CN205992055U - A kind of laser ranging system - Google Patents
A kind of laser ranging system Download PDFInfo
- Publication number
- CN205992055U CN205992055U CN201620845160.0U CN201620845160U CN205992055U CN 205992055 U CN205992055 U CN 205992055U CN 201620845160 U CN201620845160 U CN 201620845160U CN 205992055 U CN205992055 U CN 205992055U
- Authority
- CN
- China
- Prior art keywords
- time
- signal
- laser
- threshold
- threshold voltage
- 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 claims abstract description 29
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000006243 chemical reaction Methods 0.000 claims description 16
- 238000002310 reflectometry Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 9
- 230000003321 amplification Effects 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 230000002238 attenuated effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
This utility model provides a kind of laser ranging system based on forward position moment authentication technique.This device includes：Photoelectric switching circuit, for being converted to first signal of telecommunication by laser signal；Amplifying circuit, for being amplified processing and export second signal of telecommunication first signal of telecommunication；First, second threshold comparator, for being compared the magnitude of voltage in the second signal of telecommunication forward position respectively in real time with the first and second threshold voltages, obtains the first and second triggers；Timing circuit, for obtaining first and second moment corresponding with the first and second triggers；And processor, for obtaining the waveform slope of laser signal according to the first moment and the second moment, thus compensating to distance measurement value.This is new to obtain multiple rough distance measurement values by multi thresholds forward position moment authentication technique, and processor calls algorithm to calculate waveform slope relation, also obtains the reflectance of target object while drawing precision higher distance measurement value.
Description
Technical Field
The utility model relates to a laser rangefinder technique especially relates to a laser rangefinder based on technique is distinguished constantly to leading-edge.
Background
In the prior art, laser rangefinders obtain distance information mainly by measuring the time of flight of laser pulses. For example, a pulsed laser rangefinder measures distance by detecting the time difference between a laser emission pulse and a laser echo pulse according to the time-of-flight principle using a laser as a light source and a laser as a carrier wave. Specifically, the laser range finder comprises a laser transmitter and a laser receiver, wherein the laser transmitter transmits a pulse laser to the space, and after the pulse laser signal is irradiated on the surface of a target object, an echo signal of the pulse laser signal is captured by the laser receiver. The distance from the target object to the laser range finder can be calculated through the time difference between the moment when the laser transmitter sends out the laser signal and the moment when the laser receiver captures the echo, and the formula is expressed as follows: and L is C T/2, L is the distance from the target object to the laser range finder, C is the speed of light, and T is the time difference between the two moments. From the above formula, the measurement speed of the pulse method is very fast, which is equivalent to the speed of light, and thus is very sensitive to time errors. In order to eliminate time drift caused by different rise time (rising edge) and amplitude value (intensity) of the laser echo signal and time jitter caused by noise, the pulse range finder needs to adopt a time identification technology.
At present, there are three common pulse laser ranging time discrimination techniques: one is the leading edge time method, the other is the constant ratio timing method, and the other is the high-pass time method. Taking the leading edge time method as an example, the method converts an echo analog signal into a digital logic signal with time information, and does not output a trigger signal when the amplitude of the signal is lower than a given threshold; when the amplitude of the signal reaches a given threshold, a trigger signal of fixed amplitude is output. Compared with a constant ratio timing method and a high-pass time method, the time identification circuit has the advantages of simple structure, low price, strong anti-interference performance and low precision. For example, due to differences in target surface characteristics (e.g., roughness, tilt, etc.), broadening or distortion of the echo pulse tends to result; meanwhile, the laser echo pulse is easily attenuated and interfered by objects such as dust, smoke, water vapor and the like in the air in the transmission process, and the echo waveform can be widened and distorted to different degrees. In addition, the surface reflectivity of the target object also changes the arrival time of the front edge threshold value, so that the output time is different, and the measurement accuracy of the laser range finder is affected finally.
In view of the above, a problem to be solved by those skilled in the art is how to design a laser ranging apparatus based on the leading-edge time discrimination technique, so as to improve the measurement accuracy during laser ranging without significantly increasing the complexity and cost of the system, thereby overcoming the above-mentioned defects or shortcomings of the prior art.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned defect that prior art's laser rangefinder exists when measuring the distance, the utility model provides a can improve the laser rangefinder that the range finding precision, based on the leading edge constantly discriminates the technique.
According to the utility model discloses an aspect provides a laser rangefinder based on technique is distinguished constantly to leading edge, include:
a photoelectric conversion circuit for converting the received laser signal into a first electrical signal;
the amplifying circuit is electrically coupled to the photoelectric conversion circuit and is used for amplifying the first electric signal and outputting a second electric signal, and the second electric signal sequentially has a front edge period and a back edge period;
the first threshold comparator is electrically coupled to the amplifying circuit and is used for comparing the voltage value of the leading edge of the second electric signal with a first threshold voltage in real time to obtain a first trigger signal;
the second threshold comparator is electrically coupled to the amplifying circuit and used for comparing the voltage value of the leading edge of the second electric signal with a second threshold voltage in real time to obtain a second trigger signal, and the second threshold voltage is greater than the first threshold voltage;
a timing circuit electrically coupled to the first threshold comparator and the second threshold comparator, for obtaining a first time and a second time corresponding to the first trigger signal and the second trigger signal; and
and the processor is used for receiving and processing the first time and the second time, and obtaining the wave slope of the laser signal according to the second time and the first time, so that the laser ranging value is compensated by using the wave slope.
In one embodiment, the processor further obtains a start time according to the second time and the first time, so as to compensate the laser ranging value by using the start time and the wave slope.
In one embodiment, the photoelectric conversion circuit is a light detection device, and the light detection device is a Photodiode (PIN), an Avalanche Photo Diode (APD), or a photomultiplier tube (PMT).
In one embodiment, the amplifying circuit is a transimpedance amplifier or a differential amplifier.
In one embodiment, the amplifying circuit is a single-stage amplifier or a plurality of cascaded amplifiers.
In one embodiment, when the voltage value of a certain point of the leading edge of the second electrical signal rises to the first threshold voltage, the first threshold comparator outputs the first trigger signal; when the voltage value of a certain point of the leading edge of the second electric signal rises to the second threshold voltage, the second threshold comparator outputs the second trigger signal.
In one embodiment, the first threshold voltage and the second threshold voltage are generated by a single voltage source through resistance division.
In one embodiment, the first threshold voltage and the second threshold voltage are generated by different voltage sources respectively.
In one embodiment, the first threshold comparator and the second threshold comparator are integrated on a same control chip, and the first threshold voltage and the second threshold voltage are internal reference voltages of the control chip.
In an embodiment of the foregoing, the laser ranging apparatus further includes two D flip-flops respectively disposed between the first threshold comparator and the processor and between the second threshold comparator and the processor.
In an embodiment of the disclosure, the laser ranging apparatus further includes a third threshold comparator, electrically coupled to the amplifying circuit, configured to compare a voltage value of a leading edge of the second electrical signal with a third threshold voltage in real time to obtain a third leading edge trigger signal, and the processor is configured to receive the first time, the second time, and a third time corresponding to the third trigger signal, and perform curve fitting by using the first time, the second time, and the third time to obtain the waveform slope of the laser signal.
In one embodiment, the processor is a digital signal processor, a micro-control unit, a field programmable gate array, or a complex programmable logic device, and the processor has built-in firmware for compensating the laser ranging values and calculating the reflectivity of the target object.
Adopt the utility model discloses a laser rangefinder, photoelectric conversion circuit is used for converting the laser signal who receives into first signal of telecommunication, amplifier circuit enlargies first signal of telecommunication and exports the second signal of telecommunication, first threshold value comparator and second threshold value comparator carry out real-time comparison with the magnitude of voltage on second signal of telecommunication forward position with a first threshold voltage and a second threshold voltage respectively, obtain first trigger signal and second trigger signal, timing circuit acquires first moment and second moment corresponding with first trigger signal and second trigger signal, the treater obtains laser signal's waveform slope according to the second moment with first moment, thereby utilize the waveform slope to compensate laser rangefinder value. Compared with the prior art, the utility model discloses a multi-threshold of technique is distinguished constantly to the forward position obtains a plurality of rough moment values to send it into the treater so that calculate the slope relation between these rough moment values and then reach the higher laser rangefinder value of precision. Furthermore, the utility model discloses still can obtain the surface reflectivity of target object, circuit structure is simple, strong adaptability, but wide application in laser radar or distancer.
Drawings
Various aspects of the present invention will become more apparent to the reader after reading the detailed description of the invention with reference to the attached drawings. Wherein,
fig. 1 is a block diagram illustrating a laser ranging device based on a leading edge time discrimination technique according to an embodiment of the present application;
FIG. 2 shows a schematic circuit connection diagram of an exemplary embodiment of the laser ranging device of FIG. 1;
FIG. 3 is a waveform diagram illustrating a conventional laser ranging apparatus using leading edge discrimination timing for laser ranging;
FIG. 4 is a waveform diagram illustrating a laser ranging apparatus of the present application using leading edge discrimination instants for laser ranging; and
fig. 5 shows a block flow diagram of a laser ranging method based on the leading edge time discrimination technique, according to another embodiment of the present application.
Detailed Description
In order to make the present disclosure more complete and complete, reference is made to the accompanying drawings, in which like references indicate similar elements, and to the various embodiments of the invention described below. However, it should be understood by those skilled in the art that the examples provided below are not intended to limit the scope of the present invention. In addition, the drawings are only for illustrative purposes and are not drawn to scale.
Embodiments of various aspects of the present invention are described in further detail below with reference to the figures.
Fig. 1 is a block diagram illustrating a laser ranging apparatus based on a leading edge time discrimination technique according to an embodiment of the present application.
As described in the background section, although the existing time discrimination circuit has a simple structure, a low price, and a strong anti-interference performance, after the emitted laser pulse interacts with the target object, due to the difference of the characteristics (such as roughness, inclination, etc.) of the target surface, the echo pulse is often widened or deformed; in addition, the laser echo pulse is easily attenuated and interfered by objects such as dust, smoke, water vapor and the like in the air in the transmission process, and the echo waveform can be widened and distorted to different degrees; meanwhile, the reflectivity of the target object also changes the arrival time of the front edge threshold value, so that the output time is different, and the ranging precision is influenced.
To the problem, the utility model provides a slope compensation formula laser rangefinder based on technique is distinguished constantly to the forward position. Referring to fig. 1, in this embodiment, the laser distance measuring device of the present invention includes a photoelectric conversion circuit 10, an amplification circuit 12, a first threshold comparator 141, a second threshold comparator 143, a timing circuit 16, and a processor 18. The amplifying circuit 12 is, for example, a transimpedance amplifier or a differential amplifier. Further, the amplifying circuit 12 may be a single-stage amplifier or a plurality of cascaded amplifiers.
In detail, the photoelectric conversion circuit 10 functions as a photoelectric conversion device for converting a received laser signal into a first electric signal. For example, the photoelectric conversion circuit 10 may be a light detection device such as a Photodiode (PIN), an Avalanche Photo Diode (APD), or a photomultiplier tube (PMT). The amplifying circuit 12 is coupled to an output terminal of the photoelectric conversion circuit 10. The amplifier circuit 12 is configured to amplify the first electrical signal and output a second electrical signal. The second electrical signal has a leading edge period and a trailing edge period in sequence.
The first threshold comparator 141 is electrically coupled to the amplifying circuit 12. The first threshold comparator 141 is configured to compare the voltage value of the leading edge of the second electrical signal with a first threshold voltage in real time to obtain a first trigger signal. The second threshold comparator 143 is electrically coupled to the amplifying circuit 12. The second threshold comparator 143 is configured to compare the voltage value of the leading edge of the second electrical signal with a second threshold voltage in real time to obtain a second trigger signal, where the second threshold voltage is greater than the first threshold voltage. Preferably, when the voltage value of a certain point of the leading edge of the second electrical signal rises to the first threshold voltage, the first threshold comparator 141 outputs the first trigger signal; the second threshold comparator 143 outputs the second trigger signal when the voltage value of a certain point of the leading edge of the second electrical signal continuously rises from the first threshold voltage to the second threshold voltage. Here, the first threshold voltage and the second threshold voltage may be generated by a single voltage source through resistance division. Alternatively, the first threshold voltage and the second threshold voltage may be separately generated by different voltage sources, respectively. Preferably, the first threshold comparator 141 and the second threshold comparator 143 are integrated on the same control chip, and the first threshold voltage and the second threshold voltage are internal reference voltages of the control chip.
The timing circuit 16 is electrically coupled to the first threshold comparator 141 and the second threshold comparator 143, and is configured to obtain a first time corresponding to the first trigger signal and a second time corresponding to the second trigger signal. Processor 18 is coupled to timing circuit 16. The processor 18 receives and processes the first time and the second time, and obtains the wave slope of the laser signal according to the second time and the first time, so as to compensate the laser ranging value by using the wave slope.
In a specific embodiment, the laser rangefinder of the present invention further comprises a third threshold comparator. The third threshold comparator is electrically coupled to the amplifying circuit 12, and is configured to compare the voltage value of the leading edge of the second electrical signal with a third threshold voltage in real time to obtain a third trigger signal. The timing circuit 16 obtains a first time and a second time corresponding to the first trigger signal and the second trigger signal. The processor 18 is configured to receive the first time, the second time, and a third time corresponding to a third trigger signal, and perform curve fitting using the first time, the second time, and the third time to obtain a waveform slope of the laser signal. For example, the processor 18 may be a Digital Signal Processor (DSP), a Micro Controller Unit (MCU), a Field Programmable Gate Array (FPGA), or a Complex Programmable Logic Device (CPLD).
In one embodiment, the processor 18 further obtains the start time from the second time and the first time, so as to compensate the laser ranging value by using the start time and the waveform slope.
In addition, for avoiding the bad phenomenon that the signal triggers by mistake, the utility model discloses a laser rangefinder still can set up the D trigger, is located respectively between first threshold value comparator 141 and the treater 18, between second threshold value comparator 143 and the treater 18.
FIG. 2 shows a circuit connection schematic of an exemplary embodiment of the laser ranging device of FIG. 1.
Referring to fig. 2, in this embodiment, the function of the photoelectric conversion circuit is implemented by a photodiode. The amplifying circuit 12 comprises two cascaded amplifiers, i.e. a pre-amplifier and a main amplifier cascade, the input of the main amplifier being electrically connected to the output of the pre-amplifier. The respective input terminals of the first threshold comparator 141 and the second threshold comparator 143 are electrically coupled to the output terminal of the amplifying circuit 12. If the amplifier circuit 12 is configured by a cascade of a pre-amplifier and a main amplifier, the output terminal of the main amplifier is connected to the non-inverting input terminals of the first threshold comparator 141 and the second threshold comparator 143, respectively. The first threshold voltage and the second threshold voltage are respectively realized by a divider resistor and are electrically coupled to the inverting input ends of the comparators. The timing circuit 16 is connected to the first threshold comparator 141 and the second threshold comparator 143, and is configured to record two corresponding time points according to the first trigger signal and the second trigger signal. The processor 18 obtains the waveform slope of the laser signal according to the second time and the first time. Preferably, the timing circuit 16 can be integrated inside the processor 18, so that the signal transmission between the timing circuit 16 and the processor 18 can be performed inside a device or a chip, thereby improving the signal transmission speed and processing efficiency.
Fig. 3 is a waveform diagram illustrating a conventional laser ranging apparatus for laser ranging using leading edge discrimination timing. Fig. 4 shows the waveform diagram of the laser ranging device of the present invention using the front edge to identify the time for laser ranging.
Studies have shown that when the laser ranging device is at the same distance from the target object, the greater the surface reflectivity of the target object, the stronger the laser echo, and the greater the steepness of the echo signal, i.e., the greater the slope. As shown in fig. 3, in the prior art, laser ranging employs a fixed threshold voltage, and the distance between a device and a target object is calculated by a time difference between a leading edge time and a start time of an echo signal. However, as can be seen from fig. 3(a) to 3(d), there is a large error in the leading edge discrimination timing of different echo intensities, and such an error greatly affects the ranging accuracy. In contrast, as shown in fig. 4(a) -4 (d), the utility model discloses a laser ranging circuit adopts dual threshold to obtain the first moment and the second moment of same echo signal respectively to obtain laser signal's wave slope through these two moments, and then utilize the wave slope to accurately calculate corresponding time value, thereby promote laser ranging's precision.
Fig. 5 shows a block flow diagram of a laser ranging method based on the leading edge time discrimination technique, according to another embodiment of the present application.
In detail, in step S1, the photoelectric conversion circuit 10 receives a laser signal and converts the laser signal into a first electrical signal. In step S3, the amplification circuit 12 performs amplification processing on the first electric signal from the photoelectric conversion circuit 10 to output a second electric signal. The second electrical signal has a leading edge period and a trailing edge period in sequence. Next, in step S5, the first threshold comparator 141 and the second threshold comparator 143 compare the voltage value of the leading edge of the second electrical signal with a first threshold voltage and a second threshold voltage respectively in real time to obtain a first trigger signal and a second trigger signal, wherein the second threshold voltage is greater than the first threshold voltage. Then, in step S7, the timer circuit 16 acquires the first time and the second time corresponding to the first trigger signal and the second trigger signal, respectively. Finally, in step S9, the processor 18 receives and processes the first time and the second time, and obtains the wave slope of the laser signal according to the second time and the first time, so as to compensate the laser ranging value by using the wave slope. In addition, the method can also calculate the reflectivity of an object reflecting the laser signal according to the waveform slope. For example, when the distance between the device and the target object is the same, if the obtained slope is larger, the echo signal is stronger, and the object reflectivity is also larger; on the contrary, if the obtained slope is small, it means that the echo signal is weak, and the reflectivity of the object is low.
Adopt the utility model discloses a laser rangefinder, photoelectric conversion circuit is used for converting the laser signal who receives into first signal of telecommunication, amplifier circuit enlargies first signal of telecommunication and exports the second signal of telecommunication, first threshold value comparator and second threshold value comparator carry out real-time comparison with the magnitude of voltage on second signal of telecommunication forward position with a first threshold voltage and a second threshold voltage respectively, obtain first trigger signal and second trigger signal, timing circuit acquires first moment and second moment corresponding with first trigger signal and second trigger signal, the treater obtains laser signal's waveform slope according to the second moment with first moment, thereby utilize the waveform slope to compensate laser rangefinder value. Compared with the prior art, the utility model discloses a multi-threshold of technique is distinguished constantly to the forward position obtains a plurality of rough moment values to send it into the treater so that calculate the slope relation between these rough moment values and then reach the higher laser rangefinder value of precision. Furthermore, the utility model discloses still can obtain the surface reflectivity of target object, circuit structure is simple, strong adaptability, but wide application in laser radar or distancer.
Hereinbefore, specific embodiments of the present invention have been described with reference to the accompanying drawings. However, those skilled in the art will appreciate that various modifications and substitutions can be made to the specific embodiments of the present invention without departing from the spirit and scope of the invention. Such modifications and substitutions are intended to be included within the scope of the present invention as defined by the appended claims.
Claims (12)
1. A laser rangefinder based on leading edge moment identification technique, its characterized in that, laser rangefinder includes:
a photoelectric conversion circuit for converting the received laser signal into a first electrical signal;
the amplifying circuit is electrically coupled to the photoelectric conversion circuit and is used for amplifying the first electric signal and outputting a second electric signal, and the second electric signal sequentially has a front edge period and a back edge period;
the first threshold comparator is electrically coupled to the amplifying circuit and is used for comparing the voltage value of the leading edge of the second electric signal with a first threshold voltage in real time to obtain a first trigger signal;
the second threshold comparator is electrically coupled to the amplifying circuit and used for comparing the voltage value of the leading edge of the second electric signal with a second threshold voltage in real time to obtain a second trigger signal, and the second threshold voltage is greater than the first threshold voltage;
a timing circuit electrically coupled to the first threshold comparator and the second threshold comparator, for obtaining a first time and a second time corresponding to the first trigger signal and the second trigger signal; and
and the processor is used for receiving and processing the first time and the second time, and obtaining the wave slope of the laser signal according to the second time and the first time, so that the laser ranging value is compensated by using the wave slope.
2. The laser ranging device of claim 1, wherein the processor further obtains a start time from the second time and the first time, thereby compensating the laser ranging value with the start time and the wave slope.
3. The laser rangefinder apparatus of claim 1 wherein the photoelectric conversion circuit is a light detection device, the light detection device being a Photodiode (PIN), Avalanche Photo Diode (APD), or photomultiplier tube (PMT).
4. The laser ranging device as claimed in claim 1, wherein the amplifying circuit is a transimpedance amplifier or a differential amplifier.
5. The laser ranging device as claimed in claim 1 or 4, wherein the amplifying circuit is a single-stage amplifier or a plurality of cascaded amplifiers.
6. The laser ranging device as claimed in claim 1, wherein the first threshold comparator outputs the first trigger signal when a voltage value of a point on a leading edge of the second electrical signal rises to the first threshold voltage; when the voltage value of a certain point of the leading edge of the second electric signal rises to the second threshold voltage, the second threshold comparator outputs the second trigger signal.
7. The laser ranging device as claimed in claim 1, wherein the first threshold voltage and the second threshold voltage are generated by a single voltage source through resistance division.
8. The laser ranging device as claimed in claim 1, wherein the first threshold voltage and the second threshold voltage are separately generated by different voltage sources, respectively.
9. The laser ranging device as claimed in claim 1, wherein the first threshold comparator and the second threshold comparator are integrated in a same control chip, and the first threshold voltage and the second threshold voltage are internal reference voltages of the control chip.
10. The laser rangefinder apparatus of claim 1 further comprising two D-flip-flops disposed between the first threshold comparator and the processor and between the second threshold comparator and the processor, respectively.
11. The laser ranging device as claimed in claim 1, further comprising a third threshold comparator electrically coupled to the amplifying circuit for comparing the voltage value of the leading edge of the second electrical signal with a third threshold voltage in real time to obtain a third trigger signal,
the processor is configured to receive the first time, the second time, and a third time corresponding to the third trigger signal, and perform curve fitting using the first time, the second time, and the third time to obtain the waveform slope of the laser signal.
12. The laser ranging device of claim 1 wherein the processor is a digital signal processor, a micro control unit, a field programmable gate array or a complex programmable logic device and the processor has built in firmware that compensates the laser ranging values and calculates the reflectivity of the target object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620845160.0U CN205992055U (en) | 2016-08-05 | 2016-08-05 | A kind of laser ranging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620845160.0U CN205992055U (en) | 2016-08-05 | 2016-08-05 | A kind of laser ranging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205992055U true CN205992055U (en) | 2017-03-01 |
Family
ID=58105994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620845160.0U Active CN205992055U (en) | 2016-08-05 | 2016-08-05 | A kind of laser ranging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205992055U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054205A (en) * | 2016-08-05 | 2016-10-26 | 上海思岚科技有限公司 | Laser range finding device and laser range finding method thereof |
| CN107450081A (en) * | 2017-08-14 | 2017-12-08 | 成都微光云科技有限公司 | A kind of zero blind area range-measurement system |
| CN107843903A (en) * | 2017-10-27 | 2018-03-27 | 天津津航技术物理研究所 | A kind of more threshold values TDC high-precision lasers pulse ranging methods |
| CN108401444A (en) * | 2017-03-29 | 2018-08-14 | 深圳市大疆创新科技有限公司 | A kind of laser radar and the Method Of Time Measurement based on laser radar |
| CN108896979A (en) * | 2018-07-13 | 2018-11-27 | 中山大学 | A kind of the pulse lidar reception circuit and system of ultra-wide injection measurement range |
| CN110231089A (en) * | 2019-05-24 | 2019-09-13 | 武汉大学 | The active hot spot energy-probe of spaceborne laser altimeter system instrument and array |
| CN111239707A (en) * | 2018-11-28 | 2020-06-05 | 湖北华中光电科技有限公司 | Human eye safety double-wave gate laser detection device |
| CN112711010A (en) * | 2021-01-26 | 2021-04-27 | 上海思岚科技有限公司 | Laser ranging signal processing device, laser ranging equipment and corresponding method thereof |
-
2016
- 2016-08-05 CN CN201620845160.0U patent/CN205992055U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054205A (en) * | 2016-08-05 | 2016-10-26 | 上海思岚科技有限公司 | Laser range finding device and laser range finding method thereof |
| CN108401444A (en) * | 2017-03-29 | 2018-08-14 | 深圳市大疆创新科技有限公司 | A kind of laser radar and the Method Of Time Measurement based on laser radar |
| CN107450081A (en) * | 2017-08-14 | 2017-12-08 | 成都微光云科技有限公司 | A kind of zero blind area range-measurement system |
| CN107450081B (en) * | 2017-08-14 | 2019-09-06 | 上海擎朗智能科技有限公司 | A kind of zero blind area range-measurement system |
| CN107843903A (en) * | 2017-10-27 | 2018-03-27 | 天津津航技术物理研究所 | A kind of more threshold values TDC high-precision lasers pulse ranging methods |
| CN107843903B (en) * | 2017-10-27 | 2021-05-11 | 天津津航技术物理研究所 | Multi-threshold TDC high-precision laser pulse distance measuring method |
| CN108896979A (en) * | 2018-07-13 | 2018-11-27 | 中山大学 | A kind of the pulse lidar reception circuit and system of ultra-wide injection measurement range |
| CN108896979B (en) * | 2018-07-13 | 2021-09-21 | 中山大学 | Pulse laser radar receiving circuit and system with ultra-wide single-shot measurement range |
| CN111239707A (en) * | 2018-11-28 | 2020-06-05 | 湖北华中光电科技有限公司 | Human eye safety double-wave gate laser detection device |
| CN111239707B (en) * | 2018-11-28 | 2023-02-03 | 湖北华中长江光电科技有限公司 | Human eye safety double-wave gate laser detection device |
| CN110231089A (en) * | 2019-05-24 | 2019-09-13 | 武汉大学 | The active hot spot energy-probe of spaceborne laser altimeter system instrument and array |
| CN112711010A (en) * | 2021-01-26 | 2021-04-27 | 上海思岚科技有限公司 | Laser ranging signal processing device, laser ranging equipment and corresponding method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205992055U (en) | A kind of laser ranging system | |
| CN106054205A (en) | Laser range finding device and laser range finding method thereof | |
| CN106019300A (en) | Laser ranging device and laser ranging method thereof | |
| CN207601308U (en) | A kind of laser ranging system | |
| CN108513618B (en) | Pulse information measuring method, related device and mobile platform | |
| US11022680B2 (en) | Distance measuring device with SPAD array and range walk compensenation | |
| CN107957582B (en) | Distance measuring device and distance measuring method based on constant threshold discrimination method | |
| US11725935B2 (en) | Distance meter comprising SPAD arrangement for consideration of multiple targets | |
| CN106772404B (en) | Laser radar ranging device and method | |
| CN109459757A (en) | A kind of short distance dynamic object pulse laser laser welder and measurement method | |
| CN110261864A (en) | A kind of pulsed laser ranging system echo signal processing equipment and method | |
| CN107632298B (en) | High-sensitivity receiving circuit applied to pulse type laser radar system | |
| CN108919282A (en) | A kind of laser radar signal moment identification system | |
| CN107843903B (en) | Multi-threshold TDC high-precision laser pulse distance measuring method | |
| WO2017221909A1 (en) | Distance measuring device | |
| KR102019382B1 (en) | Distance detection sensor and operating method thereof | |
| CN114637021B (en) | Sub-centimeter-level full-waveform laser radar ranging method and device | |
| CN115343693A (en) | Laser ranging method and system based on pulse width compensation | |
| US20230288538A1 (en) | Laser receiving system and laser ranging system | |
| CN211348623U (en) | Laser radar signal noise reduction device | |
| CN111273309B (en) | Method for obtaining target distance | |
| US11415682B1 (en) | Lidar receiver system with ambient-light compensation and threshold adjustment | |
| CN112711010A (en) | Laser ranging signal processing device, laser ranging equipment and corresponding method thereof | |
| KR102018158B1 (en) | Distance Measuring Apparatus, Optical Transceiver, and Moving Object | |
| CN108931779B (en) | Time identification device based on laser radar and time identification method of laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant |