CN105137443B - Pulse type laser distance-finding method - Google Patents
Pulse type laser distance-finding method Download PDFInfo
- Publication number
- CN105137443B CN105137443B CN201510535539.1A CN201510535539A CN105137443B CN 105137443 B CN105137443 B CN 105137443B CN 201510535539 A CN201510535539 A CN 201510535539A CN 105137443 B CN105137443 B CN 105137443B
- Authority
- CN
- China
- Prior art keywords
- reflected impulse
- time interval
- time
- distance
- laser
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention discloses a kind of pulse type laser distance-finding method, including step：S1, transmitting drive signal of the controller output with time interval T, laser pulse sequence of the driving laser transmitting with 1 time interval T of M；S2, light echo reception device receives reflected impulse, and time chip record receives each laser pulse emission to the flight time T receivedfAnd receive absolute time Ta；Flight time TfMuch smaller than time interval T；S3, judges whether each reflected impulse received is effective reflected impulse, if effectively, by the flight time T of the reflected impulsefWith reception absolute time TaIt is stored in controller；If invalid, next reflected impulse is continued to；S4 is according to the flight time T of effective reflected impulsefIf the light velocity is C, calculates testing distance D, D=(C × Tf)/2.The present invention has the advantages that weak reflection, long distance laser ranging accuracy height, strong antijamming capability.
Description
Technical field
The present invention relates to laser ranging field, it is more particularly related to a kind of pulse type laser distance-finding method.
Background technology
Laser ranging, is progress ranging using laser as light source.The spies such as the good, high directivity of monochromaticjty due to laser
Point, it is integrated to add electronic circuit semiconductor transformation, compared with geodimeter, not only day and night operation but also can improve survey
Away from precision, weight and power consumption are substantially reduced.
At present, laser ranging can be divided into pulse type laser ranging and phase laser distance measurement.Pulse type laser ranging, is surveyed
The laser that distance meter is launched after the reflection of object being measured again received by rangefinder, rangefinder simultaneously recording laser come and go when
Between, the half of the product of the light velocity and two-way time is exactly the distance between rangefinder and object being measured.Phase laser distance measurement
It is to carry out amplitude modulation(PAM) with the frequency degree laser beam of radio wave band and determine modulation light coming and going survey line once produced phase
Delay, further according to the wavelength of modulation light, the distance converted representated by this phase delay.
Traditional pulse type laser rangefinder, measuring method uses time-of-flight method, judges what is received by judgment threshold
Whether reflected signal is effective, uses the timing measuring of high-precision timing chip deadline.Judgment threshold is improved, one can be improved
Fixed range capability.But, the judgment threshold of time measurement is improved, substantial amounts of useful signal can be lost, so as to lose range.Separately
Outside, in the case of remote or weak reflectance target pair, return signal is extremely weak, in order to avoid erroneous judgement, and such method can only
Judgment threshold is enough reduced, judgment threshold is reduced, some noises will certainly be introduced, the accuracy of laser ranging is influenceed.
The content of the invention
For weak point present in above-mentioned technology, the present invention provides a kind of pulse type laser distance-finding method, passes through control
Transmitting drive signal of the device output with time interval T processed, driving laser is sent by the M with the M-1 time interval T
The laser pulse sequence of individual laser pulse composition, so as to be efficiently received weak reflection, cancelling noise, improves weak reflect, at a distance
The accuracy of laser ranging.
In order to realize that, according to object of the present invention and further advantage, the present invention is achieved through the following technical solutions：
Pulse type laser distance-finding method of the present invention, comprises the following steps：
S1, transmitting drive signal of the controller output with time interval T, driving laser transmitting laser pulse sequence,
The laser pulse sequence includes the M laser pulse with the M-1 time interval T；
S2, light echo reception device receives the corresponding reflected impulse of the laser pulse, and time chip record receives each institute
Laser pulse is stated from the flight time T for being transmitted into reflection receivablefAnd receive the reception absolute time of each reflected impulse
Ta；The flight time TfMuch smaller than the time interval T；
S3, often receives a reflected impulse and is judged as whether the reflected impulse is effective reflected impulse, if effectively,
By the flight time T of the reflected impulsefWith reception absolute time TaAll it is stored in the controller；If invalid, continue to next
Individual reflected impulse；
S4, according to the flight time T of effective reflected impulsefIf, the light velocity be C, calculate testing distance D, D=(C ×
Tf)/2；
Wherein, in step S3, judge whether it is that the method for effective reflected impulse is specifically included：
By the reception absolute time T of n-th of reflected impulseanEach reception with the reflected impulse of first n-1 reception is absolute
Time TaiIt is (Tan-Tai) computing, wherein i is 1 any number into n-1：If (Tan-Tai) equal to above n-1 reception
All reflected impulses between any one of time interval T or any number of time interval T one-level computing, should
Reflected impulse is effective reflected impulse；Otherwise, the reflected impulse is inefficient reflections pulse.
