Laser ranging method, device and readable storage medium

Abstract

The present invention discloses a laser ranging method, device, and readable storage medium. The laser ranging method includes the following steps: emitting multiple laser signals toward a target within a preset time period; acquiring multiple echo electrical signal data corresponding to the multiple laser signals; sorting the echo electrical signal data based on the acquisition time of the multiple echo electrical signal data, and storing the sorted echo electrical signal data; determining a target echo signal based on multiple sets of phase-shifted signal data; and determining the separation distance between the laser ranging device and the target object based on the target echo signal. The present invention improves the acquisition density of the laser echo signal and eliminates the influence of interference signals, thereby improving the restoration of the laser echo signal and enhancing the accuracy of ranging.

Description

Technical Field

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

[0002] The existing method uses AD data to collect laser echo signals to calculate the distance to the object. Due to the different reflectivities of the measured objects, the echo signal intensities corresponding to different objects at the same distance are different. Therefore, there is a large error in measuring the distance of objects with different reflectivities at the same distance, and the distance measurement accuracy is low.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide a laser ranging method, which aims to improve the ranging accuracy by increasing the acquisition density of laser echo signals and solving the problem of low ranging accuracy.

[0005] In order to achieve the above object, the present invention provides a laser ranging method, which comprises the following steps:

[0006] emitting a plurality of laser signals toward a target object within a preset time period;

[0007] Acquire a plurality of echo electrical signal data corresponding one-to-one to the plurality of laser signals;

[0008] sorting the echo electrical signal data based on the acquisition time of the plurality of echo electrical signal data, and using the sorted echo electrical signal data as a group of phase-shifted signal data;

[0009] determining a target echo signal according to the plurality of groups of phase-shifted signal data;

[0010] The distance between the laser ranging device and the target object is determined according to the target echo signal.

[0011] Furthermore, the step of emitting a plurality of laser signals toward the target object within a preset time period includes:

[0012] Setting a total number of phase shifts, setting a phase, and determining the number of phase shifts corresponding to the phase, wherein the interval between adjacent phases is the phase shift time, and the phase shift time is determined according to the cycle length and the total number of phase shifts;

[0013] emitting a laser signal toward a target object according to the phase;

[0014] When the number of phase shifts corresponding to the phase is less than the total number of phase shifts, a next phase is set and a laser signal is emitted toward the target according to the next phase.

[0015] Furthermore, the step of determining the target echo signal according to the multiple sets of phase-shifted signal data includes:

[0016] Determining the phase corresponding to each echo electrical signal data in each group of the phase-shifted signal data;

[0017] The echo electrical signal data with the same phase are added together to obtain the target echo signal.

[0018] Furthermore, after the step of determining the target echo signal according to the multiple groups of phase-shifted signals, the method further includes:

[0019] When the peak value of the target echo signal is less than the acquisition range, determining the interval distance between the laser ranging device and the target object according to the first target time point corresponding to the peak value of the target echo signal;

[0020] When the peak value of the target echo signal is equal to or greater than the acquisition range, any value within the acquisition range is determined as the target value, and the interval distance between the laser ranging device and the target object is determined according to the target value.

[0021] Furthermore, the step of determining any value within the acquisition range as a target value and determining the interval distance between the laser ranging device and the target object according to the target value includes:

[0022] Determine any value within the acquisition range as the target value;

[0023] Determining a time point corresponding to the target echo signal having the same target value and determining a pulse width;

[0024] Determining a second target time point corresponding to the target echo signal peak according to the pulse width and a preset function, wherein the preset function is a functional relationship between the pulse width and the time point corresponding to the echo signal peak;

[0025] The interval distance between the laser ranging device and the target object is determined according to the second target time point.

[0026] Furthermore, the step of determining the time point corresponding to the target echo signal having the same target value and determining the pulse width includes:

[0027] Determining a rising time point and a falling time point corresponding to the target echo signal having the same target value;

[0028] The time difference between the rising time point and the falling time point is used as the pulse width.

[0029] Furthermore, the step of determining the interval distance between the laser ranging device and the target object according to the target echo signal includes:

[0030] determining a peak value of the target echo signal;

[0031] A third target time point corresponding to the peak is determined, and the interval distance between the laser ranging device and the target object is determined according to the third target time point.

