CN114814857B - Solid-state laser radar control method, control unit and solid-state laser radar - Google Patents
Solid-state laser radar control method, control unit and solid-state laser radarInfo
- Publication number
- CN114814857B CN114814857B CN202210329413.9A CN202210329413A CN114814857B CN 114814857 B CN114814857 B CN 114814857B CN 202210329413 A CN202210329413 A CN 202210329413A CN 114814857 B CN114814857 B CN 114814857B
- Authority
- CN
- China
- Prior art keywords
- light
- unit
- solid
- photoelectric conversion
- channel
- 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
- G01S17/04—Systems determining the presence of a target
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (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
本发明提供了一种固态激光雷达控制方法、控制单元及固态激光雷达，该方法包括根据预先设定的发光顺序使第一选通器选通对应的发光单元并使第二选通器选通与该发光单元对应的目标光电转换元件，同时使目标光电转换元件的供电电压周期性变化至少1个周期，以完成该发光单元对应的探测区域的扫描；在完成所有发光单元对应的探测区域的扫描后，根据第一计时器记录的发光时刻和第二计时器记录的信号接收时刻确定探测结果。通过根据设置的第二选通器，使一个第二计时器服务于多个目标光电转换元件，从而通过上述相应的扫描方式完成视场探测，能够有效减少固态激光雷达所需设置的放大器和计时器的数量，减少雷达的复杂度。
The present invention provides a solid-state laser radar control method, control unit, and solid-state laser radar. The method includes causing a first selector to select corresponding light-emitting units and a second selector to select target photoelectric conversion elements corresponding to the light-emitting units according to a pre-set light-emitting sequence, while periodically varying the supply voltage of the target photoelectric conversion elements by at least one cycle to complete scanning of the detection area corresponding to the light-emitting units. After completing scanning of the detection area corresponding to all light-emitting units, the detection result is determined based on the light-emitting moments recorded by the first timer and the signal reception moments recorded by the second timer. By enabling a second timer to serve multiple target photoelectric conversion elements according to the configured second selector, field-of-view detection is completed through the corresponding scanning method. This effectively reduces the number of amplifiers and timers required for the solid-state laser radar, thereby reducing the radar's complexity.
Description
Technical Field
The application belongs to the technical field of communication, and particularly relates to a solid-state laser radar control method, a control unit and a solid-state laser radar.
Background
The FLASH solid-state laser radar has the advantages of high reliability, strong environmental adaptability, low price, easy mass production and the like because of no mechanical rotating parts.
The conventional solid-state laser radar has the defects of low photoelectric conversion efficiency, high internal resistance, large divergence angle and the like in a unit area, not only needs larger driving current, but also greatly reduces collimation efficiency and increases driving difficulty and cost, and meanwhile, each channel of the detector needs a group of transimpedance amplifier and timer, so that the complexity of a receiving system is increased, and the development of the solid-state laser radar is further influenced.
Disclosure of Invention
In view of the above, the invention provides a solid-state laser radar control method, a control unit and a solid-state laser radar, which aim to solve the problem of high complexity of the solid-state laser radar in the prior art.
The first aspect of the embodiment of the invention provides a solid-state laser radar control method, which comprises a transmitting unit, a receiving unit, a power supply unit and a control unit, wherein the power supply unit is respectively connected with the transmitting unit, the receiving unit and the control unit, the control unit is respectively connected with the transmitting unit and the receiving unit, the transmitting unit comprises a multichannel area array laser, the multichannel area array laser comprises a first gating device and a plurality of light emitting units which are sequentially arranged, the first gating device is used for gating the corresponding light emitting units according to control signals of the control unit, the receiving unit comprises a multichannel area array detector, the multichannel area array detector comprises at least one second gating device and photoelectric conversion elements which are sequentially arranged, the light emitting units correspond to the photoelectric conversion elements, the second gating device is used for gating the corresponding photoelectric conversion elements according to control signals of the control unit, the solid-state laser radar further comprises a first timer and a second timer, the first timer is used for recording light emitting time of each light emitting unit, the first timer is used for gating the corresponding to the control signals of the control unit, the receiving time of each second timer is used for recording the time of the corresponding to the second gating device, and the second timer is used for recording the time of each second gating device is used for recording the time of the corresponding to the second gating signals.
Determining the triggering time of each light-emitting unit according to the preset light-emitting sequence of each light-emitting unit;
When a certain light emitting unit is gated, a control signal is sent to the second gate to enable the second gate to gate a target photoelectric conversion element corresponding to the light emitting unit, and meanwhile, a control signal is sent to the power supply unit to enable the power supply voltage of the target photoelectric conversion element to periodically change, and after the power supply voltage of the target photoelectric conversion element changes for at least 1 period, the completion of scanning of a detection area corresponding to the light emitting unit is determined;
after the scanning of the detection areas corresponding to all the light emitting units is completed, determining the detection result of the solid-state laser radar according to the light emitting time recorded by the first timer and the signal receiving time recorded by the second timer when the detection areas are scanned.
In some possible implementations, the light emitting units are sequentially arranged in rows, the multi-channel area array laser comprises n rows of light emitting units, the multi-channel area array detector comprises n rows and m columns of photoelectric conversion elements and m second gates, the n rows of light emitting units are in one-to-one correspondence with the n rows of photoelectric conversion elements, n gate channels in each second gate are in one-to-one correspondence with the n photoelectric conversion elements in each column of photoelectric conversion elements, the method further comprises setting the light emitting sequence of each light emitting unit, and the setting the light emitting sequence of each light emitting unit comprises:
The light emitting units are set to be sequentially activated in the order from the 1 st row to the n th row.
In some possible implementations, the light emitting units are arranged in an n×m matrix, the multi-channel area array detector includes m rows and n columns of photoelectric conversion elements and a second gate, n×m light emitting units are in one-to-one correspondence with the m rows and n columns of photoelectric conversion elements, n×m gate channels in the second gate are in one-to-one correspondence with the m rows and n columns of photoelectric conversion elements, the method further includes setting a light emitting sequence of each light emitting unit, and the setting the light emitting sequence of each light emitting unit includes:
The light emitting units are set to trigger sequentially according to the two-dimensional addressing sequence.
In some possible implementations, the determining the detection result of the solid-state laser radar according to the light emitting time recorded by the first timer and the signal receiving time recorded by the second timer when the detection area scans includes:
Determining detection results of all channels in the multichannel area array detector under each period according to the light-emitting time recorded by the first timer and the signal receiving time recorded by the second timer when the detection area is scanned under each power supply voltage change period;
Clustering the detection results to obtain clustered points and judging whether targets exist in the field area of the solid-state laser radar according to the number of the clustered points;
If the number of the cluster points with a certain category is not smaller than a preset threshold value, targets exist in the field area of the solid-state laser radar;
If the number of the cluster points of all the categories is smaller than a preset threshold value, no target exists in the field area of the solid-state laser radar.
In some possible implementations, when an object is present in the detection region, the method further includes determining a detection distance for each channel that is gated;
the expression of the detection distance of each channel is as follows:
Wherein L i is the i-th target detection distance, T i is the signal receiving time of the i-th channel, T f is the corresponding light emitting time, and c is the light speed.
In some possible implementations, the method further includes:
measuring circuit delay of the solid-state laser radar;
and correcting the target detection distance according to the circuit delay.
In some possible implementations, the circuit delay is expressed as:
wherein DeltaT is the circuit delay and L is the known measurement distance.
The second aspect of the embodiment of the invention provides a solid-state laser radar control device, which comprises a transmitting unit, a receiving unit, a power supply unit and a control unit, wherein the power supply unit is respectively connected with the transmitting unit, the receiving unit and the control unit, the control unit is respectively connected with the transmitting unit and the receiving unit, the transmitting unit comprises a multichannel area array laser, the multichannel area array laser comprises a first gating device and a plurality of light emitting units which are sequentially arranged, the first gating device is used for gating the corresponding light emitting units according to control signals of the control unit, the receiving unit comprises a multichannel area array detector, the multichannel area array detector comprises at least one second gating device and photoelectric conversion elements which are sequentially arranged, the light emitting units correspond to the photoelectric conversion elements, the second gating device is used for gating the corresponding photoelectric conversion elements according to control signals of the control unit, the solid-state laser radar further comprises a first timer and a second timer, the first timer is used for recording light emitting time of each light emitting unit, the first timer is used for gating the corresponding to the control signals of the control unit, the receiving unit comprises a multichannel area array detector, the multichannel area array detector comprises at least one second timer and a photoelectric conversion element which is sequentially arranged, the photoelectric conversion element is sequentially corresponding to the photoelectric conversion element, the second timer is used for gating the time of each second timer is used for recording the corresponding to the time of the second gating signals.
The trigger determining module is used for determining the trigger time of each light-emitting unit according to the preset light-emitting sequence of each light-emitting unit;
The light-emitting control module is used for sending control signals to the first gating device according to the triggering time of each light-emitting unit so as to enable the first gating device to gate the corresponding light-emitting unit;
The field scanning module is used for sending a control signal to the second gating device to enable the second gating device to gate the target photoelectric conversion element corresponding to a certain light-emitting unit when the certain light-emitting unit is gated, sending a control signal to the power supply unit to enable the power supply voltage of the target photoelectric conversion element to be periodically changed, and determining that the scanning of the detection area corresponding to the light-emitting unit is completed after the power supply voltage of the target photoelectric conversion element is changed for at least 1 period;
And the result determining module is used for determining the detection result of the solid-state laser radar according to the light emitting moment recorded by the first timer and the signal receiving moment recorded by the second timer when the detection area is scanned after the scanning of the detection areas corresponding to all the light emitting units is completed.
A third aspect of an embodiment of the invention provides a control unit comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the solid state lidar control method as described in the first aspect above when executing the computer program.
A fourth aspect of an embodiment of the invention provides a solid state lidar comprising a control unit as described in the third aspect above.
A fifth aspect of an embodiment of the present invention provides a computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the solid-state lidar control method according to the first aspect above.