Preferably, transmitting drive signal of the output of controller described in step S1 with time interval T, is specifically included：
S11, time interval random generator generation basic time interval T1 and random time intervals T2, and will be described basic
Time interval T1 and the random time intervals T2 are sent to the controller；
S12, the controller obtains the time according to the basic time interval T1 and the random time intervals T2
It is spaced T：T=T1 ± T2；
S13, the controller exports a transmitting drive signal every the time interval T.
Preferably, the basic time interval T1 is fixed, and the random time intervals T2 changes at random.
Preferably, the basic time interval T1 is 2ms, and the random time intervals T2 is absolute value no more than 1ms
Numerical value.
Preferably, light echo reception device receives the corresponding reflected impulse of the laser pulse in step S2, specifically includes：
The voltage threshold for receiving the reflected impulse is set, if the voltage of the reflected impulse exceedes the voltage threshold,
Then receive the reflected impulse；If the voltage of the reflected impulse is less than the voltage threshold, the reflected impulse is not received.
Preferably, the testing distance D is calculated in step S4, is specifically included：
S41, the controller is grouped to the laser pulses of M with time interval T, and the controller is by institute
The time interval T continuous counters for stating laser pulse are set to one group to Q, and [M- (Q-1)] group is divided into altogether；
In S42, the reflected impulse of q groups, by the flight time T of all effective reflected impulses of the groupfAverage
To Tfq, the light velocity is set to C, then, the average distance of q groups is Dq=(C × Tfq)/2；
S43, is averaged, obtains the testing distance D again to [M- (Q-1)] individual group every group of average distance Dq, then described
Testing distance
Preferably, the testing distance D and the laser pulse number M are proportional.
The present invention at least includes following beneficial effect：
1) present invention exports the transmitting drive signal with time interval T by controller, and driving laser is sent by having
The laser pulse sequence being made up of M-1 time interval T M laser pulse, so as to determine whether effectively reflection
During pulse, it is efficiently received weak reflection, kicks except noise, improve weak reflection, the accuracy of long distance laser ranging；
2) present invention sets basic time interval T1 and random time intervals T2, provides various for time interval T species
Property, with very strong anti-interference, be conducive to improving the accuracy for receiving effective reflected impulse and cancelling noise；Between basic time
It is fixed every T1, random time intervals T2 changes at random；Basic time interval T1 is 2ms, and random time intervals T2 is
Absolute value is not more than 1ms numerical value；Further improve the accuracy for receiving effective reflected impulse and cancelling noise；
3) present invention sets the voltage threshold for judging whether to receive reflected impulse, filters out certain noise；
4) present invention is grouped by controller to laser pulse sequence, and the average distance for first obtaining every group is Dq, then
Individual group of [M- (Q-1)] is averaged, testing distance D is obtained；The calculating being repeatedly averaged, error range is further reduced, from
And be more conducive to improve weak reflection, the accuracy of long distance laser ranging.
5) the number M of testing distance D of the invention and laser pulse is proportional, and testing distance D is longer, and M is bigger, arteries and veins
Number is rushed more, pulse train is longer, time interval T is more, so as to be conducive to reducing in long range testing distance D ranging process
Weak reflection and noise error, be conducive to further improve long distance laser ranging accuracy.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the distance-finding method schematic diagram of pulse type laser distance-finding method of the present invention；
Fig. 2 is the method flow diagram of pulse type laser distance-finding method of the present invention；
Fig. 3 drives for transmitting of the device processed output with time interval T of pulse type laser distance-finding method of the present invention
The method flow diagram of signal；
Fig. 4 is the method flow diagram for calculating testing distance D of pulse type laser distance-finding method of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or many
The presence or addition of individual other elements or its combination.
