Laser ranging method and device and self-moving equipment

Abstract

The invention discloses a laser ranging method, which comprises the steps of controlling a plurality of laser emission sources to emit light spots to different directions in sequence, and projecting the light spots to a measured object; controlling a receiving device to receive the light information of the light spot every time the light spot projection is completed; and calculating the distance from the laser emission source to the measured object according to the light information. Light spots are emitted to different directions through the emission source, so that multi-angle detection of afront obstacle is realized, the light information of the light spots projected at each angle is processed and calculated, the detection precision is improved while the distance from the laser emission source to a measured object is obtained, and the obstacle can be effectively avoided.

Description

technical field

[0001] The present application relates to the field of laser ranging, in particular to a laser ranging method, a laser ranging device, and a self-moving device. Background technique

[0002] With the development of science and technology, there are more and more intelligent machines that can walk automatically. Among them, in the process of intelligent machine walking, obstacle avoidance is a crucial issue. The currently used obstacle avoidance method is mainly to directly or indirectly know the relative distance between the obstacle and the machine through the collision ring sensor, ultrasonic sensor, infrared sensor, infrared scanning sensor or visual sensor, so as to realize obstacle avoidance.

[0003] However, the collision sensor is in contact with the obstacle through the collision ring, so as to judge the approximate orientation of the obstacle. Since the obstacle avoidance can only be realized through the collision, the user experience is relatively...

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