CN206193241U - Range unit of three -dimensional laser - Google Patents
Range unit of three -dimensional laser Download PDFInfo
- Publication number
- CN206193241U CN206193241U CN201621052418.8U CN201621052418U CN206193241U CN 206193241 U CN206193241 U CN 206193241U CN 201621052418 U CN201621052418 U CN 201621052418U CN 206193241 U CN206193241 U CN 206193241U
- Authority
- CN
- China
- Prior art keywords
- unit
- signal
- laser
- moment
- amplification
- 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
- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 230000003321 amplification Effects 0.000 claims description 27
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 27
- 230000002123 temporal effect Effects 0.000 claims description 10
- 230000005693 optoelectronics Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000012545 processing Methods 0.000 abstract description 2
- 230000008054 signal transmission Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 210000001367 artery Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 238000004989 laser desorption mass spectroscopy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Abstract
The utility model relates to a range unit of three -dimensional laser, the on -line screen storage device comprises a base, the photoelectric conversion array unit for receive the laser start signal's of a plurality of different angles backward energy respectively, and convert a plurality of backward energies into corresponding echo pulse signal, the multichannel amplifying unit for carry out multi -stage amplifiers to a plurality of echo pulse signal respectively, moment discrimination unit for carry out the moment to a plurality of multi -stage amplifiers signals respectively and distinguish the processing, the timing unit for select a plurality of multi -stage amplifiers signals, and gather the initial time information of the laser start signal transmission of every angle and multi -stage amplifiers's timing information, the main control unit is used for the basis timing information confirms the distance of determinand. The utility model discloses can realize accurate range finding, guarantee far, range accuracy closely is unanimous, improves the distance measurement capacity of system.
Description
Technical field
The utility model is related to laser detection field, more particularly to a kind of range unit of three-dimensional laser.
Background technology
With continuing to develop for laser measuring technology, three-dimensional laser radar technology has also obtained development at full speed.Laser thunder
Just gradually converted from military field to civil area up to technology, in airborne, unmanned, vehicle detection, harbour anticollision, tunnel
The industries such as detection, the manufacturing are widely used.Laser radar technique based on pulsed and phase type metering system,
And pulsed metering system has far measuring distance, strong interference immunity, does not need the advantages such as cooperative target, will in centimetre class precision
The detection field asked is widely used.Laser radar technique is just gradually converted from military field to civil area,
The industries such as airborne, unmanned, vehicle detection, harbour anticollision, Tunnel testing, the manufacturing are widely used.
The range capability of pulse type laser radar depends on laser power, the times magnification of receiving terminal amplifying circuit of transmitting terminal
The factors such as the threshold voltage of number and moment discrimination circuit.When the signal amplitude of amplifying circuit is capable of triggering moment discriminator circuit
During threshold value, then current distance can be obtained；Otherwise can not then obtain current distance.Therefore in order to meet remote range finding, amplify
The multiplication factor of circuit is generally large.But due to closely when the light energy that receives it is strong, amplify signal saturation；The remote time
Energy is weak, amplifies signal unsaturation, therefore the burst length difference triggered under same threshold value is larger, it is impossible to precisely found range.
Utility model content
For the low defect of existing LDMS range accuracy, the utility model proposes a kind of survey of three-dimensional laser
Away from device, including：
Laser emission array element, for the laser initial signal to the multiple difference angles of determinand transmitting；
Photoelectric conversion array unit, the echo energy of the laser initial signal for receiving the multiple different angles respectively
Amount, and multiple backward energies are converted into corresponding echo pulse signal；
Multichannel amplifying unit, for carrying out multistage amplification to multiple echo pulse signals respectively, to obtain multiple
Multistage amplifies signal；
Moment discriminating unit is more to obtain for carrying out the treatment of discriminating constantly to the multiple multistage signal that amplifies respectively
The individual geostationary pulse signal of temporal information；
Timing unit, for selecting the multiple multistage signal that amplifies, and gathers the laser starting of each angle
The start time information of signal transmitting and the multistage clocking information for amplifying；
Main control unit, the distance for determining the determinand according to the clocking information.
Alternatively, the Laser emission array element and the moment discriminating unit are connected with the timing unit；
The photoelectric conversion array unit is connected by the multichannel amplifying unit with the moment discriminating unit；
The timing unit is connected with the main control unit.
Alternatively, the Laser emission array element includes N number of laser emission element, described different vertical for launching respectively
The laser initial signal of squareness.
Alternatively, the photoelectric conversion array unit includes N number of photoelectric conversion unit, described different vertical for receiving respectively
The backward energy of the laser initial signal of squareness, and the backward energy is converted into corresponding echo pulse signal.
Alternatively, the multichannel amplifying unit includes N number of passage, is risen for the laser respectively to the different angles
The corresponding echo pulse signal of beginning signal carries out M grades of amplification, to obtain M grades of amplification signal of N number of passage.
Alternatively, the moment discriminating unit includes N*M moment identification module, for believing described amplifications at different levels respectively
The treatment of discriminating constantly number is carried out, to obtain the geostationary pulse signal of temporal information；
The timing unit includes M channel selecting module and the M clocking information acquisition module of time-sharing multiplex, described
M channel selecting module is used to select M grades of each passage to amplify signal；The clocking information of the M time-sharing multiplex is adopted
Collection module is used to gather the start time information and the M grades of timing letter of amplification of the laser initial signal transmitting of each passage
Breath.
Alternatively, the amplification output signal of at least one-level is unsaturated in described each amplifying unit.
Alternatively, the moment identification module uses high pass capacitance-resistance mode or constant fraction discriminator mode.
Alternatively, described device also includes:
Electric motor units, are rotated in the direction launched perpendicular to laser signal with constant rotating speed, for realizing scanning
Range finding.
Alternatively, the electric motor units are connected with the main control unit.
The range unit of three-dimensional laser of the present utility model, by the laser starting for launching multiple difference angles to determinand
Signal, and receive the backward energy of the laser initial signal of the multiple different angles respectively, and by multiple backward energies
Corresponding echo pulse signal is converted to, multistage amplification then is carried out to multiple echo pulse signals respectively, it is many to obtain
It is individual it is multistage amplify signal, then the treatment of discriminating constantly is carried out to the multiple multistage signal that amplifies respectively, believed with obtaining multiple times
Geostationary pulse signal is ceased, and then the multiple multistage signal that amplifies is selected, and gather the laser of each angle
The start time information of initial signal transmitting and the multistage clocking information for amplifying, it is described to be measured to be determined according to the clocking information
The distance of thing, can realize precisely range finding, it is ensured that remote, range accuracy closely is consistent, can improve the range capability of system.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are these
Some embodiments of utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the range unit of the three-dimensional laser of the utility model one embodiment；
Fig. 2 differentiates the schematic diagram of principle for the moment of the utility model one embodiment；
Fig. 3 is the schematic flow sheet of the distance-finding method of the three-dimensional laser of the utility model another embodiment；
Fig. 4 is the signal waveform sampled result schematic diagram of the utility model one embodiment.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is explicitly described to the technical scheme in the utility model embodiment, it is clear that described reality
It is a part of embodiment of the utility model to apply example, rather than whole embodiments.Based on the embodiment in the utility model, ability
The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality new
The scope of type protection.
Fig. 1 is the structural representation of the range unit of the three-dimensional laser of the utility model one embodiment, as shown in figure 1,
The device includes：
Laser emission array element 101, for the laser initial signal to the multiple difference angles of determinand transmitting；
Photoelectric conversion array unit 102, the echo of the laser initial signal for receiving the multiple different angles respectively
Energy, and multiple backward energies are converted into corresponding echo pulse signal；
Multichannel amplifying unit 103 is more to obtain for carrying out multistage amplification to multiple echo pulse signals respectively
Individual multistage amplification signal；
Moment discriminating unit 104, for carrying out the treatment of discriminating constantly to the multiple multistage signal that amplifies respectively, to obtain
Multiple geostationary pulse signals of temporal information；
Timing unit 105, rises for selecting the multiple multistage signal that amplifies, and gathering the laser of each angle
The start time information of beginning signal transmitting and the multistage clocking information for amplifying；
Main control unit 106, the distance for determining the determinand according to the clocking information.
As shown in figure 1, as the preferred of the present embodiment, Laser emission array element 101 and moment discriminating unit 104 with
Timing unit 105 is connected；
Photoelectric conversion array unit 102 is connected by multichannel amplifying unit 103 with moment discriminating unit 104；Timing list
Unit 105 is connected with main control unit 106.
Specifically, Laser emission array element 101 includes N number of laser emission element, for launching different to measured object
The laser signal of vertical angle；Photoelectric conversion array unit 102 includes N number of photoelectric conversion unit, swashs for receiving different angles
The backward energy of light, and light energy is converted into electric signal；Multichannel amplifying unit 103 includes the amplifying unit of N number of passage, uses
It is amplified in the N roads electric signal that will be received, and each passage is constituted by M grades of amplification module；Moment discriminating unit 104
Including N*M moment identification module, amplifying signal to M grades of N number of passage respectively carries out the treatment of discriminating constantly, obtains temporal information
Geostationary pulse signal, and the pulse signal after treatment is sent to timing unit；Timing unit 105 includes M passage
Selecting module, the M grades of amplification signal for gating each passage, also including the M clocking information acquisition module of time-sharing multiplex, uses
In gather each passage Laser emission start time information and M grade amplify clocking information, and by clocking information send to
Main control unit；Main control unit 106 calculates the distance of measured object according to the clocking information for receiving.
Wherein, at least one-level amplifies output signal in M grades of amplifying circuit of each passage of multichannel amplifying unit 103
It is unsaturated；
Further, as the preferred of the present embodiment, the moment identification module in moment discriminating unit 104 can use high pass
The mode of capacitance-resistance or the mode of constant fraction discriminator.
Further, as the preferred of above-described embodiment, the device can also include electric motor units 107, the electric motor units
Rotated with constant rotating speed in the direction launched perpendicular to laser signal, realized that 3-D scanning is found range.
As shown in figure 1, used as the preferred of the present embodiment, electric motor units 107 are connected with main control unit 106.
The range unit of the three-dimensional laser of the present embodiment, by the laser starting letter for launching multiple difference angles to determinand
Number, and the backward energy of the laser initial signal of the multiple different angles is received respectively, and multiple backward energies are turned
Corresponding echo pulse signal is changed to, multistage amplification then is carried out to multiple echo pulse signals respectively, to obtain multiple
Multistage amplifies signal, then to the multiple multistage signal that amplifies carries out the treatment of discriminating constantly respectively, to obtain multiple temporal informations
Geostationary pulse signal, and then the multiple multistage signal that amplifies is selected, and gather the laser of each angle
The start time information of beginning signal transmitting and the multistage clocking information for amplifying, the determinand is determined with according to the clocking information
Distance, precisely range finding can be realized, it is ensured that remote, range accuracy closely is consistent, can improve the range capability of system.
The utility model is illustrated with a specific embodiment below, but does not limit protection domain of the present utility model.
Fig. 2 differentiates the schematic diagram of principle for the moment of the utility model one embodiment, as shown in Fig. 2 amplifying signal one
201st, it is the same amplification signal returned apart from lower varying strength light energy to amplify signal 2 202, amplify signal 3 203, wherein
Amplify signal 1 and amplify the unsaturation of signal 2 202, the corresponding time value of peak point of two signals is constant, amplifies signal
3 203 saturations, the corresponding time shaft of peak point is a period of time region；Fig. 3 show three classes and amplifies signal 201,202 and 203
By the moment distinguishing signal 204,205 and 206 formed after moment discrimination circuit, the moment identification method for being used hinders for high pass
Hold, unipolar signal 201,202 and 203 is converted into bipolar signal 204,205,206, due to amplifying signal 1 and putting
The peak point of Large-Signal S 202 corresponding time overlaps, therefore by after moment discrimination circuit, the zero crossing time of 204 and 205 signals
Overlap, and the signal saturation of saturation signal 203, moved after peak point, by after moment discrimination circuit, 206 signal zero is rearward.Figure
2 show moment distinguishing signal 204,205,206 by the signal 207,208 and 209 after comparator, wherein after 207 and 208
Prolong and essentially coincide, the time correspondence 204 and 205 the peak value zero point moment, 209 it is rear along delayed.
It is understood that the moment identification method that the moment discriminating unit of the present embodiment is used is high pass capacitance-resistance, ability
The technical staff in domain is it is readily conceivable that using other moment identification methods, such as constant fraction discriminator, both technologies belong to public affairs
Know technology, the application is not defined to this.
The three-dimensional laser range unit of the present embodiment amplifies the characteristic that signal peak value point does not offset by using unsaturation, adopts
With the moment discriminating unit, it is possible to achieve the accurate range finding of unsaturated signal.
Fig. 3 shows the schematic flow sheet of the distance-finding method of the three-dimensional laser of the utility model another embodiment；Fig. 4 shows
The signal waveform sampled result schematic diagram of the utility model one embodiment is gone out.
The specific steps of the three-dimensional distance-finding method of the present embodiment are expanded on further with reference to Fig. 3, Fig. 4, but are not used in limit
Determine the utility model.
Assuming that the three-dimensional laser emission array unit includes 2 road laser emitting modules, then 2 tunnel photoelectric conversion array moulds are corresponded to
Block, 2 road amplification modules；
Wherein, amplification module specifically can be made up of 4 grades of amplifications, then moment discriminating unit differentiates mould by 2*4=8 moment
Block is constituted, and timing unit has 2 channel selection units and 4 timing modules.
On this basis, the step of three-dimensional distance-finding method of the present embodiment is as shown in Figure 3：
S1：300,4 clocking information collections of the transmitting laser of transmitter module 1 initial signal of Laser emission array element 101
Module obtains the temporal information t10 of laser pulse simultaneously；
S2：The photoelectric conversion module 1 of photoelectric conversion array unit 102 receives the return laser beam energy of measured object reflection,
And the backward energy is converted into electric impulse signal；
S3：The amplification module 1 of multichannel amplifying unit 103 by electric impulse signal carry out 4 grades amplification, and by 4 grades amplification
Signal 301,302,303,304 is respectively sent to 4 moment identification modules of moment discriminating unit；
S4：4 moment identification modules of moment discriminating unit amplify signal and process to 4 grades, obtain temporal information phase
To constant pulse signal 501,502,503,504, and the pulse signal after treatment is sent to timing unit；
S5：4 the 4 of channel selecting module selector channel 1 grades of signals of timing unit；
S6：4 timing modules obtain 4 grades of leading edge time information t1a, t2a, t3a, t4a of pulse signal respectively, after along when
Between information t1b, t2b, t3b, t4b；And send to main control unit information above；
S7：Main control unit judges whether timing module 1,2,3,4 has output；
S8：If timing module 1,2,3,4 has output, then the pulse width time letter of timing module 1 and timing module 2 is calculated
Breath, fW1=t1b-t1a, fW2=t2b-t2a；
If timing module 2,3,4 has output, then the pulse width time information of timing module 2 and timing module 3, fW2 are calculated
=t2b-t2a, fW3=t3b-t3a；
If timing module 3,4 has output, then the pulse width time information of timing module 3 and timing module 4, fW3=are calculated
T3b-t3a, fW4=t4b-t4a；
If timing module 4 has output, then the pulse width time information of timing module 4, fW4=t4b-t4a are calculated；
S9：The pulse width time information of the timing module to obtaining is chosen, if now timing module 1,2,3,4 has defeated
Go out, then judge the pulse width time information of timing module 1 and timing module 2；If the pulse width time information of timing module 1 is given
In pulse duration range, then laser flying to the time t=1/2 (t1b-t10-t1) of object is drawn；If during the pulsewidth of timing module 1
Between information not in given pulse duration range, the pulse width time information of timing module 2 then show that laser flies in given pulse duration range
Row calculates current distance measurement value s=to object time t=1/2 (t2b-t20-t2) according to the laser time of flight for drawing
c*t；If both pulse width time information is not in given pulse duration range, output error code.
Wherein, t1 and t2 are the constant time lag that the 1st grade and the 2nd grade amplify signal.
After being spaced several microseconds, the transmitting laser initial signal of transmitter module 2 of Laser emission array element, 4 clocking informations
Acquisition module obtains the temporal information t20 of laser pulse, and repeat step S2-S9 simultaneously；
The initial signal of wherein laser module transmitting is equally spaced repetition pulse, and interval time is much larger than 4 grades of echo arteries and veins
That rushes is rear along the time.Therefore transmitter module 1 and transmitter module 2 alternately luminous range finding.
It should be added that, zero point comparator is disturbed ability, therefore the bipolarity that moment discriminating unit is exported
Signal 401,402,403,404 pulse signal 501,502,503,504 can not be directly obtained after zero crossing comparator, it is necessary to
Addition threshold comparator, and signal and zero point the comparator output that threshold comparator is exported signal carry out "AND" or other
Similar processing mode；Due to unlike signal amplitude by time of pulse before and after edge time for being obtained after same threshold value not
It is identical, therefore the leading edge time of pulse signal 501,502,503,504 is not consistent, the arteries and veins of four road pulse signals obtained from entering
Temporal information wide is also inconsistent.
As shown in figure 4, at least one stage signal amplitude is unsaturated in 4 grades of amplification signals, current one stage signal signal amplitude
When unsaturated, rear stage signal amplitude may saturation, it is also possible in firm undersaturated state, thus judge to be needed during pulsewidth it is right
The pulse width information of two-stage is judged, and chooses the pulse width time information in pulse duration range, and is precisely found range.
Above example is merely to illustrate the technical solution of the utility model, rather than its limitations；Although with reference to foregoing reality
Example is applied to be described in detail the utility model, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and does not make the spirit and model of essence disengaging each embodiment technical scheme of the utility model of appropriate technical solution
Enclose.
Claims (10)
1. a kind of range unit of three-dimensional laser, it is characterised in that including：
Laser emission array element, for the laser initial signal to the multiple difference angles of determinand transmitting；
Photoelectric conversion array unit, the backward energy of the laser initial signal for receiving the multiple different angles respectively, and
Multiple backward energies are converted into corresponding echo pulse signal；
Multichannel amplifying unit, for carrying out multistage amplification to multiple echo pulse signals respectively, to obtain multiple multistages
Amplify signal；
Moment discriminating unit, for carrying out the treatment of discriminating constantly to the multiple multistage signal that amplifies respectively, to obtain during multiple
Between the geostationary pulse signal of information；
Timing unit, for selecting the multiple multistage signal that amplifies, and gathers the laser initial signal of each angle
The start time information of transmitting and the multistage clocking information for amplifying；
Main control unit, the distance for determining the determinand according to the clocking information.
2. device according to claim 1, it is characterised in that the Laser emission array element and the moment differentiate single
Unit is connected with the timing unit；
The photoelectric conversion array unit is connected by the multichannel amplifying unit with the moment discriminating unit；
The timing unit is connected with the main control unit.
3. device according to claim 1, it is characterised in that the Laser emission array element includes N number of Laser emission
Unit, the laser initial signal for launching different vertical angle respectively.
4. device according to claim 3, it is characterised in that the photoelectric conversion array unit includes N number of opto-electronic conversion
Unit, the backward energy of the laser initial signal for receiving the different vertical angle respectively, and the backward energy is turned
It is changed to corresponding echo pulse signal.
5. device according to claim 4, it is characterised in that the multichannel amplifying unit includes the amplification of N number of passage
Unit, carries out M grades of amplification, to obtain for the corresponding echo pulse signal of laser initial signal respectively to the different angles
M grades of amplification signal of N number of passage.
6. device according to claim 5, it is characterised in that the moment discriminating unit includes N*M moment discriminating mould
Block, for carrying out the treatment of discriminating constantly to the amplification signals at different levels respectively, is believed with obtaining the geostationary pulse of temporal information
Number；
The timing unit includes M channel selecting module and the M clocking information acquisition module of time-sharing multiplex, the M
Channel selecting module is used to select M grades of each passage to amplify signal；The clocking information collection mould of the M time-sharing multiplex
Block is used to gather the start time information and the M grades of clocking information of amplification of the laser initial signal transmitting of each passage.
7. device according to claim 5, it is characterised in that in each amplifying unit of the multichannel amplifying unit extremely
The amplification output signal of rare one-level is unsaturated.
8. device according to claim 5, it is characterised in that the moment identification module uses high pass capacitance-resistance mode or perseverance
Compare timing mode.
9. the device according to any one of claim 1 to 8, it is characterised in that described device also includes:
Electric motor units, are rotated in the direction launched perpendicular to laser signal with constant rotating speed, for realizing scanning range finding.
10. device according to claim 9, it is characterised in that the electric motor units are connected with the main control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621052418.8U CN206193241U (en) | 2016-09-12 | 2016-09-12 | Range unit of three -dimensional laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621052418.8U CN206193241U (en) | 2016-09-12 | 2016-09-12 | Range unit of three -dimensional laser |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206193241U true CN206193241U (en) | 2017-05-24 |
Family
ID=58728390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621052418.8U Active CN206193241U (en) | 2016-09-12 | 2016-09-12 | Range unit of three -dimensional laser |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206193241U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817497A (en) * | 2016-09-12 | 2018-03-20 | 北京万集科技股份有限公司 | The range unit and method of three-dimensional laser |
| CN108089201A (en) * | 2017-12-08 | 2018-05-29 | 上海禾赛光电科技有限公司 | Obstacle information acquisition methods, the launching technique of laser pulse and device |
| CN108107417A (en) * | 2017-11-07 | 2018-06-01 | 北醒（北京）光子科技有限公司 | A kind of solid-state face battle array laser radar apparatus |
| CN109683154A (en) * | 2017-10-19 | 2019-04-26 | 北京万集科技股份有限公司 | Laser radar self calibration time set and method based on FPGA |
| CN110376568A (en) * | 2019-08-13 | 2019-10-25 | 北京雷瑟瑞达科技有限公司 | A kind of receiving unit and system for laser radar |
| CN110554399A (en) * | 2018-05-30 | 2019-12-10 | 弗劳恩霍夫应用研究促进协会 | Laser measuring device for measuring a distance to an object and method for operating the same |
| US11573327B2 (en) | 2017-12-08 | 2023-02-07 | Hesai Technology Co., Ltd. | Systems and methods for light detection and ranging |
-
2016
- 2016-09-12 CN CN201621052418.8U patent/CN206193241U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817497A (en) * | 2016-09-12 | 2018-03-20 | 北京万集科技股份有限公司 | The range unit and method of three-dimensional laser |
| CN109683154A (en) * | 2017-10-19 | 2019-04-26 | 北京万集科技股份有限公司 | Laser radar self calibration time set and method based on FPGA |
| CN109683154B (en) * | 2017-10-19 | 2020-12-18 | 北京万集科技股份有限公司 | Laser radar self-calibration timing device and method based on FPGA |
| CN108107417A (en) * | 2017-11-07 | 2018-06-01 | 北醒（北京）光子科技有限公司 | A kind of solid-state face battle array laser radar apparatus |
| CN108089201A (en) * | 2017-12-08 | 2018-05-29 | 上海禾赛光电科技有限公司 | Obstacle information acquisition methods, the launching technique of laser pulse and device |
| US11573327B2 (en) | 2017-12-08 | 2023-02-07 | Hesai Technology Co., Ltd. | Systems and methods for light detection and ranging |
| CN110554399A (en) * | 2018-05-30 | 2019-12-10 | 弗劳恩霍夫应用研究促进协会 | Laser measuring device for measuring a distance to an object and method for operating the same |
| CN110554399B (en) * | 2018-05-30 | 2023-09-19 | 弗劳恩霍夫应用研究促进协会 | Laser measuring device for measuring distance to object and method for operating the same |
| CN110376568A (en) * | 2019-08-13 | 2019-10-25 | 北京雷瑟瑞达科技有限公司 | A kind of receiving unit and system for laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206193241U (en) | Range unit of three -dimensional laser | |
| CN107817497A (en) | The range unit and method of three-dimensional laser | |
| CN106772404A (en) | Laser radar range device and method | |
| CN103197321B (en) | Full-waveform laser radar system | |
| CN110609267A (en) | Laser radar system and anti-interference method thereof | |
| CN107167797B (en) | Digital railway hump speed measuring radar and anti-interference method thereof | |
| CN105093215A (en) | Doppler information based method for tracking low-altitude low-speed small target through radar | |
| CN109597057A (en) | A kind of return laser beam distance measuring method and range unit | |
| CN110161519A (en) | A kind of macro pulsed photonic counting laser radar | |
| CN111257900B (en) | Laser radar ranging method and device | |
| CN205246876U (en) | Laser radar range unit | |
| CN113050071B (en) | Laser radar data processing method, device, equipment and storage medium | |
| CN105717512A (en) | Laser range finding device and method | |
| CN104898103A (en) | Low-speed target detection method based on multichannel clutter map | |
| CN110161472A (en) | A kind of broadband vehicle-mounted millimeter wave radar solution velocity ambiguity method based on signal multiplexing | |
| CN106054193A (en) | Around-vehicle multi-target detection method, processor and millimeter wave radar system | |
| CN105549002A (en) | Frequency modulation continuous wave radar measurement method based on hybrid waveform | |
| CN105676212B (en) | A kind of short range range radar system and the target measuring method based on the system | |
| CN112731429A (en) | Phase type laser radar range unit based on pulse position modulation | |
| CN108802734A (en) | A kind of method and device that control radar system sequence synchronizes | |
| CN207408591U (en) | A kind of three-dimensional laser range unit of array APD time-sharing multiplexes | |
| CN107831489A (en) | A kind of continuous wave 4D radars and its measurement multi-target method | |
| CN104422933B (en) | Multi layer cloud real time distance method | |
| US2542983A (en) | Arrangement for determining distances by reflection of electrical pulses | |
| US3973258A (en) | Transient event data acquisition apparatus for use with radar systems and the like |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231207 Address after: 430200, 7th floor, Building 3, Phase II, Modern Service Industry Demonstration Base, Huazhong University of Science and Technology Science Park, Guandong Street, Wuhan Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee after: Wuhan Wanji Photoelectric Technology Co.,Ltd. Address before: 100085 No. 5, building 1, East Road, Haidian District, Beijing, 601 Patentee before: BEIJING WANJI TECHNOLOGY Co.,Ltd. |