CN103605134A - Reading method and apparatus for laser range finding timing time, and pulse type laser radar - Google Patents
Reading method and apparatus for laser range finding timing time, and pulse type laser radar Download PDFInfo
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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Abstract
The invention provides a reading method for a laser range finding timing time. The method comprises the following steps: 1), creating an array; 2), emitting a light pulse at a laser, after a timing chip detects a timing time, dividing data corresponding to the timing time into n groups, and sequentially storing the n groups of data in the array, wherein n is a positive integer greater than 1; 3), repeating step two until the emission of the light pulse is finished; and 4), successively finding out the initial address of data corresponding to the timing time detected at each time in the array according to storing time, and as long as one initial address is found, reading the data corresponding to the corresponding timing time from the array through the initial address until all the data are read. The invention correspondingly provides an apparatus for a laser range finding timing time, and a pulse type laser radar. The reading method provided by the invention only assumes a small part of an instruction period and can improve the repeated emission frequency of the pulse type laser radar.
Description
Technical field
The present invention relates to automotive electronics applied technical field, be specifically related to a kind of read method, device and pulse type laser radar of laser ranging timing time.
Background technology
Along with the development of auto industry, the quantity of automobile is significantly increased, and meanwhile, automotive engineering has also obtained sufficient development.Particularly, along with the development of automotive electronic technology, there is the active anti-collision system based on laser radar.Wherein, laser radar, as the distance measurement sensor of active anti-collision system, because having lower cost and higher distance accuracy, has greatly increased the initiatively range of application of anti-collision system.
In laser radar, pulse type laser radar because of have detection range far away, the advantages such as light source coherence requirement is low are widely used in to the fields such as auto industry, Aero-Space, military affairs, the earth atmospheric exploration and Robotics.The range measurement principle of pulse type laser radar is: drive laser is to the pulse of barrier utilizing emitted light, survey and receive the light pulse through barrier reflection, then obtain the mistiming between the light pulse of transmitting and the light pulse of reflection, with this calculate and barrier between distance.
At present, laser ranging timing time (described timing time for transmitting light pulse and the mistiming between the light pulse of reflection) read method be: adopt the timing chip of a high speed to measure described timing time, and adopt single-chip microcomputer to pass through SPI(Serial Peripheral Interface, Serial Peripheral Interface (SPI)) handle described timing chip and return to the corresponding data of described timing time, wherein, light pulse of the every transmitting of laser instrument of pulse type laser radar, described timing chip just can record a timing time in real time, and each timing time is corresponding 32 bit data all, but, after a light pulse of laser instrument transmitting, single-chip microcomputer once can only read 8 bit data from timing chip by SPI, therefore single-chip microcomputer need to read 4 times, read 8 bit data at every turn, and the data assembling that the mode that adopts shifter-adder could read this for 4 times becomes 32 bit data, thereby form a complete timing result (being the data that described timing time is corresponding), and be stored to the path of single-chip microcomputer appointment, so that single-chip microcomputer reads the corresponding data of described timing time, then laser instrument could be launched next light pulse.
Visible, in data assembling process, take the method for shifter-adder not only to need to consume a large amount of instruction cycles, also reduced the repeat its transmission frequency of pulse type laser radar, cause its emissive power to reduce, thereby reduced its finding range.
Summary of the invention
Technical matters to be solved by this invention is for existing above-mentioned defect in prior art, provide a kind of need to consume a small amount of instruction cycle, can also improve read method, device and the pulse type laser radar of laser ranging timing time of the repeat its transmission frequency of pulse type laser radar.
Solve the technical scheme that the technology of the present invention problem adopts:
The read method of described laser ranging timing time, for reading the corresponding data of timing time that timing chip records, and light pulse of the every transmitting of laser instrument, described timing chip just can record a timing time in real time, and described read method comprises the steps:
1) create an array;
2) in a light pulse of laser instrument transmitting, and timing chip records after a timing time in real time, the corresponding data of this timing time is divided into n group, and successively these n group data stored in described array; N is greater than 1 positive integer;
3) repeating step 2), until light pulse battery has fired;
4) by find out successively the start address of the corresponding data of the timing time recording in described array storage time at every turn, and often find a described start address, just by this start address, from described array, read the corresponding data of its corresponding timing time, until that all data all read is complete.
Preferably, described array takies 400～800 bytes.
Preferably, described step 1) is specially: outside the sheet of single-chip microcomputer, in random access memory, create an array.
Preferably, described step 2) be specially:
In a light pulse of laser instrument transmitting, and timing chip records after a timing time in real time, adopt single-chip microcomputer by SPI(Serial Peripheral Interface, Serial Peripheral Interface (SPI)) control timing chip and return to the m bit data in the corresponding data of this timing time at every turn, and store in described array, return n time altogether, until the corresponding all data of this timing time all store in described array, thereby the corresponding data of this timing time are divided into n group; Described m is that the figure place of the corresponding data of timing time that at every turn record of timing chip is divided by n.
Preferably, in step 2) in, according to byte sequence, successively these n group data are stored in described array;
In step 3), the corresponding data of the timing time at every turn recording are recorded to time sequencing according to it and store in described array.
Preferably, described step 4) is specially:
Find out the first address of described array, this address is forced to point to the corresponding data of the first timing time recording of storing in described array, and from described array, read this data;
Make described first address add x* (i-1), first address after stack is forced to point to i the corresponding data of timing time that record of storing in described array, and from described array, reading this data, i gets the positive integer that is more than or equal to 2 successively, until that all data all read is complete; Wherein, described x is that the figure place of the corresponding data of timing time that at every turn record of timing chip is divided by 8.
The present invention also provides a kind of reading device of laser ranging timing time, for reading the corresponding data of timing time that timing chip records, and light pulse of the every transmitting of laser instrument, described timing chip just can record a timing time in real time, and described reading device comprises: creating unit, storage unit and reading unit;
Described creating unit is used for creating an array;
Described storage unit is for launching a light pulse at laser instrument, and timing chip records after a timing time in real time, the corresponding data of this timing time are divided into n group, and successively these n group data are stored in described array, repeat these data and divide and storing process, until light pulse battery has fired; N is greater than 1 positive integer;
Described reading unit is used for by find out successively the start address of the corresponding data of the timing time recording in described array storage time at every turn, and often find a described start address, just by this start address, from described array, read the corresponding data of its corresponding timing time, until that all data all read is complete.
Preferably, described creating unit specifically for: outside the sheet of single-chip microcomputer, in random access memory, create an array.
Preferably, described reading unit specifically for:
Find out the first address of described array, this address is forced to point to the corresponding data of the first timing time recording of storing in described array, and from described array, read this data;
Make described first address add x* (i-1), first address after stack is forced to point to i the corresponding data of timing time that record of storing in described array, and from described array, reading this data, i gets the positive integer that is more than or equal to 2 successively, until that all data all read is complete; Wherein, described x is that the figure place of the corresponding data of timing time that at every turn record of timing chip is divided by 8.
The present invention also provides a kind of pulse type laser radar, comprise laser instrument, receiver and timing chip, described laser instrument is used for to the pulse of barrier utilizing emitted light, described receiver is for receiving the light pulse through barrier reflection, described timing chip is used for measuring timing time, described timing time is the light pulse of transmitting and the mistiming between the light pulse of reflection, and light pulse of the every transmitting of laser instrument, described timing chip just can record a timing time in real time, described pulse type laser radar also comprises the reading device of above-mentioned laser ranging timing time, the corresponding data of timing time that record to read timing chip.
Beneficial effect:
The corresponding data of timing time that at every turn record at timing chip are divided into n group return after, in the read method of existing laser ranging timing time, take the mode of shifter-adder that this n group data assembling is become to a complete timing result (being the data that described timing time is corresponding), then store in array and read for single-chip microcomputer; And in the read method of laser ranging timing time of the present invention and device, the n group data of returning are directly stored in array, and read according to the mode of finding start address the timing result that timing chip records at every turn.Visible, the present invention compared with prior art, owing to having cancelled data assembling, saved a large amount of instruction cycles, thereby solved in prior art because adopting data assembling to expend the problems of a large amount of instruction cycles, and technical scheme is simple, to realize cost lower, has also improved the repeat its transmission frequency of pulse type laser radar, its emissive power is increased, thereby increased its finding range.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the read method of laser ranging timing time described in the embodiment of the present invention 1;
Fig. 2 is another process flow diagram of the read method of laser ranging timing time described in the embodiment of the present invention 1;
Fig. 3 is the structural representation of the reading device of laser ranging timing time described in the embodiment of the present invention 2.
Embodiment
For making those skilled in the art understand better technical scheme of the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail.
Embodiment 1:
As shown in Figure 1, the present embodiment provides a kind of read method of laser ranging timing time, the corresponding data of timing time that record for reading timing chip, and light pulse of the every transmitting of laser instrument, and described timing chip just can record a timing time in real time.The performance parameter of described timing chip can be chosen according to actual conditions voluntarily by those skilled in the art.Described read method comprises the steps:
S101. create an array.
Preferably, described array takies 400～800 bytes.Because when laser ranging, consider the real time problems of range finding, the light pulse number of the each transmitting of laser instrument is generally 100～200, and timing chip has also just recorded 100～200 timing times in real time, because the corresponding data of each timing time are generally 32 bit data, need take 4 bytes, these 100～200 corresponding data of timing time just need take 400～800 bytes in array.
Preferably, described array is created in the outer random access memory (XRAM) of sheet of single-chip microcomputer.The corresponding data of timing time that record due to timing chip need be back to single-chip microcomputer by SPI, and in single-chip microcomputer, be generally all integrated with random access memory outside sheet, therefore described array is created in the outer random access memory of sheet and just stores this array without memory device is additionally set, reduced application cost.
S102. in a light pulse of laser instrument transmitting, and timing chip records after a timing time in real time, the corresponding data of this timing time are divided into n group, and successively these n group data are stored in described array, each a group of only described n being organized in data stores in described array, until these n group data all store in described array; N is greater than 1 positive integer.
Preferably, according to byte sequence, successively these n group data are stored in described array, so that follow-up data read operation.
Particularly, in a light pulse of laser instrument transmitting, and timing chip records after a timing time in real time, adopt single-chip microcomputer to control timing chip by SPI and return to the m bit data in the corresponding data of this timing time at every turn, and store in described array, until the corresponding all data of this timing time all store in described array, described timing chip returns to n secondary data altogether, thereby the corresponding data of this timing time are divided into n group; Described m is that the figure place of the corresponding data of timing time that at every turn record of timing chip is divided by n.
The figure place of the corresponding data of timing time that record due to timing chip is relevant with its measuring accuracy, and the figure place of the data that timing chip returns by SPI single, it is the value of m, relevant with the performance of single-chip microcomputer, therefore the corresponding data of each timing time are divided into several groups, be the value of n, by the two performance of timing chip and single-chip microcomputer, jointly determined.
S103. repeating step s102, until the light pulse battery has fired of laser instrument.
In the process of repeating step s102, preferably, the corresponding data of the timing time at every turn recording are recorded to time sequencing according to it and store in described array, so that follow-up data read operation.
S104. by find out successively the start address of the corresponding data of the timing time recording in described array storage time at every turn, and often find a described start address, just by this start address, from described array, read the corresponding data of its corresponding timing time, until that all data all read is complete.
Particularly, find out the first address of described array, this address is forced to point to the corresponding data of the first timing time recording of storing in described array, and from described array, read this data;
Make described first address add x* (i-1), first address after stack is forced to point to i the corresponding data of timing time that record of storing in described array, and from described array, reading this data, i gets the positive integer that is more than or equal to 2 successively, until that all data all read is complete; Wherein, described x is that the figure place of the corresponding data of timing time that at every turn record of timing chip is divided by 8.
Described in application the present embodiment, the read method of laser ranging timing time carries out the principle of laser ranging and is: make the pulse of laser instrument utilizing emitted light, and light pulse of the every transmitting of laser instrument, described timing chip just records a timing time in real time, and the corresponding data of this timing time are divided into n group store into successively in array, until all light pulses battery has fired (supposition transmitting h light pulse) all, according to the mode of finding start address, from array, read successively data corresponding to timing time that timing chip records at every turn again, and according to the data that read calculate and barrier between distance, and then make laser instrument utilizing emitted light pulse (supposition transmitting h light pulse), and read in the manner described above data corresponding to timing time that timing chip records at every turn, and according to the data that read calculate and barrier between distance, so circulate repeatedly, until laser ranging finishes.Wherein, the light pulse quantity h of the each transmitting of laser instrument is relevant with distance accuracy, and general h gets 100～200, to guarantee the real-time of range finding.
Described in the present embodiment, reading manner compared with prior art, owing to not needing data assembling in the transmission interval in adjacent two light pulses, thereby not only saved a large amount of instruction cycles, also improve the transmission frequency of light pulse, increased distance accuracy and finding range when applying described reading manner and finding range.
Below, with laser instrument transmitting 100 light pulses (being h=100), and corresponding 32 bit data of timing time that timing chip records are at every turn example, describe the read method of laser ranging timing time described in the present embodiment in detail.
As shown in Figure 2, described read method comprises the steps:
S201. outside the sheet of single-chip microcomputer, in random access memory, create the array of 400 bytes.
S202. in a light pulse of laser instrument transmitting, and timing chip records after a timing time in real time, adopt single-chip microcomputer to control timing chip by SPI and return to 8 bit data in corresponding 32 bit data of this timing time at every turn, and store in described array, return altogether 4 times, until described 32 bit data all store in described array, thereby corresponding 32 bit data of this timing time have been divided into 4 groups.
S203. judge whether battery has fired of 100 pulses, in this way, perform step s204, as no, perform step s202.
S204. find out the first address of described array, this address is forced to point to corresponding 32 bit data of the first timing time recording of storing in described array, from described array, read this 32 bit data.
S205. make described first address add 4 in existing value, corresponding 32 bit data of timing time that the next one of storing in the described array of first address pressure sensing after stack is recorded, and from described array, read this 32 bit data.
S206. judge whether all data read complete, in this way, finish read work, as no, perform step s205.
Corresponding 32 bit data of timing time that at every turn record when timing chip, and single-chip microcomputer is when being controlled timing chip and returned to 8 bit data in described 32 bit data at every turn by SPI, and in prior art, the specific code of laser ranging timing time read method is as follows:
By above-mentioned code, can be found out, read method of the prior art returns to timing chip 4 times, 8 bit data of at every turn returning are assembled into 32 bit data by shifting to the mode of addition, because shift order expends time in morely, cause the time interval of adjacent twice impulse ejection to increase.
Creating an array that takies 400 bytes, 100 pulses of the each transmitting of laser instrument, corresponding 32 bit data of timing time that timing chip records at every turn, and when single-chip microcomputer is controlled timing chip and returned to 8 bit data in described 32 bit data at every turn by SPI, the specific code of the read method of laser ranging timing time is as follows described in the present embodiment:
By above-mentioned code, can be found out, the data that described in the present embodiment, read method does not return for 4 times timing chip (at every turn returning to 8 bit data) are assembled into 32 bit data by shifting to the mode of addition, and be stored in array, for single-chip microcomputer, read, but the first sequential storage of the data that timing chip is returned for 4 times is in array, after treating whole 100 impulse ejections, according to the mode of addressing, read successively corresponding 32 bit data of timing time that timing chip records at every turn again, thus the time interval of having reduced adjacent twice impulse ejection.
Embodiment 2:
As shown in Figure 3, the present embodiment provides a kind of reading device of laser ranging timing time, the corresponding data of timing time that record for reading timing chip, and light pulse of the every transmitting of laser instrument, and described timing chip just can record a timing time in real time.Described reading device comprises: creating unit, storage unit and reading unit.
Wherein, described creating unit is used for creating an array;
Described storage unit is for launching a light pulse at laser instrument, and timing chip records after a timing time in real time, the corresponding data of this timing time are divided into n group, and successively these n group data are stored in described array, repeat these data and divide and storing process, until light pulse battery has fired; N is greater than 1 positive integer;
Described reading unit is used for by find out successively the start address of the corresponding data of the timing time recording in described array storage time at every turn, and often find a described start address, just by this start address, from described array, read the corresponding data of its corresponding timing time, until that all data all read is complete.
Preferably, described creating unit specifically for: outside the sheet of single-chip microcomputer, in random access memory, create an array.
Preferably, described reading unit specifically for:
Find out the first address of described array, this address is forced to point to the corresponding data of the first timing time recording of storing in described array, and from described array, read this data;
Make described first address add x* (i-1), first address after stack is forced to point to i the corresponding data of timing time that record of storing in described array, and from described array, reading this data, i gets the positive integer that is more than or equal to 2 successively, until that all data all read is complete; Wherein, described x is that the figure place of the corresponding data of timing time that at every turn record of timing chip is divided by 8.
The present embodiment also provides a kind of pulse type laser radar, comprise laser instrument, receiver and timing chip, described laser instrument is used for to the pulse of barrier utilizing emitted light, described receiver is for receiving the light pulse through barrier reflection, described timing chip is used for measuring timing time, described timing time is the light pulse of transmitting and the mistiming between the light pulse of reflection, and light pulse of the every transmitting of laser instrument, and described timing chip just can record a timing time in real time.Described pulse type laser radar also comprises the reading device of above-mentioned laser ranging timing time, the corresponding data of timing time that record to read timing chip.
The present embodiment also provides a kind of automobile that comprises above-mentioned pulse type laser radar.
Be understandable that, above embodiment is only used to principle of the present invention is described and the illustrative embodiments that adopts, yet the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (10)
1. the read method of a laser ranging timing time, for reading the corresponding data of timing time that timing chip records, and light pulse of the every transmitting of laser instrument, described timing chip just can record a timing time in real time, it is characterized in that, described read method comprises the steps:
1) create an array;
2) in a light pulse of laser instrument transmitting, and timing chip records after a timing time in real time, the corresponding data of this timing time is divided into n group, and successively these n group data stored in described array; N is greater than 1 positive integer;
3) repeating step 2), until light pulse battery has fired;
4) by find out successively the start address of the corresponding data of the timing time recording in described array storage time at every turn, and often find a described start address, just by this start address, from described array, read the corresponding data of its corresponding timing time, until that all data all read is complete.
2. read method according to claim 1, is characterized in that, described array takies 400～800 bytes.
3. read method according to claim 1, is characterized in that, described step 1) is specially: outside the sheet of single-chip microcomputer, in random access memory, create an array.
4. read method according to claim 3, is characterized in that, described step 2) be specially:
In a light pulse of laser instrument transmitting, and timing chip records after a timing time in real time, adopt single-chip microcomputer to control timing chip by SPI and return to the m bit data in the corresponding data of this timing time at every turn, and store in described array, until the corresponding all data of this timing time all store in described array, thereby the corresponding data of this timing time are divided into n group; Described m is that the figure place of the corresponding data of timing time that at every turn record of timing chip is divided by n.
5. according to the read method described in any one in claim 1～4, it is characterized in that,
In step 2) in, according to byte sequence, successively these n group data are stored in described array;
In step 3), the corresponding data of the timing time at every turn recording are recorded to time sequencing according to it and store in described array.
6. read method according to claim 5, is characterized in that,
Described step 4) is specially:
Find out the first address of described array, this address is forced to point to the corresponding data of the first timing time recording of storing in described array, and from described array, read this data;
Make described first address add x* (i-1), first address after stack is forced to point to i the corresponding data of timing time that record of storing in described array, and from described array, reading this data, i gets the positive integer that is more than or equal to 2 successively, until that all data all read is complete; Wherein, described x is that the figure place of the corresponding data of timing time that at every turn record of timing chip is divided by 8.
7. the reading device of a laser ranging timing time, for reading the corresponding data of timing time that timing chip records, and light pulse of the every transmitting of laser instrument, described timing chip just can record a timing time in real time, it is characterized in that, described reading device comprises: creating unit, storage unit and reading unit;
Described creating unit is used for creating an array;
Described storage unit is for launching a light pulse at laser instrument, and timing chip records after a timing time in real time, the corresponding data of this timing time are divided into n group, and successively these n group data are stored in described array, repeat these data and divide and storing process, until light pulse battery has fired; N is greater than 1 positive integer;
Described reading unit is used for by find out successively the start address of the corresponding data of the timing time recording in described array storage time at every turn, and often find a described start address, just by this start address, from described array, read the corresponding data of its corresponding timing time, until that all data all read is complete.
8. reading device according to claim 7, is characterized in that, described creating unit specifically for: outside the sheet of single-chip microcomputer, in random access memory, create an array.
9. according to the reading device described in claim 7 or 8, it is characterized in that, described reading unit specifically for:
Find out the first address of described array, this address is forced to point to the corresponding data of the first timing time recording of storing in described array, and from described array, read this data;
Make described first address add x* (i-1), first address after stack is forced to point to i the corresponding data of timing time that record of storing in described array, and from described array, reading this data, i gets the positive integer that is more than or equal to 2 successively, until that all data all read is complete; Wherein, described x is that the figure place of the corresponding data of timing time that at every turn record of timing chip is divided by 8.
10. a pulse type laser radar, comprise laser instrument, receiver and timing chip, described laser instrument is used for to the pulse of barrier utilizing emitted light, described receiver is for receiving the light pulse through barrier reflection, described timing chip is used for measuring timing time, described timing time is the light pulse of transmitting and the mistiming between the light pulse of reflection, and light pulse of the every transmitting of laser instrument, described timing chip just can record a timing time in real time, it is characterized in that, described pulse type laser radar also comprises the reading device of the laser ranging timing time as described in any one in claim 7～9, the corresponding data of timing time that record to read timing chip.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103954972A (en) * | 2014-05-21 | 2014-07-30 | 奇瑞汽车股份有限公司 | Multi-channel laser radar detection method |
| CN105137443A (en) * | 2015-08-27 | 2015-12-09 | 苏州翌森光电科技有限公司 | Pulse-type laser range finding method |
| CN108196242A (en) * | 2016-12-08 | 2018-06-22 | 北京万集科技股份有限公司 | Laser radar clocking method and data processing unit based on Edge check |
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| CN108196242B (en) * | 2016-12-08 | 2020-04-28 | 北京万集科技股份有限公司 | Laser radar timing method based on edge detection and data processing unit |
| CN108226942A (en) * | 2016-12-21 | 2018-06-29 | 赫克斯冈技术中心 | Laser ranging module with INL error compensations |
| CN108226942B (en) * | 2016-12-21 | 2022-01-04 | 赫克斯冈技术中心 | Distance measuring method for determining distance to target object and electronic laser distance measuring module |
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