CN103576134A - Full-waveform laser radar system based on coaxial two-channel data acquisition - Google Patents
Full-waveform laser radar system based on coaxial two-channel data acquisition Download PDFInfo
- Publication number
- CN103576134A CN103576134A CN201310610608.1A CN201310610608A CN103576134A CN 103576134 A CN103576134 A CN 103576134A CN 201310610608 A CN201310610608 A CN 201310610608A CN 103576134 A CN103576134 A CN 103576134A
- Authority
- CN
- China
- Prior art keywords
- laser
- pulse
- signal
- emission lasers
- laser pulse
- 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.)
- Granted
Links
Images
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
- 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
- G01S7/483—Details of pulse systems
-
- 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
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a full-waveform laser radar system based on coaxial two-channel data acquisition, breaks through the limit that a conventional laser radar can only measure a limited number of distance and strength data, and simultaneously solves the dead zone problem of non-coaxial laser radar detection. The full-waveform laser radar system based on coaxial two-channel data acquisition comprises a pulse laser, a laser transmitting and receiving unit, a data acquisition unit, a control unit and a software unit, wherein the control unit controls the pulse laser to transmit laser pulse; the laser pulse is divided into outgoing beam, acquisition card control signal generation beam and transmitted waveform recording beam after passing by the laser transmitting and receiving unit; the outgoing beam is scattered by a target, then collected into the data acquisition unit by the transmitting and receiving unit and collected as a receiving signal; and the software unit is used for providing a man-machine interaction interface. The system can store a complete waveform for transmitting and receiving the laser pulse, so that the detectivity of the full-waveform laser radar is effectively enhanced.
Description
Technical field
The present invention relates to lidar measurement field, especially a kind of Full wave shape laser radar system based on coaxial two-channel data acquisition.
Background technology
Laser radar is a kind of active remote sensing technology by means of laser, mainly by measuring laser pulse, travel to and fro between the time between target and laser radar platform, according to the relation of distance and the light velocity and time, obtain the distance between laser radar platform and target, coordinate the action of scanister, laser radar can complete the scanning to target surface, simultaneously in conjunction with position and the attitude data of laser radar platform, thereby obtain digital surface model and the digital elevation model of target.Because the pulsed laser that used in practice exists certain angle of divergence, cause launched laser pulse light beam to be propagated forward to be similar to the form of circular cone, it when laser pulse light beam and objectives interation, is no longer a point, a but round spot, this circle spot is called as laser facula, again due to complicacy and the diversity of target in measurement environment, thereby in a laser facula, likely comprise a plurality of Scattering Targets or a target has a plurality of scattering surfaces, thereby the complicacy that causes laser pulse echoed signal waveform, for example in an echo, comprise a plurality of pulses or pulse broadened.But conventional laser radar just obtains the distance value (present stage mostly is 6 most) of one or more targets in laser facula by means of certain threshold method (rising edge, peak value or center of gravity etc.), again because different target has different echo waveforms, therefore only adopt fixing threshold detection method, can cause different targets to there is different distance accuracies.Although some foreign vendor can provide laser pulse echo acquirement module, expensive.The laser radar of present stage is all to adopt approximately axial metering system (emitting light path and echo light path parallel) on the other hand, can cause like this loss of backward energy, the complicacy of blind area and adjustment parallel light path closely.Finally, due to the instability of laser instrument in laser radar, cause the laser pulse shape of transmitting in each measurement different, if do not consider, this species diversity will not reduce measuring accuracy when subsequent treatment data.Full wave shape laser radar refers to by means of high-speed data acquiring device laser pulse signal complete collection and storage in regular hour interval, thereby obtain the complete waveform of laser pulse, the waveform signal collecting is called as Full wave shape signal, according to comprising physics and the geometrical property information that target is abundant in the known Full wave shape signal of the mechanism of laser pulse and objectives interation.
Summary of the invention
The invention discloses a kind of Full wave shape laser radar system based on coaxial two-channel data acquisition, object is improve the detectivity of conventional laser radar and reduce the detection blind area of laser radar, and records the complete waveform of Emission Lasers pulse and reception laser pulse simultaneously.
Described laser radar system comprises pulsed laser, Laser emission and receiving element, data acquisition unit, control module and software unit, described Laser emission and receiving element form by beam splitter with axle module, described data acquisition unit is by Emission Lasers detector, receive laser detector, High-Speed Double-Channel data collecting card and capture card control module form, described control module is comprised of main control computer and laser control unit, described pulsed laser receives the laser control signal from laser control unit, send the laser pulse of certain frequency and pulse width, in order to realize the full storage of Emission Lasers pulse and reception laser pulse shape, and eliminate the emission delay of pulsed laser, the beam splitter of described laser pulse in Laser emission and receiving element is divided into 3 bundles, the 1st same axle module outgoing of bundle laser pulse in Laser emission and receiving element shone to target, laser pulse is after target scattering, by the same axle module in Laser emission and receiving element, focused on the reception laser detector in data acquisition unit, receive laser detector the light signal receiving is converted to electric signal, thereby gathered by the High-Speed Double-Channel data collecting card in data acquisition unit, by means of sample frequency at a high speed, the waveform that receives laser pulse can be by complete collection, thereby realize the Full wave shape storage that receives laser pulse, the 2nd bundle laser pulse incides the Emission Lasers detector in data acquisition unit, Emission Lasers detector is converted to electric signal by laser pulse, thereby gathered by the High-Speed Double-Channel data collecting card in data acquisition unit, by means of sample frequency at a high speed, the waveform of Emission Lasers pulse can be by complete collection, thereby realize the Full wave shape storage of Emission Lasers pulse, instability due to pulsed laser work, cause launched laser pulse to there is different waveforms, while stored transmit laser pulse shape and reception laser pulse shape, in the signal in later stage is processed, can consider the otherness of Emission Lasers pulse waveform, thereby the result of getting a more accurate measurement, and can be according to the otherness of Emission Lasers pulse waveform and reception laser pulse shape, be finally inversed by physics and the geometrical property of target, the 3rd bundle laser pulse enters capture card control module in data acquisition unit for generation of capture card control signal, this signal reads reference position for setting data, reference position while reading High-Speed Double-Channel data collecting card data for main control computer, by means of data, read reference position and can realize the complete of Emission Lasers pulse waveform and read, and transmitted waveform and reception waveform time coordinate is consistent, described control module completes the control of paired pulses laser instrument and data acquisition unit high speed double channel data acquisition card, and the data that collect in High-Speed Double-Channel data collecting card are read, show, stored and calculate, and provide hardware platform for software unit, described software unit provides Man Machine Interface, the configuration of data acquisition unit and control module, the data that collect and the demonstration of data processed result, patent of the present invention can realize Emission Lasers pulse light path in laser radar light path and receive the completely coaxial of laser pulse light path, can realize Emission Lasers pulse simultaneously and receives Full wave shape collection, the demonstration of laser pulse and store according to setting form.
Described Laser emission and receiving element can be realized Emission Lasers pulse and receive the completely coaxial of laser pulse light path, and realize the light splitting of paired pulses laser instrument institute Emission Lasers pulse, thereby the laser pulse signal of different components is respectively used to produce capture card control signal, Emission Lasers pulse waveform collection signal, and shoot laser pulse signal, described Laser emission and receiving element are by two beam splitters and form with axle module, the reflection and transmission of first beam splitter is than being 9:1, thereby the two bundle laser pulses that it is 9:1 that the laser pulse that pulsed laser is launched is divided into the ratio of light intensity, folded light beam accounts for significant proportion mainly because folded light beam will be shone to target as shoot laser pulse by same axle module, the energy of shoot laser pulse is larger, measuring distance is far away, laser pulse signal signal to noise ratio (S/N ratio) through target scattering is higher, thereby the remote and accurately measurement of realize target, transmitted light beam is through second beam splitter beam splitting again, the reflection and transmission of second beam splitter is than being 1:9, wherein to account for significant proportion be mainly to receive because transmitted light beam is launched laser detector as Emission Lasers pulse waveform collection signal to transmitted light beam, higher signal energy has guaranteed that the Emission Lasers pulse waveform collecting has higher signal to noise ratio (S/N ratio), thereby guarantees the accurate storage of Emission Lasers pulse waveform, folded light beam enters the capture card control module in data acquisition unit, for generation of capture card control signal, described same axle module is by plane mirror, catoptron base, base support, sleeve and condenser lens form, described plane mirror is coated with the deielectric-coating that improves reflectivity, mainly for reducing the energy loss of folded light beam, the thickness of plane mirror is 1-2mm, width is 2mm, length is 4mm, less thickness is mainly in order to guarantee that catoptron is fixed on support the still center in same axle module, is in order to reduce catoptron to the blocking of the laser pulse signal through target scattering, thereby reduces the loss of backward energy compared with the catoptron of small size, described catoptron base is that the length of side is half that the square of 2mm cuts along diagonal line, and described plane mirror is fixed on the inclined-plane of catoptron base by the mode of gummed, described base support is comprised of round base and concurrent three line brackets, the width of three line brackets is 2mm, guarantee that on the one hand catoptron base can be fixed on the weight that also can bear catoptron base on the concurrent of three line brackets, reduces three line brackets blocking echoed signal on the other hand, described catoptron base is fixed on the concurrent of base support by the mode of gummed, and the round base of described base support is fixed on the front portion of sleeve by nut, and described condenser lens is also fixed on the inside of sleeve by nut, because plane mirror is positioned at the center of base support, condenser lens optical axis overlaps with the round base central shaft of base support, so plane mirror is positioned on the optical axis of condenser lens, the laser pulse reflecting through first beam splitter incides on the plane mirror of same axle module in the mode of 45° angle, thereby make direction of beam propagation change 90 ° with horizontal direction outgoing, because plane mirror is positioned on condenser lens optical axis, thereby make Emission Lasers pulse emitting light path and condenser lens optical axis coincidence, Emission Lasers pulse is returned along optical axis after target scattering, thereby it is coaxial with reception laser pulse light path to realize Emission Lasers pulse light path, condenser lens can focus on scattering laser pulse echo and receive on laser detector simultaneously, thereby increase the reception laser pulse luminous energy detecting.
Described data acquisition unit can be realized Emission Lasers pulse and gather with the binary channels that receives laser pulse simultaneously, realize complete collection and the storage of Emission Lasers pulse and reception laser pulse shape simultaneously, thereby realize the Full wave shape storage of laser pulse, described data acquisition unit comprises: Emission Lasers detector, reception laser detector, High-Speed Double-Channel data collecting card and capture card control module, Emission Lasers detector and reception laser detector are realized respectively Emission Lasers pulse and are received the opto-electronic conversion of laser pulse, and connect respectively at two acquisition channels of High-Speed Double-Channel data collecting card, High-Speed Double-Channel data collecting card completes simulating signal to the conversion of digital signal, and by the signal storage collecting to carrying in storer from body, capture card control module is comprised of photodiode and signal conditioning circuit, photodiode receives the laser pulse signal from Laser emission and receiving element, laser pulse signal is converted to electric pulse, electric pulse produces capture card control signal after described signal conditioning circuit shaping, filtering and amplification, thereby completes the control to capture card, after collection finishes, the main control computer in control module reads the data in double channel data acquisition card, thereby realizes storage and the calculating of Emission Lasers pulse and reception laser pulse shape, when can guaranteeing transponder pulse and received pulse, double detector double channels acquisition gathers, assurance transmits and receives signal and has identical time coordinate, with respect to the collection of simple detector single channel, can eliminate and measure blind area, realize close-in measurement, can avoid transmitting and the phase mutual interference that receives signal simultaneously, because transmitted waveform collection signal and capture card control signal come from different modules, cause capture card control signal to postpone with respect to Emission Lasers pulse signal life period, the capture card collection that is not also triggered when transponder pulse signal arrives capture card, in order to guarantee the full storage of Emission Lasers pulse waveform, High-Speed Double-Channel data collecting card is operated in Real-time Collection pattern, and store the data that collect into plate and carry in storer, when High-Speed Double-Channel data collecting card receives the capture card control signal from capture card control module, reading out data reference position will be set at current sampling point place, when sampling meets after sampling configuration requirement, main control computer be take reading out data reference position as benchmark, in the front and back of reading out data reference position, read respectively the data of certain length, the data that read certain length before storage mark are in order to eliminate capture card control signal with respect to the hysteresis of Emission Lasers pulse, the data that read certain length after storage mark are in order to guarantee the integrality of data, thereby realizing the complete of Emission Lasers pulse waveform reads, finally complete the full storage to Emission Lasers pulse waveform and reception laser pulse shape.
Described software unit comprises: High-Speed Double-Channel data collecting card configuration section, laser control cell location part and waveform display section form.High-Speed Double-Channel data collecting card configuration section comprises that file setting, the setting of acquisition channel voltage, acquisition channel set of time, acquisition channel input arrange, capture card triggers and arranges.File setting comprises the setting of file store path and the demonstration of storage file number.The setting of acquisition channel voltage comprises the setting of the reference voltage setting of acquisition channel 0 and acquisition channel 1 and the bias voltage of acquisition channel.Sampling channel set of time comprises the setting of the setting of sample frequency, the setting of record length and reference position.Acquisition channel input arranges and comprises the maximum incoming frequency (passing through low-pass filtering before sampling) of acquisition channel 0 and acquisition channel 1 and the setting of input signal coupling scheme.Capture card triggers to arrange and comprises trigger source setting, the selection that triggering level size arranges, trigger port coupling scheme arrange and trigger edge.Laser control cell location partly comprises laser control signal frequency, amplitude and dutycycle setting.Waveform display window is for the real-time demonstration of transmitted waveform and reception waveform.
Described data memory format is that configuration parameter separates storage with data block, and data block is divided into again data sub-block; 1-17 bytes store configuration parameter, the 17th byte is stored data block later; Concrete storage format, as described below: 1-4 bytes store system cut-in time, wherein system cut-in time comprise year, month and day; The 5th byte is sampling channel connected mode, 0 represents that Emission Lasers detector is connected with the 1st passage of High-Speed Double-Channel data collecting card, receive laser detector is connected with the 2nd passage of High-Speed Double-Channel data collecting card simultaneously, 1 represents that Emission Lasers detector is connected with the 2nd passage of High-Speed Double-Channel data collecting card, receives laser detector simultaneously and is connected with the 1st passage of High-Speed Double-Channel data collecting card; The sampling number of 6-9 bytes store High-Speed Double-Channel data collecting card the 1st path setting, adopt high-order front low level after storage mode; The sampling number of 10-13 bytes store High-Speed Double-Channel data collecting card the 2nd path setting, adopt high-order front low level after storage mode; The sample frequency that 14-15 bytes store High-Speed Double-Channel data collecting card is set, sample frequency be take megahertz as unit, adopt high-order front low level after storage mode; The reference voltage of the 16th bytes store High-Speed Double-Channel data collecting card the 1st path setting, described reference voltage be take millivolt as unit; The reference voltage of the 17th bytes store High-Speed Double-Channel data collecting card the 2nd path setting, described reference voltage be take millivolt as unit, the 17th byte data sub-block that storage is measured at every turn respectively later, each data sub-block is corresponding to laser pulse of pulsed laser transmitting and the scattering laser pulse of reception, the x time that data sub-block comprises laser pulse, Emission Lasers pulse Full wave shape data and receive laser pulse Full wave shape data.
Described control module comprises laser control unit and main control computer, the distributed control mode that adopts main control computer and each unit independence sub-controller to combine, sub-controller is controlled subordinate unit respectively, overhead control just realizes the configuration of sub-controller and monitoring, can reduce the working load of overhead control unit like this, realize the stability of controlling more accurately increase system; Because the microprocessor of present stage adopts single-threaded executive mode mostly, as realized a plurality of tasks at operational process, between task, can influence each other, again because native system needs data acquisition and storage at a high speed, slight influence all can cause loss and the entanglement of data, thereby cause the unstable of system, therefore adopt distributed control mode can guarantee the stable operation of whole system.
Described laser control unit is comprised of microprocessor and adapter, and described microprocessor can be single-chip microcomputer, CPLD or FPGA; Described microprocessor receives the configuration signal from master controller; the square-wave signal of output certain frequency, amplitude and dutycycle; described adapter amplifies square-wave signal the requirement of control signal according to laser instrument; thereby remove the laser of drive laser transmitting certain frequency; adapter, also for the isolation between laser instrument and microprocessor, is realized the protection to microprocessor.
Beneficial effect of the present invention, Full wave shape laser radar system based on coaxial two-channel data acquisition can provide the Emission Lasers pulse waveform in single measurement simultaneously and receive laser pulse shape, and make Emission Lasers pulse light path completely coaxial with reception laser pulse light path, thereby eliminated the measurement blind area of Full wave shape laser radar, increased the detection range of Full wave shape laser radar simultaneously.
Accompanying drawing explanation
Fig. 1 is the Full wave shape laser radar system sketch based on coaxial two-channel data acquisition.
Fig. 2 is the Full wave shape laser radar system complete diagram based on coaxial two-channel data acquisition.
Fig. 3 is the mechanical schematic of same axle module.
Fig. 4 is Data acquisition and storage sequential chart.
Fig. 5 is data memory format schematic diagram.
Fig. 6 is the Full wave shape laser radar system software interface based on coaxial two-channel data acquisition.
Embodiment
As shown in Figure 2, pulsed laser 1 is light source, for the measurement of system provides laser pulse.The wavelength of pulsed laser 1 selects to depend on the transmission window of transmission medium and the scattering properties of measured target in measurement environment, for example, in Tactics of Urban Surveying, Laser Transmission medium is atmosphere, and measured target is high building, meadow and road surface, and the wavelength of laser instrument 1 can be chosen as 1064nm; In Ocean Surveying, the transmission medium of laser is water for another example, and now laser instrument 1 wavelength can be chosen as 532nm.Pulsed laser has repetition frequency height and the large characteristic of peak power, thereby can meet the requirement of quick and telemeasurement, so LASER Light Source is chosen as pulsed laser 1.The laser pulse width of pulsed laser 1 transmitting is generally selected 5-10ns.Narrow laser pulse cause on the one hand laser pulse and target short duration of contact, echoed signal fails to comprise abundant target information, loses the advantage of Full wave shape laser radar; Cause on the other hand laser instrument cost to increase and the increase of laser detector bandwidth requirement, thereby increase the cost of system.Under same frequency, identical measuring distance, wide laser pulse can increase the power demand of laser instrument, thereby increases energy consumption.Pulsed laser 1 is tunable laser device, can be flexibly according to the transmission frequency that need to regulate laser instrument of the task of measurement.
The laser control signal 14 that pulsed laser 1 receives from laser control unit, launches the laser pulse of certain frequency and pulsewidth, and described laser pulse is divided into light beam 20 and light beam 21 through beam splitter 2, and beam splitter 2 is for reflection and transmission is than being 9:1 light splitting plain film.Light beam 20 is folded light beam, and light beam 21 is transmitted light beam.Folded light beam accounts for significant proportion mainly because folded light beam will be shone to target as outgoing beam by same axle module, the energy of outgoing beam is larger, measuring distance is far away, the laser pulse signal signal to noise ratio (S/N ratio) being detected by reception laser detector is higher, thus the remote and accurately measurement of realize target.Light beam 20 is by shining to target with horizontal direction outgoing with axle module.
Coaxial module physical construction as shown in Figure 3, Fig. 3 (1) is plane mirror 24, mainly complete the transformation of 90 ° of the laser beam directions of propagation, the width of catoptron is 2mm, length is 4mm, size depends on the spot size of light beam 20, the thickness of catoptron is 1-2mm, less thickness is mainly in order to guarantee that catoptron is fixed on support the still center in same axle module, compared with the catoptron of small size, be in order to guarantee under prerequisite that laser facula reflects completely, reduce plane mirror blocking the laser pulse echoed signal through target scattering, thereby reduce the loss of backward energy.Fig. 3 (2) is catoptron base 25, for fixed pan catoptron 24, make catoptron 24 from the horizontal by 45° angle, half that the square that catoptron base 25 length of sides are 2mm cuts along diagonal line, length of side size depends on the size of plane mirror 24, and aluminum material is mainly for compared with the weight of small reflector base, thereby increases bonding strength.Plane mirror 24 is fixed on the inclined-plane 26 of catoptron base 25 by the mode of gummed.Fig. 3 (3) is base support 27, described base support is comprised of round base and concurrent three line brackets, the width of three line brackets is 2mm, guarantee that on the one hand catoptron base can be fixed on the weight that also can bear catoptron base on the concurrent of three line brackets, reduces three line brackets blocking the laser pulse echoed signal through target scattering on the other hand.Catoptron base 25 is fixed on 28 places, center of base support 27 by the mode of gummed.Base support 27 is connected for stationary mirror base 25 and with the sleeve 30 of Fig. 3 (4), between sleeve 30 and base support 27, by three threaded holes 29, is connected through nut with threaded hole 31.Fig. 3 (6) is focus lens group 34, for the laser pulse signal that scattering is returned, focuses on and receives laser detector photosurface, and focus lens group 34 is fixed on 33 places, inside of sleeve 30 by three threaded holes 32.Fig. 3 (6) is complete wiring layout.Because plane mirror is positioned at the center of base support, the round datum axle of the optical axis of condenser lens and base support, so plane mirror is positioned on the optical axis of condenser lens, because plane mirror is positioned at the center of base support, condenser lens optical axis overlaps with the round base central shaft of base support, so plane mirror is positioned on the optical axis of condenser lens, the laser pulse reflecting through first beam splitter incides on the plane mirror of same axle module in the mode of 45° angle, thereby make direction of beam propagation change 90 ° with horizontal direction outgoing, because plane mirror is positioned on condenser lens optical axis, thereby make Emission Lasers pulse emitting light path and condenser lens optical axis coincidence, Emission Lasers pulse is returned along optical axis after target scattering, thereby it is coaxial with reception laser pulse light path to realize Emission Lasers pulse light path, condenser lens can focus on scattering laser pulse echo and receive on laser detector simultaneously, thereby increase the reception laser pulse luminous energy detecting.
In Fig. 2 light beam 21 again through reflection and transmission than being divided into light beam 22 and light beam 23 for the beam splitter 3 of 1:9.Light beam 22 is transmitted light beam, and light beam 23 is folded light beam.Wherein to account for significant proportion be mainly to receive because transmitted light beam is launched laser detector as Emission Lasers pulse waveform collection signal to transmitted light beam, higher laser pulse energy energy has guaranteed that the Emission Lasers pulse waveform collecting has very high signal to noise ratio (S/N ratio), thereby guarantees the accurate storage of Emission Lasers pulse waveform.Light beam 22 incides Emission Lasers detector 6, is converted to transmitted waveform electric signal 16.Light beam 23 enters photodiode 12, photodiode 12 is converted to electric impulse signal by laser pulse signal, electric impulse signal becomes the capture card control signal 15 that can drive High-Speed Double-Channel data collecting card 7 through filtering, shaping and the amplification of signal conditioning circuit 11, thereby the data that High-Speed Double-Channel data collecting card 7 is set read reference position.Because signal conditioning circuit 11 exists time delay with respect to time of light beam 22, so capture card control signal 15 is later than transmitted waveform electric signal 16 and arrives High-Speed Double-Channel data collecting cards 7, therefore can cause the transmitted waveform that collects imperfect.For head it off, configuration high-speed double channel data acquisition card 7 is operated in Real-time Collection mode, when High-Speed Double-Channel data collecting card 7 receives capture card control signal 15, in current sample point, data are set and read reference position, when sampling meets after sampling configuration requirement, the data of take main control computer 8 read reference position as benchmark, before reading reference position, data read a certain number of sampled point, thereby eliminate capture card control signal 15 with respect to the time delays between transmitted waveform electric signal 16, then reading residue counts, complete the full storage of Emission Lasers pulse waveform.
Data acquisition with read sequential as shown in Figure 4.After High-Speed Double-Channel data collecting card powers on, be operated in Real-time Collection pattern, and the data that collect are stored in to plate carry in storer.Laser control unit sends laser control signal according to setpoint frequency and dutycycle, pulsed laser receives after laser control signal and postpones through the regular hour, launch laser pulse, laser pulse is through Laser emission and receiving element beam splitting, a branch of capture card control module that enters into data acquisition unit wherein, thereby produce capture card control signal, because laser pulse need to pass through opto-electronic conversion and shaping, filtering and amplification, cause capture card control signal to have time delay with respect to laser pulse signal, when capture card control signal arrives High-Speed Double-Channel data collecting card 7, can data be set in current sample point and read reference position, when High-Speed Double-Channel data collecting card 7 meets after sampling configuration, main control computer 8 be take reading out data reference position as benchmark, in the front and back of reading out data reference position, read respectively the data of certain length, thereby completing the complete of Emission Lasers pulse waveform reads, the data that read certain length before storage mark are in order to eliminate capture card control signal with respect to the hysteresis of Emission Lasers pulse, the data that read certain length after storage mark are in order to guarantee the integrality of data, the full storage of realization to Emission Lasers pulse waveform and reception laser pulse shape.
Main control computer 8 take by the data that read the binary mode storage that byte is unit, and storage format as shown in Figure 6.Data memory format is that configuration parameter separates storage with data block, and data block is divided into again data sub-block.1-17 bytes store configuration parameter, the 17th byte is stored data block later; Concrete storage format, as described below: 1-4 bytes store system cut-in time, wherein the working time comprise year, month and day; The 5th byte is sampling channel connected mode, 0 represents that Emission Lasers detector is connected with the 1st passage of High-Speed Double-Channel data collecting card, receive laser detector is connected with the 2nd passage of High-Speed Double-Channel data collecting card simultaneously, 1 represents that Emission Lasers detector is connected with the 2nd passage of High-Speed Double-Channel data collecting card, receives laser detector simultaneously and is connected with the 1st passage of High-Speed Double-Channel data collecting card; The sampling number of 6-9 bytes store High-Speed Double-Channel data collecting card the 1st path setting, adopt high-order front low level after storage mode; The sampling number of 10-13 bytes store High-Speed Double-Channel data collecting card the 2nd path setting, adopt high-order front low level after storage mode; The sample frequency that 14-15 bytes store High-Speed Double-Channel data collecting card is set, sample frequency be take megahertz as unit, adopt high-order front low level after storage mode; The reference voltage of the 16th bytes store High-Speed Double-Channel data collecting card the 1st path setting, described reference voltage be take millivolt as unit; The reference voltage of the 17th bytes store High-Speed Double-Channel data collecting card the 2nd path setting, described reference voltage be take millivolt as unit, the 17th byte data sub-block that storage is measured at every turn respectively later, the laser pulse that each data sub-block is launched corresponding to pulsed laser, the x time that data sub-block comprises laser pulse, Emission Lasers pulse Full wave shape data and reception laser pulse Full wave shape data.
Full wave shape laser radar system software unit based on coaxial two-channel data acquisition mainly completes Full wave shape laser radar system based on the coaxial two-channel data acquisition parameter configuration before starting working, and the demonstration of Emission Lasers pulse waveform and reception laser pulse shape, as shown in Figure 6, software unit interface is comprised of High-Speed Double-Channel data collecting card configuration section, laser control cell location part and waveform display section at software unit interface.High-Speed Double-Channel data collecting card configuration section comprises that again file setting, the setting of acquisition channel voltage, acquisition channel set of time, acquisition channel input arrange, capture card triggers and arranges.File setting comprises that file store path arranges and the demonstration of storage file number.The setting of acquisition channel voltage comprises the setting of the reference voltage setting of acquisition channel 0 and acquisition channel 1 and the bias voltage of acquisition channel 0 and acquisition channel 1.Sampling channel set of time comprises the setting of the setting of sample frequency, the setting of record length and reference position.Acquisition channel input arranges the setting of the maximum incoming frequency and the input signal coupling scheme that comprise acquisition channel 0 and acquisition channel 1.Capture card triggers to arrange and comprises trigger source setting, the selection that triggering level size arranges, trigger port coupling scheme arrange and trigger edge.Laser control cell location partly comprises laser control signal frequency, amplitude and dutycycle setting.Waveform display window is for the real-time demonstration of transmitted waveform and reception waveform.
The above; be only the basic scheme of specific implementation method of the present invention, but protection scope of the present invention is not limited to this, any those skilled in the art are in technical scope disclosed by the invention; the variation that can expect or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.All implications that are equal to that fall into claim and the variation in scope are all by within being included in the scope of claim.
Claims (5)
1. the invention discloses a kind of Full wave shape laser radar system based on coaxial two-channel data acquisition, it is characterized in that, described laser radar system comprises pulsed laser, Laser emission and receiving element, data acquisition unit, control module and software unit, described Laser emission and receiving element form by beam splitter with axle module, described data acquisition unit is by Emission Lasers detector, receive laser detector, High-Speed Double-Channel data collecting card and capture card control module form, described control module is comprised of main control computer and laser control unit, described pulsed laser receives the laser control signal from laser control unit, send the laser pulse of certain frequency and pulse width, in order to realize the full storage of Emission Lasers pulse and reception laser pulse shape, and eliminate the emission delay of pulsed laser, the beam splitter of described laser pulse in Laser emission and receiving element is divided into 3 bundles, the 1st same axle module outgoing of bundle laser pulse in Laser emission and receiving element shone to target, laser pulse is after target scattering, by the same axle module in Laser emission and receiving element, focused on the reception laser detector in data acquisition unit, receive laser detector the light signal receiving is converted to electric signal, thereby gathered by the High-Speed Double-Channel data collecting card in data acquisition unit, by means of data sampling at a high speed, the waveform that receives laser pulse can be by complete collection, thereby realize the Full wave shape storage that receives laser pulse, the 2nd bundle laser pulse incides the Emission Lasers detector in data acquisition unit, Emission Lasers detector is converted to electric signal by laser pulse, thereby gathered by the High-Speed Double-Channel data collecting card in data acquisition unit, by means of data sampling at a high speed, the waveform of Emission Lasers pulse can be by complete collection, thereby realize the Full wave shape storage of Emission Lasers pulse, instability due to pulsed laser work, cause launched laser pulse to there is different waveforms, while stored transmit laser pulse shape and reception laser pulse shape, make in the signal in later stage is processed, consider Emission Lasers pulse waveform width and amplitude otherness, get a more accurate measurement result, and can and receive the difference between laser pulse shape according to Emission Lasers pulse waveform, be finally inversed by physics and the geometrical property of target, the 3rd bundle laser pulse enters capture card control module in data acquisition unit for generation of capture card control signal, this signal reads reference position for setting data, reference position while reading High-Speed Double-Channel data collecting card data for main control computer, by means of data, read reference position and can realize the complete of Emission Lasers pulse waveform and read, and transmitted waveform and reception waveform time coordinate is consistent, described control module completes the control of paired pulses laser instrument and data acquisition unit high speed double channel data acquisition card, and the data that collect in High-Speed Double-Channel data collecting card are read, show, stored and calculate, and provide hardware platform for software unit, described software unit provides Man Machine Interface, the configuration of data acquisition unit and control module, the data that collect and the demonstration of data processed result, patent of the present invention can realize Emission Lasers pulse light path in laser radar light path and receive the completely coaxial of laser pulse light path, can realize Emission Lasers pulse simultaneously and receives Full wave shape collection, the demonstration of laser pulse and store according to setting form.
2. a kind of Full wave shape laser radar system based on coaxial two-channel data acquisition according to claim 1, it is characterized in that, described Laser emission and receiving element can be realized Emission Lasers pulse and receive the completely coaxial of laser pulse light path, and realize the light splitting of paired pulses laser instrument institute Emission Lasers pulse, thereby the laser pulse signal of different components is respectively used to produce capture card control signal, Emission Lasers pulse waveform collection signal, and shoot laser pulse signal, described Laser emission and receiving element are by two beam splitters and form with axle module, the reflection and transmission of first beam splitter is than being 9:1, thereby the two bundle laser pulses that it is 9:1 that the laser pulse that pulsed laser is launched is divided into the ratio of light intensity, folded light beam accounts for significant proportion mainly because folded light beam will be shone to target as shoot laser pulse by same axle module, the energy of shoot laser pulse is larger, measuring distance is far away, laser pulse signal signal to noise ratio (S/N ratio) through target scattering is higher, thereby the remote and accurately measurement of realize target, transmitted light beam is through second beam splitter beam splitting again, the reflection and transmission of second beam splitter is than being 1:9, wherein to account for significant proportion be mainly to receive because transmitted light beam is launched laser detector as Emission Lasers pulse waveform collection signal to transmitted light beam, higher signal energy has guaranteed that the Emission Lasers pulse waveform collecting has higher signal to noise ratio (S/N ratio), thereby guarantees the accurate storage of Emission Lasers pulse waveform, folded light beam enters the capture card control module in data acquisition unit, for generation of capture card control signal, described same axle module is by plane mirror, catoptron base, base support, sleeve and condenser lens form, described plane mirror is coated with the deielectric-coating that improves reflectivity, mainly for reducing the energy loss of folded light beam, the thickness of plane mirror is 1-2mm, width is 2mm, length is 4mm, less thickness is mainly in order to guarantee that catoptron is fixed on support the still center in same axle module, is in order to reduce catoptron to the blocking of the laser pulse signal through target scattering, thereby reduces the loss of backward energy compared with the catoptron of small size, described catoptron base is that the length of side is half that the square of 2mm cuts along diagonal line, and described plane mirror is fixed on the inclined-plane of catoptron base by the mode of gummed, described base support is comprised of round base and concurrent three line brackets, the width of three line brackets is 2mm, guarantee that on the one hand catoptron base can be fixed on the weight that also can bear catoptron base on the concurrent of three line brackets, reduces three line brackets blocking echoed signal on the other hand, described catoptron base is fixed on the concurrent of base support by the mode of gummed, and the round base of described base support is fixed on the front portion of sleeve by nut, and described condenser lens is also fixed on the inside of sleeve by nut, because plane mirror is positioned at the center of base support, condenser lens optical axis overlaps with the round base central shaft of base support, so plane mirror is positioned on the optical axis of condenser lens, the laser pulse reflecting through first beam splitter incides on the plane mirror of same axle module in the mode of 45° angle, thereby make direction of beam propagation change 90 ° with horizontal direction outgoing, because plane mirror is positioned on condenser lens optical axis, thereby make Emission Lasers pulse emitting light path and condenser lens optical axis coincidence, Emission Lasers pulse is returned along optical axis after target scattering, thereby it is coaxial with reception laser pulse light path to realize Emission Lasers pulse light path, condenser lens can focus on scattering laser pulse echo and receive on laser detector simultaneously, thereby increase the reception laser pulse luminous energy detecting.
3. a kind of Full wave shape laser radar system based on coaxial two-channel data acquisition according to claim 1, it is characterized in that, described data acquisition unit can be realized Emission Lasers pulse and gather with the binary channels that receives laser pulse simultaneously, realize complete collection and the storage of Emission Lasers pulse and reception laser pulse shape simultaneously, thereby realize the Full wave shape storage of laser pulse, described data acquisition unit comprises: Emission Lasers detector, reception laser detector, High-Speed Double-Channel data collecting card and capture card control module, Emission Lasers detector and reception laser detector are realized respectively Emission Lasers pulse and are received the opto-electronic conversion of laser pulse, and connect respectively at two acquisition channels of High-Speed Double-Channel data collecting card, High-Speed Double-Channel data collecting card completes simulating signal to the conversion of digital signal, and by the signal storage collecting to carrying in storer from body, capture card control module is comprised of photodiode and signal conditioning circuit, photodiode receives the laser pulse signal from Laser emission and receiving element, laser pulse signal is converted to electric pulse, electric pulse produces capture card control signal after described signal conditioning circuit shaping, filtering and amplification, thereby completes the control to capture card, after collection finishes, the main control computer in control module reads the data in double channel data acquisition card, thereby realizes storage and the calculating of Emission Lasers pulse and reception laser pulse shape, when can guaranteeing transponder pulse and received pulse, double detector double channels acquisition gathers, assurance transmits and receives signal and has identical time coordinate, with respect to the collection of simple detector single channel, can eliminate and measure blind area, realize close-in measurement, can avoid transmitting and the phase mutual interference that receives signal simultaneously, because transmitted waveform collection signal and capture card control signal come from different modules, cause capture card control signal to postpone with respect to Emission Lasers pulse signal life period, the capture card collection that is not also triggered when transponder pulse signal arrives capture card, in order to guarantee the full storage of Emission Lasers pulse waveform, High-Speed Double-Channel data collecting card is operated in Real-time Collection pattern, and store the data that collect into plate and carry in storer, when High-Speed Double-Channel data collecting card receives the capture card control signal from capture card control module, reading out data reference position will be set at current sampling point place, when sampling meets after sampling configuration requirement, main control computer be take reading out data reference position as benchmark, in the front and back of reading out data reference position, read respectively the data of certain length, the data that read certain length before storage mark are in order to eliminate capture card control signal with respect to the hysteresis of Emission Lasers pulse, the data that read certain length after storage mark are in order to guarantee the integrality of data, thereby realizing the complete of Emission Lasers pulse waveform reads, finally complete the full storage to Emission Lasers pulse waveform and reception laser pulse shape.
4. a kind of Full wave shape laser radar system based on coaxial two-channel data acquisition according to claim 1, it is characterized in that, described software unit comprises: High-Speed Double-Channel data collecting card configuration section, laser control cell location part and waveform display section form.High-Speed Double-Channel data collecting card configuration section comprises that file setting, the setting of acquisition channel voltage, acquisition channel set of time, acquisition channel input arrange, capture card triggers and arranges.File setting comprises the setting of file store path and the demonstration of storage file number.The setting of acquisition channel voltage comprises the setting of the reference voltage setting of acquisition channel 0 and acquisition channel 1 and the bias voltage of acquisition channel.Sampling channel set of time comprises the setting of the setting of sample frequency, the setting of record length and reference position.Acquisition channel input arranges and comprises the maximum incoming frequency (passing through low-pass filtering before sampling) of acquisition channel 0 and acquisition channel 1 and the setting of input signal coupling scheme.Capture card triggers to arrange and comprises trigger source setting, the selection that triggering level size arranges, trigger port coupling scheme arrange and trigger edge.Laser control cell location partly comprises laser control signal frequency, amplitude and dutycycle setting.Waveform display window is for the real-time demonstration of transmitted waveform and reception waveform.
5. a kind of Full wave shape laser radar system based on coaxial two-channel data acquisition according to claim 1, is characterized in that, described data memory format is that configuration parameter separates storage with data block, and data block is divided into again data sub-block; 1-17 bytes store configuration parameter, the 17th byte is stored data block later; Concrete storage format, as described below: 1-4 bytes store system cut-in time, wherein system cut-in time comprise year, month and day; The 5th byte is sampling channel connected mode, 0 represents that Emission Lasers detector is connected with the 1st passage of High-Speed Double-Channel data collecting card, receive laser detector is connected with the 2nd passage of High-Speed Double-Channel data collecting card simultaneously, 1 represents that Emission Lasers detector is connected with the 2nd passage of High-Speed Double-Channel data collecting card, receives laser detector simultaneously and is connected with the 1st passage of High-Speed Double-Channel data collecting card; The sampling number of 6-9 bytes store High-Speed Double-Channel data collecting card the 1st path setting, adopt high-order front low level after storage mode; The sampling number of 10-13 bytes store High-Speed Double-Channel data collecting card the 2nd path setting, adopt high-order front low level after storage mode; The sample frequency that 14-15 bytes store High-Speed Double-Channel data collecting card is set, sample frequency be take megahertz as unit, adopt high-order front low level after storage mode; The reference voltage of the 16th bytes store High-Speed Double-Channel data collecting card the 1st path setting, described reference voltage be take millivolt as unit; The reference voltage of the 17th bytes store High-Speed Double-Channel data collecting card the 2nd path setting, described reference voltage be take millivolt as unit, the 17th byte data sub-block that storage is measured at every turn respectively later, each data sub-block is corresponding to laser pulse of pulsed laser transmitting and the scattering laser pulse of reception, the x time that data sub-block comprises laser pulse, Emission Lasers pulse Full wave shape data and receive laser pulse Full wave shape data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310610608.1A CN103576134B (en) | 2013-11-26 | 2013-11-26 | A kind of Full-waveform laser radar system based on coaxial two-channel data acquisition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310610608.1A CN103576134B (en) | 2013-11-26 | 2013-11-26 | A kind of Full-waveform laser radar system based on coaxial two-channel data acquisition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103576134A true CN103576134A (en) | 2014-02-12 |
| CN103576134B CN103576134B (en) | 2015-10-07 |
Family
ID=50048314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310610608.1A Active CN103576134B (en) | 2013-11-26 | 2013-11-26 | A kind of Full-waveform laser radar system based on coaxial two-channel data acquisition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103576134B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103901435A (en) * | 2014-03-11 | 2014-07-02 | 北京航空航天大学 | Full-fiber optical path full-waveform laser radar system |
| CN104155640A (en) * | 2014-08-15 | 2014-11-19 | 中国科学院上海技术物理研究所 | Laser radar echo full-waveform acquisition device with sampling point time location |
| CN105785341A (en) * | 2016-05-03 | 2016-07-20 | 中国科学院上海技术物理研究所 | Novel dual-channel laser radar receiving system for enhancing echo dynamic range |
| CN105842676A (en) * | 2016-06-16 | 2016-08-10 | 成都中科合迅科技有限公司 | Radar blind area analysis method and device |
| CN106443707A (en) * | 2016-10-17 | 2017-02-22 | 中国科学院光电研究院 | Hyper-spectrum laser radar system and control method thereof |
| CN107272018A (en) * | 2017-04-24 | 2017-10-20 | 北京航空航天大学 | A kind of 3-D scanning Full-waveform laser radar system |
| WO2017181453A1 (en) * | 2016-04-20 | 2017-10-26 | 深圳市速腾聚创科技有限公司 | Laser ranging system and method employing time domain waveform matching technique |
| CN107843901A (en) * | 2017-10-26 | 2018-03-27 | 清华大学 | LDMS and method |
| CN108152826A (en) * | 2017-12-25 | 2018-06-12 | 深圳市杉川机器人有限公司 | Multi-thread laser ranging system and robot |
| CN108415031A (en) * | 2018-01-15 | 2018-08-17 | 北京航空航天大学 | A kind of EO-1 hyperion Full-waveform laser radar system based on spectrum |
| CN108415030A (en) * | 2018-01-15 | 2018-08-17 | 北京航空航天大学 | A kind of EO-1 hyperion laser radar system based on light intensity light splitting |
| CN108693516A (en) * | 2018-08-20 | 2018-10-23 | 中国科学院上海技术物理研究所 | A kind of device and method of quick measurement laser ranging system performance |
| CN110174662A (en) * | 2019-05-31 | 2019-08-27 | 山东省科学院海洋仪器仪表研究所 | A kind of three beam splitting laser emitter of high-precision for laser radar |
| CN111796255A (en) * | 2016-09-20 | 2020-10-20 | 创新科技有限公司 | Laser radar system, method for detecting object by using laser radar system and vehicle |
| CN111812665A (en) * | 2020-07-09 | 2020-10-23 | 金华市蓝海光电技术有限公司 | Pulse and phase integrated laser ranging device |
| CN113050070A (en) * | 2019-12-27 | 2021-06-29 | 北京万集科技股份有限公司 | Laser radar data processing method, device, equipment and storage medium |
| US11052944B2 (en) * | 2015-11-23 | 2021-07-06 | Daf Trucks N.V. | Auto docking method for application in heavy trucks |
| CN113419250A (en) * | 2020-03-02 | 2021-09-21 | 华为技术有限公司 | Laser ranging system and laser ranging method |
| US11683090B1 (en) | 2022-01-18 | 2023-06-20 | T-Mobile Usa, Inc. | Laser-based enhancement of signal propagation path for mobile communications |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1064564B1 (en) * | 1998-03-26 | 2009-08-05 | Oy Eigenor | Method and system for measuring radar reflectivity and doppler shift by means of a pulse radar |
| CN101614814A (en) * | 2009-07-29 | 2009-12-30 | 武汉大学 | Be used for sky-based laser and survey high intelligent data acquisition method and system |
| CN201503495U (en) * | 2009-06-23 | 2010-06-09 | 贵州航天凯宏科技有限责任公司 | Eye safety airport wind shear laser radar system device |
| CN102654575A (en) * | 2012-03-28 | 2012-09-05 | 中国科学院上海技术物理研究所 | Terahertz (THz) level large bandwidth laser synthetic aperture radar imaging system |
| CN103197321A (en) * | 2013-03-22 | 2013-07-10 | 北京航空航天大学 | Full-waveform laser radar system |
-
2013
- 2013-11-26 CN CN201310610608.1A patent/CN103576134B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1064564B1 (en) * | 1998-03-26 | 2009-08-05 | Oy Eigenor | Method and system for measuring radar reflectivity and doppler shift by means of a pulse radar |
| CN201503495U (en) * | 2009-06-23 | 2010-06-09 | 贵州航天凯宏科技有限责任公司 | Eye safety airport wind shear laser radar system device |
| CN101614814A (en) * | 2009-07-29 | 2009-12-30 | 武汉大学 | Be used for sky-based laser and survey high intelligent data acquisition method and system |
| CN102654575A (en) * | 2012-03-28 | 2012-09-05 | 中国科学院上海技术物理研究所 | Terahertz (THz) level large bandwidth laser synthetic aperture radar imaging system |
| CN103197321A (en) * | 2013-03-22 | 2013-07-10 | 北京航空航天大学 | Full-waveform laser radar system |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103901435A (en) * | 2014-03-11 | 2014-07-02 | 北京航空航天大学 | Full-fiber optical path full-waveform laser radar system |
| CN103901435B (en) * | 2014-03-11 | 2016-05-18 | 北京航空航天大学 | A kind of full optical fiber optical optical road Full wave shape laser radar system |
| CN104155640A (en) * | 2014-08-15 | 2014-11-19 | 中国科学院上海技术物理研究所 | Laser radar echo full-waveform acquisition device with sampling point time location |
| US11052944B2 (en) * | 2015-11-23 | 2021-07-06 | Daf Trucks N.V. | Auto docking method for application in heavy trucks |
| WO2017181453A1 (en) * | 2016-04-20 | 2017-10-26 | 深圳市速腾聚创科技有限公司 | Laser ranging system and method employing time domain waveform matching technique |
| US11592553B2 (en) | 2016-04-20 | 2023-02-28 | Suteng Innovation Technology Co., Ltd | Distance measurement system and method using lidar waveform matching |
| CN105785341A (en) * | 2016-05-03 | 2016-07-20 | 中国科学院上海技术物理研究所 | Novel dual-channel laser radar receiving system for enhancing echo dynamic range |
| CN105842676A (en) * | 2016-06-16 | 2016-08-10 | 成都中科合迅科技有限公司 | Radar blind area analysis method and device |
| CN105842676B (en) * | 2016-06-16 | 2018-03-30 | 成都中科合迅科技有限公司 | A kind of radar shadown analysis method and device |
| CN111796255A (en) * | 2016-09-20 | 2020-10-20 | 创新科技有限公司 | Laser radar system, method for detecting object by using laser radar system and vehicle |
| CN106443707A (en) * | 2016-10-17 | 2017-02-22 | 中国科学院光电研究院 | Hyper-spectrum laser radar system and control method thereof |
| CN106443707B (en) * | 2016-10-17 | 2023-10-31 | 中国科学院光电研究院 | Hyperspectral laser radar system and control method thereof |
| CN107272018A (en) * | 2017-04-24 | 2017-10-20 | 北京航空航天大学 | A kind of 3-D scanning Full-waveform laser radar system |
| CN107272018B (en) * | 2017-04-24 | 2020-02-14 | 北京航空航天大学 | Three-dimensional scanning full-waveform laser radar system |
| CN107843901A (en) * | 2017-10-26 | 2018-03-27 | 清华大学 | LDMS and method |
| CN108152826A (en) * | 2017-12-25 | 2018-06-12 | 深圳市杉川机器人有限公司 | Multi-thread laser ranging system and robot |
| CN108415031A (en) * | 2018-01-15 | 2018-08-17 | 北京航空航天大学 | A kind of EO-1 hyperion Full-waveform laser radar system based on spectrum |
| CN108415030B (en) * | 2018-01-15 | 2020-08-28 | 北京航空航天大学 | Hyperspectral laser radar system based on light intensity light splitting |
| CN108415031B (en) * | 2018-01-15 | 2020-08-28 | 北京航空航天大学 | Hyperspectral full-waveform laser radar system based on spectral splitting |
| CN108415030A (en) * | 2018-01-15 | 2018-08-17 | 北京航空航天大学 | A kind of EO-1 hyperion laser radar system based on light intensity light splitting |
| CN108693516A (en) * | 2018-08-20 | 2018-10-23 | 中国科学院上海技术物理研究所 | A kind of device and method of quick measurement laser ranging system performance |
| CN108693516B (en) * | 2018-08-20 | 2024-02-20 | 中国科学院上海技术物理研究所 | Device and method for rapidly measuring performance of laser ranging system |
| CN110174662A (en) * | 2019-05-31 | 2019-08-27 | 山东省科学院海洋仪器仪表研究所 | A kind of three beam splitting laser emitter of high-precision for laser radar |
| CN113050070A (en) * | 2019-12-27 | 2021-06-29 | 北京万集科技股份有限公司 | Laser radar data processing method, device, equipment and storage medium |
| CN113050070B (en) * | 2019-12-27 | 2023-03-14 | 北京万集科技股份有限公司 | Laser radar data processing method, device, equipment and storage medium |
| CN113419250A (en) * | 2020-03-02 | 2021-09-21 | 华为技术有限公司 | Laser ranging system and laser ranging method |
| CN113419250B (en) * | 2020-03-02 | 2024-06-04 | 华为技术有限公司 | Laser ranging system and laser ranging method |
| CN111812665A (en) * | 2020-07-09 | 2020-10-23 | 金华市蓝海光电技术有限公司 | Pulse and phase integrated laser ranging device |
| US11683090B1 (en) | 2022-01-18 | 2023-06-20 | T-Mobile Usa, Inc. | Laser-based enhancement of signal propagation path for mobile communications |
| US12021558B2 (en) | 2022-01-18 | 2024-06-25 | T-Mobile Usa, Inc. | Laser-based enhancement of signal propagation path for mobile communications |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103576134B (en) | 2015-10-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103576134B (en) | A kind of Full-waveform laser radar system based on coaxial two-channel data acquisition | |
| CN103901435B (en) | A kind of full optical fiber optical optical road Full wave shape laser radar system | |
| CN103197321B (en) | Full-waveform laser radar system | |
| CN204044359U (en) | A kind of two-dimensional scan formula laser ranging system | |
| CN103744087B (en) | A kind of pulse type N*N-array laser radar system | |
| CN103412313B (en) | Small low-altitude light area array laser radar measuring system | |
| DK2486412T3 (en) | Device for measuring wind speed | |
| CN104166142B (en) | The 3-D imaging system of a kind of many units photon counting laser ranging | |
| CN1316262C (en) | Detection method and laser radar of Raman-Mie scattering laser atmospheric signal | |
| CN101819275B (en) | Doppler laser radar device for measuring multiple meterological parameters | |
| CN205175364U (en) | A laser profile scanning device for data acquisition | |
| AU2020103665A4 (en) | Low-altitude Light Small Area Array LiDAR Measuring System | |
| CN102707331B (en) | Receiving and transmitting integrated sub-nanosecond pulse laser detection system based on polarization | |
| CN107272018A (en) | A kind of 3-D scanning Full-waveform laser radar system | |
| CN204989471U (en) | Multiple target pulsed laser distancer | |
| CN106772404A (en) | Laser radar range device and method | |
| CN101776749B (en) | Vehicle-mounted staring imaging laser radar synchronous triggering system | |
| CN103472255B (en) | Full-optical-fiber Doppler coherent laser radar wind speed measuring device | |
| CN101029934A (en) | High-precision laser range-finding device | |
| CN202793374U (en) | Distance meter through laser triangulation | |
| CN104655048A (en) | High-speed laser three-dimensional scanning system | |
| CN103115888A (en) | Time division multiplexing system for data collection by utilizing differential absorption lidar | |
| CN111751802A (en) | Photon-level self-adaptive high-sensitivity space weak target detection system and detection method | |
| CN204705715U (en) | A kind of compact ultra-short pulse laser long-distance ranging system | |
| CN209417298U (en) | Based on the cumulative laser ranging system with waveform sampling of echo waveform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |