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Laser radar ranging method and device, laser radar and storage medium

A technology of laser radar and distance measuring device, which is applied in the direction of measuring device, electromagnetic wave re-radiation, radio wave measurement system, etc., and can solve the problems of external small interference objects, equipment stray light interference, etc.

Active Publication Date: 2020-05-29
BEIJING WANJI TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present invention provides a laser radar ranging method, device, laser radar and storage medium, to solve the problem in the prior art that the laser radar is interfered by stray light inside the device and affected by small external interference objects

Method used

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  • Laser radar ranging method and device, laser radar and storage medium
  • Laser radar ranging method and device, laser radar and storage medium
  • Laser radar ranging method and device, laser radar and storage medium

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Embodiment 1

[0080] figure 1 The flow chart of the ranging method of the laser radar provided by Embodiment 1 of the present invention, such as figure 1 As shown, the laser radar ranging method provided in this embodiment is executed by the laser radar ranging device, and the laser radar ranging device is integrated in the laser radar, then the laser radar ranging provided in this embodiment The method includes the following steps.

[0081] Step 101, acquiring a first threshold echo signal and a second threshold echo signal of a current obstacle, the first threshold being greater than the second threshold.

[0082] Specifically, in this embodiment, the way to obtain the first threshold echo signal and the second threshold echo signal may be: the laser radar emits a laser signal to the obstacle; receives the echo optical signal returned by the obstacle, and undergoes photoelectric conversion, Amplify, and conduct time discrimination with the first threshold to obtain the first threshold e...

Embodiment 2

[0093] figure 2 The flow chart of the ranging method of the laser radar provided in Embodiment 2 of the present invention, such as figure 2 As shown, the laser radar ranging method provided in this embodiment is based on the laser radar ranging method provided in Embodiment 1 of the present invention, and steps 102-step 104 are further refined, then the present embodiment provides The ranging method of lidar includes the following steps.

[0094] Step 201, acquiring a first threshold echo signal and a second threshold echo signal of a current obstacle, the first threshold being greater than the second threshold.

[0095] In this embodiment, the implementation manner of step 201 is the same as the implementation manner of step 101 of the lidar ranging method provided in Embodiment 1 of the present invention, and will not be repeated here.

[0096] Step 202, determining the multiplicity of the first threshold echo signal.

[0097] Further, in this embodiment, image 3 It i...

Embodiment 3

[0153] Figure 10 A schematic structural diagram of the distance measuring device of the laser radar provided in Embodiment 3 of the present invention, as shown in Figure 10 As shown, the lidar ranging device provided in this embodiment includes: an echo signal acquisition unit 1001 , a first multiplicity determination unit 1002 , a first distance calculation unit 1003 , and a second distance calculation unit 1004 .

[0154] Wherein, the echo signal acquiring unit 1001 is configured to acquire a first threshold echo signal and a second threshold echo signal of the current obstacle, and the first threshold is greater than the second threshold.

[0155] The first multiplicity determining unit 1002 is configured to determine the multiplicity of the first threshold echo signal.

[0156] The first distance calculation unit 1003 is configured to use the first threshold echo signal to calculate the current obstacle distance if the multiplicity of the first threshold echo signal is ...

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Abstract

The embodiment of the invention provides a laser radar ranging method and device, a laser radar and a storage medium, and the method comprises the steps: obtaining a first threshold echo signal and asecond threshold echo signal, and enabling a first threshold to be greater than a second threshold; determining the multiple number of the first threshold echo signal; if the multiple number of the first threshold echo signal is at least one, calculating the distance of the current obstacle by adopting the first threshold echo signal; and if the multiple number of the first threshold echo signal is zero, calculating the distance of the current obstacle by adopting the second threshold echo signal. Interference of stray light in the laser radar can be effectively filtered. Echo signals of obstacles are selected by judging time information and pulse widths of multiple echoes of the first threshold echo signal and the second threshold echo signal respectively, and interference of small obstacles such as dust and leaves in the environment can be filtered out. The ranging capacity of the product is guaranteed under the condition that the stray light in the shell and interference in the environment are fully filtered out.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of laser ranging, and in particular, to a laser radar ranging method and device, a laser radar, and a storage medium. Background technique [0002] The ranging capability of pulsed laser radar depends on factors such as the laser power at the transmitting end, the magnification of the amplifier circuit at the receiving end, and the threshold voltage of the time discrimination circuit. When the signal amplitude of the amplifying circuit can trigger the threshold voltage of the time discrimination circuit, the current distance can be obtained; otherwise, the current distance cannot be obtained. [0003] Therefore, in order to meet the long-distance ranging, the magnification of the amplifier circuit is generally larger. However, since the radar will be interfered by the stray light inside the device and the light-emitting window at a short distance, if the magnification is large, the str...

Claims

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Application Information

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IPC IPC(8): G01S17/10G01S7/493G01S7/484G01S7/48
CPCG01S17/10G01S7/4808G01S7/484G01S7/493
Inventor 李媛媛王泮义王庆飞
Owner BEIJING WANJI TECH
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