CN108445506B - Measuring method for improving fog permeability of laser radar - Google Patents
Measuring method for improving fog permeability of laser radar Download PDFInfo
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- CN108445506B CN108445506B CN201810450406.8A CN201810450406A CN108445506B CN 108445506 B CN108445506 B CN 108445506B CN 201810450406 A CN201810450406 A CN 201810450406A CN 108445506 B CN108445506 B CN 108445506B
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- 230000035699 permeability Effects 0.000 title claims description 4
- 238000005259 measurement Methods 0.000 claims description 42
- 238000002592 echocardiography Methods 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000000691 measurement method Methods 0.000 claims description 3
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 239000003990 capacitor Substances 0.000 description 15
- 230000005669 field effect Effects 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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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
- G01S7/484—Transmitters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The application relates to the technical field of artificial intelligence, in particular to a driving transmitting circuit, a laser radar and a measuring method. A drive transmitting circuit of a laser radar, comprising: the light source emission circuit comprises a laser tube, and the light source emission circuit outputs a set low-power light beam and a set high-power light beam under the action of the first emission power adjustment circuit and the second emission power adjustment circuit respectively. The application also provides a laser radar. The application also provides a measuring method. The first transmitting power adjusting circuit and the second transmitting power adjusting circuit enable the transmitting light source to respectively emit a set low-power light beam and a set high-power light beam according to a set working mode. The accurate position and the direction of the obstacle are accurately judged through the test results of the low-power light beam and the high-power light beam, so that the problem that the laser radar has a large blind area in a haze environment is solved.
Description
Technical Field
The application relates to the technical field of artificial intelligence, in particular to a measuring method.
Background
An optical scanning ranging apparatus is an apparatus for performing noncontact scanning ranging by a Time of Flight (TOF) method, a triangulation method, or the like using a collimated light beam. Currently, a typical optical scanning ranging apparatus includes: the device comprises a light emitting module, an optical lens and a photoelectric chip for receiving and processing signals. The light emission module emits light beams, the optical lens is positioned on the light path of the light emission module, the converged light beams are emitted to the surface of the obstacle, the light beams reflected by the obstacle are incident on the photoelectric chip, and the photoelectric chip can calculate the distance from the measured object to the device by measuring the time or the phase difference between the emission and the receiving according to the known light speed.
Because the small particle reflection surface of the haze is far smaller than the reflection surface of the entity, echoes caused by light beam irradiation to the haze all occur at a short distance, and the detected object can be detected by penetrating the haze by utilizing a multi-echo technology, but the detected object and the haze reflection echoes are required to have a certain distance, and the reflection degree of the haze is generally several meters to 10 meters. Otherwise, the echo of the measured object is overlapped with the haze reflection echo, so that measurement cannot be performed.
Disclosure of Invention
The application aims to provide a measuring method, which accurately judges the measuring environment and the area of an obstacle through the measuring method of alternately transmitting high-power transmitting light beams and low-power transmitting light beams, is quick and accurate, and reduces the blind area of a laser radar in a haze environment.
To achieve the purpose, the application adopts the following technical scheme:
a method for improving the fog permeability of laser radar features that the high-power emitted light beam and the low-power emitted light beam without echo in a near-distance region are used to alternatively measure the fog haze in the measuring environment of laser radar, the obstacle is positioned in the near-distance region corresponding to the low-power emitted light beam or in the far-distance region corresponding to the high-power emitted light beam, the echo of obstacle is determined and the measured result is calculated.
As one of the preferable aspects of the present technical aspect,
alternately measuring once by adopting a low-power emission beam and a high-power emission beam respectively;
when the photoelectric chip detects one echo corresponding to the low-power emission beam measurement and the high-power emission beam measurement respectively, and the difference value of the two echoes is within a set error range, judging that the measurement environment is free of haze, and taking an echo calculation test result corresponding to the high-power emission beam received by the photoelectric chip;
when the photoelectric chip detects an echo corresponding to the high-power emission light beam, judging that the measuring environment is free of haze, and taking an echo calculation test result corresponding to the high-power emission light beam received by the photoelectric chip;
when the photoelectric chip detects two echoes corresponding to the high-power emission light beam and the low-power emission light beam does not detect the echoes, judging that haze exists in the measurement environment, and taking a second echo corresponding to the high-power emission light beam of the photoelectric chip to calculate a test result;
when the photoelectric chip respectively corresponds to the low-power emission light beam and the high-power emission light beam and respectively detects one echo, and the difference value of the two echoes exceeds a set error range, the haze of the measurement environment is judged, and the echo calculation test result of the corresponding low-power emission light beam received by the photoelectric chip is taken.
As one of the preferable solutions of the present technical solution, the range of the distance range L of the close range is: l is more than or equal to 2m and less than or equal to 10m.
As one of the preferable embodiments of the present application, the distance value range L of the short-distance area has a value of 2m.
The beneficial effects are that: the first transmitting power adjusting circuit and the second transmitting power adjusting circuit are arranged, so that the transmitting light source can respectively emit set low-power light beams and high-power light beams with different powers according to set working modes, and the low-power light beams and the high-power light beams are set relative to different ranging ranges of the laser radar. The method has the advantages that the set test results of the alternating test of the low-power light beam and the high-power light beam are sent out by the drive transmitting circuit, so that the accurate position and the direction of the obstacle are accurately judged, the problem that the blind area of the laser radar in a haze environment is large is solved, and the problems that the calculation of the measurement technology of the laser radar is complex and the accuracy is low under the haze environment treatment by the multi-echo technology are solved.
Drawings
Fig. 1 is a schematic diagram of a driving emission circuit according to embodiment 1 of the present application.
In the figure:
1. a first MOS tube; 2. a second MOS tube; 3. a laser tube; 4. a diode; 5. a capacitor; 6. and a charging power supply.
Description of the embodiments
The technical scheme of the application is further described below by the specific embodiments with reference to the accompanying drawings.
It should be noted that, under the condition of no conflict, the embodiments of the present application and features in the embodiments may be combined with each other to become a new technical solution. The application will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Examples
The present application provides a driving emission circuit, as shown in fig. 1, comprising: the diode light source emission circuit comprises a laser tube 3, and the light source emission circuit outputs a set low-power light beam and a set high-power light beam under the action of the first emission power adjustment circuit and the second emission power adjustment circuit respectively. The first transmission power adjusting circuit and the second transmission power adjusting circuit are both connected with pulse power supplies and are used for conducting the first transmission power adjusting circuit and the second transmission power adjusting circuit, and preferably, the first transmission power adjusting circuit and the second transmission power adjusting circuit share one pulse power supply, the pulse power supplies work in a time-sharing mode, and the first transmission power adjusting circuit or the second transmission power adjusting circuit is conducted according to measurement requirements.
The first emission power adjusting circuit and the second emission power adjusting circuit are arranged, so that the emission light source (the laser tube 3) can respectively emit low-power light beams and high-power light beams with different power according to a set working mode, the low-power light beams and the high-power light beams are set relative to different ranging ranges of the laser radar, a short-distance area and a long-distance area are set relatively, the long-distance area corresponds to a range which can be measured by a multi-echo technology in a haze environment, the short-distance area is a concept relative to the long-distance area, and the short-distance area corresponds to a measuring range which does not meet the multi-echo technology in the haze environment between the long-distance area and the laser radar. The range of the low power beam is controlled within a near field region, and the range of the high power beam covers both the near field region and a far field region. The transmitting circuit is driven to emit set low-power light beams and high-power light beams, and the accurate position and orientation of the obstacle are accurately judged according to the test results of the alternating test of the low-power light beams and the high-power light beams. The problem that the blind area of the laser radar in the haze environment is large is solved, and the problems that the measurement technology of the laser radar is complex in calculation and low in accuracy in the haze environment treatment by the multi-echo technology are solved.
In order to ensure that the first transmitting power adjusting circuit and the second transmitting power adjusting circuit have set multiplying power difference and achieve quick adjustment, the first transmitting power adjusting circuit comprises a first power field effect tube and a resistor R2 which are connected in series, the second transmitting power adjusting circuit comprises a second power field effect tube and a resistor R3 which are connected in series, the resistor R2 and the resistor R3 have set multiplying power difference, and the resistor R2 and the resistor R3 are grounded. Optionally, the power field effect transistor is a MOS field effect transistor (MOS transistor for short) or a GaN field effect transistor (GaN transistor for short), that is, the first power field effect transistor and the second power field effect transistor are respectively a first MOS transistor and a second MOS transistor; or the first power field effect transistor and the second power field effect transistor are respectively a first GaN tube and a second GaN tube. Preferably, the first power field effect transistor and the second power field effect transistor are a first MOS transistor and a second MOS transistor, respectively.
