CN218445996U - Laser radar apparatus - Google Patents
Laser radar apparatus Download PDFInfo
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- CN218445996U CN218445996U CN202220862879.0U CN202220862879U CN218445996U CN 218445996 U CN218445996 U CN 218445996U CN 202220862879 U CN202220862879 U CN 202220862879U CN 218445996 U CN218445996 U CN 218445996U
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Abstract
The utility model provides a laser radar equipment, including laser emission circuit, laser receiving circuit and master control circuit, laser receiving circuit includes photoelectric conversion circuit, TDC detection circuit and ADC detection circuit, photoelectric conversion circuit exports echo signal to ADC detection circuit and TDC detection circuit simultaneously, when the amplitude that detects echo signal is less than predetermineeing amplitude voltage, confirm that current analog echo signal is unsaturated, master control circuit carries out the calculation of distance information and reflectivity according to the digital echo signal of ADC detection circuit detection output and confirms, when the amplitude that detects analog echo signal reaches predetermineeing amplitude voltage, confirm that current analog echo signal is saturated, master control circuit carries out the calculation of distance information and reflectivity according to the pulse echo signal of TDC detection circuit output and confirms, and simultaneously, predetermine amplitude voltage's dynamic adjustment, and then dynamic adjustment pulse echo signal's pulse width information, improve the detection degree of range finding and reflectivity.
Description
Technical Field
The utility model belongs to the technical field of laser radar, especially, relate to a laser radar equipment.
Background
The requirements on the detection precision and the detection distance of the laser radar are increased day by day due to the increasing development of the fields of artificial intelligence and unmanned driving, and the requirements on long-distance measurement and the requirement on small blind areas in short distance are met.
The application scene of the laser radar is complex, the reflectivity of a detected target changes greatly, the existing black asphalt ground with lower reflectivity also has a specular reflection target with high close-range strong reflectivity, such as a license plate and a road sign signboard of a vehicle belong to an object with high reflectivity, for a radar receiving system, the dynamic range changes greatly, when laser pulses are incident on the object with close-range strong reflectivity, a receiving assembly receives strong light energy, the output echo signals are saturated, and when the saturated echo signals are sent to an ADC (analog-to-digital conversion) detection module, the ADC detection module cannot accurately measure and calculate actual distance, so that the distance measurement precision of the laser radar is reduced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a laser radar equipment aims at solving traditional laser radar equipment and has the problem that range finding precision is low.
The utility model discloses the first aspect of the embodiment provides a laser radar equipment, include:
the laser emission circuit emits a laser pulse signal to an object to be detected under the action of a first control signal;
the laser receiving circuit comprises a photoelectric conversion circuit, an ADC detection circuit and a TDC detection circuit, wherein the ADC detection circuit and the TDC detection circuit are respectively connected with the photoelectric conversion circuit;
the photoelectric conversion circuit is used for converting the laser pulse signal reflected by the object to be detected into an analog echo signal and outputting the analog echo signal to the ADC detection circuit and the TDC detection circuit;
the ADC detection circuit is used for detecting and converting the analog echo signal into a digital echo signal;
the TDC detection circuit is used for comparing and detecting the analog echo signal with a preset amplitude voltage and converting the analog echo signal into a pulse echo signal;
the main control circuit is respectively connected with the laser emission circuit, the ADC detection circuit and the TDC detection circuit and is used for acquiring the amplitude and the slope of a rising edge of the digital echo signal;
when the amplitude is smaller than the preset amplitude voltage, triggering to switch to a first distance measurement mode, wherein the first distance measurement mode is used for determining the distance information and the reflectivity of the object to be measured according to the digital echo signal;
and triggering and switching to a second ranging mode when the amplitude is larger than or equal to the preset amplitude voltage, wherein the second ranging mode is used for determining the distance information and the reflectivity of the object to be measured according to the pulse echo signal and adjusting the preset amplitude voltage according to the positive correlation of the slope.
Optionally, the photoelectric conversion circuit includes:
a photoelectric sensor for converting the laser pulse signal into a current signal;
and the transconductance amplifier is connected with the photoelectric sensor and is used for converting the current signal into a voltage type analog echo signal.