The embodiment of the invention provides a solid-state laser radar control method, a control unit and a solid-state laser radar, which comprise the steps of determining triggering time of each light emitting unit according to a preset light emitting sequence of each light emitting unit, sending a control signal to a first gating device according to the triggering time of each light emitting unit to enable the first gating device to gate a corresponding light emitting unit, sending a control signal to a second gating device when a certain light emitting unit gates a target photoelectric conversion element corresponding to the light emitting unit, sending a control signal to a power supply unit to enable the power supply voltage of the target photoelectric conversion element to periodically change, determining that scanning of a detection area corresponding to the light emitting unit is completed after the power supply voltage of the target photoelectric conversion element changes by at least 1 period, and determining a detection result of the solid-state laser radar according to the light emitting time recorded by the first timer and the signal receiving time recorded by the second timer when the detection area is scanned after the scanning of all detection areas is completed. Through the second gating device that corresponds the setting, every second gating device corresponds and sets up a second time-recorder, makes a second time-recorder serve a plurality of target photoelectric conversion element to accomplish the visual field through above-mentioned corresponding scanning mode and survey, can effectively reduce the quantity of the required amplifier and the time-recorder that set up of solid-state laser radar, reduce the complexity of radar, simultaneously, through carrying out subregion control to luminous, can reduce the requirement of luminous to circuit drive ability, increase emergent optical power density, thereby improve range finding ability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a solid-state lidar according to an embodiment of the present invention;
FIG. 2 is a flow chart of an implementation of a solid-state lidar control method provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a light emitting unit and a corresponding photosensitive pixel on a receiving unit divided by rows according to an embodiment of the present invention;
FIG. 4 is a logic circuit of a progressive scan process provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a light emitting unit and a corresponding photosensitive pixel on a receiving unit divided by columns according to an embodiment of the present invention;
FIG. 6 is a logic circuit of a column-by-column scanning process provided by an embodiment of the present invention;
FIG. 7 is a schematic diagram of a light emitting unit and a corresponding photosensitive pixel on a receiving unit divided in a two-dimensional addressing manner according to an embodiment of the present invention;
FIG. 8 is a logic circuit for performing a scanning process in a two-dimensional addressing manner provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram of a periodic control circuit for voltage provided by an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a solid-state lidar control device according to an embodiment of the present invention;
Fig. 11 is a schematic structural diagram of a control unit according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
Fig. 1 is a schematic structural diagram of a solid-state lidar according to an embodiment of the present invention. Fig. 2 is a flowchart of an implementation of a solid-state lidar control method according to an embodiment of the present invention. As shown in fig. 1, in this embodiment, the solid-state lidar 1 includes a transmitting unit 11, a receiving unit 12, a power supply unit 13, and a control unit 14.
The power supply unit 13 is connected with the transmitting unit 11, the receiving unit 12 and the control unit 14 respectively, and the control unit 14 is connected with the transmitting unit 11 and the receiving unit 12 respectively.
The emitting unit 11 comprises a multi-channel area array laser, the multi-channel area array laser comprises a first gate and a plurality of light emitting units which are sequentially arranged, and the first gate is used for gating the corresponding light emitting units according to a control signal of the control unit 14.
The receiving unit 12 comprises a multichannel area array detector, the multichannel area array detector comprises at least one second gate and photoelectric conversion elements which are sequentially arranged, the light emitting unit corresponds to the photoelectric conversion elements, and the second gate is used for gating the corresponding photoelectric conversion elements according to control signals of the control unit 14.
The solid-state laser radar further comprises a first timer and second timers, wherein the first timer is used for recording the light-emitting time of each light-emitting unit, each second gating device corresponds to one second timer, and each second timer is used for recording the signal receiving time of the photoelectric conversion element gated by the corresponding second gating device.
In this embodiment, the multichannel area array laser is a VCSEL (Vertical-Cavity Surface-emitting laser), that is, a single laser diode, which can emit light in regions, and each light-emitting region is controlled as a light-emitting unit individually. It may be, in particular, DBR-VCSEL (DistributedBraggReflecTIon, distributed bragg) or HCG-VCSEL (High contrast grating ), without limitation. And the collimation optical axis of the solid-state laser radar is vertical to the light emitting surface of the vertical resonant cavity semiconductor laser/the plane of the vertical resonant cavity semiconductor laser driving circuit board. Each channel of the multichannel area array detector can be a single pixel, such as SPAD (monolithic single photon avalanche photodiode), or multiple pixels, such as MPPC (silicon photomultiplier), siPM (silicon photon multiplier), etc., i.e. the detector is area array, and the detection process does not need to be moved. The control unit 14 is used for controlling and processing digital and analog signals of the transmitting unit 11 and the receiving unit 12. The first timer and the second timer can be used for identifying and calculating the time information of the signal of the channel, and can also be used for identifying and calculating the time information of the external trigger signal. The number of the first gates is 1, and the number of the second gates may be 1 or more, which is not limited herein.
