CN107515388B - Laser signal processing chip and laser radar system - Google Patents
Laser signal processing chip and laser radar system Download PDFInfo
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- CN107515388B CN107515388B CN201710932547.9A CN201710932547A CN107515388B CN 107515388 B CN107515388 B CN 107515388B CN 201710932547 A CN201710932547 A CN 201710932547A CN 107515388 B CN107515388 B CN 107515388B
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- 238000005070 sampling Methods 0.000 claims abstract description 42
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- 230000003111 delayed effect Effects 0.000 claims description 12
- 230000003321 amplification Effects 0.000 claims description 5
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 5
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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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
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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
- G01S7/4861—Circuits for detection, sampling, integration or read-out
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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
-
- 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
Abstract
The invention provides a laser signal processing chip and a laser radar system, wherein the chip comprises: comprising the following steps: the device comprises a band-pass filter, a transimpedance amplifier, a signal sampling circuit and a time discrimination circuit, wherein the band-pass filter is used for filtering a received echo current signal according to a set frequency to obtain a filtered current signal, and transmitting the filtered current signal to the transimpedance amplifier; the method comprises the steps that an echo current signal is generated by converting a received laser signal reflected by an object to be detected by a photoelectric converter in a laser radar system; the transimpedance amplifier is used for converting the received filtered current signal into an echo voltage signal and respectively transmitting the echo voltage signal to the signal sampling circuit and the time discrimination circuit; the signal sampling circuit is used for sampling the received echo voltage signals to obtain gray information; the time discrimination circuit is used for respectively processing the received echo voltage signals to obtain the receiving time of the laser signals.
Description
Technical Field
The invention relates to the technical field of microelectronics, in particular to a laser signal processing chip and a laser radar system.
Background
In a traditional laser radar system, a laser receiving front end is generally composed of a plurality of discrete chips, and each chip respectively carries out processing such as signal filtering, signal multistage amplification, time discrimination, peak value sampling and the like on received laser signals, so that the laser receiving front end is a core key part in the laser radar system and directly relates to the performance of the whole radar system.
Because the chip in the existing laser radar system comprises a plurality of functional modules, and the laser radar echo signals are extremely weak, the chip is extremely easy to be subjected to crosstalk of other signals, and noise is generated to influence the signal quality. Meanwhile, due to the board-level design of discrete devices, the complexity of the system is increased, the stability is poor, the power consumption is high, and the continuous improvement of the overall performance of the radar system is greatly limited, so that the chip design of the receiving front end of the laser radar system is particularly important.
Disclosure of Invention
In view of the above, the present invention is directed to a laser signal processing chip and a laser radar system, which are used for solving the problems in the prior art that the detection performance of the laser radar system is reduced due to cascade connection of a plurality of chips.
In a first aspect, an embodiment of the present invention provides a laser signal processing chip, which is applied to a laser radar system, where the chip includes: the device comprises a band-pass filter, a transimpedance amplifier, a signal sampling circuit and a time discrimination circuit, wherein the band-pass filter is electrically connected with the transimpedance amplifier, and the transimpedance amplifier is also electrically connected with the signal sampling circuit and the time discrimination circuit respectively;
the band-pass filter is used for filtering the received echo current signal according to a set frequency to obtain a filtered current signal, and transmitting the filtered current signal to the transimpedance amplifier; the echo current signal is generated by converting a received laser signal reflected by an object to be detected by a photoelectric converter in the laser radar system;
the transimpedance amplifier is used for converting the received filtered current signal into an echo voltage signal and transmitting the echo voltage signal to the signal sampling circuit and the time discrimination circuit respectively;
the signal sampling circuit is used for sampling the received echo voltage signals to obtain gray information, and transmitting the gray information, wherein the gray information represents the intensity of the laser signals;
the time discrimination circuit is used for respectively carrying out delay processing and attenuation processing on the received echo voltage signals, comparing the delayed echo voltage signals with the attenuated echo voltage signals to obtain the receiving time of the laser signals, and transmitting the receiving time.
Optionally, the method further comprises: the voltage amplifier is electrically connected with the transimpedance amplifier, the signal sampling circuit and the moment identification circuit respectively;
the voltage amplifier is used for amplifying the voltage value of the received echo voltage signal according to the set amplification factor and transmitting the amplified echo voltage signal to the signal sampling circuit and the time discrimination circuit.
Optionally, the signal sampling circuit includes: and the analog-to-digital converter is used for converting the sampled echo voltage signals into digital signals from analog signals to obtain gray information.
Optionally, the signal sampling circuit is specifically configured to sample the echo voltage signal according to the following steps:
and collecting the voltage peak value of the echo voltage signal in a set period.
Optionally, the time discrimination circuit includes: the device comprises a delay circuit, an attenuation circuit and a comparator, wherein the comparator is electrically connected with the delay circuit and the attenuation circuit respectively;
the delay circuit is used for carrying out delay processing on the received echo voltage signals and transmitting the delayed echo voltage signals to the comparator;
the attenuation circuit is used for carrying out attenuation processing on the voltage peak value of the received echo voltage signal to obtain an attenuated echo voltage signal, and transmitting the attenuated echo voltage signal to the comparator;
the comparator is used for determining the receiving time of the laser signal according to the received echo voltage signal after delay and the echo voltage signal after attenuation.
Optionally, the comparator is specifically configured to determine the receiving time of the laser signal according to the following steps:
and determining an intersection point of the pattern of the delayed echo voltage signal and the pattern of the attenuated echo voltage signal, and determining the time corresponding to the intersection point as the receiving time of the laser signal.
Optionally, the comparator comprises a high speed comparator.
Optionally, the echo current signal is an analog signal.
In a second aspect, an embodiment of the present invention provides a laser radar system including a laser signal processing chip as above.
The embodiment of the invention provides a laser signal processing chip, which comprises: the device comprises a band-pass filter, a transimpedance amplifier, a signal sampling circuit and a time discrimination circuit, wherein the band-pass filter is electrically connected with the transimpedance amplifier, and the transimpedance amplifier is also electrically connected with the signal sampling circuit and the time discrimination circuit respectively; the band-pass filter is used for filtering the received echo current signal according to a set frequency to obtain a filtered current signal, and transmitting the filtered current signal to the transimpedance amplifier; the echo current signal is generated by converting a received laser signal reflected by an object to be detected by a photoelectric converter in the laser radar system; the transimpedance amplifier is used for converting the received filtered current signal into an echo voltage signal and transmitting the echo voltage signal to the signal sampling circuit and the time discrimination circuit respectively; the signal sampling circuit is used for sampling the received echo voltage signals to obtain gray information, and transmitting the gray information, wherein the gray information represents the intensity of the laser signals; the time discrimination circuit is used for respectively carrying out delay processing and attenuation processing on the received echo voltage signals, comparing the delayed echo voltage signals with the attenuated echo voltage signals to obtain the receiving time of the laser signals, and transmitting the receiving time. Compared with the existing laser signal processing technology by different chips, the laser signal processing chip provided by the embodiment of the invention has the functions of filtering processing, amplifying processing, sampling processing, confirming the receiving time of the received laser signal and the like, greatly reduces cascading parasitic effect among a plurality of chips when the chips are adopted for processing, reduces the delay of signal transmission, and simultaneously effectively reduces the complexity of a laser radar system using the laser signal processing device and improves the performance and stability of the laser radar system.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a first schematic structure of a laser signal processing chip according to an embodiment of the present invention;
fig. 2 is a schematic diagram showing a second structure of a laser signal processing chip according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a time discrimination circuit according to an embodiment of the present invention;
fig. 4 shows a waveform diagram for confirming the reception time of a laser signal according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
An embodiment of the present invention provides a laser signal processing chip, which is applied to a laser radar system, as shown in fig. 1, including: the device comprises a band-pass filter 12, a transimpedance amplifier 13, a signal sampling circuit 14 and a time discrimination circuit 15, wherein the band-pass filter 12 is further electrically connected with the transimpedance amplifier 13, and the transimpedance amplifier 13 is further electrically connected with the signal sampling circuit 14 and the time discrimination circuit 15 respectively; the echo current signal is generated by converting a received laser signal reflected by an object to be detected by a photoelectric converter in the laser radar system;
the band-pass filter 12 is configured to filter the received echo current signal according to a set frequency to obtain a filtered current signal, and transmit the filtered current signal to the transimpedance amplifier 13;
the transimpedance amplifier 13 is configured to convert the received filtered current signal into an echo voltage signal, and transmit the echo voltage signal to the signal sampling circuit 14 and the time discrimination circuit 15 respectively;
the signal sampling circuit 14 is configured to sample the received echo voltage signal to obtain gray information, and transmit the gray information, where the gray information represents the intensity of the laser signal;
the time discrimination circuit 15 is configured to perform delay processing and attenuation processing on the received echo voltage signal, compare the delayed echo voltage signal with the attenuated echo voltage signal, obtain a receiving time of the laser signal, and transmit the receiving time.
Specifically, a photoelectric converter in the laser radar system may convert a received laser signal reflected by an object to be detected into a current signal, where the current signal is determined as an echo current signal; the band-pass filter 12 can only receive the laser signals in a specific frequency band in the laser signals, and signals which do not belong to the specific frequency band cannot enter the band-pass filter, so that the interference of other signals on the laser signals is reduced, the intensity of the received laser signals is high, and a common band-pass filter can be a kenbert filter and the like.
The transimpedance amplifier 13 operates on the principle that: feedback resistor (R) to both ends of operational amplifier (op amp) F ) Using ohm's law V OUT ＝I×R F Realizes the conversion of the current signal (I) into the voltage (V) OUT ) A signal. The echo current signal, the filtering current signal and the echo voltage signal are all analog signals.
Further, the signal sampling circuit 14 is specifically configured to sample the echo voltage signal according to the following steps:
and collecting the voltage peak value of the echo voltage signal in a set period.
Specifically, since the object to be detected returns the laser signal according to a set period, which is generally consistent with the period of the laser signal emitted from the laser emitter, the signal sampling circuit 14 sequentially collects the echo voltage signal received at each period. When sampling is performed in the invention, the waveform of the echo voltage signal is similar to Gaussian pulse, and the voltage peak value of the echo voltage signal in the set period, namely the voltage value corresponding to the highest point of the echo voltage signal, is generally collected.
Further, as shown in fig. 2, the signal sampling circuit 14 further includes an analog-to-digital converter 141, and the analog-to-digital converter 141 is configured to convert the sampled echo voltage signal from an analog signal to a digital signal, so as to obtain gray information. The gray information is generally a digital signal, and the gray information characterizes the intensity of the laser signal.
The analog-to-digital converter 141, an a/D converter, or ADC for short, generally refers to an electronic device that converts an analog signal into a digital signal.
The signal sampling circuit 14 further comprises a peak detection circuit (not shown) electrically connected to the analog-to-digital converter 141, the peak detection circuit being adapted to detect a voltage peak of the echo voltage signal, and to determine the sampled echo voltage signal based on the detected voltage peak.
Compared with the existing laser signal processing technology by different chips, the laser signal processing chip provided by the embodiment of the invention has the functions of filtering processing, amplifying processing, sampling processing, confirming the receiving time of the received laser signal and the like, greatly reduces cascading parasitic effect among a plurality of chips when the chips are adopted for processing, reduces the delay of signal transmission, and simultaneously effectively reduces the complexity of a laser radar system using the laser signal processing device and improves the performance and stability of the laser radar system.
Another embodiment of the present invention provides a laser signal processing chip, as shown in fig. 2, which, compared with the laser signal processing chip provided in fig. 1, further includes: a voltage amplifier 16, wherein the voltage amplifier 16 is electrically connected to the transimpedance amplifier 13, the signal sampling circuit 14, and the time discrimination circuit 15, respectively;
the voltage amplifier 16 is configured to amplify a voltage value of the received echo voltage signal according to a set amplification factor, and transmit the amplified echo voltage signal to the signal sampling circuit 14 and the time discrimination circuit 15.
Specifically, the voltage amplifier 16 (Voltage Amplifier) is a device for amplifying the voltage value of the received voltage signal. The common multistage amplification, the cascade mode is divided into direct coupling, resistance-capacitance coupling, transformer coupling and the like, the frequency response of the amplified voltage signal is flat and the distortion is small, and meanwhile, the remote detection capability of a laser radar system using the laser signal processing device is also improved.
Further, referring to fig. 3, the time discrimination circuit 15 in the apparatus includes: a delay circuit 151, an attenuation circuit 152, and a comparator 153, wherein the comparator 153 is electrically connected with the delay circuit 151 and the attenuation circuit 152, respectively;
the delay circuit 151 is configured to delay the received echo voltage signal, and transmit the delayed echo voltage signal to the comparator 153;
specifically, the delay circuit 151 is configured to delay the time when the echo voltage signal reaches the comparator 153.
The attenuation circuit 152 is configured to attenuate a voltage peak of the received echo voltage signal to obtain an attenuated echo voltage signal, and transmit the attenuated echo voltage signal to the comparator 153;
specifically, the attenuation circuit 152 attenuates the received echo voltage signal, specifically, reduces the peak value of the echo voltage signal, which is described in detail in the prior art, and will not be described in detail herein.
The comparator 153 is configured to determine a receiving time of the laser signal according to the received echo voltage signal after the delay and the attenuated echo voltage signal.
Further, the comparator 153 is specifically configured to determine the receiving time of the laser signal according to the following steps:
and determining an intersection point of the pattern of the delayed echo voltage signal and the pattern of the attenuated echo voltage signal, and determining the time corresponding to the intersection point as the receiving time of the laser signal.
Optionally, the comparator includes a high-speed comparator, a voltage comparator, etc., such as LM339, LM393, etc. as is common; the present invention is not limited in this regard, and the pattern of the echo voltage signal after delay and the pattern of the echo voltage signal after attenuation are generally curve patterns.
Specifically, referring to fig. 4, a is a graph of a delayed echo voltage signal received in a comparator, b is a graph of an attenuated echo voltage signal received in the comparator, q is an intersection point of the graph of the delayed echo voltage signal and the graph of the waveform of the attenuated echo voltage signal, and the time corresponding to the q point is the time of receiving the laser signal, that is, the receiving time of the laser signal reflected by the object to be detected. In this way, the influence of the drift error caused by the echo intensity variation is reduced, so that the determined laser signal receiving time is relatively accurate.
The time identifying circuit 15 sends the receiving time to a processor in the laser radar system, the signal sampling circuit 14 also sends the obtained gray information to the processor in the laser radar system, and the laser radar system determines, for example, motion information of the object to be detected according to the receiving time and the gray information.
The embodiment of the invention also provides a laser radar system which comprises the laser signal processing chip.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A laser signal processing chip for use in a lidar system, the chip comprising: the device comprises a band-pass filter, a transimpedance amplifier, a signal sampling circuit and a time discrimination circuit, wherein the band-pass filter is electrically connected with the transimpedance amplifier, and the transimpedance amplifier is also electrically connected with the signal sampling circuit and the time discrimination circuit respectively;
the band-pass filter is used for filtering the received echo current signal according to a set frequency to obtain a filtered current signal, and transmitting the filtered current signal to the transimpedance amplifier; the echo current signal is generated by converting a received laser signal reflected by an object to be detected by a photoelectric converter in the laser radar system;
the transimpedance amplifier is used for converting the received filtered current signal into an echo voltage signal and transmitting the echo voltage signal to the signal sampling circuit and the time discrimination circuit respectively;
the signal sampling circuit is used for sampling the received echo voltage signals to obtain gray information, and transmitting the gray information, wherein the gray information represents the intensity of the laser signals;
the time discrimination circuit is used for respectively carrying out delay processing and attenuation processing on the received echo voltage signals, comparing the delayed echo voltage signals with the attenuated echo voltage signals to obtain the receiving time of the laser signals, and transmitting the receiving time.
2. The chip of claim 1, further comprising: the voltage amplifier is electrically connected with the transimpedance amplifier, the signal sampling circuit and the moment identification circuit respectively;
the voltage amplifier is used for amplifying the voltage value of the received echo voltage signal according to the set amplification factor and transmitting the amplified echo voltage signal to the signal sampling circuit and the time discrimination circuit.
3. The chip of claim 1, wherein the signal sampling circuit comprises: and the analog-to-digital converter is used for converting the sampled echo voltage signals into digital signals from analog signals to obtain gray information.
4. The chip of claim 1, wherein the signal sampling circuit is specifically configured to sample the echo voltage signal according to the steps of:
and collecting the voltage peak value of the echo voltage signal in a set period.
5. The chip of claim 1, wherein the time discrimination circuit comprises: the device comprises a delay circuit, an attenuation circuit and a comparator, wherein the comparator is electrically connected with the delay circuit and the attenuation circuit respectively;
the delay circuit is used for carrying out delay processing on the received echo voltage signals and transmitting the delayed echo voltage signals to the comparator;
the attenuation circuit is used for carrying out attenuation processing on the voltage peak value of the received echo voltage signal to obtain an attenuated echo voltage signal, and transmitting the attenuated echo voltage signal to the comparator;
the comparator is used for determining the receiving time of the laser signal according to the received echo voltage signal after delay and the echo voltage signal after attenuation.
6. The chip of claim 5, wherein the comparator is specifically configured to determine the time of receipt of the laser signal according to the steps of:
and determining an intersection point of the pattern of the delayed echo voltage signal and the pattern of the attenuated echo voltage signal, and determining the time corresponding to the intersection point as the receiving time of the laser signal.
7. The chip of claim 5 or 6, wherein the comparator comprises a high-speed comparator.
8. The chip of claim 1, wherein the echo current signal is an analog signal.
9. A lidar system comprising a laser signal processing chip according to any of claims 1 to 8.
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| CN109245765B (en) * | 2018-06-29 | 2022-06-07 | 西安电子科技大学昆山创新研究院 | TDC _ ADC multiplexing techniques |
| CN110208775B (en) * | 2018-08-01 | 2021-12-14 | 王飞 | Laser radar receiving chip, laser radar chip and laser radar system |
| CN109375194A (en) * | 2018-10-22 | 2019-02-22 | 天津大学 | AFE(analog front end) reading circuit for laser radar |
| CN110376569A (en) * | 2019-07-25 | 2019-10-25 | 桂林理工大学 | The high-order of pulse lidar amplifies-it is fitted moment discrimination circuit |
| CN112782672A (en) * | 2019-11-07 | 2021-05-11 | 上海禾赛科技股份有限公司 | Laser radar receiving end assembly, fault diagnosis method thereof and laser radar |
| CN110687519A (en) * | 2019-11-12 | 2020-01-14 | 北京万集科技股份有限公司 | Laser radar signal noise reduction device and method |
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