Optionally, the ADC detection circuit includes:
the power amplifier is used for carrying out power amplification conversion on the analog echo signal and outputting the analog echo signal;
and the ADC sampling chip is connected with the power amplifier and the main control circuit and is used for converting the analog echo signal after power amplification into the digital echo signal.
Optionally, the master control circuit is further connected to the transconductance amplifier, and adjusts a gain value of the transconductance amplifier.
Optionally, the TDC detection circuit includes a TDC detection chip, a threshold signal end and a signal output end of the TDC detection chip are connected to a signal end of the main control circuit, and a signal input end of the TDC detection chip is connected to a signal output end of the photoelectric conversion circuit.
Optionally, the master control circuit includes:
the threshold generating circuit is connected with the TDC detecting circuit and outputs a preset amplitude voltage with a corresponding magnitude to the TDC detecting circuit under the action of a second control signal;
the main control chip is connected with the laser emission circuit, the ADC detection circuit, the TDC detection circuit and the threshold generation circuit;
the main control chip acquires the amplitude value of the digital echo signal and the slope of a rising edge;
triggering and switching to a first ranging mode when the amplitude is smaller than a preset amplitude voltage, wherein the first ranging mode is used for determining the distance information and the reflectivity of the object to be measured according to the digital echo signal;
and triggering and switching to a second distance measurement mode when the amplitude is larger than or equal to the preset amplitude, wherein the second distance measurement mode is to determine the distance information and the reflectivity of the object to be measured according to the pulse echo signal and output a corresponding second control signal according to the slope.
Optionally, the threshold generation circuit, the TDC detection circuit, and the ADC detection circuit are integrated in the main control chip.
Optionally, the main control chip includes an FPGA chip.
Optionally, the threshold generation circuit includes a power conversion chip, and the power conversion chip is triggered by the second control signal to convert and output a preset amplitude voltage of a corresponding magnitude.
Optionally, the laser emitting circuit includes a laser driving circuit and a laser emitting assembly connected to the laser driving circuit;
the laser driving circuit is triggered by the first control signal to control the laser emitting component to emit a laser pulse signal to the object to be detected;
the laser emitting assembly includes a laser.
Compared with the prior art, the embodiment of the utility model beneficial effect who exists is: the photoelectric conversion circuit simultaneously outputs echo signals to the ADC detection circuit and the TDC detection circuit, when the amplitude of the detected echo signals is smaller than a preset amplitude voltage, it is determined that the current analog echo signals are not saturated, the main control circuit calculates and confirms distance information and reflectivity according to the digital echo signals output by the ADC detection circuit, when the amplitude of the detected analog echo signals reaches the preset amplitude voltage, it is determined that the current analog echo signals are saturated, the main control circuit calculates and confirms distance information and reflectivity according to pulse echo signals output by the TDC detection circuit, meanwhile, dynamic adjustment of the preset amplitude voltage is carried out, pulse width information of the pulse echo signals is dynamically adjusted, and detection accuracy of distance measurement and reflectivity is improved.
Drawings
Fig. 1 is a schematic diagram of a first module of a laser radar apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram showing a waveform conversion of a TDC detector circuit in the laser radar apparatus shown in FIG. 1;
fig. 3 is a schematic diagram of a second module of a laser radar apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a third module of a laser radar apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a circuit configuration of a threshold generation circuit in the lidar apparatus shown in FIG. 1;
fig. 6 is a schematic circuit diagram of a TDC detection circuit in the laser radar apparatus shown in fig. 1.
Detailed Description
In order to make the technical problem, technical solution and beneficial effects to be solved by the present invention more clearly understood, the following description is made in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
The embodiment of the utility model provides a first aspect provides a laser radar equipment 1.
As shown in fig. 1, fig. 1 is the embodiment of the present invention provides a laser radar apparatus 1's module schematic diagram, and in this embodiment, laser radar apparatus 1 includes:
the laser emitting circuit 100, the laser emitting circuit 100 receives the first control signal to emit the laser pulse signal to the object 2 to be measured;
a laser receiving circuit 200, the laser receiving circuit 200 including a photoelectric conversion circuit 210, and an ADC detection circuit 220 and a TDC (time-to-digital conversion) detection circuit 230 connected to the photoelectric conversion circuit 210, respectively;
the photoelectric conversion circuit 210 is configured to convert the laser pulse signal reflected by the object 2 to be measured into an analog echo signal and output the analog echo signal to the ADC detection circuit 220 and the TDC detection circuit 230;
the ADC detection circuit 220 is configured to detect and convert the analog echo signal into a digital echo signal;
a TDC detection circuit 230 for comparing and detecting the analog echo signal with a preset amplitude voltage and converting the analog echo signal into a pulse echo signal;
the main control circuit 300 is respectively connected with the laser transmitting circuit 100, the ADC detection circuit 220 and the TDC detection circuit 230, and the main control circuit 300 acquires the amplitude and the slope of the rising edge of the digital echo signal;
triggering and switching to a first distance measurement mode when the amplitude is smaller than the preset amplitude voltage, wherein the first distance measurement mode is to determine the distance information and the reflectivity of the object to be measured 2 according to the digital echo signal;
and triggering and switching to a second distance measurement mode when the amplitude is greater than or equal to the preset amplitude voltage, wherein the second distance measurement mode is to determine the distance information and the reflectivity of the object 2 to be measured according to the pulse echo signal and adjust the preset amplitude voltage according to the positive correlation of the slope.
In this embodiment, the laser transmitting circuit 100 and the laser receiving circuit 200 are correspondingly arranged, the main control circuit 300 outputs a first control signal to the laser transmitting circuit 100 to drive the laser transmitting circuit 100 to transmit laser pulses with corresponding power according to a predetermined time sequence, the laser pulses are emitted at corresponding angles, the laser receiving circuit 200 corresponding to the laser pulses receives laser echoes reflected by the object 2 to be tested and converts the laser echoes into analog echo signals with corresponding sizes, when the laser pulses are emitted to different objects 2 to be tested, the analog echo signals are in unsaturated and saturated states, the ADC detection circuit 220 performs detection sampling on the analog echo signals and feeds back digital echo signals to the main control circuit 300, when the analog echo signals are unsaturated, the sampled digital echo signals approach the analog echo signals, and the main control circuit 300 determines the saturated state of the current analog echo signals according to the waveform state of the digital echo signals.
When the amplitude of the digital echo signal is detected to be smaller than the preset amplitude voltage, it is determined that the current analog echo signal is in an unsaturated state, and the main control circuit 300 switches to the first ranging mode, that is, the distance information and the reflectivity of the object to be measured 2 are determined according to the sampling value of the current digital echo signal.
When the amplitude of the digital echo signal is detected to reach a preset amplitude voltage, it is determined that the current analog echo signal is in a saturated state, the main control circuit 300 switches to a second ranging mode, that is, the distance information and the reflectivity of the current object to be detected 2 are determined according to the pulse echo signal output by the TDC detection circuit 230, as shown in fig. 2, the TDC detection circuit 230 generates a digital pulse waveform corresponding to a pulse width according to the preset amplitude voltage and the analog echo signal, the preset amplitude voltage can be set according to actual design requirements, the echo pulse width and the pulse arrival time are obtained after the analog echo signal passes through TDC detection, the flight time of the analog echo signal is obtained according to the emission time of laser, actual distance information is further calculated, and the actual reflectivity of the current object to be detected 2 is determined according to the pulse width calculation, so that the switching detection determination of the unsaturated state and the saturated state of the analog echo signal is realized, and the detection accuracy of ranging and the reflectivity is improved.
Meanwhile, as shown in fig. 2, when the preset amplitude voltage is fixed, the larger the amplitude of the analog echo signal is, the smaller the ranging error is, because when the analog echo signal is saturated, the rising edge positions are close to be consistent, and the error is smaller.
Meanwhile, in order to cope with different test scenes, the main control circuit 300 sets different TDC detection circuits 230 with preset amplitude voltage values, and the main control circuit 300 further performs positive correlation adjustment and calibration on the preset amplitude voltage according to the slope of the rising edge of the signal of the digital echo signal, so as to realize threshold setting of dynamic detection, that is, when the laser radar apparatus 1 performs close-range scanning, since the echo area of the pulse echo signal is large and the slope is large, the preset amplitude voltage is set as a large or medium threshold at this time, when the laser radar apparatus 1 performs long-range scanning, the echo area is smaller than that of the close-range echo, and the slope is small, the preset amplitude voltage adopts a lower threshold voltage at this time, so as to realize dynamic adjustment of the threshold, the size setting of the detection threshold can be specifically set according to radar calibration parameters, in the laser radar apparatus 1, a multi-threshold TDC detection is adopted, and accuracy of radar ranging and reflectivity detection is improved.
Optionally, as shown in fig. 1, the laser emitting circuit 100 includes a laser driving circuit 110 and a laser emitting assembly 120 connected to the laser driving circuit 110, the laser driving circuit 110 is triggered by a first control signal to control the laser emitting assembly 120 to emit a laser pulse signal to the object 2 to be measured, the laser driving circuit 110 may employ a corresponding charging and discharging circuit, a corresponding signal processing circuit, and the like, and the laser emitting assembly 120 includes a laser 121, for example, an LD laser diode.
The photoelectric conversion circuit 210 may employ a corresponding photoelectric converter, a signal conversion circuit, and the like, as shown in fig. 3, and optionally, the photoelectric conversion circuit 210 includes:
a photosensor 211 for converting a laser pulse signal into a current signal;
a transconductance amplifier 212 connected to the photosensor 211, the transconductance amplifier 212 being configured to convert the current signal into an analog echo signal of the voltage type.
In this embodiment, the photosensor 211 is configured to perform photoelectric conversion from a laser pulse signal to an electrical signal and output a corresponding current signal, and the transconductance amplifier 212 performs conversion from current to voltage to output an analog echo signal with voltage characteristics, and the transconductance amplifier 212 is connected to the ADC detection circuit 220 and the TDC detection circuit 230 at the same time and outputs the analog echo signal output by the conversion to the ADC detection circuit 220 and the TDC detection circuit 230 to perform ADC detection sampling and TDC detection conversion processing, respectively.
And as shown in fig. 3, in order to improve the ranging accuracy and the sampling accuracy of the ADC for the analog echo signal with small amplitude, optionally, the ADC detection circuit 220 includes:
the power amplifier 221, the power amplifier 221 is configured to perform power amplification conversion on the analog echo signal, and output the analog echo signal;
the ADC sampling chip 222 connected to the power amplifier 221 and the main control circuit 300, the ADC sampling chip 222 is used to convert the power amplified analog echo signal into a digital echo signal.
By amplifying the power of the analog echo signal with a small amplitude, the analog echo signal input to the ADC sampling chip 222 reaches a preset threshold, so that the ADC sampling requirement is met, and the accuracy of distance measurement and reflectivity detection is improved.
Meanwhile, in order to ensure ranging and detect a long-distance low-reflectivity object, the laser radar apparatus 1 needs to ensure a certain sensitivity, and needs to appropriately adjust the gain of the transconductance amplifier 212 and reach a larger threshold, so as to implement adjustment of the gain, as shown in fig. 4, optionally, the main control circuit 300 is further connected to the transconductance amplifier 212 and adjusts the gain value of the transconductance amplifier 212.
The gain calculation formula of the transconductance amplifier 212 is:
V＝A*I
where V is the output voltage of the transconductance amplifier 212, I is the current, and a is the circuit gain in volts/ampere.
By adjusting the receiving gain, the gain of the transconductance amplifier 212 is adjusted to a corresponding threshold value, thereby improving the ranging accuracy.
The TDC detection circuit 230 may be implemented by using an existing integrated chip, a discrete device, or by using a circuit structure inside the main control circuit 300, optionally, in order to simplify the structure of the laser radar apparatus 1, as shown in fig. 4 and 6, optionally, the TDC detection circuit 230 includes a TDC detection chip 231, a threshold signal end and a signal output end of the TDC detection chip 231 are connected to a signal end of the main control circuit 300, a signal input end of the TDC detection chip 231 is connected to a signal output end of the photoelectric conversion circuit 210, the TDC detection chip 231 performs digital time conversion on the analog echo signal, generates a digital pulse waveform according to a preset amplitude voltage trigger, obtains an echo pulse width and a pulse arrival time, and further determines the flight time, the distance information, and the reflectivity of the analog echo signal.
Further, according to the distance measuring method and the preset amplitude voltage setting requirement, as shown in fig. 4, optionally, the main control circuit 300 includes:
the threshold generating circuit 310 connected to the TDC detecting circuit 230 outputs a predetermined amplitude voltage of a corresponding magnitude to the TDC detecting circuit 230 in response to the second control signal;
a main control chip 320 connected to the laser emitting circuit 100, the ADC detection circuit 220, the TDC detection circuit 230, and the threshold generation circuit 310;
the main control chip 320 acquires the amplitude and the slope of the rising edge of the digital echo signal;
triggering and switching to a first distance measurement mode when the amplitude is smaller than the preset amplitude voltage, wherein the first distance measurement mode is to determine the distance information and the reflectivity of the object to be measured 2 according to the digital echo signal;
and triggering and switching to a second distance measurement mode when the amplitude is larger than or equal to the preset amplitude voltage, wherein the second distance measurement mode is to determine the distance information and the reflectivity of the object 2 to be measured according to the pulse echo signal and output a corresponding second control signal according to the slope.
In this embodiment, the main control chip 320 implements the detecting, controlling and calculating functions of the main control circuit 300, that is, obtains the state of the digital analog signal, switches the ranging mode, and determines the distance information and the reflectivity according to one of the digital echo signal and the pulse echo signal, and meanwhile, outputs the corresponding control signal to the threshold generating circuit 310 according to the slope of the rising edge, so as to control the threshold generating circuit 310 to output the preset amplitude voltage with the corresponding magnitude to the TDC detection circuit 230, thereby implementing dynamic detection.
As shown in fig. 5, optionally, the threshold generating circuit 310 includes a power conversion chip U1, and the power conversion chip U1 is triggered by the second control signal to convert and output a preset amplitude voltage with a corresponding magnitude, that is, convert the input reference voltage into the preset amplitude voltage with a corresponding magnitude according to the second control signal, and output the preset amplitude voltage to the threshold generating circuit 310 through the signal terminal VOUT.
The main control chip 320 may employ a corresponding controller, and optionally, the main control chip 320 includes an FPGA chip.
In order to further simplify the overall structure of the laser radar apparatus 1, optionally, the threshold generation circuit 310, the TDC detection circuit 230, and the ADC detection circuit 220 are integrally disposed in the main control chip 320, and each part of the circuit structure is disposed in the main control chip 320, so as to implement an integrated arrangement, thereby simplifying the structure of the laser radar apparatus 1.
Compared with the prior art, the embodiment of the utility model beneficial effect who exists is: the photoelectric conversion circuit 210 simultaneously outputs echo signals to the ADC detection circuit 220 and the TDC detection circuit 230, when the amplitude of the echo signal is detected to be smaller than a preset amplitude voltage, it is determined that the current echo signal is not saturated, the main control circuit 300 performs calculation and confirmation of distance information and reflectivity according to the digital echo signal output by the ADC detection circuit 220, when the amplitude of the echo signal is detected to reach the preset amplitude voltage, it is determined that the current echo signal is saturated, the main control circuit 300 performs calculation and confirmation of distance information and reflectivity according to the pulse echo signal output by the TDC detection circuit 230, accuracy of distance measurement is improved, and meanwhile, dynamic adjustment of the preset amplitude voltage is performed, so that pulse width information of the pulse echo signal is dynamically adjusted, and detection accuracy of distance measurement and reflectivity is improved.
The above-mentioned embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A lidar apparatus, comprising:
the laser emission circuit emits a laser pulse signal to an object to be detected under the action of a first control signal;
the laser receiving circuit comprises a photoelectric conversion circuit, an ADC detection circuit and a TDC detection circuit, wherein the ADC detection circuit and the TDC detection circuit are respectively connected with the photoelectric conversion circuit;
the photoelectric conversion circuit is used for converting the laser pulse signal reflected by the object to be detected into an analog echo signal and outputting the analog echo signal to the ADC detection circuit and the TDC detection circuit;
the ADC detection circuit is used for detecting and converting the analog echo signal into a digital echo signal;
the TDC wave detection circuit is used for comparing and detecting the analog echo signal with a preset amplitude voltage and converting the analog echo signal into a pulse echo signal;
the main control circuit is respectively connected with the laser emission circuit, the ADC detection circuit and the TDC detection circuit and is used for acquiring the amplitude and the slope of a rising edge of the digital echo signal;
when the amplitude is smaller than the preset amplitude voltage, triggering to switch to a first distance measurement mode, wherein the first distance measurement mode is used for determining the distance information and the reflectivity of the object to be measured according to the digital echo signal;
and triggering and switching to a second distance measurement mode when the amplitude is greater than or equal to the preset amplitude voltage, wherein the second distance measurement mode is to determine the distance information and the reflectivity of the object to be measured according to the pulse echo signal and adjust the preset amplitude voltage according to the positive correlation of the slope.
2. The lidar apparatus of claim 1, wherein the photoelectric conversion circuit comprises:
a photoelectric sensor for converting the laser pulse signal into a current signal;
and the transconductance amplifier is connected with the photoelectric sensor and is used for converting the current signal into a voltage type analog echo signal.
3. The lidar apparatus of claim 1, wherein the ADC detection circuit comprises:
the power amplifier is used for performing power amplification conversion on the analog echo signal and outputting the analog echo signal;
and the ADC sampling chip is connected with the power amplifier and the main control circuit and is used for converting the analog echo signal after power amplification into the digital echo signal.
4. The lidar device of claim 2, wherein the master circuit is further coupled to the transconductance amplifier and adjusts a gain value of the transconductance amplifier.
5. The lidar device according to any one of claims 1 to 4, wherein the TDC detection circuit includes a TDC detection chip, a threshold signal terminal and a signal output terminal of the TDC detection chip are connected to a signal terminal of the main control circuit, and a signal input terminal of the TDC detection chip is connected to a signal output terminal of the photoelectric conversion circuit.
6. The lidar device of any of claims 1-4, wherein the master control circuit comprises:
the threshold generating circuit is connected with the TDC detecting circuit and outputs a preset amplitude voltage with a corresponding magnitude to the TDC detecting circuit under the action of a second control signal;
the main control chip is connected with the laser emission circuit, the ADC detection circuit, the TDC detection circuit and the threshold generation circuit;
the main control chip acquires the amplitude value of the digital echo signal and the slope of a rising edge;
triggering and switching to a first ranging mode when the amplitude is smaller than a preset amplitude voltage, wherein the first ranging mode is used for determining the distance information and the reflectivity of the object to be measured according to the digital echo signal;
and triggering and switching to a second distance measurement mode when the amplitude is larger than or equal to the preset amplitude, wherein the second distance measurement mode is to determine the distance information and the reflectivity of the object to be measured according to the pulse echo signal and output a corresponding second control signal according to the slope.
7. The lidar apparatus of claim 6, wherein the threshold generation circuit, the TDC detection circuit, and the ADC detection circuit are integrated within the master chip.
8. The lidar device of claim 6, wherein the master control chip comprises an FPGA chip.
9. The lidar apparatus of claim 6, wherein the threshold generation circuit comprises a power conversion chip, the power conversion chip being triggered by the second control signal to convert and output a predetermined magnitude voltage of a corresponding magnitude.
10. The lidar apparatus of any of claims 1 to 4, wherein the laser emission circuit comprises a laser drive circuit and a laser emission component connected to the laser drive circuit;
the laser driving circuit is triggered by the first control signal to control the laser emitting component to emit a laser pulse signal to an object to be detected;
the laser emitting assembly includes a laser.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116755100A (en) * | 2023-08-17 | 2023-09-15 | 深圳市速腾聚创科技有限公司 | Laser radar device and ranging adjustment method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116755100A (en) * | 2023-08-17 | 2023-09-15 | 深圳市速腾聚创科技有限公司 | Laser radar device and ranging adjustment method thereof |
| CN116755100B (en) * | 2023-08-17 | 2024-02-02 | 深圳市速腾聚创科技有限公司 | Laser radar device and ranging adjustment method thereof |
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