As shown in fig. 2, in this embodiment, the solid-state lidar control method includes:
s201, determining the triggering time of each light-emitting unit according to the preset light-emitting sequence of each light-emitting unit;
S202, sending control signals to the first gating device according to the triggering time of each light emitting unit so as to enable the first gating device to gate the corresponding light emitting unit;
S203, when a certain light emitting unit is gated, a control signal is sent to a second gating device to enable the second gating device to gate a target photoelectric conversion element corresponding to the light emitting unit, meanwhile, a control signal is sent to a power supply unit to enable the power supply voltage of the target photoelectric conversion element to be periodically changed, and after the power supply voltage of the target photoelectric conversion element is changed for at least 1 period, the completion of scanning of a detection area corresponding to the light emitting unit is determined;
S204, after the scanning of the detection areas corresponding to all the light emitting units is completed, determining the detection result of the solid-state laser radar according to the light emitting time recorded by the first timer and the signal receiving time recorded by the second timer when the detection areas are scanned.
In this embodiment, each gate path of the first gate is connected to one light emitting unit, and the light emitting unit indicated by the control signal is gated after the first gate receives the control signal of the control unit 14, and at this time, the first timer records the light emitting time. The control unit 14 then controls the photoelectric conversion elements in the second gate detector corresponding to the gated light emitting units to scan the detection area, and the second timer records the signal reception timing. The above process is continuously cycled to detect the entire field of view.
In this embodiment, the detection area of the solid-state laser radar is a rectangular area, the detection range (i.e., the width of the rectangle) is determined by the light emitting unit, the detection distance (i.e., the length of the rectangle) is determined by the power supply voltage of the receiving unit, and the higher the power supply voltage, the farther the detection distance. In order to adapt to different detection distances, the control unit 14 continuously changes the power supply voltage of the receiving unit 12 through the power supply unit 13, and the power supply voltage may be changed irregularly or periodically, which is not limited herein. The control unit 14 may generate the control signal in real time according to the selected light emitting region when the light emitting region is scanned, or may generate all the control signals after determining the selection order of the respective light emitting regions, and sequentially transmit the control signals when scanning, which is not limited herein.
In the embodiment, the n gating channels in each second gating device are in one-to-one correspondence with the n photoelectric conversion elements according to the second gating devices correspondingly arranged in the scanning areas, and each second gating device is correspondingly provided with one second timer, so that one second timer serves a plurality of photosensitive channels corresponding to the scanning areas in the detector, the field detection is completed through the corresponding scanning mode, the number of amplifiers and timers required to be arranged for the solid-state laser radar can be effectively reduced, the complexity of the radar is reduced, meanwhile, the requirement of light emission on circuit driving capability can be reduced through regional control, the emergent light power density is increased, and the ranging capability is improved.
In some embodiments, the light emitting units are sequentially arranged in rows, the multichannel area array laser comprises n rows of light emitting units, the multichannel area array detector comprises n rows and m columns of photoelectric conversion elements and m second gates, the n rows of light emitting units are in one-to-one correspondence with the n rows of photoelectric conversion elements, the n gate channels in each second gate are in one-to-one correspondence with the n photoelectric conversion elements in each column of photoelectric conversion elements, the method further comprises setting the light emitting sequence of each light emitting unit, and setting the light emitting sequence of each light emitting unit comprises:
The light emitting units are set to be sequentially activated in the order from the 1 st row to the n th row.
It should be noted that, in this document, the row and the column are relative concepts, and the area array detector may also include m rows and n columns of photoelectric conversion elements and m second gates, and accordingly, the multi-channel area array laser includes n columns of light emitting units, where the n columns of light emitting units are in one-to-one correspondence with the n columns of photoelectric conversion elements, the n gate channels in each second gate are in one-to-one correspondence with the n photoelectric conversion elements in each column of photoelectric conversion elements, and the light emitting units are sequentially triggered in the order from the 1 st column to the n column.
In each drawing, the light emitting unit is a light emitting area as shown in the drawing, and each photoelectric conversion element of the receiving unit is a photosensitive pixel in the drawing. Q mn represents a path corresponding to the photoelectric conversion element of the nth row (column) and the nth column (row). The relation between the total number g of the timers (the first timer and the second timer) and the channel number k of the detector and the channel number N of the laser is as follows:
for example, when the light emitting units are arranged in rows (columns), the number of channels of the detector is k=n, the number of channels n=m×n of the laser, so g++1. When the light emitting units are arranged in a two-dimensional addressing mode, the channel number of the detector is k=m×n, and the channel number of the laser is n=m×n, so that g is more than or equal to 2.
Fig. 3 is a schematic diagram of a light emitting unit and a corresponding photosensitive pixel on a receiving unit divided by rows according to an embodiment of the present invention. Fig. 4 is a logic circuit for a progressive scan process provided by an embodiment of the present invention.
As shown in fig. 3 and 4, in the present embodiment, when the detection area is scanned by rows, the multi-channel area array laser includes light emitting units arranged by rows and a first gate Ch0, where n channels of the first gate Ch0 respectively correspond to P 01～P0n rows of the light emitting units. The multichannel area array detector comprises n rows and m columns of channel photoelectric conversion elements, m second strobes (namely Ch 1-Chm), a transimpedance amplifier unit and a timing unit, wherein each second strobe comprises at least n channels, the transimpedance amplifier unit comprises at least m TIA transimpedance amplifiers which can work in parallel, and the timing unit comprises at least m+1 TDC timers (namely m second timers and 1 first timer) which work in parallel.
