CN104635239A - Distance-measuring equipment and distance-measuring method thereof - Google Patents
Distance-measuring equipment and distance-measuring method thereof Download PDFInfo
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- CN104635239A CN104635239A CN201510092184.3A CN201510092184A CN104635239A CN 104635239 A CN104635239 A CN 104635239A CN 201510092184 A CN201510092184 A CN 201510092184A CN 104635239 A CN104635239 A CN 104635239A
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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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- 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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
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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
- G01S7/491—Details of non-pulse systems
- G01S7/4911—Transmitters
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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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides distance-measuring equipment, which comprises a signal generator, a laser generating device, a photosensitive device, a light path switching device, a frequency mixer and a signal processing module, wherein the signal generator is used for generating two paths of electric signals with a constant frequency difference; the laser generating device is used for receiving an electric signal I and converting the electric signal I into a measuring light signal to send out; the photosensitive device is used for receiving the measuring light signal, converting the measuring light signal into an electric signal, carrying out frequency mixing together with an electric signal II, and outputting a frequency mixing signal I; the light path switching device is used for switching the light signal between an inner light path and an outer light path; the frequency mixer is used for carrying out frequency mixing on the electric signal I and the electric signal II and outputting a frequency mixing signal II; the signal processing module is used for calculating a phase difference between the frequency mixing signal I and the frequency mixing signal II, and calculating the distance between measured objects according to the phase difference. According to the technical scheme disclosed by the invention, frequency mixing is carried out through the photosensitive device and the frequency mixer; measurement of a plurality of groups of frequencies can be finished under the premise of switching the inner light path and the outer light path once; the complexity of the circuit is simplified; the service life of the switching device is prolonged.
Description
Technical field
The present invention relates to a kind of surveying instrument, particularly relate to equipment and the distance-finding method thereof of measuring distance.
Background technology
Laser distance measuring system is based on to the good directivity of laser or coherence and the surveying instrument designed.The laser signal that stadimeter sends also arrives target object, after target object reflection, get back to distance mearuring equipment.The mistiming t of time of reception point put by instrument from launch time by calculating signal, obtain the distance of signal process after being then multiplied with light velocity c.Basic range finding formula is D=ct, in formula: the distance between D stadimeter light path starting point and target object, and c is the aerial velocity of propagation of laser, and t is the time required for laser beam round trip.Phase laser distance measurement utilizes oneself fixed drive singal of frequency to carry out amplitude modulation(PAM) to laser beam.The laser beam irradiation of modulation is to measured target, and measure the phase delay that light modulated round trip produces, according to the frequency of light modulated, just the distance that can calculate representated by this phase delay is found range.Phase laser distance measurement instrument is mainly used in precise distance measurement field, and its precision is generally a millimeter rank.Some range measurement systems are in order to reflected measurement signal effectively and make the surface accuracy of measured target be limited in same standard, generally can be furnished with total reflection prism as cooperative target.
Disclose with a kind of " calibration steps and distance measuring equipment thereof based on the phase measurement of dual-wavelength laser pipe " (patent publication No. 102540170A) in prior art, in the light wave emitter that this technology adopts two-way integrated produces respectively by different optical filter, outer optical path signal, the return signal of interior optical path signal and outer optical path signal is received again respectively by a signal receiving device, then two signals carry out phase compare and obtain phase differential to realize the object of phase compensation and calibration, avoid environmental change and introduce uncertain phase noise in circuit, improve the measuring accuracy of laser ranging, add the range finding degree of stability of system, decrease the impact of environmental factor on range error, reduce the performance requirement of system to components and parts, thus reduce the cost of system.But this technical scheme is when many class frequencys are measured, need repeatedly to switch inside and outside light path, reduce the work efficiency of measuring system, only there is a frequency mixer, only have a road mixed frequency signal, the initial time that inside and outside necessary accurate Calculation, light path is measured or the time interval, error must be brought to measurement, it needs two laser beam emitting devices to carry out emission measurement light signal simultaneously, keeps away the error that the difference between unavoidable two laser causes, adds complexity and the manufacturing cost of equipment.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned deficiency of the prior art, provides a kind of distance-measuring equipment and utilizes this equipment to carry out the method for finding range.
For achieving the above object, the technical solution used in the present invention is:
A kind of distance-measuring equipment, comprising: signal generator, for generation of the electric signal one, two that two-way frequency phase-difference is constant; Generating device of laser, for receive electric signal be converted in the lump measure light signal send; Photosensitive device, measures light signal for receiving and carries out mixing with electric signal two after being converted into electric signal and export mixed frequency signal one; Light path switching device, for the light path of handover measurement light signal, described light path divides interior light path and outer light path, and described outer light path is measure light signal through the path of measured object reflected light sensing device, and described interior light path is measure the path of the direct directive photosensitive device of light signal; Frequency mixer, for carrying out mixing by electric signal one, two and exporting mixed frequency signal two; Signal processing module, calculates the phase differential of mixed frequency signal one, two and calculates measured object distance according to described phasometer.
Preferably, described signal processing module, for calculating phase data Δ 1 and the Δ 2 of the described mixed frequency signal one, two of light signal under interior light path and outer light path respectively, the difference (Δ 1-Δ 2) of recycling phase data Δ 1 and Δ 2 calculates measured object distance.
Preferably, described signal processing module comprises low-pass filter amplifier and controller module, described low-pass filter amplifier is used for carrying out filtering respectively to mixed frequency signal one and mixed frequency signal two and obtaining low frequency signal one, two after amplification, and described controller module calculates the phase differential of low frequency signal one, two and calculates measured object distance according to described phasometer.
Preferably, described controller module comprises analog-to-digital conversion module and processor, described analog-to-digital conversion module receives low frequency signal one, two and generates digital signal one, two, and described processor calculates the phase differential of digital signal one, two and calculates measured object distance according to described phasometer.
Preferably, described photosensitive device is avalanche photodide.
Preferably, described frequency mixer is triode or mos pipe.
Preferably, described generating device of laser comprises laser driving apparatus and laser tube, and described laser driving apparatus receives electric signal and is translated into drive singal in the lump and exports, and described laser tube sends measurement light signal after receiving drive singal.
Another object of the present invention is to provide a kind of utilizes above-mentioned distance-measuring equipment to carry out the method for finding range, specific as follows:
Utilize above-mentioned distance-measuring equipment to carry out a method of finding range, comprising:
S1: signal generator produces the constant electric signal of two-way frequency phase-difference, and the corresponding phase difference data that signal processing module obtains described electric signal stores in the lump;
S2: light path switching device switching-over light path;
S3: signal generator regenerates described two path signal, signal processing module obtains the corresponding phase difference data two of described two path signal and stores;
S4: signal processing module calculates corresponding measured object range data according to the phase data one of correspondence and the difference DELTA of phase data two of often organizing electric signal.
Preferably, in described distance-finding method, the electric signal that the two-way frequency phase-difference of the generation of signal generator described in step S1 is constant has at least 1 group.
Preferably, described distance-finding method, comprising:
S1: signal generator generates the electric signal of at least one class frequency phase difference constant successively, signal processing module obtains the described corresponding phase difference data often organizing electric signal and stores in the lump;
S2: light path switching device switching-over light path;
S3: signal generator generates again successively describedly often organizes electric signal, signal processing module obtains describedly often to be organized the corresponding phase difference data two of electric signal and stores;
S4: signal processing module calculates corresponding measured object distance raw data according to the phase data one of correspondence and the difference DELTA of phase data two of often organizing electric signal;
S5: signal processing module combines each group of distance raw data and show that measured object is apart from smart data.
The present invention compared with prior art, technical solution of the present invention carries out mixing to signal by photosensitive device and frequency mixer simultaneously, under the prerequisite switching once inside and outside light path, namely the measurement of many class frequencys can be completed, greatly reduce inside and outside light path switching times, promote measuring speed, there are two road mixed frequency signals simultaneously, only need calculate the phase difference value of two road mixed frequency signals, do not need the initial time or the time interval that calculate the measurement of inside and outside light path, improve measuring accuracy, simplify complexity in circuits, enhance the serviceable life of switching device shifter, this programme adopts a laser tube emissions laser, eliminate difference between different laser tube and cause measuring error, improve precision.This programme adopts phase difference value to calculate distance, namely eliminates the error that circuit itself produces, carries out light path calibration simultaneously, improves the precision and speed measured.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of distance-measuring equipment embodiment of the present invention;
Accompanying drawing 2 is the schematic diagram of distance-finding method embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, specific embodiments of the invention are described further.
A kind of distance-measuring equipment as shown in the accompanying drawings 1, comprise laser driving apparatus 3, laser tube 4, signal generator 2, light path switching device 6, photosensitive device 5, frequency mixer 7, filter amplifier 8, digiverter 9 and processor 1, filter amplifier 8 is divided into low-pass filter amplifier 1 and low-pass filter amplifier 2 82 in the present embodiment, described signal generator 2 input end is electrically connected with processor 1 first signal output part, second of described processor 1, 3rd signal output part is electrically connected with the enable signal input end of laser driving apparatus 3 and light path switching device 6 respectively, first signal output part of described signal generator 2 is electrically connected with the first signal input part of laser driving apparatus 3 signal input part and frequency mixer 7, the secondary signal output terminal of described signal generator 2 is electrically connected with the secondary signal input end of photosensitive device 5 signal input part and frequency mixer 7, the signal output part of described frequency mixer 7 is electrically connected with the first signal input part of digiverter 9 by filter amplifier 1, the signal output part of described photosensitive device 5 is electrically connected with the secondary signal input end of digiverter 9 by filter amplifier 2 82, the signal output part of described digiverter 9 is electrically connected with the signal input part of processor 1, described light path switching device 6 is installed on the laser optical path of laser tube 4 injection, for the switching of laser outside between light path 11 and interior light path 21.
When described embodiment distance-measuring equipment needs to start to measure measured object 10 distance, the group frequency information that processor 1 is generated to signal generator 2 transmission start signal and needs by the first signal output part, signal generator 2 produces constant electric signal F11 and F12 of 2 road frequency phase-differences, the frequency of described electric signal F11 and F12 is respectively f11 and f12, in this embodiment, f11 and f12 is chosen for 200mhz and 199.995mhz respectively, certainly also can chooses other frequency.Signal generator 2 sends electric signal F11 to laser driving apparatus 3, and simultaneous processor 1 controls laser driving apparatus 3 and lights laser tube 4 and electric signal F11 is become light signal.
Processor 1 the 3rd signal output part exports control signal and makes light path switching device be switched to outer light path, laser tube 4 sends light signal along light path 11 to testee by light path switching device, testee receives after the irradiation of light signal along light path 12 reflected light signal to photosensitive device 5, the light signal received is converted to electric signal F111 and sends to its signal F12 to carry out mixing with signal generator 2 by photosensitive device 5, produce two electric signal that frequency is respectively (f11+f12) and (f11-f12), above-mentioned two electric signal are sent to filter amplifier 2 82 by described photosensitive device 5, low pass filter blocks and bandpass amplifier module is contained in described filter amplifier 2 82, pass through low pass filter blocks, be that the electric signal of (f11+f12) filters by frequency, remaining frequency is the low frequency signal of (f11-f12), described low frequency signal is undertaken amplifying the electric signal F14 that rear generation signal frequency is (f11-f12) by bandpass amplifier module.Wherein said photosensitive device 5 can adopt avalanche diode, carries out inside avalanche diode, also light signal is converted to electric signal simultaneously.
Simultaneously, signal F11 constant for 2 road frequency phase-differences of input from signal generator 2 and F12 is directly carried out mixing by frequency mixer 7, obtain two electric signal that frequency is respectively (f11+f12), (f11-f12), by the low-pass filter in filter amplifier 1, (f11+f12) filtered, remaining frequency is that the low frequency signal F13 of (f11-f12) is input in digiverter 9.
Described digiverter 9 is changed F13 and F14 under the control of processor 1, and calculates the phase difference 11 of F13 and F14.
In order to measure better precision and distance, general selection frequency is more than three groups or three groups, f11 in such as above-mentioned first class frequency can be chosen for 200mhz, another f12 can be chosen for 199.995mhz, obviously by the frequency of 5khz can be obtained after mixing, so just can reduce the requirement of digital-to-analog conversion, change without high-speed digital-analog.Owing to adopting phase laser distance measurement method, processor is when calculating phase place, the phase place within one-period can only be judged, so frequency is higher, precision is higher, and distance is shorter, and the frequency measurement distance of 200mhz is about 0.75m, so just need more low frequency, such as 20mhz, 2mhz, such precision is low, but measuring distance is very long, be about 7.5m and 75m respectively, be used in practical operation the frequency needing many groups, by combination, draw accurate distance, the combination of this many groups measurement data adopts prior art, does not just discuss at this.
Therefore after obtaining phase difference 11, signal generator 2 generates another two class frequencys once more, one group of electric signal F21 and F22 being frequency and being respectively f21 and f22, another group is respectively electric signal F31 and F32 of f31 and f32 for frequency, f21, f22, f31 and f32 value is respectively 20mhz, 19.995mhz, 2mhz and 1.995mhz in the present embodiment, the course of work of following distance-measuring equipment is the same with the course of work of above-mentioned first class frequency, at this simple description of sitting down:
Control signal generator 2 produces one group of signal F21 and F22, at this time light path switching device 6 does not carry out action, light path is still outer light path, output signal after frequency mixer 7 receives F21 and F22 also produces electric signal F23 after filter amplifier 1, output signal after photosensitive device 5 receives F21 and F22 also produces signal F24 after filter amplifier 2 82, at this time Single-chip Controlling digital-to-analog conversion, changes F23 and F24 simultaneously, calculates the phase difference 21 of F23 and F24.
Next, control signal generator 2 produces one group of signal F31 and F32, at this time light path switching device 6 does not still operate, light path is still outer light path, output signal after frequency mixer 7 receives F31 and F32 also produces electric signal F33 after filter amplifier 1, and output signal after photosensitive device 5 receives F31 and F32 also produces signal F34, at this time Single-chip Controlling digital-to-analog conversion after filter amplifier 2 82, F33 and F34 is changed simultaneously, calculate the phase difference 31 of F33 and F34.
After processor 1 calculates phase difference 31 and stores, processor 1 the 3rd signal output part exports control signal control light path switching device 6 and is switched to interior light path, laser tube 4 sends light signal along light path 21 to photosensitive device 5 by light path switching device 6, the light signal received is converted to electric signal and sends to its electric signal F32 to carry out mixing with signal generator 2 by photosensitive device 5, produce two electric signal that frequency is (f33+f34) and (f33-f34), above-mentioned two signals are sent to filter amplifier 2 82 by described photosensitive device 5, low pass filter blocks and bandpass amplifier module is contained in described filter amplifier 2 82, pass through low-pass filter, be that the electric signal of (f33+f34) filters by frequency, remaining frequency is the low frequency signal of (f33-f34), described low frequency signal is undertaken amplifying the electric signal F34 that rear generation signal frequency is (f33-f34) by bandpass amplifier.
Simultaneously, electric signal F31 and F32 of input from signal generator 2 is carried out mixing by frequency mixer 7, obtain two electric signal that frequency is respectively (f33+f34) and (f33-f34), by the low-pass filter in filter amplifier 1, (f33+f34) filtered, remaining frequency is the low frequency signal F33 of (f33-f34) and is input in digiverter 9.
Described digiverter 9 is changed F33 and F34 under the control of processor 1, and calculates the phase difference 32 of F33 and F34.
Next, do not carry out action at light path switching device 6, when light path still remains interior light path, control signal generator 2 exports again another two groups of electric signal successively: F21 and F22, F11 and F12.Final processor 1 receives and phase data Δ 22 under storing these two groups of electric signal conditions and Δ 12.
Processor 1 is according to obtained phase data, the inside and outside light path phase data (Δ 11-Δ 12) of three different accuracy grades, (Δ 21-Δ 22), (Δ 31-Δ 32) can be obtained, the range data of above-mentioned three different accuracy grades can be obtained according to above-mentioned inside and outside light path phase differential, inside and outside wherein said basis, light path phase data obtains the prior art that range data is phase laser distance measurement method, does not discuss at this.To the range data of three the different accuracy grades obtained by combination, can draw accurate distance data, the prior art that what the combination of the measurement data of this many groups different accuracy adopted is in phase laser distance measurement method, does not also discuss at this.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any amendment done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within claims of the present invention.
Claims (10)
1. a distance-measuring equipment, is characterized in that, comprising:
Signal generator, for generation of the electric signal one, two that two-way frequency phase-difference is constant;
Generating device of laser, for receive electric signal be converted in the lump measure light signal send;
Photosensitive device, measures light signal for receiving and carries out mixing with electric signal two after being converted into electric signal and export mixed frequency signal one;
Light path switching device, for the light path of handover measurement light signal, described light path divides interior light path and outer light path, and described outer light path is measure light signal through the path of measured object reflected light sensing device, and described interior light path is measure the path of the direct directive photosensitive device of light signal;
Frequency mixer, for carrying out mixing by electric signal one, two and exporting mixed frequency signal two;
Signal processing module, for calculating the phase differential of mixed frequency signal one, two and calculating measured object distance according to described phasometer.
2. distance-measuring equipment according to claim 1, it is characterized in that, described signal processing module, for calculating phase data Δ 1 and the Δ 2 of the described mixed frequency signal one, two of light signal under interior light path and outer light path respectively, the difference (Δ 1-Δ 2) of recycling phase data Δ 1 and Δ 2 calculates measured object distance.
3. distance-measuring equipment according to claim 2, it is characterized in that, described signal processing module comprises low-pass filter amplifier and controller module, described low-pass filter amplifier is used for carrying out filtering respectively to mixed frequency signal one and mixed frequency signal two and obtaining low frequency signal one, two after amplification, and described controller module calculates the phase differential of low frequency signal one, two and calculates measured object distance according to described phasometer.
4. distance-measuring equipment according to claim 3, it is characterized in that, described controller module comprises analog-to-digital conversion module and processor, described analog-to-digital conversion module receives low frequency signal one, two and generates digital signal one, two, and described processor calculates the phase differential of digital signal one, two and calculates measured object distance according to described phasometer.
5. distance-measuring equipment according to claim 4, is characterized in that, described photosensitive device is avalanche photodide.
6. the distance-measuring equipment according to any one of claim 1-5, is characterized in that, described frequency mixer is triode or mos pipe.
7. distance-measuring equipment according to claim 6, it is characterized in that, described generating device of laser comprises laser driving apparatus and laser tube, and described laser driving apparatus receives electric signal and is translated into drive singal in the lump and exports, and described laser tube sends measurement light signal after receiving drive singal.
8. utilize distance-measuring equipment according to any one of claim 1-5 to carry out a method of finding range, it is characterized in that, comprising:
S1: signal generator produces the constant electric signal of two-way frequency phase-difference, and the corresponding phase difference data that signal processing module obtains described electric signal stores in the lump;
S2: light path switching device switching-over light path;
S3: signal generator regenerates described two path signal, signal processing module obtains the corresponding phase difference data two of described two path signal and stores;
S4: signal processing module calculates corresponding measured object range data according to the phase data one of correspondence and the difference DELTA of phase data two of often organizing electric signal.
9. the method for finding range according to claim 8, is characterized in that, comprising:
The electric signal that the two-way frequency phase-difference of the generation of signal generator described in step S1 is constant has at least 1 group.
10. the method for finding range according to claim 9, is characterized in that, comprising:
S1: signal generator generates the electric signal of at least one class frequency phase difference constant successively, signal processing module obtains the described corresponding phase difference data often organizing electric signal and stores in the lump;
S2: light path switching device switching-over light path;
S3: signal generator generates again successively describedly often organizes electric signal, signal processing module obtains describedly often to be organized the corresponding phase difference data two of electric signal and stores;
S4: signal processing module calculates corresponding measured object distance raw data according to the phase data one of correspondence and the difference DELTA of phase data two of often organizing electric signal;
S5: signal processing module combines each group of distance raw data and show that measured object is apart from smart data.
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| CN201510092184.3A CN104635239A (en) | 2015-03-02 | 2015-03-02 | Distance-measuring equipment and distance-measuring method thereof |
| PCT/CN2015/078237 WO2016138696A1 (en) | 2015-03-02 | 2015-05-05 | Ranging equipment and ranging method thereof |
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| CN201510092184.3A CN104635239A (en) | 2015-03-02 | 2015-03-02 | Distance-measuring equipment and distance-measuring method thereof |
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| CN104635239A true CN104635239A (en) | 2015-05-20 |
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| CN105738912A (en) * | 2016-02-05 | 2016-07-06 | 上海思岚科技有限公司 | Laser ranging device |
| CN106054203A (en) * | 2016-05-23 | 2016-10-26 | 奇瑞汽车股份有限公司 | Laser range finding apparatus |
| CN109917405A (en) * | 2019-03-04 | 2019-06-21 | 中国电子科技集团公司第十一研究所 | A kind of laser distance measurement method and system |
| CN111025320A (en) * | 2019-12-28 | 2020-04-17 | 深圳奥锐达科技有限公司 | Phase type laser ranging system and ranging method |
| CN112099036A (en) * | 2020-11-10 | 2020-12-18 | 深圳市汇顶科技股份有限公司 | Distance measuring method and electronic device |
| CN113684768A (en) * | 2021-10-27 | 2021-11-23 | 四川东泉机械设备制造有限公司 | Small box girder positioning method and device |
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| CN112099036B (en) * | 2020-11-10 | 2021-03-23 | 深圳市汇顶科技股份有限公司 | Distance measuring method and electronic device |
| CN113684768A (en) * | 2021-10-27 | 2021-11-23 | 四川东泉机械设备制造有限公司 | Small box girder positioning method and device |
| CN113684768B (en) * | 2021-10-27 | 2023-02-28 | 四川东泉机械设备制造有限公司 | Small box girder positioning method and device |
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