Multi-band combined laser ranging method and device

Abstract

The application provides a multi-band combined laser ranging method and device, the method comprising: using a first laser diode to emit a first laser signal, receiving the first laser signal by a silicon-based SPAD single-photon avalanche diode, and converting the first laser signal into first distance information by a TDC time-to-digital conversion module; using a second laser diode to emit a second laser signal, receiving the second laser signal by an indium gallium arsenide SPAD single-photon avalanche diode, and converting the second laser signal into second distance information by a TDC module; using a third laser diode to emit a third laser signal, receiving the third laser signal by a silicon-based SPAD single-photon avalanche diode, and converting the third laser signal into third distance information by a TDC module; obtaining a predicted distance of a measured object, dividing the predicted distance into multiple detection intervals; analyzing a detection interval where the detection is located, and performing confidence factor weighting algorithm calculation according to the detection interval to obtain accurate distance information. The multi-band combined laser ranging method and device provided by the application greatly improve the ranging accuracy by using multi-band combined laser ranging.

Description

Technical Field

[0001] This invention relates to the field of photoelectric detection technology, and in particular to a multi-band combined laser ranging method and device. Background Technology

[0002] Most existing laser rangefinders use a single wavelength for laser ranging. However, the visible light band is subject to significant interference from stray light in practical applications. For example, the infrared band has a longer wavelength and lower spatial resolution than visible light, leading to reduced accuracy in laser ranging systems. Furthermore, the infrared light signal is relatively weak, resulting in lower receiver sensitivity and higher noise levels. However, infrared light signals can penetrate semi-transparent objects, making them advantageous for ranging in certain situations. However, infrared lasers are invisible, making it impossible to confirm target alignment. Generally, a visible indicator laser is needed for target alignment, but if the indicator laser only serves an indicative function, the cost is high. Therefore, single-band laser detectors have poor ranging accuracy in certain applications, limiting their usability.

[0003] Therefore, it is necessary to provide a multi-band combined laser ranging method and device to effectively solve the above problems. Summary of the Invention

[0004] This invention provides a multi-band combined laser ranging method and device. By using multi-band combined laser for ranging, it can accurately measure multiple distance ranges, thereby greatly improving ranging accuracy and covering a wide range of distances.

[0005] This invention provides a multi-band combined laser ranging method, comprising the following steps:

[0006] The first laser signal is emitted by the first laser diode and received by the silicon-based SPAD single-photon avalanche diode after being reflected by the surface of the object being measured. After receiving the first laser signal, the first QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into first distance information.

[0007] The second laser diode emits a second laser signal, which is reflected by the surface of the object being measured and received by an indium gallium arsenide SPAD single-photon avalanche diode. After receiving the second laser signal, the second QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into second distance information.

[0008] A third laser signal is emitted by a third laser diode. After being reflected by the surface of the object being measured, the third laser signal is received by a silicon-based SPAD single-photon avalanche diode. After receiving the third laser signal, the third QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into third distance information.

[0009] Obtain the predicted distance of the object under test, and divide the predicted distance into multiple detection intervals;

[0010] By analyzing the detection range where this detection occurred, and using a confidence factor weighted algorithm based on the detection range, accurate distance information can be obtained.

[0011] Preferably, the first laser diode is a 640nm laser, the second laser tube is a 1550nm laser, and the third laser tube is a 905nm laser.

[0012] Preferably, the predicted distance of the object being measured is set to 0-500 meters.

[0013] Preferably, dividing the predicted distance into multiple detection intervals includes dividing the predicted distance into [0-10 meters], [10 meters-50 meters], [50 meters-100 meters], [100 meters-200 meters], and [200 meters-500 meters].

[0014] Preferably, the first distance information, the second distance information, and the third distance information are determined using majority voting, which is implemented using digital circuits.

[0015] Preferably, the determination of the first distance information, the second distance information, and the third distance information using majority voting is implemented using digital circuitry, including:

[0016] Each of the detection intervals is logically represented as follows:

[0017] Y x =A'BC+AB'C+ABC'=AB+BC+AC

[0018] Among them, Y x For output, Y x A value of 1 indicates that the region belongs to the detection range, Y xA value of 0 indicates that the object does not belong to the detection range; x represents the detection range, and the value of x ranges from 1 to 5; A is the first distance information, where A equals 1 and A equals 0 indicates that the object falls within the detection range; B is the second distance information, where B equals 1 and B equals 0 indicates that the object falls within the detection range; C is the third distance information, where C equals 1 and C equals 0 indicates that the object falls within the detection range.

[0019] Preferably, a priority judgment algorithm is used to determine the first distance information, the second distance information, and the third distance information, wherein the first distance information has a higher priority than the second distance information, and the second distance information has a higher priority than the third distance information;

[0020] When the first distance information, the second distance information, and the third distance information are in different detection ranges, the detection range shall be obtained according to the first distance information.

[0021] If the first distance information is invalid, the detection range is obtained according to the second distance information;

[0022] If both the first and second distance information are invalid, the detection range is obtained according to the third distance information.

[0023] Preferably, the accurate distance information is calculated using a confidence factor weighted algorithm based on the detection interval, specifically through the following formula:

[0024]

[0025] Where Distance represents the accurate distance information, D i P represents the distance information of each channel. i Let N represent the confidence factor, N represent the number of channels, and i represent a natural number.

[0026] Preferably, FPGA programmable array logic is used to control the first laser diode, the second laser diode, and the third laser diode respectively, and to receive the avalanche signals of the corresponding silicon-based SPAD single-photon avalanche diode and indium gallium arsenide SPAD single-photon avalanche diode.

[0027] This invention also provides a multi-band combined laser ranging device, comprising:

[0028] The first distance information acquisition unit emits a first laser signal by using a first laser diode. After being reflected by the surface of the object being measured, the first laser signal is received by a silicon-based SPAD single-photon avalanche diode. After receiving the first laser signal, the first QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into first distance information.

[0029] The second distance information acquisition unit emits a second laser signal by using a second laser diode. After being reflected by the surface of the object being measured, the second laser signal is received by an indium gallium arsenide SPAD single-photon avalanche diode. After receiving the second laser signal, the second QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into second distance information.

[0030] The third distance information acquisition unit emits a third laser signal by using a third laser diode. After being reflected by the surface of the object being measured, the third laser signal is received by a silicon-based SPAD single-photon avalanche diode. After receiving the third laser signal, the third QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into third distance information.

[0031] Multiple detection interval segmentation modules are used to obtain the predicted distance of the object under test and segment the predicted distance into multiple detection intervals;

[0032] The confidence factor weighted calculation module is used to analyze the detection interval where the detection is located, and calculate the accurate distance information by performing a confidence factor weighted algorithm based on the detection interval.

[0033] Compared with the prior art, the technical solution of the embodiments of the present invention has the following beneficial effects:

[0034] This invention provides a multi-band combined laser ranging method and apparatus. A first laser diode emits a first laser signal, which is reflected from the surface of the object being measured and received by a silicon-based SPAD single-photon avalanche diode. A first QC quenching circuit module, upon receiving the first laser signal, sends a counting stop signal to a TDC time-to-digital converter module and converts it into first distance information. A second laser diode emits a second laser signal, which is reflected from the surface of the object being measured and received by an indium gallium arsenide SPAD single-photon avalanche diode. A second QC quenching circuit module, upon receiving the second laser signal, sends a counting stop signal to the TDC time-to-digital converter module and converts it into second distance information. Information; A third laser signal is emitted using a third laser diode, and after reflection from the surface of the object being measured, the third laser signal is received by a silicon-based SPAD single-photon avalanche diode. After receiving the third laser signal, the third QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into third distance information; the predicted distance of the object being measured is obtained, and the predicted distance is divided into multiple detection intervals; the detection interval in which the current detection is performed is analyzed, and a confidence factor weighting algorithm is used to calculate the accurate distance information based on the detection interval. By using multi-band combined laser for ranging, multiple distance ranges can be accurately measured, thereby greatly improving the ranging accuracy and providing a wide range of measurement distance coverage;

[0035] Furthermore, the first distance information, the second distance information, and the third distance information are determined using majority voting. The majority voting is implemented using digital circuits, thereby efficiently determining the first distance information, the second distance information, and the third distance information.

[0036] Furthermore, a priority judgment algorithm is used to determine the first distance information, the second distance information, and the third distance information, wherein the first distance information has a higher priority than the second distance information, and the second distance information has a higher priority than the third distance information. When the first distance information, the second distance information, and the third distance information are in different detection ranges, the detection range is obtained according to the first distance information. When the first distance information is invalid, the detection range is obtained according to the second distance information. When both the first distance information and the second distance information are invalid, the detection range is obtained according to the third distance information, thereby ensuring that the detection range is more accurate. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention, but not all embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A flowchart illustrating a multi-band combined laser ranging method according to an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the operation of a laser diode in a multi-band combined laser ranging method provided in an embodiment of the present invention;

[0040] Figure 3 A schematic diagram showing the connection of each module in a multi-band combined laser ranging method according to an embodiment of the present invention;

[0041] Figure 4 Another connection diagram of the modules in a multi-band combined laser ranging method provided as an embodiment of the present invention;

[0042] Figure 5 A schematic diagram of the digital circuit used for majority voting in a multi-band combined laser ranging method provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of a multi-band combined laser ranging device provided as an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0046] To address the problems existing in the prior art, this invention provides a multi-band combined laser ranging method and device. By using multi-band combined laser for ranging, multiple distance ranges can be accurately measured, thereby greatly improving ranging accuracy and providing a wide range of measurement distances.

[0047] Figure 1 A flowchart illustrating a multi-band combined laser ranging method according to an embodiment of the present invention; Figure 2 A schematic diagram of the operation of a laser diode in a multi-band combined laser ranging method provided in an embodiment of the present invention; Figure 3 A schematic diagram showing the connection of each module in a multi-band combined laser ranging method according to an embodiment of the present invention; Figure 4 This is another connection diagram of the modules in a multi-band combined laser ranging method provided as an embodiment of the present invention. Now refer to... Figures 1-4 This invention provides a multi-band combined laser ranging method, comprising the following steps:

[0048] Step S101: A first laser signal is emitted using a first laser diode. After being reflected by the surface of the object being measured, the first laser signal is received by a silicon-based SPAD (Single Photon Avalanche Diode). After receiving the first laser signal, the first QC (Quenching Circuit) module sends a counting stop signal to the TDC (Time-to-Digital Converter) module and converts it into first distance information.

[0049] Step S102: The second laser diode emits a second laser signal, which is reflected by the surface of the object being measured and received by an indium gallium arsenide (InGaAs) SPAD single-photon avalanche diode. After receiving the second laser signal, the second QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into second distance information.

[0050] Step S103: The third laser signal is emitted by the third laser diode. After being reflected by the surface of the object being measured, the third laser signal is received by the silicon-based SPAD single-photon avalanche diode. After receiving the third laser signal, the third QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into third distance information.

[0051] Step S104: Obtain the predicted distance of the object being measured, and divide the predicted distance into multiple detection intervals;

[0052] Step S105: Analyze the detection range where this detection is located, and calculate the accurate distance information by performing a confidence factor weighted algorithm based on the detection range.

[0053] In specific implementation, the first laser diode is a 640nm laser, the second laser tube is a 1550nm laser, and the third laser tube is a 905nm laser. The 640nm laser emits a first laser signal, which is reflected from the surface of the object under test and received by a silicon-based SPAD single-photon avalanche diode. Upon receiving the first laser signal, the first QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into first distance information. The 1550nm laser emits a second laser signal, which is reflected from the surface of the object under test and received by an indium gallium arsenide (InGaAs) SPAD single-photon avalanche diode. Upon receiving the second laser signal, the second QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into second distance information. The 905nm laser emits a third laser signal, which is reflected from the surface of the object under test and received by a silicon-based SPAD single-photon avalanche diode. Upon receiving the third laser signal, the third QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into third distance information.

[0054] In practice, the predicted distance of the object being measured is set to 0-500 meters.

[0055] In specific implementation, dividing the predicted distance into multiple detection intervals includes dividing the predicted distance into [0-10 meters], [10 meters-50 meters], [50 meters-100 meters], [100 meters-200 meters], and [200 meters-500 meters].

[0056] In practice, majority voting is used to determine the first distance information, the second distance information, and the third distance information. The majority voting is implemented using digital circuits.

[0057] Figure 5 A schematic diagram of the digital circuit used for majority voting in a multi-band combined laser ranging method according to an embodiment of the present invention is now shown. Figure 5 In specific implementation, the determination of the first distance information, the second distance information, and the third distance information using majority voting is implemented using digital circuits, including:

[0058] Each of the detection intervals is logically represented as follows:

[0059] Y x =A'BC+AB'C+ABC'=AB+BC+AC

[0060] Among them, Y x For output, Y x A value of 1 indicates that the region belongs to the detection range, Y x A value of 0 indicates that the object does not belong to the detection range; x represents the detection range, and the value of x ranges from 1 to 5; A is the first distance information, where A equals 1 and A equals 0 indicates that the object falls within the detection range; B is the second distance information, where B equals 1 and B equals 0 indicates that the object falls within the detection range; C is the third distance information, where C equals 1 and C equals 0 indicates that the object falls within the detection range.

[0061] For example, Y1 represents the detection range [0-10 meters], Y2 represents the detection range [10 meters-50 meters], Y3 represents the detection range [50 meters-100 meters], Y4 represents the detection range [100 meters-200 meters], and Y5 represents the detection range [200 meters-500 meters].

[0062] Specifically, input A, input B, input C, output Y. x The logical truth table is as follows:

[0063] Enter A Enter B Enter C <![CDATA[Output Y x > 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 1 0 0 0 1 0 1 1 1 1 0 1 1 1 1 1

[0064] In specific implementation, a priority judgment algorithm is used to determine the first distance information, the second distance information, and the third distance information, wherein the first distance information has a higher priority than the second distance information, and the second distance information has a higher priority than the third distance information;

[0065] When the first distance information, the second distance information, and the third distance information are in different detection ranges, the detection range shall be obtained according to the first distance information.

[0066] If the first distance information is invalid, the detection range is obtained according to the second distance information;

[0067] If both the first and second distance information are invalid, the detection range is obtained according to the third distance information.

[0068] For example, when the first, second, and third distance information corresponding to the 640nm, 1550nm, and 905nm lasers are within different detection ranges, the detection range is obtained according to the first distance information corresponding to the 640nm laser. If the first distance information corresponding to the 640nm laser is invalid, the detection range is obtained according to the second distance information corresponding to the 1550nm laser. If both the first and second distance information corresponding to the 640nm and 1550nm lasers are invalid, the detection range is obtained according to the third distance information corresponding to the 905nm laser.

[0069] In specific implementation, the distance information is obtained by calculating the confidence factor weighted algorithm based on the detection interval, specifically through the following formula:

[0070]

[0071] Where Distance represents the accurate distance information, D i P represents the distance information of each channel. i Let N represent the confidence factor, N represent the number of channels, and i represent a natural number.

[0072] In practice, N ranges from [1,3], D1 represents the first distance information, D2 represents the second distance information, D3 represents the third distance information, P1 represents the confidence factor of the first distance information, P2 represents the confidence factor of the second distance information, and P3 represents the confidence factor of the third distance information. The confidence factor corresponds to the ratio of the error limit to the standard deviation of the given confidence probability. The confidence factors for the first, second, and third distance information for 640nm, 1550nm, and 905nm lasers are obtained through multiple laser ranging measurements.

[0073] In practical implementation, FPGA (Field Programmable Gate Array) programmable array logic is used to control the first laser diode, the second laser diode, and the third laser diode respectively, and to receive the avalanche signals of the corresponding silicon-based SPAD single-photon avalanche diode and indium gallium arsenide SPAD single-photon avalanche diode.

[0074] Figure 6 A schematic diagram of a multi-band combined laser ranging device provided for one embodiment of the present invention is now shown. Figure 6 This invention also provides a multi-band combined laser ranging device, comprising:

[0075] The first distance information acquisition unit 61 emits a first laser signal by using a first laser diode. After being reflected by the surface of the object being measured, the first laser signal is received by a silicon-based SPAD single-photon avalanche diode. After receiving the first laser signal, the first QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into first distance information.

[0076] The second distance information acquisition unit 62 emits a second laser signal by using a second laser diode. After being reflected by the surface of the object being measured, the second laser signal is received by an indium gallium arsenide SPAD single-photon avalanche diode. After receiving the second laser signal, the second QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into second distance information.

[0077] The third distance information acquisition unit 63 emits a third laser signal by using a third laser diode. After being reflected by the surface of the object being measured, the third laser signal is received by a silicon-based SPAD single-photon avalanche diode. After receiving the third laser signal, the third QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into third distance information.

[0078] Multiple detection interval segmentation module 64 is used to obtain the predicted distance of the object under test and segment the predicted distance into multiple detection intervals;

[0079] The confidence factor weighted calculation module 65 is used to analyze the detection interval where the current detection is located, and to calculate the accurate distance information by performing a confidence factor weighted algorithm based on the detection interval.

[0080] In summary, the multi-band combined laser ranging method and apparatus provided by this invention uses a first laser diode to emit a first laser signal, which is reflected from the surface of the object being measured and received by a silicon-based SPAD single-photon avalanche diode. Upon receiving the first laser signal, a first QC quenching circuit module sends a counting stop signal to a TDC time-to-digital converter module and converts it into first distance information. A second laser diode emits a second laser signal, which is reflected from the surface of the object being measured and received by an indium gallium arsenide SPAD single-photon avalanche diode. Upon receiving the second laser signal, a second QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into second distance information. The distance measurement process involves: emitting a third laser signal using a third laser diode; receiving the third laser signal via a silicon-based SPAD single-photon avalanche diode after reflection from the surface of the object being measured; receiving the third laser signal via a third QC quenching circuit module; sending a counting stop signal to a TDC time-to-digital converter module; converting the signal into third distance information; obtaining the predicted distance of the object being measured; dividing the predicted distance into multiple detection intervals; analyzing the detection interval in which the current detection occurs; and calculating the accurate distance information using a confidence factor weighting algorithm based on the detection interval. By using multi-band combined lasers for distance measurement, accurate measurement can be achieved across multiple distance ranges, thereby significantly improving the distance measurement accuracy and providing a wide measurement range coverage.

[0081] Furthermore, the first distance information, the second distance information, and the third distance information are determined using majority voting. The majority voting is implemented using digital circuits, thereby efficiently determining the first distance information, the second distance information, and the third distance information.

[0082] Furthermore, a priority judgment algorithm is used to determine the first distance information, the second distance information, and the third distance information, wherein the first distance information has a higher priority than the second distance information, and the second distance information has a higher priority than the third distance information. When the first distance information, the second distance information, and the third distance information are in different detection ranges, the detection range is obtained according to the first distance information. When the first distance information is invalid, the detection range is obtained according to the second distance information. When both the first distance information and the second distance information are invalid, the detection range is obtained according to the third distance information, thereby ensuring that the detection range is more accurate.

[0083] 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; 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 or all 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 multi-band combined laser ranging method, characterized in that, Includes the following steps: The first laser signal is emitted by the first laser diode and received by the silicon-based SPAD single-photon avalanche diode after being reflected by the surface of the object being measured. After receiving the first laser signal, the first QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into first distance information. The second laser diode emits a second laser signal, which is reflected by the surface of the object being measured and received by an indium gallium arsenide SPAD single-photon avalanche diode. After receiving the second laser signal, the second QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into second distance information. A third laser signal is emitted by a third laser diode. After being reflected by the surface of the object being measured, the third laser signal is received by a silicon-based SPAD single-photon avalanche diode. After receiving the third laser signal, the third QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into third distance information. Obtain the predicted distance of the object under test, and divide the predicted distance into multiple detection intervals; By analyzing the detection range where this detection occurred, and using a confidence factor weighted algorithm based on the detection range, accurate distance information can be obtained. The first distance information, the second distance information, and the third distance information are determined by majority voting, which is implemented using digital circuits. The determination of the first distance information, the second distance information, and the third distance information using majority voting, wherein the majority voting is implemented using digital circuitry, includes: Each of the detection intervals is logically represented as follows: in, For output, A value of 1 indicates that the region belongs to the detection range. A value of 0 indicates that the region does not belong to the detection range. Indicates the detection range. The value range is 1-5; This is the first distance information. A value of 1 indicates that the object falls within the detection range. A value of 0 indicates that the object does not fall within the detection range; This is the second distance information. A value of 1 indicates that the object falls within the detection range. A value of 0 indicates that the object does not fall within the detection range; The third distance information, A value of 1 indicates that the object falls within the detection range. A value of 0 indicates that the object does not fall within the detection range; The accurate distance information is obtained by calculating the confidence factor weighted algorithm based on the detection interval, specifically using the following formula: in, This indicates the accurate distance information. This indicates the distance information for each channel. Indicates the confidence factor. Indicates the number of each channel. Represents natural numbers.

2. The multi-band combined laser ranging method according to claim 1, characterized in that, The first laser diode is a 640nm laser, the second laser diode is a 1550nm laser, and the third laser diode is a 905nm laser.

3. The multi-band combined laser ranging method according to claim 1, characterized in that, The predicted distance of the object being measured is set to 0-500 meters.

4. The multi-band combined laser ranging method according to claim 3, characterized in that, The step of dividing the predicted distance into multiple detection intervals includes dividing the predicted distance into [0-10 meters], [10 meters-50 meters], [50 meters-100 meters], [100 meters-200 meters], and [200 meters-500 meters].

5. The multi-band combined laser ranging method according to claim 1, characterized in that, A priority judgment algorithm is used to determine the first distance information, the second distance information, and the third distance information, wherein the first distance information has a higher priority than the second distance information, and the second distance information has a higher priority than the third distance information; When the first distance information, the second distance information, and the third distance information are in different detection ranges, the detection range shall be obtained according to the first distance information. If the first distance information is invalid, the detection range is obtained according to the second distance information; If both the first and second distance information are invalid, the detection range is obtained according to the third distance information.

6. The multi-band combined laser ranging algorithm according to claim 1, characterized in that, The FPGA programmable array logic is used to control the first laser diode, the second laser diode, and the third laser diode respectively, and to receive the avalanche signals of the corresponding silicon-based SPAD single-photon avalanche diode and indium gallium arsenide SPAD single-photon avalanche diode.

7. A multi-band combined laser ranging device, characterized in that, include: The first distance information acquisition unit emits a first laser signal by using a first laser diode. After being reflected by the surface of the object being measured, the first laser signal is received by a silicon-based SPAD single-photon avalanche diode. After receiving the first laser signal, the first QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into first distance information. The second distance information acquisition unit emits a second laser signal by using a second laser diode. After being reflected by the surface of the object being measured, the second laser signal is received by an indium gallium arsenide SPAD single-photon avalanche diode. After receiving the second laser signal, the second QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into second distance information. The third distance information acquisition unit emits a third laser signal by using a third laser diode. After being reflected by the surface of the object being measured, the third laser signal is received by a silicon-based SPAD single-photon avalanche diode. After receiving the third laser signal, the third QC quenching circuit module sends a counting stop signal to the TDC time-to-digital converter module and converts it into third distance information. Multiple detection interval segmentation modules are used to obtain the predicted distance of the object under test and segment the predicted distance into multiple detection intervals; The confidence factor weighted calculation module is used to analyze the detection interval where the current detection is located, and to calculate the accurate distance information by performing a confidence factor weighted algorithm based on the detection interval. The first distance information, the second distance information, and the third distance information are determined by majority voting, which is implemented using digital circuits. The determination of the first distance information, the second distance information, and the third distance information using majority voting, wherein the majority voting is implemented using digital circuitry, includes: Each of the detection intervals is logically represented as follows: in, For output, A value of 1 indicates that the region belongs to the detection range. A value of 0 indicates that the region does not belong to the detection range. Indicates the detection range. The value range is 1-5; This is the first distance information. A value of 1 indicates that the object falls within the detection range. A value of 0 indicates that the object does not fall within the detection range; This is the second distance information. A value of 1 indicates that the object falls within the detection range. A value of 0 indicates that the object does not fall within the detection range; The third distance information, A value of 1 indicates that the object falls within the detection range. A value of 0 indicates that the object does not fall within the detection range; The accurate distance information is obtained by calculating the confidence factor weighted algorithm based on the detection interval, specifically using the following formula: in, This indicates the accurate distance information. This indicates the distance information for each channel. Indicates the confidence factor. Indicates the number of each channel. Represents natural numbers.

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