A laser ranging method, device, lidar, and storage medium

Abstract

This application relates to the field of lidar, and discloses a lidar ranging method, device, lidar, and storage medium. The method includes: acquiring a spot pattern on a lidar detector and plotting a time-of-flight histogram; determining the distance type between the object to be measured and the lidar based on the spot pattern; determining the target time-of-flight region in the time-of-flight histogram based on the distance type; determining the target time-of-flight based on the target time-of-flight region; and determining the ranging result based on the target time-of-flight. This application does not require peak location for all regions of the time-of-flight histogram, effectively reducing the amount of peak calculation, improving the efficiency of peak position calculation and fitting accuracy, and eliminating the need to store excessive noise peak data.

Description

Technical Field

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

[0002] According to existing technologies, based on DTOF (direct time-of-flight) technology, lidar needs to plot a time-of-flight histogram when measuring distance.

[0003] In the process of implementing the embodiments of this application, the inventors of this application discovered that if the time-of-flight histogram is directly used to perform peak finding to determine the flight time, then it is necessary to find all the peaks in the histogram, store and calculate all the peaks in order to determine the peak position corresponding to the flight time. This method requires a lot of data to be stored and cannot avoid the interference of noise peaks. Summary of the Invention

[0004] The purpose of this application is to provide a laser ranging method, device, lidar, and storage medium that does not require peak location for all regions of the time-of-flight histogram, effectively reducing peak calculation workload, improving peak position calculation efficiency and fitting accuracy, and eliminating the need to store excessive noise peak data.

[0005] To solve the above-mentioned technical problems, the embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a laser ranging method, the method comprising:

[0007] Based on the spot pattern on the lidar detector, draw a flight time histogram;

[0008] The distance type between the object under test and the lidar is determined based on the light spot pattern.

[0009] Based on the distance type, the target flight time region in the flight time histogram is determined, and the target flight time is determined based on the target flight time region;

[0010] The ranging result is determined based on the target's flight time.

[0011] In some embodiments, determining the target flight time region in the time-of-flight histogram based on the distance type, and determining the target flight time based on the target flight time region, includes:

[0012] Find the target flight time region corresponding to the distance type in the relationship mapping table;

[0013] The peak position is determined in the flight time histogram based on the target flight time region.

[0014] The target flight time is determined based on the peak position.

[0015] In some embodiments, prior to acquiring the spot pattern on the lidar detector, the method further includes:

[0016] Multiple targets are set up, and the distance between each target and the lidar is different;

[0017] Record the calibration geometric position of the calibration spot relative to the photosensitive area on the detector when the lidar is at different distances from the multiple targets;

[0018] Record the calibration distance type corresponding to the calibration geometric position.

[0019] In some embodiments, determining the distance type between the object to be measured and the lidar based on the spot pattern includes:

[0020] Calculate the geometric position of the geometric center of the light spot relative to the photosensitive area;

[0021] Based on the geometric position, the distance type between the object to be measured and the lidar is determined from among the plurality of calibration distance types.

[0022] In some embodiments, determining the peak position in the time-of-flight histogram based on the target time-of-flight region includes:

[0023] Determine the target window corresponding to the target flight time region in the flight time histogram;

[0024] Perform a peak-finding operation within the target window to determine the peak position.

[0025] In some embodiments, the method further includes:

[0026] In the time-of-flight histogram, window areas other than the target window are filtered out.

[0027] In some embodiments, acquiring the spot pattern on the lidar detector includes:

[0028] The laser of the lidar is controlled to emit laser lines onto the object under test multiple times;

[0029] The laser radar detector receives light reflected from the object under test multiple times to form the light spot pattern.

[0030] Secondly, embodiments of this application also provide a laser ranging device for use with lidar, the device comprising:

[0031] The plotting module is used to acquire the spot pattern on the lidar detector and plot the time-of-flight histogram;

[0032] A type recognition module is used to determine the distance type between the object to be measured and the lidar based on the light spot pattern.

[0033] The determination module is used to determine the target flight time region in the flight time histogram according to the distance type, and to determine the target flight time based on the target flight time region;

[0034] The ranging module is used to determine the ranging result based on the target's flight time.

[0035] Thirdly, this application also provides a lidar, the lidar comprising:

[0036] At least one processor, and

[0037] A memory communicatively connected to the processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method as described in the first aspect.