When the device works, the device can sequentially drive the light from P 01～P0n to emit light, simultaneously, the gates Ch 0-Chm correspond to the channels, the light beam is reflected by an object to be detected, the light signal is converted into an electric signal through the photoelectric conversion element, the electric signal is amplified through the TIA and clocked by the TDC to obtain receiving time information, and the time information received by the channel of the TDC timer 1~m is respectively compared with the time information received by the channel of the TDC timer 0 to obtain a detection result corresponding to each photoelectric conversion element of the corresponding row of the detector.
Fig. 5 is a schematic diagram of a light emitting unit and a corresponding photosensitive pixel on a receiving unit divided by columns according to an embodiment of the present invention. Fig. 6 is a logic circuit of a column-by-column scanning process provided by an embodiment of the present invention.
As shown in fig. 5 and 6, in the present embodiment, when the detection area is scanned in columns, the multi-channel area array laser includes light emitting units arranged in columns and a first gate Ch0, where n channels of the first gate Ch0 respectively correspond to P 01～P0n columns of the light emitting units. The multichannel area array detector comprises m rows and n columns of channel photoelectric conversion elements, m second strobes (namely Ch 1-Chm), a transimpedance amplifier unit and a timing unit, wherein each second strobe comprises at least n channels, the transimpedance amplifier unit comprises at least m TIA transimpedance amplifiers which can work in parallel, and the timing unit comprises at least m+1 TDC timers (namely m second timers and 1 first timer) which work in parallel.
When the device works, the device can sequentially drive the light from P 01～P0n to emit light, simultaneously, the gates Ch 0-Chm correspond to the channels, the light beam is reflected by an object to be detected, the light signal is converted into an electric signal through the photoelectric conversion element, the electric signal is amplified through the TIA and clocked by the TDC to obtain receiving time information, and the time information received by the channel of the TDC timer 1~m is respectively compared with the time information received by the channel of the TDC timer 0 to obtain a detection result corresponding to each photoelectric conversion element of the corresponding array of the detector.
Fig. 7 is a schematic diagram of a light emitting unit and a corresponding photosensitive pixel on a receiving unit, which are divided in a two-dimensional addressing manner according to an embodiment of the present invention. Fig. 8 is a logic circuit for performing a scanning process in a two-dimensional addressing manner according to an embodiment of the present invention. As shown in fig. 7 and 8, in some embodiments, the light emitting units are arranged in a matrix of m rows and n columns, the multi-channel area array detector includes m rows and n columns of photoelectric conversion elements and a second gate, n×m light emitting units are in one-to-one correspondence with the m rows and n columns of photoelectric conversion elements, n×m gate channels in the second gate are in one-to-one correspondence with the m rows and n columns of photoelectric conversion elements, and the method further includes setting a light emitting sequence of each light emitting unit, including:
The light emitting units are set to trigger sequentially according to the two-dimensional addressing sequence.
In this embodiment, the multi-channel area array laser includes a two-dimensional addressable array laser and a gate Ch0, where the first gate Ch0 has m×n channels corresponding to each light emitting unit, the detector 23 includes m rows and n columns of channel photoelectric conversion elements, a second gate Ch1, a transimpedance amplifier, and a timer, where the second gate Ch1 includes at least m×n channels, and when in operation, each light emitting unit is driven to emit light in sequence, and at the same time, the first gate Ch0 and the second gate Ch1 correspond to channels, and the light beam reflects from the object to be measured, converts the light signal into an electrical signal through the photoelectric conversion element, and obtains receiving time information through TIA amplification and TDC timing, where the time information received by the channel of the TDC timer 1 is compared with the time information received by the channel of the TDC timer 0, so as to obtain the field distance information corresponding to each photoelectric conversion element of the corresponding row of the detector.
In some embodiments, S204 may include:
Determining detection results of all channels in the multichannel area array detector under each period according to the light-emitting time recorded by the first timer and the signal receiving time recorded by the second timer when the detection area is scanned under each power supply voltage change period;
clustering detection results of each channel under each period aiming at each channel to obtain clustering points of the channel;
Judging whether targets exist in the field area of the solid-state laser radar according to the number of the cluster points of each channel;
If the number of the cluster points of a certain channel is not smaller than a preset threshold, a target exists in the field area of the solid-state laser radar;
if the number of the cluster points of all the channels is smaller than a preset threshold value, no target exists in the field area of the solid-state laser radar.
In this embodiment, the change in the detection distance is controlled by controlling the supply voltage change. When the voltage changes for one period, one view field detection can be completed. But the result of one field of view detection is not necessarily accurate due to the presence of background light and other radar light. Therefore, aiming at each channel, detection is carried out for a plurality of periods within a certain time, the detection results of each period are clustered, the point with the most clustering result is taken as the final result, after all channels are clustered, an accurate view field detection result can be obtained, and the influence of background light and other radar light on the detection distance can be effectively eliminated.
In some embodiments, when an object is present in the detection zone, the method further comprises determining a detection distance for each channel that is gated;
the expression of the detection distance of each channel is:
Wherein L i is the detection distance of the ith channel, T i is the signal receiving time of the ith channel, T f is the corresponding light emitting time, and c is the light speed.
In some embodiments, the method further comprises:
measuring circuit delay of the solid-state laser radar;
and correcting the target detection distance according to the circuit delay.
In some embodiments, the circuit delay is determined as:
Where Δt is the circuit delay and L is the known measurement distance.
In this embodiment, the corrected detection distance is
In some embodiments, the control unit 14 controls the power supply unit 13 to periodically change the voltage of the receiving unit 12 from small to large to adapt to different detection distances. Fig. 9 is a schematic diagram of a periodic control circuit of a voltage according to an embodiment of the present invention. The control of the above-described periodically varying voltage from small to large can be achieved in accordance with the circuit shown in fig. 9. As shown in FIG. 9, before the light emission, the switch K is turned off, the voltage V cc approximately equal to HV at the two ends of the detector is charged, the switch K is turned on while the capacitor C1 is charged, the R 1、C1 forms an RC discharge loop, the current flows through the two ends of the R 1 to generate voltage drop, the voltage V cc at the two ends of the detector is smaller than HV, the current flowing through the two ends of the R 1 is reduced along with the progress of the discharge, the V cc is gradually recovered, the discharge time is controlled to adapt to different detection distances by adjusting the resistance value of the R 1 and the capacitance value of the C 1, and the periodic change of the voltage at the two ends of the detector is controlled by controlling the switch K to be turned on or off.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
In some embodiments, the solid-state lidar 1 comprises a transmitting unit 11, a receiving unit 12, a power supply unit 13 and a control unit 14 as in any of the embodiments above.
In this embodiment, the constituent structure and connection relationship of each unit are the same as those of the corresponding embodiment of fig. 1, and will not be described here.
In some embodiments, the emission unit 11 further comprises a laser driver and a collimating optical system;
The receiving unit 12 further includes an optical filtering system, a condensing optical system;
The multi-laser driver is used for driving each channel of the area array laser to emit light in a time-sharing way, and emits detection light with a certain divergence angle formed by laser through the collimation optical system;
in this embodiment, the multichannel area array detector sequentially gates with channels corresponding to the multichannel area array lasers according to the selected detection area, the detection laser beam reflected by the object is filtered by the optical filtering system 21 and then is sent to the gating channel of the detector 23 through the light-gathering optical system 22, and the gating channel of the detector 23 converts the optical signal into an electrical signal.
Fig. 10 is a schematic structural diagram of a solid-state lidar control device according to an embodiment of the present invention. In this embodiment, the solid-state lidar control device 10 includes:
A trigger determining module 1010, configured to determine a trigger time of each light emitting unit according to a preset light emitting sequence of each light emitting unit;
The light-emitting control module 1020 is configured to send a control signal to the first gate according to the trigger time of each light-emitting unit, so that the first gate gates the corresponding light-emitting unit;
The field scanning module 1030 is configured to send a control signal to the second gate to enable the second gate to gate the target photoelectric conversion element corresponding to the light emitting unit when the light emitting unit is gated, send a control signal to the power supply unit to enable the power supply voltage of the target photoelectric conversion element to change periodically, and determine that scanning of the detection area corresponding to the light emitting unit is completed after the power supply voltage of the target photoelectric conversion element changes for at least 1 period;
The result determining module 1040 is configured to determine, after scanning of the detection areas corresponding to all the light emitting units is completed, a detection result of the solid-state laser radar according to the light emitting time recorded by the first timer and the signal receiving time recorded by the second timer when the detection areas are scanned.
Optionally, the multiple light emitting units are sequentially arranged according to rows, the multi-channel area array laser comprises n rows of light emitting units, the multi-channel area array detector comprises n rows and m columns of photoelectric conversion elements and m second gates, the n rows of light emitting units are in one-to-one correspondence with the n rows of photoelectric conversion elements, and n gating channels in each second gate are in one-to-one correspondence with the n photoelectric conversion elements in each column of photoelectric conversion elements.
The apparatus further includes a region dividing unit 1050;
a region dividing unit 1050 for setting the light emission order of the respective light emitting units;
the method is particularly used for setting the light emitting units to trigger sequentially from the 1 st row to the n th row.
Optionally, the multiple light emitting units are arranged in an n-by-m matrix, and the multi-channel area array detector comprises m rows and n columns of photoelectric conversion elements and a second gate, wherein the n-by-m light emitting units are in one-to-one correspondence with the m rows and n columns of photoelectric conversion elements, and the n-by-m gate channels in the second gate are in one-to-one correspondence with the m rows and n columns of photoelectric conversion elements;
a region dividing unit 1050 for setting the light emission order of the respective light emitting units;
The method is particularly used for setting the light-emitting units to trigger sequentially according to the two-dimensional addressing sequence.
Optionally, the result determining module 1040 is configured to determine a detection result of the solid-state laser radar according to the light emitting time recorded by the first timer and the signal receiving time recorded by the second timer when the detection area scans, and includes:
Determining detection results of all channels in the multichannel area array detector under each period according to the light-emitting time recorded by the first timer and the signal receiving time recorded by the second timer when the detection area is scanned under each power supply voltage change period;
clustering the detection results to obtain clustered points and judging whether targets exist in the field area of the solid-state laser radar according to the number of the clustered points;
If the number of the cluster points with a certain category is not smaller than a preset threshold value, targets exist in the field area of the solid-state laser radar;
If the number of the cluster points of all the categories is smaller than a preset threshold value, no target exists in the field area of the solid-state laser radar.
