313 results about "Laser probing" patented technology

The invention relates to the technical field of laser measuring instruments, and discloses a device for measuring roadway roof separation by laser, which comprises a roadway roof, a laser probe, a first threaded pipe, a second threaded pipe and a mounting mechanism, and is characterized in that the laser probe is mounted on the first threaded pipe and is connected with a cable; the mounting mechanism is used for mounting the second threaded pipe on the first threaded pipe; the mounting mechanism comprises a base arranged on the roadway top plate, a rotating mechanism and a lifting mechanism are arranged on the base, and the lifting mechanism is used for feeding the laser probe, the first threaded pipe and the second threaded pipe into drill holes formed in the roadway top plate. The device for laser measurement of roadway roof separation overcomes the defects that in the prior art, equipment is large in occupied area and depends on the stability of a bottom plate, and the measurement precision is prone to being interfered, and the roof separation measurement device is more efficient, more accurate and more suitable for the underground complex environment.

The invention discloses an infrared four-waveband composite annular aperture folded imaging optical system, belongs to the technical field of optical catadioptric optical paths, and aims to solve the problem that 1550nm / 1064nm dual-laser and medium-wave / long-wave infrared four-waveband composite detection is difficult to realize at the same time in the conventional annular aperture imaging technology. The system comprises a primary mirror, a secondary mirror, a 1064nm laser spot correction mirror, a 1550nm laser spot correction mirror, a 1064nm laser spectroscope, a 1550nm laser spectroscope, a broadband infrared detector, a 1550nm laser detector and a 1064nm laser detector. And high-performance common-aperture composite detection of 1064nm / 1550nm dual laser and medium-wave / long-wave infrared four wavebands is realized through a multi-stage light splitting mechanism. The limitation that a traditional annular aperture system is single in wave band is broken through, and the all-weather sensing and target recognition capability of the system in a complex environment is remarkably improved.

The invention discloses a photovoltaic vehicle-mounted laser detection device with a cleaning function and an application method, and belongs to the technical field of vehicle-mounted laser detection, the photovoltaic vehicle-mounted laser detection device comprises a mounting base and a supporting plate, a machine body is fixedly mounted on the upper surface of the supporting plate, and a sweeping assembly and an air blowing assembly are arranged on the upper surface of the supporting plate; according to the photovoltaic panel cleaning device, the cleaning assembly is arranged, a transmission gear can drive a rotating rod to rotate on a limiting sleeve under the action of a fixed rack, at the moment, the rotating rod can drive a cleaning roller to rotate and move on a photovoltaic panel at the same time, dust on the photovoltaic panel is cleaned, and the photovoltaic panel can be automatically cleaned at regular time; on one hand, the situation that the light energy absorption capacity of the photovoltaic panel is reduced due to too much dust coverage is avoided, the endurance time of the photovoltaic vehicle-mounted laser detection device is further guaranteed, on the other hand, abrasion to the photovoltaic panel during dust sweeping can be reduced through rolling sweeping, and the absorption efficiency of the photovoltaic vehicle-mounted laser detection device is guaranteed.

The invention relates to a sensor cleaning control method of an unmanned vehicle and a related device thereof, a sensor of the unmanned vehicle is provided with a pollution monitoring unit, and the method comprises the following steps: obtaining multi-element pollution data collected by the pollution monitoring unit; wherein the pollution detection unit at least comprises an image acquisition module and a laser detection module; the multi-element pollution data comprises image data acquired by the image acquisition module and laser data acquired by the laser detection module; the image data and the laser data are analyzed to obtain a pollution result of the sensor, and the pollution result is used for indicating the pollution degree of the sensor; when the pollution result indicates that the sensor is in a pollution state, determining a cleaning strategy based on the multi-element pollution data; and controlling a cleaning system of the unmanned vehicle to clean the sensor according to the cleaning strategy. According to the scheme provided by the invention, the pollution type and degree of the sensor can be accurately identified, a targeted cleaning strategy is adopted, and the cleaning efficiency and the cleaning capability are improved.

The invention discloses a measuring machine for detecting defects of a constant velocity universal joint component, and aims to solve the problems that the existing equipment is low in double-reference alignment efficiency, poor in precision and easy to be polluted and interfered. The device comprises a workbench with a center avoiding hole, a detection execution unit comprising a detachable contact type or laser measuring head, a motion driving unit driving the measuring head to move in a three-dimensional mode, a reference positioning unit comprising a double-vision assembly and a positioning adjusting assembly, an electric control unit and a cleaning auxiliary assembly. The electric control unit cooperates with the double-vision assembly to collect inner hole and outer circle references and controls the positioning adjusting assembly to finely adjust the position of a workpiece, and double-reference alignment is achieved. The measuring machine can improve the positioning precision and efficiency, enhance the workpiece clamping stability and the equipment universality, reduce the detection error caused by pollution, and guarantee the reliable detection.

An obstacle avoidance control method for a robot and based on Bézier curve fitting, the obstacle avoidance control method for a robot comprising: step S1, a robot emitting a line laser in front of the robot; step S2, the robot collecting, in real time, obstacle contour points detected by the line laser, and acquiring the position coordinates of the obstacle contour points; step S3, setting a reference detection area (EFGH) on the side of the robot that is close to obstacles (#1, #2), and then using the position coordinates of obstacle contour points delineated by the reference detection area (EFGH) to perform Bézier curve fitting, so as to generate obstacle fitting curves (U1, U2); and step S4, the robot deviating from the obstacle fitting curves (U1, U2) by a preset obstacle avoidance margin (D) to obtain target obstacle avoidance curve trajectories (A2B2, A5B4); and then, the robot starting to move from the current position point to the target obstacle avoidance curve trajectories (A2B2, A5B4), and then moving according to the target obstacle avoidance curve trajectories (A2B2, A5B4).

The present disclosure relates to the technical field of optoelectronics, and provides a chip for laser detection, a LiDAR, a vehicle, and a photodiode. The chip for laser detection comprises a substrate, an epitaxial layer, an operating circuit, and a protection circuit. The epitaxial layer is formed over the substrate. The operating circuit is formed on the epitaxial layer. The operating circuit comprises a first photodiode and is configured to detect incident laser at an operating voltage. The protection circuit is formed on the epitaxial layer. The protection circuit is connected in parallel to the operating circuit and comprises a second photodiode. The turn-on voltage of the protection circuit is greater than the operating voltage, and the impedance of the protection circuit when it is turned on is less than the impedance of the operating circuit when it is turned on. The present disclosure can reduce the degree of damage caused by electrostatic discharge to operating circuits in chips.

The invention discloses a pyrolytic particle detection device, which relates to the technical field of fire detection and comprises an air pump, a heating cavity, a conducting electromagnetic valve, a refrigeration cavity, a laser detection cavity, an exhaust electromagnetic valve, a weak photoelectric pulse signal processing unit, a comprehensive control and data processing unit and an RS485 communication unit. The sucking pump, the heating cavity, the conduction electromagnetic valve, the refrigeration cavity, the laser detection cavity and the exhaust electromagnetic valve are sequentially connected through 8 mm silica gel air pipes to form a complete air path system; the invention provides a pyrolytic particle detection device which can accurately detect pyrolytic particles in air in real time, can digitally display the content of the detected pyrolytic particles, can avoid interference of environmental factors such as dust, water mist, strong light and electromagnetism, and provides an effective detection device for extremely early warning of a fire hazard. And sufficient favorable time for several hours is provided to control combustion conditions, so that event expansion is avoided.

The invention discloses a femtosecond ultrasonic wafer metal film multi-layer measurement system, method and device, and the system comprises a sample platform which is used for flatly placing a wafer sample to be measured; the main light path is used for generating laser and separating the laser into pumping laser and detection laser; the pumping laser path and the detection laser path are respectively used for guiding the pumping laser and the detection laser to be successively projected onto the surface of the wafer sample; the receiving unit is used for processing a reflected light beam returned from the surface of the wafer sample and comprises a pump light beam eliminator to isolate residual reflected light of the pump laser in the reflected light beam; the detection laser detection assembly is used for collecting the reflected detection laser, processing the reflected detection laser and converting an optical signal into an electric signal to obtain reflected signal intensity change data of the reflected detection laser; and the controller is used for acquiring the flight time of the detection laser based on the reflected signal intensity change data so as to acquire the thickness of the wafer metal film. And the pump light beam eliminator reduces pump light leakage and scattering, and the SNR (Signal to Noise Ratio) is improved.

The invention provides a circuit for laser detection, a laser radar and a carrier, and relates to the technical field of photoelectricity. The circuit for laser detection comprises a working circuit and a protection circuit connected in parallel with the working circuit. The working circuit comprises a first photodiode and is configured to detect echoes under working voltage, the protection circuit comprises a second photodiode, doped ions of the second photodiode and doped ions of the first photodiode are distributed in the longitudinal direction, and the break-over voltage of the protection circuit is larger than the working voltage. And the impedance of the switched-on protection circuit is smaller than that of the switched-on working circuit. According to the invention, the degree of damage to the working circuit caused by electrostatic discharge can be reduced.

The utility model discloses a cotton feeding roller gear fracture alarm device which comprises a cotton feeding roller body and a laser detector, a supporting shaft is arranged in the cotton feeding roller body, a detection shaft is arranged at one end of the supporting shaft, a fixing mechanism is arranged between the detection shaft and the supporting shaft, a fixing seat is arranged above the cotton feeding roller body, and a gear is arranged on the fixing seat. The utility model relates to the technical field of fine opening equipment, in a normal state, the laser detector can receive long and short signals which uniformly and alternately appear, and when cotton fibers or impurities are clamped into the gear on the supporting shaft to influence the operation of the gear, the laser detector is driven to rotate, and the gear is driven to rotate. And long and short alternating signals are not uniform, so that cotton fibers or impurities need to be cleaned in time.

The invention discloses a compact InGaAs detector with a built-in current-voltage conversion and conditioning circuit, a laser detection device and a laser detection method, which are mainly used for solving the technical problems that the existing InGaAs detector cannot directly and stably output a voltage signal and needs to be externally connected with a complex current-voltage conversion and conditioning circuit to obtain the voltage signal. The invention relates to a compact InGaAs detector with a built-in current and voltage conversion and conditioning circuit, which comprises a shell and a light window, the shell and the light window form an airtight cavity, and an InGaAs chip, the current and voltage conversion circuit, the conditioning circuit and a diaphragm are arranged in the airtight cavity. The InGaAs chip converts a received optical signal into a current signal, the current and voltage conversion circuit converts the current signal into a voltage signal, and the conditioning circuit conditions the voltage signal and outputs a conditioning signal Vout. The technical problem that a common InGaAs detector directly outputs a current signal is solved.

This application relates to an integrated MEMS two-dimensional scanning detection system, a capacitance angle measurement method, and an apparatus. The integrated MEMS two-dimensional scanning detection system includes: a laser detection component and a magnetic circuit component disposed below the laser detection component. The laser detection component is an integral structure formed by connecting a scanning lens to a riveting area via a Y-shaped two-dimensional rotation axis. The magnetic circuit component is a hollow structure enclosed by two types of magnetic circuit modules, which are used to generate magnetic fields in different directional dimensions. The riveting area of ​​the laser detection component is connected to the magnetic circuit modules in the magnetic circuit component. The scanning lens is located in the cavity enclosed by multiple magnetic circuit modules, and under the drive of magnetic fields in different directional dimensions, the Y-shaped two-dimensional rotation axis drives the scanning lens to rotate in the corresponding directional dimension within the cavity. This integrated MEMS two-dimensional scanning detection system can reduce the overall size of the electromagnetic scanning mirror.

The present invention relates to the field of large-field-of-view scenes. Provided is a nonlinear optical large-field-of-view imaging system, comprising a light source system, a laser scanning system and a laser detection system, wherein the light source system is configured to emit laser; the laser scanning system comprises a focusing lens and a galvanometer, wherein the galvanometer is located between the focusing lens and a sample to be detected, the focusing lens is configured to focus the laser on said sample, and the galvanometer vibrates according to a preset scanning angle so as to realize scanning of a laser focus on said sample; and the laser detection system comprises a compound-eye collection structure and a detector, wherein the compound-eye collection structure comprises a plurality of individual lenses which are closely arranged, optical signals generated by said sample are incident on the compound-eye collection structure, and the detector is configured to detect the optical signals collected by the compound-eye collection structure. The present invention can expand a laser scanning imaging range, can ensure that a laser beam always propagates along the optical axis of the focusing lens, and can comprehensively collect signals excited across the entire scanning field of view, thereby improving the efficiency of large-field-of-view imaging and increasing the signal intensity.

The invention belongs to the technical field of multi-detector composite detection, and more particularly relates to an infrared composite detection information processing system and method, the infrared composite detection information processing system is constructed through a DSP processor, an SOC processor, an infrared signal acquisition circuit and a laser signal acquisition circuit, the DSP processor and an FPGA circuit do not need to be additionally added, and the system is simple in structure and convenient to operate. Therefore, the accuracy of the detection result can be guaranteed, and the hardware cost and the operation power consumption of the system can be reduced; a laser signal acquisition circuit is constructed through a gain control circuit, a high-speed ADC acquisition circuit and a buffer amplification circuit, the gain control circuit and the buffer amplification circuit can be effectively utilized to filter interference noise of a target pulse signal of a laser detector, and high-speed synchronous acquisition and digital conversion of the target pulse signal can be realized in cooperation with the high-speed ADC acquisition circuit. Therefore, the SOC processor can obtain the laser detection result more accurately.

The utility model provides a kind of protective cover substrate measuring device, it is related to substrate measurement technical field, including position transfer mechanism, rotating mechanism, workpiece placing mechanism and laser probe, rotating mechanism is connected with position transfer mechanism, the rotation axis of rotating mechanism and the axis of laser probe are non-collinear and parallel arrangement.Through the setting of position transfer mechanism, rotating mechanism, workpiece placing mechanism, when measuring, workpiece is placed on placing mesa, annular placing mesa can effectively support workpiece, rotating mechanism drives workpiece rotation, multiple detection points are rotated to laser probe downside to measure respectively, without manual switching, while improving efficiency, avoid the problem of scratch in the process of manual multiple taking and placing, after using the device in the present scheme, the proportion of scratch is reduced from original 3.73% to 0.23%.

The application provides an infrared laser detector. The infrared laser detector comprises a lateral fixing plate, a middle connecting cylinder is fixedly connected to the front surface of the lateral fixing plate, an upper air vent is fixedly connected to the upper surface of the middle connecting cylinder, an air vent valve is fixedly connected to the outer surface of the upper air vent, a desiccant is fixedly connected to the inner surface of the middle connecting cylinder, and a gas pump is fixedly connected to the bottom inner wall of the middle connecting cylinder. The infrared laser detector, the infrared laser detector, and the infrared laser detector system have reasonable design structures, utilize various components such as the lateral fixing plate, the middle connecting cylinder, and the gas pump, realize efficient detection and processing of infrared signals, are equipped with temperature sensors and humidity sensors, can monitor the temperature and humidity of the environment in real time, and adjust the gas in the detector through the gas pump, the air vent valve and other components, so that the temperature and humidity are accurately controlled.

The present application relates to the technical field of laser detection, in particular to a laser striking target detection device and method for terminal defense. Firstly, the peak intensity of the light spot and the deflection vector of each channel of the wavefront sensor are collected in a single frame detection period, the real-time light intensity characteristics and the circuit noise are combined to generate a servo light intensity filtering threshold, the effective channel set with calculation value is screened out by dynamically adapting to the battlefield noise fluctuation; the direction consistency of the deflection vectors of the adjacent effective channels is calculated, the light spot connected weight network with coherent weight is constructed, the sub-aperture grouping area is obtained by clustering, and the automatic aggregation of the scattered same target light spots is realized; then the integrated light intensity connectivity is generated by fusing the peak intensity of the light spot and the local connected weight, the signal intensity and the spatial correlation attribute are considered, the real target tracking effective area is accurately stripped out, and finally the calculation accuracy is greatly improved by relying on the channel number characteristics and the deflection vector calculation servo command in the area.

The application discloses a kind of monitoring devices of pressure fluctuation frequency and amplitude in cavitation collapse process, including water tank, cavitation generator, magnetic fluid, magnetic field device, laser generator, optical splitter, laser probe and receiver;Optical splitter is emitted by single beam laser of laser generator and is divided into two beams, one is emitted as laser, frequency is f ;Another is as reference laser, frequency is f + f r ;Laser probe exports and irradiates on the tip of magnetic fluid by emitting laser, and reflection is formed to form reflected laser, and its frequency is f + f D ;Receiver, accept reflected laser, and it has reference laser inside by optical splitter, and its frequency is f + f r The application can master the whole dynamic data of quantized cavitation collapse by monitoring the frequency and amplitude of whole process pressure fluctuation caused by cavitation collapse in liquid environment through magnetic fluid magneto-rheological effect, tip surface effect and Doppler effect, which provides important technical means for single-cavity theory development and hydraulic machinery cavitation flow research.

The embodiment of the invention relates to an optical scanner. The optical scanner comprises a polarizing beam splitter, a wave plate and an optical phased array chip. Wherein the polarizing beam splitter is used for dividing incident light source light into first laser with a first polarization state and non-working light with a second polarization state, reflecting the first laser and transmitting the non-working light, and the first polarization state is different from the second polarization state. The wave plate is located on the reflection light-emitting side of the polarizing beam splitter and used for receiving the first laser and emitting second laser with a third polarization state different from the first polarization state and the second polarization state. And the optical phased array chip is used for receiving the second laser and emitting reference light, and the optical phased array chip is also used for changing the emitting angle of the reference light. The embodiment of the invention further relates to a laser detection system with the optical scanner and an automatic driving vehicle applying the laser detection system.

The application provides a laser core temperature measurement method, a measurement system and a laser detection device. The measurement method comprises the following steps: step A, obtaining a wavelength change curve of a laser and a core temperature of the laser by controlling the laser to work at different powers respectively; step B, obtaining an output wavelength of the laser; and step C, obtaining the core temperature of the laser based on the output wavelength of the laser and the wavelength change curve of the laser and the core temperature of the laser. The above scheme facilitates measurement of the laser core temperature.

The utility model provides a laser probe protection mechanism of a laser navigation forklift type AGV, and relates to the field of AGVs. The laser probe protection mechanism of the laser navigation forklift type AGV trolley comprises a split-type fixed seat and a protective cover used for providing external protection for a laser probe, and the fixed seat comprises a seat plate and a damping cushion block which are fixedly connected. According to the laser probe protection mechanism of the laser navigation forklift type AGV trolley, external protection can be provided for a laser probe in the use process of the AGV trolley through the arrangement of the protection cover on the fixed seat, and an annular air barrier can be formed outside a spherical cover through the arrangement of an air curtain mechanism on the outer side of the fixed seat, namely the cooperative use of multiple groups of flow guide seats and an air pump; the dust and water mist attachment is continuously blocked, the manual cleaning frequency is reduced, then stable self-cleaning protection is provided for the protective cover, through modular split type arrangement of the fixing base, the protective cover and the air pump, workers can conveniently disassemble, assemble and replace independent parts, and the maintenance cost is reduced.

The application discloses a sludge ozone coupling catalytic oxidation treatment test system, which comprises an oxygen generator, an ozone fission device, a micro-nano bubble generating device, a sludge feeding device, an ozone catalytic oxidation reaction kettle, an online Raman spectrum detection device and an ozone concentration online monitoring device; the oxygen generator, the ozone fission device and the micro-nano bubble generating device are sequentially connected, the micro-nano bubble generating device is connected with a micro-nano bubble aeration device; the sludge feeding device is connected with a sludge feeding nozzle; the online Raman spectrum detection device performs non-contact detection on the transparent ozone catalytic oxidation reaction kettle through a high-precision laser probe with a laser signal source, and transmits a signal to a Raman online detector for analysis and calculation; and the ozone concentration online monitoring device is used for online monitoring of the ozone source concentration. The application integrates high-concentration ozone generation, micro-nano bubble mixing, catalytic oxidation reaction and online detection functions, and can realize multi-dimensional data acquisition and process controllability in the sludge wall breaking process.

An air-based counter-countermeasure (CCM) system includes an autonomous or semi-autonomous unmanned aircraft capable of deployment to an area of a countermeasure system having (1) a laser detector to receive and identify an incident laser signal as a target designator signal and (2) one or more countermeasure subsystems operative in response to an output of the laser detector to deploy corresponding countermeasures against a laser target designator. The CCM system further includes a laser-based CCM subsystem carried by the aircraft, the CCM subsystem being configured and operative, during the deployment of the aircraft, to direct a simulated target designator laser signal to the laser detector of the countermeasure system to trigger one or more of the countermeasures and thereby reduce protective ability of the countermeasure system against subsequent laser-guided attack.

This invention relates to a temperature control method and device for a laser detection system based on pulse waveform feature feedback. The laser detection system includes a laser, an integrating sphere, and a laser detector arranged sequentially. The laser detector is equipped with a cooling system for cooling the laser detector. The laser, integrating sphere, laser detector, and cooling system are each connected to a control terminal. The method is applied to the control terminal and includes: acquiring the pulse waveform characteristics and a first real-time temperature of the laser detector; determining whether the cooling system meets the temperature adjustment conditions based on the pulse waveform characteristics; querying the target adjustment temperature corresponding to the current signal deviation from a database based on the current signal deviation; determining a comprehensive error based on the target adjustment temperature, the first real-time temperature, and the target temperature of the laser detector; inputting the comprehensive error into a PID algorithm to obtain control commands for the cooling system. Timely and accurate temperature control of the laser detection system is achieved based on pulse waveform feature feedback.

The application provides an illuminating multi-point laser probe and an illuminating multi-point laser system, which comprise a collimating lens, a filter, a lens array, a fiber bundle, an adjustable diaphragm and a focusing lens; the collimating lens collimates an illuminating light beam or a laser beam emitted by a light source, and the collimated light beam enters the filter; the filter filters a light beam of a specified wave band, and the filtered light beam enters the lens array; the lens array divides the light beam to form converging light spots which are coupled into the fiber bundle; the fiber bundle transmits and emits the illuminating light beam and the laser beam; the adjustable diaphragm is arranged behind the lens array of the laser beam; the adjustable diaphragm controls the number and position of the emitted multi-point laser; the focusing lens is arranged at the distal end of a laser fiber included in the fiber bundle; and the focusing lens forms multi-point lasers at different distances at different distances of the light outlet. The energy utilization rate can be improved, the number and position of the multi-point laser in the emitted light can be controlled, and illumination, aiming and laser treatment can be simultaneously realized.

This invention relates to the field of surface defect detection technology, specifically to a vision-based scanning surface defect detection device for oil drill pipes. It includes a drive unit, a displacement assembly, a laser probe, and a control feedback module. This solution uses a clamping assembly to fix the drill pipe's position and provide position status feedback. A laser receiver and laser emitter interact to detect and capture abnormal positional distributions of the drill pipe, avoiding the influence of irrelevant defects or abnormal placement on the surface defect detection. Simultaneously, the displacement assembly and drive unit perform defect detection at different locations on the drill pipe's outer surface, achieving comprehensive defect detection. The control feedback module collects positional parameters of the detection area in real time, constructing a location-based defect re-inspection route for irregularly placed drill pipes, precisely capturing the repair status of each defect repair point, avoiding repeated position corrections, and improving re-inspection efficiency.

The invention discloses an anti-falling early warning device for old people, and relates to the technical field of medical care equipment, the anti-falling early warning device comprises a bedstead, a control button and a laser detection plate, anti-falling assemblies are symmetrically arranged on two sides of the bedstead, and getting-up auxiliary assemblies are hidden in boundary beams on two sides of the bedstead; the anti-falling assembly comprises hanging frames arranged at the bottom of the bed frame, matching grooves are formed in the hanging frames, a horizontal cross beam is fixedly arranged between the tops of the two hanging frames, a bent frame is installed in the matching grooves of the hanging frames in an inserted mode, and an upper connecting frame and a lower connecting frame are installed at the upper end and the lower end of the bent frame respectively. A driving assembly is arranged between the horizontal cross beam and the lower connecting frame and controls the bent frame to be hidden at the bottom of the edge beam or located on the edge of the edge beam. Anti-falling protection and early warning are performed through a laser detection plate and an anti-falling assembly, getting-up is assisted in combination with a control button and a getting-up assisting assembly, and meanwhile, burden increase caused by repeated reminding of caregivers is avoided.

The application discloses a kind of partition addressing dTOF ranging system, comprising: partition addressable light source, including N light source partitions in it, N≥2;Imaging chip, there is SPAD pixel array in, the SPAD pixel array is divided into N pixel partitions, N≥2;Memory, the mapping table relationship between the light source partition and pixel partition is stored in;Light source starting controller, according to the mapping table relationship, control light source partition and corresponding pixel partition are started simultaneously.The application uses addressable light source excitation, and the light projector light source is partitioned, and only one or more regions of laser light emitting point and the corresponding SPAD working pixel array are started at the same time, a plurality of SPAD pixels are used to form macro-pixel, and macro-pixel is used as the basic unit of laser detection, and the TDC between different macro-pixels can be multiplexed, to reduce the noise of imaging, improve signal-to-noise ratio, reduce the complexity of circuit design, reduce power consumption, also reduce design cost and chip area.