[0032] In order to achieve the above-mentioned object, the present invention also provides a laser ranging device, which includes a memory, a processor, and a laser ranging program stored in the memory and executable on the processor. When the laser ranging program is executed by the processor, the steps of any one of the above-mentioned laser ranging methods are implemented.

[0033] In order to achieve the above-mentioned object, the present invention further provides a readable storage medium, on which a laser ranging program is stored. When the laser ranging program is executed by a processor, the steps of any one of the above-mentioned laser ranging methods are implemented.

[0034] In the technical solution of the present invention, multiple laser signals are emitted toward a target within a preset time period; multiple echo electrical signal data corresponding to the multiple laser signals are obtained; the echo electrical signal data are sorted based on the acquisition time of the multiple echo electrical signal data, and the sorted echo electrical signal data are sorted; the target echo signal is determined based on the multiple sets of phase-shifted signal data; and the distance between the laser ranging device and the target object is determined based on the target echo signal. By sending laser signals multiple times within a preset time period and collecting the corresponding laser echo signals, the present invention improves the acquisition density of the laser echo signals, eliminates the influence of interference signals, thereby improving the restoration of the laser echo signals and enhancing the accuracy of ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the hardware operating environment of the embodiment of the present invention;

[0036] Figure 2 This is a flow chart of an embodiment of a laser ranging method according to the present invention;

[0037] Figure 3 This is a flow chart of an embodiment of a laser ranging method according to the present invention;

[0038] Figure 4 Schematic diagram of a detailed flow chart of step S700 in an embodiment of the laser ranging method of the present invention.

[0039] Figure 5 Schematic diagram of a phase-shifted waveform of a trigger signal in an embodiment of a laser ranging method of the present invention;

[0040] Figure 6A schematic diagram showing a target echo signal smaller than the acquisition range of a laser ranging device in an embodiment of the laser ranging method of the present invention;

[0041] Figure 7 This is a schematic diagram of a target echo signal exceeding the acquisition range of a laser ranging device in an embodiment of the laser ranging method of the present invention.

[0042] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0044] The main technical solutions of the present invention are:

[0045] emitting a plurality of laser signals toward a target object within a preset time period;

[0046] Acquire a plurality of echo electrical signal data corresponding one-to-one to the plurality of laser signals;

[0047] sorting the echo electrical signal data based on the acquisition time of the plurality of echo electrical signal data, and using the sorted echo electrical signal data as a group of phase-shifted signal data;

[0048] determining a target echo signal according to the plurality of groups of phase-shifted signal data;

[0049] The distance between the laser ranging device and the target object is determined according to the target echo signal.

[0050] In related technologies, AD data is used to collect laser echo signals to calculate the distance to the object. Since the reflectivity of the measured objects is different, the echo signal intensities corresponding to different objects at the same distance are different. Therefore, there is a problem of large distance error when measuring objects with different reflectivity at the same distance, and low ranging accuracy.

[0051] In the technical solution of the present invention, multiple laser signals are emitted toward a target within a preset time period; multiple echo electrical signal data corresponding to the multiple laser signals are obtained; the echo electrical signal data are sorted based on the acquisition time of the multiple echo electrical signal data, and the sorted echo electrical signal data are sorted; the target echo signal is determined based on the multiple sets of phase-shifted signal data; and the distance between the laser ranging device and the target object is determined based on the target echo signal. By sending laser signals multiple times within a preset time period and collecting the corresponding laser echo signals, the present invention improves the acquisition density of the laser echo signals, eliminates the influence of interference signals, thereby improving the restoration of the laser echo signals and enhancing the accuracy of ranging.

[0052] like Figure 1 As shown, Figure 1 It is a schematic diagram of the hardware operating environment of the terminal involved in the embodiment of the present invention.

[0053] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a touch screen and / or buttons, etc., and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0054] Those skilled in the art will understand that Figure 1 The structure of the terminal shown in the figure does not constitute a limitation of the terminal, and the terminal may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0055] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a laser ranging program.

[0056] exist Figure 1 In the terminal shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the laser ranging program stored in the memory 1005 and perform the following operations:

[0057] emitting a plurality of laser signals toward a target object within a preset time period;

[0058] Acquire a plurality of echo electrical signal data corresponding one-to-one to the plurality of laser signals;

[0059] sorting the echo electrical signal data based on the acquisition time of the plurality of echo electrical signal data, and using the sorted echo electrical signal data as a group of phase-shifted signal data;

[0060] determining a target echo signal according to the plurality of groups of phase-shifted signal data;

[0061] The distance between the laser ranging device and the target object is determined according to the target echo signal.

[0062] Furthermore, the processor 1001 may call the laser ranging program stored in the memory 1005 and perform the following operations:

[0063] Setting a total number of phase shifts, setting a phase, and determining the number of phase shifts corresponding to the phase, wherein the interval between adjacent phases is the phase shift time, and the phase shift time is determined according to the cycle length and the total number of phase shifts;

[0064] emitting a laser signal toward a target object according to the phase;

[0065] When the number of phase shifts corresponding to the phase is less than the total number of phase shifts, a next phase is set and a laser signal is emitted toward the target according to the next phase.

[0066] Furthermore, the processor 1001 may call the laser ranging program stored in the memory 1005 and perform the following operations:

[0067] Determining the phase corresponding to each echo electrical signal data in each group of the phase-shifted signal data;

[0068] The echo electrical signal data with the same phase are added together to obtain the target echo signal.

[0069] Furthermore, the processor 1001 may call the laser ranging program stored in the memory 1005 and perform the following operations:

[0070] When the peak value of the target echo signal is less than the acquisition range, determining the interval distance between the laser ranging device and the target object according to the first target time point corresponding to the peak value of the target echo signal;

[0071] When the peak value of the target echo signal is equal to or greater than the acquisition range, any value within the acquisition range is determined as the target value, and the interval distance between the laser ranging device and the target object is determined according to the target value.

[0072] Furthermore, the processor 1001 may call the laser ranging program stored in the memory 1005 and perform the following operations:

[0073] Determine any value within the acquisition range as the target value;

[0074] Determining a time point corresponding to the target echo signal having the same target value and determining a pulse width;

[0075] Determining a second target time point corresponding to the target echo signal peak according to the pulse width and a preset function, wherein the preset function is a functional relationship between the pulse width and the time point corresponding to the echo signal peak;

[0076] The interval distance between the laser ranging device and the target object is determined according to the second target time point.

[0077] Furthermore, the processor 1001 may call the laser ranging program stored in the memory 1005 and perform the following operations:

[0078] Determining a rising time point and a falling time point corresponding to the target echo signal having the same target value;

[0079] The time difference between the rising time point and the falling time point is used as the pulse width.

[0080] Furthermore, the processor 1001 may call the laser ranging program stored in the memory 1005 and perform the following operations:

[0081] determining a peak value of the target echo signal;

[0082] A third target time point corresponding to the peak is determined, and the interval distance between the laser ranging device and the target object is determined according to the third target time point.

[0083] like Figure 2 As shown, in one embodiment of the present invention, the laser ranging method includes the following steps:

[0084] Step S100, emitting multiple laser signals toward a target object within a preset time period;

[0085] In this embodiment, the laser ranging device generates a ranging start signal under user operation, which triggers the start of laser emission and AD reading. Figure 5 The phase of Launch_0 in the figure, wherein Launch_0 is the trigger signal for laser emission. After emitting a laser signal according to the trigger signal, the phase of the next trigger signal is set, and the number of phase shifts is recorded until the number of phase shifts corresponding to the phase is equal to the total number of phase shifts. The preset time period refers to the cycle length, and the total number of phase shifts is set. The interval time between each trigger signal is determined according to the cycle length and the total number of phase shifts, so as to determine the next phase according to the current phase and the interval time of the trigger signal. Each time a laser signal is emitted according to a trigger signal, a set of echo electrical signal data will be collected. When a laser is emitted according to trigger signals corresponding to multiple phases, multiple sets of echo electrical signal data will be collected. The more laser signals the laser ranging device emits within the preset time, the higher the degree of restoration of the laser echo signal restored according to the corresponding echo electrical signal data, and thus the accuracy of the interval distance between the laser device and the target object determined according to the laser echo signal is higher.

[0086] Step S200, obtaining a plurality of echo electrical signal data corresponding one-to-one to the plurality of laser signals;

[0087] In this embodiment, the target reflects the laser signal emitted by the laser ranging device back to the laser ranging device, which then receives and records the corresponding echo signal data. The laser ranging device transmits multiple laser signals within a preset time period and receives and records the corresponding multiple echo signal data. This allows the corresponding laser echo signal to be restored based on the echo signal data within the same time period, i.e., within a cycle.

[0088] Step S300, sorting the echo electrical signal data based on the acquisition time of the plurality of echo electrical signal data, and using the sorted echo electrical signal data as a group of phase-shifted signal data;

[0089] In this embodiment, because the laser ranging device emits laser signals based on multiple trigger signals, and these trigger signals are timed and aligned, after being reflected by an object, the laser signals return to the laser ranging device in a sequential order. Consequently, the acquisition times of the multiple echo electrical signal data are also sequential. The echo electrical signal data are sorted according to their corresponding acquisition times, and the sorted echo electrical signal data are used as a set of phase-shifted signal data. Repeating the above steps multiple times yields multiple sets of phase-shifted signal data.

[0090] Step S400, determining a target echo signal according to the multiple sets of phase-shifted signal data;

[0091] In this embodiment, after receiving multiple sets of phase-shifted signal data, the laser ranging device adds the echo electrical signal data with the same phase within the multiple sets of phase-shifted signal data to obtain a target echo signal. The multiple echo electrical signal data are superimposed, and the overlapping portion of the majority of the echo electrical signal data is used as the target echo signal. Since interference signals only appear occasionally in individual echo electrical signal data, it is unlikely that the same interference signal will be present in a majority of the echo electrical signal data. Therefore, the target echo signal can be obtained by superimposing the multiple echo electrical signal data.

[0092] Step S500: determining the distance between the laser ranging device and the target object according to the target echo signal.

[0093] In this embodiment, after determining the target echo signal, the peak of the target echo signal is determined, and the time point corresponding to the peak is determined. The distance between the laser ranging device and the target object can be determined based on the time point corresponding to the peak of the target echo signal and the propagation speed of the laser in the current environment. When the target echo signal is within the acquisition range, the distance between the laser ranging device and the target object can be directly calculated based on the time point corresponding to the peak of the target echo signal. When the target echo signal is outside the acquisition range, a value within the acquisition range is required as a target value to determine the corresponding pulse width based on the target value. The time point corresponding to the peak of the target echo signal is then determined based on the functional relationship between the pulse width and the peak time point, and the distance between the laser ranging device and the target object is determined based on the time point corresponding to the peak of the target echo signal.

[0094] In summary, the technical solution of the present invention involves emitting multiple laser signals toward a target within a preset time period; acquiring multiple echo electrical signal data corresponding one-to-one to the multiple laser signals; sorting the echo electrical signal data based on the acquisition time of the multiple echo electrical signal data, and then sorting the sorted echo electrical signal data; determining the target echo signal based on multiple sets of phase-shifted signal data; and determining the separation distance between the laser ranging device and the target object based on the target echo signal. By transmitting laser signals multiple times within a preset time period and acquiring corresponding laser echo signals, the present invention increases the acquisition density of the laser echo signals, eliminates the influence of interference signals, and thereby improves the restoration of the laser echo signals and the accuracy of ranging.

[0095] In one embodiment of the present invention, step S100 includes:

[0096] Setting a total number of phase shifts, setting a phase, and determining the number of phase shifts corresponding to the phase, wherein the interval between adjacent phases is the phase shift time, and the phase shift time is determined according to the cycle length and the total number of phase shifts;

[0097] emitting a laser signal toward a target object according to the phase;

[0098] When the number of phase shifts corresponding to the phase is less than the total number of phase shifts, a next phase is set and a laser signal is emitted toward the target according to the next phase.

[0099] In this embodiment, the phase and the total number of phase shifts are set, and the interval between trigger signals, i.e., the phase shift time, is determined according to the cycle length and the total number of phase shifts, so that the phase corresponding to the next trigger signal is set according to the current phase and the interval between the trigger signals. Figure 5As shown, Launch_0 is the trigger signal, and Launch_1 is the next trigger signal determined based on Launch_0 and the phase shift time. The number of phase shifts for the current phase is determined. If the number of phase shifts is less than or equal to the total number of phase shifts, a laser signal is transmitted according to the trigger signal corresponding to the current phase. The next phase is determined based on the current phase and the phase shift time, and the number of phase shifts corresponding to the next phase is determined to determine whether to transmit a laser signal according to the next phase.

[0100] In one embodiment of the present invention, step S400 includes:

[0101] Determining the phase corresponding to each echo electrical signal data in each group of the phase-shifted signal data;

[0102] The echo electrical signal data with the same phase are added together to obtain the target echo signal.

[0103] In this embodiment, a laser signal is emitted according to a set of trigger signals to obtain a set of phase-shifted signals. The steps of emitting laser signals according to a set of trigger signals are repeated to obtain multiple sets of phase-shifted signals. Among these multiple sets of phase-shifted signals, echo electrical signal data with the same phase are summed, and these echo electrical signal data may contain interference signals. These echo electrical signal data with the same phase are superimposed, and the overlapped portion of the echo electrical signal data is used as the target echo signal. Since interference signals only occur occasionally in individual echo electrical signal data and generally do not exist in the majority of echo electrical signal data, multiple echo electrical signal data are superimposed to obtain the target echo signal. In this manner, by controlling the laser ranging device to perform multiple measurements, multiple echo electrical signal data are obtained. Superimposing these multiple echo electrical signal data can eliminate jitter interference and improve the ranging accuracy of the ranging device.

[0104] like Figure 3 As shown, in one embodiment of the present invention, after step S500, the following steps are further included:

[0105] Step S600, when the peak value of the target echo signal is less than the acquisition range, determining the interval distance between the laser ranging device and the target object according to the first target time point corresponding to the peak value of the target echo signal;

[0106] Step S700: When the peak value of the target echo signal is equal to or greater than the acquisition range, any value within the acquisition range is determined as a target value, and the interval distance between the laser ranging device and the target object is determined according to the target value.

[0107] In this embodiment, after determining the target echo signal, it is determined whether the waveform peak of the target echo signal is greater than the acquisition range. Figure 6 As shown, when the peak value of the target echo signal waveform is less than the acquisition range, the first target time point corresponding to the peak value of the target echo signal can be directly obtained, and the distance between the laser device and the target object can be determined based on the first target time point and the propagation speed of the laser in the current environment. Figure 7 As shown, when the peak value of the target echo signal waveform is equal to or greater than the acquisition range, the peak value of the target echo signal cannot be determined, and therefore the corresponding target time point cannot be determined. Therefore, it is necessary to calculate the pulse width corresponding to the target echo signal, and determine the second target time point based on the functional relationship between the pulse width and the peak time point. The distance between the laser device and the target object can be determined based on the second target time point and the propagation speed of the laser in the current environment. By controlling the laser ranging device to perform multiple measurements, multiple simulated echo signals are obtained, and the multiple simulated echo signals are superimposed to determine the corresponding target echo signal. The distance between the laser ranging device and the target object is determined based on the time point corresponding to the peak value of the target echo signal, and jitter interference is removed to achieve the purpose of improving the ranging accuracy of the ranging device.

[0108] like Figure 4 As shown, in one embodiment of the present invention, step S700 includes:

[0109] Step S710, determining any value within the acquisition range as a target value;

[0110] Step S720, determining a time point corresponding to the target echo signal having the same value as the target value and determining a pulse width;

[0111] Step S730, determining a second target time point corresponding to the target echo signal peak according to the pulse width and a preset function, wherein the preset function is a functional relationship between the pulse width and the time point corresponding to the echo signal peak;

[0112] Step S740: determining the interval distance between the laser ranging device and the target object according to the second target time point.

[0113] In this embodiment, if Figure 7As shown, when the peak value of the waveform of the target echo signal is equal to or greater than the acquisition range, any value within the acquisition range is determined as the target value. If there are two values in the target echo signal that are identical to the target value, time points T1 and T0 corresponding to the values identical to the target value are obtained, where time point T1 is greater than time point T0, and pulse width T can be obtained by T1-T0=T. Based on the currently obtained pulse width T and the functional relationship between the pulse width and peak time point T2, the second target time point corresponding to the peak is determined. Based on the second target time point and the propagation speed of the laser in the current environment, the distance between the laser ranging device and the target object can be determined.

[0114] In one embodiment of the present invention, step S720 includes:

[0115] Determining a rising time point and a falling time point corresponding to the target echo signal having the same target value;

[0116] The time difference between the rising time point and the falling time point is used as the pulse width.

[0117] In this embodiment, because the peak value of the target echo signal is greater than the acquisition range, while the target value is within the acquisition range, the target echo signal has two time points corresponding to values that are identical to the target value: one rising point and one falling point. The rising point and the falling point are located based on the target value, and the rising time point corresponding to the rising point and the falling time point corresponding to the falling point are determined. The time difference between the falling time point and the rising time point is used as the pulse width. Based on this pulse width, the time point corresponding to the target echo signal is determined, thereby determining the distance between the laser ranging device and the target object.

[0118] In one embodiment of the present invention, step S500 includes:

[0119] determining a peak value of the target echo signal;

[0120] A third target time point corresponding to the peak is determined, and the interval distance between the laser ranging device and the target object is determined according to the third target time point.

[0121] In this embodiment, after determining the target echo signal, the peak value of the target echo signal is determined. The time point corresponding to the peak value of the target echo signal is used as a third target time point. The distance between the laser device and the target object can be determined based on the third target time point and the propagation speed of the laser in the current environment.

[0122] In order to achieve the above-mentioned object, the present invention also provides a laser ranging device, which includes a memory, a processor, and a laser ranging program stored in the memory and executable on the processor. When the laser ranging program is executed by the processor, the steps of any one of the above-mentioned laser ranging methods are implemented.

[0123] In order to achieve the above-mentioned object, the present invention further provides a readable storage medium, on which a laser ranging program is stored. When the laser ranging program is executed by a processor, the steps of any one of the above-mentioned laser ranging methods are implemented.

[0124] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0125] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0126] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A laser ranging method, characterized in that: The laser ranging method comprises the following steps: emitting a plurality of laser signals toward a target object within a preset time period; Acquire a plurality of echo electrical signal data corresponding one-to-one to the plurality of laser signals; sorting the echo electrical signal data based on the acquisition time of the plurality of echo electrical signal data, and using the sorted echo electrical signal data as a group of phase-shifted signal data; determining a target echo signal according to the plurality of groups of phase-shifted signal data; Determine the distance between the laser ranging device and the target object according to the target echo signal; Determining the target echo signal according to the multiple sets of phase-shifted signal data includes: When the peak value of the target echo signal is less than the acquisition range, determining the interval distance between the laser ranging device and the target object according to the first target time point corresponding to the peak value of the target echo signal; When the peak value of the target echo signal is equal to or greater than the acquisition range, any value within the acquisition range is determined as the target value, and the interval distance between the laser ranging device and the target object is determined according to the target value.

2. The laser ranging method according to claim 1, wherein: The step of emitting a plurality of laser signals toward the target object within a preset time period includes: Setting a total number of phase shifts, setting a phase corresponding to a trigger signal, and determining a number of phase shifts corresponding to the phase, wherein adjacent phases have an equal phase difference, and the phase difference is determined according to a cycle length and a total number of phase shifts; emitting a laser signal toward a target object according to the trigger signal; When the number of phase shifts corresponding to the phase of the trigger signal is less than the total number of phase shifts, a next phase is set and a laser signal is emitted toward the target according to the trigger signal corresponding to the next phase.

3. The laser ranging method according to claim 1, wherein: The step of determining the target echo signal according to the multiple sets of phase-shifted signal data includes: Determining the phase corresponding to each echo electrical signal data in each group of the phase-shifted signal data; The echo electrical signal data with the same phase are added together to obtain the target echo signal.

4. The laser ranging method according to claim 1, wherein: The step of determining any value within the acquisition range as a target value and determining the interval distance between the laser ranging device and the target object according to the target value includes: Determine any value within the acquisition range as the target value; Determining a time point corresponding to the target echo signal having the same target value and determining a pulse width; Determining a second target time point corresponding to the target echo signal peak according to the pulse width and a preset function, wherein the preset function is a functional relationship between the pulse width and the time point corresponding to the echo signal peak; The interval distance between the laser ranging device and the target object is determined according to the second target time point.

5. The laser ranging method according to claim 4, wherein: The step of determining the time point corresponding to the target echo signal having the same target value and determining the pulse width comprises: Determining a rising time point and a falling time point corresponding to the target echo signal having the same target value; The time difference between the rising time point and the falling time point is used as the pulse width.

6. The laser ranging method according to claim 1, wherein: The step of determining the interval distance between the laser ranging device and the target object according to the target echo signal includes: determining a peak value of the target echo signal; A third target time point corresponding to the peak is determined, and the interval distance between the laser ranging device and the target object is determined according to the third target time point.

7. A laser ranging device, characterized in that: The laser ranging device includes a memory, a processor, and a laser ranging program stored in the memory and executable on the processor. When the laser ranging program is executed by the processor, the steps of the laser ranging method according to any one of claims 1 to 6 are implemented.

8. A readable storage medium, characterized in that: The readable storage medium stores a laser ranging program, which, when executed by a processor, implements the steps of the laser ranging method according to any one of claims 1 to 6.

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