The present invention provides a kind of pulse type laser distance-finding method, and as depicted in figs. 1 and 2, distance-finding method includes：
S1, transmitting drive signal of the controller output with time interval T, driving laser transmitting laser pulse sequence,
The laser pulse sequence includes the M laser pulse with the M-1 time interval T；
S2, light echo reception device receives the corresponding reflected impulse of the laser pulse, and time chip record receives each institute
Laser pulse is stated from the flight time T for being transmitted into reflection receivablefAnd receive the reception absolute time of each reflected impulse
Ta；The flight time TfMuch smaller than the time interval T；
S3, often receives a reflected impulse and is judged as whether the reflected impulse is effective reflected impulse, if effectively,
By the flight time T of the reflected impulsefWith reception absolute time TaAll it is stored in the controller；If invalid, continue to next
Individual reflected impulse；
S4, according to the flight time T of effective reflected impulsef, calculate testing distance D；
Wherein, in step S3, judge whether it is that the method for effective reflected impulse is specifically included：
By the reception absolute time T of n-th of reflected impulseanEach reception with the reflected impulse of first n-1 reception is absolute
Time TaiIt is (Tan-Tai) computing, wherein, i is 1 any number into n-1：If (Tan-Tai) received equal to first n-1
Any one of time interval T or any number of time interval T one-level computing between all reflected impulses, this is anti-
Pulse is penetrated for effective reflected impulse；Otherwise, the reflected impulse is inefficient reflections pulse.
In above-mentioned embodiment, controller must be Large Copacity controller, it is necessary to connecing to the reflected impulse of each reception
Absolute time is received to keep a record and preserve.Flight time TfIt is in order to avoid each transmitting pulse, reflection much smaller than time interval T
Pulse cross is launched and received, it is to avoid bad student's error.One-level computing, refers to doing the computing added or does the computing subtracted.For example,
The drive signal that controller is sent, driving laser sends the laser pulse sequence of the individual laser pulse compositions of 10 (M=10), has
The individual time interval T of 9 (M-1=10-1=9), then when receiving the reflected impulse of the 6th (n=6) individual laser pulse, by the 6th
The reception absolute time T of individual reflected impulsea6Controller is stored in, and absolute time T will be receiveda6With above 5 (n-1=6-1=5)
Each reception absolute time T of the reflected impulse of individual receptiona6It is (Ta6-Tai) computing, wherein, during i is 1 to 5 (n-1=5)
Any number, for example, working as i=3, if (Ta6-Ta3)=3T, then difference 3T is that 3 time interval T do the one-level computing added, that
, the 6th reflected impulse is effective impulse；If (Ta6-Ta3)=2.5T, then difference 2.5T be not belonging to a time interval T,
It is not belonging to multiple time interval T one-level computing, then, the 6th reflected impulse is idler Pulse.
Transmitting drive signal with time interval T is exported by controller, driving laser launches M laser pulse group
Into laser pulse sequence, also, by the reception absolute time T of n-th of reflected impulseanWith the reflected impulse of first n-1 reception
Each reception absolute time TaiIt is (Tan-Tai) computing come whether judge n-th of reflected impulse be effective reflected impulse, and
During effective reflected impulse is determined whether, weak reflection can be efficiently received, kicked except noise, improve weak reflect, far
Apart from the accuracy of laser ranging, interference free performance is improved.
As the another embodiment of embodiment of the present invention, the output of controller described in step S1 has time interval
T transmitting drive signal, is specifically included：
S11, time interval random generator generation basic time interval T1 and random time intervals T2, and will be described basic
Time interval T1 and the random time intervals T2 are sent to the controller；
S12, the controller obtains the time according to the basic time interval T1 and the random time intervals T2
It is spaced T：T=T1 ± T2；
S13, the controller exports a transmitting drive signal every the time interval T.
In above-mentioned embodiment, basic time interval T1 and random time intervals T2 setting so that what laser was sent
M-1 time interval T of the laser pulse sequence with M laser pulse is changeable, and possibility is all identical, possibility is whole not
With, may be adjacent several identical, time interval T time interval has specific diversity, with very strong anti-interference, favorably
In the accuracy for improving the effective reflected impulse of reception and cancelling noise.As the preferred embodiment of present embodiment, when basic
Between interval T1 be fixed, random time intervals T2 changes at random so that time interval T is controllable within the specific limits.More
Further, basic time interval T1 is preferably 2ms, and random time intervals T2 is preferably the numerical value that absolute value is not more than 1ms, this
When, the anti-interference of pulse type laser distance-finding method is most strong, and the accuracy for receiving effective reflected impulse and cancelling noise is best.