In a specific implementation, the range of the near-distance area is generally less than or equal to 10m, and the range of the far-distance area is generally greater than 10m, so in order to ensure that the power of the low-power light beam and the high-power light beam meet the setting of measurement and distinction, the resistance r3=kxr2, and 75+.k+.115, where K is a positive constant. Preferably, r3=105×r2.
In order to improve the emission frequency and the emission efficiency of the light source emission circuit, the driving emission circuit further comprises a charging circuit, wherein the charging circuit comprises a charging power supply 6, a capacitor 5 and a charging resistor R1 which are connected in series with the laser tube 3, and a diode 4 connected in parallel with the laser tube 3; the conducting direction of the diode 4 is opposite to that of the laser tube 3, so that the laser tube 3 is in an off state during charging, the diode 4 is in a conducting state, the laser tube 3 is in a conducting state during discharging, and the diode 4 is in an off state. The charging resistor R1 is used for adjusting the charging speed of the capacitor 5, and the smaller the charging resistor R1 is, the faster the charging speed of the capacitor 5 is. The diode 4 is used for charging the capacitor 5. The charging resistor R1 is respectively connected in series with a first emission power adjusting circuit and a second emission power adjusting circuit, and the laser tube 3 and the diode 4 are grounded.
In the implementation, when the pulse power supply does not emit pulses, the first emission power adjusting circuit and the second emission power adjusting circuit are not conducted, the capacitor 5 charges the capacitor 5 through the charging power supply 6 and the charging resistor R1, and the charging current is opposite to the exciting direction of the laser tube 3, so that the laser tube 3 is in an unexcited state; when the capacitor 5 is fully charged, the charging circuit is disconnected, the first MOS tube 1 of the first transmitting power adjusting circuit is triggered to be conducted by sending out a pulse through the pulse power supply, the first transmitting power adjusting circuit is conducted, at the moment, because the laser tube 3 and the resistor R2 are grounded, the capacitor 5 is rapidly discharged, high-voltage current flows into the laser tube 3, so that the laser tube 3 excites low-power light beams, after that, the first MOS tube 1 is disconnected because the first transmitting power adjusting circuit and the second transmitting power adjusting circuit are not received any more, the capacitor 5 charges the capacitor 5 through the charging power supply 6 and the charging resistor R1, the charging current is opposite to the exciting direction of the laser tube 3, when the capacitor 5 is fully charged, the charging circuit is disconnected, the second MOS tube 2 of the second transmitting power adjusting circuit is triggered to be conducted through sending out a pulse through the pulse power supply, namely, at the moment, because the laser tube 3 and the resistor R3 are grounded, the capacitor 5 is rapidly discharged, and the high-voltage current flows into the laser tube 3, so that the laser tube 3 excites high-power light beams.
Preferably, in order to meet the requirements of different use environments and measurement frequencies, the resistance value of the charging resistor R1 is adjustable, the charging rate of the capacitor 5 is increased by reducing the resistance value of the charging resistor R1, and the charging rate of the capacitor 5 is reduced by increasing the resistance value of the charging resistor R1. The resistance value of the charging resistor R1 is adjustable, so that the stability of the performance of the driving transmitting circuit is improved, the service life of the driving transmitting circuit is prolonged, and meanwhile, various measurement requirements are met.
The application also provides a laser radar, which comprises a transmitting module, a receiving module and a main control board, wherein the transmitting module comprises a transmitting light source and the driving transmitting circuit, the receiving module comprises a photoelectric chip connected with the driving transmitting circuit, the main control board is connected with the photoelectric chip and the driving transmitting circuit, and the main control board calculates the distance and position information of the obstacle according to the echoes of the low-power light beam and the high-power light beam obtained by the photoelectric chip. The emission light source is preferably a laser tube.
By setting the drive transmitting circuit, the laser radar judges whether the obstacle is positioned in a close range or a long range according to the quantity, the sequence and the error range of echo signals in the haze measuring environment, so that the problems of large blind area and overlarge operation processing load in a multi-echo processing mode are solved, and the measuring efficiency and the measuring accuracy are improved.
In order to further improve the high-efficient ratio to close range, long-range, low-power light beam and high-power light beam under the different haze concentration environment, be connected with the haze concentration measurement module that is used for according to the transmission power of haze concentration adjustment close range emission light beam on the main control board, the resistance of the resistance R2 of first transmission power adjustment circuit is adjustable. The power of the low-power light beam can be changed through the adjustment of the resistance value of the resistor R2 and/or the resistance value of the resistor R3 so as to adapt to different haze concentrations, so that the low-power light beam can not only cover a close range, but also can not meet the requirement of a long-distance area, namely the requirement that the low-power light beam can not measure effective echo in the long-distance area.
The application also provides a measuring method, which judges whether haze exists in the measuring environment of the laser radar or not by adopting the measuring result of alternating measurement of the high-power emission light beam and the low-power emission light beam without echo in a set short-distance area, judges whether an obstacle is positioned in the short-distance area corresponding to the low-power emission light beam or the long-distance area corresponding to the high-power emission light beam, determines the echo of the obstacle and calculates the measuring result.
By the measuring method of alternately emitting the high-power emission light beam and the low-power emission light beam, the measuring environment and the area of the obstacle are accurately judged, the measuring method is rapid and accurate, and meanwhile, the blind area of the laser radar in the haze environment is reduced.
In specific implementation, the measurement method further includes:
alternately measuring once by adopting a low-power emission beam and a high-power emission beam respectively; the laser radar preferably adopts a pulse laser emitter, and a low-power emission beam and a high-power emission beam are alternately emitted once;
when the photoelectric chip detects one echo corresponding to the low-power emission light beam measurement and the high-power emission light beam measurement, and the difference value of the two echoes is within a set error range, judging that the measurement environment has no haze, and taking an echo calculation test result corresponding to the high-power emission light beam received by the photoelectric chip.
Under the condition that the obstacle exists in a near-distance area or a far-distance area and is close to the near-distance area, under the condition that haze is not generated, the low-power emission light beams and the high-power emission light beams are emitted alternately, the photoelectric chip can obtain echoes after the obstacle is emitted, because the power of the high-power light beams is enough, the echoes corresponding to the high-power light beams have good signal to noise ratio relative to the echoes corresponding to the low-power light beams, and therefore the test results are calculated according to the echoes corresponding to the high-power emission light beams received by the photoelectric chip.
In this case, if the difference between the two echoes exceeds the set error range, the measurement result is discarded, and the alternating measurement using the low-power emission beam and the high-power emission beam is repeated once.
When the photoelectric chip only detects one echo corresponding to the measurement of the high-power emission light beam, judging that the measurement environment has no haze, and taking an echo corresponding to the high-power emission light beam received by the photoelectric chip to calculate a test result; under the condition that the obstacle is located in a remote area, the low-power emission light beam cannot reach the obstacle or the reflected light beam of the low-power emission light beam cannot be effectively received by the photoelectric chip due to insufficient energy, so that the photoelectric chip can only detect one echo corresponding to the high-power emission light beam, and therefore, the distance and the azimuth of the obstacle can be accurately output by taking the echo corresponding to the high-power emission light beam received by the photoelectric chip to calculate a test result.
When the photoelectric chip detects two echoes corresponding to the high-power emission light beam measurement and the echo corresponding to the low-power emission light beam measurement is not detected, judging that haze exists in the measurement environment, and taking a second echo received by the photoelectric chip corresponding to the high-power emission light beam to calculate a test result; under the condition that haze exists in a measurement environment where the laser radar is located, no obstacle exists in a close-range area, therefore, the photoelectric chip cannot detect echoes of low-power emission light beams, the photoelectric chip sequentially receives two echoes of high-power emission light beams, the first echo of the high-power emission light beams received by the photoelectric chip is an echo reflected by the haze, the first echo of the high-power emission light beams received by the photoelectric chip is an echo reflected by an obstacle in a remote-range area, and therefore, a test result is calculated by taking a second echo received by the photoelectric chip corresponding to the high-power emission light beams, and the distance and the direction of the obstacle in the remote-range area in the haze environment can be obtained.
When the photoelectric chip detects one echo corresponding to the low-power emission light beam measurement and the high-power emission light beam measurement respectively, and the difference value of the two echoes exceeds a set error range, the haze of the measurement environment is judged, and the echo calculation test result of the corresponding low-power emission light beam received by the photoelectric chip is taken. Under the condition that haze exists in a measurement environment where the laser radar is located, the obstacle is located in a close range, and an echo reflected by the haze and an echo reflected by the obstacle in the measurement process are mixed and then received by the photoelectric chip, so that the high-power emission light beam received by the photoelectric chip is closer to the actual distance of the obstacle, and the error of the measurement distance and the actual distance is larger than the set error; the low-power emission light beam has small total energy, so that an echo signal reflected by haze in the measurement process is too weak to be detected by the photoelectric chip, or even if the low-power emission light beam is received by the photoelectric chip, the low-power emission light beam is ignored or filtered as noise; therefore, the echo of the low-power emission beam reflected by the obstacle is received by the photoelectric chip in the measuring process, the actual distance error between the low-power emission beam and the obstacle is smaller than the set error range, and the errors of the measured distance and the actual distance are larger than the set error; therefore, the distance and the azimuth of the obstacle in the close range area under the haze environment can be measured by taking the echo calculation test result of the corresponding low-power emission light beam received by the photoelectric chip.
In the specific implementation, the distance value range L of the short-distance area is adjusted according to the range of the laser radar and the size of the haze concentration, and the smaller the distance value range L of the short-distance area is along with the increase of the haze concentration; the value range of the distance value range L of the short-distance region is as follows: l is more than or equal to 2m and less than or equal to 10m. Further, the setting of the short-distance area and the long-distance area is adjusted by correspondingly adjusting the resistance value of the resistor R2 and/or the resistor R3 according to the measurement data of the haze concentration measurement module. Through the setting and the cooperation in close range region and long-range region, the great problem of blind area when using many echo technique to measure has been reduced. Preferably, the distance value range L of the short-distance region is 2m. The setting that the value of the distance value range L of the short-distance area is 2m meets the requirement that the visibility of haze in daily life is in the range of more than or equal to 10 meters and can meet the normal measurement requirement of the laser radar.
In summary, the first emission power adjusting circuit and the second emission power adjusting circuit are configured so that the emission light source can respectively emit low-power light beams and high-power light beams with different powers according to a set working mode, the range of the low-power light beams is controlled in a near-distance area, and the range of the high-power light beams covers the near-distance area and a far-distance area. And accurately judging the accurate position and orientation of the obstacle detected by the laser radar according to the test results of the low-power light beam and the high-power light beam. The problem that the blind area of the laser radar in the haze environment is large is solved, and the problems that the measurement technology of the laser radar is complex in calculation and low in accuracy in the haze environment treatment by the multi-echo technology are solved.
The technical principle of the present application is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the application and should not be taken in any way as limiting the scope of the application. Other embodiments of the application will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (3)
1. A measuring method for improving the fog permeability of a laser radar is characterized in that by adopting a measuring result of alternating measurement of a high-power emission beam and a low-power emission beam without echo in a set short-distance area, whether the haze exists in the measuring environment of the laser radar is judged, whether an obstacle is positioned in the short-distance area corresponding to the low-power emission beam or a long-distance area corresponding to the high-power emission beam is judged, the echo of the obstacle is determined, and the measuring result is calculated;
alternately measuring once by adopting a low-power emission beam and a high-power emission beam respectively;
when the photoelectric chip detects one echo corresponding to the low-power emission beam measurement and the high-power emission beam measurement respectively, and the difference value of the two echoes is within a set error range, judging that the measurement environment is free of haze, and taking an echo calculation test result corresponding to the high-power emission beam received by the photoelectric chip;
when the photoelectric chip detects an echo corresponding to the high-power emission light beam, judging that the measuring environment is free of haze, and taking an echo calculation test result corresponding to the high-power emission light beam received by the photoelectric chip;
when the photoelectric chip detects two echoes corresponding to the high-power emission light beam and the low-power emission light beam does not detect the echoes, judging that haze exists in the measurement environment, and taking a second echo corresponding to the high-power emission light beam of the photoelectric chip to calculate a test result;
when the photoelectric chip respectively corresponds to the low-power emission light beam and the high-power emission light beam and respectively detects one echo, and the difference value of the two echoes exceeds a set error range, the haze of the measurement environment is judged, and the echo calculation test result of the corresponding low-power emission light beam received by the photoelectric chip is taken.
2. The measurement method according to claim 1, wherein the range of values of the distance range L of the short-distance region is: l is more than or equal to 2m and less than or equal to 10m.
3. The measurement method according to claim 2, wherein the distance range L of the short-distance region has a value of 2m.
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| CN110838675B (en) * | 2019-11-14 | 2020-09-08 | 安徽传矽微电子有限公司 | High-speed large-current laser driving circuit and chip thereof |
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| CN111965626B (en) * | 2020-08-11 | 2023-03-10 | 上海禾赛科技有限公司 | Echo detection and correction method and device for laser radar and environment sensing system |
| CN113473675B (en) * | 2021-06-03 | 2022-10-18 | 荣耀终端有限公司 | Light source circuit and terminal |
| CN115372940A (en) * | 2022-10-24 | 2022-11-22 | 天津光电集团有限公司 | Laser radar transmitting and online diagnosing system |
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