CN101349755A - Apparatus and method for measuring distance by laser - Google Patents
Apparatus and method for measuring distance by laser Download PDFInfo
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- CN101349755A CN101349755A CNA2007101391873A CN200710139187A CN101349755A CN 101349755 A CN101349755 A CN 101349755A CN A2007101391873 A CNA2007101391873 A CN A2007101391873A CN 200710139187 A CN200710139187 A CN 200710139187A CN 101349755 A CN101349755 A CN 101349755A
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Abstract
The invention provides a ranging method applied fro laser ranging devices, for ranging the distance between a laser ranging device and an object, which comprises: at a first time point, sending a laser signal to an object, receiving the laser signal reflected from the object, using a sampling signal to sample the reflected laser signal to attain a digital signal having a plurality of signal values from 0 to N (N is integer larger than 2), searching for the maximum signal value of the signal values in the digital signal, calculating the transmission time according to a second time point generating the maximum signal value and the first time point, and calculating the distance between the laser ranging device and the object.
Description
Technical field
The present invention relates to laser ranging system and distance-finding method thereof, particularly utilize the laser signal travel-time to measure laser ranging system and distance-finding method thereof with the distance of object relevant for a kind of.
Background technology
Generally speaking, the form of laser ranging can be divided into interfere type, phase type and pulse echo formula three classes.Wherein the laser ranging of pulse echo formula is the travel-time computed range with direct measuring light pulse.When laser diode is driven circuit triggers, can produce an initial pulse wave as the time apart from the start signal of metering circuit, when the reflector laser signal be received with processing and amplifying after, produce an end pulse wave that stops timing, and timing circuit is measured the time distance between initial pulse wave and the end pulse wave, be the travel-time of laser pulse wave between laser ranging system and object to be measured, can learn by this and object between distance.
Yet when finding range at a distance, the received distant signal of laser ranging system may be very faint, even only be slightly larger than noise figure.If default threshold value (Threshold) is too little, then very likely think noise figure by mistake echo signal.But, then can't detect feeble signal if threshold value is too big.
Therefore, need a kind of device and method that can promote the range capability of laser ranging system.
Summary of the invention
In view of this, one of purpose of the embodiment of the invention promptly is to provide a kind of laser ranging system and distance-finding method thereof.
Based on above-mentioned purpose, one embodiment of the invention provides a kind of distance-finding method, is applicable to laser ranging system, in order to measure the distance of this laser ranging system and object.Distance-finding method comprises: in very first time point, launch a laser signal towards this object; Reception is by this laser signal of this object reflection; Utilize sampled signal to this reflector laser signal sampling, obtain having the digital signal of a plurality of signal values, wherein the scope of these a plurality of signal values is from 0 to N, N＞2; Find out the maximum signal level in a plurality of signal values in this digital signal; And, calculate the distance of this laser ranging system and this object according to corresponding to second time point of this maximum signal level and should very first time point.
Another embodiment of the present invention provides a kind of laser ranging system, in order to the distance of measurement with object.Laser ranging system comprises transmitter unit, receiving element, analog and digital signal converting unit and system unit at least.Transmitter unit is used to very first time point, towards this object emission laser signal.Receiving element is in order to receive this reflector laser signal by this object reflection.The analog and digital signal converting unit is sampled to this reflector laser signal, obtains having the digital signal of a plurality of signal values.Wherein, the scope of these a plurality of signal values is from 0 to N, and N is the positive integer greater than 2.System unit in order to find out the maximum signal level in a plurality of signal values in this digital signal, according to corresponding to second time point of this maximum signal level and should very first time point, calculate the distance of this laser ranging system and this object.
According to an aspect of the present invention, provide a kind of distance-finding method, be applicable to laser ranging system,, it is characterized in that, comprise the following steps: in order to measure the distance of this laser ranging system and object
In very first time point, towards this object emission laser signal;
Reception is by the reflector laser signal of this object reflection;
Utilize sampled signal to this reflector laser signal sampling, obtain having the digital signal of a plurality of signal values, wherein the scope of a plurality of signal values is from 0 to N, and N is the positive integer greater than 2;
Find out the maximum signal level in a plurality of signal values in this digital signal; And
According to corresponding to second time point of this maximum signal level and should very first time point, calculate the distance between this laser ranging system and this object.
In distance-finding method of the present invention, also comprise:
According to a rule of specialty, by definition one first signal value in these a plurality of signal values;
Whether the difference of judging this maximum signal level and this first signal value is more than or equal to first threshold value; And
If judge that then this maximum signal level is an echo signal.
In distance-finding method of the present invention, wherein this rule of specialty is that the relative maximum signal level outside the given time scope is defined as this first signal value.
In distance-finding method of the present invention, wherein this given time scope is two doubling times of this sampled signal, and is the reference center point with this second time point.
In distance-finding method of the present invention, this first threshold value is to set and be stored in this laser ranging system according to environmental parameter.
In distance-finding method of the present invention, also comprise:
When the difference of this maximum signal level and this first signal value during, judge that this maximum signal level is a noise less than this first threshold value.
In distance-finding method of the present invention, also comprise:
When the difference of this maximum signal level and this first signal value during less than this first threshold value, behind this second time point, by obtaining a relative minimum signal value in these a plurality of signal values;
Whether the difference of judging this maximum signal level and this relative minimum signal value is more than or equal to second threshold value; And
If judge that then this maximum signal level is an echo signal.
In distance-finding method of the present invention, wherein this digital signal is 8 position digital signals, and N is 255.
According to an aspect of the present invention, provide a kind of laser ranging system, be used to measure the distance with object, it is characterized in that, comprising:
Transmitter unit is used at very first time point, towards this object emission laser signal;
Receiving element is used to receive this reflector laser signal by this object reflection;
The analog and digital signal converting unit is sampled to this reflector laser signal, obtains having the digital signal of a plurality of signal values, and wherein the scope of these a plurality of signal values is from 0 to N, and N is the positive integer greater than 2; And
System unit is used for finding out the maximum signal level of these a plurality of signal values, and according to second time point that produces this maximum signal level and should very first time point, calculates the distance between this laser ranging system and this object.
In laser ranging system of the present invention, this transmitter unit comprises:
Laser diode; And
Driving circuit is used to control this laser diode, to launch this laser signal towards this object.
In laser ranging system of the present invention, this receiving element comprises:
Avalanche diode is used to receive this reflector laser signal by this object reflection;
Signal amplifier, this reflector laser signal that is used for this avalanche diode is received amplifies; And
Filtering circuit, this reflector laser signal that is used for having amplified carries out noise filtering.
In laser ranging system of the present invention, this system unit comprises:
Storage unit is used to store this digital signal;
Processing unit is read this digital signal in this storage unit certainly, and finds out the maximum signal level in these a plurality of signal values; And
The steering logic unit receives the trigger pip of this processing unit, launches this laser signal to drive this transmitter unit at this very first time point, and activates this analog and digital signal converting unit.
In laser ranging system of the present invention, also comprise display unit, couple with this processing unit, be used to show this laser ranging system that this processing unit is calculated and the distance between this object.
In laser ranging system of the present invention, this system unit defines one first signal value according to a rule of specialty, and whether the difference of judging this maximum signal level and this first signal value is more than or equal to first threshold value, if judge that then this maximum signal level is an echo signal.
In laser ranging system of the present invention, when the difference of this maximum signal level and this first signal value during less than this first threshold value, this processing unit judges that this maximum signal level is a noise.
In laser ranging system of the present invention, comprise that also this processing unit judges that this maximum signal level is noise after, make this transmitter unit, again towards this object emission laser signal, to repeat range finding.
In laser ranging system of the present invention, this rule of specialty is that the relative maximum signal level outside a given time scope is defined as this first signal value.
In laser ranging system of the present invention, this given time scope is two doubling times of this sampled signal, and is the reference center point with this second time point.
In laser ranging system of the present invention, this first threshold value is to be stored in this storage unit.
In laser ranging system of the present invention, it is characterized in that this first threshold value is to set according to the mean value of the signal that repeats to measure.
For above and other objects of the present invention, feature and advantage can be become apparent, cited below particularlyly go out preferred embodiment, and conjunction with figs., be described in detail below.
Description of drawings
Fig. 1 is the module map that shows the laser ranging system of prior art.
Fig. 2 is the module map that shows according to the laser ranging system of one embodiment of the invention.
Fig. 3 is the signal waveforms that shows.
Fig. 4 is the process flow diagram that shows according to the distance-finding method of one embodiment of the invention.
Fig. 5 is the process flow diagram that shows according to the distance-finding method of another embodiment of the present invention.
Fig. 6 is the synoptic diagram that shows according to the table of comparisons of one embodiment of the invention.
Fig. 7 is the digital signal synoptic diagram that shows according to one embodiment of the invention.
The primary clustering symbol description
100 ~ laser ranging system;
110 ~ object;
200 ~ laser ranging system;
210 ~ transmitter unit;
212 ~ laser diode;
214 ~ driving circuit;
220 ~ receiving element;
222 ~ avalanche diode;
224 ~ signal amplifier;
226 ~ filtering circuit;
230 ~ analog and digital signal converting unit;
240 ~ system single chip;
242 ~ steering logic unit;
244 ~ storage unit;
246 ~ processing unit;
250 ~ display unit;
260 ~ object.
Embodiment
Embodiments of the invention provide a kind of laser ranging system and relevant distance-finding method thereof.The laser ranging system of the embodiment of the invention is to utilize the analog and digital signal converting unit that the reflector laser signal that receives is carried out digitizing, make in the digital signal of its generation and comprise various signal value, can keep original waveform of reflector laser signal and amplitude by this, so can pick out noise and echo signal, increase the ability of opposing noise and remote range finding, can shorten the time of measurement simultaneously.
Distance-finding method according to the embodiment of the invention is to utilize the reflector laser signal, obtain having the digital signal of a plurality of signal values, find out the maximum signal level in all signal values of digital signal, utilize the time point that produces maximum signal level again, calculate an expression self-emission laser signal and rise to receiving the travel-time that the reflector laser signal is experienced, and calculate the distance of laser ranging system and object in view of the above.
Fig. 1 is the module map that shows existing laser ranging system 100.As shown in the figure, the transmitter unit emission laser signal in the laser ranging system 100 is to object 110, and then receiving element receives the laser light reflected signal.It is 0 or 1 digital signal that the laser light reflected signal will change into numerical value by comparer, handles via signal processing unit again, finding out the time point of receiving echo signal, and then obtains distance with object.
Generally speaking, comparer needs a threshold value to compare with input signal, when input signal values exports 1 during more than or equal to threshold value, otherwise exports 0.Yet when the distance of test became far away, the reflector laser signal that receiving element receives can die down relatively, and is accompanied by noise easily.In order to find echo signal, threshold value will be established forr a short time, make that the noise signal value may be greater than threshold value, and be mistaken as echo signal, therefore can't judge the echo signal value accurately, need to prolong the required time of test.
Fig. 2 is the module map that shows according to the laser ranging system 200 of one embodiment of the invention, in order to the distance of measurement with object 260.Comprise transmitter unit 210, receiving element 220, analog and digital signal converting unit 230, system single chip 240 and display unit 250 in the laser ranging system 200.Transmitter unit 210 is used for towards object 260 1 emission laser signal L1 to find range.Transmitter unit 210 comprises laser diode (pulsed laser diode) 212 and driving circuit 214, and wherein driving circuit 214 is used to control laser diode, makes it towards object 260 emission laser signals.
Receiving element 220 is used to receive the reflector laser signal L2 by object 260 reflections.Receiving element 220 comprises avalanche diode (avalanche photodiode) 222, is used to receive the reflector laser signal by object 260 reflections; Signal amplifier 224 is in amplifying with the reflector laser signal that avalanche diode 222 is received; And filtering circuit 226, the reflector laser signal that is used for having amplified carries out noise filtering.Analog and digital signal converting unit 230 is coupled to receiving element 220, the reflector laser signal of receiving element 220 output is carried out signal digitalized, to obtain having the digital signal of a plurality of signal values.Wherein, this digital signal have the specific waveforms identical with the reflector laser signal and wherein the scope of all signal values be from 0 to N, N is the positive integer greater than 2.Fig. 3 is the signal waveforms that shows, transverse axis express time (nS of unit), and the longitudinal axis is represented the voltage signal after the digitizing.Wherein, signal S1 represents the oscillogram of the reflector laser signal L2 that receives, signal S2 represents the digital signal after the comparer in process Fig. 1 laser ranging system 100 carries out digitizing, and signal S3 represents the digital signal after the analog and digital signal converting unit 230 in the process laser ranging system 200 of Fig. 2 is carried out digitizing.Hypothetical simulation digital signal converting unit 230 is one 8 analog-digital converters (ADC) herein, so reflected signal will be converted to the digital signal between 0 to 255.As shown in Figure 3,3 sampling spot P1, P2 on the reflector laser signal S1 and P3, the signal value on digital signal S2 is 1, then is respectively 100,250 and 105 on digital signal S3.Also can find in addition, digital signal S2 is because relatively a threshold value is with decision output, therefore its waveform is a square wave, can't present sampling spot P2 is peak-peak, and digital signal S3 is because of being quantized into signal value various signal value, therefore not only can present sampling spot P2 is peak-peak, and has the waveform identical with original signal S1.
System single chip (SOC) 240 comprises steering logic unit 242, storage unit 244 and processing unit 246.Steering logic unit 242 is coupled to processing unit 246, transmitter unit 210 and analog and digital signal converting unit 230, when receiving to the trigger pip that processing unit 246 sent, drive transmitter unit 210 towards object 260 emission laser signals, and activation analog and digital signal converting unit 230 begins to carry out conversion of signals.Storage unit 244 is used to store the digital signal through after 230 conversions of analog and digital signal converting unit.Processing unit 240 is read the digital signal of storage in storage unit 244, and finds out the maximum signal level in the digital signal, calculating the travel-time, and then calculates the distance of laser ranging system 200 and object 260.Display unit 250 couples with processing unit 246, is used for the distance of laser ranging system 200 that display processing unit 246 calculated and object 260.
Fig. 4 is the flow process Figure 40 0 that shows according to the distance-finding method of one embodiment of the invention.Please be simultaneously with reference to Fig. 2 and Fig. 4.At first, in step S410, in very first time point (representing), towards object 260 emission laser signals with T1.This very first time point (T1) is launch time.At this moment, steering logic unit 242 receives the trigger pip that processing unit 246 is sent, inform and prepare to find range, so, very first time point (T1) is convenient in steering logic unit 242, drive the driving circuit 214 in the transmitter unit 210, make its control photodiode 212 towards object 260 emission laser signal L1, and activation analog and digital signal converting unit 230 begins to carry out conversion of signals.
Then, in step S420, the reflector laser signal L2 of the avalanche diode 222 receiving target things reflection in the receiving element 220, and amplify by 224 pairs of reflector laser signals of signal amplifier, again by filtering circuit 226, the reflector laser signal that has amplified is carried out noise filtering, and export the result after the filtering (signal S1 as shown in Figure 3) to analog and digital signal converting unit 230.Then, in step S430, analog and digital signal converting unit 230 with the reflector laser signal quantization of receiving element 220 output, convert digital signal to, to obtain having the digital signal of a plurality of signal values.
For instance, please refer to Fig. 3, when hypothetical simulation digital signal converting unit 230 is 8 analog and digital signal converter, then reflector laser signal S1 will be converted into the digital signal S3 of a plurality of signal values with from 0 to 255 variation of signal value scope, and signal S3 will have the waveform identical with signal S1.To be stored in the storage unit 244 through the digital signal after 230 conversions of analog and digital signal converting unit.
Afterwards, in step S440, processing unit 246 is read the digital signal of storage from storage unit 244, and from then on finds maximum signal level in all signal values of digital signal.In step S450, according to second time point (representing) and the very first time point (T1) that produce maximum signal level, calculate the travel-time again with T2.Wherein, the travel-time (representing with T) is defined as the self-emission laser signal and rises to receiving the time that the reflector laser signal is experienced.In this embodiment, travel-time T=T2-T1.
At last,, the travel-time (T) that calculates can be multiplied by the light velocity, just can calculate the distance of laser ranging system and object 260 in step S460.
Because this moment, the scope of signal value can have bigger difference, makes difference between noise figure and the echo signal value greater than 1, therefore can locate and find out the echo signal value more accurately, also can shorten and test the required time.
In addition, in order to ensure the correctness of the time point of the maximum signal level that finds, another embodiment of the present invention also utilizes a threshold value to assist the judgement of maximum signal level (echo signal).
Fig. 5 is the flow process Figure 50 0 that shows according to the distance-finding method of another embodiment of the present invention.
As shown in Figure 5, in step S510,, obtain the threshold value of a correspondence according to environmental parameter (for example weather, sunlight power and noise).Can test repeatedly at factors such as different illumination intensity earlier, obtain corresponding statistical data as threshold value.For instance, can be by sky be launched the array laser signal, and the signal that samples analyzed, find out the relation (wherein Δ V is maximum signal level and drops on difference between the relative maximum signal level outside the maximum signal level one set scope) of signal averaging AV and Δ V, the maximal value that threshold value is made as greater than Δ V gets final product again.For example, when the scope of AV value was 18000～19000, testing out the possible scope of Δ V was 0～40, therefore when the AV value be 19000 when following, threshold value can be made as 42.
The corresponding relation of signal averaging AV and threshold value can obtain in advance, and is stored in the storage unit in the mode of the table of comparisons.Please refer to Fig. 6, is the synoptic diagram that shows according to the table of comparisons 600 of one embodiment of the invention.Comprise a mean value AV field and a threshold value field in the table of comparisons 600, and each mean value AV field there is the threshold value of a correspondence.For instance, when mean value was 18500, its corresponding threshold value was 42, and when mean value was 19501, its corresponding threshold value then was 62.
Then, in step S520, find out the second largest signal value that drops on outside the maximum signal level one set scope.This set scope is free to adjust, generally be about maximum signal level about near value, carry out wrong comparison to avoid finding near the signal value the echo signal.For instance, present embodiment is to be the reference center point with this second time point, respectively forward/backward each be scope with a chronomere, obtain maximal value outside this scope as maximum signal level relatively, wherein chronomere's cycle of a reflector laser signals sampling signal; Also or with the maximum signal level is the reference center point, and defining set scope is the time point of putting front/rear 3 yards (yard) distances corresponding to reference center, but not in order to limit the present invention.
Please refer to Fig. 7, Fig. 7 is the digital signal synoptic diagram that shows according to one embodiment of the invention, among the figure be to the repeatedly reflector laser signal that has received do digital sample and add up after the result.Transverse axis represents that (unit: sign indicating number), the longitudinal axis is represented the voltage signal after the numberization to length, because of being the accumulation of measurement signal repeatedly, so longitudinal axis numerical value can surpass 255.Therefore as shown in the figure, the signal value that V1 is ordered is a maximum signal level, finds a relative maximum signal level dropping on outside signal value one scope that V1 orders, i.e. the V2 shown in the signal value of ordering.
Afterwards, in step S530, judge maximum signal level and second largest signal value difference DELTA V (=V1-V2) whether more than or equal to threshold value.If the maximum signal level that expression is found is an echo signal, confirm that second time point that finds is correct (step S540).(step S530 denys) if not, the maximum signal level that expression is found is a noise, so can launch laser signal again, remeasures (step S550).
Nextport hardware component NextPort (as analog filter) self character in addition, please refer to Fig. 7, owing to can see that having a minimal value after echo signal occurs the signal value that V3 is as shown in Figure 7 ordered occurs.Therefore, also can utilize this characteristic to carry out the affirmation of echo signal.
In one embodiment, can after maximum signal level takes place, in digital signal, obtain a relative minimum signal value, judge again maximum signal level therewith the difference DELTA V2 of relative minimum signal value (=V1-V3) whether more than or equal to second threshold value.If the maximum signal level that expression is found is an echo signal, second time point of confirming to find is for correct.If not, the maximum signal level that expression is found is a noise, so can launch laser signal again, remeasures.In another embodiment, when step S530 is judged as not, that is the difference DELTA V of maximum signal level and second largest signal value is during less than threshold value, can then judge maximum signal level therewith relatively the difference DELTA V2 of minimum signal value whether more than or equal to second threshold value.If the maximum signal level that expression is found is an echo signal, can reaffirm that second time point that finds is for correct.If not, represent that the maximum signal level that finds is a noise.
It should be noted that, though be to describe herein to launch one (group) laser signal, being familiar with this storage personage all knows, can launch many group laser signals simultaneously finds range, receiving element will receive a plurality of groups of reflector laser signals simultaneously, it can be added up or on average, again at add up or average after signal handle.Therefore, the present invention is also applicable to the application of using many group laser signals to find range.
Above-mentioned explanation provides several different embodiment or uses distinct methods of the present invention.Specific device in the example and method are in order to help explaination main spirit of the present invention and purpose, to the invention is not restricted to this certainly.
Therefore; though the present invention discloses as above with preferred embodiment; right its is not in order to limit the present invention; any those who are familiar with this art; without departing from the spirit and scope of the present invention; when can doing a little change and retouching, so protection scope of the present invention is as the criterion when looking accompanying the claim person of defining.
Claims (10)
1. a distance-finding method is applicable to laser ranging system, in order to measure the distance of this laser ranging system and object, it is characterized in that, comprises the following steps:
In very first time point, towards this object emission laser signal;
Reception is by the reflector laser signal of this object reflection;
Utilize sampled signal to this reflector laser signal sampling, obtain having the digital signal of a plurality of signal values, wherein the scope of a plurality of signal values is from 0 to N, and N is the positive integer greater than 2;
Find out the maximum signal level in a plurality of signal values in this digital signal; And
According to corresponding to second time point of this maximum signal level and should very first time point, calculate the distance between this laser ranging system and this object.
2. distance-finding method according to claim 1 is characterized in that, also comprises:
According to a rule of specialty, by definition one first signal value in these a plurality of signal values;
Whether the difference of judging this maximum signal level and this first signal value is more than or equal to first threshold value; And
If judge that then this maximum signal level is an echo signal.
3. distance-finding method according to claim 2 is characterized in that, wherein this rule of specialty is that the relative maximum signal level outside the given time scope is defined as this first signal value.
4. distance-finding method according to claim 2 is characterized in that, also comprises:
When the difference of this maximum signal level and this first signal value during, behind this second time point, obtain a relative minimum signal value less than this first threshold value;
Whether the difference of judging this maximum signal level and this relative minimum signal value is more than or equal to second threshold value; And
If judge that then this maximum signal level is an echo signal.
5. laser ranging system is used to measure the distance with object, it is characterized in that, comprising:
Transmitter unit is used at very first time point, towards this object emission laser signal;
Receiving element is used to receive this reflector laser signal by this object reflection;
The analog and digital signal converting unit is sampled to this reflector laser signal, obtains having the digital signal of a plurality of signal values, and wherein the scope of these a plurality of signal values is from 0 to N, and N is the positive integer greater than 2; And
System unit is used for finding out the maximum signal level of these a plurality of signal values, and according to second time point that produces this maximum signal level and should very first time point, calculates the distance between this laser ranging system and this object.
6. laser ranging system according to claim 5 is characterized in that, this system unit comprises:
Storage unit is used to store this digital signal;
Processing unit is read this digital signal in this storage unit certainly, and finds out the maximum signal level in these a plurality of signal values; And
The steering logic unit receives the trigger pip of this processing unit, launches this laser signal to drive this transmitter unit at this very first time point, and activates this analog and digital signal converting unit.
7. laser ranging system according to claim 5 is characterized in that, also comprises display unit, couples with this processing unit, is used to show this laser ranging system that this processing unit is calculated and the distance between this object.
8. laser ranging system according to claim 5, it is characterized in that, this system unit defines one first signal value according to a rule of specialty, and whether the difference of judging this maximum signal level and this first signal value is more than or equal to first threshold value, if judge that then this maximum signal level is an echo signal.
9. laser ranging system according to claim 8 is characterized in that, when the difference of this maximum signal level and this first signal value during less than this first threshold value, this processing unit makes this transmitter unit again towards this object emission laser signal.
10. laser ranging system according to claim 8 is characterized in that, this rule of specialty is that the relative maximum signal level outside a given time scope is defined as this first signal value.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103018749A (en) * | 2012-12-31 | 2013-04-03 | 保定市天河电子技术有限公司 | Device and method for pulse laser ranging |
| CN103149567A (en) * | 2011-12-07 | 2013-06-12 | 亚洲光学股份有限公司 | Distance measurement device |
| CN103605134A (en) * | 2013-11-20 | 2014-02-26 | 奇瑞汽车股份有限公司 | Reading method and apparatus for laser range finding timing time, and pulse type laser radar |
| CN106896369A (en) * | 2015-12-18 | 2017-06-27 | 意法半导体(R&D)有限公司 | Range unit |
| CN108761477A (en) * | 2018-07-27 | 2018-11-06 | 成都磁海电气工程有限公司 | A kind of contactless catenary's parameters harvester, measuring system and its measurement method using digital laser technology |
| CN109932727A (en) * | 2019-04-19 | 2019-06-25 | 洛阳顶扬光电技术有限公司 | A method of improving laser ranging system medium and long distance range accuracy |
| WO2020237962A1 (en) * | 2019-05-31 | 2020-12-03 | 宁波飞芯电子科技有限公司 | Decoherent effect processing device, decoherent effect processing system, and method thereof |
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| CN103149567A (en) * | 2011-12-07 | 2013-06-12 | 亚洲光学股份有限公司 | Distance measurement device |
| CN103018749A (en) * | 2012-12-31 | 2013-04-03 | 保定市天河电子技术有限公司 | Device and method for pulse laser ranging |
| CN103605134A (en) * | 2013-11-20 | 2014-02-26 | 奇瑞汽车股份有限公司 | Reading method and apparatus for laser range finding timing time, and pulse type laser radar |
| CN103605134B (en) * | 2013-11-20 | 2016-01-27 | 奇瑞汽车股份有限公司 | The read method of laser ranging timing time, device and pulse type laser radar |
| CN106896369B (en) * | 2015-12-18 | 2021-02-12 | 意法半导体(R&D)有限公司 | Distance measuring device |
| CN106896369A (en) * | 2015-12-18 | 2017-06-27 | 意法半导体(R&D)有限公司 | Range unit |
| CN108761477A (en) * | 2018-07-27 | 2018-11-06 | 成都磁海电气工程有限公司 | A kind of contactless catenary's parameters harvester, measuring system and its measurement method using digital laser technology |
| CN108761477B (en) * | 2018-07-27 | 2023-12-19 | 成都磁海电气工程有限公司 | Non-contact network parameter acquisition device, measurement system and measurement method adopting digital laser technology |
| CN109932727A (en) * | 2019-04-19 | 2019-06-25 | 洛阳顶扬光电技术有限公司 | A method of improving laser ranging system medium and long distance range accuracy |
| CN109932727B (en) * | 2019-04-19 | 2021-11-19 | 洛阳顶扬光电技术有限公司 | Method for improving long-distance measurement precision in laser distance measurement system |
| WO2020237962A1 (en) * | 2019-05-31 | 2020-12-03 | 宁波飞芯电子科技有限公司 | Decoherent effect processing device, decoherent effect processing system, and method thereof |
| CN115236685A (en) * | 2022-09-21 | 2022-10-25 | 成都量芯集成科技有限公司 | Phase method laser range unit |
| CN115236685B (en) * | 2022-09-21 | 2022-12-23 | 成都量芯集成科技有限公司 | Phase method laser range unit |
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