[0038] Fourthly, this application also provides a non-volatile computer-readable storage medium storing computer-executable instructions that, when executed by a lidar, cause the lidar to perform the method described in any of the first aspects.

[0039] The beneficial effects of this application's embodiments are as follows: Unlike the prior art, the laser ranging method, device, lidar, and storage medium provided in this application's embodiments acquire a spot pattern on the lidar detector and plot a time-of-flight histogram during laser ranging. Then, based on the spot pattern, the distance type between the object to be measured and the lidar is determined. Based on the distance type, the target time-of-flight region in the time-of-flight histogram is determined. Based on the target time-of-flight region, the target time is determined, thus allowing for a preliminary judgment that the distance between the object to be measured and the lidar lies within the target region of the time-of-flight histogram. Therefore, after plotting the time-of-flight histogram, the target time can be directly determined from the histogram without needing to perform peak location on all regions of the time-of-flight histogram, effectively reducing the amount of peak calculation. Based on the target time of flight, the ranging result is determined, improving the efficiency of peak position calculation. Excessive storage of noise peak data is not required, effectively improving the efficiency of peak position calculation and fitting accuracy. Attached Figure Description

[0040] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0041] Figure 1 This is a schematic diagram of one embodiment of the lidar ranging method of this application;

[0042] Figure 2 This is a flowchart illustrating an embodiment of the laser ranging method of this application;

[0043] Figure 3 This is a schematic diagram of the time-of-flight histogram of the laser ranging method of this application;

[0044] Figure 4 These are schematic diagrams of laser spot patterns for different distance types in the laser ranging method of this application;

[0045] Figure 5 This is a schematic diagram of the time-of-flight histogram of the laser ranging method of this application, divided into multiple windows;

[0046] Figure 6 This is a schematic diagram of the target window peak finding operation in laser ranging of this application;

[0047] Figure 7 This is a schematic diagram of the noise filtering window for laser ranging in this application;

[0048] Figure 8 This is a schematic diagram of the structure of one embodiment of the laser ranging device of this application;

[0049] Figure 9 This is a schematic diagram of the hardware structure of the controller in one embodiment of the lidar of this application. Detailed Implementation

[0050] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. In addition, the terms "first," "second," and "third" used herein do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0053] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0054] Furthermore, the technical features involved in the various embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0055] The laser ranging method and apparatus provided in this application can be applied to lidar, such as... Figure 1 As shown, the lidar 100 includes a controller 11, a transmitter 12, and a receiver 13. The transmitter 12 includes a laser for emitting laser lines onto the object 200 under test. The receiver 13 is used to receive the light reflected back from the object 200 under test. The controller 11 is used to control the transmitter 12 to emit laser lines and to process information based on the light received by the receiver 13.

[0056] In this application, the transmitter 12 and the receiver 13 are not coaxial, which results in a distance between the optical centers of the transmitter 12 and the receiver 13, thus causing the light spot on the receiver 13 to shift.

[0057] The receiver 13 includes a receiving lens and a detector, the detector including a photon receiving array, a linear array or a surface array, and optical components, etc.

[0058] In some embodiments, the detector includes any one of a SPAD array, a SiPM array, an APD array, a SPAD linear array, and a SPAD area array. Each sensing device of any one of the SPAD array, SiPM (silicon photomultiplier tube) array, APD (avalanche photodiode) array, SPAD linear array, and SPAD area array is used to receive photons.

[0059] This LiDAR 100 can be used in fields such as positioning, navigation, and obstacle avoidance for robotic vacuum cleaners and surveillance robots.

[0060] Please see Figure 2 The above is a flowchart illustrating an embodiment of the laser ranging method applied in this application. The method can be executed by the controller 11 in the lidar 100, and includes steps S201-S204.

[0061] S201: Obtain the spot pattern on the lidar detector and plot the flight time histogram.

[0062] In laser ranging, Time-of-Flight (TOF) technology is employed. TOF technology includes Direct Time-of-Flight (DTOF) and Indirect Time-of-Flight (iTOF) technologies. Taking DTOF as an example, its core components include a VCSEL (Vibration Cancellation Laser), a Single Photon Avalanche Diode (SPAD), and a Time Digital Converter (TDC). A SPAD is a photodetector avalanche diode with single-photon detection capabilities; it generates current even with a weak light signal. The VCSEL in the DTOF module emits pulse waves into the scene, and the SPAD receives the pulse waves reflected back from the target object. The TDC records the flight time of each received light signal, i.e., the time interval between the emitted and received pulses. DTOF emits and receives N light signals within a single frame measurement time, then performs a histogram analysis on the recorded N flight times. The flight time t with the highest frequency is used to calculate the depth of the object being measured.

[0063] Therefore, to measure the distance between a lidar and an object, the lidar can emit short pulses of laser light from its transmitter (i.e., the VCSEL laser) towards the object, and then its receiver can receive the light reflected back from the object. The emission and reception times are calculated, and the flight time is determined by using a histogram peak finding method, thereby detecting the distance between the lidar and the object.

[0064] In some embodiments, when measuring the distance between the lidar and the object to be measured, the lidar transmitter needs to emit a laser line. Therefore, acquiring the spot pattern on the lidar detector may include:

[0065] The laser of the lidar is controlled to emit laser lines onto the object under test multiple times;

[0066] The detector receives light reflected back from the object under test multiple times.

[0067] Specifically, firstly, the lidar controller controls the laser to emit laser lines multiple times onto the object under test; the detector receives the light reflected back from the object multiple times, and the light received by the receiver (detector) forms a light spot pattern, thus completing the histogram plotting. For example... Figure 3 As shown, Figure 3 This is a time-of-flight histogram plotted during lidar ranging. The X-axis of the time-of-flight histogram represents the flight time, and the Y-axis represents the number of photons triggered by the array, linear array, or area array on the receiving end. This time-of-flight histogram is obtained from the spot pattern.

[0068] S202: Determine the distance type between the object to be measured and the lidar based on the light spot pattern.

[0069] In some embodiments, in order to determine the specific type of distance between the object being measured and the lidar, the distance type needs to be pre-calibrated. Before acquiring the spot pattern on the lidar detector, the method may further include:

[0070] Multiple targets are set up, and the distance between each target and the lidar is different;

[0071] Record the calibration geometric position of the calibration spot relative to the photosensitive area when the lidar is at different distances from the multiple targets;

[0072] Record the calibration distance type corresponding to the calibration geometric position.

[0073] Specifically, to determine the distance type between the object under test and the lidar based on the light spot pattern, the distance type first needs to be classified. Multiple targets can be set, each at a different distance from the lidar, thus obtaining different calibration light spots. The calibration geometric position of each calibration light spot relative to the photosensitive area is recorded, and then the calibration distance type corresponding to the calibration geometric position is obtained. Since there are multiple targets and varying distances between the lidar and the targets, there are also multiple corresponding calibration light spots, resulting in multiple calibration geometric positions and multiple calibration distance types. The calibration distance type can include short-range, medium-range, and long-range categories.

[0074] like Figure 4As shown, when the calibration distance type is long-range, the area of ​​the calibration spot is small, and the geometric center of the calibration spot coincides with the geometric center of the photosensitive area; when the calibration distance type is medium-range, the geometric center of the calibration spot deviates from the geometric center of the photosensitive area, the calibration spot shifts towards the edge of the photosensitive area, and the area of ​​the entire calibration spot increases; when the calibration distance type is short-range, the deviation between the geometric center of the calibration spot and the geometric center of the photosensitive area is even greater, the degree of shift of the calibration spot towards the edge of the photosensitive area is greater, and the area of ​​the entire calibration spot is larger than that of the medium-range category calibration spot.

[0075] Understandably, when the entire calibration spot is completely deviated from the photosensitive area, it is considered that the distance between the lidar and the object under test is relatively close, belonging to the blind zone calibration spot, and this distance category is not taken into account.

[0076] Therefore, the geometric position of the calibration spot relative to the photosensitive area can be the difference between the geometric center of the calibration spot and the geometric center of the photosensitive area, or the difference between the geometric center of the calibration spot and the edge position of the photosensitive area.

[0077] When performing laser ranging, acquiring the spot pattern on the lidar detector, step S202 may include:

[0078] Calculate the geometric position of the geometric center of the light spot relative to the photosensitive area;

[0079] Based on the geometric position, the distance type between the object to be measured and the lidar is determined from among the plurality of calibration distance types.

[0080] Specifically, the photosensitive area refers to the array area on the receiving end.

[0081] In some implementations, the geometric position of the light spot's geometric center relative to the photosensitive area can be calculated using the centroid method. This method utilizes the light intensity information of each unit on the sensing device of the receiver array to calculate the geometric position of the light spot's geometric center relative to the entire photosensitive area. Furthermore, based on this geometric position, the distance type between the object under test and the lidar is determined from among the plurality of calibration distance types.

[0082] After calculating the geometric position of the geometric center of the calibration spot relative to the photosensitive area, the distance type between the object under test and the lidar can be directly determined as long-range, medium-range, or short-range based on the pre-calibrated distance type.

[0083] By determining the distance type between the object under test and the lidar, a preliminary judgment of the distance type between the object under test and the lidar can be made, which facilitates the inference of the initial position range of the peak in the time-of-flight histogram.

[0084] S203: Determine the target flight time region in the flight time histogram based on the distance type, and determine the target flight time based on the target flight time region.

[0085] In some implementations, step S203 may include:

[0086] Find the target flight time region corresponding to the distance type in the relationship mapping table;

[0087] The peak position is determined in the flight time histogram based on the target flight time region.

[0088] The target flight time is determined based on the peak position.

[0089] Specifically, the relational mapping table stores different target flight time regions corresponding to different distance types. Therefore, after determining whether the specific distance type is short-range, medium-range, or long-range, the corresponding target flight time region can be directly determined.

[0090] Furthermore, since a spot pattern is formed when the flight histogram is drawn, the geometric center of the spot pattern relative to the geometric position of the photosensitive area can directly determine the distance type between the object under test and the lidar. The target flight time region can be determined by the distance type. Therefore, the corresponding target flight time region can be found in the flight time histogram.

[0091] In some implementations, determining the peak position in the time-of-flight histogram based on the target time-of-flight region may include:

[0092] Determine the target window corresponding to the target flight time region in the flight time histogram;

[0093] Perform a peak-finding operation within the target window to determine the peak position.

[0094] In the time-of-flight histogram, as Figure 5As shown, multiple windows are divided into near-range, medium-range, and far-range windows, from closest to furthest. Correspondingly, if the target flight time region corresponds to a distance type of the near-range category, the target window falls within the near-range window; if the target flight time region corresponds to a distance type of the medium-range category, the target window falls within the medium-range window; and if the target flight time region corresponds to a distance type of the far-range category, the target window falls within the far-range window. In some embodiments, the target window falls within the medium-range window.

[0095] After determining the target window, a peak-finding operation is performed within the target window to determine the peak position.

[0096] The peak finding operation can refer to the histogram peak finding operation in the existing technology of DTOF, and will not be elaborated here.

[0097] like Figure 6 As shown, a peak-finding operation is performed in the mid-range window to determine the peak position and thus the target flight time.

[0098] In some embodiments, the method further includes:

[0099] In the time-of-flight histogram, window areas other than the target window are filtered out.

[0100] Specifically, in the time-of-flight histogram, the window regions other than the target window can be considered noise regions, such as... Figure 7 As shown, to improve peak finding efficiency and promptly and effectively locate the peak position to determine the target flight time, the window region outside the target window is filtered out in the time-of-flight histogram. That is, no peak finding operation is performed on window regions that are not the target window. Figure 6 As shown, peak finding and accuracy fitting are performed only on the target window region, thereby reducing the amount of computation, effectively improving peak finding efficiency and fitting accuracy, avoiding noise interference when performing peak finding operations on window regions outside the target window, and improving the overall interference resistance.

[0101] S204: Determine the ranging result based on the target's flight time.

[0102] After determining the target flight time, ranging is performed based on the target flight time to complete the ranging of the lidar. The ranging result based on the target flight time can be referenced from the DTOF laser ranging scheme, which will not be elaborated here.

[0103] In an embodiment of this application, during laser ranging, a spot pattern on the lidar detector is acquired, and a time-of-flight histogram is plotted. Then, the distance type between the object to be measured and the lidar is determined based on the spot pattern. Based on the distance type, the target time-of-flight region in the time-of-flight histogram is determined. The target time-of-flight is then determined based on this target time-of-flight region, thus allowing for a preliminary assessment that the distance between the object to be measured and the lidar lies within the target region of the time-of-flight histogram. Therefore, after plotting the time-of-flight histogram, the target time-of-flight can be directly determined from the histogram, eliminating the need for peak location analysis across all regions of the histogram, effectively reducing peak calculation workload. Based on the target time-of-flight, the ranging result is determined, improving the efficiency of peak position calculation. Excessive storage of noisy peak data is also eliminated, effectively improving peak position calculation efficiency and fitting accuracy.

[0104] This application also provides a laser ranging device; please refer to [link / reference]. Figure 8 This illustrates the structure of a laser ranging device provided in an embodiment of this application. The laser ranging device 800 includes:

[0105] The plotting module 801 is used to acquire the spot pattern on the lidar detector and plot the time-of-flight histogram.

[0106] Type recognition module 802 is used to determine the distance type between the object to be measured and the lidar based on the light spot pattern;

[0107] The determining module 803 is used to determine the target flight time region in the flight time histogram according to the distance type, and to determine the target flight time based on the target flight time region;

[0108] The ranging module 804 is used to determine the ranging result based on the target's flight time.

[0109] In an embodiment of this application, during laser ranging, a spot pattern on the lidar detector is acquired, and a time-of-flight histogram is plotted. Then, the distance type between the object to be measured and the lidar is determined based on the spot pattern. Based on the distance type, the target time-of-flight region in the time-of-flight histogram is determined. The target time-of-flight is then determined based on this target time-of-flight region, thus allowing for a preliminary assessment that the distance between the object to be measured and the lidar lies within the target region of the time-of-flight histogram. Therefore, after plotting the time-of-flight histogram, the target time-of-flight can be directly determined from the histogram, eliminating the need for peak location analysis across all regions of the histogram, effectively reducing peak calculation workload. Based on the target time-of-flight, the ranging result is determined, improving the efficiency of peak position calculation. Excessive storage of noisy peak data is also eliminated, effectively improving peak position calculation efficiency and fitting accuracy.

[0110] In some embodiments, the determining module 803 is further configured to:

[0111] Find the target flight time region corresponding to the distance type in the relationship mapping table;

[0112] The peak position is determined in the flight time histogram based on the target flight time region.

[0113] The target flight time is determined based on the peak position.

[0114] In some embodiments, the laser ranging device 800 further includes a calibration module 805, used for:

[0115] Multiple targets are set up, and the distance between each target and the lidar is different;

[0116] Record the calibration geometric position of the calibration spot relative to the photosensitive area when the lidar is at different distances from the multiple targets;

[0117] Record the calibration distance type corresponding to the calibration geometric position.

[0118] In some embodiments, the type recognition module 802 is further configured to:

[0119] Calculate the geometric position of the geometric center of the light spot relative to the photosensitive area;

[0120] Based on the geometric position, the distance type between the object to be measured and the lidar is determined from among the plurality of calibration distance types.

[0121] In some embodiments, the determining module 803 is further configured to:

[0122] Determine the target window corresponding to the target flight time region in the flight time histogram;

[0123] Perform a peak-finding operation within the target window to determine the peak position.

[0124] In some embodiments, the laser rangefinder 800 further includes a filtering module 806, used for:

[0125] In the time-of-flight histogram, window areas other than the target window are filtered out.

[0126] In some embodiments, the laser ranging device 800 further includes a transmitter / receiver module 807, for:

[0127] The laser of the lidar is controlled to emit laser lines onto the object under test multiple times;

[0128] The detector receives light reflected from the object under test multiple times to form the light spot pattern.

[0129] It should be noted that the above-described apparatus can execute the method provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in the apparatus embodiments can be found in the method provided in the embodiments of this application.

[0130] Figure 9 This is a schematic diagram of the hardware structure of the controller in one embodiment of the lidar, as shown below. Figure 9 As shown, the controller 11 includes:

[0131] One or more processors 111 and memory 112. Figure 9 The example uses a processor 111 and a memory 112.

[0132] Processor 111 and memory 112 can be connected via a bus or other means. Figure 9 Taking the example of a connection between China and Israel via a bus.

[0133] Memory 112, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the laser ranging method in the embodiments of this application (e.g., attached...). Figure 8 The calculation and drawing module 801, type identification module 802, determination module 803, ranging module 804, calibration module 805, filtering module 806, and transmission and reception module 807 are shown. The processor 111 executes various functional applications and data processing of the controller by running non-volatile software programs, instructions, and modules stored in the memory 112, thereby realizing the laser ranging method of the above-described method embodiment.

[0134] The memory 112 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the personnel access detection device. Furthermore, the memory 112 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 112 may optionally include memory remotely located relative to the processor 111, and these remote memories can be connected to the lidar via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0135] The one or more modules are stored in the memory 112. When executed by the one or more processors 111, they perform the laser ranging method in any of the above method embodiments, for example, the method described above. Figure 2 Method steps S201 to S204; implementation Figure 8 The functions of modules 801-807 in the document.

[0136] The above-described product can perform the methods provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects for performing the methods. Technical details not described in detail in this embodiment can be found in the methods provided in the embodiments of this application.

[0137] This application provides a non-volatile computer-readable storage medium storing computer-executable instructions that are executed by one or more processors, for example... Figure 7 One of the processors 111 can enable the one or more processors to execute the laser ranging method in any of the above method embodiments, for example, to perform the above-described... Figure 2 Method steps S201 to S204; implementation Figure 8 The functions of modules 801-807 in the document.

[0138] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0139] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software and a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser ranging method, characterized by, The method comprises: acquiring a light spot map on a laser radar detector, drawing a time-of-flight histogram; determining a distance type between a to-be-measured object and the laser radar according to the light spot map, the distance type being determined by a mapping relationship between geometric positions of light spots corresponding to a plurality of targets pre-calibrated relative to a light-sensitive area and distances, different distance types corresponding to different geometric center deviation amounts of light spots; looking up a target time-of-flight area corresponding to the distance type in a relationship mapping table; determining a peak position in the time-of-flight histogram according to the target time-of-flight area; determining a target time-of-flight according to the peak position; determining a ranging result according to the target time-of-flight.

2. The method of claim 1, wherein, Before the acquiring of the light spot map on the laser radar detector, the method further comprises: setting a plurality of targets, distances between each target and the laser radar being different; recording calibrated geometric positions of calibrated light spots corresponding to different distances between the laser radar and the plurality of targets respectively relative to the light-sensitive area on the detector; recording calibrated distance types corresponding to the calibrated geometric positions.

3. The method of claim 2, wherein, The determining of the distance type between the to-be-measured object and the laser radar according to the light spot map comprises: calculating geometric positions of geometric centers of the light spots relative to the light-sensitive area on the detector; determining the distance type between the to-be-measured object and the laser radar from among the plurality of calibrated distance types based on the geometric positions.

4. The method of claim 1, wherein, The determining of the peak position in the time-of-flight histogram according to the target time-of-flight area comprises: determining a target window corresponding to the target time-of-flight area in the time-of-flight histogram; performing a peak searching operation in the target window to determine the peak position.

5. The method of claim 4, wherein, The method further comprises filtering out window areas outside the target window in the time-of-flight histogram.

6. The method of claim 1, wherein, The acquiring of the light spot map on the laser radar detector comprises: controlling a laser of the laser radar to emit laser light onto the to-be-measured object multiple times; receiving, by the detector, light reflected back from the to-be-measured object multiple times to form the light spot map.

7. A laser range finder device, characterized by, The device comprises: a drawing module configured to acquire a light spot map on a laser radar detector and draw a time-of-flight histogram; a type identification module configured to determine a distance type between a to-be-measured object and the laser radar according to the light spot map, the distance type being determined by a mapping relationship between geometric positions of light spots corresponding to a plurality of targets pre-calibrated relative to a light-sensitive area and distances, different distance types corresponding to different geometric center deviation amounts of light spots; a determination module configured to look up a target time-of-flight area corresponding to the distance type in a relationship mapping table, determine a peak position in the time-of-flight histogram according to the target time-of-flight area, and determine a target time-of-flight according to the peak position; a ranging module configured to determine a ranging result according to the target time-of-flight.

8. A lidar, comprising: The laser radar comprises: at least one processor, and A memory, communicatively connected to the processor, the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

9. A non-transitory computer readable storage medium, comprising: The computer readable storage medium stores computer executable instructions that, when executed by the lidar, cause the lidar to perform the method of any one of claims 1-6.

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