Optionally, the apparatus further comprises a distance calculation unit 1060;
A distance calculating unit 1060, configured to determine a detection distance of each channel that is gated when the target exists in the detection area;
the expression of the detection distance of each channel is:
wherein L i is a target detection distance, T i is a signal receiving time of the ith channel, T f is a corresponding light emitting time, and c is a light speed.
Optionally, the apparatus further comprises a distance correction unit 1070;
a distance correction unit 1070 for measuring a circuit delay of the solid-state laser radar;
and correcting the target detection distance according to the circuit delay.
Optionally, the circuit delay is expressed as:
Where Δt is the circuit delay and L is the known measurement distance.
The solid-state laser radar control device provided in this embodiment may be used to execute the above method embodiments, and its implementation principle and technical effects are similar, and this embodiment will not be described here again.
Fig. 11 is a schematic diagram of a control unit according to an embodiment of the present invention. As shown in fig. 11, one embodiment of the present invention provides a control unit 11, the control unit 11 of which embodiment includes a processor 1100, a memory 1110, and a computer program 1120 stored in the memory 1110 and executable on the processor 1100. The processor 1100, when executing the computer program 1120, performs the steps of the various embodiments of the method for analyzing the cost of steel industry chain logistics based on blockchain technology described above, such as steps 201 to 305 shown in fig. 2. Or the processor 1100, when executing the computer program 1120, performs the functions of the modules/units in the system embodiments described above, e.g., the functions of the modules 1010 through 1050 shown in fig. 10.
By way of example, computer program 1120 may be partitioned into one or more modules/units that are stored in memory 1110 and executed by processor 1100 to accomplish the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 1120 in the control unit 11.
The control unit 11 may be a single chip microcomputer, an MCU, a desktop computer, a notebook computer, a palm computer, and the like. Terminals may include, but are not limited to, a processor 1100, a memory 1110. It will be appreciated by those skilled in the art that fig. 11 is merely an example of the control unit 11 and does not constitute a limitation of the control unit 11, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., a terminal may further include an input-output device, a network access device, a bus, etc.
The Processor 1100 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 1110 may be an internal storage unit of the control unit 11, such as a hard disk or a memory of the control unit 11. The memory 1110 may also be an external storage device of the control unit 11, such as a plug-in hard disk provided on the control unit 11, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. Further, the memory 1110 may also include both an internal storage unit and an external storage device of the control unit 11. The memory 1110 is used to store computer programs and other programs and data required for the terminal. The memory 1110 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the invention provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps in the embodiment of the iron and steel industry chain logistics cost analysis system based on the blockchain technology when being executed by a processor.
The computer readable storage medium stores a computer program 1120, where the computer program 1120 includes program instructions that when executed by the processor 1100 implement all or part of the procedures of the above embodiments, or may be implemented by means of the computer program 1120 instructing the relevant hardware, and the computer program 1120 may be stored in a computer readable storage medium, where the computer program 1120, when executed by the processor 1100, implements the steps of the various method embodiments described above. The computer program 1120 includes computer program code, which may be in the form of source code, object code, executable files, or some intermediate form, among others. The computer readable medium may include any entity or device capable of carrying computer program code, recording medium, USB flash disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media, among others. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The computer readable storage medium may be an internal storage unit of the terminal of any of the foregoing embodiments, such as a hard disk or a memory of the terminal. The computer readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk provided on the terminal, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. Further, the computer-readable storage medium may also include both an internal storage unit of the terminal and an external storage device. The computer-readable storage medium is used to store a computer program and other programs and data required for the terminal. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal and method may be implemented in other manners. For example, the apparatus/terminal embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include any entity or device capable of carrying computer program code, recording medium, USB flash disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media, among others. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The foregoing embodiments are merely for illustrating the technical solution of the present invention, but not for limiting the same, and 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 solution described in the foregoing embodiments may be modified or substituted for some of the technical features thereof, and that these modifications or substitutions should not depart from the spirit and scope of the technical solution of the embodiments of the present invention and should be included in the protection scope of the present invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210329413.9A CN114814857B (en) | 2022-03-30 | 2022-03-30 | Solid-state laser radar control method, control unit and solid-state laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210329413.9A CN114814857B (en) | 2022-03-30 | 2022-03-30 | Solid-state laser radar control method, control unit and solid-state laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114814857A CN114814857A (en) | 2022-07-29 |