As the another embodiment of embodiment of the present invention, light echo reception device receives the laser arteries and veins in step S2
Corresponding reflected impulse is rushed, is specifically included：
The voltage threshold for receiving the reflected impulse is set, if the voltage of the reflected impulse exceedes the voltage threshold,
Then receive the reflected impulse；If the voltage of the reflected impulse is less than the voltage threshold, the reflected impulse is not received.
In above-mentioned embodiment, the setting of voltage threshold, with the effect for filtering out certain noise.
As the another embodiment of embodiment of the present invention, the testing distance D is calculated in step S4, specific bag
Include：
S41, the controller is grouped to the laser pulses of M with time interval T, and the controller is by institute
The time interval T continuous counters for stating laser pulse are set to one group to Q, and [M- (Q-1)] group is divided into altogether；
In S42, the reflected impulse of q groups, by the flight time T of all effective reflected impulses of the groupfAverage
ArriveThe light velocity is set to C, then, the average distance of q groups is
S43, is averaged, obtains the testing distance D again to [M- (Q-1)] individual group every group of average distance Dq, then described
Testing distance
In above-mentioned embodiment, laser pulse sequence is grouped by controller, every group of average distance is first obtained
It is Dq, then individual group of [M- (Q-1)] is averaged, obtains testing distance D.For example, the drive signal that controller is sent, drives laser
Device sends the laser pulse sequence of the individual laser pulse compositions of 10 (M=10), with the individual time interval T of 9 (M-1=10-1=9), if
Q=4, then, controller is by the individual time interval T continuous counters of 9 (M-1=10-1=9) of 10 (M=10) individual laser pulses to 4
(Q=4) it is individual to be set to one group, 7 ([M- (Q-1)]=7) groups are divided into altogether；Namely 1-4 is first group, and 2-5 is second group, with this
Analogize, 6-9 is one group.So, the flight time T of every group of all effective reflected impulsesfAverage and obtain Tfq, the light velocity sets
For C, the average distance of q groups is Dq=(C × Tfq)/2.Finally, then to every group of average distance Dq of 7 groups it is averaged, asks again
Go out testing distanceWherein, M=10, Q=4.
By the computational methods of present embodiment, testing distance D error range is further reduced, so as to be more conducive to carry
High weak reflection, the accuracy of long distance laser ranging.
It is used as the another embodiment of embodiment of the present invention, the testing distance D and the laser pulse number M
It is proportional.Testing distance D is longer, and M is bigger, and pulse number is more, and pulse train is longer, and time interval T is more, is divided
Group simultaneously judges that the process of effective reflected impulse is more, so as to be conducive to reducing weak anti-in long range testing distance D ranging process
Penetrate and noise error, be conducive to further improving the accuracy of long distance laser ranging.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With.It can be applied to various suitable the field of the invention completely.Can be easily for those skilled in the art
Realize other modification.Therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (7)
1. a kind of pulse type laser distance-finding method, it is characterised in that comprise the following steps：
S1, transmitting drive signal of the controller output with time interval T, driving laser transmitting laser pulse sequence is described
Laser pulse sequence includes the M laser pulse with the M-1 time interval T；
S2, light echo reception device receives the corresponding reflected impulse of the laser pulse, and time chip record receives each described sharp
Light pulse is from the flight time T for being transmitted into reflection receivablefAnd receive the reception absolute time T of each reflected impulsea；Institute
State flight time TfMuch smaller than the time interval T；
S3, often receives a reflected impulse and is judged as whether the reflected impulse is effective reflected impulse, if effectively, should
The flight time T of reflected impulsefWith reception absolute time TaAll it is stored in the controller；If invalid, continue to next anti-
Penetrate pulse；
S4, according to the flight time T of effective reflected impulsefIf the light velocity is C, calculates testing distance D, D=(C × Tf)/
2；
Wherein, in step S3, judge whether it is that the method for effective reflected impulse is specifically included：
By the reception absolute time T of n-th of reflected impulseanWith each reception absolute time of the reflected impulse of first n-1 reception
TaiIt is (Tan-Tai) computing, wherein, i is 1 any number into n-1：If (Tan-Tai) be equal to first n-1 reception own
Any one of time interval T or any number of time interval T one-level computing, the reflection arteries and veins between reflected impulse
Rush as effective reflected impulse；Otherwise, the reflected impulse is inefficient reflections pulse.
2. pulse type laser distance-finding method as claimed in claim 1, it is characterised in that the output tool of controller described in step S1
There is time interval T transmitting drive signal, specifically include：
S11, time interval random generator generation basic time interval T1 and random time intervals T2, and by the basic time
The interval T1 and random time intervals T2 is sent to the controller；
S12, the controller obtains the time interval according to the basic time interval T1 and the random time intervals T2
T：T=T1 ± T2；
S13, the controller exports a transmitting drive signal every the time interval T.
3. pulse type laser distance-finding method as claimed in claim 2, it is characterised in that the basic time interval T1 is fixed
, the random time intervals T2 changes at random.
4. pulse type laser distance-finding method as claimed in claim 3, it is characterised in that the basic time interval T1 is 2ms,
The random time intervals T2 is the numerical value that absolute value is not more than 1ms.
5. pulse type laser distance-finding method as claimed in claim 1, it is characterised in that light echo reception device is received in step S2
The corresponding reflected impulse of the laser pulse, is specifically included：
The voltage threshold for receiving the reflected impulse is set, if the voltage of the reflected impulse exceedes the voltage threshold, connect
Receive the reflected impulse；If the voltage of the reflected impulse is less than the voltage threshold, the reflected impulse is not received.
6. the pulse type laser distance-finding method as described in claim any one of 1-5, it is characterised in that institute is calculated in step S4
Testing distance D is stated, is specifically included：
S41, the controller is grouped to the M laser pulses with time interval T, and the controller swashs described
The time interval T continuous counters of light pulse are set to one group to Q, and [M- (Q-1)] group is divided into altogether；
In S42, the reflected impulse of q groups, by the flight time T of all effective reflected impulses of the groupfAverage and obtain Tfq,
The light velocity is set to C, then, the average distance of q groups is Dq=(C × Tfq)/2；
S43, is averaged, obtains the testing distance D again to [M- (Q-1)] individual group every group of average distance Dq, then described to be measured
Distance
7. pulse type laser distance-finding method as claimed in claim 6, it is characterised in that the testing distance D and the laser
The number M of pulse is proportional.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510535539.1A CN105137443B (en) | 2015-08-27 | 2015-08-27 | Pulse type laser distance-finding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510535539.1A CN105137443B (en) | 2015-08-27 | 2015-08-27 | Pulse type laser distance-finding method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105137443A CN105137443A (en) | 2015-12-09 |
| CN105137443B true CN105137443B (en) | 2017-09-26 |
Family
ID=54722849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510535539.1A Active CN105137443B (en) | 2015-08-27 | 2015-08-27 | Pulse type laser distance-finding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105137443B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3396414A4 (en) * | 2015-12-21 | 2019-08-21 | Koito Manufacturing Co., Ltd. | Image acquisition device to be used by vehicle, control device, vehicle equipped with control device or image acquisition device to be used by vehicle, and image acquisition method to be used by vehicle |
| CN106154815A (en) * | 2016-07-27 | 2016-11-23 | 哈尔滨睿之芯信息技术股份有限公司 | Split-second precision TT&C system for the field of finding range |
| CN107884780B (en) * | 2016-09-30 | 2021-03-26 | 比亚迪股份有限公司 | Distance measuring method, laser radar and vehicle |
| CN109683171A (en) * | 2017-10-19 | 2019-04-26 | 上海禾赛光电科技有限公司 | Laser radar and its distance measuring method |
| CN109459738A (en) * | 2018-06-06 | 2019-03-12 | 杭州艾芯智能科技有限公司 | A kind of more TOF cameras mutually avoid the method and system of interference |
| CN109116366B (en) * | 2018-06-27 | 2020-05-19 | 上海禾赛光电科技有限公司 | Multi-beam laser radar with non-uniform pulse energy |
| TWI693421B (en) * | 2018-10-24 | 2020-05-11 | 精準基因生物科技股份有限公司 | Time-of-flight ranging device and time-of-flight ranging method |
| CN109752729B (en) * | 2019-01-23 | 2023-04-07 | 电子科技大学 | Pulse type laser distance measuring device and method |
| CN109991584A (en) * | 2019-03-14 | 2019-07-09 | 深圳奥比中光科技有限公司 | A kind of jamproof distance measurement method and depth camera |
| CN110221272B (en) * | 2019-05-09 | 2021-11-19 | 奥比中光科技集团股份有限公司 | Time flight depth camera and anti-interference distance measurement method |
| WO2021077253A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市大疆创新科技有限公司 | Measurement method and apparatus, mobile platform and computer-readable medium |
| CN111366944B (en) * | 2020-04-01 | 2022-06-28 | 浙江光珀智能科技有限公司 | Distance measuring device and distance measuring method |
| JP7004860B2 (en) * | 2021-02-01 | 2022-01-21 | 京セラ株式会社 | Distance measuring device, vehicle, and distance measuring method |
| CN113064213B (en) * | 2021-03-10 | 2023-05-09 | 欧姆龙(上海)有限公司 | Light receiving device and photoelectric sensor |
| CN113341428B (en) * | 2021-04-27 | 2023-05-23 | 中国工程物理研究院应用电子学研究所 | Distance measurement signal processing method and signal processing circuit |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101655563B (en) * | 2008-08-21 | 2012-07-04 | 金华市蓝海光电技术有限公司 | Laser ranging method with high accuracy and low power consumption and device thereof |
| EP2634594A1 (en) * | 2012-03-01 | 2013-09-04 | Leica Geosystems AG | Method for determining a change in distance by means of interferometry |
| CN103605134B (en) * | 2013-11-20 | 2016-01-27 | 奇瑞汽车股份有限公司 | The read method of laser ranging timing time, device and pulse type laser radar |
| CN104865577A (en) * | 2015-05-25 | 2015-08-26 | 上海翌森信息科技有限公司 | Laser range finding system |
-
2015
- 2015-08-27 CN CN201510535539.1A patent/CN105137443B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105137443A (en) | 2015-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105137443B (en) | Pulse type laser distance-finding method | |
| CN105759279B (en) | One kind is based on the matched laser ranging system of waveform time domain and method | |
| CN101852854B (en) | Underwater multi-beam sounding system and method | |
| CN103616696B (en) | A kind of method of laser imaging radar device and range finding thereof | |
| CN109633670A (en) | It is a kind of to utilize the laser pulse ranging method for receiving signal width amendment measurement error | |
| CN105066918A (en) | Ultrasonic underwater target thickness measuring system and thickness measuring method | |
| CN101458332B (en) | Ultrasonic ranging method and system thereof | |
| CN103995263B (en) | A kind of ultrasonic ranging method based on sequential | |
| CN104749579B (en) | A kind of fairway depth measuring method based on chaotic laser light device and its correlation method | |
| CN104656083A (en) | Ultrasonic distance measuring system having temperature compensation function and adopting pulse counting | |
| GB2596687A (en) | Self-calibrated method of determining borehole fluid acoustic properties | |
| CN108196265A (en) | A kind of multi-path laser flight time parallel acquisition system and method | |
| CN106324589B (en) | A kind of measurement method of parameters and electronic equipment of mobile target | |
| CN103308915A (en) | Sound measurement device and method | |
| CN2784945Y (en) | Ultrasonic distance-measuring sensor | |
| CN208013420U (en) | A kind of correlation type ultrasonic rangefinder | |
| CN103869096B (en) | Ultrasonic anemoscope range broadening method | |
| US7239580B2 (en) | Noise adaptive sonar signal processor | |
| CN111854679B (en) | Laser ranging telescope and ranging circuit, method, equipment and medium thereof | |
| CN103969648B (en) | Ultrasonic ranging method | |
| CN200989943Y (en) | Non-blind zone ultrasonic range finder | |
| JPH02165086A (en) | Radar | |
| CN1804654A (en) | Composite phase detection method and composite phase discriminator | |
| CN106443645A (en) | Ultrasonic ranging system, and echo value taking method and apparatus | |
| CN108254001B (en) | Ultrasonic sensor and method for measuring precision thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211123 Address after: 215500 5th floor, building 4, 68 Lianfeng Road, Changfu street, Changshu City, Suzhou City, Jiangsu Province Patentee after: Changshu intellectual property operation center Co.,Ltd. Address before: 215562 yangbei Road, Xinzhuang Town (Yangyuan), Changshu City, Suzhou City, Jiangsu Province Patentee before: SUZHOU YISEN OPTOELECTRONIC TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |