CN108037511A - One kind suppresses background noise system and laser radar - Google Patents
One kind suppresses background noise system and laser radar Download PDFInfo
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- CN108037511A CN108037511A CN201711484316.2A CN201711484316A CN108037511A CN 108037511 A CN108037511 A CN 108037511A CN 201711484316 A CN201711484316 A CN 201711484316A CN 108037511 A CN108037511 A CN 108037511A
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- 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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
-
- 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
- G01S7/4861—Circuits for detection, sampling, integration or read-out
-
- 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
-
- 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
- G01S7/489—Gain of receiver varied automatically during pulse-recurrence period
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- 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 present invention relates to optical range finding technique field, more particularly to a kind of suppression background noise system and laser radar.One kind suppresses background noise system, including：The noise amplitude detection unit being connected with photoelectric sensor, the hysteresis comparator being connected with noise amplitude detection unit, the transmitting being connected with transmitter and photoelectric sensor and Change of integral time device, the hysteresis comparator passes through the detection numerical value output adjustment option corresponding with the comparative result of given threshold to noise amplitude detection unit, the transmitter is according to the information adjustment transmitting quantity of the adjustment option received, and the photoelectric sensor is according to the information for the adjusting option adjustment time of integration received.A kind of laser radar is additionally provided, it is with the suppression background noise system.By the photoelectric sensor, noise amplitude detection unit, hysteresis comparator and transmitting and the setting of Change of integral time device, solves the problems, such as the channel gain that can not only regulate and control by photoelectric sensor itself.
Description
Technical field
The present invention relates to optical range finding technique field, more particularly to a kind of suppression background noise system and laser radar.
Background technology
Optical scanner range unit is that one kind uses light beam, passes through the flight time（Time of Flight, referred to as
TOF）, triangulation the methods of carry out non-contact scanning ranging equipment.At present, common optical scanner range unit bag
Include：Light emission module, optical lens, Optical Receivers.Light emission module sends light beam, and optical lens is located at light emission module
In light path, beam emissions to testee surface, light beam is reflected on reception chip after running into barrier, and Optical Receivers leads to
Cross and measure the time being transmitted between receiving, phase difference, the known light velocity, you can obtain testee to the distance of device.At present
It is widely used in robot environment's scanning, path planning, avoidance navigation, security protection detection etc..Face battle array laser radar swashs as solid-state
One kind of optical radar, has the dispersion angle and pitch angle of setting, it is more accurate relative to single-point radar range finding, is swept in setting
Information is apparent comprehensively in the range of retouching.
For laser radar, 10,000 times of objective emission energy difference at target and 200 meters at two meters.And opto-electronic conversion etc. passes
Sensor, each pixel can not possibly be done too greatly, and integrating capacitor is very small, it is necessary to ensure that the reflected signal at 200m can be detected
Arrive, the reflected signal at 2m is unsaturated, and this requires laser radar receiving channel is needed with high sensitivity and Larger Dynamic scope
The characteristics of.Its photoelectric chip generally use diode of existing laser radar etc. is made, and because of the limitation of material nature, it is received
Channel gain is fixed, or adjustable limited extent.Therefore, the increasing of photoelectric sensor how is adjusted by exterior intervention
Benefit, and expand the amplitude of photoelectric sensor gain, become urgent problem to be solved.
The content of the invention
The it is proposed of the present invention is a kind of to suppress background noise system, the photoelectric sensor, noise amplitude detection unit, stagnant
Ring comparator and transmitting and the setting of Change of integral time device, launch arteries and veins by judging the size of noise amplitude to adjust transmitter
The quantity and photoelectric sensor of punching receive the time of integration, and receiving channel gain is realized by converting the time of reception integration
Control.Solves the problems, such as the channel gain that can not only regulate and control by photoelectric sensor itself.
A kind of laser radar is additionally provided, it is with the suppression background noise system.Made an uproar by suppressing bias light
The setting of sound system, adjusts the gain of photoelectric sensor with the change of suitable environment optical noise, improves the accuracy of test and fit
Use scope.
For this purpose, the present invention uses following technical scheme：
One kind suppresses background noise system, including：The noise amplitude detection unit being connected with photoelectric sensor, with noise width
The hysteresis comparator that value detection unit is connected, the transmitting being connected with transmitter and photoelectric sensor and Change of integral time
Device, the hysteresis comparator pass through the detection numerical value output corresponding with the comparative result of given threshold to noise amplitude detection unit
Adjust option, the transmitter according to receive adjustment option information adjustment launches quantity, the photoelectric sensor according to
The information adjustment time of integration of the adjustment option received.
As one of the preferred embodiments of the present invention, the hysteresis comparator is according to detection numerical value X and given threshold Y0
Comparative result include at least three sections, work as X-Y0During ＜-a,（- ∞ ,-a）Option, the transmitting number of transmitter are adjusted for forward direction
The time of integration of amount and photoelectric sensor increases on year-on-year basis；As-a≤X-Y0During≤a,（- a, a）To remain unchanged option；Work as X-Y0＞
During a,（A ,+∞）Reduce on year-on-year basis for reversely adjustment option, the transmitting quantity of transmitter and the time of integration of photoelectric sensor, wherein
X、Y0It is normal number with a.
As one of the preferred embodiments of the present invention, the positive adjustment option includes at least N number of sub- option of forward direction：From
Forward direction the 1st keeps off option and keeps off option to forward direction N, launches quantity and the speedup of the time of integration in incremental arrangement；It is and/or described anti-
Include at least M reversely sub- options to adjustment option：Option is kept off from the reverse 1st gear option to reverse M, launches quantity and integration
In incremental arrangement, the N and M are the positive integer more than or equal to 1 for the deceleration of time.
As one of the preferred embodiments of the present invention, the adjustment option of the hysteresis comparator is defeated in digital form
Go out, the positive adjustment option is [+1 ,+N], and the option that remains unchanged is 0, and the reversely adjustment option is [- 1 ,-M].
As one of the preferred embodiments of the present invention, the positive adjustment option is+1 ,+2, described to remain unchanged option
For 0, the reversely general option that subtracts is -1, -2.
As one of the preferred embodiments of the present invention, the noise amplitude detection unit is examined in setting measurement cycle T
The amplitude of the electric signal of photoelectric sensor output is measured, the hysteresis comparator carries out the amplitude and the reference value set
Contrast, to correspond to output adjustment option.
As one of the preferred embodiments of the present invention, the amplitude is single for noise amplitude detection in setting measurement cycle T
The average of first electric signal periodic amplitude for detecting photoelectric sensor in real time.
As one of the preferred embodiments of the present invention, the amplitude is single for noise amplitude detection in setting measurement cycle T
Processing costs after first filtered processing of electric signal periodic amplitude for detecting photoelectric sensor in real time.
As one of the preferred embodiments of the present invention, further include and be connected to photoelectric sensor and noise amplitude detection circuit
Between analog-digital converter, the electric signal that photoelectric sensor exports is converted to digital signal by the analog-digital converter.
A kind of laser radar, it is characterised in that there is the suppression background noise system.
Beneficial effect：During by the photoelectric sensor, noise amplitude detection unit, hysteresis comparator and transmitting with integration
Between controller setting, solve the problems, such as the channel gain that can not only regulate and control by photoelectric sensor itself, in reception processing,
Noise amplitude detection unit is added, the exomonental quantity of transmitter and photoelectricity are adjusted by judging the size of noise amplitude
Sensor receives the time of integration, and the control of receiving channel gain is realized by converting the time of reception integration.When sunshine very
When strong or target reflectivity is very high, deduction time reduction reception gain is reduced to ensure the sensors such as opto-electronic conversion unsaturation；
When sunshine is very weak or target reflectivity is very low, the increase time of integration improves channel gain, ensures receiving sensitivity.
Brief description of the drawings
Fig. 1 is the structure diagram for the suppression background noise system that the embodiment of the present invention 1 provides.
Fig. 2 is the structure diagram for the suppression background noise system that the embodiment of the present invention 4 provides.
In figure：1st, noise amplitude detection unit；2nd, hysteresis comparator；3rd, transmitting and Change of integral time device；4th, transmitter；
5th, photoelectric sensor；6th, barrier；7th, analog-digital converter.
Embodiment
Further illustrate technical scheme below with reference to the accompanying drawings and specific embodiments.
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.Below with reference to the accompanying drawings and the present invention will be described in detail in conjunction with the embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction with the embodiment of the present application
Attached drawing, is clearly and completely described the technical solution in the embodiment of the present application, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's all other embodiments obtained without making creative work, should all belong to the model of the application protection
Enclose.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment are not necessarily limited to those steps clearly listed or unit, but may include without clear
It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
Embodiment 1
The present invention provides one kind to suppress background noise system, as shown in Figure 1, including：Make an uproar with what photoelectric sensor 5 was connected
Acoustic amplitude detection unit 1, the hysteresis comparator 2 being connected with noise amplitude detection unit 1, with transmitter 4 and photoelectric sensor 5
The transmitting being connected and Change of integral time device 3, the hysteresis comparator 2 pass through the testing number to noise amplitude detection unit 1
Value output adjustment option corresponding with the comparative result of given threshold, the transmitter 4 is according to the information for adjusting option received
Adjustment transmitting quantity, the photoelectric sensor 5 adjust the time of integration according to the information of the adjustment option received.
Pass through the photoelectric sensor 5, noise amplitude detection unit 1, hysteresis comparator 2 and transmitting and Change of integral time
The setting of device 3, solves the problems, such as the channel gain that itself can not only regulate and control by photoelectric sensor 5, in reception processing, addition
Noise amplitude detection unit 1,4 exomonental quantity of transmitter and photoelectric transfer are adjusted by judging the size of noise amplitude
Sensor 5 receives the time of integration, and the control of receiving channel gain is realized by converting the time of reception integration.When sunshine is very strong
Or target reflectivity it is very high when, reduce the deduction time reduce reception gain come ensure the sensors such as opto-electronic conversion unsaturation；When
Sunshine is very weak or when 6 reflectivity of barrier is very low, and the increase time of integration improves channel gain, ensures receiving sensitivity.
The noise amplitude detection unit 1 detects the electric signal that photoelectric sensor 5 exports in setting measurement cycle T
Amplitude, the hysteresis comparator 2 are contrasted the amplitude with given threshold, to correspond to output adjustment option.The setting
Threshold value can be set by external input or to carrying setting inside original setting make a change or hysteresis comparator 2
Threshold value.Preferably, 100 μ s≤T≤1ms.When test period T is between 100 μ s and 1ms, in time to photoelectric sensor 5
The time of integration is adjusted, and ensures that laser sensor has enough test frequencies.
The amplitude can be the photoelectric sensing that noise amplitude detection unit 1 detects in real time in setting measurement cycle T
The true amplitude of the electric signal of device 5, but because having the amplitude of multiple electric signals in measurement period T, measurement in real time is right in real time
Than if, noise amplitude detection unit 1 and the calculated load of hysteresis comparator 2 can be caused excessive, at the same will also result in transmitting with
The operation of Change of integral time device 3 is excessively frequent, it is preferred, therefore, that the amplitude is preferably noise width in setting measurement cycle T
Value detection unit 1 detects in the average of the electric signal periodic amplitude of photoelectric sensor 5, that is, a measurement period T in real time
Average amplitude and given threshold compare once, substantially reduce the calculation amount of noise amplitude detection unit 1, maintain noise amplitude
The job stability of detection unit 1.Periodic amplitude herein refers to amplitude of the electric signal within its cycle.
Further, in order to ensure in measurement period T, the output of the amplitude is more accurate, is in setting measurement cycle T
Noise amplitude detection unit 1 detects the processing costs after the filtered processing of electric signal periodic amplitude of photoelectric sensor 5 in real time.Through
The amplitude crossed after filtering process has filtered abnormal numerical value, more accurately, improves the stability of system operation.
Specifically, the hysteresis comparator 2 is according to detection numerical value X and given threshold Y0Comparative result include at least three
Section, works as X-Y0During ＜-a,（- ∞ ,-a）Option, the transmitting quantity of transmitter 4 and the integration of photoelectric sensor 5 are adjusted for forward direction
Time increases on year-on-year basis；As-a≤X-Y0During≤a,（- a, a）To remain unchanged option；Work as X-Y0During ＞ a,（A ,+∞）Reversely to adjust
Whole option, the transmitting quantity of transmitter 4 and the time of integration of photoelectric sensor 5 reduce on year-on-year basis, wherein X, Y0It is normal number with a.
By the way that numerical value X and given threshold Y will be detected0Comparative result to be divided into three sections positive, reverse and three constant with correspondence
Adjustment direction, realizes for fast reaction of the transmitting with the control direction of Change of integral time device 3 and output intent option, improves
The whole operational efficiency for suppressing background noise system.
The positive adjustment option corresponds to 1 sub- option of forward direction, and the reversely adjustment option corresponds to 1 reverse sub- option.
The hysteresis comparator 2 exports above-mentioned adjustment option in digital form, and the sub- option of forward direction is corresponding output numerical value
For+1, for the corresponding output numerical value of option that remains unchanged for 0, the reversely sub- option is -1.Certainly, the sub- option of forward direction
Including but not limited to 1 or any positive integer, it is mainly used for and protects absolute value with the output numerical value of reverse sub- option
Constant rotating output numerical value 0 is held to distinguish.
Present invention also offers a kind of laser radar, it is characterised in that has the suppression background noise system.Institute
It can be any laser radar using triangulation, TOF time flight methods or impulse method to state laser radar.
Embodiment 2
The positive adjustment option includes 2 sub- options of forward direction as different from Example 1：Option is kept off to forward direction from forward direction the 1st
2nd gear option, launches quantity and the speedup of the time of integration in incremental arrangement；It is reverse that the reversely adjustment option includes at least two
Sub- option；From the reverse 1st gear option to the reverse 2nd gear option, launch quantity and the deceleration of the time of integration in incremental arrangement.
In order to accelerate calculating speed, the adjustment option of the hysteresis comparator 2 exports in digital form, the positive tune
Whole option is+1 ,+2, and the option that remains unchanged is 0, and the reversely general option that subtracts is -1, -2.The positive 2nd gear option pair
The transmitting quantity of transmitter 4 and the positive adjustment amplitude of the time of integration of photoelectric sensor 5 are greater than forward direction the 1st and work as option；Together
Reason, the reverse adjustment amplitude of the time of integration of transmitting quantity and photoelectric sensor 5 of the reverse 2nd gear option to transmitter 4
It is greater than forward direction the 1st and works as option.The setting of positive 2nd gear and the reverse 2nd gear, changes greatly or obstacle for bias light
The situation that 6 reflecting rate of thing changes greatly, accomplishes fast and accurately to react, and improves the test accuracy sum number of photoelectric sensor 5
According to reliability, and the universality of environmental change.
Embodiment 3
Unlike embodiment 1 and embodiment 2, the positive adjustment option includes at least N number of sub- option of forward direction：From positive the
1 gear option keeps off option to forward direction N, launches quantity and the speedup of the time of integration in incremental arrangement；And/or the reversely adjustment
Option includes at least M reversely sub- options：Option is kept off from the reverse 1st gear option to reverse M, launches quantity and the time of integration
Slow down in incremental arrangement, the N and M are the positive integer more than or equal to 3.
The adjustment option of the hysteresis comparator 2 exports in digital form, and the positive adjustment option is [+1 ,+N],
The option that remains unchanged is 0, and the reversely adjustment option is [- 1 ,-M].
Forward direction adjustment option and reverse adjustment option include the setting of multiple gears, and the laser radar for adapting to long range is surveyed
Away from because a variety of changes of ambient light and the different a variety of changes of 6 reflectivity of barrier, being quantified as corresponding N gears choosing
So that the test data of laser radar is more accurate, stronger to the adaptability of changeable external environment, the laser radar for being also
Data it is more reliable.
Embodiment 4
It is different with embodiment 1-3 to be, in order to further improve the work efficiency of hysteresis comparator 2 and job stability, institute
State suppression background noise system and further include the analog-to-digital conversion being connected between photoelectric sensor 5 and noise amplitude detection unit 1
Device 7, as shown in Fig. 2, the electric signal that photoelectric sensor 5 exports is converted to digital signal by the analog-digital converter 7, passes through high pass
Filter method and/or low pass filtering method carry out digital signal processing and remove invalid signal, reduce noise amplitude detection unit 1
Calculation amount, improve processing speed.
In conclusion by the photoelectric sensor, noise amplitude detection unit, hysteresis comparator and transmitting with integration when
Between controller setting, solve the problems, such as the channel gain that can not only regulate and control by photoelectric sensor itself, in reception processing,
Noise amplitude detection unit is added, the exomonental quantity of transmitter and photoelectricity are adjusted by judging the size of noise amplitude
Sensor receives the time of integration, and the control of receiving channel gain is realized by converting the time of reception integration.When sunshine very
When strong or target reflectivity is very high, deduction time reduction reception gain is reduced to ensure the sensors such as opto-electronic conversion unsaturation；
When sunshine is very weak or target reflectivity is very low, the increase time of integration improves channel gain, ensures receiving sensitivity.
Above in association with the specific embodiment technical principle that the invention has been described.And above-described embodiment can be combined as new
Embodiment.The description is merely to explain the principles of the invention, and cannot be construed to protect the present invention in any way
The limitation of scope.Based on explanation herein, those skilled in the art, which would not require any inventive effort, can associate this
Other embodiments of invention, these modes are fallen within protection scope of the present invention.
Claims (10)
1. one kind suppresses background noise system, it is characterised in that including：The noise amplitude detection being connected with photoelectric sensor
Unit, the hysteresis comparator being connected with noise amplitude detection unit, the transmitting being connected with transmitter and photoelectric sensor with
Change of integral time device, the hysteresis comparator pass through to the detection numerical value of noise amplitude detection unit and the comparison of given threshold
As a result output adjustment option is corresponded to, the transmitter is according to the information adjustment transmitting quantity of the adjustment option received, the light
Electric transducer adjusts the time of integration according to the information of the adjustment option received.
2. suppression background noise system according to claim 1, it is characterised in that the hysteresis comparator is according to detection
Numerical value X and given threshold Y0Comparative result include at least three sections, work as X-Y0During ＜-a,（- ∞ ,-a）For forward direction adjustment choosing
, the transmitting quantity of transmitter and the time of integration of photoelectric sensor increase on year-on-year basis；As-a≤X-Y0During≤a,（- a, a）To protect
Hold constant option；Work as X-Y0During ＞ a,（A ,+∞）For reversely adjustment option, the transmitting quantity of transmitter and the product of photoelectric sensor
Reduce on year-on-year basis between timesharing, wherein X, Y0It is normal number with a.
3. suppression background noise system according to claim 2, it is characterised in that the positive adjustment option is included extremely
Few N number of sub- option of forward direction：Option is kept off from forward direction the 1st and keeps off option to forward direction N, and it is in be incremented by launch quantity and the speedup of the time of integration
Arrangement；And/or the reversely adjustment option includes at least M reversely sub- options：Keep off and selecting to reverse M from the reverse 1st gear option
, launch quantity and the deceleration of the time of integration in incremental arrangement, the N and M are the positive integer more than or equal to 1.
4. suppression background noise system according to claim 3, it is characterised in that the adjustment choosing of the hysteresis comparator
Item exports in digital form, and the positive adjustment option is [+1 ,+N], and the option that remains unchanged is 0, described reversely to adjust
Option is [- 1 ,-M].
5. suppression background noise system according to claim 4, it is characterised in that the positive adjustment option for+1 and
+ 2, the option that remains unchanged is 0, and the reversely general option that subtracts is -1 and -2.
6. suppression background noise system according to claim 1, it is characterised in that the noise amplitude detection unit exists
Detected in setting measurement cycle T photoelectric sensor output electric signal amplitude, the hysteresis comparator by the amplitude with
The reference value set is contrasted, to correspond to output adjustment option.
7. suppression background noise system according to claim 6, it is characterised in that the amplitude is the setting measurement cycle
Noise amplitude detection unit detects the average of the electric signal periodic amplitude of photoelectric sensor in real time in T.
8. suppression background noise system according to claim 6, it is characterised in that the amplitude is the setting measurement cycle
Noise amplitude detection unit detects the processing costs after the filtered processing of electric signal periodic amplitude of photoelectric sensor in real time in T.
9. background noise system is suppressed according to claim 1-8 any one of them, it is characterised in that further include and be connected to light
Analog-digital converter between electric transducer and noise amplitude detection circuit, the electricity that the analog-digital converter exports photoelectric sensor
Signal is converted to digital signal.
10. a kind of laser radar, it is characterised in that there is claim 1-9 any one of them such as to suppress background noise system
System.
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| CN201711484316.2A CN108037511A (en) | 2017-12-29 | 2017-12-29 | One kind suppresses background noise system and laser radar |
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Cited By (6)
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| CN109212544A (en) * | 2018-09-11 | 2019-01-15 | 刘莎 | A kind of target range detection method, apparatus and system |
| CN109696684A (en) * | 2019-01-10 | 2019-04-30 | 电子科技大学中山学院 | Self-correlation laser radar device |
| CN109839639A (en) * | 2019-02-27 | 2019-06-04 | 宁波舜宇车载光学技术有限公司 | Laser radar and the laser radar system and its detection method for reducing ambient light interference |
| CN110988840A (en) * | 2019-11-01 | 2020-04-10 | 青岛小鸟看看科技有限公司 | Method and device for acquiring flight time and electronic equipment |
| CN113056682A (en) * | 2019-10-24 | 2021-06-29 | 趣眼有限公司 | Photonic system and method |
| WO2023133965A1 (en) * | 2022-01-13 | 2023-07-20 | 杭州宏景智驾科技有限公司 | Laser radar system and ambient light sensing method therefor |
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