Anti-interference ranging method, device, electronic equipment and storage medium of laser radar

Abstract

The present invention discloses an anti-interference ranging method, device, electronic device and storage medium of a laser radar. The present invention inputs the echo signal of an object to be measured into two voltage comparators with different reference voltage values, so as to judge whether the echo signal is interfered with, and when it is judged that the signal is interfered with, calculates the optimal voltage value that can filter out the interference signal, thereby adjusting the actual working voltage of the laser radar to the calculated optimal working voltage, thereby filtering out the interference of rain, snow and other environments on the echo signal, obtaining an effective echo signal, and finally achieving the purpose of improving the ranging accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser radar ranging, and specifically relates to an anti-interference ranging method, device, electronic equipment and storage medium of a laser radar. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. LiDAR ranging plays an indispensable role in the distance perception link in many fields due to its excellent characteristics. However, since LiDAR uses an active laser ranging method, it is easily interfered when encountering bad weather such as rain, snow and fog when used outdoors. That is, when the laser emitted by LiDAR detects rain, snow and fog, an echo signal will be received by the receiver, causing misdetection, which in turn affects the use effect of LiDAR and the expansion of its application scenarios.

[0003] At present, in order to enable the laser radar to work normally in harsh environments such as rain and snow, a multi-echo mode is usually used for ranging. The principle is: since objects such as rain and snow cover the surface of the object to be measured, when multiple echoes are received, the last echo signal is used as the effective signal. The above-mentioned ranging method can avoid measurement errors to a certain extent. However, when the object to be measured is close to the laser radar, the signals of rain and snow are superimposed on the signal of the object to be measured and cannot be distinguished as two signals. At this time, the radar ranging will be misjudged, resulting in inaccurate ranging. Therefore, it is urgent to provide an interference-proof ranging method. Summary of the invention

[0004] The purpose of the present invention is to provide an anti-interference ranging method, device, electronic device and storage medium for laser radar, so as to solve the problem that in the existing multi-echo ranging method, when the object to be measured is close to the laser radar, the signals of rain and snow will be superimposed on the signal of the object to be measured, so that they cannot be distinguished as two signals, thereby causing inaccurate radar ranging.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides an anti-interference ranging method for a laser radar, comprising:

[0007] Acquire an echo signal reflected by the object to be measured after the laser radar emits a laser to the object to be measured;

[0008] Inputting the echo signal into two voltage comparators respectively to obtain the starting time and the ending time of the output signals corresponding to the two voltage comparators, wherein the two voltage comparators are respectively a first voltage comparator and a second voltage comparator, and the reference voltage value of the first voltage comparator is less than the reference voltage value of the second voltage comparator;

[0009] Based on the starting time and the end time of the output signals corresponding to the two voltage comparators, a first time, a second time and the pulse width of the output signals corresponding to the two voltage comparators are obtained, wherein the first time is the difference between the starting time of the output signal corresponding to the first voltage comparator and the emission time of the laser, and the second time is the difference between the starting time of the output signal corresponding to the second voltage comparator and the emission time of the laser;

[0010] According to the first time and the second time, searching the database for a first standard pulse width and a second standard pulse width;

[0011] Based on the first standard pulse width, the second standard pulse width and the pulse widths of the corresponding output signals of the two voltage comparators, determining whether the echo signal is a signal that has been interfered with;

[0012] If yes, determining the optimal operating voltage of the laser radar based on the first time, the second time, the reference voltage value of the first voltage comparator, and the reference voltage value of the second voltage comparator;

[0013] The actual operating voltage of the laser radar is adjusted to the optimal operating voltage, so that after the voltage is adjusted, an echo signal with interference removed is obtained.

[0014] Based on the above disclosed content, in the actual measurement process of the present invention, the received echo signals are respectively input into two voltage comparators with different reference voltage values ​​for voltage comparison, so as to obtain the starting time and the end time of the two output signals. Then, the starting time and the end time of the two output signals can be used to calculate the pulse width of the two output signals, as well as the time difference between the starting time and the laser emission time of each output signal. Then, the above-mentioned time difference can be used to find out the first standard pulse width corresponding to the first voltage comparator and the second standard pulse width corresponding to the second voltage comparator from the database. Thus, the first standard pulse width, the second standard pulse width and the pulse width of the two output signals can be used to judge whether the echo signal is interfered by rain, snow and other environments. If interference exists, the above-mentioned time difference and the reference voltage values ​​of the two voltage comparators are used to calculate the optimal working voltage of the laser radar, so as to use the optimal working voltage as the actual working voltage of the laser radar, re-perform radar ranging, and obtain the echo signal after interference is removed.

[0015] Through the above design, the present invention inputs the echo signal of the object to be measured into two voltage comparators with different reference voltage values, so as to determine whether the echo signal is interfered with, and when it is determined that the signal is interfered with, calculates the optimal voltage value that can filter out the interference signal. Therefore, by adjusting the actual working voltage of the laser radar to the calculated optimal working voltage, the power of the laser radar can be adjusted, thereby filtering out the interference of rain, snow and other environments on the echo signal, obtaining an effective echo signal, and finally achieving the purpose of improving the ranging accuracy.

[0016] In a possible design, a standard pulse width table is stored in the database, wherein the standard pulse width table includes a plurality of measurement times, and a first standard pulse width and a second standard pulse width corresponding to each measurement time in the plurality of measurement times, and the first standard pulse width is a pulse width obtained by the first voltage comparator, and the second standard pulse width is a pulse width obtained by the second voltage comparator;

[0017] Wherein, searching the database for the first standard pulse width and the second standard pulse width according to the first time and the second time includes:

[0018] Calculating a time difference between the second time and the first time, and based on the time difference, searching the standard pulse width table for a measurement time equal to the time difference as a matching time;

[0019] Based on the matching time, the first standard pulse width and the second standard pulse width are found in the standard pulse width table.

[0020] Based on the above disclosed content, the present invention discloses a specific search method for the first standard pulse width and the second standard pulse width, wherein the present invention presets a pulse width table in the database. Therefore, when searching, the time difference between the second time and the first time is calculated first, and then the measurement time equal to the time difference is found in the standard pulse width table. Finally, the first standard pulse width and the second standard pulse width corresponding to the found measurement time can be used as the search result.

[0021] In a possible design, judging whether the echo signal is an interfered signal based on the first standard pulse width, the second standard pulse width, and pulse widths of output signals corresponding to two voltage comparators includes:

[0022] Determine whether the absolute value of the difference between the pulse width of the output signal corresponding to the first voltage comparator and the first standard pulse width is less than a preset threshold; or

[0023] Determine whether the absolute value of the difference between the pulse width of the output signal corresponding to the second voltage comparator and the second standard pulse width is less than a preset threshold;

[0024] If so, it is determined that the echo signal is a normal signal; otherwise, it is determined that the echo signal is a interfered signal.

[0025] Based on the above disclosed content, the present invention discloses a specific method for determining whether an echo signal is interfered with, that is, determining whether the absolute value of the difference between the pulse width value of the output signal corresponding to the first voltage comparator and the first standard pulse width is within a preset threshold (such as less than 100ns), or determining whether the absolute value of the difference between the pulse width value of the output signal corresponding to the second voltage comparator and the second standard pulse width is within a preset threshold. When one of the two is met, it can be determined that the echo signal is not interfered with; otherwise, it is considered that the echo signal is interfered with and power adjustment is required.

[0026] In one possible design, determining the optimal operating voltage of the laser radar based on the first time, the second time, the reference voltage value of the first voltage comparator, and the reference voltage value of the second voltage comparator includes:

[0027] Obtaining the transmit pulse width of the laser radar;

[0028] Obtaining an interference signal voltage value in the echo signal according to the first time, the second time, the transmit pulse width, a reference voltage value of the first voltage comparator, and a reference voltage value of the second voltage comparator;

[0029] Acquire the actual power of the laser radar, wherein the actual power is the power corresponding to when the laser radar emits the laser;

[0030] Obtaining an optimal power value of the laser radar based on the interference signal voltage value, the actual power, and a reference voltage value of the first voltage comparator;

[0031] According to the optimal power value, the optimal operating voltage of the laser radar is determined in the power-voltage comparison table.

[0032] Based on the above disclosed content, the present invention first calculates the corresponding power when the laser radar can filter out the interference signal, and then finds the voltage value corresponding to the power in the power-voltage comparison table. Finally, the found voltage value can be used as the optimal working voltage, thereby realizing the adjustment of the laser radar output power to achieve the purpose of filtering out the interference signal.

[0033] In one possible design, obtaining an interference signal voltage value in the echo signal according to the first time, the second time, the transmit pulse width, a reference voltage value of the first voltage comparator, and a reference voltage value of the second voltage comparator includes:

[0034] Calculating a time difference between the second time and the first time, and multiplying the time difference by the transmit pulse width to obtain a first calculated value;

[0035] calculating a difference between a reference voltage value of the second voltage comparator and a reference voltage value of the first voltage comparator as a second calculated value;

[0036] The interference signal voltage value is obtained by dividing the second calculated value by the first calculated value.

[0037] In one possible design, obtaining an optimal power value of the laser radar based on the interference signal voltage value, the actual power, and a reference voltage value of the first voltage comparator includes:

[0038] Dividing the reference voltage value of the first voltage comparator by the interference signal voltage value to obtain a power calculation value;

[0039] The product of the actual power and the power calculation value is calculated to obtain the optimal power value.

[0040] In one possible design, before acquiring the echo signal reflected by the object to be measured, the method further includes:

[0041] Obtaining the minimum operating voltage and the maximum operating voltage of the laser radar;

[0042] Taking the minimum operating voltage as a starting point, taking voltage values ​​according to a preset voltage interval until the maximum operating voltage is reached, so as to obtain a plurality of operating voltages;

[0043] Under interference-free conditions, taking each of the multiple working voltages as the actual working voltage of the laser radar, emitting laser to the calibration object to obtain a standard echo signal corresponding to each working voltage;

[0044] For the ith standard echo signal, the ith standard echo signal is input into two voltage comparators respectively to obtain the standard starting time and the standard ending time of the corresponding output signals of the two voltage comparators;

[0045] Based on the standard starting time and the standard ending time of the output signals corresponding to the two voltage comparators, the first standard time, the second standard time and the standard pulse width of the output signals corresponding to the two voltage comparators are obtained, wherein the first standard time is the difference between the starting time of the output signal of the first voltage comparator and the emission time of the laser corresponding to the i-th standard echo signal, and the second standard time is the difference between the starting time of the output signal of the second voltage comparator and the emission time of the laser corresponding to the i-th standard echo signal;

[0046] Calculating the difference between the second standard time and the first standard time as the measurement time of the i-th standard echo signal, and associating the measurement time of the i-th standard echo signal with the standard pulse widths of the corresponding output signals of the two voltage comparators;

[0047] When i cycles from 1 to n, n measurement times and two standard pulse widths associated with each of the n measurement times are obtained, wherein n is the total number of standard echo signals;

[0048] A standard pulse width table is formed by using n measurement times and two standard pulse widths associated with each of the n measurement times, and the standard pulse width table is stored in a database, so that after obtaining the first time and the second time, the first standard pulse width and the second standard pulse width can be found in the database according to the first time and the second time.

[0049] Based on the above disclosed content, the present invention discloses a method for constructing a standard pulse width table, that is, starting from the minimum operating voltage of the laser radar, taking values ​​according to a preset voltage interval until the maximum operating voltage of the laser radar is obtained. After the value taking is completed, multiple operating voltages can be obtained. Then, under interference-free conditions, the laser radar is allowed to emit a laser to a calibration object at each operating voltage, thereby obtaining a standard echo signal corresponding to each operating voltage. Next, each standard echo signal is input into two voltage comparators with different reference voltage values, thereby obtaining a first standard time, a second standard time, and a pulse width corresponding to the output signals of the two voltage comparators. At the same time, the difference between the second standard time and the first standard time is calculated, and the difference is used as the measurement time of the corresponding standard echo signal. Thus, each standard echo signal corresponds to a measurement time and two standard pulse width values. Finally, the above data can be used to form a standard pulse width table.

[0050] In a second aspect, the present invention provides an anti-interference ranging device for a laser radar, comprising:

[0051] An acquisition unit, used for acquiring an echo signal reflected by the object to be measured after the laser radar emits a laser to the object to be measured;

[0052] A comparison unit, used for inputting the echo signal into two voltage comparators respectively, to obtain the starting time and the ending time of the output signals corresponding to the two voltage comparators, wherein the two voltage comparators are respectively a first voltage comparator and a second voltage comparator, and a reference voltage value of the first voltage comparator is less than a reference voltage value of the second voltage comparator;

[0053] A time calculation unit, used to obtain a first time, a second time and a pulse width of the output signals corresponding to the two voltage comparators based on the starting time and the ending time of the output signals corresponding to the two voltage comparators, wherein the first time is the difference between the starting time of the output signal corresponding to the first voltage comparator and the emission time of the laser, and the second time is the difference between the starting time of the output signal corresponding to the second voltage comparator and the emission time of the laser;

[0054] A search unit, configured to search a first standard pulse width and a second standard pulse width in a database according to the first time and the second time;

[0055] A judging unit, configured to judge whether the echo signal is a signal subjected to interference based on the first standard pulse width, the second standard pulse width, and pulse widths of corresponding output signals of two voltage comparators;

[0056] a voltage calculation unit, configured to determine, when the judgment unit determines that the voltage is yes, an optimal operating voltage of the laser radar based on the first time, the second time, a reference voltage value of the first voltage comparator, and a reference voltage value of the second voltage comparator;

[0057] The regulating unit is used to adjust the actual working voltage of the laser radar to the optimal working voltage, so as to obtain an echo signal with interference removed after the voltage adjustment.

[0058] In a third aspect, the present invention provides another anti-interference ranging device for a laser radar. Taking the device as an electronic device as an example, the device includes a memory, a processor and a transceiver which are communicatively connected in sequence, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program to execute the anti-interference ranging method for the laser radar as in the first aspect or any one of the possible designs in the first aspect.

[0059] In a fourth aspect, the present invention provides a storage medium having instructions stored thereon, which, when executed on a computer, executes the anti-interference ranging method of the laser radar as in the first aspect or any possible design in the first aspect.

[0060] In a fifth aspect, the present invention provides a computer program product comprising instructions, which, when executed on a computer, causes the computer to execute the anti-interference ranging method of the laser radar as in the first aspect or any possible design in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A schematic diagram of the architecture of the anti-interference ranging system of the laser radar provided by the present invention;

[0062] Figure 2 The echo signal received by the multi-echo ranging method provided by the present invention without interference factors;

[0063] Figure 3 The echo signal received by the multi-echo ranging method provided by the present invention under interference factors;

[0064] Figure 4 A schematic diagram of the first standard time and the second standard time without interference factors provided by the present invention;

[0065] Figure 5 A schematic diagram of the first time and the second time under interference factors provided by the present invention;

[0066] Figure 6 A schematic diagram of an echo signal after power adjustment provided by the present invention;

[0067] Figure 7 A schematic diagram of the steps of the anti-interference ranging method of the laser radar provided by the present invention;

[0068] Figure 8 A schematic diagram of the structure of the anti-interference ranging device of the laser radar provided by the present invention;

[0069] Fig. 9 This is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0070] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that although the description of these embodiments is used to help understand the present invention, it does not constitute a limitation of the present invention. The specific structures and functional details disclosed herein are only used to describe the exemplary embodiments of the present invention. However, the present invention can be embodied in many alternative forms, and it should not be understood that the present invention is limited to the embodiments set forth herein.

[0071] It should be understood that although the terms first, second, etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another unit. For example, a first unit can be referred to as a second unit, and similarly, a second unit can be referred to as a first unit without departing from the scope of the exemplary embodiments of the present invention.

[0072] It should be understood that the term "and / or" that may appear in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" that may appear in this article describes another type of association object relationship, indicating that two relationships may exist. For example, A / and B can represent two situations: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0073] Example

[0074] See also Figure 2 and Figure 3 As shown, the traditional multi-echo mode ranging method, in the presence of rain, snow and other weather interference, the echo signal received can be seen Figure 2 As shown, according to Figure 2 It can be seen that when the distance of the object to be measured is far, the signal of the object to be measured and the interference signal (i.e. Figure 1 The time interval between the rain and snow signals in the radar is relatively long, so the radar can distinguish the two signals. Therefore, the signal of the object to be measured can be distinguished through the multi-echo mode, thereby achieving accurate distance measurement; however, when the distance to the object to be measured is relatively close, the received echo signal in the multi-echo mode can be seen Figure 3 As shown, from Figure 3 It can be seen that the signal of the object to be measured and the interference signal are superimposed together, and the radar cannot distinguish them as two signals. Therefore, the multi-echo mode has a large measurement error in this case; therefore, the ranging method provided in this embodiment can solve the signal superposition problem when the distance to the object to be measured in the multi-echo mode is close, thereby reducing the ranging error and improving the ranging accuracy.

[0075] See also Figure 1As shown, first, the present application provides an anti-interference ranging system of a laser radar, wherein the system includes: a laser radar, an echo receiving system and a power regulation system, and the power regulation system includes a first voltage comparator, a second voltage comparator, a measurement control unit and a high-voltage control unit. In specific applications, the laser radar emits a laser beam to the object to be measured, and receives the echo signal reflected by the object to be measured through the echo receiving system. The echo receiving system inputs the received echo signal into the first voltage comparator and the second voltage comparator respectively for voltage comparison, so as to obtain the starting time and the end time of the output signals corresponding to the two voltage comparators. Then, the measurement control unit can calculate the two output signals based on the starting time and the end time. Pulse width, and the time difference between the starting point of each output signal and the laser emission time. Therefore, the measurement control unit can determine whether the received echo signal is a interfered signal according to the above-mentioned calculated data, and after determining that the echo signal is interfered, calculate the optimal working voltage of the laser radar according to the reference voltage values ​​of the two voltage comparators and the above-mentioned time difference, so as to transmit it to the high-voltage control unit for adjusting the working voltage of the laser radar, that is, the high-voltage control unit adjusts the actual working voltage of the laser radar to the optimal working voltage, thereby realizing the adjustment of the laser radar power, so as to filter out the interference of interference signals such as rain and snow on the echo signal after adjusting the power, and obtain an effective echo signal, thereby achieving the purpose of improving the ranging accuracy.

[0076] See also Figure 7 As shown, the anti-interference ranging method of the laser radar provided in the first aspect of this embodiment adjusts the output power by adjusting the working voltage of the laser radar, thereby weakening interference signals such as rain and snow in the echo signal, so that when the echo signal passes through the two voltage comparators, the interference signal cannot be recognized by the voltage comparator, so that only the identifiable signal of the object to be measured is output, so as to finally realize the separation of the interference signal and achieve the purpose of improving the ranging accuracy. Among them, the method provided in this embodiment can be but not limited to running on the power regulation system side. For example, the operation steps of this method are shown in the following steps S1 to S7.

[0077] S1. Obtain the echo signal reflected by the object to be measured after the laser radar emits a laser to the object to be measured; in specific applications, a power regulation system is used to receive the echo signal to determine whether the echo signal is interfered by environmental factors such as rain and snow, so that when interfered, the laser radar power is adjusted to filter out interference signals such as rain and snow in the echo signal, thereby ensuring the accuracy of ranging.

[0078] In a specific application, the echo signal is input into two voltage comparators with different reference voltage values ​​to output two comparison signals, and then based on the two comparison signals, it is determined whether the echo signal is interfered with, wherein the interference determination process is shown in the following steps S2 to S5.

[0079] S2. Input the echo signal into two voltage comparators respectively to obtain the starting time and the ending time of the output signals corresponding to the two voltage comparators, wherein the two voltage comparators are respectively a first voltage comparator and a second voltage comparator, and the reference voltage value of the first voltage comparator is smaller than the reference voltage value of the second voltage comparator; in specific applications, the working principle of the voltage comparator is as follows: a reference voltage value is set, and the voltage comparator will output a level signal only when the voltage value of the input echo signal is greater than the reference voltage value. Therefore, the voltage comparator can identify the signal segment in the echo signal whose voltage value is greater than the reference voltage value. Thus, the moment when the voltage comparator starts to output the level signal can be taken as the starting time, and the moment when the voltage comparator stops outputting the level signal can be taken as the ending time.

[0080] After obtaining the starting time and the end time of the output signals of the two voltage comparators, the pulse widths of the two output signals and the difference between the starting time and the laser emission time of the two output signals can be calculated to provide a data basis for the subsequent judgment of the echo signal, wherein the pulse width calculation process is shown in the following step S3.

[0081] S3. Based on the starting time and the end time of the output signals corresponding to the two voltage comparators, the first time, the second time and the pulse width of the output signals corresponding to the two voltage comparators are obtained, wherein the first time is the difference between the starting time of the output signal corresponding to the first voltage comparator and the emission time of the laser, and the second time is the difference between the starting time of the output signal corresponding to the second voltage comparator and the emission time of the laser; see Figure 5 As shown, Figure 5 The echo signal in the image is mixed with interference signals (rain and snow signals) and signals of the object to be measured, wherein Vth1 represents the reference voltage value of the first voltage comparator, and Vth2 represents the reference voltage value of the second voltage comparator. Figure 5 Where t11 is the starting time of the output signal corresponding to the first voltage comparator, t12 is the end time of the output signal corresponding to the first voltage comparator, and t0 is the emission time of the laser. Therefore, the pulse width △t1 of the output signal corresponding to the first voltage comparator is: △

[0082] t1=t12-t11, the first time is: t11-t0; similarly, Figure 5 Here, t21 is the starting time of the output signal corresponding to the second voltage comparator, and t22 is the ending time of the output signal corresponding to the second voltage comparator. Therefore, the pulse width △t2 of the output signal corresponding to the second voltage comparator is: △t2=t22-t21, and the second time is: t21-t0.

[0083] After obtaining the time difference between each output signal and the emission moment of the laser, and the pulse width of each output signal, it is possible to determine whether the echo signal is interfered, as shown in the following steps S4 and S5.

[0084] In specific applications, the time difference between the second time and the first time is calculated first, and then the standard pulse width is found in the standard pulse width table through the time difference between the second time and the first time, and then it is determined whether the pulse widths of the output signals corresponding to the two voltage comparators are consistent with the standard pulse width. If they are consistent, it means that the echo signal is not interfered with, otherwise, it means that it is interfered with. Before explaining the standard pulse width search process, the generation process of the standard pulse width table is first disclosed. Optionally, the generation process can include but is not limited to the following steps S01 to S08.

[0085] S01. Obtain the minimum operating voltage and the maximum operating voltage of the laser radar; in specific applications, the minimum operating voltage and the maximum operating voltage can be obtained from the user manual of the laser radar and then entered into the power regulation system.

[0086] After obtaining the minimum operating voltage and the maximum operating voltage of the laser radar, the voltage can be taken to obtain multiple operating voltages, so that the laser radar can emit laser to the calibration object under the obtained multiple operating voltages to receive multiple standard echo signals, wherein the process of obtaining the standard echo signal is shown in the following steps S02 and S03.

[0087] S02. Taking the minimum operating voltage as the starting point, the voltage is taken according to the preset voltage interval until the maximum operating voltage is reached, so as to obtain multiple operating voltages; in specific applications, the voltage interval can be but is not limited to 5V to obtain multiple operating voltages; of course, the preset voltage interval can be specifically set according to actual use and is not specifically limited here.

[0088] After obtaining multiple operating voltages, the laser radar can be controlled to operate under the obtained operating voltages, thereby obtaining a standard echo signal corresponding to each operating voltage, as shown in the following step S03.

[0089] S03. Under interference-free conditions, each of the multiple operating voltages is used as the actual operating voltage of the laser radar, and laser is emitted to the calibration object to obtain a standard echo signal corresponding to each operating voltage; in specific applications, the interference-free condition means: when performing laser ranging, there is no interference from rain, snow and fog, and the calibration object can be but is not limited to any object for ranging. Under the aforementioned conditions, the laser radar emits a laser to the calibration object, and the signal reflected from the calibration object is determined to be a standard echo signal; for example, assuming there are 30 operating voltages, then the laser radar will emit a laser to the calibration object under the conditions of 30 operating voltages respectively, thereby obtaining 30 standard echo signals.

[0090] After obtaining the standard echo signal corresponding to each working voltage, each standard echo signal can be input into the two voltage comparators in step S2 for voltage comparison. Of course, after each standard echo signal is input into the voltage comparator, the starting time and the ending time of the output signal corresponding to each voltage comparator can be obtained. At this time, the starting time and the ending time of the output signal corresponding to each voltage comparator can be used as the standard starting time and the standard ending time. That is, each standard echo signal corresponds to 2 standard starting times and 2 standard ending times. Therefore, a standard pulse width table can be constructed based on the 2 standard starting times and 2 standard ending times corresponding to each standard echo signal, as shown in the following steps S04 to S08.

[0091] S04. For the ith standard echo signal, the ith standard echo signal is respectively input into two voltage comparators to obtain the standard starting time and the standard ending time of the corresponding output signals of the two voltage comparators; in specific applications, this step is the same as the aforementioned step S2 in principle and will not be repeated here.

[0092] After obtaining the two standard starting times and two standard starting times corresponding to the i-th standard echo signal, the pulse width of the output signals corresponding to the two voltage comparators can be calculated after the i-th standard echo signal is input into the two voltage comparators, so as to use the pulse width as the standard pulse width, and obtain the difference between the output signals corresponding to the two voltage comparators and the emission time of the laser corresponding to the i-th standard echo signal, wherein the calculation process is shown in the following step S05.

[0093] S05. Based on the standard starting time and standard ending time of the output signals corresponding to the two voltage comparators, the first standard time, the second standard time and the standard pulse width of the output signals corresponding to the two voltage comparators are obtained, wherein the first standard time is the difference between the starting time of the output signal of the first voltage comparator and the emission time of the laser corresponding to the i-th standard echo signal, and the second standard time is the difference between the starting time of the output signal of the second voltage comparator and the emission time of the laser corresponding to the i-th standard echo signal; in specific applications, the schematic diagram of the first standard time and the second standard time can be seen in Figure 4 As shown, Figure 4 In the figure, t011 and t012 represent the standard starting time and standard end time of the output signal of the first voltage comparator after the i-th standard echo signal is input to the first voltage comparator. Similarly, t021 and t022 represent the standard starting time and standard end time of the output signal of the second voltage comparator after the i-th standard echo signal is input to the second voltage comparator. △t01 represents the standard pulse width of the output signal of the first voltage comparator (as the first standard pulse width), and △t02 represents the standard pulse width of the output signal of the second voltage comparator (as the second standard pulse width).

[0094] In this embodiment, the calculation principle of the first standard time, the second standard time and the standard pulse width in step S05 is the same as that of the aforementioned step S3 and will not be repeated here. Optionally, the laser corresponding to the i-th standard echo signal actually refers to the laser emitted by the laser radar under the working voltage corresponding to the i-th standard echo signal.

[0095] Through the aforementioned step S05, it is equivalent to obtaining the first standard time, the second standard time and two standard pulse widths corresponding to the i-th standard echo signal (that is, after the i-th standard echo signal is input into the first voltage comparator, the pulse width of the output signal of the first voltage comparator, and after the i-th standard echo signal is input into the second voltage comparator, the pulse width of the corresponding output signal of the second voltage comparator); after obtaining the aforementioned first standard time, the second standard time and the two standard pulse widths, data association can be performed, as shown in the following step S06.

[0096] S06. Calculate the difference between the second standard time and the first standard time as the measurement time of the i-th standard echo signal, and associate the measurement time of the i-th standard echo signal with the standard pulse width of the corresponding output signals of the two voltage comparators; in specific application, the difference between the second standard time and the first standard time is used as the measurement time, and the aforementioned first standard pulse width and second standard pulse width are the pulse width values ​​corresponding to the difference. Therefore, after associating the two, in the actual measurement process, the standard pulse width value under the measurement time can be obtained based on the measurement time.

[0097] Similarly, for the remaining standard echo signals, the corresponding measurement time and two standard pulse widths are calculated using the above steps, wherein the cycle process is shown in the following step S07.

[0098] S07. When i cycles from 1 to n, n measurement times and two standard pulse widths associated with each of the n measurement times are obtained, wherein n is the total number of standard echo signals.

[0099] After obtaining n measurement times and two standard pulse widths corresponding to each measurement time, a standard pulse width table can be constructed, as shown in the following step S08.

[0100] S08. A standard pulse width table is formed by using n measurement times and two standard pulse widths associated with each of the n measurement times, and the standard pulse width table is stored in a database, so that after obtaining the first time and the second time, the first standard pulse width and the second standard pulse width can be found in the database according to the first time and the second time.

[0101] In specific applications, the measurement time is used, and the two standard pulse widths corresponding to the measurement time are a table data, thereby obtaining n pieces of data. Therefore, by storing n pieces of data in the template table, a standard pulse width table can be obtained.

[0102] The following uses 30 standard echo signals as an example to explain the standard pulse width table, as shown in the following Table 1, wherein Table 1 only lists part of the measurement time and the standard pulse width.

[0103] Table 1

[0104] Measuring time The first standard pulse width The second standard pulse width 200ps 4ns 3ns 350ps 3.9ns 3.5ns 456ps 4.7ns 4.3ns 600ps 6ns 5.3ns ... ... ...

[0105] After obtaining the standard pulse width table, the time difference between the second time and the first time can be calculated, and then the corresponding standard pulse width can be found based on the time difference, as shown in the following step S4.

[0106] S4. According to the first time and the second time, find out the first standard pulse width and the second standard pulse width in the database; in specific application, the standard pulse width table described above is stored in the database, and includes multiple measurement times, and the first standard pulse width and the second standard pulse width corresponding to each measurement time in the multiple measurement times, wherein the first standard pulse width is the pulse width obtained by the first voltage comparator, and the second standard pulse width is the pulse width obtained by the second voltage comparator. Therefore, when in use, according to the time difference between the second time and the first time, the measurement time equal to the time difference can be found in the standard pulse width table, and then the two standard pulse widths corresponding to the measurement time are used as the search results, as shown in the following steps S41 and S42.

[0107] S41. Calculate the time difference between the second time and the first time, and based on the time difference, find a measurement time equal to the time difference in the standard pulse width table as the matching time.

[0108] S42. Based on the matching time, the first standard pulse width and the second standard pulse width are found in the standard pulse width table; in specific applications, there is a certain delay in the signal, therefore, when searching for a measurement time equal to the time difference, a certain fluctuation amplitude can be set, such as when the absolute value of the difference between the time difference and the measurement time is less than 100ps, the time difference can be deemed to be equal to the measurement time, such as the time difference between the second time and the first time is 210ps, and it can be seen from the aforementioned Table 1 that the difference between it and the measurement time of 200ps is less than 100ps, therefore, the first standard pulse width corresponding to the time difference is 4ns, and the second standard pulse width corresponding to the time difference is 3ns; of course, the matching methods for other different time differences are the same as the aforementioned examples, and will not be repeated here.

[0109] After obtaining the first standard pulse width and the second standard pulse width corresponding to the first time and the second time, the signal interference can be determined, as shown in the following step S5.

[0110] S5. Based on the first standard pulse width, the second standard pulse width and the pulse widths of the corresponding output signals of the two voltage comparators, determine whether the echo signal is a signal that has been interfered with; in specific application, it is to determine whether the difference between the pulse width of the output signal corresponding to the first voltage comparator and the first standard pulse width is less than a preset threshold, and to determine whether the difference between the pulse width of the output signal corresponding to the second voltage comparator and the second standard pulse width is less than a preset threshold, so as to determine whether the echo signal has been interfered with based on the relationship between the difference and the preset threshold, wherein the judgment process is shown in the following steps S51 and S52.

[0111] S51. Determine whether the absolute value of the difference between the pulse width of the output signal corresponding to the first voltage comparator and the first standard pulse width is less than a preset threshold, or determine whether the absolute value of the difference between the pulse width of the output signal corresponding to the second voltage comparator and the second standard pulse width is less than a preset threshold; in specific applications, the preset threshold can be, but is not limited to, 1ns.

[0112] S52. If yes, determine that the echo signal is a normal signal; otherwise, determine that the echo signal is a interfered signal.

[0113] Based on the aforementioned time difference of 210 ps, ​​the aforementioned step S51 and step S5 are explained with an example:

[0114] Assume that the pulse width of the output signal corresponding to the first voltage comparator is 2ns, and the pulse width of the output signal corresponding to the second voltage comparator is 1ns, therefore, the first standard pulse width is 4ns, and the second standard pulse width is 3ns, that is, the absolute value of the difference between the pulse width of the output signal corresponding to the first voltage comparator and the first standard pulse width is 2ns, and the absolute value of the difference between the pulse width of the output signal corresponding to the second voltage comparator and the second standard pulse width is also 2ns, which does not meet the above-mentioned judgment conditions. Therefore, it is judged that the echo signal is interfered and the interference needs to be removed; of course, if the echo signal is judged to be a normal signal, the distance can be calculated directly based on the echo signal.

[0115] In this embodiment, after determining that the echo signal is a interfered signal, it is necessary to adjust the transmit power of the laser radar to filter out interference from factors such as rain and snow on the echo signal, thereby obtaining an echo signal after interference is removed, wherein the adjustment process is shown in the following steps S6 and S7.

[0116] S6. If so, then based on the first time, the second time, the reference voltage value of the first voltage comparator and the reference voltage value of the second voltage comparator, the optimal operating voltage of the laser radar is determined; in specific applications, the transmission power of the laser radar that can filter out interference signals such as rain and snow is first calculated, and then the corresponding voltage value is obtained based on the transmission power as the optimal operating voltage, wherein the optimal operating voltage calculation process is shown in the following steps S61 to S65.

[0117] S61. Obtain the emission pulse width of the laser radar; in specific applications, the emission pulse width of the laser radar can be preset in the power regulation system, which is a fixed value and can be obtained based on the user manual of the laser radar.

[0118] After the transmit pulse width is obtained, the interference signal voltage value in the echo signal can be calculated based on the first time, the second time and the reference voltage values ​​of the two voltage comparators, as shown in the following step S62.

[0119] S62. According to the first time, the second time, the transmission pulse width, the reference voltage value of the first voltage comparator and the reference voltage value of the second voltage comparator, the interference signal voltage value in the echo signal is obtained; in specific application, the interference signal voltage value calculation process is shown in S62a to S62c below.

[0120] S62a. Calculate the time difference between the second time and the first time, and multiply the time difference by the transmit pulse width to obtain a first calculated value.

[0121] S62b. Calculate the difference between the reference voltage value of the second voltage comparator and the reference voltage value of the first voltage comparator as a second calculated value.

[0122] S62c. Divide the second calculated value by the first calculated value to obtain the interference signal voltage value.

[0123] The above steps S62a to S62c are summarized as follows:

[0124]

[0125] In the above formula, V z is the interference signal voltage value, V th2 Represents the reference voltage value of the second voltage comparator, V th1 represents the reference voltage value of the first voltage comparator, t 2 represents the second time, t 1 Indicates the first time, t r Indicates the transmit pulse width.

[0126] After obtaining the interference signal voltage value, the transmission power of the laser radar that can filter out interference signals such as rain and snow can be calculated based on the power of the laser radar when emitting laser, as shown in the following steps S63 and S64.

[0127] S63. Obtain the actual power of the laser radar, wherein the actual power is the power corresponding to when the laser radar emits the laser.

[0128] S64. Based on the interference signal voltage value, the actual power and the reference voltage value of the first voltage comparator, the optimal power value of the laser radar is obtained; in specific application, the calculation process of the optimal power value is shown in the following steps S64a and S64b.

[0129] S64a. Divide the reference voltage value of the first voltage comparator by the interference signal voltage value to obtain a power calculation value.

[0130] S64b. Calculate the product of the actual power and the power calculation value to obtain the optimal power value.

[0131] The above steps S64a and S64b are summarized in a formula as follows:

[0132]

[0133] In the above formula, P z Represents the optimal power value, P d Indicates actual power.

[0134] After the optimal power value of the laser radar is obtained according to the above formula, the operating voltage of the laser radar can be determined based on the optimal power value, as shown in the following step S65.

[0135] S65. According to the optimal power value, the optimal operating voltage of the laser radar is determined in the power-voltage comparison table; in specific applications, the power-voltage comparison table stores the voltage values ​​corresponding to the laser radar at different power values. Therefore, when in use, it is only necessary to find the voltage value corresponding to the optimal power value in the power-voltage comparison table and use it as the optimal operating voltage. Similarly, during the power search process, a floating range can also be set. For example, when the difference between the optimal power value and the power to be compared in the power-voltage comparison table is set to ±5W, it can be determined that the optimal power value is equal to the power to be compared. Of course, the floating range can be set specifically according to actual use, and is not limited to the above examples.

[0136] After the optimal operating voltage of the laser radar is calculated, the voltage can be adjusted to achieve power regulation based on the voltage, thereby achieving the purpose of filtering out interference signals, as shown in the following step S7.

[0137] S7. The actual working voltage of the laser radar is adjusted to the optimal working voltage, so that after the voltage is adjusted, an echo signal after interference is removed is obtained; in specific applications, adjusting the voltage value of the laser radar is essentially equivalent to adjusting the transmit power of the laser radar, so as to reduce interference signals such as rain and snow by adjusting the transmit power, see Figure 6 As shown, from Figure 6 It can be clearly seen that after the voltage adjustment, the voltage value of the received echo signal mixed with the rain and snow signal is obviously smaller than the reference voltage value of the two voltage comparators. Therefore, it cannot be identified when passing through the two voltage comparators. Therefore, the effective analysis of the signal of the object to be measured and the rain and snow signal can be realized, thereby effectively solving the interference caused by rain and fog during the measurement process and improving the ranging accuracy.

[0138] Therefore, through the anti-interference ranging method of the laser radar described in detail above, the present invention inputs the echo signal of the object to be measured into two voltage comparators with different reference voltage values, so as to determine whether the echo signal is interfered with, and when it is determined that the signal is interfered with, calculates the optimal voltage value that can filter out the interference signal. Therefore, by adjusting the actual working voltage of the laser radar to the calculated optimal working voltage, the power of the laser radar can be adjusted, thereby filtering out the interference of rain, snow and other environments on the echo signal, obtaining an effective echo signal, and ultimately achieving the purpose of improving the ranging accuracy.

[0139] like Figure 8 As shown, the second aspect of this embodiment provides a hardware device for implementing the anti-interference ranging method of the laser radar of the first aspect of the embodiment, including:

[0140] The acquisition unit is used to acquire the echo signal reflected by the object to be measured after the laser radar emits laser to the object to be measured.

[0141] A comparison unit is used to input the echo signal into two voltage comparators respectively to obtain the starting time and the ending time of the output signals corresponding to the two voltage comparators, wherein the two voltage comparators are respectively a first voltage comparator and a second voltage comparator, and the reference voltage value of the first voltage comparator is less than the reference voltage value of the second voltage comparator.

[0142] A time calculation unit is used to obtain a first time, a second time and a pulse width of the output signals corresponding to the two voltage comparators based on the starting time and the ending time of the output signals corresponding to the two voltage comparators, wherein the first time is the difference between the starting time of the output signal corresponding to the first voltage comparator and the emission time of the laser, and the second time is the difference between the starting time of the output signal corresponding to the second voltage comparator and the emission time of the laser.

[0143] The search unit is used to search the first standard pulse width and the second standard pulse width in the database according to the first time and the second time.

[0144] The judging unit is used to judge whether the echo signal is a interfered signal based on the first standard pulse width, the second standard pulse width and the pulse widths of the corresponding output signals of the two voltage comparators.

[0145] A voltage calculation unit is used to determine the optimal operating voltage of the laser radar based on the first time, the second time, the reference voltage value of the first voltage comparator and the reference voltage value of the second voltage comparator when the judgment unit judges to be yes.

[0146] The regulating unit is used to adjust the actual working voltage of the laser radar to the optimal working voltage, so as to obtain an echo signal with interference removed after the voltage adjustment.

[0147] The working process, working details and technical effects of the device provided in this embodiment can be found in the first aspect of the embodiment and will not be described in detail here.

[0148] like Fig. 9 As shown, the third aspect of this embodiment provides another anti-interference ranging device for laser radar. Taking the device as an electronic device as an example, it includes: a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer program to execute the anti-interference ranging method for laser radar as described in the first aspect of the embodiment.

[0149] For example, the memory may include, but is not limited to, random access memory (RAM), read only memory (ROM), flash memory, first input first output (FIFO) and / or first in last out (FILO), etc. Specifically, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). At the same time, the processor may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0150] In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. For example, the processor may not be limited to a microprocessor of the STM32F105 series, a reduced instruction set computer (RISC) microprocessor, an X86 architecture processor, or a processor with an integrated embedded neural network processing unit (NPU); the transceiver may be, but is not limited to, a wireless fidelity (WIFI) wireless transceiver, a Bluetooth wireless transceiver, a general packet radio service technology (General Packet Radio Service, GPRS) wireless transceiver, a ZigBee protocol (a low-power local area network protocol based on the IEEE802.15.4 standard, ZigBee) wireless transceiver, a 3G transceiver, a 4G transceiver and / or a 5G transceiver, etc. In addition, the device may also include, but is not limited to, a power module, a display screen, and other necessary components.

[0151] The working process, working details and technical effects of the electronic device provided in this embodiment can be found in the first aspect of the embodiment and will not be described in detail here.

[0152] The fourth aspect of this embodiment provides a storage medium that stores instructions for the anti-interference ranging method of the laser radar described in the first aspect of the embodiment, that is, the storage medium stores instructions, and when the instructions are run on a computer, the anti-interference ranging method of the laser radar described in the first aspect is executed.

[0153] The storage medium refers to a carrier for storing data, which may include but is not limited to a floppy disk, a CD, a hard disk, a flash memory, a USB flash drive and / or a memory stick, and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0154] The working process, working details and technical effects of the storage medium provided in this embodiment can be found in the first aspect of the embodiment and will not be described in detail here.

[0155] The fifth aspect of this embodiment provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the anti-interference ranging method of the laser radar as described in the first aspect of the embodiment, wherein the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0156] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser radar anti-interference ranging method, characterized in that: include: Obtaining an echo signal reflected by the object to be measured after the laser radar emits laser to the object to be measured; Input the echo signal into the first and second voltage comparators respectively to obtain the starting time and the ending time of the output signals corresponding to the two voltage comparators, and the reference voltage value of the first voltage comparator is less than the reference voltage value of the second voltage comparator; Based on the starting time and the end time of the output signals corresponding to the two voltage comparators, the first and second times and the pulse widths of the output signals corresponding to the two voltage comparators are obtained, wherein the first and second times are the differences between the starting time of the output signals corresponding to the first and second voltage comparators and the emission time of the laser; According to the first and second times, searching the database for the first and second standard pulse widths; Based on the first and second standard pulse widths and the pulse widths of the corresponding output signals of the two voltage comparators, determining whether the echo signal is interfered with; If so, the optimal operating voltage of the laser radar is determined based on the first and second times and the first and second voltage comparator reference voltage values; specifically: Get the transmit pulse width of the laser radar; Calculate the time difference between the second time and the first time, multiply the time difference by the transmission pulse width to obtain a first calculated value, calculate the difference between the second voltage comparator reference voltage value and the first voltage comparator reference voltage value as a second calculated value, and divide the second calculated value by the first calculated value to obtain an interference signal voltage value; Get the actual power of the laser radar when it emits laser; Dividing the reference voltage value of the first voltage comparator by the voltage value of the interference signal to obtain a power calculation value, and multiplying the actual power by the power calculation value to obtain an optimal power value; According to the optimal power value, determine the optimal operating voltage of the laser radar in the power-voltage comparison table; The actual operating voltage of the laser radar is adjusted to the optimal operating voltage to obtain the echo signal after removing interference.

2. The method according to claim 1, characterized in that The database stores a standard pulse width table, wherein the standard pulse width table includes a plurality of measurement times, and a first standard pulse width and a second standard pulse width corresponding to each measurement time in the plurality of measurement times, and the first standard pulse width is a pulse width obtained by a first voltage comparator, and the second standard pulse width is a pulse width obtained by a second voltage comparator; Wherein, searching the first and second standard pulse widths in the database according to the first and second times includes: Calculating a time difference between the second time and the first time, and based on the time difference, searching the standard pulse width table for a measurement time equal to the time difference as a matching time; Based on the matching time, a first standard pulse width and a second standard pulse width corresponding to the first time and the second time are found in the standard pulse width table.

3. The method according to claim 1, characterized in that Based on the first and second standard pulse widths and the pulse widths of the output signals corresponding to the two voltage comparators, determining whether the echo signal is interfered with includes: Determine whether the absolute value of the difference between the pulse width of the output signal corresponding to the first voltage comparator and the first standard pulse width is less than a preset threshold; or Determine whether the absolute value of the difference between the pulse width of the output signal corresponding to the second voltage comparator and the second standard pulse width is less than a preset threshold; If so, it is determined that the echo signal is a normal signal; otherwise, it is determined that the echo signal is interfered.

4. The method according to claim 1, characterized in that Before obtaining the echo signal reflected by the object to be measured, the method further includes: Obtaining the minimum operating voltage and the maximum operating voltage of the laser radar; Taking the minimum operating voltage as a starting point, taking voltage values ​​according to a preset voltage interval until the maximum operating voltage is reached, so as to obtain a plurality of operating voltages; Under interference-free conditions, taking each of the multiple working voltages as the actual working voltage of the laser radar, emitting laser to the calibration object to obtain a standard echo signal corresponding to each working voltage; For the ith standard echo signal, the ith standard echo signal is input into two voltage comparators respectively to obtain the standard starting time and the standard ending time of the corresponding output signals of the two voltage comparators; Based on the standard starting time and the standard ending time of the output signals corresponding to the two voltage comparators, the first standard time, the second standard time and the standard pulse width of the output signals corresponding to the two voltage comparators are obtained, wherein the first standard time is the difference between the starting time of the output signal of the first voltage comparator and the emission time of the laser corresponding to the i-th standard echo signal, and the second standard time is the difference between the starting time of the output signal of the second voltage comparator and the emission time of the laser corresponding to the i-th standard echo signal; Calculating the difference between the second standard time and the first standard time as the measurement time of the i-th standard echo signal, and associating the measurement time of the i-th standard echo signal with the standard pulse widths of the corresponding output signals of the two voltage comparators; When i cycles from 1 to n, n measurement times and two standard pulse widths associated with each of the n measurement times are obtained, wherein n is the total number of standard echo signals; A standard pulse width table is formed using n measurement times and two standard pulse widths associated with each of the n measurement times, and the standard pulse width table is stored in a database so that after obtaining the first and second times, the first and second standard pulse widths can be found in the database according to the first and second times.

5. A laser radar anti-interference ranging device using the laser radar anti-interference ranging method according to any one of claims 1 to 4, characterized in that: include: An acquisition unit, used to acquire an echo signal reflected by the object to be measured after the laser radar emits a laser to the object to be measured; A comparison unit, used to input the echo signal into the first and second voltage comparators respectively, to obtain the starting time and the end time of the output signals corresponding to the two voltage comparators, and the reference voltage value of the first voltage comparator is less than the reference voltage value of the second voltage comparator; A time calculation unit, used to obtain the first and second times and the pulse widths of the output signals corresponding to the two voltage comparators based on the starting time and the ending time of the output signals corresponding to the two voltage comparators, wherein the first and second times are the difference between the starting time of the output signals corresponding to the first and second voltage comparators and the emission time of the laser; A search unit, used for searching the first and second standard pulse widths in a database according to the first and second times; A judging unit, used for judging whether the echo signal is interfered based on the first and second standard pulse widths and the pulse widths of the output signals corresponding to the two voltage comparators; A voltage calculation unit, configured to determine the optimal operating voltage of the laser radar based on the first and second times and the first and second voltage comparator reference voltage values ​​when the judgment unit determines that the voltage is yes; The regulating unit is used to adjust the actual working voltage of the laser radar to the optimal working voltage to obtain the echo signal after the interference is removed.

6. An electronic device, characterized in that: include: A memory, a processor and a transceiver that are sequentially connected in communication, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program to execute the anti-interference ranging method of the laser radar as described in any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium stores instructions, and when the instructions are executed on a computer, the anti-interference ranging method according to any one of claims 1 to 4 is executed.

Images