Error compensation method based on laser ranging equipment and related equipment

Abstract

The invention discloses an error compensation method based on laser distance measuring equipment and related equipment, and relates to the technical field of data processing, and the method comprises the steps: responding to an error compensation instruction, determining target equipment to be subjected to error compensation, determining the distance measuring range of the target equipment and preset distance measuring precision, and based on the distance measurement range, the preset distance measurement precision and a preset correction interval division strategy, dividing the distance measurement range to obtain a plurality of target correction intervals, determining an error compensation value corresponding to each target correction interval, and based on the error compensation values, performing error compensation on the target equipment. The correction intervals are divided according to the ranging distance and the ranging precision, the corresponding error compensation values are set according to the different correction intervals, the compensation effect is optimized, and the overall ranging precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, in particular to an error compensation method based on a laser ranging device and related equipment. BACKGROUND

[0002] In the field of ranging, laser ranging devices are increasingly popular due to their high precision and fast measurement characteristics. However, laser ranging devices often have ranging errors in actual use, which need to be compensated for to improve measurement accuracy.

[0003] Traditional laser ranging error compensation methods are usually achieved through zero value calibration. Specifically, a known accurate distance (true distance) is measured, and the difference between the measured value and the true value is defined as the "zero value error". In subsequent measurement results, this zero value error is directly added or subtracted to correct the ranging error.

[0004] However, in actual measurement scenarios, the error is often not the same for different measurement distances. Using a single error compensation value for error compensation will result in poor compensation effect and low ranging accuracy. Therefore, a more refined error compensation method is needed that can dynamically adjust the error compensation value according to different measurement distances to improve the accuracy and reliability of ranging.

[0005] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as related art. SUMMARY

[0006] The main purpose of the present application is to provide an error compensation method based on a laser ranging device and related equipment, aiming to solve the technical problem of how to improve the ranging accuracy of a laser ranging device.

[0007] To achieve the above purpose, the present application provides an error compensation method based on a laser ranging device, applied to a laser ranging device, the error compensation method based on a laser ranging device comprising: In response to an error compensation instruction, determining a target device to be error compensated; Determining the ranging range of the target device and the preset ranging accuracy; Dividing the ranging range based on the ranging range, the preset ranging accuracy and a preset correction interval division strategy, to obtain a plurality of target correction intervals; Determining the error compensation value corresponding to each target correction interval, and error compensating the target device based on the error compensation value.

[0008] In an embodiment, the step of determining the error compensation value corresponding to each target correction interval further comprises: determining a first nearest ranging distance and a first farthest ranging distance corresponding to each target correction interval; obtaining a second nearest ranging distance and a second farthest ranging distance corresponding to each target correction interval measured by the target device; calculating a difference between the first nearest ranging distance and the second nearest ranging distance to obtain a first ranging error value corresponding to the first nearest ranging distance, and calculating a difference between the first farthest ranging distance and the second farthest ranging distance to obtain a second ranging error value corresponding to the first farthest ranging distance; determining an error compensation value corresponding to each target correction interval based on the first ranging error value and the second ranging error value.

[0009] In an embodiment, the step of obtaining the second nearest ranging distance and the second farthest ranging distance corresponding to each target correction interval measured by the target device further comprises: measuring a time difference between a main wave emitted by a laser in the target device and a return wave reflected by a measured target to determine a time required for a round trip of light; determining the second nearest ranging distance and the second farthest ranging distance corresponding to each target correction interval measured by the target device based on the time required for a round trip of light and a speed of light propagation in space.

[0010] In an embodiment, the step of dividing the ranging range based on the ranging range, the preset ranging accuracy, and a preset correction interval division strategy to obtain a plurality of target correction intervals further comprises: determining a third nearest ranging distance and a third farthest ranging distance corresponding to the target device based on the ranging range; determining a third measurement error value corresponding to the third nearest ranging distance and a fourth measurement error value corresponding to the third farthest ranging distance; calculating a target number of correction intervals based on the third measurement error value, the fourth measurement error value, the preset ranging accuracy, and the preset correction interval division strategy; dividing the ranging range based on the target number to obtain a plurality of target correction intervals.

[0011] In an embodiment, the step of dividing the ranging range based on the target number to obtain a plurality of target correction intervals further comprises: dividing the ranging range based on the target number to obtain a plurality of initial correction intervals; determining a correction value corresponding to each initial correction interval, and calculating a difference between correction values corresponding to adjacent initial correction intervals based on the correction value; judging whether an absolute value of the difference is less than or equal to the preset ranging accuracy. If greater, the initial correction interval corresponding to the difference is divided again, and the step of determining the correction value corresponding to each initial correction interval is returned until all the differences are less than or equal to the preset ranging accuracy, and a plurality of target correction intervals are obtained.

[0012] In an embodiment, the step of determining the correction value corresponding to each initial correction interval further comprises: determining a fourth farthest ranging distance corresponding to each initial correction interval; determining a fifth measurement error value corresponding to the fourth farthest ranging distance, and setting the fifth measurement error value as the correction value of the corresponding correction interval.

[0013] In addition, to achieve the above object, the application further provides an error compensation device based on a laser ranging device, which comprises: a response module, configured to determine a target device to be compensated for error in response to an error compensation instruction; a first determination module, configured to determine a ranging range of the target device and a preset ranging accuracy; a division module, configured to divide the ranging range based on the ranging range, the preset ranging accuracy, and a preset correction interval division strategy, to obtain a plurality of target correction intervals; a second determination module, configured to determine an error compensation value corresponding to each target correction interval, and to compensate for error of the target device based on the error compensation value.

[0014] In an embodiment, the second determination module further comprises: a first determination unit, configured to determine a first nearest ranging distance and a first farthest ranging distance corresponding to each target correction interval; an acquisition unit, configured to acquire a second nearest ranging distance and a second farthest ranging distance corresponding to each target correction interval measured by the target device; a first calculation unit, configured to calculate a difference between the first nearest ranging distance and the second nearest ranging distance to obtain a first ranging error value corresponding to the first nearest ranging distance, and to calculate a difference between the first farthest ranging distance and the second farthest ranging distance to obtain a second ranging error value corresponding to the first farthest ranging distance; a second determination unit, configured to determine an error compensation value corresponding to each target correction interval based on the first ranging error value and the second ranging error value.

[0015] In an embodiment, the second determination module further comprises: a policy unit configured to measure a time difference between a main wave emitted by a laser in the target device and a return wave reflected by a target under test, to determine a time required for a round trip of light; a third determination unit configured to determine, based on the time required for the round trip of light and a speed of light propagating in space, a second nearest ranging distance and a second farthest ranging distance corresponding to each target correction interval measured by the target device.

[0016] In an embodiment, the division module further comprises: a fourth determination unit configured to determine, based on the ranging range, a third nearest ranging distance and a third farthest ranging distance corresponding to the target device; a fifth determination unit configured to determine a third measurement error value corresponding to the third nearest ranging distance and a fourth measurement error value corresponding to the third farthest ranging distance; a second calculation unit configured to calculate a target number of correction intervals based on the third measurement error value, the fourth measurement error value, the preset ranging accuracy, and a preset correction interval division strategy; a first division unit configured to divide the ranging range based on the target number to obtain a plurality of target correction intervals.

[0017] In an embodiment, the division module further comprises: a second division unit configured to divide the ranging range based on the target number to obtain a plurality of initial correction intervals; a sixth determination unit configured to determine a correction value corresponding to each initial correction interval, and calculate a difference value of correction values corresponding to adjacent initial correction intervals based on the correction value; a judgment unit configured to judge whether an absolute value of the difference value is less than or equal to the preset ranging accuracy; a third division unit configured to, if greater, divide the initial correction interval corresponding to the difference value again, and return to the step of determining the correction value corresponding to each initial correction interval, until all difference values are less than or equal to the preset ranging accuracy, to obtain a plurality of target correction intervals.

[0018] In an embodiment, the division module further comprises: a seventh determination unit configured to determine a fourth farthest ranging distance corresponding to each initial correction interval; an eighth determination unit configured to determine a fifth measurement error value corresponding to the fourth farthest ranging distance, and set the fifth measurement error value as a correction value of a corresponding correction interval.

[0019] In addition, to achieve the above objectives, this application also proposes an error compensation device based on a laser ranging device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the error compensation method based on the laser ranging device as described above.

[0020] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the error compensation method based on the laser ranging device described above.

[0021] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the error compensation method based on a laser ranging device as described above.

[0022] One or more technical solutions proposed in this application have at least the following technical effects: This application proposes an error compensation method and related equipment based on laser ranging devices, applicable to the field of data processing technology. In practical measurement scenarios, the errors for different measurement distances are often different. Using only a single error compensation value for error compensation can lead to poor compensation results and low ranging accuracy. In this application, firstly, in response to an error compensation command, the target device to be compensated is determined. Then, the ranging range and preset ranging accuracy of the target device are determined. Further, based on the ranging range, the preset ranging accuracy, and a preset correction interval division strategy, the ranging range is divided to obtain multiple target correction intervals. Finally, the error compensation value corresponding to each target correction interval is determined, and error compensation is performed on the target device based on the error compensation value.

[0023] It is understood that this application divides the correction interval based on the ranging distance and ranging accuracy, sets corresponding error compensation values ​​for different correction intervals, optimizes the compensation effect, and thus improves the overall ranging accuracy. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart illustrating an embodiment of the error compensation method based on a laser ranging device provided in this application. Figure 2 This is a flowchart illustrating Embodiment 2 of the error compensation method based on a laser ranging device provided in this application; Figure 3 This is a flowchart illustrating Embodiment 3 of the error compensation method based on a laser ranging device in this application; Figure 4 This is a schematic diagram of the module structure of the error compensation device based on the laser ranging equipment in an embodiment of this application; Figure 5 This is a schematic diagram of the hardware operating environment involved in the error compensation method based on a laser ranging device in the embodiments of this application.

[0027] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0029] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0030] The main solution in this application's embodiments is: In this embodiment, for ease of description, the following description will focus on an error compensation device based on a laser ranging device.

[0031] Due to the limitations of related technologies, the errors at different measurement distances often vary in real-world measurement scenarios. Using only a single error compensation value will result in poor compensation effectiveness and low ranging accuracy. Therefore, a more refined error compensation method based on laser ranging devices is needed, capable of dynamically adjusting the error compensation value according to different measurement distances to improve the accuracy and reliability of ranging.

[0032] This application provides a solution in which: first, in response to an error compensation command, a target device to be error-compensated is determined; then, the ranging range and preset ranging accuracy of the target device are determined; further, based on the ranging range, the preset ranging accuracy, and a preset correction interval division strategy, the ranging range is divided to obtain multiple target correction intervals; finally, an error compensation value corresponding to each target correction interval is determined, and error compensation is performed on the target device based on the error compensation value.

[0033] It is understood that this application divides the correction interval based on the ranging distance and ranging accuracy, sets corresponding error compensation values ​​for different correction intervals, optimizes the compensation effect, and thus improves the overall ranging accuracy.

[0034] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as an error compensation device based on a laser ranging device. The following description uses an error compensation device based on a laser ranging device as an example to illustrate this embodiment and the subsequent embodiments.

[0035] Based on this, embodiments of this application provide an error compensation method based on a laser ranging device, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the error compensation method based on a laser ranging device according to this application.

[0036] In this embodiment, the error compensation method based on the laser ranging device includes steps S100~S400: Step S100: In response to the error compensation command, determine the target device to be compensated for error; It's important to note that the error compensation command initiates an error compensation process. Error compensation is a common function in many automated systems, industrial control systems, and electronic devices. For example, in laser ranging, the measurement results from the laser ranging device may contain errors. The error compensation command can initiate a calibration or adjustment process to improve ranging accuracy.

[0037] Furthermore, after receiving the error compensation command, the system needs to identify which devices require error compensation. In other words, the system needs to determine the objects of error compensation.

[0038] Step S200: Determine the ranging range and preset ranging accuracy of the target device; It's important to note that ranging range refers to the distance a device can measure. For example, a laser rangefinder might be able to accurately measure distances ranging from 0.1 meters to 100 meters. Different ranging devices have different ranges. The choice of range depends on the specific application requirements. For instance, in indoor environmental monitoring, a range of a few meters might be sufficient. In industrial automation, a range of tens or even hundreds of meters might be needed. In the aerospace field, the ranging range might need to reach several kilometers or even further.

[0039] Preset ranging accuracy refers to the required precision of the device during measurement. For example, a ranging device might need to achieve millimeter-level accuracy within a 1-meter range. Accuracy is one of the most important indicators of measuring equipment. Different applications have different accuracy requirements. For example, high-precision manufacturing may require micrometer-level accuracy. In general environmental monitoring, centimeter-level accuracy may be sufficient. In some coarse measurement scenarios, meter-level accuracy may be all that's needed.

[0040] For example, in autonomous vehicles, LiDAR (Light Detection and Ranging) is used to measure the distance between the vehicle and surrounding objects. When configuring LiDAR, its ranging range (e.g., 0.1 meters to 200 meters) and preset ranging accuracy (e.g., centimeter-level accuracy) need to be determined. This ensures that the vehicle can accurately perceive its surroundings, thus enabling safe driving.

[0041] Step S300: Based on the ranging range, the preset ranging accuracy, and the preset correction interval division strategy, the ranging range is divided to obtain multiple target correction intervals; It should be noted that the preset correction interval division strategy is a predefined strategy used to divide the ranging range into multiple correction intervals.

[0042] It should be noted that in practical applications, the ranging error of a ranging device may vary depending on the distance. For example, short-distance measurements may have a larger ranging error, while long-distance measurements may have a smaller ranging error. Therefore, dividing the ranging range into multiple intervals allows for more precise control and calibration of the device.

[0043] For example, suppose there is a laser rangefinder with a ranging range of 0.1 meters to 100 meters and a preset ranging accuracy of millimeters. To more precisely control and calibrate the equipment, the ranging range is divided into multiple correction intervals according to a preset correction interval division strategy. For example: correction interval 1 (0.1 meters to 1 meter), correction interval 2 (1 meter to 10 meters), and correction interval 3 (10 meters to 100 meters).

[0044] This division strategy ensures that the equipment achieves the required accuracy across different measurement ranges. Furthermore, each correction interval can have different calibration parameters or compensation formulas to improve measurement accuracy and reliability.

[0045] Step S400: Determine the error compensation value corresponding to each target correction interval, and perform error compensation on the target device based on the error compensation value.

[0046] In this embodiment, a specific error compensation value is determined for each predefined correction interval. This compensation value is used to correct measurement errors within that interval. In actual measurements, the measurement results of the equipment may be subject to errors due to various factors (such as equipment aging, environmental changes, mechanical wear, etc.). To improve measurement accuracy, these errors need to be compensated. Each correction interval may have different error characteristics, therefore a specific compensation value needs to be determined for each interval.

[0047] The determined error compensation values ​​are used to correct the measurement results of the target equipment, thereby reducing or eliminating measurement errors. Error compensation is an important means of improving the accuracy of measuring equipment. By applying compensation values, the output of the equipment can be adjusted to make it closer to the true value.

[0048] Understandably, by determining the error compensation value for each correction interval and applying these compensation values ​​to calibrate the target device, the accuracy and reliability of the measuring equipment can be significantly improved.

[0049] This application proposes an error compensation method and related equipment based on laser ranging devices, applicable to the field of data processing technology. In practical measurement scenarios, the errors for different measurement distances are often different. Using only a single error compensation value for error compensation can lead to poor compensation results and low ranging accuracy. In this application, firstly, in response to an error compensation command, the target device to be compensated is determined. Then, the ranging range and preset ranging accuracy of the target device are determined. Further, based on the ranging range, the preset ranging accuracy, and a preset correction interval division strategy, the ranging range is divided to obtain multiple target correction intervals. Finally, the error compensation value corresponding to each target correction interval is determined, and error compensation is performed on the target device based on the error compensation value.

[0050] It is understood that this application divides the correction interval based on the ranging distance and ranging accuracy, sets corresponding error compensation values ​​for different correction intervals, optimizes the compensation effect, and thus improves the overall ranging accuracy.

[0051] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in Embodiment 1 above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 The step of dividing the ranging range based on the ranging range, the preset ranging accuracy, and the preset correction interval division strategy to obtain multiple target correction intervals further includes steps S310~S340: Step S310: Based on the ranging range, determine the third closest ranging distance and the third farthest ranging distance corresponding to the target device; It should be noted that the third closest distance refers to the smallest measurement distance within the ranging range. The third farthest distance refers to the largest measurement distance within the ranging range.

[0052] For example, suppose there is a laser rangefinder with a range of 0.1 meters to 100 meters. Then the third closest distance is 0.1 meters, and the third farthest distance is 100 meters.

[0053] Step S320: Determine the third measurement error value corresponding to the third closest distance and determine the fourth measurement error value corresponding to the third farthest distance; In this embodiment, at the previously determined "third nearest distance" specific distance point, the measurement error value of the device is measured and determined, and this error value is referred to as the "third measurement error value".

[0054] It should be noted that the measurement error may vary at different distance points within the range of the ranging device. By measuring the error at specific distance points, one can more accurately understand the device's performance at those points and perform appropriate calibration or compensation.

[0055] Similarly, at the previously determined "third furthest distance" specific distance point, the measurement error value of the device is measured and determined. This error value is called the "fourth measurement error value".

[0056] In this embodiment, within the range of the ranging device, the corresponding error values ​​are measured and determined at two specific distance points: the "third closest ranging distance" and the "third farthest ranging distance." These error values ​​can be used for subsequent error compensation or device calibration.

[0057] Understandably, measuring the error values ​​at the "third closest distance" and "third furthest distance" allows for a more accurate understanding of the equipment's performance at these points, providing data support for subsequent error compensation or equipment calibration. These error values ​​are crucial for improving the accuracy and reliability of measuring equipment.

[0058] Step S330: Based on the third measurement error value, the fourth measurement error value, the preset ranging accuracy, and the preset correction interval division strategy, calculate the number of targets in the correction interval; In this application, based on the aforementioned input data and strategy, the number of correction intervals to be divided is calculated. The number of correction intervals determines how many calibrations or compensations the device needs to perform within different distance ranges. This number can be determined based on the error value, accuracy requirements, and the division strategy.

[0059] Specifically, the calculation formula is as follows:

[0060] in, This refers to the third measurement error value. This refers to the fourth measurement error value. This refers to the preset ranging accuracy, and N represents the number of correction intervals.

[0061] Understandably, this process ensures that the equipment meets the required accuracy across different distance ranges, thereby improving the accuracy and reliability of the measurement.

[0062] Step S340: Based on the number of targets, divide the ranging range to obtain multiple target correction intervals.

[0063] In this embodiment, the target number of correction intervals calculated previously is used as the basis for division. The ranging range is divided into multiple parts, each called a correction interval. Through the division process, multiple specific correction intervals are obtained. Each correction interval has its specific range and possible error compensation value.

[0064] Understandably, this process allows the entire ranging range to be subdivided into multiple specific correction intervals, each of which can be independently compensated for and calibrated, thereby improving the measurement accuracy of the equipment within different distance ranges.

[0065] Specifically, the step of dividing the ranging range based on the number of targets to obtain multiple target correction intervals further includes steps S341~S344: Step S341: Based on the number of targets, divide the ranging range to obtain multiple initial correction intervals; It should be noted that the target number refers to the number of intervals to be divided. This number may be preset or calculated according to some rule. The ranging range refers to the range that the ranging device can measure, such as from 0 meters to 100 meters.

[0066] In this application, the entire ranging range is divided into several intervals according to the number of targets, and each interval is called an initial correction interval. For example, if the number of targets is 5 and the ranging range is 0 to 100 meters, then each initial correction interval may be 20 meters (0-20 meters, 20-40 meters, 40-60 meters, 60-80 meters, 80-100 meters).

[0067] Step S342: Determine the correction value corresponding to each initial correction interval, and calculate the difference between the correction values ​​corresponding to adjacent initial correction intervals based on the correction value. It should be noted that each initial correction interval has a corresponding correction value, which is derived by an algorithm and used to correct for ranging errors. Then, the difference between the correction values ​​of two adjacent initial correction intervals is calculated. For example, if the correction value for the first interval is 1.5 and the correction value for the second interval is 2.0, then the difference is 0.5.

[0068] Specifically, the step of determining the correction value corresponding to each initial correction interval further includes steps A1 to A2: Step A1: Determine the fourth furthest ranging distance corresponding to each initial correction interval; Step A2: Determine the fifth measurement error value corresponding to the fourth farthest distance, and set the fifth measurement error value as the correction value of the corresponding correction interval.

[0069] Step S343: Determine whether the absolute value of the difference is less than or equal to the preset ranging accuracy; The preset ranging accuracy is a pre-set accuracy threshold used to determine whether the difference in the correction value is small enough.

[0070] In this application, the absolute value of the difference is taken to ensure a consistent comparison regardless of whether the difference is positive or negative. If the absolute value of the difference is less than or equal to the preset ranging accuracy, it indicates that the current correction value distribution is sufficiently accurate; if it is greater than the preset ranging accuracy, further refinement is required.

[0071] Step S344: If the difference is greater than the preset ranging accuracy, divide the initial correction intervals corresponding to the difference again, and return to the step of determining the correction value corresponding to each initial correction interval, until all differences are less than or equal to the preset ranging accuracy, and obtain multiple target correction intervals.

[0072] In this application, if the absolute value of the difference is greater than the preset ranging accuracy, it indicates that the current correction value distribution is not accurate enough, and the initial correction interval corresponding to the difference needs to be further divided to increase the number of intervals. The correction value of each newly divided correction interval is recalculated, and the difference in correction values ​​between adjacent correction intervals is recalculated. Steps S342 and S343 are repeated until the absolute value of all differences is less than or equal to the preset ranging accuracy. The final correction interval that meets the accuracy requirements is called the target correction interval.

[0073] Understandably, by continuously refining the intervals, the distribution of correction values ​​in each interval is ensured to meet the preset ranging accuracy requirements, thereby improving the accuracy and reliability of ranging.

[0074] Based on the first and second embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to that in embodiments one and two above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 The step of determining the error compensation value corresponding to each target correction interval further includes steps S410 to S440: Step S410: Determine the first nearest ranging distance and the first farthest ranging distance corresponding to each target correction interval; It should be noted that the target correction interval refers to the interval that meets the preset ranging accuracy requirements, as determined in the preceding steps. The first nearest ranging distance refers to the distance between the nearest ranging point within each target correction interval. The first farthest ranging distance is the distance between the farthest ranging point within each target correction interval.

[0075] It should be noted that the first closest distance and the first farthest distance are used for subsequent error calculations.

[0076] Step S420: Obtain the second nearest distance and the second farthest distance corresponding to each target correction interval measured by the target device; It should be noted that the target device refers to the actual device used for ranging, such as a laser rangefinder. The second closest ranging distance refers to the distance between the nearest ranging point within each target correction interval measured by the target device. The second farthest ranging distance refers to the distance between the farthest ranging point within each target correction interval measured by the target device.

[0077] In this embodiment, the actual measured distance data is obtained and compared with the theoretical values ​​(first closest distance and first farthest distance).

[0078] Specifically, the step of obtaining the second nearest ranging distance and the second farthest ranging distance corresponding to each target correction interval measured by the target device further includes steps S421 to S422: Step S421: Measure the time difference between the main wave emitted by the laser in the target device and the echo reflected by the target to determine the time required for the light to make one round trip. It should be noted that the main wave emitted by the laser refers to the laser signal emitted by the laser, which is used to measure distance.

[0079] It should be noted that the echo reflected by the target under test refers to the signal reflected back after the laser signal is irradiated by the target under test.

[0080] It should be noted that the time difference refers to the time interval between the laser emission signal and the received reflected signal.

[0081] The time required for a light beam to make one round trip refers to the total time it takes for the laser beam to travel from its emission point to the target and back. This time can be measured using a high-precision timer.

[0082] Step S422: Based on the time required for the light to travel one round trip and the speed of light propagation in space, determine the second nearest distance and the second farthest distance corresponding to each target correction interval measured by the target device.

[0083] In this embodiment, the time difference between the laser emission signal and the received reflected signal is measured using a high-precision timer. Furthermore, the distances between the nearest and farthest ranging points within each target correction interval are calculated using the speed of light and the measured time difference.

[0084] Step S430: Calculate the difference between the first nearest distance and the second nearest distance to obtain the first distance measurement error value corresponding to the first nearest distance measurement; calculate the difference between the first farthest distance and the second farthest distance measurement to obtain the second distance measurement error value corresponding to the first farthest distance measurement. It should be noted that the difference is used to characterize the discrepancy between the theoretical values ​​(the first closest distance and the first farthest distance) and the actual measured values ​​(the second closest distance and the second farthest distance). The first distance measurement error value refers to the difference between the first closest distance and the second closest distance, representing the error at the closest distance measurement point. The second distance measurement error value refers to the difference between the first farthest distance and the second farthest distance, representing the error at the farthest distance measurement point.

[0085] In this embodiment, the error magnitude of each key ranging point is determined by calculating the difference.

[0086] Step S440: Based on the first ranging error value and the second ranging error value, determine the error compensation value corresponding to each target correction interval.

[0087] It should be noted that the error compensation value is a compensation value calculated based on the first and second ranging error values, used to correct the measurement error of the ranging device. By using the error compensation value, the measurement results of the ranging device are corrected, improving the accuracy and reliability of ranging.

[0088] Understandably, these steps can effectively correct measurement errors in ranging devices and improve ranging accuracy.

[0089] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the error compensation method based on laser ranging equipment in this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0090] It should be noted that all user-related data involved in this application (such as user attribute data, user behavior data, and user geographical location, etc., the data types here should be modified according to the adaptability of the solution content) were obtained with the user's permission or consent; that is to say, when this application is applied to specific products or technologies, user permission is required to obtain and process the relevant data, and the processing of the relevant data must comply with the relevant laws, regulations and regulatory standards of the relevant countries and regions.

[0091] For example, when it is necessary to obtain a user's current geographical location, a location acquisition prompt can be displayed on the user's terminal. After receiving confirmation from the user regarding the location acquisition prompt, the terminal can obtain the user's current geographical location.

[0092] This application also provides an error compensation device based on a laser ranging device; please refer to... Figure 4 The error compensation device based on the laser ranging equipment includes: Response module 10, the response module is used to determine the target device to be compensated for error in response to the error compensation command; First determining module 20, the first determining module is used to determine the ranging range and preset ranging accuracy of the target device; The division module 30 is used to divide the ranging range based on the ranging range, the preset ranging accuracy, and the preset correction interval division strategy to obtain multiple target correction intervals. The second determining module 40 is used to determine the error compensation value corresponding to each target correction interval, and to perform error compensation on the target device based on the error compensation value.

[0093] In one embodiment, the second determining module further includes: The first determining unit is used to determine the first nearest ranging distance and the first farthest ranging distance corresponding to each target correction interval; The acquisition unit is used to acquire the second nearest distance and the second farthest distance corresponding to each target correction interval measured by the target device; The first calculation unit is used to calculate the difference between the first nearest distance and the second nearest distance to obtain a first distance measurement error value corresponding to the first nearest distance, and to calculate the difference between the first farthest distance and the second farthest distance to obtain a second distance measurement error value corresponding to the first farthest distance. The second determining unit is used to determine the error compensation value corresponding to each target correction interval based on the first ranging error value and the second ranging error value.

[0094] In one embodiment, the second determining module further includes: The strategy unit is used to measure the time difference between the main wave emitted by the laser in the target device and the echo reflected by the target, so as to determine the time required for the light to make one round trip. The third determining unit is used to determine the second nearest distance and the second farthest distance corresponding to each target correction interval measured by the target device, based on the time required for the light to travel back and forth once and the speed of light propagation in space.

[0095] In one embodiment, the partitioning module further includes: The fourth determining unit is used to determine the third closest ranging distance and the third farthest ranging distance corresponding to the target device based on the ranging range. The fifth determining unit is used to determine the third measurement error value corresponding to the third closest ranging distance and to determine the fourth measurement error value corresponding to the third farthest ranging distance; The second calculation unit is used to calculate the number of targets in the correction interval based on the third measurement error value, the fourth measurement error value, the preset ranging accuracy and the preset correction interval division strategy. The first division unit is used to divide the ranging range based on the number of targets to obtain multiple target correction intervals.

[0096] In one embodiment, the partitioning module further includes: The second division unit is used to divide the ranging range based on the number of targets to obtain multiple initial correction intervals; The sixth determining unit is used to determine the correction value corresponding to each initial correction interval, and calculate the difference between the correction values ​​corresponding to adjacent initial correction intervals based on the correction value. The judgment unit is used to determine whether the absolute value of the difference is less than or equal to the preset ranging accuracy; The third division unit is used to further divide the initial correction interval corresponding to the difference if it is greater than the preset ranging accuracy, and return to the step of determining the correction value corresponding to each initial correction interval, until all differences are less than or equal to the preset ranging accuracy, thus obtaining multiple target correction intervals.

[0097] In one embodiment, the partitioning module further includes: The seventh determining unit is used to determine the fourth farthest ranging distance corresponding to each initial correction interval; The eighth determining unit is used to determine the fifth measurement error value corresponding to the fourth farthest distance, and set the fifth measurement error value as the correction value of the corresponding correction interval.

[0098] The error compensation device based on a laser ranging device provided in this application employs the error compensation method based on a laser ranging device in the above embodiments, and can solve the technical problem of error compensation. Compared with related technologies, the beneficial effects of the error compensation device based on a laser ranging device provided in this application are the same as the beneficial effects of the error compensation method based on a laser ranging device provided in the above embodiments, and other technical features in the error compensation device based on a laser ranging device are the same as the features disclosed in the methods of the above embodiments, and will not be repeated here.

[0099] This application provides an error compensation device based on a laser ranging device. The error compensation device based on a laser ranging device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the error compensation method based on the laser ranging device in the above embodiment 1.

[0100] The following is for reference. Figure 5 This document illustrates a structural schematic diagram of an error compensation device based on a laser ranging device suitable for implementing embodiments of this application. The error compensation device based on a laser ranging device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 5 The error compensation device based on the laser ranging device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0101] likeFigure 5 As shown, the error compensation device based on the laser ranging device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the error compensation device based on the laser ranging device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the error compensation device based on the laser ranging equipment to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows error compensation devices based on laser ranging equipment with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0102] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0103] The error compensation device based on a laser ranging device provided in this application solves the technical problem by employing the error compensation method based on a laser ranging device in the above embodiments. Compared with related technologies, the beneficial effects of the error compensation device based on a laser ranging device provided in this application are the same as those of the error compensation method based on a laser ranging device provided in the above embodiments, and other technical features of the error compensation device based on a laser ranging device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0104] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0105] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0106] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the error compensation method based on the laser ranging device in the above embodiments.

[0107] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0108] The aforementioned computer-readable storage medium may be included in the error compensation device based on the laser ranging device; or it may exist independently and not assembled into the error compensation device based on the laser ranging device.

[0109] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the error compensation device based on the laser ranging device, cause the error compensation device based on the laser ranging device to: In response to the error compensation command, the target device to be compensated for the error is determined; Determine the ranging range and preset ranging accuracy of the target device; Based on the ranging range, the preset ranging accuracy, and the preset correction interval division strategy, the ranging range is divided to obtain multiple target correction intervals; Determine the error compensation value corresponding to each target correction interval, and perform error compensation on the target device based on the error compensation value.

[0110] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0111] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0112] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0113] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described error compensation method based on a laser ranging device, thereby solving the technical problem of error compensation. Compared with related technologies, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the error compensation method based on a laser ranging device provided in the above embodiments, and will not be repeated here.

[0114] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the error compensation method based on a laser ranging device as described above.

[0115] The computer program product provided in this application can solve the technical problem of error compensation. Compared with related technologies, the beneficial effects of the computer program product provided in this application are the same as those of the error compensation method based on laser ranging equipment provided in the above embodiments, and will not be repeated here.

[0116] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included in the scope of protection of this application.

Claims

1. An error compensation method based on a laser ranging device, characterized in that, The error compensation method based on laser ranging equipment includes: In response to the error compensation command, the target device to be compensated for the error is determined; Determine the ranging range and preset ranging accuracy of the target device; Based on the ranging range, the preset ranging accuracy, and the preset correction interval division strategy, the ranging range is divided to obtain multiple target correction intervals; Determine the error compensation value corresponding to each target correction interval, and perform error compensation on the target device based on the error compensation value.

2. The error compensation method based on a laser ranging device as described in claim 1, characterized in that, The step of determining the error compensation value corresponding to each target correction interval further includes: Determine the first nearest ranging distance and the first farthest ranging distance corresponding to each target correction interval; Obtain the second nearest distance and the second farthest distance corresponding to each target correction interval measured by the target device; Calculate the difference between the first nearest distance and the second nearest distance to obtain the first distance measurement error value corresponding to the first nearest distance measurement; calculate the difference between the first farthest distance and the second farthest distance measurement to obtain the second distance measurement error value corresponding to the first farthest distance measurement. Based on the first ranging error value and the second ranging error value, the error compensation value corresponding to each target correction interval is determined.

3. The error compensation method based on a laser ranging device as described in claim 2, characterized in that, The step of obtaining the second nearest ranging distance and the second farthest ranging distance corresponding to each target correction interval measured by the target device further includes: The time difference between the main wave emitted by the laser in the target device and the echo reflected by the target is measured to determine the time required for the light to make one round trip. Based on the time required for the light to travel one round trip and the speed of light propagation in space, the second nearest distance and the second farthest distance corresponding to each target correction interval measured by the target device are determined.

4. The error compensation method based on a laser ranging device as described in claim 1, characterized in that, The step of dividing the ranging range based on the ranging range, the preset ranging accuracy, and the preset correction interval division strategy to obtain multiple target correction intervals further includes: Based on the ranging range, determine the third closest ranging distance and the third farthest ranging distance corresponding to the target device; Determine the third measurement error value corresponding to the third closest distance, and determine the fourth measurement error value corresponding to the third farthest distance; Based on the third measurement error value, the fourth measurement error value, the preset ranging accuracy, and the preset correction interval division strategy, calculate the number of targets in the correction interval; Based on the number of targets, the ranging range is divided to obtain multiple target correction intervals.

5. The error compensation method based on a laser ranging device as described in claim 4, characterized in that, The step of dividing the ranging range based on the number of targets to obtain multiple target correction intervals further includes: Based on the number of targets, the ranging range is divided to obtain multiple initial correction intervals; Determine the correction value corresponding to each initial correction interval, and calculate the difference between the correction values ​​corresponding to adjacent initial correction intervals based on the correction value; Determine whether the absolute value of the difference is less than or equal to the preset ranging accuracy; If the difference is greater than the preset ranging accuracy, the initial correction interval corresponding to the difference is divided again, and the step of determining the correction value corresponding to each initial correction interval is returned until all differences are less than or equal to the preset ranging accuracy, thus obtaining multiple target correction intervals.

6. The error compensation method based on a laser ranging device as described in claim 5, characterized in that, The step of determining the correction value corresponding to each initial correction interval further includes: Determine the fourth furthest ranging distance corresponding to each initial correction interval; Determine the fifth measurement error value corresponding to the fourth furthest distance, and set the fifth measurement error value as the correction value of the corresponding correction interval.

7. An error compensation device based on a laser ranging device, characterized in that, The error compensation device based on the laser ranging equipment includes: A response module, which is used to determine the target device to be compensated for error in response to an error compensation command; The first determining module is used to determine the ranging range and preset ranging accuracy of the target device; A partitioning module is used to partition the ranging range based on the ranging range, the preset ranging accuracy, and the preset correction interval partitioning strategy to obtain multiple target correction intervals. The second determining module is used to determine the error compensation value corresponding to each target correction interval, and to perform error compensation on the target device based on the error compensation value.

8. An error compensation device based on a laser ranging device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the error compensation method based on the laser ranging device as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the error compensation method based on a laser ranging device as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the error compensation method based on a laser ranging device as described in any one of claims 1 to 6.

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