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: controlling a laser ranging device to emit ranging laser at a first power, and acquiring a first echo signal of the ranging laser emitted at the first power; when the peak value of the first echo signal is greater than or equal to a preset threshold, determining a second power according to the first power, wherein the first power is greater than the second power; controlling the laser ranging device to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power; when the peak value of the second echo signal is less than the preset threshold, determining a ranging result according to the peak value of the second echo signal. By adjusting the emission power of the laser ranging device, the present invention enables the peak value of the collected echo signal to be less than the preset threshold, accurately identifies the time point corresponding to the peak value of the echo signal, thereby reducing the measurement error.

Description

Technical Field

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

[0002] When calculating the distance of the laser echo signal by using the existing AD data acquisition, when the laser echo signal exceeds the AD data acquisition range, the laser echo signal collected by the AD is the full-scale value, and the software cannot accurately identify the wave peak corresponding to the echo signal, so the correct time point cannot be obtained, resulting in a large measurement error.

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

[0004] The main object of the present invention is to provide a laser ranging method, aiming to accurately identify the time point corresponding to the wave peak of the echo signal by adjusting the transmission power of the laser ranging device, reduce the measurement error, and solve the problem of large measurement error caused by the inability to obtain the correct time point.

[0005] To achieve the above object, the present invention provides a laser ranging method, which includes the following steps:

[0006] Control the laser ranging device to emit ranging laser at a first power, and obtain a first echo signal of the ranging laser emitted at the first power;

[0007] When the peak value of the first echo signal is greater than or equal to a preset threshold, determine a second power according to the first power, where the first power is greater than the second power;

[0008] Control the laser ranging device to emit the ranging laser at the second power, and obtain a second echo signal of the ranging laser emitted at the second power;

[0009] When the peak value of the second echo signal is less than the preset threshold, determine the ranging result according to the peak value of the second echo signal.

[0010] Further, the step of determining the second power according to the first power when the peak value of the first echo signal is greater than or equal to the preset threshold includes:

[0011] Obtain the pulse width corresponding to the first echo signal;

[0012] When the pulse width is greater than a preset value, adjust the emission voltage to a preset voltage as the second voltage, where the preset voltage is less than the first voltage corresponding to the first power;

[0013] When the pulse width is less than or equal to a preset value, use the voltage next in line to the first voltage as the second voltage;

[0014] Determine the corresponding second power according to the second voltage.

[0015] Further, before the step of controlling the laser ranging device to emit ranging laser at a first power and obtaining a first echo signal of the ranging laser emitted at the first power, the method further includes:

[0016] Obtain a plurality of voltage values, sort them according to the magnitudes of the voltage values, for adjusting the emission voltage when the peak value of the echo signal is greater than or equal to a preset threshold.

[0017] Further, the step of determining the ranging result according to the second echo signal peak value when the second echo signal peak value is less than the preset threshold includes:

[0018] Control the laser ranging device to emit the ranging laser multiple times at a second power, and obtain a plurality of second echo signals;

[0019] Determine the ranging result according to the plurality of second echo signals.

[0020] Further, the step of determining the ranging result according to the plurality of second echo signals includes:

[0021] Obtain the second echo signal multiple times, and determine the corresponding echo electrical signal data according to the second echo signal;

[0022] Determine an analog echo signal according to the echo electrical signal data;

[0023] Determine a target echo signal according to the superimposed plurality of analog echo signals;

[0024] Determine the ranging result according to the time point corresponding to the peak value of the target echo signal.

[0025] Further, the step of controlling the laser ranging device to emit ranging laser at a first power includes:

[0026] When receiving an adjustment power instruction, control the laser ranging device to emit laser at the maximum power.

[0027] To achieve the above object, the present invention further provides a laser ranging device, which includes a memory, a processor, and a laser ranging program stored on the memory and executable on the processor. When the laser ranging program is executed by the processor, it implements the steps of the laser ranging method described in any one of the above.

[0028] To achieve the above object, the present invention also 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 the laser ranging method described in any one of the above are implemented.

[0029] In the technical solution of the present invention, the laser ranging device is controlled to emit ranging laser at a first power, and a first echo signal of the ranging laser emitted at the first power is obtained; when the peak value of the first echo signal is greater than or equal to a preset threshold, a second power is determined according to the first power, wherein the first power is greater than the second power; the laser ranging device is controlled to emit the ranging laser at the second power, and a second echo signal of the ranging laser emitted at the second power is obtained; when the peak value of the second echo signal is less than the preset threshold, a ranging result is determined according to the peak value of the second echo signal. In this way, by adjusting the emission power of the laser ranging device, the peak value of the collected echo signal is made less than the preset threshold, and the time point corresponding to the peak value of the echo signal is accurately identified, thereby reducing the measurement error and solving the problem of large measurement error caused by the inability to obtain the correct time point. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment solution of the present invention;

[0031] Figure 2 is a schematic flowchart of an embodiment of the laser ranging method of the present invention;

[0032] Figure 3 is a detailed flowchart of step S20 in the laser ranging method of the present invention;

[0033] Figure 4 is a detailed flowchart of step S40 in the laser ranging method of the present invention.

[0034] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] The main technical solution of the present invention is:

[0037] Control the laser ranging device to emit ranging laser at a first power, and obtain a first echo signal of the ranging laser emitted at the first power;

[0038] When the peak value of the first echo signal is greater than or equal to a preset threshold, determine a second power according to the first power, where the first power is greater than the second power;

[0039] Control the laser ranging device to emit the ranging laser at the second power, and obtain a second echo signal of the ranging laser emitted at the second power;

[0040] When the peak value of the second echo signal is less than the preset threshold, determine a ranging result according to the peak value of the second echo signal.

[0041] In the related art, when the laser echo signal exceeds the AD data acquisition range, the laser echo signal collected by the AD is the full-scale value, and the software cannot accurately identify the peak corresponding to the echo signal, so the correct time point cannot be obtained, resulting in a large measurement error.

[0042] In the technical solution of the present invention, control the laser ranging device to emit the ranging laser at a first power, and obtain a first echo signal of the ranging laser emitted at the first power; when the peak value of the first echo signal is greater than or equal to a preset threshold, determine a second power according to the first power, where the first power is greater than the second power; control the laser ranging device to emit the ranging laser at the second power, and obtain a second echo signal of the ranging laser emitted at the second power; when the peak value of the second echo signal is less than the preset threshold, determine a ranging result according to the peak value of the second echo signal. In this way, by adjusting the emission power of the laser ranging device, the peak value of the collected echo signal is made less than the preset threshold, and the time point corresponding to the peak value of the echo signal is accurately identified, thereby reducing the measurement error and solving the problem of large measurement error caused by the inability to obtain the correct time point.

[0043] As Figure 1 shown, Figure 1 is a schematic diagram of the hardware operating environment of the terminal involved in the embodiment of the present invention.

[0044] As Figure 1 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. Among them, 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. Optionally, the user interface 1003 may further 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 also be a storage device independent of the aforementioned processor 1001.

[0045] Those skilled in the art can understand that Figure 1 the structure of the terminal shown in Figure 1 does not constitute a limitation on the terminal, and it may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0046] As Figure 1 shown, in the memory 1005 as a computer storage medium, an operating system, a network communication module, a user interface module, and a laser ranging program may be included.

[0047] In Figure 1 the terminal shown in Figure 1 , the network interface 1004 is mainly used to connect to the background server and communicate with the background server for data; the user interface 1003 is mainly used to connect to the client (user side) and communicate with the client for data; and the processor 1001 may be used to call the laser ranging program stored in the memory 1005 and perform the following operations:

[0048] Control the laser ranging device to emit ranging laser at a first power, and obtain a first echo signal of the ranging laser emitted at the first power;

[0049] When the peak value of the first echo signal is greater than or equal to a preset threshold, determine a second power according to the first power, where the first power is greater than the second power;

[0050] Control the laser ranging device to emit the ranging laser at the second power, and obtain a second echo signal of the ranging laser emitted at the second power;

[0051] When the peak value of the second echo signal is less than the preset threshold, determine the ranging result according to the peak value of the second echo signal.

[0052] Further, the processor 1001 may call the laser ranging program stored in the memory 1005 and further perform the following operations:

[0053] Obtain the pulse width corresponding to the first echo signal;

[0054] When the pulse width is greater than a preset value, adjust the emission voltage to a preset voltage as the second voltage, where the preset voltage is less than the first voltage corresponding to the first power;

[0055] When the pulse width is less than or equal to the preset value, use the next sequential voltage of the first voltage as the second voltage;

[0056] Determine the corresponding second power according to the second voltage.

[0057] Further, the processor 1001 may call the laser ranging program stored in the memory 1005 and further perform the following operations:

[0058] Obtain a plurality of voltage values, sort them according to the magnitudes of the voltage values, and use the sorted values to adjust the transmission voltage when the peak value of the echo signal is greater than or equal to a preset threshold.

[0059] Further, the processor 1001 may call the laser ranging program stored in the memory 1005 and further perform the following operations:

[0060] Control the laser ranging device to emit the ranging laser multiple times at a second power, and obtain a plurality of second echo signals;

[0061] Determine a ranging result based on the plurality of second echo signals.

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

[0063] Determine an analog echo signal based on the echo electrical signal data;

[0064] Determine a target echo signal based on the superimposed plurality of analog echo signals;

[0065] Determine a ranging result based on the time point corresponding to the peak value of the target echo signal.

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

[0067] When receiving an adjustment power instruction, control the laser ranging device to emit the laser at the maximum power.

[0068] As Figure 2 shown, in an embodiment of the present invention, the laser ranging method includes the following steps:

[0069] Step S10, control the laser ranging device to emit the ranging laser at a first power, and obtain a first echo signal of the ranging laser emitted at the first power;

[0070] In this embodiment, when the user uses the laser ranging device to measure the distance to a target object, control the laser ranging device to emit the ranging laser at a first power. After the ranging laser is emitted, it is reflected by the target object, and the laser ranging device receives the first echo signal corresponding to the ranging laser.

[0071] Step S20, when the peak value of the first echo signal is greater than or equal to a preset threshold, determine a second power according to the first power, where the first power is greater than the second power;

[0072] In this embodiment, after receiving the first echo signal, the peak value of the first echo signal is confirmed, and the peak value of the first echo signal is compared with a preset threshold. When the peak value of the first echo signal is greater than or equal to the preset threshold, the first power corresponding to the first echo signal is not the most suitable transmission power. Therefore, a second power is determined according to the first power, where the first power is greater than the second power. A plurality of transmission voltages are preset in the laser ranging device, and the plurality of transmission voltages correspond to powers. When the ranging laser is emitted according to the first power and the peak value of the received echo signal is greater than the preset threshold, the voltage is adjusted to be lower than the first voltage corresponding to the first power to obtain a corresponding second voltage, and the corresponding second power is determined according to the second voltage.

[0073] Step S30: Control the laser ranging device to emit the ranging laser at the second power and obtain a second echo signal of the ranging laser emitted at the second power;

[0074] In this embodiment, after the second power is determined according to the first power, control the laser ranging device to emit the ranging laser at the second power to the same target and receive a second echo signal reflected by the target.

[0075] Step S40: When the peak value of the second echo signal is less than the preset threshold, determine a ranging result according to the peak value of the second echo signal.

[0076] In this embodiment, receive the second echo signal corresponding to the ranging laser emitted by the control laser ranging device at the second power. When the peak value of the second echo signal is less than the preset threshold, the second power is the most suitable transmission power. After determining that the second power is the most suitable transmission power, control the laser ranging device to emit the ranging laser at the second power to the target and receive the corresponding echo signal, determine the time point corresponding to the peak of the echo signal, and determine the ranging result according to the time point and the propagation speed of the laser in the current environment, that is, the distance between the laser ranging device and the target. When the peak value of the second echo signal is equal to or greater than the preset threshold, use the second power as the first power and execute the step of determining the second power according to the first power until the peak value of the second echo signal is less than the preset threshold.

[0077] In summary, in the technical solution of the present invention, the laser ranging device is controlled to emit ranging laser at a first power, and a first echo signal of the ranging laser emitted at the first power is acquired. When the peak value of the first echo signal is greater than or equal to a preset threshold, a second power is determined according to the first power, where the first power is greater than the second power; the laser ranging device is controlled to emit the ranging laser at the second power, and a second echo signal of the ranging laser emitted at the second power is acquired; when the peak value of the second echo signal is less than the preset threshold, a ranging result is determined according to the peak value of the second echo signal. In this way, by adjusting the emission power of the laser ranging device, the peak value of the collected echo signal is made less than the preset threshold, and the time point corresponding to the peak value of the echo signal is accurately identified, thereby reducing the measurement error and solving the problem of large measurement error caused by the inability to obtain the correct time point.

[0078] As Figure 3 shown, in an embodiment of the present invention, the step S20 includes:

[0079] Step S21, obtaining the pulse width corresponding to the first echo signal;

[0080] Step S22, when the pulse width is greater than a preset value, adjusting the emission voltage to a preset voltage as the second voltage, where the preset voltage is less than the first voltage corresponding to the first power;

[0081] Step S23, when the pulse width is less than or equal to the preset value, using the voltage next in line to the first voltage as the second voltage;

[0082] Step S24, determining the corresponding second power according to the second voltage.

[0083] In this embodiment, multiple voltage levels are pre-stored in the laser ranging device, and the voltage level is adjusted according to the received echo signal. Among them, a preset voltage is set, and the preset voltage is not the adjacent voltage of the maximum voltage level. When the laser ranging device emits laser at the first power and the peak value of the received first echo signal is equal to or greater than the preset threshold, a target value is determined. Two time points, namely the rising time point and the falling time point, are determined in the first echo signal according to the target value. The pulse width corresponding to the first echo signal is determined according to the falling time point and the rising time point. For example, the rising point and the falling point identical to the target value in the echo signal are determined according to the target value, so as to determine the corresponding rising time point T0 and falling time point T1. The pulse width T can be determined by T1 - T0 = T. When the pulse width is greater than the preset value, it is determined that the peak value of the first echo signal is much greater than the preset threshold. Therefore, the emission voltage of the laser ranging device is adjusted to the preset voltage, and the preset voltage is less than the first voltage corresponding to the first power. When the pulse width is less than or equal to the preset value, it is determined that the peak value of the first echo signal is close to the preset threshold. Therefore, the voltage is adjusted to the next sequential voltage of the first voltage in the voltage level as the second voltage, and the corresponding second power is determined according to the second voltage, and the laser ranging device is controlled to emit laser at the second power. In this way, the emission power is adjusted according to the difference between the pulse width corresponding to the first echo signal and the preset value, so as to adjust to the appropriate emission power faster.

[0084] In an embodiment of the present invention, before the step S10, the following is further included:

[0085] Obtain multiple voltage values, sort them according to the magnitudes of the voltage values, for adjusting the emission voltage when the peak value of the echo signal is greater than or equal to the preset threshold.

[0086] In this embodiment, before controlling the laser ranging device to measure the distance to the target object, multiple voltage values are obtained and sorted according to the magnitudes of the voltage values, so that when the echo signal received by the laser ranging device exceeds the acquisition range, the voltage value smaller than the current voltage is determined as the emission voltage, and the corresponding emission power is determined according to the emission voltage.

[0087] As Figure 4 shown, in an embodiment of the present invention, the step S40 includes:

[0088] Step S41, controlling the laser ranging device to emit the ranging laser multiple times at the second power, and obtaining multiple second echo signals;

[0089] Step S42, determining the ranging result according to the multiple second echo signals.

[0090] In this embodiment, when the peak value of the second echo signal is less than the preset threshold, the second power corresponding to the second echo signal is the most appropriate transmission power. If the laser ranging device is only controlled to transmit a ranging signal once at the second power, there may be interference signals in the received second echo signal, thus affecting the ranging accuracy. Therefore, after determining that the second power is the most appropriate transmission power, the laser ranging device is controlled to transmit the ranging signal multiple times at the second power, so that the laser ranging device can obtain multiple echo signals, and the multiple echo signals are superimposed to remove the interference signals and improve the ranging accuracy of the laser ranging device. In this way, by controlling the laser ranging device to emit ranging laser at an appropriate power multiple times towards the target object, and receiving and superimposing multiple corresponding echo signals, the interference signals are removed and the measurement error is reduced.

[0091] In an embodiment of the present invention, step S42 includes:

[0092] Obtain the second echo signal multiple times, and determine the corresponding echo electrical signal data according to the second echo signal;

[0093] Determine the analog echo signal according to the echo electrical signal data;

[0094] Determine the target echo signal according to the multiple superimposed analog echo signals;

[0095] Determine the ranging result according to the time point corresponding to the peak value of the target echo signal.

[0096] In this embodiment, after the target object reflects the ranging laser multiple times, the laser ranging device obtains the corresponding echo signals multiple times and determines the corresponding echo electrical signal data. The echo electrical signal data is sorted according to the acquisition time, and the corresponding analog echo signal is determined according to the multiple echo electrical signal data within the same time period. The multiple analog echo electrical signals are superimposed to remove the interference signals in a single analog echo signal, thereby determining the target echo signal. Determine the time point corresponding to the peak value of the target echo signal, and according to the time point and the propagation speed of the laser in the current environment, the ranging result can be determined, that is, the distance between the laser ranging device and the target object. In this way, by emitting the ranging laser multiple times, determining and superimposing multiple echo signals, the interference signals are removed and the measurement error is reduced.

[0097] In an embodiment of the present invention, the step of controlling the laser ranging device to emit the ranging laser at the first power includes:

[0098] When receiving the power adjustment instruction, control the laser ranging device to emit the laser at the maximum power.

[0099] In this embodiment, when a power adjustment instruction is received, the maximum voltage value stored in the laser ranging device is determined, and the corresponding maximum power is determined according to the maximum voltage value. The laser ranging device is controlled to emit laser at the maximum power. If the received echo signal is greater than a preset threshold, the emission voltage is adjusted according to the stored and sorted voltage values to adjust the emission power, so as to find a suitable emission power, avoid the emission power being too large, the corresponding echo signal being greater than the acquisition range, resulting in an increase in measurement error, and avoid the emission power being too small, resulting in an increase in measurement error when the peak value of the echo signal is much smaller than the acquisition range.

[0100] To achieve the above object, the present invention also provides a laser ranging device, which includes a memory, a processor, and a laser ranging program stored on the memory and executable on the processor. When the laser ranging program is executed by the processor, the steps of the laser ranging method described in any one of the above are implemented.

[0101] To achieve the above object, the present invention also 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 the laser ranging method described in any one of the above are implemented.

[0102] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0103] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) as described above, and includes several instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0104] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally 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: Obtain a plurality of voltage values, sort them according to the magnitudes of the voltage values, and adjust the transmission voltage when the peak value of the echo signal is greater than or equal to a preset threshold; When receiving a power adjustment instruction, control the laser ranging device to emit ranging laser at a first power, and obtain a first echo signal of the ranging laser emitted at the first power; When the peak value of the first echo signal is greater than or equal to the preset threshold, determine a second power according to the first power, wherein the first power is greater than the second power; Control the laser ranging device to emit the ranging laser at the second power, and obtain a second echo signal of the ranging laser emitted at the second power; When the peak value of the second echo signal is less than the preset threshold, determine the ranging result according to the peak value of the second echo signal; wherein, the step of determining the second power according to the first power when the peak value of the first echo signal is greater than or equal to the preset threshold includes: Obtain the pulse width corresponding to the first echo signal; When the pulse width is greater than a preset value, adjust the transmission voltage to a preset voltage as the second voltage, wherein the preset voltage is less than the first voltage corresponding to the first power; When the pulse width is less than or equal to the preset value, use the voltage next in line to the first voltage as the second voltage; Determine the corresponding second power according to the second voltage.

2. The laser ranging method according to claim 1, characterized in that, the step of determining the ranging result according to the peak value of the second echo signal when the peak value of the second echo signal is less than the preset threshold includes: Control the laser ranging device to emit the ranging laser at the second power multiple times, and obtain multiple second echo signals; Determine the ranging result according to the multiple second echo signals.

3. The laser ranging method according to claim 2, characterized in that, the step of determining the ranging result according to the multiple second echo signals includes: Obtain the second echo signals multiple times, and determine the corresponding echo electrical signal data according to the second echo signals; Determine an analog echo signal according to the echo electrical signal data; Determine a target echo signal according to the multiple superimposed analog echo signals; Determine the ranging result according to the time point corresponding to the peak value of the target echo signal.

4. A laser ranging device, characterized in that, the laser ranging device includes a memory, a processor, and a laser ranging program stored on the memory and executable on the processor, and 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 3 are implemented.

5. A readable storage medium, characterized in that, a laser ranging program is stored on the readable storage medium, and when the laser ranging program is executed by a processor, the steps of the laser ranging method according to any one of claims 1 to 3 are implemented.

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