| CN114814857B true CN114814857B (en) | 2025-08-12 |
Family
ID=82533347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210329413.9A Active CN114814857B (en) | 2022-03-30 | 2022-03-30 | Solid-state laser radar control method, control unit and solid-state laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114814857B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115902836A (en) * | 2022-12-22 | 2023-04-04 | 北京亮道智能汽车技术有限公司 | A laser radar control method, device, control chip and laser radar |
| CN116224284A (en) * | 2022-12-22 | 2023-06-06 | 西南技术物理研究所 | A laser radar system with optical communication function |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110998365A (en) * | 2017-07-05 | 2020-04-10 | 奥斯特公司 | Optical distance measuring device with electronically scanned emitter array and synchronized sensor array |
| CN112731415A (en) * | 2020-12-18 | 2021-04-30 | 森思泰克河北科技有限公司 | Multi-line laser radar detection system and method |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102914776B (en) * | 2012-10-15 | 2014-07-23 | 西安电子科技大学 | Multichannel SAR (synthetic aperture radar) mobile object localization method on the basis of fuzzy-c-mean algorithm |
| CN104020451B (en) * | 2014-06-03 | 2017-02-15 | 西安电子科技大学 | Outer transmitter-based radar target track processing method based on clustering |
| EP3418772A4 (en) * | 2016-02-17 | 2019-03-13 | Panasonic Intellectual Property Management Co., Ltd. | DISTANCE MEASURING DEVICE |
| CN106443634A (en) * | 2016-10-31 | 2017-02-22 | 上海博未传感技术有限公司 | Solid-state laser radar system |
| CN107329132B (en) * | 2017-08-11 | 2023-09-29 | 深圳力策科技有限公司 | Laser radar receiving and transmitting antenna based on optical phased array and ranging method |
| WO2019091004A1 (en) * | 2017-11-07 | 2019-05-16 | 北醒（北京）光子科技有限公司 | Solid-state planar array laser radar device and detection method |
| US11417111B2 (en) * | 2017-12-22 | 2022-08-16 | Terra Scientia, Llc | Method, system and material for detecting objects of high interest with laser scanning systems |
| US11709231B2 (en) * | 2018-12-21 | 2023-07-25 | Infineon Technologies Ag | Real time gating and signal routing in laser and detector arrays for LIDAR application |
| US11486978B2 (en) * | 2018-12-26 | 2022-11-01 | Intel Corporation | Technology to support the coexistence of multiple independent lidar sensors |
| CN110210389B (en) * | 2019-05-31 | 2022-07-19 | 东南大学 | A multi-target recognition and tracking method for road traffic scenes |
| CN110501719B (en) * | 2019-08-27 | 2024-02-09 | 湖南九域同创高分子新材料有限责任公司 | Laser radar-based train obstacle detection method |
| CN113567961B (en) * | 2020-04-09 | 2025-01-24 | 上海禾赛科技有限公司 | Laser radar state detection device, laser radar and state detection method |
| WO2022040366A1 (en) * | 2020-08-18 | 2022-02-24 | IntelliShot Holdings, Inc. | Automated threat detection and deterrence apparatus |
| CN113433531B (en) * | 2021-06-23 | 2022-07-01 | 森思泰克河北科技有限公司 | Multi-line laser radar and control method thereof |
| CN113189575B (en) * | 2021-07-01 | 2021-09-10 | 长沙莫之比智能科技有限公司 | Detection method and device for positioning personnel in smoke scene |
-
2022
- 2022-03-30 CN CN202210329413.9A patent/CN114814857B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110998365A (en) * | 2017-07-05 | 2020-04-10 | 奥斯特公司 | Optical distance measuring device with electronically scanned emitter array and synchronized sensor array |
| CN112731415A (en) * | 2020-12-18 | 2021-04-30 | 森思泰克河北科技有限公司 | Multi-line laser radar detection system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114814857A (en) | 2022-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10627491B2 (en) | Integrated LIDAR illumination power control | |
| US11796648B2 (en) | Multi-channel lidar illumination driver | |
| CN110244316B (en) | Receiver assembly for receiving light pulses, LiDAR module and method for receiving light pulses | |
| CN114096882B (en) | Adaptive multi-pulse LIDAR system | |
| CN110235024B (en) | SPAD detector with modulation sensitivity | |
| EP3704510B1 (en) | Time-of-flight sensing using an addressable array of emitters | |
| CN114814857B (en) | Solid-state laser radar control method, control unit and solid-state laser radar | |
| WO2021236201A2 (en) | Noise filtering system and method for solid-state lidar | |
| US20220035011A1 (en) | Temporal jitter in a lidar system | |
| KR20210093306A (en) | Methods and systems for spatially distributed strobing | |
| US20220334253A1 (en) | Strobe based configurable 3d field of view lidar system | |
| CN111562590A (en) | Distance measurement method and distance measurement system for multiple gradient time boxes | |
| CN110501714A (en) | A distance detector and distance detection method | |
| CN114556148B (en) | Lidar sensor for detecting an object and method for using the same | |
| CN114594455B (en) | Laser radar system and control method thereof | |
| CN114545427B (en) | Distance measurement system, method and computer-readable storage medium | |
| US20240168161A1 (en) | Ranging device, signal processing method thereof, and ranging system | |
| US20250341619A1 (en) | High photon rate spad device | |
| US20230417876A1 (en) | Receiving drive circuit, laser beam receiving circuit and lidar | |
| US20240219531A1 (en) | Detector module and ranging device | |
| CN121254284A (en) | LiDAR control methods, LiDAR, terminal equipment and computer program products | |
| CN120214742A (en) | Echo signal processing method, device, laser radar system and readable storage medium | |
| CN118688825A (en) | Laser radar, control method, medium and computer device | |
| CN115097473A (en) | Partitioned distance measuring device and distance measuring method thereof | |
| CN114236507A (en) | A DToF-based detection system and its calibration method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |