A laser ranging method, device and computer readable storage medium

Abstract

The application discloses a laser ranging method and device and a computer readable storage medium, and relates to the technical field of laser. A reference clock signal is acquired to obtain a reference clock count value, a stop signal is acquired, and the reference clock signal and the stop signal are input into a measurement channel to perform measurement; the measurement channel is multiple; the reference clock signal and the stop signal are sampled to obtain edge time information of the stop signal and a previous reference clock signal; and a time difference value is obtained according to the reference clock count value and the edge time information. It can be known that the above technical scheme continuously counts the reference clock signal as a rough timing result, and the accurate time difference value is obtained according to the edge time information of the stop signal and the previous reference clock, so that the laser ranging is realized, and the precision is higher.

Description

Technical Field

[0001] This application relates to the field of laser technology, and in particular to a laser ranging method, apparatus and computer-readable storage medium. Background Technology

[0002] Pulsed laser ranging boasts advantages such as high peak power, long detection range, fast measurement speed, high repetition rate, and simple structure, while also having low requirements for light source coherence. Therefore, it plays a vital role in military, scientific and technological, and industrial fields. Laser ranging systems calculate distance by measuring the time between laser emission and return; thus, time difference measurement becomes a key factor affecting overall measurement accuracy. Utilizing a Time to Digital Converter (TDC) chip for time difference measurement can achieve higher accuracy. In existing time measurement techniques, the final calculation result can be obtained by directly counting the number of reference clock cycles within the measured time interval using a direct counting method.

[0003] However, while this direct measurement method can achieve time difference measurement over a large range, its measurement accuracy is poor.

[0004] In view of the above problems, designing a laser ranging method is an urgent problem to be solved by technicians in this field. Summary of the Invention

[0005] The purpose of this application is to provide a laser ranging method, apparatus, and computer-readable storage medium.

[0006] To address the aforementioned technical problems, this application provides a laser ranging method, comprising:

[0007] Obtain a reference clock signal to acquire a reference clock count value;

[0008] Get the stop signal;

[0009] The reference clock signal and the stop signal are input to the measurement channels for measurement; wherein, there are multiple measurement channels.

[0010] The reference clock signal and the stop signal are sampled to obtain the edge timing information of the stop signal and the previous reference clock signal;

[0011] The time difference is obtained based on the reference clock count value and the edge time information.

[0012] Preferably, sampling the reference clock signal and the stop signal includes:

[0013] Get the preset resolution;

[0014] The reference clock signal and the stop signal are set to be measured according to the resolution;

[0015] The reference clock signal and the stop signal are sampled based on the point to be tested.

[0016] Preferably, inputting the reference clock signal and the stop signal to the measurement channel for measurement includes:

[0017] Obtain a preset measurement mode; wherein, the measurement mode includes an independent measurement mode, a pulse distance measurement mode, and a pulse width measurement mode;

[0018] The reference clock signal and the stop signal are measured according to the measurement mode.

[0019] Preferably, the measurement of the reference clock signal and the stop signal according to the measurement mode includes:

[0020] If the measurement mode is the independent measurement mode, then each of the measurement channels measures the stop signal respectively;

[0021] If the measurement mode is the pulse distance measurement mode, then the two measurement channels are grouped together, and the measurement channels in each group alternately measure the stop signal;

[0022] If the measurement mode is the pulse width measurement mode, then the two measurement channels are grouped together, and the measurement channels in each group sequentially measure the rising edge and falling edge of the same stop signal.

[0023] Preferably, after obtaining the time difference value based on the reference clock count value and the edge time information, the method further includes:

[0024] The time difference values ​​output in parallel are converted into serial data;

[0025] The serial data is output through a serial communication interface.

[0026] Preferably, after outputting the serial data through the serial communication interface, the method further includes:

[0027] Output a message indicating that the measurement is complete.

[0028] Preferably, the resolution includes double resolution and quadruple resolution.

[0029] To address the aforementioned technical problems, this application also provides a laser ranging device, comprising:

[0030] The first acquisition module is used to acquire a reference clock signal in order to acquire a reference clock count value;

[0031] The second acquisition module is used to acquire the stop signal;

[0032] An input module is used to input the reference clock signal and the stop signal to the measurement channels for measurement; wherein, there are multiple measurement channels;

[0033] A sampling module is used to sample the reference clock signal and the stop signal to obtain the edge time information of the stop signal and the previous reference clock signal;

[0034] The third acquisition module is used to acquire a time difference value based on the reference clock count value and the edge time information, so as to acquire the measurement distance based on the time difference value.

[0035] To address the aforementioned technical problems, this application also provides another laser ranging device, comprising:

[0036] Memory, used to store computer programs;

[0037] A processor is used to implement the steps of the laser ranging method described above when executing the computer program.

[0038] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the laser ranging method described above.

[0039] The laser ranging method provided in this application acquires a reference clock signal to obtain a reference clock count value and a stop signal. The reference clock signal and the stop signal are input to multiple measurement channels for measurement. The reference clock signal and the stop signal are sampled to obtain the edge time information between the stop signal and the previous reference clock signal. The time difference is obtained based on the reference clock count value and the edge time information. Therefore, the above technical solution uses continuous counting of the reference clock signal as a coarse timing result, and combines this with the edge time information between the stop signal and the previous reference clock to obtain a precise time difference value, thus achieving laser ranging with higher accuracy.

[0040] In addition, embodiments of this application also provide a laser ranging device and a computer-readable storage medium, with the same effect as above. Attached Figure Description

[0041] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A flowchart of a laser ranging method provided in this application embodiment;

[0043] Figure 2 A schematic diagram of a laser ranging principle provided in this application embodiment;

[0044] Figure 3 A schematic diagram illustrating the relationship between the edges of the reference clock signal and the stop signal provided in an embodiment of this application;

[0045] Figure 4 A flowchart illustrating another laser ranging method provided in this application embodiment;

[0046] Figure 5 This is a schematic diagram of the structure of a laser ranging device provided in an embodiment of this application;

[0047] Figure 6 This is a schematic diagram of another laser ranging device provided in an embodiment of this application. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0049] The core of this application is to provide a laser ranging method, apparatus, and computer-readable storage medium.

[0050] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Pulsed laser ranging boasts advantages such as high peak power, long detection range, fast measurement speed, high repetition frequency, and simple structure, while also having low requirements for light source coherence. Therefore, it plays a crucial role in military, scientific and technological, and industrial fields. Laser ranging systems calculate distance by measuring the time between laser emission and return; thus, time difference measurement becomes a key factor affecting overall measurement accuracy. Utilizing a TDC chip for time difference measurement can achieve higher accuracy. Existing time measurement techniques can directly count the number of reference clock cycles within the measured time interval to obtain the final calculation result. However, while this direct measurement method can achieve time difference measurement over a large range, its accuracy is poor. Therefore, this application provides a laser ranging method. It should be noted that the method provided in this application is applied to scenarios where laser ranging is performed using a TDC chip. Figure 1 This is a flowchart illustrating a laser ranging method provided in an embodiment of this application. Figure 1 As shown, the method includes:

[0052] S10: Obtain the reference clock signal to obtain the reference clock count value.

[0053] S11: Obtain the stop signal.

[0054] S12: Input the reference clock signal and stop signal to the measurement channel for measurement; there are multiple measurement channels.

[0055] S13: Sample the reference clock signal and the stop signal to obtain the edge timing information of the stop signal and the previous reference clock signal.

[0056] S14: Obtain the time difference based on the reference clock count value and edge time information.

[0057] Understandably, when the input pin of the TDC chip is enabled, the chip inputs a reference clock signal through the reference clock (REFCLK). At this time, the timer inside the chip starts, continuously counts and measures the REFCLK cycle, obtains the reference clock count value (REFID), and stores it in the first-in-first-out (FIFO) buffer. Figure 2 This is a schematic diagram of a laser ranging principle provided for an embodiment of this application. Figure 2 As shown, the reference clock counter stores the reference clock count value in the FIFO.

[0058] Furthermore, when measurement begins, a stop signal (STOP signal) enters the chip through the STOP input pin; simultaneously, a reference clock signal and a stop signal are input to the measurement channel for measurement. Figure 2In this system, multiple pulse generators and delay unit sampling modules together form multiple measurement channels. A reference clock signal and a stop signal are input to the pulse generator, which adjusts the generation of the pulse signal according to the signal from the logic control module. During the measurement process, the rising edges of the reference signal and the stop signal are measured.

[0059] Then, the reference clock signal and the stop signal are sampled. The sampling process is as follows: Figure 2 The sampling module of the delay unit completes the process. This delay unit sampling module is a precision timing sampling module. It samples the stop signal and the reference clock signal through the delay unit, timing the rising edge of the stop signal to obtain the edge time information of the stop signal and the previous reference clock signal. It is important to note that the delay of one unit in the delay circuit is a timing precision, with a maximum precision of 37 ps, and all values ​​are input into a FIFO to store the sampled data.

[0060] After obtaining the edge time information, the time difference is calculated based on the reference clock count value and the edge time information. Specifically, the time difference is mainly obtained by... Figure 2 The logic operation module is implemented in [the system / process]. The logic operation module is divided into two parts: one part calculates the time measurement value t for one cycle of the reference clock. REF According to t REF The delay of one delay unit is calculated based on the frequency of the reference clock and stored in the FIFO. Figure 3 This is a schematic diagram illustrating the edge relationship between the reference clock signal and the stop signal provided in an embodiment of this application. Figure 3 As shown, another part of the logic operation module is used to calculate the stop signal data stored in the FIFO. It automatically calculates the measured value t from the rising edge of each stop signal pulse to the rising edge of the previous reference clock signal based on the reference clock count value REFID. STOP Finally, multiplying this by the delay of the previously obtained delay unit, the time difference between the stop signal and the previous reference clock can be calculated, thus obtaining the measured distance based on the time difference. The logic operation module inputs the measurement value of each part into the FIFO for storage, and the final time difference result is directly output to the encoder module for output.

[0061] In this embodiment, a reference clock signal is acquired to obtain a reference clock count value, and a stop signal is acquired. The reference clock signal and the stop signal are then input to multiple measurement channels for measurement. The reference clock signal and the stop signal are sampled to obtain the edge time information between the stop signal and the previous reference clock signal. The time difference is obtained based on the reference clock count value and the edge time information. Therefore, the above technical solution uses continuous counting of the reference clock signal as a coarse timing result, and combines this with the edge time information between the stop signal and the previous reference clock to obtain a precise time difference, thus achieving laser ranging with higher accuracy.

[0062] Based on the above embodiments:

[0063] As a preferred embodiment, sampling the reference clock signal and the stop signal includes:

[0064] Get the preset resolution;

[0065] The reference clock signal and stop signal are set for the test points according to the resolution;

[0066] The reference clock signal and stop signal are sampled based on the point to be tested.

[0067] It is understandable that the reference clock signal and stop signal can be sampled directly during the sampling process. However, to further improve measurement accuracy, the sampling resolution of the reference clock signal and stop signal can be adjusted. As a preferred embodiment, in this embodiment, during the sampling of the reference clock signal and stop signal, a preset resolution is first obtained, and the test points of the reference clock signal and stop signal are set according to the resolution. Specifically, Figure 2 The pulse generator adjusts the generation of pulse signals according to the signals from the logic control module. Based on the resolution adjusted by the logic control, it generates multiple signals for sampling and measurement to improve resolution. For example, when the resolution is doubled, the pulse generator can generate two pulse signals, which are then delayed to generate two signal test points before being fed into the delay unit for sampling. In this embodiment, the preset resolution is not limited and depends on the specific implementation.

[0068] In this embodiment, by obtaining a preset resolution, setting the test points of the reference clock signal and the stop signal according to the resolution, and sampling the reference clock signal and the stop signal according to the test points, the resolution of signal sampling is changed, thereby improving the measurement accuracy.

[0069] Based on the above embodiments:

[0070] As a preferred embodiment, inputting a reference clock signal and a stop signal to the measurement channel for measurement includes:

[0071] Obtain preset measurement modes; among which, the measurement modes include independent measurement mode, pulse distance measurement mode, and pulse width measurement mode;

[0072] The reference clock signal and stop signal are measured according to the measurement mode.

[0073] To further improve the adaptability of distance measurement in different ranging scenarios and obtain optimal ranging results, this embodiment acquires preset measurement modes, including independent measurement mode, pulse distance measurement mode, and pulse width measurement mode; the reference clock signal and stop signal are measured according to the measurement mode. It is understood that since this embodiment has multiple measurement channels for the reference clock signal and stop signal, different measurement modes can be set for multiple measurement channels to meet different measurement requirements.

[0074] Specifically, the preset measurement modes include an independent measurement mode. In independent measurement mode, each channel measures the stop signal or reference clock signal individually. The pulse distance measurement mode can be configured to have multiple measurement channels measure the stop signal, accurately acquiring the pulse distance of different stop signals and improving the accuracy of short-distance measurements. The pulse width measurement mode can be configured to have multiple measurement channels measure the rising and falling edges of the same stop signal separately, enabling the acquisition of the pulse width of the same stop signal and optimizing the measurable optimal spacing. In this embodiment, the combination of measurement channels for the pulse distance measurement mode and pulse width measurement mode is not limited and can be determined according to the specific implementation.

[0075] In this embodiment, a preset measurement mode is obtained, which includes an independent measurement mode, a pulse distance measurement mode, and a pulse width measurement mode. The reference clock signal and the stop signal are measured according to the measurement mode, thereby realizing the switching of the ranging mode for different ranging application scenarios.

[0076] Based on the above embodiments:

[0077] As a preferred embodiment, measuring the reference clock signal and the stop signal according to the measurement mode includes:

[0078] If the measurement mode is independent measurement mode, each measurement channel measures the stop signal separately;

[0079] If the measurement mode is pulse distance measurement mode, then two measurement channels are grouped together, and the measurement channels in each group alternately measure the stop signal;

[0080] If the measurement mode is pulse width measurement mode, then two measurement channels are grouped together, and the measurement channels in each group measure the rising and falling edges of the same stop signal in sequence.

[0081] In specific implementations, when the measurement mode is independent, each channel measures either the reference clock signal or the stop signal separately. In the above embodiments, the combination of measurement channels for pulse distance measurement mode and pulse width measurement mode is not limited, depending on the specific implementation. As a preferred embodiment, in this embodiment, if the measurement mode is pulse distance measurement mode, two measurement channels are grouped together, and the measurement channels in each group alternately measure the stop signal. Specifically, at this time, the two channels are connected to the same STOP pin to receive the stop signal, and the two channels alternately measure the stop signal, which can accurately obtain the pulse distance of different stop signals, improving the accuracy of short-distance measurements. For pulse width measurement mode, two measurement channels are grouped together, and the measurement channels in each group sequentially measure the rising and falling edges of the same stop signal, which can obtain the pulse width of the same stop signal, optimizing the measurable optimal distance.

[0082] In this embodiment, if the measurement mode is an independent measurement mode, each measurement channel measures the stop signal separately; if the measurement mode is a pulse distance measurement mode, two measurement channels are grouped together, and the measurement channels in each group alternately measure the stop signal; if the measurement mode is a pulse width measurement mode, two measurement channels are grouped together, and the measurement channels in each group sequentially measure the rising and falling edges of the same stop signal. This clarifies the measurement method of each channel under different measurement modes and realizes the switching of ranging modes for different ranging application scenarios.

[0083] Figure 4 A flowchart illustrating another laser ranging method provided in this application embodiment. Figure 4 As shown, in order to output the obtained ranging data, after obtaining the time difference based on the reference clock count value and edge time information, the following steps are also included:

[0084] S15: Convert the time difference of the parallel output into serial data.

[0085] S16: Output serial data through the serial communication interface.

[0086] Understandably, since the data processing is parallel, in order to output the final result, it is necessary to convert the time difference of the parallel output into serial data, and then output the serial data through a serial communication interface. For example... Figure 2As shown, the parallel data to serial data module converts the parallel output calculation results into serial output, and finally outputs the serial output result to the serial communication module. The serial communication module is used to communicate with the external controller. It is a Serial Peripheral Interface (SPI) interface with a maximum speed of 50MHz. It can receive data from the external controller and also send the contents of its internal data output register to the external controller.

[0087] In this embodiment, the final measurement result is achieved by converting the time difference value of the parallel output into serial data and outputting the serial data through a serial communication interface.

[0088] like Figure 3 As shown, after outputting the serial data through the serial communication interface, the process also includes:

[0089] S17: Output measurement completion information.

[0090] Understandably, the measurement is complete when serial data is output through the serial communication interface. To notify the user that the measurement is complete, a measurement completion message is output, facilitating subsequent operations.

[0091] Based on the above embodiments:

[0092] As a preferred embodiment, the resolution includes double resolution and quadruple resolution.

[0093] In the above embodiments, the preset resolution is not limited and depends on the specific implementation. As a preferred embodiment, the preset resolution includes double resolution and quadruple resolution. Specifically, when configured with double resolution, the test signal, which serves as the reference clock signal and the stop signal, is delayed to generate two signal test points. When configured with quadruple resolution, the test signal is generated into four signal test points, thereby sampling the test signal according to the test points and improving the measurement accuracy.

[0094] In the above embodiments, the laser ranging method has been described in detail. This application also provides embodiments corresponding to the laser ranging device. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional modules, and the other is based on the hardware structure.

[0095] Figure 5 This is a schematic diagram of a laser ranging device provided in an embodiment of this application. Figure 5 As shown, the laser ranging device includes:

[0096] The first acquisition module 10 is used to acquire a reference clock signal for acquiring a reference clock count value.

[0097] The second acquisition module 11 is used to acquire the stop signal.

[0098] The input module 12 is used to input a reference clock signal and a stop signal to the measurement channel for measurement; wherein there are multiple measurement channels.

[0099] The sampling module 13 is used to sample the reference clock signal and the stop signal to obtain the edge time information of the stop signal and the previous reference clock signal.

[0100] The third acquisition module 14 is used to acquire the time difference based on the reference clock count value and edge time information.

[0101] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0102] Figure 6 This is a schematic diagram of another laser ranging device provided in the embodiments of this application, as shown below. Figure 6 As shown, the laser ranging device includes:

[0103] Memory 20 is used to store computer programs.

[0104] The processor 21 is used to execute a computer program to implement the steps of the laser ranging method mentioned in the above embodiments.

[0105] The laser ranging device provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0106] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0107] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the laser ranging method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the laser ranging method.

[0108] In some embodiments, the laser ranging device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0109] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the laser rangefinder and may include more or fewer components than illustrated.

[0110] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0111] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0112] The foregoing provides a detailed description of a laser ranging method, apparatus, and computer-readable storage medium provided in this application. The various embodiments are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0113] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A laser ranging method, characterized in that, include: Obtain a reference clock signal to acquire a reference clock count value; Get the stop signal; The reference clock signal and the stop signal are input to the measurement channels for measurement; wherein, there are multiple measurement channels. The reference clock signal and the stop signal are sampled to obtain the edge timing information of the stop signal and the previous reference clock signal; The time difference is obtained based on the reference clock count value and the edge time information; The step of inputting the reference clock signal and the stop signal to the measurement channel for measurement includes: Obtain a preset measurement mode; wherein, the measurement mode includes an independent measurement mode, a pulse distance measurement mode, and a pulse width measurement mode; the independent measurement mode measures the stop signal or the reference clock signal individually for each measurement channel; the pulse distance measurement mode measures the stop signal for multiple measurement channels; the pulse width measurement mode measures the rising and falling edges of the same stop signal for multiple measurement channels respectively; The reference clock signal and the stop signal are measured according to the measurement mode.

2. The laser ranging method according to claim 1, characterized in that, The sampling of the reference clock signal and the stop signal includes: Get the preset resolution; The reference clock signal and the stop signal are set to be measured according to the resolution; The reference clock signal and the stop signal are sampled based on the point to be tested.

3. The laser ranging method according to claim 1, characterized in that, The measurement of the reference clock signal and the stop signal according to the measurement mode includes: If the measurement mode is the independent measurement mode, then each of the measurement channels measures the stop signal respectively; If the measurement mode is the pulse distance measurement mode, then the two measurement channels are grouped together, and the measurement channels in each group alternately measure the stop signal; If the measurement mode is the pulse width measurement mode, then the two measurement channels are grouped together, and the measurement channels in each group sequentially measure the rising edge and falling edge of the same stop signal.

4. The laser ranging method according to claim 1, characterized in that, After obtaining the time difference value based on the reference clock count value and the edge time information, the method further includes: The time difference values ​​output in parallel are converted into serial data; The serial data is output through a serial communication interface.

5. The laser ranging method according to claim 4, characterized in that, After outputting the serial data through the serial communication interface, the method further includes: Output a message indicating that the measurement is complete.

6. The laser ranging method according to claim 2, characterized in that, The resolutions include double resolution and quadruple resolution.

7. A laser ranging device, characterized in that, include: The first acquisition module is used to acquire a reference clock signal in order to acquire a reference clock count value; The second acquisition module is used to acquire the stop signal; An input module is used to input the reference clock signal and the stop signal to the measurement channels for measurement; wherein, there are multiple measurement channels; A sampling module is used to sample the reference clock signal and the stop signal to obtain the edge time information of the stop signal and the previous reference clock signal; The third acquisition module is used to acquire a time difference value based on the reference clock count value and the edge time information, so as to acquire the measurement distance based on the time difference value; The step of inputting the reference clock signal and the stop signal to the measurement channel for measurement includes: Obtain a preset measurement mode; wherein, the measurement mode includes an independent measurement mode, a pulse distance measurement mode, and a pulse width measurement mode; the independent measurement mode measures the stop signal or the reference clock signal individually for each measurement channel; the pulse distance measurement mode measures the stop signal for multiple measurement channels; the pulse width measurement mode measures the rising and falling edges of the same stop signal for multiple measurement channels respectively; The reference clock signal and the stop signal are measured according to the measurement mode.

8. A laser ranging device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the laser ranging method as described in any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the laser ranging method as described in any one of claims 1 to 6.

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