CN117169907B - Laser pulse ranging method, control device, circuit and equipment thereof - Google Patents
Laser pulse ranging method, control device, circuit and equipment thereof Download PDFInfo
- Publication number
- CN117169907B CN117169907B CN202311052278.9A CN202311052278A CN117169907B CN 117169907 B CN117169907 B CN 117169907B CN 202311052278 A CN202311052278 A CN 202311052278A CN 117169907 B CN117169907 B CN 117169907B
- Authority
- CN
- China
- Prior art keywords
- circuit
- timing
- time length
- signal
- duration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000000630 rising effect Effects 0.000 claims abstract description 124
- 238000007493 shaping process Methods 0.000 claims abstract description 68
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000002310 reflectometry Methods 0.000 description 24
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000002592 echocardiography Methods 0.000 description 4
- 239000011521 glass Substances 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- JBRZTFJDHDCESZ-UHFFFAOYSA-N AsGa Chemical compound [As]#[Ga] JBRZTFJDHDCESZ-UHFFFAOYSA-N 0.000 description 2
- 229910001218 Gallium arsenide Inorganic materials 0.000 description 2
- 229910052779 Neodymium Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 125000005842 heteroatom Chemical group 0.000 description 2
- QEFYFXOXNSNQGX-UHFFFAOYSA-N neodymium atom Chemical compound [Nd] QEFYFXOXNSNQGX-UHFFFAOYSA-N 0.000 description 2
- 239000010979 ruby Substances 0.000 description 2
- 229910001750 ruby Inorganic materials 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 239000003570 air Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser pulse ranging method, a control device, a circuit and equipment thereof, wherein the method comprises the steps of transmitting a laser pulse signal and starting a first timing; receiving and shaping a laser echo signal, determining rising edge trigger time length when a first rising edge signal in the shaped laser echo signal is received, and determining falling edge trigger time length when a first falling edge signal is received; and determining the echo time length according to the rising edge trigger time length, the falling edge trigger time length and the preset time length, and determining the distance between the laser pulse ranging equipment and the measured object according to the echo time length. In the invention, the laser pulse is emitted and the timing is started; receiving and shaping a laser echo signal to obtain rising edge trigger time and falling edge trigger time; and determining the distance between the laser pulse ranging equipment and the measured object according to the rising edge triggering time length, the falling edge triggering time length and the preset time length. Thereby improving the accuracy of laser pulse ranging.
Description
Technical Field
The invention relates to the technical field of laser ranging, in particular to a laser pulse ranging method, a control device, a circuit and equipment thereof.
Background
The laser ranging technology is widely applied to various measuring industries, and plays an important role in the military field, the science and technology and the production and construction. The laser pulse ranging technology deduces the distance of a measured object by recording the time when laser light emitted from a laser transmitter reaches a receiver after being reflected by the measured object.
The existing laser pulse ranging technology filters clutter in echo signals after the echo signals are compared with threshold voltages through a comparator, and the time at which the echo signals intersect with the threshold voltages is used as the recording time of laser pulse ranging. However, the waveforms of echo signals of laser reflected by the measured targets with different reflectivities are different, and the recording time obtained after shaping has errors, so that the calculated target distance has precision errors.
Disclosure of Invention
The invention mainly aims to provide a laser pulse ranging method, a control device, a circuit and equipment thereof, aiming at improving the accuracy of laser pulse ranging.
In order to achieve the above object, the present invention provides a laser pulse ranging method, which includes:
transmitting a laser pulse signal and starting a first timing;
Receiving and shaping a laser echo signal, determining rising edge trigger time length when a first rising edge signal in the shaped laser echo signal is received, and determining falling edge trigger time length when a first falling edge signal is received;
And determining an echo time length according to the rising edge trigger time length, the falling edge trigger time length and the preset time length, and determining the distance between the laser pulse ranging equipment and the measured object according to the echo time length.
Optionally, the step of determining the rising edge trigger duration when receiving the first rising edge signal in the laser echo signal specifically includes:
When the voltage of the shaped laser echo signal reaches the threshold voltage for the first time, determining that a first rising edge signal is received, and determining the duration corresponding to the current first timing as the rising edge triggering duration;
The step of determining the falling edge triggering duration when the first falling edge signal is received specifically includes:
When the voltage of the shaped laser echo signal reaches the threshold voltage for the second time, determining that the first falling edge signal is received, and determining the duration corresponding to the current first timing as the falling edge triggering duration.
Optionally, the step of determining the echo duration according to the rising edge trigger duration, the falling edge trigger duration and the preset duration specifically includes:
Calculating the average value of the rising edge trigger time length and the falling edge trigger time length to obtain a first time length;
and performing difference between the first duration and the preset duration to obtain the echo duration.
The invention also proposes a control device comprising:
A memory;
a processor; and
A laser pulse ranging program stored on the memory and executed by the processor, which when executed by the processor, implements the laser pulse ranging method of any of claims 1-3.
The invention also provides a laser pulse ranging circuit, which comprises:
the main control circuit is electrically connected with the light-emitting circuit and used for controlling the light-emitting circuit to emit laser pulse signals; the main control circuit is also electrically connected with the comparison shaping circuit and is used for outputting threshold voltage to the comparison shaping circuit;
The input end of the comparison shaping circuit is electrically connected with the output end of the receiving circuit and is used for shaping the laser echo signals received and output by the receiving circuit according to the threshold voltage and outputting corresponding shaped laser echo signals;
the main control circuit is connected with the output end of the comparison shaping circuit and is used for determining the rising edge trigger time length when a first rising edge signal in the shaping laser echo signal is received and determining the falling edge trigger time length when a first falling edge signal is received.
Optionally, the master control circuit includes:
the main controller is respectively and electrically connected with the light-emitting circuit and the timing circuit, and is used for controlling the light-emitting circuit to emit laser pulse signals and outputting first timing signals to the timing circuit; the main controller is also electrically connected with the comparison shaping circuit and is used for outputting threshold voltage to the comparison shaping circuit;
The timing circuit is electrically connected with the main controller and is used for starting first timing after receiving the first timing signal; the timing circuit is further electrically connected with the comparing and shaping circuit, and is used for determining that a first rising edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the first time, and determining the duration corresponding to the current first timing as the rising edge triggering duration; the timing circuit is further used for determining that a first falling edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the second time, and determining the duration corresponding to the current first timing as the falling edge trigger duration; and the timing circuit outputs the rising edge trigger time length and the falling edge trigger time length to the main controller.
Optionally, the master control circuit includes:
The main controller is electrically connected with the first timing circuit and the second timing circuit of the light-emitting circuit and is used for controlling the light-emitting circuit to emit laser pulse signals and outputting first timing signals to the first timing circuit and the second timing circuit; the main controller is also electrically connected with the comparison shaping circuit and is used for outputting threshold voltage to the comparison shaping circuit;
The first timing circuit is electrically connected with the main controller and is used for starting first timing after receiving the first timing signal; the first timing circuit is further electrically connected with the comparing and shaping circuit, and is used for determining that a first rising edge signal is received when the shaping laser echo signal reaches the threshold voltage for the first time, and determining the duration corresponding to the current first timing as the rising edge triggering duration; the first timing circuit outputs the rising edge trigger time length to the main controller;
The second timing circuit is electrically connected with the main control and is used for starting first timing after receiving the first timing signal; the second timing circuit is further electrically connected with the comparing and shaping circuit, and is configured to determine that a first falling edge signal is received when the shaped laser echo signal reaches the threshold voltage for the second time, and determine a duration corresponding to the current first timing as the falling edge trigger duration; and the second timing circuit outputs the falling edge trigger time length to the main controller.
Optionally, the master control circuit includes:
the timing circuit is connected with the main controller and is used for outputting the rising edge trigger duration and the falling edge trigger duration to the main controller;
The main controller is used for carrying out average value calculation on the rising edge trigger time length and the falling edge trigger time length to obtain a first time length; the main controller is further configured to make a difference between the first duration and the preset duration to obtain an echo duration.
The invention also provides a laser pulse ranging device, which comprises a light-emitting circuit and a receiving circuit; and
The control device is used for controlling the control device; or the laser pulse ranging circuit.
The invention provides a laser pulse ranging method, a control device, a circuit and equipment thereof, wherein the method comprises the steps of transmitting a laser pulse signal and starting a first timing; receiving and shaping a laser echo signal, determining rising edge trigger time length when a first rising edge signal in the shaped laser echo signal is received, and determining falling edge trigger time length when a first falling edge signal is received; and determining an echo time length according to the rising edge trigger time length, the falling edge trigger time length and the preset time length, and determining the distance between the laser pulse ranging equipment and the measured object according to the echo time length. In the invention, the laser pulse is emitted and the timing is started; receiving and shaping a laser echo signal to obtain rising edge trigger time and falling edge trigger time; and determining the distance between the laser pulse ranging equipment and the measured object according to the rising edge triggering time length, the falling edge triggering time length and the preset time length. Thereby improving the accuracy of laser pulse ranging.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a laser pulse ranging method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another embodiment of the laser pulse ranging method according to the present invention;
FIG. 3 is a flow chart of a laser pulse ranging method according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a laser pulse ranging circuit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another embodiment of a laser pulse ranging circuit according to the present invention;
FIG. 6 is a schematic diagram of a laser pulse ranging circuit according to another embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating signal transformation of an embodiment of a laser pulse ranging circuit according to the present invention;
fig. 8 is a partial enlarged view of fig. 7.
Reference numerals illustrate:
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The laser pulse ranging is performed by transmitting laser pulses and receiving laser echo signals reflected by the object 20 to be measured; and the distance between the laser pulse ranging apparatus 10 and the object 20 to be measured is obtained by recording the time period from the emission of the laser pulse to the reception of the laser echo signal. Theoretically, the time period from the time of transmitting the laser pulse to the time of receiving the start signal of the laser echo signal is selected, and the distance between the laser pulse ranging apparatus 10 and the object 20 to be measured is deduced to be the most accurate. However, because the laser echo signal contains an interference signal, the laser echo signal needs to be compared and shaped by using threshold voltage so as to filter the interference signal, but the shaped laser echo signal loses the starting point signal of the laser echo signal. And, the existing laser pulse ranging technology uses a time period from a time point of a first intersection point of the value of the laser echo signal and the threshold voltage value to a time point of transmitting the laser pulse as an echo time period T2, so as to determine a distance between the laser pulse ranging apparatus 10 and the measured object 20. For the measured object 20 with different reflectivities, the corresponding front slope of the laser echo signal is inconsistent with the pulse width, and in general, the higher the reflectivity of the measured object 20 is, the larger the front slope of the laser echo signal is, and the larger the pulse width is. For a certain threshold voltage and the same distance, the echo durations T2 of the objects 20 with different reflectivities are not consistent, so that errors exist in measurement; in general, the echo length T2 of the object 20 with high reflectivity is closer to the length of the laser pulse to the start signal of the laser echo signal. As can be seen from the above, in the conventional laser pulse ranging technique, when the distances of the objects 20 having different reflectivities are measured at the same distance, there is an error in the obtained result.
The invention provides a laser pulse ranging method.
Referring to fig. 1, in an embodiment of the present invention, the laser pulse ranging method includes:
Step S100, emitting a laser pulse signal and starting a first timing;
Step 200, receiving and shaping a laser echo signal, determining a rising edge trigger time length T3 when a first rising edge signal in the shaped laser echo signal is received, and determining a falling edge trigger time length T4 when a first falling edge signal is received;
Step S300, determining an echo time length T2 according to the rising edge trigger time length T3, the falling edge trigger time length T4, and a preset time length, and determining a distance between the laser pulse ranging device 10 and the measured object 20 according to the echo time length T2.
In this embodiment, the laser pulse ranging method is applied to a laser pulse ranging apparatus 10, which has a laser transmitting device capable of transmitting laser light to an object 20 to be measured and receiving a laser echo signal reflected by the object 20 to be measured; the laser emitting device may be a ruby solid state laser, a neodymium glass solid state laser, or a double hetero gallium arsenide semiconductor laser, etc. The means for receiving the laser echo signal reflected by the object 20 in the laser ranging apparatus may be an optical means and a photodiode, wherein the photodiode may be an avalanche photodiode.
The laser pulse ranging apparatus 10 transmits a laser pulse signal to the object 20 to be measured and starts a first timing; considering that the laser pulse ranging apparatus 10 may perform laser pulse ranging by emitting laser pulses to the same object 20 multiple times. Here, the laser pulse ranging device 10 emits a laser pulse and the processing of this laser pulse is assumed to be the first laser pulse emitted by the laser pulse ranging device 10 and its processing; it will be readily appreciated that the laser pulse ranging apparatus 10 processes each laser pulse it emits in accordance with the process it processes the first laser pulse. The laser echo signal is a signal transmitted by the laser pulse ranging apparatus 10 through the measured object 20, and the signal propagates through a medium, which is an object that can pass through laser light, and may be air, glass, water, or the like. Further, the medium may be composed of several objects that can be laser light, for example: the laser echo signal may first pass through the atmosphere and then enter the glass and then pass through the atmosphere into a device for receiving the laser echo signal in the laser ranging apparatus. The propagation of the laser echo signal in the medium may lead to interference signals in the laser echo signal, and furthermore, the means for receiving the laser echo signal in the laser ranging device are typically optical means, which inevitably receive other light signals when receiving the laser echo signal, for example: ambient light. The other light signals and the interference signals of the laser echo signals carried by the medium form interference signals in the laser echo signals received by the laser ranging equipment. This interference signal may cause the laser pulse ranging apparatus 10to make a false decision, so that the laser pulse ranging apparatus 10 may misconsider the interference signal as a laser echo signal reflected by the object 20. To avoid this, the laser pulse ranging device 10 shapes the received laser echo signal. Setting a threshold voltage, which may be set by a device user or by a device producer; the laser echo signal received by the laser pulse ranging device 10 is compared and shaped with the threshold voltage, and the laser echo signal can be compared with the threshold voltage by a comparator and then filtered to remove interference signals. specifically, when the value of the laser echo signal is smaller than the value of the threshold voltage, the comparator outputs a low level, and the low level may be a 0 level or a level within other self-defined level ranges. For example: the voltage less than 5V is set to a low level, and at this time 3V is set to a low level. When the value of the laser echo signal is greater than or equal to the value of the threshold voltage, the comparator outputs a high level, which may be a fixed value, for example: a threshold voltage value; the high level may also be a value in a range of levels corresponding to low levels, such as: the voltage less than 5V is set to a low level, and 7V is set to a high level at this time. In this embodiment, 5V is used as one of the high and low level demarcation points, and in other embodiments of the present invention, the high and low level demarcation points are not necessarily 5V.
And receiving and shaping the laser echo signals, determining rising edge trigger time length T3 when a first rising edge signal in the shaped laser echo signals is received, and determining falling edge trigger time length T4 when a first falling edge signal is received. In this embodiment, when the value of the laser echo signal is equal to the threshold voltage value, a rising edge signal or a falling edge signal may occur in the shaped laser echo signal. When the laser echo signal value is changed from being smaller than the threshold voltage value to being equal to the threshold voltage value, a rising edge signal appears in the shaped laser echo signal; and when the laser echo signal value is larger than the threshold voltage value and becomes larger than the threshold voltage value, the shaped laser echo signal can generate a falling edge signal. It should be understood that one laser pulse is a pulse waveform, and the laser echo signal is a waveform correspondingly; it is easy to understand that the intersection of one waveform and one straight line parallel to the time axis is at most two. So that the intersection point of the laser echo signal corresponding to one laser pulse signal and the threshold voltage value is at most two; that is, from the shaped laser echo signal, a pair of the associated rising edge signal and falling edge signal can determine the laser echo signal corresponding to one laser pulse. When a first rising edge signal appears in the shaped laser echo signal, the laser pulse ranging device 10 may determine a rising edge trigger duration T3; the rising edge trigger duration T3 is a duration between a time when the first rising edge signal occurs and a time when the first timing starts. When a first falling edge signal appears in the shaped laser echo signal, the laser pulse ranging device 10 may determine a falling edge trigger duration T4; the falling edge trigger duration T4 is a duration between a time when the first falling edge signal occurs and a time when the first timing starts.
And determining an echo time length T2 according to the rising edge trigger time length T3, the falling edge trigger time length T4 and a preset time length, and determining the distance between the laser pulse ranging device 10 and the measured object 20 according to the echo time length T2. In this embodiment, the echo duration T2 is a duration between a time when the laser pulse ranging apparatus 10 starts the first timing and a time when the start signal of the laser echo signal is received; the distance between the laser pulse ranging apparatus 10 and the object 20 to be measured is most accurate using the echo time period T2. The echo time length T2 and the first time length T8 become a certain functional relation; the first duration T8 is a duration between a time corresponding to a midpoint of the laser echo signal and a time when the laser pulse ranging apparatus 10 starts the first timing. When the laser device and the laser device drive are determined, under the condition of the same distance, the time difference between the echo time length T2 of the laser echo signals measured by targets with different reflectivities and the first time length T8 is basically unchanged; thus, the echo time period T2 may be obtained from the first time period T8. The difference between the first duration T8 and the echo duration T2 is a preset duration, and the preset duration can be set by a user or stored in a storage device in the laser ranging device and operated by program mobilization. The laser echo signal corresponding to one laser pulse signal is approximately symmetrical about the midpoint of the laser echo signal; the average value calculation may be performed on the rising edge trigger duration T3 and the falling edge trigger duration T4 to obtain the first time duration T8, and then the first time duration T8 and the preset time duration are differenced to obtain the echo duration T2. And determining the distance between the laser pulse ranging device 10 and the measured object 20 according to the echo duration T2, specifically, the distance is half of the product of the echo duration T2 and the light speed.
The invention provides a laser pulse ranging method, a control device, a circuit and equipment thereof, wherein the method comprises the steps of transmitting a laser pulse signal and starting a first timing; receiving and shaping a laser echo signal, determining rising edge trigger time length T3 when a first rising edge signal in the shaped laser echo signal is received, and determining falling edge trigger time length T4 when a first falling edge signal is received; and determining an echo time length T2 according to the rising edge trigger time length T3, the falling edge trigger time length T4 and a preset time length, and determining the distance between the laser pulse ranging device 10 and the measured object 20 according to the echo time length T2. In the invention, the laser pulse is emitted and the timing is started; receiving and shaping a laser echo signal to obtain a rising edge trigger time length T3 and a falling edge trigger time length T4; and determining the distance between the laser pulse ranging device 10 and the measured object 20 according to the rising edge trigger time length T3, the falling edge trigger time length T4 and a preset time length. Thereby improving the accuracy of laser pulse ranging.
Referring to fig. 2, in an embodiment of the present invention, the step of determining the rising edge trigger duration T3 when receiving the first rising edge signal in the laser echo signal specifically includes:
step S210, when the voltage of the shaped laser echo signal reaches the threshold voltage for the first time, determining that a first rising edge signal is received, and determining the duration corresponding to the current first timing as the rising edge trigger duration T3;
the step of determining the falling edge trigger duration T4 when the first falling edge signal is received specifically includes:
step S220, when the voltage of the shaped laser echo signal reaches the threshold voltage for the second time, determining that the first falling edge signal is received, and determining the duration corresponding to the current first timing as the falling edge trigger duration T4.
In this embodiment, when the value of the laser echo signal is equal to the threshold voltage value, a rising edge signal or a falling edge signal may occur in the shaped laser echo signal. When the laser echo signal value is changed from being smaller than the threshold voltage value to being equal to the threshold voltage value, a rising edge signal appears in the shaped laser echo signal; and when the laser echo signal value is larger than the threshold voltage value and becomes larger than the threshold voltage value, the shaped laser echo signal can generate a falling edge signal. At least two laser echo signals corresponding to one laser pulse are equal to the threshold voltage value, wherein a first laser echo signal value equal to the threshold voltage value is shaped to generate a rising edge signal, and a second laser echo signal value equal to the threshold voltage value is shaped to generate a falling edge signal. When the voltage of the shaped laser echo signal reaches the threshold voltage for the first time, determining that a first rising edge signal is received, and determining the duration corresponding to the current first timing as the rising edge trigger duration T3; correspondingly, when the voltage of the shaped laser echo signal reaches the threshold voltage for the second time, determining that the first falling edge signal is received, and determining the duration corresponding to the current first timing as the falling edge trigger duration T4.
Referring to fig. 3 and fig. 7, in an embodiment of the present invention, the step of determining the echo time length T2 according to the rising edge trigger time length T3, the falling edge trigger time length T4, and a preset time length specifically includes:
Step S310, performing average calculation on the rising edge trigger time length T3 and the falling edge trigger time length T4 to obtain a first time length T8;
Step S320, making a difference between the first time period T8 and the preset time period to obtain the echo time period T2.
In this embodiment, the echo duration T2 and the first duration T8 become a certain functional relationship; the first duration T8 is a duration between a time corresponding to a midpoint of the laser echo signal and a time when the laser pulse ranging apparatus 10 starts the first timing. When the laser device and the laser device drive are determined, under the condition of the same distance, the time difference between the echo time length T2 of the laser echo signals measured by targets with different reflectivities and the first time length T8 is basically unchanged; thus, the echo time period T2 may be obtained from the first time period T8. The difference between the first duration T8 and the echo duration T2 is a preset duration. The laser echo signal corresponding to one laser pulse signal is approximately symmetrical about the midpoint of the laser echo signal; the average value calculation may be performed on the rising edge trigger duration T3 and the falling edge trigger duration T4 to obtain the first time duration T8, and then the first time duration T8 and the preset time duration are differenced to obtain the echo duration T2. And determining the distance between the laser pulse ranging device 10 and the measured object 20 according to the echo duration T2, specifically, the distance is half of the product of the echo duration T2 and the light speed.
The mean value operation may be to calculate an arithmetic average of the rising edge trigger time period T3 and the falling edge trigger time period T4; and performing average value operation on the rising edge trigger time length T3 and the falling edge trigger time length T4 to obtain a first time length T8. The preset time length can be obtained by collecting a first time length T8 and an echo time length T2 at each distance by a range finder of fixed hardware and differencing the first time length T8 and the echo time length T2 at each distance; the preset duration table may be stored in the memory of the laser pulse ranging device 10, and the laser pulse ranging device 10 may obtain the echo duration T2 according to the preset duration table and the first duration T8, so that the distance between the laser pulse ranging device 10 and the measured object 20 is obtained from the echo duration T2.
The present invention also proposes a control device for a laser pulse ranging apparatus 10, the control device comprising a memory and a processor, a laser pulse ranging program stored on the memory and executed by the processor, which when executed by the processor, implements a laser pulse ranging method as any one of the above.
It should be noted that, since the control device of the present invention includes all the technical solutions of all the embodiments of the laser pulse ranging method, at least all the beneficial effects brought by the technical solutions of the laser pulse ranging method are not described in detail herein.
The invention also provides a laser pulse ranging circuit 110 which is applied to the laser pulse ranging device 10, wherein the laser pulse ranging device 10 comprises a light emitting circuit 120 and a receiving circuit 130.
Referring to fig. 4 and 7, in an embodiment of the present invention, the laser pulse ranging circuit 110 includes:
a main control circuit 1110, wherein the main control circuit 1110 is electrically connected with the light emitting circuit 120 and is used for controlling the light emitting circuit 120 to emit a laser pulse signal; the master control circuit 1110 is further electrically connected to the comparison shaping circuit 1120, and is configured to output a threshold voltage to the comparison shaping circuit 1120;
The input end of the comparison and shaping circuit 1120 is electrically connected with the output end of the receiving circuit 130, and is used for shaping the laser echo signal received and output by the receiving circuit 130 according to the threshold voltage and outputting a corresponding shaped laser echo signal;
The master control circuit 1110 is connected to an output end of the comparing and shaping circuit 1120, and is configured to determine a rising edge trigger duration T3 when a first rising edge signal in the shaped laser echo signal is received, and determine a falling edge trigger duration T4 when a first falling edge signal is received.
In this embodiment, the light emitting circuit 120 may include a ruby solid state laser, a neodymium glass solid state laser, a double hetero gallium arsenide semiconductor laser, or the like. The receiving circuit 130 may include an optical device and a photodiode, wherein the photodiode may be an avalanche photodiode.
The main control circuit 1110 is electrically connected to the light emitting circuit 120, and is configured to control the light emitting circuit 120 to emit a laser pulse signal; the master control circuit 1110 may be implemented by a master controller 11110, for example, an MCU, a DSP (DIGITAL SIGNAL Process, digital signal processing Chip), an FPGA (Field Programmable GATE ARRAY, programmable gate array Chip), a PLC, an SOC (System On Chip), or the like.
The comparison shaping circuit 1120 may be a voltage comparator, wherein the voltage comparator may be a basic voltage comparator, a single-limit voltage comparator, a voltage comparator outputting a band-limited amplitude, etc. The main control circuit 1110 is configured to control the light emitting circuit 120 to emit a laser pulse signal, and start a first timing. In addition, the master circuit 1110 outputs a threshold voltage to the comparison and shaping circuit 1120, which may be set by a user or by a producer of the laser pulse ranging circuit 110. The comparing and shaping circuit 1120 compares and shapes the laser echo signal with the threshold voltage, wherein when the value of the laser echo signal is smaller than the value of the threshold voltage, the comparator outputs a low level, and the low level may be a 0 level or a level within other self-defined level ranges. For example: the voltage less than 5V is set to a low level, and at this time 3V is set to a low level. When the value of the laser echo signal is greater than or equal to the value of the threshold voltage, the comparator outputs a high level, which may be a fixed value, for example: a threshold voltage value; the high level may also be a value in a range of levels corresponding to low levels, such as: the voltage less than 5V is set to a low level, and 7V is set to a high level at this time. In this embodiment, 5V is used as one of the high and low level demarcation points, and in other embodiments of the present invention, the high and low level demarcation points are not necessarily 5V.
The master circuit 1110 determines a rising edge trigger period T3 when receiving a first rising edge signal in the shaped laser echo signals output by the comparing and shaping circuit 1120, and determines a falling edge trigger period T4 when receiving a first falling edge signal. In this embodiment, when the value of the laser echo signal is equal to the threshold voltage value, a rising edge signal or a falling edge signal may occur in the shaped laser echo signal. When the laser echo signal value is changed from being smaller than the threshold voltage value to being equal to the threshold voltage value, a rising edge signal appears in the shaped laser echo signal; and when the laser echo signal value is larger than the threshold voltage value and becomes larger than the threshold voltage value, the shaped laser echo signal can generate a falling edge signal. The main controller 11110 receives the shaped laser echo signal, and determines a rising edge trigger duration T3 when receiving a first rising edge signal; the rising edge trigger period T3 is a period between a time when the main control circuit 1110 starts the first timing and a time when the main control circuit 1110 receives the first rising edge signal. The main controller 11110 receives the shaped laser echo signal, and determines a falling edge trigger duration T4 when receiving a first falling edge signal; the falling edge trigger period T4 is a period between a time when the master control circuit 1110 starts the first timing and a time when the master control circuit 1110 receives the first falling edge signal. The intersection point of the laser echo signal corresponding to one laser pulse signal and the threshold voltage value is at most two; that is, from the shaped laser echo signal, a pair of the associated rising edge signal and falling edge signal can determine the laser echo signal corresponding to one laser pulse.
And determining an echo time length T2 according to the rising edge trigger time length T3, the falling edge trigger time length T4 and a preset time length, and determining the distance between the laser pulse ranging device 10 and the measured object 20 according to the echo time length T2. In this embodiment, the echo duration T2 is a duration between a time when the laser pulse ranging apparatus 10 starts the first timing and a time when the start signal of the laser echo signal is received; the distance between the laser pulse ranging apparatus 10 and the object 20 to be measured is most accurate using the echo time period T2. The echo time length T2 and the first time length T8 become a certain functional relation; the first duration T8 is a duration between a time corresponding to a midpoint of the laser echo signal and a time when the laser pulse ranging apparatus 10 starts the first timing. When the laser device and the laser device drive are determined, under the condition of the same distance, the time difference between the echo time length T2 of the laser echo signals measured by targets with different reflectivities and the first time length T8 is basically unchanged; thus, the echo time period T2 may be obtained from the first time period T8. The difference between the first duration T8 and the echo duration T2 is a preset duration, and the preset duration can be set by a user or stored in a storage device in the laser ranging device and operated by program mobilization. The laser echo signal corresponding to one laser pulse signal is approximately symmetrical about the midpoint of the laser echo signal; the average value calculation may be performed on the rising edge trigger duration T3 and the falling edge trigger duration T4 to obtain the first time duration T8, and then the first time duration T8 and the preset time duration are differenced to obtain the echo duration T2. And determining the distance between the laser pulse ranging device 10 and the measured object 20 according to the echo duration T2, specifically, the distance is half of the product of the echo duration T2 and the light speed.
Referring to fig. 5 and 7, in an embodiment of the present invention, the master circuit 1110 includes:
A main controller 11110, where the main controller 11110 is electrically connected to the light-emitting circuit 120 and the timing circuit 11120, respectively, and is configured to control the light-emitting circuit 120 to emit a laser pulse signal, and output a first timing signal to the timing circuit 11120; the master controller 11110 is further electrically connected to the comparison shaping circuit 1120, and configured to output a threshold voltage to the comparison shaping circuit 1120;
A timing circuit 11120, where the timing circuit 11120 is electrically connected to the main controller 11110, and is configured to start first timing after receiving the first timing signal; the timing circuit 11120 is further electrically connected to the comparing and shaping circuit 1120, and configured to determine that a first rising edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the first time, and determine a duration corresponding to the current first timing as the rising edge trigger duration T3; the timing circuit 11120 is further configured to determine that a first falling edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the second time, and determine a duration corresponding to the current first timing as the falling edge trigger duration T4; the timer circuit 11120 outputs the rising edge trigger period T3 and the falling edge trigger period T4 to the main controller 11110.
In this embodiment, the main controller 11110 may be an MCU, a DSP (DIGITAL SIGNAL Process, digital signal processing Chip), an FPGA (Field Programmable GATE ARRAY, programmable gate array Chip), a PLC, an SOC (System On Chip), or the like. The timing circuit 11120 may be closely coupled to the main controller 11110, for example: the timing circuit 11120 may be a timer in an MCU, a single chip microcomputer, or a PLC. The timing circuit 11120 may also be not closely coupled to the main controller 11110, for example: the timing circuit 11120 may be a 555 timer, a time-to-digital converter, or a time counter, etc. The main controller 11110 controls the light-emitting circuit 120 to emit a laser pulse signal while outputting a first timing signal to the timing circuit 11120 to drive the timing circuit 11120 to start a first timing. The first timing signal may be a voltage signal or a current signal, for example: a voltage signal of 0-5V and a current signal of 4-20 mA. The timing circuit 11120 determines that a first rising edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the first time, and determines a duration corresponding to the current first timing as the rising edge trigger duration T3; the comparison and shaping circuit 1120 outputs a shaped laser echo signal, which is composed of high and low levels, with the low level to the high level being a rising edge and the high level to the low level being a falling edge, to the timing circuit 11120. The high level in the shaped laser echo signal is greater than or equal to the threshold voltage. The timing circuit 11120 is further configured to determine that a first falling edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the second time, and determine a duration corresponding to the current first timing as the falling edge trigger duration T4; the timer circuit 11120 outputs the rising edge trigger period T3 and the falling edge trigger period T4 to the main controller 11110 for processing.
The main controller 11110 may not obtain the distance between the laser pulse ranging circuit 110 and the object 20 after obtaining the rising edge trigger time period T3 and the falling edge trigger time period T4.
Referring to fig. 5, 7 and 8, in an embodiment of the present invention, the master circuit 1110 includes:
a timing circuit 11120, where the timing circuit 11120 is connected to the main controller 11110, and is configured to output the rising edge trigger duration T3 and the falling edge trigger duration T4 to the main controller 11110;
The main controller 11110, where the main controller 11110 is configured to perform average calculation on the rising edge trigger duration T3 and the falling edge trigger duration T4 to obtain a first time duration T8; the main controller 11110 is further configured to perform a difference between the first time period T8 and the preset time period to obtain an echo time period T2.
In this embodiment, after receiving the rising edge trigger duration T3 and the falling edge trigger duration T4, the main controller 11110 calculates the average value of the rising edge trigger duration T3 and the falling edge trigger duration T4 to obtain a first duration T8, where the first duration T8 is a duration between a time corresponding to the midpoint of the laser echo signal and a time when the laser pulse ranging device 10 starts the first timing. When the laser device and the laser device drive are determined, under the condition of the same distance, the time difference between the echo time length T2 of the laser echo signals measured by targets with different reflectivities and the first time length T8 is basically unchanged; thus, the echo time period T2 may be obtained from the first time period T8. The difference between the first duration T8 and the echo duration T2 is a preset duration, and the preset duration can be set by a user or stored in a storage device in the laser ranging device and operated by program mobilization. The laser echo signal corresponding to one laser pulse signal is approximately symmetrical about the midpoint of the laser echo signal; the average value calculation may be performed on the rising edge trigger duration T3 and the falling edge trigger duration T4 to obtain the first time duration T8, and then the first time duration T8 and the preset time duration are differenced to obtain the echo duration T2. And determining the distance between the laser pulse ranging device 10 and the measured object 20 according to the echo duration T2, specifically, the distance is half of the product of the echo duration T2 and the light speed. The mean value calculation may be an arithmetic mean value of the rising edge trigger time period T3 and the falling edge trigger time period T4.
In one embodiment of the present invention, the following table is the echo time (in ns) of the object 20 with high, medium and low reflectivity at 60 meters.
Referring to fig. 7 and 8, in an embodiment of the present invention, after the laser echoes of the three objects 20 with different reflectivities are shaped by the comparison and shaping circuit 1120, a rising edge signal and a falling edge signal of the shaped echoes of the object 20 with high reflectivity, a rising edge signal and a falling edge signal of the shaped echoes of the object 20 with medium reflectivity, a rising edge signal and a falling edge signal of the shaped echoes of the object 20 with low reflectivity, a first duration T8, and an echo duration T2 are generated. Wherein the echo time length T2 of the high-reflectivity measured object 20 shaping echo, the middle-reflectivity measured object 20 shaping echo and the low-reflectivity measured object 20 shaping echo are equal; and the first time period T8 of the three are equal. Further, the rising edge signal and the falling edge signal of the shaping echo of the high-reflectivity measured object 20 have corresponding rising edge trigger time period T5 and falling edge trigger time period T11 of the shaping echo of the high-reflectivity measured object, the rising edge signal and the falling edge signal of the shaping echo of the medium-reflectivity measured object 20 have corresponding rising edge trigger time period T6 and falling edge trigger time period T10 of the shaping echo of the medium-reflectivity measured object, and the rising edge signal and the falling edge signal of the shaping echo of the low-reflectivity measured object 20 have corresponding rising edge trigger time period T7 and falling edge trigger time period T9 of the shaping echo of the low-reflectivity measured object.
Note that the abscissa in fig. 7 and 8 is time, and the ordinate is amplitude.
Referring to fig. 6 and 7, in an embodiment of the present invention, the master circuit 1110 includes:
A main controller 11110, where the main controller 11110 is electrically connected to the first timing circuit 11130 and the second timing circuit 11140 of the light-emitting circuit 120, and is configured to control the light-emitting circuit 120 to emit a laser pulse signal, and output a first timing signal to the first timing circuit 11130 and the second timing circuit 11140; the master controller 11110 is further electrically connected to the comparison shaping circuit 1120, and configured to output a threshold voltage to the comparison shaping circuit 1120;
A first timing circuit 11130, where the first timing circuit 11130 is electrically connected to the main controller 11110, and is configured to start first timing after receiving the first timing signal; the first timing circuit 11130 is further electrically connected to the comparing and shaping circuit 1120, and configured to determine that a first rising edge signal is received when the shaped laser echo signal reaches the threshold voltage for the first time, and determine a duration corresponding to the current first timing as the rising edge trigger duration T3; the first timer circuit 11130 outputs the rising edge trigger period T3 to the main controller 11110;
A second timing circuit 11140, where the second timing circuit 11140 is electrically connected to the main control, and is configured to start first timing after receiving the first timing signal; the second timing circuit 11140 is further electrically connected to the comparing and shaping circuit 1120, and configured to determine that a first falling edge signal is received when the shaped laser echo signal reaches the threshold voltage for the second time, and determine a duration corresponding to the current first timing as the falling edge trigger duration T4; the second timing circuit 11140 outputs the falling edge trigger period T4 to the main controller 11110.
In this embodiment, the main controller 11110 is electrically connected to the first timing circuit 11130 and the second timing circuit 11140, and is configured to output a first timing signal to the first timing circuit 11130 and the second timing circuit 11140 to drive the first timing circuit 11130 and the second timing circuit 11140 to start first timing. The first timing circuit 11130 and the second timing circuit 11140 are connected to the comparison and shaping circuit 1120, and the comparison and shaping circuit 1120 outputs the shaped laser pulse signal to the first timing circuit 11130 and the second timing circuit 11140. The first timing circuit 11130 determines that a first rising edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the first time, and determines a duration corresponding to the current first timing as the rising edge trigger duration T3; the second timing circuit 11140 determines that a first falling edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the second time, and determines a duration corresponding to the current first timing as the falling edge trigger duration T4; the first timing circuit 11130 and the second timing circuit 11140 output the rising edge trigger duration T3 and the falling edge trigger duration T4 to the main controller 11110, so that the main controller can obtain the echo duration T2 by combining the rising edge trigger duration T3, the falling edge trigger duration T4 and a preset duration, and further obtain the distance between the laser pulse ranging circuit 110 and the measured object 20.
The invention also proposes a laser pulse ranging device 10 comprising a light emitting circuit 120 and a receiving circuit 130; and the control device described above or the laser pulse ranging circuit 110 described above.
It should be noted that, since the laser pulse ranging apparatus 10 of the present invention includes the control device or all the technical solutions of the laser pulse ranging circuit 110, at least the technical solutions of the control device or all the beneficial effects brought by the technical solutions of the laser pulse ranging circuit 110 are not described herein in detail.
The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (7)
1. A laser pulse ranging method applied to a laser pulse ranging device, the method comprising:
transmitting a laser pulse signal and starting a first timing;
Receiving and shaping a laser echo signal, determining rising edge trigger time length when a first rising edge signal in the shaped laser echo signal is received, and determining falling edge trigger time length when a first falling edge signal is received;
Determining an echo time length according to the rising edge trigger time length, the falling edge trigger time length and a preset time length, and determining the distance between the laser pulse ranging equipment and the measured object according to the echo time length;
the step of determining the echo time length according to the rising edge trigger time length, the falling edge trigger time length and the preset time length specifically comprises the following steps:
Calculating the average value of the rising edge trigger time length and the falling edge trigger time length to obtain a first time length;
and performing difference between the first duration and the preset duration to obtain the echo duration.
2. The laser pulse ranging method according to claim 1, wherein the step of determining the rising edge trigger time length when the first rising edge signal of the laser echo signals is received specifically comprises:
When the voltage of the shaped laser echo signal reaches a threshold voltage for the first time, determining that a first rising edge signal is received, and determining the duration corresponding to the current first timing as the rising edge triggering duration;
The step of determining the falling edge triggering duration when the first falling edge signal is received specifically includes:
When the voltage of the shaped laser echo signal reaches the threshold voltage for the second time, determining that the first falling edge signal is received, and determining the duration corresponding to the current first timing as the falling edge triggering duration.
3. A control device, characterized in that the control device comprises:
A memory;
a processor; and
A laser pulse ranging program stored on the memory and executed by the processor, which when executed by the processor, implements the laser pulse ranging method of any of claims 1-2.
4. A laser pulse ranging circuit applied to a laser pulse ranging apparatus, the laser pulse ranging apparatus comprising a light emitting circuit and a receiving circuit, the circuit comprising:
the main control circuit is electrically connected with the light-emitting circuit and used for controlling the light-emitting circuit to emit laser pulse signals; the main control circuit is also electrically connected with the comparison shaping circuit and is used for outputting threshold voltage to the comparison shaping circuit;
The input end of the comparison shaping circuit is electrically connected with the output end of the receiving circuit and is used for shaping the laser echo signals received and output by the receiving circuit according to the threshold voltage and outputting corresponding shaped laser echo signals;
The main control circuit is connected with the output end of the comparison shaping circuit and is used for determining the rising edge trigger time length when a first rising edge signal in the shaping laser echo signal is received and determining the falling edge trigger time length when a first falling edge signal is received;
the master control circuit includes:
the timing circuit is connected with the main controller and is used for outputting the rising edge trigger duration and the falling edge trigger duration to the main controller;
the main controller is used for carrying out average value calculation on the rising edge trigger time length and the falling edge trigger time length to obtain a first time length; the main controller is further configured to make a difference between the first duration and a preset duration to obtain an echo duration.
5. The laser pulse ranging circuit of claim 4, wherein the master circuit comprises:
the main controller is respectively and electrically connected with the light-emitting circuit and the timing circuit, and is used for controlling the light-emitting circuit to emit laser pulse signals and outputting first timing signals to the timing circuit; the main controller is also electrically connected with the comparison shaping circuit and is used for outputting threshold voltage to the comparison shaping circuit;
The timing circuit is electrically connected with the main controller and is used for starting first timing after receiving the first timing signal; the timing circuit is further electrically connected with the comparing and shaping circuit, and is used for determining that a first rising edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the first time, and determining the duration corresponding to the current first timing as the rising edge triggering duration; the timing circuit is further used for determining that a first falling edge signal is received when the voltage of the shaped laser echo signal reaches the threshold voltage for the second time, and determining the duration corresponding to the current first timing as the falling edge trigger duration; and the timing circuit outputs the rising edge trigger time length and the falling edge trigger time length to the main controller.
6. The laser pulse ranging circuit of claim 4, wherein the master circuit comprises:
The main controller is electrically connected with the first timing circuit and the second timing circuit of the light-emitting circuit and is used for controlling the light-emitting circuit to emit laser pulse signals and outputting first timing signals to the first timing circuit and the second timing circuit; the main controller is also electrically connected with the comparison shaping circuit and is used for outputting threshold voltage to the comparison shaping circuit;
The first timing circuit is electrically connected with the main controller and is used for starting first timing after receiving the first timing signal; the first timing circuit is further electrically connected with the comparing and shaping circuit, and is used for determining that a first rising edge signal is received when the shaping laser echo signal reaches the threshold voltage for the first time, and determining the duration corresponding to the current first timing as the rising edge triggering duration; the first timing circuit outputs the rising edge trigger time length to the main controller;
The second timing circuit is electrically connected with the main control and is used for starting first timing after receiving the first timing signal; the second timing circuit is further electrically connected with the comparing and shaping circuit, and is configured to determine that a first falling edge signal is received when the shaped laser echo signal reaches the threshold voltage for the second time, and determine a duration corresponding to the current first timing as the falling edge trigger duration; and the second timing circuit outputs the falling edge trigger time length to the main controller.
7. A laser pulse ranging apparatus, the apparatus comprising a light emitting circuit and a receiving circuit; and
A control device according to claim 3; or a laser pulse ranging circuit as claimed in any of claims 4-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311052278.9A CN117169907B (en) | 2023-08-18 | 2023-08-18 | Laser pulse ranging method, control device, circuit and equipment thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311052278.9A CN117169907B (en) | 2023-08-18 | 2023-08-18 | Laser pulse ranging method, control device, circuit and equipment thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117169907A CN117169907A (en) | 2023-12-05 |
| CN117169907B true CN117169907B (en) | 2024-07-26 |
Family
ID=88934721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311052278.9A Active CN117169907B (en) | 2023-08-18 | 2023-08-18 | Laser pulse ranging method, control device, circuit and equipment thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117169907B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109669188A (en) * | 2019-01-17 | 2019-04-23 | 杜鑫 | Mostly along triggered time discrimination method and pulse type laser distance measuring method |
| CN114415144A (en) * | 2022-03-30 | 2022-04-29 | 杭州蓝芯科技有限公司 | Laser radar echo signal processing circuit, optical flight time measuring device and method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110954918A (en) * | 2019-12-06 | 2020-04-03 | 北京石头世纪科技股份有限公司 | Pulse distance measuring device and method and automatic cleaning equipment with device |
| CN116224352A (en) * | 2022-07-18 | 2023-06-06 | 武汉象印科技有限责任公司 | Wide dynamic pulse laser ranging method and system for neural network |
-
2023
- 2023-08-18 CN CN202311052278.9A patent/CN117169907B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109669188A (en) * | 2019-01-17 | 2019-04-23 | 杜鑫 | Mostly along triggered time discrimination method and pulse type laser distance measuring method |
| CN114415144A (en) * | 2022-03-30 | 2022-04-29 | 杭州蓝芯科技有限公司 | Laser radar echo signal processing circuit, optical flight time measuring device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117169907A (en) | 2023-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107576371B (en) | A kind of Ultrasonic Liquid Level Measurement and ultrasonic wave liquid level measuring apparatus | |
| US6531977B2 (en) | Pulse center detector for radars and reflectometers | |
| CN105137443A (en) | Pulse-type laser range finding method | |
| CN109669188B (en) | Multi-edge trigger time identification method and pulse type laser ranging method | |
| US6665055B2 (en) | Light-wave rangefinder using a pulse method | |
| US20140240693A1 (en) | Ranging Method and System | |
| US7039549B2 (en) | Sensor system and method, in particular for determining distances | |
| US5726742A (en) | Circuit and method for determining time of arrival | |
| CN117169907B (en) | Laser pulse ranging method, control device, circuit and equipment thereof | |
| US20230400336A1 (en) | Gas volume determination in fluid | |
| US6856576B2 (en) | Method for determining echo distance using autocorrelation in time of flight ranging systems | |
| US10634544B1 (en) | Ultrasonic short range moving object detection | |
| RU2550365C1 (en) | Method of distance determination to earth surface | |
| CN107272011B (en) | Time point identification method, time point identification circuit system and laser ranging system | |
| JPH05223928A (en) | Pulse radar | |
| CN110850427B (en) | Amplifying circuit for laser radar, laser radar and control method | |
| CN111323013A (en) | AGV profile navigation sensor | |
| CN116299519B (en) | Laser ranging method | |
| JPH05312950A (en) | Ranging apparatus and method | |
| GB1525260A (en) | Range measurement apparatus and methods of measuring rang | |
| CN111190341A (en) | Time-to-digital conversion integrated circuit and method | |
| JPH08105972A (en) | Inter-vehicle distance measuring device | |
| CN115047483A (en) | Distance measuring device and method based on ultrasonic echo method | |
| CN116224308A (en) | Ultrasonic sensor chip, signal processing method, and ultrasonic radar device | |
| CN118604778A (en) | ADC chip-based laser ranging method and device for rain and fog days |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |