Laser ranging device and laser ranging method

Abstract

An embodiment of the present invention provides a laser ranging device and a laser ranging method. The laser ranging device includes: a processor, a laser emission module, and a laser reception module; wherein, the laser emission module and the laser reception module are respectively connected to the processor; the laser emission module includes: a laser control module, a pulsed laser array, and a Dammann grating connected in sequence, the laser control module is connected to the processor, and the laser pulse array includes a plurality of pulsed lasers; the laser reception module includes: a laser ranging circuit, an array detector, and a receiving lens connected in sequence, and the laser ranging circuit is connected to the processor. The detection distance of the laser ranging device is relatively long, and the resolution of the target image is relatively high. Moreover, since the ranging device avoids using rotating components for scanning detection, in this way, the stability of the ranging device can be better, and the service life can be longer.

Description

Technical Field

[0001] The present invention relates to the technical field of laser detection, and in particular to a laser ranging device and a laser ranging method. Background Art

[0002] With the rapid development of laser detection technology, the application of laser detection technology for ranging is becoming more and more widespread. For example, laser ranging devices for intelligent driving are receiving increasing attention.

[0003] Existing laser ranging devices may include: mechanically scanned laser ranging devices, microelectromechanical system (MEMS) scanned laser ranging devices, and MEMS laser ranging devices. Mechanically scanned laser ranging devices and MEMS scanned laser ranging devices have the advantages of long detection distance and high image resolution. However, due to the presence of rotating components, the service life of scanned laser ranging devices is relatively low and the stability is poor. MEMS laser ranging devices can only achieve ranging scans within a certain viewing angle, and the image resolution is relatively low.

[0004] In summary, in the existing technologies, there is a lack of a laser ranging device that can balance a relatively long detection distance, a relatively high image resolution, and relatively high stability. Summary of the Invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a laser ranging device and a corresponding laser ranging method that overcome the above problems or at least partially solve the above problems.

[0006] To solve the above problems, on the one hand, embodiments of the present invention disclose a laser ranging device, which is characterized by including: a processor, a laser emission module, and a laser reception module; wherein,

[0007] The laser emission module and the laser reception module are respectively connected to the processor;

[0008] The laser emission module includes: a laser control module, a pulsed laser array, and a Dammann grating that are connected in sequence. The laser control module is connected to the processor. The laser pulse array includes a plurality of pulsed lasers. The laser control module is used to control the plurality of pulsed lasers to emit laser in sequence according to a preset pattern and frequency;

[0009] The laser receiving module includes: a laser ranging circuit, an array detector, and a receiving lens that are connected in sequence. The laser ranging circuit is connected to the processor; the receiving lens is used to receive the reflected laser. The array detector includes a plurality of array detection units. The array detector is used to convert the reflected laser into an electrical signal. The laser ranging circuit is used to obtain target information based on the electrical signal, and the processor is used to obtain the target distance and the target image based on the target information.

[0010] Optionally, in the array detector, each array detection unit can correspond to one pulse laser. Each array detection unit is used to receive the laser spot array emitted by one pulse laser corresponding to it. Alternatively, the array detection unit corresponds to a plurality of pulse lasers, and the array detection unit is used to receive the laser spot arrays emitted by a plurality of pulse lasers corresponding to it.

[0011] Optionally, the laser receiving module may further include: an electronic switch. The first end of the electronic switch is connected to the laser ranging circuit, and the second end of the electronic switch is connected to the array detection units in the array detector.

[0012] Optionally, the processor is connected to the electronic switch, and the processor controls the on / off of the second end of the electronic switch and each array detection unit according to the designed logic rules.

[0013] Optionally, the Dammann grating includes a plurality of uniformly distributed grating sub-regions. Each grating sub-region faces the light output port of one pulse laser. The grating sub-region is used to generate a laser spot array by diffracting the laser emitted by the pulse laser, and the laser spot array corresponds to the array detection units of the array detector.

[0014] Optionally, the laser ranging circuit includes: a plurality of ranging sub-circuits; where

[0015] Each ranging sub-circuit corresponds to one detection unit. The ranging sub-circuit is used to obtain the target information based on the electrical signal obtained by the detection unit corresponding to it.

[0016] Optionally, the laser control module is connected to the laser ranging circuit.

[0017] Optionally, the laser ranging device further includes: a display module. The display module is connected to the processor, and the display module is used to display the target distance and the target image.

[0018] On the other hand, an embodiment of the present invention also discloses a laser ranging method, including:

[0019] The laser control module controls multiple pulsed lasers in a pulsed laser array to emit laser light in sequence according to a preset frequency;

[0020] The receiving lens receives the reflected laser light of the laser;

[0021] The array detector converts the reflected laser light into an electrical signal, wherein the array detector includes multiple array detection units;

[0022] The laser ranging circuit obtains target information based on the electrical signal;

[0023] The processor obtains the target distance and the target image based on the target information.

[0024] Optionally, before the step in which the laser ranging circuit obtains target information based on the electrical signal, the following is further included:

[0025] The processor controls the connection and disconnection between the second end of the electronic switch and each of the array detection units according to the electrical signal, wherein the first end of the electronic switch is connected to the laser ranging circuit, and the second end of the electronic switch is connected to each array detection unit in the array detector.

[0026] Embodiments of the present invention include the following advantages:

[0027] In embodiments of the present invention, the laser pulse array in the laser emission module may include multiple pulsed lasers, and the laser control module may be used to control the multiple pulsed lasers to emit laser light in sequence according to a preset frequency to detect laser points in different detection areas. The array detector in the laser receiving module may convert the reflected laser light reflected by the laser points in different detection areas into an electrical signal, the laser ranging circuit may be used to obtain target information based on the electrical signal, and the processor may be used to obtain the target distance and the target image based on the target information. In practical applications, since the laser ranging device can detect laser points in different detection areas, the detection distance of the laser ranging device is relatively long, and the resolution of the target image is relatively high; an important advantage of the present invention is that high-resolution laser ranging imaging can be achieved by synchronously switching the pulsed laser and the array receiving unit, and only a small number of laser ranging circuits are used. This solution has the advantages of low cost, low power consumption, low price, and easy integration. Moreover, since the ranging device avoids using rotating components for scanning detection, the stability of the ranging device can be better and the service life can be longer. Description of the Drawings

[0028] Figure 1 is a schematic structural diagram of a laser ranging device of the present invention;

[0029] Figure 2It is a schematic structural diagram of a laser spot array of the present invention;

[0030] Figure 3 It is a flowchart of the steps of a laser ranging method of the present invention;

[0031] Figure 4 It is a flowchart of the steps of another laser ranging method of the present invention. Specific embodiments

[0032] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] An embodiment of the present invention provides a laser ranging device, which may specifically include: a processor, a laser emission module, and a laser reception module; wherein, the laser emission module and the laser reception module are respectively connected to the processor; the laser emission module includes: a laser control module, a pulsed laser array, and a Dammann grating connected in sequence, the laser control module is connected to the processor, the pulsed laser array includes a plurality of pulsed lasers, and the laser control module is used to control the plurality of pulsed lasers to emit laser in sequence according to a preset mode and frequency; the laser reception module includes: a laser ranging circuit, an array detector, and a receiving lens connected in sequence, the laser ranging circuit is connected to the processor; the receiving lens is used to receive the reflected laser, the array detector includes a plurality of array detection units, the array detector is used to convert the reflected laser into an electrical signal, the laser ranging circuit is used to obtain target information according to the electrical signal, and the processor is used to obtain the target distance and the target image according to the target information.

[0034] In the embodiment of the present invention, the pulsed laser array in the laser emission module may include a plurality of pulsed lasers, and the laser control module may be used to control the plurality of pulsed lasers to emit laser in sequence according to a preset frequency to detect the laser points in different detection areas. The array detector in the laser reception module may convert the reflected laser reflected by the laser points in different detection areas into an electrical signal, the laser ranging circuit may be used to obtain target information according to the electrical signal, and the processor may be used to obtain the target distance and the target image according to the target information. In practical applications, since the laser ranging device can detect the laser points in different detection areas, therefore, the detection distance of the laser ranging device is relatively long, and the resolution of the target image is relatively high. Moreover, since the laser ranging device avoids using rotating components for scanning detection, in this way, the stability of the ranging device can be better, and the service life can be higher.

[0035] Refer to Figure 1, showing a schematic structural diagram of a laser ranging device according to the present invention, which may specifically include: a processor 10, a laser emission module 11, and a laser reception module 12; wherein, the laser emission module 11 and the laser reception module 12 are respectively connected to the processor 10.

[0036] The laser emission module 11 may include: a laser control module 111, a pulsed laser array 112, and a Dammann grating 113 that are connected in sequence. The laser control module 111 is connected to the processor 10. The pulsed laser array 112 includes a plurality of pulsed lasers. The laser control module 111 may be configured to control the plurality of pulsed lasers to emit laser light in sequence according to a preset pattern and frequency.

[0037] The laser reception module 12 may include: a laser ranging circuit 121, an array detector 122, and a receiving lens 123 that are connected in sequence. The laser ranging circuit 121 is connected to the processor 10; the receiving lens 123 may be configured to receive the reflected laser light. The array detector 122 may include a plurality of array detection units. The array detector 122 may be configured to convert the reflected laser light into an electrical signal. The laser ranging circuit 121 may be configured to obtain target information based on the electrical signal. The processor 10 may be configured to obtain the target distance and the target image based on the target information.

[0038] In an embodiment of the present invention, the pulsed laser array 112 in the laser emission module 11 may include a plurality of pulsed lasers. The laser control module 111 may be configured to control the plurality of pulsed lasers to emit laser light in sequence according to a preset pattern and frequency to detect the laser points in different detection areas. The array detector 122 in the laser reception module 12 may convert the reflected laser light reflected by the laser points in different detection areas into an electrical signal. The laser ranging circuit 121 may be configured to obtain target information based on the electrical signal. The processor 10 may be configured to obtain the target distance and the target image based on the target information.

[0039] In practical applications, since the laser ranging device can detect the laser points in different detection areas, therefore, the detection distance of the laser ranging device is relatively long, and the resolution of the target image is relatively high. Moreover, since the laser ranging device avoids using rotating components for scanning detection, in this way, the stability of the ranging device can be better, and the service life can be higher.

[0040] In practical applications, in the array detector 122, each of the array detection units may correspond to one of the pulsed lasers, and each of the array detection units may be configured to receive the laser light emitted by one of the pulsed lasers corresponding thereto. Alternatively, each of the array detection units corresponds to a plurality of the pulsed lasers, and each of the array detection units may be configured to receive the laser light emitted by a plurality of the pulsed lasers corresponding thereto. The embodiment of the present invention does not make any limitation thereto.

[0041] In an embodiment of the present invention, the Dammann grating 113 may include a plurality of grating sub-regions, each of the grating sub-regions is opposite to the light output port of one of the pulsed lasers, and the grating sub-region may be configured to generate a laser spot array by diffracting the laser emitted by the pulsed laser, and the laser spot array corresponds to the array detection units of the array detector.

[0042] Optionally, the laser ranging circuit 121 may include: a plurality of ranging sub-circuits; wherein, each ranging sub-circuit corresponds to one of the grating sub-regions, and the ranging sub-circuit may be configured to obtain the target information according to the electrical signal obtained from the corresponding grating sub-region.

[0043] In an alternative embodiment of the present invention, the laser receiving module 12 may further include: an electronic switch 124, a first end of the electronic switch 124 is connected to the laser ranging circuit 121, and a second end of the electronic switch 124 is connected to each of the array detection units in the array detector 122.

[0044] In practical applications, the processor 10 is connected to the electronic switch 124, and the processor 10 may be configured to control the on / off of the second end of the electronic switch 124 and each of the array detection units according to the electrical signal output by the array detector 122 and according to the designed logic rules.

[0045] Optionally, the laser control module 111 is connected to the laser ranging circuit 121, and the laser control module 111 may be configured to send the information of the laser emitted by the pulsed laser in the laser pulse array 112 to the laser ranging circuit 121, and the laser ranging circuit 121 may obtain the target information according to the information of the laser emitted by the pulse emitter and the electrical signal converted from the reflected laser by the array detector 122.

[0046] In the embodiment of the present invention, since the laser control module 121 controls the multiple pulsed lasers to emit laser light in sequence according to a preset mode and frequency, and each of the array detection units of the array detector 122 corresponds to one or more of the pulsed lasers. Thus, after each pulsed laser emits laser light, only the array detection units corresponding to that pulsed laser on the array detector 122 can receive the reflected laser light. In practical applications, after one of the array detection units on the array detector 122 receives the reflected laser light, the processor 10 can control only this array detection unit to conduct with the second end of the electronic switch 124. Correspondingly, the processor 10 can control the other array detection units on the array detector 122 except this array detection unit to disconnect from the second end of the electronic switch 124. In this way, the laser ranging circuit 121 only needs to process the electrical signals converted by this array detection unit each time. In this way, the structure and working logic of the laser detection circuit 121 can be greatly simplified, and the cost of the laser detection circuit can be reduced.

[0047] In the embodiment of the present invention, an important advantage of the present invention is that high-resolution laser ranging imaging can be achieved by using only a small number of laser ranging circuits by synchronously switching the pulsed lasers and the array receiving units. This solution has the advantages of low cost, low power consumption, cheap price and easy integration.

[0048] The following provides a specific working process example of the laser ranging device described in the embodiment of the present invention:

[0049] First, the processor 10 sends a laser emission instruction to the laser control module 111. According to the laser emission instruction, the laser control module 111 can control the multiple pulsed lasers of the laser pulse array 112 to emit laser light in sequence according to a preset mode and frequency. Moreover, the laser control module 111 can also send the information of the laser light emitted by the pulsed lasers in the laser pulse array 112 to the laser ranging circuit 121.

[0050] For example, the laser pulse array 112 may include F pulsed lasers: pulsed laser A1, pulsed laser A2... pulsed laser A F , where pulsed laser A1, pulsed laser A2... pulsed laser A F respectively detect the laser points in different detection areas, and the laser control module 111 can control the pulsed lasers A1, A2... A F in the laser pulse array 112 to emit laser light in sequence according to a preset frequency.

[0051] In an embodiment of the present invention, the Dammann grating 113 may include a plurality of grating sub-regions, each of the grating sub-regions being opposite to the light output port of a pulse laser. The grating sub-region may be configured to generate a laser spot array by diffracting the laser emitted by the pulse laser, and the laser spot array corresponds to the array detection units of the array detector 122, such that the laser spot array can be exactly received by the corresponding array detection units on the array detector 122. For example, the Dammann grating 113 may include M*N grating sub-regions: grating sub-region B1, grating sub-region B1... grating sub-region B M*N , where the grating sub-region B1 is opposite to the light output port of the pulse laser A1, the grating sub-region B2 is opposite to the light output port of the pulse laser A2... In this way, after the pulse laser A1 emits laser light, the Dammann grating 113 can divide the laser light into M*N laser spots.

[0052] Then, the receiving lens 123 can receive the reflected laser light of the laser light and send the reflected laser light to the array detector 122. The array detector 122 may include a plurality of array detection units, each of the array detection units corresponding to a pulse laser. The array detector 122 may be configured to convert the reflected laser light into an electrical signal.

[0053] Referring to Figure 2 , a schematic structural diagram of a laser spot array according to the present invention is shown. As Figure 2 shown, the laser spot array may include: a P*Q laser spot array, where the P*Q laser spot array may be formed by splicing F M*N laser spot arrays. Each M*N laser spot array is generated by diffracting the laser emitted by a pulse laser through the Dammann grating 113. By designing the parameters of the Dammann grating 113, F M*N laser spot arrays can be spliced into a P*Q laser spot array.

[0054] For example, the array detector 122 may include F array detection units: array detection unit C1, array detection unit C2... array detection unit C F , where each array detection unit includes M*N array detection units. Specifically, the array detection unit C1 is opposite to the pulse laser A1, the array detection unit C2 is opposite to the pulse laser A2... array detection unit C F opposite to the pulse laser A F opposite. After the pulse laser A1 emits laser light, only the array detection unit C1 corresponding to the pulse laser A1 on the array detector 122 can receive the reflected laser spot array. Specifically, the reflected laser light includes M*N laser spots. The array detector 122 can receive M*N laser spots, convert the M*N laser spots into electrical signals, and send the electrical signals to the laser ranging circuit 121.

[0055] In practical applications, after the pulsed laser A1 emits pulsed laser light, the processor 10 can control only the array detection unit C1 to conduct with the second end of the electronic switch 124. Correspondingly, the processor 10 can control the disconnection of other array detection units on the array detector 122 from the second end of the electronic switch 124. In this way, the laser ranging circuit 121 only needs to process the electrical signals converted by a certain array detection unit each time. In this way, the structure and working logic of the laser detection circuit 121 can be greatly simplified, and the cost of the laser detection circuit can be reduced.

[0056] For example, when only the array detection unit C1 on the array detector 122 receives the reflected laser light, the processor 10 can control only the array detection unit C1 to conduct with the second end of the electronic switch 124. Correspondingly, the processor 10 can control the disconnection of other array detection units on the array detector 122 except the array detection unit C1 from the second end of the electronic switch 124.

[0057] After the laser ranging circuit 121 receives the electrical signal sent by the array detector 122, the laser ranging circuit 121 can obtain the target information based on the information of the laser emitted by the pulse emitter and the electrical signal converted by the array detector 122 according to the reflected laser light, and send the target information to the processor 10.

[0058] For example, when the array detection unit C1 conducts with the second end of the electronic switch 124, the laser ranging circuit 124 can only receive the electrical signal sent by the array detection unit C1. Since the array detection unit C1 corresponds to the pulsed laser A1, the laser ranging circuit 121 can obtain the target information of the detection area corresponding to the pulsed laser A1 based on the information of the laser emitted by the pulsed laser A1 and the electrical signal sent by the array detection unit C1. Specifically, the target information includes: target distance, azimuth, height, speed, attitude, and even shape information of the detection area corresponding to the pulsed laser A1.

[0059] Finally, the processor 10 can obtain the target distance and the target image based on the target information. In practical applications, the processor 10 can successively receive the target information of the detection areas corresponding to the pulsed laser A1, the pulsed laser A1... the pulsed laser A F and synthesize the target information of all detection areas to obtain the target distance and the target image of the entire detection area.

[0060] In the embodiments of the present invention, since the laser ranging device can detect laser points in different detection areas, the detection distance of the laser ranging device is relatively long, and the resolution of the target image is relatively high. Moreover, since the ranging device avoids using rotating components for scanning detection, the stability of the ranging device can be better and the service life can be longer.

[0061] In an alternative embodiment of the present invention, the laser ranging device may further include: a display module, the display module is connected to the processor 10, and the display module can be used to display the target distance and the target image, facilitating the user to obtain the target distance and the target image.

[0062] In another alternative embodiment of the present invention, the laser ranging module may further include: a warning module, the warning module is connected to the processor 10, and the warning module can be used to issue a warning message when the target distance is less than a preset value, so as to improve the user's use safety.

[0063] For example, if the laser ranging module is used in the field of intelligent driving, the safety distance in the field of intelligent driving can be set as the preset value. In this way, a warning message is issued when the laser ranging module measures that the target distance is less than the safety distance of intelligent driving.

[0064] Specifically, the warning message may include: a light warning message or a sound warning message, etc. The present invention does not limit the specific content of the warning message.

[0065] In summary, the laser ranging module described in the embodiments of the present invention has at least the following advantages:

[0066] In the embodiments of the present invention, the laser pulse array in the laser emission module may include a plurality of pulsed lasers, and the laser control module may be configured to control the plurality of pulsed lasers to emit laser light in sequence according to a preset frequency, so as to detect the laser points in different detection areas. The array detector in the laser receiving module may convert the reflected laser light reflected by the laser points in different detection areas into electrical signals. The laser ranging circuit may be configured to obtain target information based on the electrical signals, and the processor may be configured to obtain the target distance and the target image based on the target information. In practical applications, since the laser ranging device can detect the laser points in different detection areas, the detection distance of the laser ranging device is relatively long, and the resolution of the target image is relatively high. In the embodiments of the present invention, an important advantage of the present invention is that high-resolution laser ranging imaging can be achieved by synchronously switching the pulsed lasers and the array receiving unit, and only a small number of laser ranging circuits are used. This solution has the advantages of low cost, low power consumption, low price and easy integration. Moreover, since the ranging device avoids using rotating components for scanning detection, the stability of the ranging device can be better and the service life can be longer.

[0067] The present invention also provides a laser ranging method. Specifically, the laser ranging method can be implemented by the above-mentioned laser ranging device.

[0068] Referring to Figure 3 , a flowchart of the steps of a laser ranging method of the present invention is shown, which may specifically include:

[0069] Step 201: The laser control module controls the plurality of pulsed lasers in the pulsed laser array to emit laser light in sequence according to a preset frequency. After the laser light emitted by each pulsed laser passes through its corresponding Dammann grating sub-region, a laser spot array is generated.

[0070] Step 202: The receiving lens receives the reflected laser light of the laser spot array.

[0071] Step 203: The array detector converts the reflected laser light into an electrical signal, wherein the column detector can detect different laser spot array signals.

[0072] Step 204: The laser ranging circuit obtains target information based on the electrical signal.

[0073] Step 205: The processor obtains the target distance and the target image based on the target information.

[0074] Referring to Figure 4 , a flowchart of the steps of another laser ranging method of the present invention is shown, which may specifically include:

[0075] Step 301: The laser control module controls multiple pulsed lasers in the pulsed laser array to emit laser light in sequence according to a preset frequency. Each laser passes through a sub-region of the Dammann grating to generate a laser spot array.

[0076] Step 302: The receiving lens receives the reflected laser light of the laser.

[0077] Step 303: The array detector converts the reflected laser light into an electrical signal. Among them, the column detector can detect different laser spot array signals.

[0078] Step 304: The processor controls the on / off of the second end of the electronic switch and each of the array detection units according to the electrical signal. Among them, the first end of the electronic switch is connected to the laser ranging circuit, and the second end of the electronic switch is connected to the array detection units in the array detector.

[0079] Step 305: The laser ranging circuit obtains target information according to the electrical signal.

[0080] Step 306: The processor obtains the target distance and the target image according to the target information.

[0081] In the embodiment of the present invention, Figure 2 and Figure 3 For the specific implementation details of the laser ranging method shown in, reference may be made to the above laser ranging device, and details are not described herein.

[0082] In summary, the laser ranging method described in the embodiment of the present invention has at least the following advantages:

[0083] In the embodiment of the present invention, the laser pulse array in the laser emission module may include multiple pulsed lasers. The laser control module may be used to control the multiple pulsed lasers to emit laser light in sequence according to a preset frequency to detect laser points in different detection regions. The array detector in the laser receiving module may convert the reflected laser light reflected by the laser points in different detection regions into an electrical signal. The laser ranging circuit may be used to obtain target information according to the electrical signal. The processor may be used to obtain the target distance and the target image according to the target information. In practical applications, since the laser ranging device can detect laser points in different detection regions, the detection distance of the laser ranging device is relatively long, and the resolution of the target image is relatively high. In the embodiment of the present invention, an important advantage of the present invention is that high-resolution laser ranging imaging can be achieved by synchronously switching the pulsed laser and the array receiving unit, and only a small number of laser ranging circuits are used. This solution has the advantages of low cost, low power consumption, low price, and easy integration. Moreover, since the ranging device avoids using rotating components for scanning detection, the stability of the ranging device can be better, and the service life can be longer.

[0084] For the method embodiments, since they are basically similar to the apparatus embodiments, they are described relatively simply. For related parts, refer to the corresponding descriptions in the apparatus embodiments.

[0085] It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should understand that the embodiments of the present invention are not limited by the described action sequences. According to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0086] The embodiments in this specification are all described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0087] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0088] Finally, it should also be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the element.

[0089] The above provides a detailed introduction to a laser ranging device and a laser ranging method provided by the present invention. Specific examples are used in this text to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A laser ranging device, characterized in that, Comprising: A processor, a laser emission module, and a laser reception module; wherein, The laser emission module and the laser reception module are respectively connected to the processor; The laser emission module includes: a laser control module, a pulsed laser array, and a Dammann grating connected in sequence. The laser control module is connected to the processor. The laser pulse array includes a plurality of pulsed lasers. The laser control module is used to control the plurality of pulsed lasers to emit laser in sequence according to a preset pattern and frequency; The laser reception module includes: a laser ranging circuit, an array detector, and a receiving lens connected in sequence. The laser ranging circuit is connected to the processor; The receiving lens is used to receive the reflected laser. The array detector includes a plurality of array detection units. The array detector is used to convert the reflected laser into an electrical signal. The laser ranging circuit is used to obtain target information based on the electrical signal. The processor is used to obtain the target distance and intensity image based on the target information; In the array detector, each array detection unit corresponds to one pulsed laser, and each array detection unit is used to receive the laser emitted by one pulsed laser corresponding to it. Alternatively, each array detection unit corresponds to a plurality of pulsed lasers, and the array detection unit is used to receive the lasers emitted by a plurality of pulsed lasers corresponding to it, so that the laser ranging circuit only processes the electrical signals converted by the corresponding array detection unit each time; The laser reception module further includes: an electronic switch. The first end of the electronic switch is connected to the laser ranging circuit, and the second end of the electronic switch is connected to the array detection unit in the array detector; The processor is connected to the electronic switch, and the processor controls the on and off of the second end of the electronic switch and each array detection unit according to the designed logic rules; The Dammann grating includes a plurality of grating sub-regions. Each grating sub-region is opposite to the light outlet of one pulsed laser. The grating sub-region is used to generate a laser spot array by diffracting the laser emitted by the pulsed laser, and the laser spot array corresponds to the array detection unit of the array detector.

2. The laser ranging device according to claim 1, wherein The laser ranging circuit includes: a plurality of ranging sub-circuits; wherein, Each ranging sub-circuit corresponds to one detection unit, and the ranging sub-circuit is used to obtain the distance and intensity information of the target based on the electrical signal obtained by the detection unit corresponding to it.

3. The laser ranging device according to claim 1, wherein The laser control module is connected to the laser ranging circuit.

4. The laser distance measuring device according to claim 1, wherein The laser ranging device further includes: a display module. The display module is connected to the processor, and the display module is used to display the target distance and the target image.

5. A laser ranging method, using the laser ranging device as described in any one of claims 1-4, characterized in that, Comprising: The laser control module controls the plurality of pulsed lasers in the pulsed laser array to emit pulsed laser in sequence according to a preset frequency. After the laser emitted by each pulsed laser passes through its corresponding Dammann grating sub-region, a laser spot array is generated; The receiving lens receives the reflected laser of the laser; The array detector converts the reflected laser into an electrical signal. Among them, the array detector can detect different laser spot array signals; the array detector includes a plurality of array detection units, each of the array detection units corresponds to one of the pulsed lasers, and each of the array detection units is used to receive the laser emitted by one of the pulsed lasers corresponding to it. Or, each of the array detection units corresponds to a plurality of the pulsed lasers, and the array detection unit is used to receive the lasers emitted by the plurality of pulsed lasers corresponding to it, so that the laser ranging circuit only processes the electrical signals converted by the corresponding array detection unit each time. The laser ranging circuit obtains target information based on the electrical signal. The processor obtains the target distance and the target image based on the target information.

6. The laser ranging method according to claim 5, wherein Before the step in which the laser ranging circuit obtains target information based on the electrical signal, it further includes: The processor controls the on-off of the second end of the electronic switch and each of the array detection units according to the electrical signal, where the first end of the electronic switch is connected to the laser ranging circuit, and the second end of the electronic switch is connected to the array detection units in the array detector.

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