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
- moment
- signal
- laser ranging
- threshold
- telecommunication
- 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
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
This utility model is related to a kind of laser ranging technique, more particularly, to a kind of laser based on forward position moment authentication technique
Range unit.
Background technology
In the prior art, laser range finder is mainly and is obtained apart from letter by the flight time of Laser Measurement pulse
Breath.For example, pulse type laser diastimeter adopts laser instrument as light source, using laser as carrier wave, according to time-of-flight, leads to
The time difference crossed between detection laser firing pulses and laser echo pulse carrys out measurement distance.Specifically, laser range finder includes
Generating laser and laser pickoff, from generating laser to spatial emission one pulse laser, this pulsed laser signal is beaten in mesh
After mark body surface, its echo-signal is captured by laser pickoff.By generating laser send laser signal moment and
The time difference that laser pickoff captured between the moment of echo can calculate target object to the distance of laser range finder, and it is public
Formula is expressed as：L=C*T/2, L are the distance of target object to laser range finder, and C is the light velocity, and T is the time in above-mentioned two moment
Difference.Understand from the equations above, the measuring speed of impulse method is exceedingly fast, and is equal to the light velocity, therefore extremely sensitive to the error of time.
In order to eliminate rise time (rising edge) of laser echo signal and range value (intensity) is different and the Time walk that causes and making an uproar
The time jitter that sound causes, tellurometer needs using moment authentication technique.
At present, the moment authentication technique of conventional pulsed laser ranging has three kinds：One kind is lithography during forward position, and another kind is
Constant fraction discriminator method, another is lithography during high pass.Taking forward position moment method as a example, analogue echoes signal is converted to one by it to be had
The digital logic signal of temporal information, when the amplitude of signal is less than a certain given threshold value, does not export trigger；When signal
When amplitude reaches given threshold value, just export the trigger of fixed amplitude.With constant fraction discriminator method and high pass when lithography compared with, the moment
Discriminator circuit structure is simple, cheap, strong anti-interference performance, but its precision is not high.For example, due to the difference of target surface characteristic
Different (as roughness, gradient etc.), often causes broadening or the deformation of echo impulse；Meanwhile, laser echo pulse is in transmission
During be easily subject to decay and the interference of the object such as dust in air, smog, steam, echo waveform can be opened up to some extent
Width and distortion.Additionally, the surface reflectivity of target object also makes change the time of advent of forward position threshold value so that exporting
Time produces difference, eventually affects the certainty of measurement of laser range finder.
In view of this, how to design a kind of laser ranging system based on forward position moment authentication technique, do not dramatically increasing
Improve certainty of measurement during laser ranging on the basis of system complexity and cost, thus overcome prior art drawbacks described above or
Deficiency, is a person skilled problem urgently to be resolved hurrily in the industry.
Utility model content
For the laser ranging system of the prior art drawbacks described above existing in measurement distance, this utility model provides
A kind of improve range accuracy, the laser ranging system based on forward position moment authentication technique.
According to one side of the present utility model, provide a kind of laser ranging system based on forward position moment authentication technique,
Including：
Photoelectric switching circuit, for being converted to first signal of telecommunication by the laser signal being received；
Amplifying circuit, is electrically coupled to described photoelectric switching circuit, for described first signal of telecommunication is amplified processing,
And export second signal of telecommunication, during described second signal of telecommunication has a forward position successively and during a tailing edge；
First threshold comparator, is electrically coupled to described amplifying circuit, for by the voltage in described second signal of telecommunication forward position
Value is compared in real time with a first threshold voltage, obtains one first trigger；
Second Threshold comparator, is electrically coupled to described amplifying circuit, for by the voltage in described second signal of telecommunication forward position
Value is compared in real time with a second threshold voltage, obtains one second trigger, and this second threshold voltage is more than this first threshold
Threshold voltage；
Timing circuit, is electrically coupled to described first threshold comparator and described Second Threshold comparator, for obtain with
Described first trigger first moment corresponding with described second trigger and the second moment；And
Processor, for receiving and processing described first moment and described second moment, and according to described second moment with
Described first moment obtains the waveform slope of described laser signal, thus being mended to laser ranging value using described waveform slope
Repay.
An embodiment wherein, when described processor obtains initial always according to described second moment and described first moment
Carve, thus being compensated to described laser ranging value using described initial time and described waveform slope.
An embodiment wherein, described photoelectric switching circuit is light-detecting device, and described light-detecting device is photoelectricity two
Pole pipe (PIN), avalanche mode photodiodes (APD) or photomultiplier tube (PMT).
An embodiment wherein, amplifying circuit is trans-impedance amplifier or difference amplifier.
An embodiment wherein, described amplifying circuit is the amplifier of one-stage amplifier or multiple cascade.
An embodiment wherein, when the magnitude of voltage of certain point in described second signal of telecommunication forward position rises to described first threshold electricity
During pressure, described first threshold comparator exports described first trigger；Voltage when certain point in described second signal of telecommunication forward position
When value rises to described second threshold voltage, described Second Threshold comparator exports described second trigger.
An embodiment wherein, described first threshold voltage and described second threshold voltage are passed through by single voltage source
Electric resistance partial pressure produces.
An embodiment wherein, described first threshold voltage and described second threshold voltage are respectively by different voltage source lists
Solely produce.
An embodiment wherein, described first threshold comparator and described Second Threshold comparator are integrated in same control
Chip, and described first threshold voltage and internal reference voltage that described second threshold voltage is described control chip.
An embodiment wherein, described laser ranging system also includes two d type flip flops, is respectively arranged at described first
Between threshold comparator and described processor and between described Second Threshold comparator and described processor.
An embodiment wherein, described laser ranging system also includes the 3rd threshold comparator, is electrically coupled to described
Amplifying circuit, for being compared the magnitude of voltage in described second signal of telecommunication forward position in real time with one the 3rd threshold voltage, obtains one
3rd forward position trigger, described processor is used for receiving described first moment, described second moment and touches with the described 3rd
Signal the 3rd corresponding moment, and carried out curve fitting described in acquisition using the first moment, the second moment and the 3rd moment
The described waveform slope of laser signal.
An embodiment wherein, described processor is digital signal processor, micro-control unit, field-programmable gate array
Row or CPLD, and this processor built-in laser ranging value is compensated and calculate target object reflection
The firmware of rate.
Using laser ranging system of the present utility model, photoelectric switching circuit is used for being converted to the laser signal being received
First signal of telecommunication, first signal of telecommunication is amplified processing and exporting second signal of telecommunication by amplifying circuit, first threshold comparator and
The magnitude of voltage in the second signal of telecommunication forward position is entered by Second Threshold comparator respectively with a first threshold voltage and a second threshold voltage
Row compares in real time, obtains the first trigger and the second trigger, and timing circuit is obtained and touched with the first trigger and second
Signal the first corresponding moment and the second moment, processor obtains the ripple of laser signal according to the second moment and the first moment
Shape slope, thus compensated to laser ranging value using waveform slope.Compared to prior art, this utility model passes through forward position
The multi thresholds of moment authentication technique relatively obtain multiple rough moment value, and be sent to processor in case calculate these rough when
Slope relationship between quarter value and then draw the higher laser ranging value of precision.Additionally, this utility model also can get object
The surface reflectivity of body, circuit structure is simple, strong adaptability, can be widely applied to laser radar or diastimeter.
Brief description
Reader is after having read specific embodiment of the present utility model referring to the drawings, it will more clearly understand this reality
With new various aspects.Wherein,
Fig. 1 is shown according to an embodiment of the application, the knot of the laser ranging system based on forward position moment authentication technique
Structure block diagram；
Fig. 2 illustrates the circuit connection diagram of illustrative examples of the laser ranging system of Fig. 1；
Fig. 3 illustrates using forward position, existing laser ranging system differentiates that the moment carries out the waveform diagram of laser ranging；
Fig. 4 illustrates using forward position, the laser ranging system of the application differentiates that the moment carries out the waveform diagram of laser ranging；
And
Fig. 5 is shown according to another embodiment herein, the laser distance measurement method based on forward position moment authentication technique
FB(flow block).
Specific embodiment
In order that techniques disclosed in this application content is more detailed and complete, can refer to accompanying drawing and of the present utility model
Following various specific embodiments, in accompanying drawing, identical labelling represents same or analogous assembly.However, the ordinary skill of this area
Personnel should be appreciated that embodiment provided hereinafter is not used for limiting the scope that this utility model is covered.Additionally, accompanying drawing
It is used only for schematically being illustrated, and drawn not according to its life size.
With reference to the accompanying drawings, the specific embodiment of this utility model various aspects is described in further detail.
Fig. 1 is shown according to an embodiment of the application, the knot of the laser ranging system based on forward position moment authentication technique
Structure block diagram.
As described in the background section, although existing moment discrimination circuit structure is simple, cheap, interference free performance
By force, but after the laser pulse of transmitting and target object interaction, because the difference of target surface characteristic is (as roughness, inclination
Degree etc.), often cause broadening or the deformation of echo impulse；And, laser echo pulse is easily subject to sky in transmitting procedure
The decay of the object such as dust, smog, steam and interference in gas, echo waveform can be by broadening to some extent and distortion；Meanwhile, mesh
The reflectance of mark object also makes change the time of advent of forward position threshold value, also so that the time of output produces difference, impact
Range accuracy.
For the problems referred to above, this utility model provides a kind of slope-compensation formula laser based on forward position moment authentication technique
Range unit.With reference to Fig. 1, in this embodiment, laser ranging system of the present utility model includes photoelectric switching circuit 10, puts
Big circuit 12, first threshold comparator 141, Second Threshold comparator 143, timing circuit 16 and processor 18.For example, amplify electricity
Road 12 is trans-impedance amplifier or difference amplifier.Further, amplifying circuit 12 can be the amplification of one-stage amplifier or multiple cascade
Device.
Specifically, photoelectric switching circuit 10 is as electrooptical device, for being converted to the laser signal being received
First signal of telecommunication.For example, photoelectric switching circuit 10 can be light-detecting device, such as photodiode (PIN), avalanche type photoelectricity two
Pole pipe (APD) or photomultiplier tube (PMT).Amplifying circuit 12 is coupled to the outfan of photoelectric switching circuit 10.Amplifying circuit 12
For first signal of telecommunication is amplified processing and export second signal of telecommunication.During second signal of telecommunication has a forward position successively and one
During tailing edge.
First threshold comparator 141 is electrically coupled to amplifying circuit 12.First threshold comparator 141 is used for the second telecommunications
The magnitude of voltage in number forward position is compared in real time with a first threshold voltage, obtains one first trigger.Second Threshold comparator
143 are electrically coupled to amplifying circuit 12.Second Threshold comparator 143 is used for the magnitude of voltage in the second signal of telecommunication forward position and one second
Threshold voltage is compared in real time, obtains one second trigger, and this second threshold voltage is more than this first threshold voltage.Preferably
Ground, when the magnitude of voltage of certain point in the second signal of telecommunication forward position rises to first threshold voltage, first threshold comparator 141 output first
Trigger；When the magnitude of voltage of certain point in the second signal of telecommunication forward position continues to rise to second threshold voltage from first threshold voltage,
Second Threshold comparator 143 exports the second trigger.Here, first threshold voltage and second threshold voltage can be by single
Voltage source is produced by electric resistance partial pressure.Or, first threshold voltage and second threshold voltage also can be respectively by different voltage source lists
Solely produce.It is preferred that first threshold comparator 141 and Second Threshold comparator 143 are integrated in same control chip, and the first threshold
Threshold voltage and second threshold voltage are the internal reference voltage of control chip.
Timing circuit 16 is electrically coupled to first threshold comparator 141 and Second Threshold comparator 143, for obtaining and the
The first corresponding moment of one trigger and second moment corresponding with the second trigger.Processor 18 and timing electricity
Road 16 is connected.Processor 18 receives and processes the first moment and the second moment, and is obtained with the first moment according to the second moment
The waveform slope of laser signal, thus compensated to laser ranging value using waveform slope.
In a specific embodiment, laser ranging system of the present utility model also includes the 3rd threshold comparator.3rd threshold value
Comparator is electrically coupled to amplifying circuit 12, for the magnitude of voltage in the second signal of telecommunication forward position and one the 3rd threshold voltage are carried out reality
When compare, obtain one the 3rd trigger.Timing circuit 16 obtains corresponding according to the first trigger and the second trigger
The first moment and the second moment.Processor 18 is used for receiving the first moment, the second moment and relative with the 3rd trigger
The 3rd moment answered, and using the first moment, the second moment and the 3rd moment carry out curve fitting obtain laser signal waveform
Slope.For example, processor 18 can be digital signal processor (digital signal processor, DSP), micro-control unit
(micro controller unit, MCU), field programmable gate array (field programmable gate array,
) or CPLD (complex programmable logic device, CPLD) FPGA.
In a specific embodiment, processor 18 obtains initial time always according to the second moment and the first moment, thus utilizing
Initial time and waveform slope compensate to laser ranging value.
Additionally, being the bad phenomenon avoiding the occurrence of signal false triggering, laser ranging system of the present utility model also can arrange D
Trigger, be located at respectively between first threshold comparator 141 and processor 18, Second Threshold comparator 143 and processor 18 it
Between.
Fig. 2 illustrates the circuit connection diagram of illustrative examples of the laser ranging system of Fig. 1.
With reference to Fig. 2, in this embodiment, the function of photoelectric switching circuit is achieved by photodiode.Amplifying circuit
12 amplifiers including two cascades, i.e. pre-amplifier and main amplifier cascade, the input of main amplifier is electrically connected to
The outfan of pre-amplifier.First threshold comparator 141 and the equal electric property coupling of the respective input of Second Threshold comparator 143
Outfan to amplifying circuit 12.If amplifying circuit 12 is made up of the pre-amplifier cascading and main amplifier, main amplifier
Outfan be connected with first threshold comparator 141 and the respective normal phase input end of Second Threshold comparator 143.First threshold electricity
Pressure and second threshold voltage are realized by divider resistance respectively and are electrically coupled to the inverting input of respective comparator.Timing electricity
Road 16 is connected with first threshold comparator 141 and Second Threshold comparator 143, for according to the first trigger and the second triggering
Signal is recording corresponding two moment point.Processor 18 obtains the waveform of laser signal further according to the second moment and the first moment
Slope.It is preferred that timing circuit 16 can be integrated in the inside of processor 18, consequently, it is possible to timing circuit 16 and processor 18 it
Between signal transmission can carry out in device or chip internal, thus can the transmission speed of promotion signal and treatment effeciency.
Fig. 3 illustrates using forward position, existing laser ranging system differentiates that the moment carries out the waveform diagram of laser ranging.Fig. 4 shows
Go out laser ranging system of the present utility model and differentiate that the moment carries out the waveform diagram of laser ranging using forward position.
Research shows, when laser ranging system and target object at a distance of same apart from when, the surface reflectivity of target object
Bigger, return laser beam is stronger, and the steep of echo-signal is bigger, i.e. slope is bigger.As shown in figure 3, in the prior art,
Laser ranging adopts fixed threshold voltage, calculates dress by the time difference between forward position moment of echo-signal and initial time
The distance between put with target object.However, when the forward position that can be seen that different echo strengths from Fig. 3 (a)～Fig. 3 (d) differentiates
There is larger error quarter, and this error is on greatly affecting range accuracy.By contrast, as shown in Fig. 4 (a)～Fig. 4 (d),
Laser ranging circuit of the present utility model to respectively obtain the first moment and second moment of same echo-signal using dual threshold,
And obtain the waveform slope of laser signal by this two moment, and then accurately calculate the corresponding moment using waveform slope
Value, thus the precision of improving laser range finding.
Fig. 5 is shown according to another embodiment herein, the laser distance measurement method based on forward position moment authentication technique
FB(flow block).
Specifically, in step sl, photoelectric switching circuit 10 receives a laser signal and is converted into the first telecommunications
Number.In step s3, amplifying circuit 12 is amplified to first signal of telecommunication from photoelectric switching circuit 10 processing to export the
Two signals of telecommunication.During second signal of telecommunication has a forward position successively and during a tailing edge.Then, in step s 5, first threshold
Comparator 141 and Second Threshold comparator 143 by the magnitude of voltage in the second signal of telecommunication forward position respectively with a first threshold voltage and one
Second threshold voltage is compared in real time, obtains one first trigger and one second trigger, and this second threshold voltage is big
In this first threshold voltage.Then, in the step s 7, timing circuit 16 acquisition is each with the first trigger and the second trigger
Self-corresponding first moment and the second moment.Finally, in step s 9, when processor 18 receives and processes the first moment and second
Carve, and obtain the waveform slope of laser signal according to the second moment and the first moment, thus using waveform slope to laser ranging
Value compensates.Additionally, the method also can calculate the reflectance of the object of reflected laser signals according to waveform slope.For example, when
When the distance between device and target object are identical, the slope such as obtaining is larger, then explanation echo-signal is stronger, and object is also described
Reflectance is larger；If conversely, the slope obtaining is less, illustrating that echo-signal is weaker, then the reflectance of object is relatively low.
Using laser ranging system of the present utility model, photoelectric switching circuit is used for being converted to the laser signal being received
First signal of telecommunication, first signal of telecommunication is amplified processing and exporting second signal of telecommunication by amplifying circuit, first threshold comparator and
The magnitude of voltage in the second signal of telecommunication forward position is entered by Second Threshold comparator respectively with a first threshold voltage and a second threshold voltage
Row compares in real time, obtains the first trigger and the second trigger, and timing circuit is obtained and touched with the first trigger and second
Signal the first corresponding moment and the second moment, processor obtains the ripple of laser signal according to the second moment and the first moment
Shape slope, thus compensated to laser ranging value using waveform slope.Compared to prior art, this utility model passes through forward position
The multi thresholds of moment authentication technique relatively obtain multiple rough moment value, and be sent to processor in case calculate these rough when
Slope relationship between quarter value and then draw the higher laser ranging value of precision.Additionally, this utility model also can get object
The surface reflectivity of body, circuit structure is simple, strong adaptability, can be widely applied to laser radar or diastimeter.
Above, describe specific embodiment of the present utility model with reference to the accompanying drawings.But, the ordinary skill in this area
Personnel, can also be to of the present utility model concrete it is understood that in the case of without departing from spirit and scope of the present utility model
Embodiment is made various changes and is replaced.These changes and replacement all fall in this utility model claims limited range
Interior.
Claims (12)
1. a kind of laser ranging system based on forward position moment authentication technique is it is characterised in that described laser ranging system includes：
Photoelectric switching circuit, for being converted to first signal of telecommunication by the laser signal being received；
Amplifying circuit, is electrically coupled to described photoelectric switching circuit, for being amplified processing described first signal of telecommunication and defeated
Go out second signal of telecommunication, during described second signal of telecommunication has a forward position successively and during a tailing edge；
First threshold comparator, is electrically coupled to described amplifying circuit, for by the magnitude of voltage in described second signal of telecommunication forward position with
One first threshold voltage is compared in real time, obtains one first trigger；
Second Threshold comparator, is electrically coupled to described amplifying circuit, for by the magnitude of voltage in described second signal of telecommunication forward position with
One second threshold voltage is compared in real time, obtains one second trigger, and this second threshold voltage is more than this first threshold electricity
Pressure；
Timing circuit, is electrically coupled to described first threshold comparator and described Second Threshold comparator, for obtain with described
First trigger, first moment corresponding with described second trigger and the second moment；And
Processor, for receiving and processing described first moment and described second moment, and according to described second moment with described
First moment obtained the waveform slope of described laser signal, thus being compensated to laser ranging value using described waveform slope.
2. laser ranging system according to claim 1 is it is characterised in that described processor is always according to described second moment
Obtain initial time with described first moment, thus using described initial time and described waveform slope to described laser ranging value
Compensate.
3. laser ranging system according to claim 1 is it is characterised in that described photoelectric switching circuit is photo-detector
Part, described light-detecting device is photodiode (PIN), avalanche mode photodiodes (APD) or photomultiplier tube (PMT).
4. laser ranging system according to claim 1 is it is characterised in that described amplifying circuit is trans-impedance amplifier or difference
Divide amplifier.
5. the laser ranging system according to claim 1 or 4 is it is characterised in that described amplifying circuit is one-stage amplifier
Or the amplifier of multiple cascade.
6. laser ranging system according to claim 1 is it is characterised in that work as certain point on described second signal of telecommunication forward position
Magnitude of voltage when rising to described first threshold voltage, described first threshold comparator exports described first trigger；When described
When the magnitude of voltage of certain point in the second signal of telecommunication forward position rises to described second threshold voltage, described Second Threshold comparator output is described
Second trigger.
7. laser ranging system according to claim 1 is it is characterised in that described first threshold voltage and described second
Threshold voltage is produced by electric resistance partial pressure by single voltage source.
8. laser ranging system according to claim 1 is it is characterised in that described first threshold voltage and described second threshold
Threshold voltage is individually produced by different voltage sources respectively.
9. laser ranging system according to claim 1 is it is characterised in that described first threshold comparator and described second
Threshold comparator is integrated in same control chip, and described first threshold voltage and described second threshold voltage are described control core
The internal reference voltage of piece.
10. laser ranging system according to claim 1 is it is characterised in that described laser ranging system also includes two D
Trigger, be respectively arranged between described first threshold comparator and described processor and described Second Threshold comparator with described
Between processor.
11. laser ranging systems according to claim 1 are it is characterised in that described laser ranging system also includes the 3rd
Threshold comparator, is electrically coupled to described amplifying circuit, for by the magnitude of voltage in described second signal of telecommunication forward position and one the 3rd threshold
Threshold voltage is compared in real time, obtains one the 3rd trigger,
Described processor is used for receiving described first moment, described second moment and corresponding with described 3rd trigger
3rd moment, and using described first moment, described second moment and described 3rd moment carry out curve fitting acquisition described swash
The described waveform slope of optical signal.
12. laser ranging systems according to claim 1 it is characterised in that described processor be digital signal processor,
Micro-control unit, field programmable gate array or CPLD, and this processor built-in to laser ranging value
Compensate and calculate the firmware of target object reflectance.
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 | |
| CN109085599B (en) | Distance measuring device with SPAD array and distance walk compensation | |
| US11725935B2 (en) | Distance meter comprising SPAD arrangement for consideration of multiple targets | |
| CN108387886A (en) | A kind of laser radar background dark noise response removing method and device | |
| CN110261864A (en) | A kind of pulsed laser ranging system echo signal processing equipment and method | |
| CN108919282A (en) | A kind of laser radar signal moment identification system | |
| US9417326B2 (en) | Pulsed light optical rangefinder | |
| CN106772404B (en) | Laser radar ranging device and method | |
| CN107632298B (en) | High-sensitivity receiving circuit applied to pulse type laser radar system | |
| CN107957582B (en) | Distance measuring device and distance measuring method based on constant threshold discrimination method | |
| CN109459757A (en) | A kind of short distance dynamic object pulse laser laser welder and measurement method | |
| CN108303690B (en) | Ranging method and ranging system for eliminating laser radar blind area | |
| CN107544072B (en) | High-precision distance measurement system and method with preset waveform matching | |
| CN105319556A (en) | Pulse laser rangefinder and implementation method thereof | |
| CN109581333A (en) | Laser radar reading circuit based on the reconstruct of pulse echo ultra-high speed sampling | |
| CN209356671U (en) | A kind of laser radar background dark noise response cancellation element | |
| CN114637021B (en) | Sub-centimeter-level full-waveform laser radar ranging method and device | |
| Xiao et al. | A continuous wavelet transform-based modulus maxima approach for the walk error compensation of pulsed time-of-flight laser rangefinders | |
| US20230288538A1 (en) | Laser receiving system and laser ranging system | |
| CN211348623U (en) | Laser radar signal noise reduction device | |
| CN101922918A (en) | Ambient light adaptive displacement measuring device and measuring method thereof | |
| CN111273309B (en) | Method for obtaining target distance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant |