017-05-10 | 湖南晖龙股份有限公司 | Laser radar navigation method and laser radar navigation device |
| CN106772316A (en) * | 2017-01-17 | 2017-05-31 | 中国北方车辆研究所 | A kind of single line laser radar containment vessel |
| CN106842221A (en) * | 2017-03-16 | 2017-06-13 | 西安交通大学 | A kind of multi-thread 360 ° of scanning type laser radars and its implementation |
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| CN109725322A (en) * | 2017-10-30 | 2019-05-07 | 光宝电子(广州)有限公司 | Distance sensing device |
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| CN108808993A (en) * | 2018-05-03 | 2018-11-13 | 芜湖懒人智能科技有限公司 | A kind of stepper motor slip-ring device |
| CN109581393A (en) * | 2018-12-06 | 2019-04-05 | 苏州镭图光电科技有限公司 | A kind of laser radar scanning imaging device |
| WO2021128023A1 (en) * | 2019-12-24 | 2021-07-01 | 深圳市大疆创新科技有限公司 | Driving electric motor, scanning module, and laser radar |
| EP4113169A4 (en) * | 2020-03-23 | 2023-02-22 | Huawei Technologies Co., Ltd. | PHOTOELECTRIC SCANNER, ELECTRIC MOTOR AND SELF-DRIVING AUTOMOBILE |
| CN111381240A (en) * | 2020-03-31 | 2020-07-07 | 深圳市银星智能科技股份有限公司 | Laser radar and cleaning robot |
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