CN210129035U - Laser radar echo data extraction device - Google Patents
Laser radar echo data extraction device Download PDFInfo
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Abstract
The utility model provides a laser radar echo data extraction element, wherein the device includes storage module, echo range finding processing module, time measurement module, control module, multichannel trigger module, laser emission module, echo data extraction module, wherein storage module and echo range finding processing module electric connection, echo range finding processing module is connected with time measurement module again, time measurement module is connected with multichannel trigger module again, multichannel trigger module is connected with echo data extraction module again, control device is connected with laser emission module alone. Compared with the prior art, the utility model discloses have easily realize, and can have less consumption under the prerequisite of guaranteeing measurement accuracy, and be applicable to the beneficial technological effect of the miniaturized laser radar system of high performance.
Description
Technical Field
The utility model relates to a laser radar range finding technical field, specifically speaking relates to a laser radar echo data extraction element.
Background
In the active detection method based on the laser radar in the prior art, the basic working principle is that the laser radar emits laser to a target to be detected, the laser irradiates the target to be detected and then is reflected on the surface of the target to be detected, then a receiver receives a laser signal reflected by the target to be detected, and the round-trip time of the laser signal is measured to obtain the distance between the laser radar and the target to be detected. Due to the characteristics of high coherence, directivity, monochromaticity and the like of the laser, the active detection mode of the laser radar can realize the function of long-distance and high-precision distance measurement, and the laser radar is widely applied to many aspects such as automatic driving, building three-dimensional modeling, topographic mapping and the like.
In the prior art, the time-of-flight ranging method generally adopted by laser radar is to obtain the distance from a light source to a target object by continuously transmitting light pulses to the target object, receiving a light beam returning from the target object by using a sensor and detecting the round-trip time of the light pulses. When the return time of a certain optical pulse is obtained, the return time is compared with the sending time of the optical pulse to obtain the time length of the laser not impacting to and fro the target object, and the obtained flight time length is multiplied by the light speed to obtain the distance data of the target object from the light source.
In the conventional time-of-flight ranging method, the sensor can obtain the range data of the target object from the light source, and also can obtain the amplitude data of the light pulse from the return data, and further obtain the reflectivity of the target object according to the amplitude data of the light pulse, wherein the reflectivity data can be used as an effective basis for application and analysis of the whisker light pulse data.
In the prior art, an amplitude information method is usually adopted to measure optical pulse amplitude data by combining a peak holding circuit and an analog-to-digital converter, obviously, the method needs to provide additional circuit resources such as the peak holding circuit, and in the other prior art, amplitude and time data of laser radar echo pulses are simultaneously extracted by a high-speed analog-to-digital converter, however, the high-speed analog-to-digital converter which has the performance meeting the actual use requirement has the defects of extremely high power consumption and high manufacturing cost, the cost for using the high-speed analog-to-digital converter is too high, in addition, the size of the high-speed analog-to-digital converter is also large, and the method cannot be applied to a miniaturized laser radar.
Because under the premise that other equipment factors such as a receiving lens for transmitting the laser peak power and receiving the optical pulse reflected by the target object are kept to be certain, the light intensity of the reflected optical pulse received by the laser radar is reduced along with the increase of the distance between the target object and the transmitting light source, correspondingly, the amplitude of the received echo electric signal is reduced along with the proportion, and then, the accuracy of ranging by the time-of-flight ranging method is greatly reduced when the distance between the target object and the transmitting light source is far because of the reduction of the light intensity and the reduction of the amplitude of the echo electric signal. It has been proposed in long-term practice to solve the above-mentioned technical problems in the prior art by using two methods of increasing the peak power of the emitted laser light and increasing the aperture of the receiving lens, but these two methods also have respective disadvantages:
1) in a feasible method, the method for improving the peak power of the emitted laser can be adopted to improve the ranging precision and extend the detectable distance of the laser radar, however, correspondingly, the improvement of the peak power of the emission light source can correspondingly increase the electrical power consumption of the laser radar, which inevitably increases the system burden of the whole equipment of the laser radar device, in addition, the continuous laser pulse emitted by the overhigh peak power of the laser also causes certain damage to the eyesight of operators, which is not beneficial to continuous measurement or long-term measurement, and obviously, although the method can solve the problem of insufficient precision of the long-distance ranging of the laser radar, the applicability of the method is also limited.
2) In another possible approach, increasing the aperture of the receiving lens may be used to improve the accuracy of the range finding. However, increasing the aperture of the receiving lens will inevitably increase the overall quality of the device, and more importantly, increasing the aperture of the receiving lens will also inevitably increase the background light entering the receiving field of view, which will in turn decrease the signal-to-noise ratio of the system.
Aiming at the technical problem, in order to make up for the performance deterioration in the prior art, a constant ratio discriminator is provided, the constant ratio discriminator adopts a special pulse edge extraction circuit, but the constant ratio discriminator needs to have extremely strict requirements on the setting of parameters of the constant ratio discriminator so as to ensure the normal work of the constant ratio discriminator, so that the requirements of operators using the equipment measuring team are further improved, and the measuring difficulty is improved due to the complicated setting process of the equipment. In view of the above, a new measurement method and a new measurement apparatus should be provided to solve the above technical problems in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model relates to a solve above-mentioned technical problem and make, its purpose provides one kind and easily realizes, and can have less consumption under the prerequisite of guaranteeing measurement accuracy, and is applicable to the laser radar echo data extraction element of the miniaturized laser radar system of high performance.
In order to achieve the above object, the utility model provides a laser radar echo data extraction method, this method includes following step: s1, obtaining echo pulse sets under different distances and different reflectivities, normalizing the echo pulse sets, and then obtaining average response echo pulse Plus under different distances and different reflectivitiesmean(ii) a S2, according to the average response echo pulse PlusmeanGenerating simulated echo pulses Plus of different amplitudessimSetting a threshold value and simulating an echo pulse PlussimComparing each data in the pulse width table with the threshold value respectively, and constructing a pulse amplitude-threshold value time width table; s3, triggering real echoes in parallel, measuring crossing moment data when the real echoes cross the threshold, obtaining a credible timestamp group of triggering time, and subtracting the time when the real echoes cross the threshold to obtain a threshold time width group of the current pulse of the real echoes; s4, obtaining the amplitude estimation value Amp of the current pulse according to the pulse amplitude-threshold time width table and the threshold time width groupest(ii) a S5, according to the amplitude estimation value AmpestAnd average response echo pulse PlusmeanCredible time stamp group of trigger time is to current pulse PlusreconPerforming reconstruction to obtain the current pulse PlusreconFinally obtaining the current pulse PlusreconTime of arrival data.
Preferably, in step S1, echo pulse sets at different distances and different reflectivities may be obtained by a high-speed comparator or a high-speed analog-to-digital converter, and the sampling rate of the high-speed comparator or the high-speed analog-to-digital converter is not lower than 10G, and then the echo pulse signals obtained by normalizing the echo pulse sets may be aligned and then the average value thereof may be calculated to obtain the average response echo pulse Plusmean。
Preferably, in the step S2, the threshold may be multiple paths, and the simulated echo pulse PlussimCan be measured by averaging the response echo pulses PlusmeanMultiplying by a plurality of amplitude coefficients.
Preferably, in the step S4, a least-squares weighted fit may be performed on the current threshold time width group and the time width group corresponding to the different amplitude values in the pulse amplitude-threshold time width table, and then the amplitude value with the smallest fitting error may be used as the amplitude estimation value Amp of the current pulseest。
Preferably, in the step S5, the current pulse Plus is measuredreconWhen reconstitution is performed, the Plus may bereconThe time position with the middle amplitude of 0 is used as the arrival time value of the current echo pulse.
Preferably, in the step S5, the current pulse PlusreconCan satisfy the following conditions: plusrecon(x) ＝Ampest·Plusmean(x-t), where t is the time offset and x is the time of arrival.
Correspondingly, the utility model also provides a laser radar echo data extraction element based on above-mentioned content, the device includes following module:
storage module, echo range finding processing module, time measurement module, control module, multichannel trigger module, laser emission module, echo data extraction module, wherein storage module and echo range finding processing module electric connection, echo range finding processing module is connected with time measurement module again, and time measurement module is connected with multichannel trigger module again, and multichannel trigger module is connected with echo data extraction module again, and controlling means is connected with laser emission module alone.
Further, the device comprises the following modules:
the laser emission module is used for finishing laser emission and comprises an electric control galvanometer and a laser; a control module, which implements a control logic and controls the emission of the laser and generates a synchronization signal; an echo receiving module comprising receiving optics and a photosensor; the multi-channel trigger module comprises a multi-channel voltage threshold setting circuit and a multi-channel voltage comparison circuit; the storage module is used for prestoring average response pulse data and the pulse amplitude-threshold time width table; the time measurement module comprises a clock counting circuit and a delay chain high-resolution time interpolation circuit; the echo data extraction module is used for matching and reconstructing received timestamp group signals and extracting echo time data and amplitude data, when the laser radar echo data extraction device works and a measurement starts, a laser signal is reflected by a target object and then transmitted to the echo receiving module, the echo receiving module converts the received laser signal into an electric signal and then enters the multichannel trigger module, the multichannel voltage threshold setting circuit and the multichannel voltage comparison circuit in the multichannel trigger module input a trigger signal of the laser signal into the time measurement module to obtain a reliable timestamp group of trigger time, the reliable timestamp group of the trigger time is calculated and extracted to obtain a threshold time width group of a current pulse, and matching the threshold time width group with the average response pulse data prestored in the storage module and the pulse amplitude-threshold time width table, estimating the amplitude of the current pulse, and finally reconstructing the current pulse by using the amplitude of the current pulse, the average response pulse data and the credible time stamp group of the trigger time to finally obtain the arrival time information of the current pulse.
According to the above description and practice, it can be known that, in a laser radar echo data extraction device, echo pulse sets at different distances and different reflectivities are obtained in advance through a multi-path high-speed comparator and a high-speed analog-to-digital converter, the echo pulse sets are stored in a memory, then an average value is calculated after echo pulse signals obtained by normalizing the echo pulse sets are aligned to obtain average response echo pulses, simulation echo pulses with different amplitudes are generated according to the average response echo pulses, then the simulation echo pulses are compared with a threshold value to construct a pulse amplitude-threshold value time width table, the pulse amplitude-threshold value time width table is also stored in the memory, then real echoes are triggered in parallel, the moment when the current real echo passes through the threshold value is measured, and a stamp group of trigger time is obtained, then obtain the threshold value time width group of the current pulse of the real echo, estimate the amplitude estimated value of the current pulse, reconstruct the current pulse through the amplitude estimated value finally, in order to obtain the arrival time data of the current pulse, compared with the prior art, the laser radar echo data extraction device of the utility model can reconstruct the current pulse accurately without increasing the power of the peak value of the transmitted laser, without additional peak holding circuit or high-speed sampling ADC, and without increasing the aperture of the receiving lens or adopting a constant ratio discriminator, and can accomplish the sparse adoption of the echo pulse through a multipath high-speed comparator, while can once acquire the amplitude information and the time information, also effectively reduce the power consumption of the whole equipment, and can be effectively applied to the high-performance and miniaturized laser radar system, improve the applicability of the laser radar echo data extraction device of the utility model, the measuring cost is reduced, and the safety of measuring personnel is also guaranteed.
Drawings
Fig. 1 is a flowchart illustrating steps of a laser radar echo data extraction method according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a frame structure of the laser radar echo data extracting apparatus according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating multi-channel triggering of echoes in the lidar echo data extraction method shown in FIG. 1;
FIG. 4 is a diagram illustrating the echo reception time extraction in the lidar echo data extraction method shown in FIG. 1;
FIG. 5 is a diagram illustrating the reconstruction of echoes in the lidar echo data extraction method shown in FIG. 1;
FIG. 6 is a schematic diagram illustrating a pulse amplitude estimation percentage error distribution calculated after an echo is reconstructed in the laser radar echo data extraction method shown in FIG. 1;
FIG. 7 is a diagram illustrating a pulse time estimate percent error profile derived from the pulse amplitude estimate percent error profile shown in FIG. 6.
Detailed Description
An embodiment of the laser radar echo data extraction device according to the present invention will be described below with reference to the drawings. Those of ordinary skill in the art will recognize that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims. Furthermore, in the present description, the drawings are not to scale and like reference numerals refer to like parts.
Fig. 1 is a flowchart illustrating steps of a laser radar echo data extraction method according to an embodiment of the present invention. As shown in fig. 1, the method for extracting laser radar echo data according to this embodiment of the present invention includes the following steps: s1, obtaining echo pulse sets under different distances and different reflectivities, normalizing the echo pulse sets, and then obtaining average response echo pulse Plus under different distances and different reflectivitiesmean(ii) a S2, averaging according to the aboveIn response to an echo pulse PlusmeanGenerating simulated echo pulses Plus of different amplitudessimSetting a threshold value and simulating an echo pulse PlussimComparing each data in the pulse width table with the threshold value respectively, and constructing a pulse amplitude-threshold value time width table; s3, triggering real echoes in parallel, measuring crossing moment data when the real echoes cross the threshold, obtaining a credible timestamp group of triggering time, and subtracting the time when the real echoes cross the threshold to obtain a threshold time width group of the current pulse of the real echoes; s4, obtaining the amplitude estimation value Amp of the current pulse according to the pulse amplitude-threshold time width table and the threshold time width groupest(ii) a S5, according to the amplitude estimation value AmpestAnd average response echo pulse PlusmeanCredible time stamp group of trigger time is to current pulse PlusreconPerforming reconstruction to obtain the current pulse Plusrecon，Finally obtaining the current pulse PlusreconTime of arrival data.
Specifically, in step S1, echo pulse sets at different distances and different reflectivities are obtained by a high-speed comparator or a high-speed analog-to-digital converter, the sampling rate of the high-speed comparator or the high-speed analog-to-digital converter is maintained at not less than 10G, and then the echo pulse signals obtained by normalizing the echo pulse sets are aligned and the average value thereof is calculated to obtain the average response echo pulse Plusmean。
In step S2 of this embodiment of the present invention, a multipath threshold may be set, and the echo pulse Plus is simulatedsimBy averaging the response echo pulses PlusmeanMultiplied by a number of different amplitude coefficients. To meet production requirements, the number of amplitude coefficients needs to meet the range of possible received echo amplitudes and the corresponding amplitude resolution.
In step S3, the real echo is triggered by the multi-path high-speed comparator, and the time when the echo pulse passes through the threshold is measured with high precision to obtain the trusted timestamp group of the trigger timepos(1)，TSneg(1)，...， TSPOS(n)，TSPOS(n)]. Then calculating the difference between the upper and lower crossing times of the same threshold to obtain the threshold time width group of the current pulse, in this embodiment of the present invention, marking the threshold time width group of the current pulse as [ TW (1) ],., (TW (n))]. In addition, in step S3, the multi-path high-speed comparator is set according to the threshold used in the pulse amplitude-threshold time width table, and high-precision measurement can be realized by carrying out carry chain interpolation in a special time-measuring chip or a programmable logic device.
In step S4, the least square weighted fitting is performed on the current threshold time width group and the time width groups corresponding to different amplitude values in the pulse amplitude-threshold time width table, and the amplitude value with the minimum fitting error is used as the amplitude estimation value Amp of the current pulseest。
In step S5, the current echo pulse Plus is processedreconWhen reconstitution is performed, Plus is addedreconThe time position with the middle amplitude of 0 is used as the arrival time value of the current echo pulse. Then, in step S5, the current pulse PlusreconThe following formula is satisfied:
Plusrecon(x)＝Ampest·Plusmean(x-t), where t is the time offset and x is the time of arrival.
Correspondingly, the utility model also provides a laser radar echo data extraction element based on above-mentioned method, figure 2 is the schematic diagram, shows the utility model discloses an in the embodiment laser radar echo data extraction element's frame construction. As shown in fig. 2, in an embodiment of the present invention, the laser radar echo data extraction device includes a laser emitting module 1, a control module 2, an echo receiving module 3, a multi-channel trigger module 4, a storage module 5, a time measuring module 6, and an echo data extraction module 7.
Wherein storage module and echo range finding processing module electric connection, echo range finding processing module is connected with time measurement module again, and time measurement module is connected with multichannel trigger module again, and multichannel trigger module is connected with echo data extraction module again, and controlling means is connected with laser emission module alone.
Specifically, the laser emission module 1 is used for completing laser emission and comprises an electric control galvanometer and a laser; the control module 2 realizes control logic, controls the emission of the laser and generates a synchronous signal; the echo receiving module 3 comprises receiving optics and a photoelectric sensor; the multi-channel trigger module 4 comprises a multi-channel voltage threshold setting circuit and a multi-channel voltage comparison circuit; the storage module 5 is used for prestoring average response pulse data and a pulse amplitude-threshold time width table; the time measurement module 6 comprises a clock counting circuit and a delay chain high-resolution time interpolation circuit; the echo data extraction module 7 matches and reconstructs the received timestamp group signal and finishes the extraction of echo time data and amplitude data, wherein, when the laser radar echo data extraction device works, when a measurement starts, a laser signal is reflected by a target object and then transmitted to the echo receiving module 3, the echo receiving module 3 converts the received laser signal into an electric signal and then enters the multi-channel trigger module 4, a multi-channel voltage threshold setting circuit and a multi-channel voltage comparison circuit in the multi-channel trigger module 4 input the laser signal into a trigger signal in the time measurement module 6 to obtain a credible timestamp group of trigger time, the credible timestamp group of the trigger time is calculated and then extracted to obtain a threshold time width group of a current pulse, and the threshold time width group is matched with average response pulse data and a pulse amplitude-threshold time width table prestored in the storage module 5, and estimating the amplitude of the current pulse, and finally reconstructing the current pulse by using the amplitude of the current pulse, the average response pulse data and the credible timestamp group of the trigger time to finally obtain the arrival time information of the current pulse.
Fig. 3 is a schematic diagram illustrating multi-channel triggering of echoes in the lidar echo data extraction method shown in fig. 1. Fig. 4 is a diagram illustrating extraction of echo reception time in the laser radar echo data extraction method shown in fig. 1. Fig. 5 is a schematic diagram illustrating echo reconstruction in the laser radar echo data extraction method shown in fig. 1. As shown in fig. 3 to 5, in the embodiment of the present invention, in one application of the method for extracting laser radar echo data, the laser radar is used to measure the distance, the photo detector uses a silicon photomultiplier, and the size of the photosensitive element is 6mm by 6 mm. The laser used 905nm and peak power 1W. The echo signal amplitude at about 50cm was measured to be 1v by the peak hold circuit. The echo pulses at 8820 different reflectivities were then acquired using a high sample rate oscilloscope, with the sample rate held at 25GSPS, and the average response pulse was calculated, see fig. 3.
And then, pulse triggering is carried out by adopting 8 paths of threshold values, and the triggering threshold values of each path are respectively set to be [0.02, 0.04, 0.1, 0.2, 0.3, 0.4, 0.5 and 0.6] V. Simulation triggering is performed by using simulation pulses with average response pulses in the range of 50mv to 1v, as shown in fig. 4, and a pulse amplitude-threshold time width table is obtained.
And setting eight high-speed comparators for real echo triggering, setting 8 thresholds according to the above, and obtaining a triggering threshold group after receiving echo signals. And recording the triggering time of the echo while receiving the echo to obtain a triggering time stamp group, and calculating by using the triggering time stamp group to obtain a threshold time width group.
As shown in fig. 5, the amplitude value of the current pulse is estimated by matching the data in the pulse amplitude-threshold time width table by the threshold time width group, and then the amplitude estimation value, the average response pulse, and the trigger time stamp group are calculated to reconstruct the current pulse. As shown in fig. 6, 8000 pulses are obtained through the above-mentioned post-processing, the amplitude data and the time data of the pulses are extracted and compared with the real pulses, and the pulse amplitude estimation percentage error distribution is calculated, as shown in fig. 7, the average amplitude estimation percentage error obtained through the pulse amplitude estimation percentage error distribution shown in fig. 6 is 2.9%, and then the average time extraction error is calculated to be 101 ps.
According to the above description and practice, it can be known that, in a laser radar echo data extraction device, echo pulse sets at different distances and different reflectivities are obtained in advance through a multi-path high-speed comparator and a high-speed analog-to-digital converter, the echo pulse sets are stored in a memory, then an average value is calculated after echo pulse signals obtained by normalizing the echo pulse sets are aligned to obtain average response echo pulses, simulation echo pulses with different amplitudes are generated according to the average response echo pulses, then the simulation echo pulses are compared with a threshold value to construct a pulse amplitude-threshold value time width table, the pulse amplitude-threshold value time width table is also stored in the memory, then real echoes are triggered in parallel, the moment when the current real echo passes through the threshold value is measured, and a stamp group of trigger time is obtained, then obtaining the threshold time width group of the current pulse of the real echo, then estimating the amplitude estimation value of the current pulse, and finally reconstructing the current pulse through the amplitude estimation value to obtain the arrival time data of the current pulse, compared with the prior art, the laser radar echo data extraction device of the utility model can accurately reconstruct the current pulse without increasing the transmitting laser peak power or increasing the caliber of a receiving lens or adopting a constant ratio discriminator, and can complete the sparse adoption of the echo pulse through a multi-path high-speed comparator, can effectively reduce the overall power consumption of the device while acquiring the amplitude information and the practice information at one time, can be effectively applied to a high-performance and miniaturized laser radar system, and improves the applicability of the laser radar echo data extraction device of the utility model, the measuring cost is reduced, and the safety of measuring personnel is also guaranteed.
The laser radar echo data extraction device according to the present invention has been described above by way of example with reference to the accompanying drawings. However, it should be understood by those skilled in the art that various improvements can be made to the laser radar echo data extracting apparatus provided by the present invention without departing from the scope of the present invention. Therefore, the scope of the present invention should be determined by the content of the appended claims.
Claims (2)
1. A laser radar echo data extraction device is characterized by comprising the following modules:
storage module, echo range finding processing module, time measurement module, control module, multichannel trigger module, laser emission module, echo data extraction module, wherein storage module and echo range finding processing module electric connection, echo range finding processing module is connected with time measurement module again, and time measurement module is connected with multichannel trigger module again, and multichannel trigger module is connected with echo data extraction module again, and controlling means is connected with laser emission module alone.
2. The lidar echo data extraction device according to claim 1, wherein:
the laser emission module is used for finishing laser emission and comprises an electric control galvanometer and a laser;
a control module, which implements a control logic and controls the emission of the laser and generates a synchronization signal;
an echo receiving module comprising receiving optics and a photosensor;
the multi-channel trigger module comprises a multi-channel voltage threshold setting circuit and a multi-channel voltage comparison circuit;
the storage module is used for prestoring average response pulse data and a pulse amplitude-threshold time width table;
the time measurement module comprises a clock counting circuit and a delay chain high-resolution time interpolation circuit;
an echo data extraction module which matches and reconstructs the received time stamp group signal and finishes the extraction of echo time data and amplitude data, wherein,
when the laser radar echo data extraction device works, when one measurement starts, a laser signal is reflected by a target object and then transmitted to the echo receiving module, the echo receiving module converts the received laser signal into an electric signal and then enters the multichannel trigger module, the multichannel voltage threshold setting circuit and the multichannel voltage comparison circuit in the multichannel trigger module input the trigger signal of the laser signal in the multichannel trigger module into the time measurement module to obtain a credible time stamp group of trigger time, the credible time stamp group of the trigger time is calculated and then extracted to obtain a threshold time width group of a current pulse, the threshold time width group is matched with average response pulse data and the pulse amplitude-threshold time width table which are prestored in the storage module, and the amplitude of the current pulse is estimated, and finally, reconstructing the current pulse by using the amplitude of the current pulse, the average response pulse data and the credible timestamp group of the trigger time, and finally obtaining the arrival time information of the current pulse.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597052A (en) * | 2018-12-06 | 2019-04-09 | 苏州镭图光电科技有限公司 | Laser radar echo data extraction method and extraction element |
| CN112596062A (en) * | 2021-01-28 | 2021-04-02 | 锐驰智光(北京)科技有限公司 | Method and device for detecting echo signal of laser radar and storage medium |
| CN115616525A (en) * | 2022-12-06 | 2023-01-17 | 深圳煜炜光学科技有限公司 | Method, device and equipment for distinguishing reflected echo signals and storage medium |
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2018
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597052A (en) * | 2018-12-06 | 2019-04-09 | 苏州镭图光电科技有限公司 | Laser radar echo data extraction method and extraction element |
| CN109597052B (en) * | 2018-12-06 | 2023-12-01 | 苏州镭图光电科技有限公司 | Laser radar echo data extraction method and extraction device |
| CN112596062A (en) * | 2021-01-28 | 2021-04-02 | 锐驰智光(北京)科技有限公司 | Method and device for detecting echo signal of laser radar and storage medium |
| CN112596062B (en) * | 2021-01-28 | 2021-07-13 | 锐驰智光(北京)科技有限公司 | Method and device for detecting echo signal of laser radar and storage medium |
| CN115616525A (en) * | 2022-12-06 | 2023-01-17 | 深圳煜炜光学科技有限公司 | Method, device and equipment for distinguishing reflected echo signals and storage medium |
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