CN107966707A - A kind of laser ranging system - Google Patents
A kind of laser ranging system Download PDFInfo
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- CN107966707A CN107966707A CN201711346696.3A CN201711346696A CN107966707A CN 107966707 A CN107966707 A CN 107966707A CN 201711346696 A CN201711346696 A CN 201711346696A CN 107966707 A CN107966707 A CN 107966707A
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- 230000003287 optical effect Effects 0.000 claims abstract description 32
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 5
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000005622 photoelectricity Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000002156 mixing Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000004313 glare Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 208000035742 Air-borne transmission Diseases 0.000 description 1
- 230000005557 airborne transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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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 present invention provides a kind of laser ranging system, a kind of laser ranging system, the laser ranging system includes emission part and receiving division, emission part includes the Laser emission group and Multiplexing apparatus at least with two and above lasing light emitter, receiving division includes the filter set at least with the optical filter of two and the above, at least there is the laser pick-off group and signal processor of the laser pickoff of two and the above, lasing light emitter launches laser beam to Multiplexing apparatus at the same time, a shoot laser beam is synthesized to object through Multiplexing apparatus, shoot laser beam forms reflection laser beam after object reflects, the reflection laser beam is to optical filter, after the optical filter, inject laser pickoff, laser pickoff sends the signal of laser beam to signal processor, the signal processor handles the signal synthesis received.
Description
Technical field
The present invention relates to laser technology field, more particularly to a kind of laser ranging system.
Background technology
Laser range finder, as contactless measuring instrument, is widely used and is built in remote control, accurate measurement, engineering
If, field, the phase laser distance measurement instrument such as safety monitoring and intelligent control fitted with the characteristics of its precision is high, power little He is convenient
For civilian category, there are larger market and application prospect.Ranging phase method is by measuring institute after modulated light wave air-borne transmission
The phase shift of generation, so as to try to achieve the distance that light wave is passed by.
Traditional phase laser distance meter generally receives pattern using single-emission and double-receiving or double bills, wherein, single-emission and double-receiving pattern
In, laser emitter produces photoelectricity mixing on the mixer device of interior light path and outer light path by electrical modulation signal, is produced in interior light path
Raw mixed frequency signal can be used as and refer to signal S1, be reflected to after the laser beam arrival measurement target of laser transmitter projects outer
On the mixer device of light path, photoelectricity mixing is produced, is mixed out signal S2, reference signal S1 and photoelectricity mixed frequency signal S2 frequency phases
Together, phase is different, the time representated by its phase difference, that is, the flight time, calculates measurement distance accordingly.
, it is necessary to which two laser emitters, are respectively first laser transmitter and second laser transmitting in double bill receipts patterns
Device, first laser transmitter and mixer device form interior light path, and the laser beam that first laser transmitter is sent is on mixer device
Photoelectricity mixing is produced by electrical modulation signal, S1 is produced and forms outer light as phase reference, second laser transmitter and mixer device
Road, laser beam that second laser transmitter is sent are reached to be reflected on mixer device after measurement target and are mixed with modulated signal,
Produce signal S2；Signal S1 is identical with the frequency of signal S2, and phase is different, this two-way analog signal of processor sampling S1, S2, meter
Phase difference is calculated to obtain the flight time, calculating measurement distance accordingly.
Both the above method is cumbersome when handling received signal all easily by external interference, to remove and mix letter
Number, influence measurement accuracy and response time, so there are structure, circuit are complicated, it is of high cost the problems such as.
The content of the invention
In order to overcome above-mentioned technological deficiency, it is an object of the invention to provide a kind of laser ranging system, is swashed by multiple
Light source launches laser at the same time, and multiple laser is synthesized a coaxial laser homed on its target thing by Multiplexing apparatus, anti-through object
After penetrating, the laser beam that corresponding lasing light emitter launches is received by multiple laser pickoffs, after laser signal is transferred to signal processing
Device is handled, so synthesis transmitting, the laser ranging system of multipath reception, it is possible to reduce laser is suffered during flight
The interference arrived, improves the resolution and signal-to-noise ratio of received signal, further improves the precision of ranging.
The invention discloses a kind of laser ranging system, the laser ranging system includes emission part and receiving division, it is special
Sign is that the emission part includes the Laser emission group and Multiplexing apparatus at least with first laser source and second laser source, institute
State receiving division and include filter set at least with the first optical filter and the second optical filter, at least with first laser receiver and
The laser pick-off group and signal processor of second laser receiver, the first laser source and second laser source are filled to closing light at the same time
Transmitting first laser beam and second laser beam is put, a shoot laser beam is synthesized to object through Multiplexing apparatus, described first
Laser beam an at least difference, shoot laser beam shape after object reflects in pulsewidth and frequency with second laser beam
Into reflection laser beam, the reflection laser beam is to first optical filter and the second optical filter, by first optical filter
After the second optical filter, the 3rd laser beam and the 4th laser beam are produced, and inject first laser receiver and second laser respectively
Receiver, the first laser receiver and second laser receiver by the signal of the 3rd laser beam and the 4th laser beam send to
Signal processor, the signal processor handle the signal synthesis received.
Preferably, at least the first speculum and the second speculum built in the Multiplexing apparatus, first speculum and
Two-mirror is parallel to each other.
Preferably, first laser beam and second laser beam difference first speculum of directive and the second speculum, directive
The direction of first speculum and the second speculum is respectively first into light direction and second into light direction, after speculum reflects
Direction is respectively the first light direction and the second light direction, and first speculum and the second speculum are respectively placed in and first
It is orthogonal into light direction and the first light direction into light direction and second into the position of light direction angle at 45 °, described first, second
It is orthogonal into light direction and the second light direction.
Preferably, the first laser beam and second laser beam divide to the incidence point of the first speculum and the second speculum
Not Wei the first incidence point and the second incidence point, the first laser source and second laser source, which are placed in, can make the first incidence point and second
The position of straight line and the first speculum or the second speculum angle at 45 ° where incidence point, first light direction and
Two light directions are on the same line.
Preferably, a micro- galvanometer group built in the Multiplexing apparatus, micro- galvanometer group includes a micro- galvanometer and outgoing is reflected
Mirror, micro- galvanometer is parallel to each other with outgoing speculum and its minute surface is opposite.
Preferably, the shoot laser beam is to micro- galvanometer, again through the outgoing speculum after micro- vibration mirror reflected
Reflection, homed on its target thing.
Preferably, first optical filter, the second optical filter are placed in the first laser receiver, second laser receiver
Between object, the first optical filter and the second optical filter are placed in same level.
After employing above-mentioned technical proposal, compared with prior art, have the advantages that：
1. reduce the influence that external interference sets laser signal；
2 improve the signal-to-noise ratio and discrimination of laser signal.
Brief description of the drawings
Fig. 1 meets the laser ranging system of one embodiment of the present invention；
Fig. 2 meets the laser ranging system of one embodiment of the present invention；
Reference numeral：1 Laser emission group；2 speculums；3 micro- galvanometers；4 outgoing speculums；5 objects；6 filter sets；7
Laser pick-off group；8 signal processors.
Embodiment
The advantages of the present invention is further explained below in conjunction with attached drawing and specific embodiment.
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the disclosure.
It is only merely for the purpose of description specific embodiment in the term that the disclosure uses, and is not intended to be limiting the disclosure.
" one kind " of singulative used in disclosure and the accompanying claims book, " described " and "the" are also intended to including majority
Form, unless context clearly shows that other implications.It is also understood that term "and/or" used herein refers to and wraps
Containing the associated list items purpose of one or more, any or all may be combined.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the disclosure
A little information should not necessarily be limited by these terms.These terms are only used for same type of information being distinguished from each other out.For example, do not departing from
In the case of disclosure scope, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on linguistic context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determining "
In the description of the present invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than instruction or the dress for implying meaning
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.
In the description of the present invention, unless otherwise prescribed with limit, it is necessary to explanation, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be the connection inside mechanical connection or electrical connection or two elements, can
To be to be connected directly, can also be indirectly connected by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
In follow-up description, the suffix using such as " module ", " component " or " unit " for representing element is only
Be conducive to the explanation of the present invention, itself do not have a specific meaning.Therefore, " module " can mixedly make with " component "
With.
Refering to Fig. 1, it meets laser ranging system preferably of the invention, including Laser emission group 1 for one；Speculum
2；Micro- galvanometer 3；It is emitted speculum 4；Object 5；Filter set 6；Laser pick-off group 7；Signal processor 8.
As shown in Figure 1, Laser emission group 1, speculum 2, micro- galvanometer 3 and outgoing speculum 4 are formed in laser ranging system
Emission part, speculum 2, micro- galvanometer and 3 outgoing reflection 4 mirrors form emission parts in Multiplexing apparatus, filter set 6；Laser connects
Receipts group 7；Signal processor 8 forms the receiving division in laser ranging system.There are two lasing light emitters in Laser emission group 1, filter
Piece group 6 has two optical filters, and laser pick-off group 7 has two laser pickoffs.
Laser is launched in first laser source and second laser source in Laser emission group 1 at the same time, and directive is built in closing light respectively
Two-face mirror in device, after the reflection of speculum 2, synthesizes one laser beam, the micro- galvanometer 3 of directive.
Specifically, the laser beam of two lasing light emitter transmittings, it is different with least one in frequency in pulsewidth.
Specifically, two-face mirror is parallel to each other.
Specifically, first laser source and the laser difference directive two-face mirror of second laser source transmitting, directive speculum
Direction be respectively first into light direction and second into light direction, the direction after speculum reflects is respectively the first light direction
With the second light direction, two-face mirror is respectively placed in first into light direction and second into the position of light direction angle at 45 °,
Therefore, described first is orthogonal into light direction and the first light direction, and second is orthogonal into light direction and the second light direction.
Specifically, the incidence point of the laser beam directive two-face mirror of first laser source and the transmitting of second laser source is respectively
First incidence point and the second incidence point, the first laser source and second laser source, which are respectively placed in, can make the first incidence point and second
The position of straight line and speculum angle at 45 ° where incidence point, thus first light direction and the second light direction exist
On same straight line.
After the micro- galvanometer 3 of laser beam directive, speculum 4 is extremely emitted after micro- vibration mirror reflected, after outgoing speculum 4 reflects,
Homed on its target thing.
Specifically, micro- galvanometer 3 is parallel to each other with outgoing speculum 4 and its minute surface is opposite, and thus laser can shake through micro-
Mirror 3 reaches outgoing speculum 4 after reflecting, then reflected by outgoing speculum 4, the laser direction after outgoing speculum 4 reflects with
The laser direction for injecting micro- galvanometer 3 is identical.
Directive filter group 6 after laser beam is reflected by object, enters laser pick-off group 7 after filter disc group.
Specifically, two pieces of optical filters, the first optical filter and the second optical filter are equipped with the present embodiment, corresponds to laser hair respectively
The first laser source in group and second laser source are penetrated, the pulsewidth and frequency of the laser launched according to corresponding lasing light emitter, filter off non-
Carry out the veiling glare of self-excitation light source.
Specifically, after laser enters laser pick-off group 7, corresponding laser signal, the present embodiment are produced by laser pick-off group 7
In, laser group reception group 7 is equipped with two laser pickoffs, first laser receiver and second laser receiver, then produces two
Laser signal.
Laser signal is transferred to signal processor 8 from laser pick-off group 7, is carried out synthesizing processing by signal processor 8.
Specifically, laser pick-off group 7 transmits two laser signals to signal processor 8 in the present embodiment, by signal processing
Device 8 is handled.
Refering to Fig. 2, it meets laser ranging system preferably of the invention, including Laser emission group 1 for one；Speculum
2；Micro- galvanometer 3；It is emitted speculum 4；Object 5；Filter set 6；Laser pick-off group 7；Signal processor 8.
As shown in Figure 1, Laser emission group 1, speculum 2, micro- galvanometer 3 and outgoing speculum 5 are formed in laser ranging system
Emission part, speculum 2, micro- galvanometer 3 and outgoing speculum 5 form emission part in Multiplexing apparatus, filter set 6；Laser connects
Receipts group 7；Signal processor 8 forms the receiving division in laser ranging system.There are three lasing light emitters in Laser emission group 1, filter
Piece group 6 has three optical filters, and laser pick-off group 7 has three laser pickoffs.
Laser emission group 1 has three lasing light emitters, and first laser source, second laser source and the 3rd lasing light emitter, launch at the same time
Laser, respectively directive be built in the thrihedral reflector in Multiplexing apparatus, after speculum reflects, synthesize one laser beam, directive
Micro- galvanometer.
Specifically, the laser beam of three lasing light emitter transmittings, it is different with least one in frequency in pulsewidth.
Specifically, thrihedral reflector is parallel to each other.
Specifically, the laser difference directive thrihedral reflector of three lasing light emitter transmittings, the direction of directive speculum is respectively
First into light direction, second into light direction and the 3rd into light direction, and the direction after speculum reflects is respectively the first light extraction side
To, the second light direction and the 3rd light direction, thrihedral reflector be respectively placed in first into light direction, second into light direction and
3rd into the position of light direction angle at 45 °, and therefore, described first is orthogonal into light direction and the first light direction, the second entering light
Direction and the second light direction are orthogonal, and the 3rd is orthogonal into light direction and the 3rd light direction.
Specifically, the laser beam directive thrihedral reflector that first laser source, second laser source and the 3rd lasing light emitter are launched
Incidence point is respectively the first incidence point, the second incidence point and the 3rd incidence point, and three lasing light emitters, which are respectively placed in, can make first
Straight line and the position with thrihedral reflector angle at 45 ° respectively where incidence point, the second incidence point and the 3rd incidence point, thus
First light direction, the second light direction and the 3rd light direction are on the same line.
After the micro- galvanometer 3 of laser beam directive, speculum 4 is extremely emitted after the reflection of micro- galvanometer 3, after outgoing speculum 4 reflects,
Homed on its target thing.
Specifically, micro- galvanometer 3 is parallel to each other with outgoing speculum 4 and its minute surface is opposite, and thus laser can shake through micro-
Mirror 3 reaches outgoing speculum 4 after reflecting, then reflected by outgoing speculum 4, the laser direction after outgoing speculum 4 reflects with
The laser direction for injecting micro- galvanometer 3 is identical.
Directive filter group 6 after laser beam is reflected by object, enters laser pick-off group 7 after filter disc group 6.
Specifically, three pieces of optical filters are equipped with the present embodiment, the first optical filter, the second optical filter and the 3rd optical filter, divide
Three lasing light emitters in Laser emission group are not corresponded to, and the pulsewidth and frequency of the laser launched according to corresponding lasing light emitter, filter off non-
Carry out the veiling glare of self-excitation light source.
Specifically, after laser enters laser pick-off group 7, corresponding laser signal, this implementation are produced by laser pick-off group 7
In example, laser group reception group 7 is equipped with three laser pickoffs, first laser receiver, second laser receiver and the 3rd laser
Receiver, then produce three laser signals.
Laser signal is transferred to signal processor 8 from laser pick-off group, is carried out synthesizing processing 8 by signal processor.
Specifically, laser pick-off group transmits three laser signals to signal processor 8 in the present embodiment, by signal processor
8 are handled.
In conclusion in laser ranging system of the prior art, during laser flying, often it is subject to the external world
Interference, this, which may result in, influenced when signal processing be subject to these from external interference factor, and then causes
As a result it is not accurate enough, a kind of laser ranging system provided by the invention, in order to reduce influence of the external interference for signal processing,
Synthesized using multi-pass, in the laser ranging of multipath reception, multichannel pulsewidth or the mutually different laser beam of frequency are synthesized one
Road laser beam, optical filter is set in receiving division again, be will not belong to the pulsewidth of corresponding lasing light emitter and the interference rejection of frequency, is re-formed
Signal is handled, because the external interference that the same laser beam of each road laser beam synthesis is awing subject to is identical, in receiving division
Decompose after filtering off interference, since the pulsewidth of each road laser beam is different with frequency, the signal that multi-path laser beam is formed can phase interaction
For reference, such system can be efficiently against deficiency of the prior art.
Mobile terminal can be implemented in a variety of manners.For example, terminal described in the present invention can include such as moving
Phone, smart phone, laptop, PDA (personal digital assistant), PAD (tablet computer), PMP (put by portable multimedia broadcasting
Device), the mobile terminal and such as fixed terminal of numeral TV, desktop computer etc. of guider etc..Hereinafter it is assumed that eventually
End is mobile terminal.However, it will be understood by those skilled in the art that in addition to being used in particular for the element of mobile purpose, root
The terminal of fixed type is can also apply to according to the construction of embodiments of the present invention.
It should be noted that the embodiment of the present invention has preferable implementation, and not the present invention is made any type of
Limitation, any one skilled in the art change or are modified to possibly also with the technology contents of the disclosure above equivalent effective
Embodiment, as long as without departing from the content of technical solution of the present invention, makees above example according to technical spirit of the invention
Any modification or equivalent variations and modification, in the range of still falling within technical solution of the present invention.
Claims (7)
1. a kind of laser ranging system, the laser ranging system includes emission part and receiving division, it is characterised in that
The emission part includes the Laser emission group and Multiplexing apparatus at least with first laser source and second laser source；
The receiving division includes filter set at least with the first optical filter and the second optical filter, is at least connect with first laser
Receive the laser pick-off group and signal processor of device and second laser receiver；
First laser beam and second laser beam are launched in the first laser source and second laser source to Multiplexing apparatus at the same time, through closing light
Device synthesizes a shoot laser beam to object, the first laser beam and second laser beam in pulsewidth and frequency at least
There is a difference；
The shoot laser beam forms reflection laser beam after object reflects, and the reflection laser beam filters to described first
Piece and the second optical filter, after first optical filter and the second optical filter, produce the 3rd laser beam and the 4th laser beam, and
First laser receiver and second laser receiver are injected respectively；
The first laser receiver and second laser receiver send the signal of the 3rd laser beam and the 4th laser beam to letter
Number processor, the signal processor handle the signal synthesis received.
2. laser ranging system according to claim 1, it is characterised in that
At least the first speculum and the second speculum built in the Multiplexing apparatus, first speculum and the second speculum are mutual
It is parallel.
3. laser ranging system according to claim 2, it is characterised in that
The first laser beam and second laser beam difference the first speculum of directive and the second speculum, the first speculum of directive and
The direction of second speculum is respectively first into light direction and second into light direction, and the direction after speculum reflects is respectively
One light direction and the second light direction, first speculum and the second speculum are respectively placed in first into light direction and
Two is orthogonal into light direction and the first light direction into the position of light direction angle at 45 °, described first, and second into light direction and
Two light directions are orthogonal.
4. laser ranging system according to claim 3, it is characterised in that
The incidence point of the first laser beam and second laser beam to the first speculum and the second speculum is respectively first to enter
Exit point and the second incidence point, the first laser source is placed in second laser source can make the first incidence point and the second incidence point place
Straight line and the position of the first speculum or the second speculum angle at 45 °, first light direction and the second light direction
On the same line.
5. laser ranging system according to claim 1, it is characterised in that
A micro- galvanometer group built in the Multiplexing apparatus, micro- galvanometer group includes a micro- galvanometer and outgoing speculum, described micro- to shake
Mirror is parallel to each other with outgoing speculum and its minute surface is opposite.
6. laser ranging system according to claim 5, it is characterised in that
The shoot laser beam is to micro- galvanometer, again through the outgoing speculum reflection, directive mesh after micro- vibration mirror reflected
Mark thing.
7. laser ranging system according to claim 1, it is characterised in that
First optical filter, the second optical filter be placed in the first laser receiver, second laser receiver and object it
Between, the first optical filter and the second optical filter are placed in same level.
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| CN201711346696.3A CN107966707B (en) | 2017-12-15 | 2017-12-15 | Laser ranging system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110007291A (en) * | 2019-04-16 | 2019-07-12 | 深圳市速腾聚创科技有限公司 | A kind of reception system and laser radar |
| CN110544917A (en) * | 2018-06-11 | 2019-12-06 | 浙江华安泰工程集团有限公司 | Defroster is used in municipal administration |
| CN110736998A (en) * | 2018-07-20 | 2020-01-31 | 现代摩比斯株式会社 | Laser radar system and method of operating the same |
| CN110865354A (en) * | 2019-11-06 | 2020-03-06 | 深圳市速腾聚创科技有限公司 | Flash radar and detection method |
| CN115201843A (en) * | 2022-09-16 | 2022-10-18 | 成都量芯集成科技有限公司 | Phase ranging structure and method based on multi-frequency light emission |
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