Method for determining laser flight time, distance measuring device and storage medium

Abstract

In the field of laser ranging technology, the present application discloses a method for determining the laser flight duration, a ranging device, a computer device, and a medium, including: when receiving an echo signal corresponding to a laser emission signal, calling a shaping circuit to perform shaping processing on the echo signal to obtain a shaped echo signal; using a plurality of sampling clocks of different phases provided by a field programmable logic gate array to respectively perform sampling processing on the shaped echo signal to obtain a plurality of first recovery time points; determining a second recovery time point from the plurality of first recovery time points, and determining the flight duration corresponding to the laser emission signal according to the second recovery time point and the emission time point corresponding to the laser emission signal. The present application aims to improve the accuracy of calculating the laser flight duration in the laser ranging process in a low-cost manner.

Description

Technical Field

[0001] The present application relates to the field of laser ranging technology, and in particular to a method for determining laser flight time, a laser ranging device, a computer device, and a computer-readable storage medium. Background Art

[0002] Due to the unique characteristics of lasers (such as strong directionality, high brightness, good monochromaticity, good coherence, etc.), lasers are often used as light sources for photoelectric ranging, and laser ranging technology has emerged. Laser ranging generally uses the speed of light and the time between the time the laser is emitted and the time the laser is recovered to calculate the measured distance. Since the speed of light is known, how to accurately identify the time from the emission to the recovery of the laser is particularly important for the accuracy of laser ranging.

[0003] At present, when using FPGA (Field Programmable Gate Array) to simulate TDC (Time-to-Digital Converter) timing frontier identification method to judge the time from laser emission to recovery, although it can effectively solve the problem of poor effect of traditional TDC in long-distance ranging, due to the general FPGA main frequency between 100M-150M, there will be a large error in the detection of laser flight time during ranging, especially in the short-distance ranging scene requiring high precision, this detection error will be relatively amplified. Although the detection error can be effectively improved by directly using FPGA with high main frequency (such as a main frequency exceeding 100M-150M), this implementation method is expensive, because the higher the main frequency of the FPGA, the more expensive it is.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The present application provides a method for determining laser flight time, a laser ranging device, a computer device, and a computer-readable storage medium, aiming to improve the accuracy of calculating the laser flight time in the laser ranging process in a low-cost manner.

[0006] To achieve the above object, the present application provides a method for determining laser flight time, which is applied to laser ranging. The method for determining laser flight time comprises the following steps:

[0007] When an echo signal corresponding to the laser emission signal is received, a shaping circuit is called to perform shaping processing on the echo signal to obtain a shaped echo signal;

[0008] Using a plurality of sampling clocks with different phases provided by a field programmable logic gate array, the shaped echo signal is sampled and processed respectively to obtain a plurality of first recovery time points;

[0009] A second recovery time point is determined from the plurality of first recovery time points, and a flight time corresponding to the laser emission signal is determined according to the second recovery time point and the emission time point corresponding to the laser emission signal.

[0010] Optionally, the step of determining a second recycling time point from the plurality of first recycling time points includes:

[0011] The earliest time point is selected from the plurality of first recovery time points as the second recovery time point.

[0012] Optionally, when the echo signal corresponding to the laser emission signal is received, before the step of calling a shaping circuit to perform shaping processing on the echo signal to obtain the shaped echo signal, the method further includes:

[0013] When receiving the laser ranging instruction, the laser emission signal is controlled to be emitted, and the field programmable logic gate array is made to record the emission time point.

[0014] Optionally, before the step of using a plurality of sampling clocks with different phases provided by a field programmable logic gate array to sample and process the shaped echo signal respectively to obtain a plurality of first recovery time points, the step further includes:

[0015] Detecting whether the echo signal is received within a preset time period after the laser emission signal is emitted;

[0016] If so, determining that the number of sampling clocks used to perform the sampling process is a first number;

[0017] If not, determining that the number of sampling clocks used to perform the sampling process is a second number;

[0018] Wherein, the first number is greater than the second number.

[0019] Optionally, when the echo signal corresponding to the laser emission signal is received, after the step of calling a shaping circuit to perform shaping processing on the echo signal to obtain the shaped echo signal, the method further includes:

[0020] Detecting whether the echo signal is received within a preset time period after the laser emission signal is emitted;

[0021] If not, executing the step of using a plurality of sampling clocks with different phases provided by a field programmable logic gate array to sample and process the shaped echo signal respectively to obtain a plurality of first recovery time points;

[0022] If so, call a time-to-digital converter to sample and process the shaped echo signal to obtain a second recovery time point, and determine the flight time corresponding to the laser emission signal based on the second recovery time point and the emission time point corresponding to the laser emission signal.

[0023] Optionally, after the step of determining the flight time corresponding to the laser emission signal according to the second recovery time point and the emission time point corresponding to the laser emission signal, the step further includes:

[0024] The distance of laser ranging is calculated according to the speed of light and the flight time corresponding to the laser emission signal.

[0025] To achieve the above-mentioned purpose, the present application also provides a laser ranging device, which includes a light receiving circuit, a shaping circuit, a field programmable logic gate array and a control unit; wherein,

[0026] The light receiving circuit is used to receive the echo signal corresponding to the laser emission signal;

[0027] The shaping circuit is used to perform shaping processing on the echo signal to obtain a shaped echo signal;

[0028] The field programmable logic gate array is used to sample and process the shaped echo signal respectively using a plurality of sampling clocks with different phases to obtain a plurality of first recovery time points;

[0029] The control unit is used to determine a second recovery time point from the multiple first recovery time points, and determine the flight time corresponding to the laser emission signal based on the second recovery time point and the emission time point corresponding to the laser emission signal.

[0030] Optionally, the laser ranging device further includes a light emitting circuit; wherein,

[0031] The control unit is also used to control the field programmable logic gate array to make the light emitting circuit emit the laser emission signal and make the field programmable logic gate array record the emission time point when receiving the laser ranging instruction.

[0032] To achieve the above-mentioned purpose, the present application also provides a computer device, which includes: a memory, a processor, and a program for determining the laser flight duration stored in the memory and executable on the processor, wherein the program for determining the laser flight duration, when executed by the processor, implements the steps of the method for determining the laser flight duration as described above.

[0033] To achieve the above objectives, the present application also provides a computer-readable storage medium, on which is stored a program for determining the laser flight duration. When the program for determining the laser flight duration is executed by a processor, the steps of the method for determining the laser flight duration as described above are implemented.

[0034] The method for determining the laser flight duration, the laser ranging device, the computer device, and the computer-readable storage medium provided in the present application use a plurality of sampling clocks with different phases provided by an FPGA to sample and process the shaped echo signals of the laser echo signal respectively in the laser ranging, thereby achieving a relatively high sampling frequency of the FPGA for the shaped echo signal in a low-cost manner, thereby improving the accuracy of the laser flight duration calculated in the laser ranging process using the FPGA, and further improving the accuracy of the laser ranging using the FPGA. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the steps of a method for determining the laser flight time in an embodiment of the present application;

[0036] Figure 2 This is an example diagram of various signals in a method for determining laser flight duration in an embodiment of the present application;

[0037] Figure 3 This is a schematic diagram of the steps of a method for determining the laser flight time in another embodiment of the present application;

[0038] Figure 4 This is a schematic block diagram of the structure of a laser ranging device according to an embodiment of the present application;

[0039] Figure 5 A schematic block diagram of the internal structure of a computer device according to an embodiment of the present application.

[0040] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0042] Reference Figure 1 In one embodiment, the method for determining the laser flight duration is applied to laser ranging, and the method for determining the laser flight duration includes:

[0043] Step S10, when an echo signal corresponding to the laser emission signal is received, a shaping circuit is called to perform shaping processing on the echo signal to obtain a shaped echo signal;

[0044] Step S20, using a plurality of sampling clocks with different phases provided by a field programmable logic gate array to sample and process the shaped echo signal respectively, to obtain a plurality of first recovery time points;

[0045] Step S30, determining a second recovery time point from the plurality of first recovery time points, and determining a flight time corresponding to the laser emission signal according to the second recovery time point and the emission time point corresponding to the laser emission signal.

[0046] In this embodiment, the embodiment terminal may be a laser ranging device, or may be other equipment or devices that control the laser ranging device. The following description will be made by taking the embodiment terminal as a laser ranging device as an example.

[0047] As described in step S10, refer to Figure 2 When the laser ranging device is triggered by the emission control signal F0 and emits a laser emission signal toward the ranging target, the laser emission signal is reflected by the ranging target echo and generates an echo signal F1 that is reflected back to the laser ranging device.

[0048] Optionally, when the laser ranging device receives the echo signal F1 reflected by the ranging target based on the laser emission signal, the echo signal is input into the shaping circuit to call the threshold level U0 set in the shaping circuit (or the comparison shaping circuit) to perform shaping processing on the echo signal F1, thereby shaping the echo signal F1 into a square wave signal (the square wave signal is marked as the shaped echo signal F2). It should be noted that since the echo signal F1 is mixed with clutter signals, the waveform of which is generally a Gaussian wave or a waveform similar to a sine wave, small-amplitude clutter can be filtered out by shaping the echo signal F1 into a square wave signal; the shaping circuit can be set in the laser ranging device.

[0049] As described in step S20, after the terminal calls the shaping circuit to convert the echo signal into a shaped echo signal, the terminal calls the field programmable logic gate array to further process the shaped echo signal, wherein the field programmable logic gate array may be arranged in the laser ranging device.

[0050] Optionally, the field programmable logic gate array can provide multiple sampling clocks of different phases (i.e., the sampling frequencies of these sampling clocks have a certain phase difference between each other) through an internal PLL (Phase Locked Loop). For example, when the field programmable logic gate array provides two sampling clocks, the phase difference between the two sampling clocks can be 180°; when the field programmable logic gate array provides three sampling clocks, the phase difference between the three sampling clocks can be 120°; when the field programmable logic gate array provides four sampling clocks, the phase difference between the four sampling clocks can be 90°; when the field programmable logic gate array provides five sampling clocks, the phase difference between the five sampling clocks can be 72°. The following is an example of four sampling clocks of different phases provided by the field programmable logic gate array. Among them, when the laser ranging device is triggered by the emission control signal to emit a laser emission signal toward the ranging target, the sampling clock will also be triggered to start timing sampling and generate a corresponding acquisition clock signal.

[0051] Optionally, the terminal can sample and process the shaped echo signal separately using multiple sampling clocks of different phases provided by the field programmable logic gate array to collect the recovery time point corresponding to the shaped echo signal (recorded as the first recovery time point). Among them, the sampling clock signal corresponding to each sampling clock can collect at least one corresponding first recovery time point within the corresponding time period of the shaped echo signal (within the corresponding time period of the shaped echo signal, the time point corresponding to the rising edge of each sampling clock signal can be used as a first recovery time point); for example, for four sampling clocks of different phases, at least four different first recovery time points can be collected accordingly.

[0052] For example Figure 2 As shown, among the four sampling clocks with different phases provided by the field programmable logic gate array, there are sampling clocks with a 0° phase, a 90° phase, a 180° phase and a 270° phase. When the sampling clock signal C1 corresponding to the sampling clock with a 0° phase samples the shaped echo signal F2, the first recovery time point that can be collected is T1; when the sampling clock signal C2 corresponding to the sampling clock with a 90° phase samples the shaped echo signal F2, the first recovery time point that can be collected is T2; when the sampling clock signal C3 corresponding to the sampling clock with a 180° phase samples the shaped echo signal F2, the first recovery time point that can be collected is T3; when the sampling clock signal C4 corresponding to the sampling clock with a 270° phase samples the shaped echo signal F2, the first recovery time point that can be collected is T4.

[0053] It should be noted that if the I / O interface resources of the field programmable logic gate array are sufficient (that is, the number of idle I / O interfaces is greater than or equal to the number of adopted clocks), then an I / O interface can be provided for each sampling clock, and the shaped echo signal to be sampled can be input into the I / O interface corresponding to each sampling clock. If the I / O interface resources of the field programmable logic gate array are insufficient (that is, the number of idle I / O interfaces is less than the number of adopted clocks), then a single I / O interface can be used as the echo leading edge of sampling clocks of different phases, so that multiple sampling clocks of different phases can share one I / O interface.

[0054] As described in step S30, after obtaining multiple first recovery time points, the terminal can compare these first recovery time points to select a second recovery time point therefrom (the second recovery time point is also the recovery time point of the laser emission signal finally determined).

[0055] Optionally, the earliest time point is selected from the plurality of first recycling time points as the second recycling time point. Figure 2 As shown, among the first recovery time points T1, T2, T3 and T4, since the corresponding time point of T3 is the earliest, T3 can be used as the second recovery time point. In this way, the time point closest to the actual recovery time point of the shaped echo signal F2 (this time point corresponds to the rising edge of the shaped echo signal F2) can be obtained as the second recovery time point.

[0056] Optionally, while the laser ranging device is emitting a laser emission signal toward the ranging target, the terminal can record the emission time point corresponding to the laser emission signal. Therefore, after obtaining the second recovery time point, the flight time corresponding to the laser emission signal can be obtained based on the duration between the second recovery time point (that is, the second recovery time point can be regarded as the time point when the echo signal returns to the laser ranging device) and the emission time point.

[0057] Among them, according to the time length between the second recovery time point and the emission time point, the laser flight time of the entire process from the laser emission signal being emitted from the laser ranging device to being reflected back to the laser ranging device by the ranging target can be obtained, that is, the time length t1 between the second recovery time point and the emission time point, which is equal to the time length t2 of the laser emission signal being emitted from the laser ranging device to the ranging target (that is, the flight time corresponding to the laser emission signal (or laser flight time)) plus the time length t3 of the echo signal being reflected from the ranging target to the laser ranging device (t1=t2+t3); and since the flight time corresponding to the laser emission signal is equivalent to the flight time corresponding to the echo signal (that is, t2=t3), the flight time t2 corresponding to the laser emission signal can be calculated by dividing the time length t1 between the second recovery time point and the emission time point by 2.

[0058] It should be noted that, taking the main frequency of the field programmable logic gate array as 125M as an example, the corresponding sampling frequency is one sample per 8 nanoseconds. If a field programmable logic gate array is set to provide four sampling clocks with different phases, and the phase difference between each sampling clock is 90°, then although the sampling frequency of each sampling clock is consistent with the main frequency, since the multiple sampling clocks are staggered by setting different phases, the sampling results of these four sampling clocks are superimposed, which is equivalent to increasing the sampling frequency of the main frequency by four times in disguise (that is, the comprehensive sampling result is a sampling every 2 nanoseconds), that is, the sampling frequency can be increased by four times without replacing the field programmable logic gate array with a higher main frequency. In this way, when the field programmable logic gate array is used to sample the shaped echo signal to obtain the recovery time point, the corresponding error can be reduced from within 8 nanoseconds to within 2 nanoseconds (because the sample can be sampled once every 2 nanoseconds, the time interval between the second recovery time point and the actual recovery time point of the shaped echo signal is no more than 2 nanoseconds, that is, the error range between the two is within 0-2 nanoseconds; and if the second recovery time point just overlaps with the rising edge of the shaped echo signal, the error between the two is 0).

[0059] Accordingly, within a certain extent, the more sampling clocks with different phases are set, the smaller the difference between the second recovery time point and the actual recovery time point of the shaped echo signal will be, and thus the smaller the detection error of the entire laser ranging process will be.

[0060] In one embodiment, in laser ranging, multiple sampling clocks with different phases provided by a field programmable logic gate array are used to sample and process the shaped echo signal of the laser echo signal respectively, thereby achieving a relatively high sampling frequency of the shaped echo signal by the field programmable logic gate array in a low-cost manner, thereby improving the accuracy of the laser flight time calculated in the laser ranging process using the field programmable logic gate array. When the laser ranging distance is calculated based on the laser flight time obtained, a high-precision laser ranging distance can be obtained, thereby improving the accuracy of laser ranging using the field programmable logic gate array.

[0061] In one embodiment, if Figure 3 As shown, based on the above embodiment, when the echo signal corresponding to the laser emission signal is received, the shaping circuit is called to perform shaping processing on the echo signal, and before the step of obtaining the shaped echo signal, it also includes:

[0062] Step S40: upon receiving the laser ranging instruction, controlling the laser emission signal to be emitted, and causing the field programmable logic gate array to record the emission time point.

[0063] In this embodiment, when a light-emitting circuit and a field programmable gate array for emitting laser are provided in the terminal device, when the terminal receives a laser ranging instruction, a corresponding control instruction can be issued to the field programmable gate array, and a transmission control signal is sent to the light-emitting circuit through the field programmable gate array to control the light-emitting circuit to transmit the laser emission signal to the ranging target (or the target to be measured), and while emitting the laser emission signal, the field programmable gate array can use the internal PLL to generate a high-precision timing clock to record the emission time point of the laser emission signal.

[0064] Alternatively, the terminal may also establish a communication connection with the laser emitting device, and when the terminal receives a laser ranging instruction, it may control the laser emitting device to emit the laser emission signal to the ranging target (or the target to be measured), and while emitting the laser emission signal, control the field programmable logic gate array to record the emission time point.

[0065] In this way, the controlled emission of the laser emission signal is achieved.

[0066] In one embodiment, based on the above embodiment, before the step of using a plurality of sampling clocks with different phases provided by a field programmable logic gate array to sample and process the shaped echo signal respectively to obtain a plurality of first recovery time points, the step further includes:

[0067] Detecting whether the echo signal is received within a preset time period after the laser emission signal is emitted;

[0068] If so, determining that the number of sampling clocks used to perform the sampling process is a first number;

[0069] If not, determining that the number of sampling clocks used to perform the sampling process is a second number;

[0070] Wherein, the first number is greater than the second number.

[0071] In this embodiment, the terminal performs timing while the laser emission signal is emitted, and stops timing when the echo signal is received, and the duration in between is recorded as the estimated duration. It should be noted that, although the estimated duration can be used to characterize the duration from the emission of the laser emission signal to the receipt of the echo signal by the laser ranging device, the timing accuracy of the estimated duration may be much smaller than the timing accuracy of the first recovery time point and / or the second recovery time point (for example, if the timing accuracy of the first recovery time point and / or the second recovery time point is at the nanosecond level, the timing accuracy of the estimated duration may be at the microsecond level), that is, the duration between the second recovery time point and the emission time point is the accurately calculated duration from the emission of the laser emission signal to the receipt of the echo signal by the laser ranging device, while the estimated duration is only a roughly estimated duration from the emission of the laser emission signal to the receipt of the echo signal by the laser ranging device.

[0072] Optionally, the terminal further detects whether the estimated duration is greater than the preset duration. It should be noted that the purpose of comparing the estimated duration with the preset duration is to determine the distance of the laser ranging at that time (that is, the comparison result between the estimated duration and the preset duration is used to measure the distance of the laser ranging), so the preset duration can be set according to actual needs. For example, if the preset duration is set to 1 microsecond, given that the speed of light in air is about 0.3 meters per nanosecond, the estimated duration is compared with the preset duration in order to detect whether the distance of this laser ranging is within 150 meters (equivalent to defining the ranging range within 150 meters as short-distance ranging, and exceeding 150 meters as long-distance ranging).

[0073] Optionally, if it is detected that the estimated duration is less than or equal to the preset duration (i.e., the echo signal is received within the preset duration after the laser emission signal is emitted), it is determined that this is a short-range ranging, so the field programmable logic gate array requires a higher sampling accuracy, and the number of sampling clocks used to perform sampling processing in the field programmable logic gate array is determined to be the first number (i.e., step S20 is executed based on the first number of sampling clocks), and then the execution result of step S20 is used to accurately calculate the duration from the laser ranging device emitting the laser emission signal to receiving the echo signal, and on this basis, a high-precision laser flight duration is obtained.

[0074] It should be understood that because the speed of light is extremely fast, even an error at the microsecond level will result in an actual ranging error of at least several hundred meters. Therefore, the laser flight duration cannot be directly calculated using the estimated duration. Instead, the laser flight duration must be accurately calculated to the nanosecond level through the execution of steps S20-S30.

[0075] Optionally, if it is detected that the estimated duration is greater than the preset duration (i.e., the echo signal is received beyond the preset time after the laser emission signal is emitted), it is determined that this is a long-distance ranging, so the field programmable logic gate array can adopt a lower sampling accuracy, and determine that the number of sampling clocks used to perform sampling processing in the field programmable logic gate array is the second number (i.e., step S20 is executed based on the second number of sampling clocks), and then the execution result of step S20 is used to accurately calculate the duration from the laser ranging device emitting the laser emission signal to receiving the echo signal, and on this basis, a high-precision laser flight duration is obtained.

[0076] The first number is greater than the second number; for example, the first number can be set to 4-6, and the second number can be set to 2-3.

[0077] In this way, the sampling accuracy of the field programmable logic gate array can be automatically adjusted according to the distance of the laser ranging, so as to maintain high-precision calculation in close-range ranging. In long-distance ranging with slightly lower requirements for ranging accuracy, while keeping the ranging accuracy within a certain allowable error range, the terminal's computing speed and system power consumption can be relatively improved by slightly reducing the sampling frequency.

[0078] In one embodiment, based on the above embodiment, when the echo signal corresponding to the laser emission signal is received, the shaping circuit is called to perform shaping processing on the echo signal to obtain the shaped echo signal, and the step further includes:

[0079] Detecting whether the echo signal is received within a preset time period after the laser emission signal is emitted;

[0080] If not, executing the step of using a plurality of sampling clocks with different phases provided by a field programmable logic gate array to sample and process the shaped echo signal respectively to obtain a plurality of first recovery time points;

[0081] If so, call a time-to-digital converter to sample and process the shaped echo signal to obtain a second recovery time point, and determine the flight time corresponding to the laser emission signal based on the second recovery time point and the emission time point corresponding to the laser emission signal.

[0082] In this embodiment, the terminal starts timing while the laser transmission signal is being transmitted, and ends timing when the echo signal is received, and the duration during this period is recorded as the estimated duration.

[0083] Optionally, the terminal further detects whether the estimated duration is greater than the preset duration. It should be noted that the purpose of comparing the estimated duration with the preset duration is to determine the distance of the laser ranging at that time (that is, the comparison result between the estimated duration and the preset duration is used to measure the distance of the laser ranging), so the preset duration can be set according to actual needs.

[0084] Optionally, if it is detected that the estimated duration is greater than the preset duration (that is, the echo signal is received beyond the preset time after the laser emission signal is emitted), it is determined that this is a long-distance ranging. Therefore, when the echo signal corresponding to the laser emission signal is received, the echo signal can be shaped by executing the step of calling the shaping circuit to obtain the shaped echo signal, and then steps S20-S30 are executed in sequence to calculate the flight duration corresponding to the laser emission signal.

[0085] Optionally, if it is detected that the estimated duration is less than or equal to the preset duration (i.e., the echo signal is received within the preset duration after the laser emission signal is emitted), it is determined that this is a short-range ranging. Since the TDC (Time-to-Digital Converter) frontier identification method is used for laser ranging, although the effect is poor in long-range ranging, it is not only effective in short-range ranging, but also has high ranging accuracy. Therefore, a time digital converter can be provided in the laser ranging device, and the time digital converter is called to directly sample the rising edge of the shaped echo signal to obtain a second recovery time point. Then, the terminal uses the second recovery time point collected by the time digital converter and the emission time point corresponding to the laser emission signal to determine the flight duration corresponding to the laser emission signal.

[0086] In this way, it is possible to automatically use multiple sampling clocks with different phases provided by the field programmable logic gate array to collect the corresponding recovery time points of the shaped echo signal during long-distance laser ranging; and to automatically use the time-to-digital converter to collect the corresponding recovery time points of the shaped echo signal during short-distance laser ranging.

[0087] In one embodiment, based on the above embodiment, after the step of determining the flight time corresponding to the laser emission signal according to the second recovery time point and the emission time point corresponding to the laser emission signal, the method further includes:

[0088] The distance of laser ranging is calculated according to the speed of light and the flight time corresponding to the laser emission signal.

[0089] In this embodiment, after the terminal calculates the flight time of the laser emission signal with high precision, it can further calculate the result of the laser ranging.

[0090] Optionally, the terminal can calculate the distance between the laser ranging device and the ranging target by multiplying the speed of light by the flight time corresponding to the laser emission signal: S=c*t2, where c is the speed of light and t2 is the flight time of the laser emission signal.

[0091] In this way, the terminal can use the high-precision laser flight time to obtain high-precision laser ranging distance, thereby improving the accuracy of laser ranging.

[0092] Reference Figure 4 The embodiment of the present application also provides a laser ranging device, which includes a light receiving circuit Z10, a shaping circuit Z20, a field programmable logic gate array Z30 and a control unit Z40; wherein,

[0093] The light receiving circuit Z10 is used to receive the echo signal corresponding to the laser emission signal;

[0094] The shaping circuit Z20 is used to perform shaping processing on the echo signal to obtain a shaped echo signal;

[0095] The field programmable logic gate array Z30 is used to sample and process the shaped echo signal using a plurality of sampling clocks with different phases to obtain a plurality of first recovery time points;

[0096] The control unit Z40 is used to determine a second recovery time point from the multiple first recovery time points, and determine the flight time corresponding to the laser emission signal according to the second recovery time point and the emission time point corresponding to the laser emission signal.

[0097] Optionally, the control unit Z40 is also used to execute the steps of the method for determining the laser flight duration as described in the above embodiment.

[0098] Optionally, the control unit Z40 is further used to adjust the threshold level of the shaping circuit Z20.

[0099] Optionally, the control unit Z40 is also used to set configuration parameters of the field programmable logic gate array Z30.

[0100] Optional, see Figure 4 , the laser ranging device also includes a light emitting circuit Z50; wherein,

[0101] The control unit Z40 is also used to control the field programmable logic gate array Z30 to make the light-emitting circuit Z50 emit the laser emission signal when receiving the laser ranging instruction, and to make the field programmable logic gate array Z30 record the emission time point (that is, the field programmable logic gate array Z30 can also be used to record the emission time point of the laser emission signal).

[0102] Reference Figure 5 In an embodiment of the present application, a computer device is also provided, the internal structure of which can be as follows Figure 5 As shown. The computer device includes a processor, a memory, a communication interface and a database connected via a system bus. The processor is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store a program for determining the laser flight duration. The communication interface of the computer device is used to communicate with an external terminal via a network connection. The input device of the computer device is used to receive a signal input by an external device. When the computer program is executed by the processor, a method for determining the laser flight duration as described in the above embodiment is implemented.

[0103] Those skilled in the art will understand that Figure 5 The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0104] In addition, the present application also proposes a computer-readable storage medium, the computer-readable storage medium includes a program for determining the laser flight duration, and the program for determining the laser flight duration, when executed by a processor, implements the steps of the method for determining the laser flight duration as described in the above embodiment. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0105] In summary, the method for determining the laser flight time, the laser ranging device, the computer device and the computer-readable storage medium provided in the embodiments of the present application, in laser ranging, use a plurality of sampling clocks with different phases provided by a field programmable logic gate array to sample and process the shaped echo signal of the laser echo signal respectively, thereby achieving a relatively high sampling frequency of the shaped echo signal by the field programmable logic gate array in a low-cost manner, thereby improving the accuracy of the laser flight time calculated in the laser ranging process using the field programmable logic gate array, and when the laser ranging distance is calculated based on the laser flight time obtained, a high-precision laser ranging distance can be obtained, thereby improving the accuracy of laser ranging using the field programmable logic gate array.

[0106] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0107] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0108] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for determining the laser flight time in laser ranging, characterized in that: include: When receiving the laser ranging instruction, controlling the laser emission signal to be emitted, and causing the field programmable logic gate array to record the emission time point; When an echo signal corresponding to the laser emission signal is received, a shaping circuit is called to perform shaping processing on the echo signal to obtain a shaped echo signal; Detecting whether the echo signal is received within a preset time period after the laser emission signal is emitted; If so, determining that the number of sampling clocks used to perform the sampling process is a first number; If not, determining that the number of sampling clocks used to perform the sampling process is a second number; wherein the first number is greater than the second number; Using a plurality of sampling clocks with different phases provided by a field programmable logic gate array, the shaped echo signal is sampled and processed respectively to obtain a plurality of first recovery time points; The earliest time point is selected from the plurality of first recovery time points as the second recovery time point, and the flight time corresponding to the laser emission signal is determined according to the second recovery time point and the emission time point corresponding to the laser emission signal.

2. The method for determining the laser flight time in laser ranging according to claim 1, characterized in that: When the echo signal corresponding to the laser emission signal is received, after the step of calling a shaping circuit to perform shaping processing on the echo signal to obtain a shaped echo signal, the method further includes: Detecting whether the echo signal is received within a preset time period after the laser emission signal is emitted; If not, executing the step of using a plurality of sampling clocks with different phases provided by a field programmable logic gate array to sample and process the shaped echo signal respectively to obtain a plurality of first recovery time points; If so, call a time-to-digital converter to sample and process the shaped echo signal to obtain a second recovery time point, and determine the flight time corresponding to the laser emission signal based on the second recovery time point and the emission time point corresponding to the laser emission signal.

3. The method for determining the laser flight time in laser ranging according to any one of claims 1 to 2, characterized in that: After the step of determining the flight time corresponding to the laser emission signal according to the second recovery time point and the emission time point corresponding to the laser emission signal, the method further includes: The distance of laser ranging is calculated according to the speed of light and the flight time corresponding to the laser emission signal.

4. A laser ranging device, characterized in that: The laser ranging device includes a light receiving circuit, a shaping circuit, a field programmable logic gate array and a control unit; wherein, The light receiving circuit is used to receive the echo signal corresponding to the laser emission signal; The shaping circuit is used to perform shaping processing on the echo signal to obtain a shaped echo signal; The field programmable logic gate array is used to sample and process the shaped echo signal respectively using a plurality of sampling clocks with different phases to obtain a plurality of first recovery time points; The control unit is used to select the earliest time point from the plurality of first recovery time points as the second recovery time point, and determine the flight time corresponding to the laser emission signal according to the second recovery time point and the emission time point corresponding to the laser emission signal; and is also used to set the configuration parameters of the field programmable logic gate array, including: detecting whether the echo signal is received within a preset time after the laser emission signal is emitted; If so, determining that the number of sampling clocks used to perform the sampling process is a first number; If not, determining that the number of sampling clocks used to perform the sampling process is a second number; Wherein, the first number is greater than the second number.

5. The laser distance measuring device according to claim 4, characterized in that: The laser distance measuring device also includes a light emitting circuit; wherein, The control unit is also used to control the field programmable logic gate array to make the light emitting circuit emit the laser emission signal and make the field programmable logic gate array record the emission time point when receiving the laser ranging instruction.

6. A computer device, characterized in that: The computer device includes a memory, a processor, and a program for determining the laser flight time in laser ranging, which is stored in the memory and can be run on the processor. When the program for determining the laser flight time in laser ranging is executed by the processor, the steps of the method for determining the laser flight time in laser ranging as described in any one of claims 1 to 3 are implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program for determining the laser flight time in laser ranging, and when the program for determining the laser flight time in laser ranging is executed by a processor, the steps of the method for determining the laser flight time in laser ranging as described in any one of claims 1 to 3 are implemented.

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