Laser ranging device, control method, storage medium and computer program product

Abstract

The invention discloses a laser ranging device, a control method, a storage medium and a computer program product, and relates to the technical field of laser ranging. The laser receiving module is used for receiving laser reflected by a measured object and generating ADC sampling data after photoelectric conversion and ADC sampling processing; the main controller is used for sending a control signal to the laser emission module so as to control the laser emission module to emit laser; the main controller is used for generating a clock signal and outputting the clock signal to the laser receiving module so as to configure a sampling time period of the laser receiving module; and the main controller is also used for receiving the ADC sampling data and then processing the data to generate a distance measurement result. Therefore, the laser ranging device can generate the ADC sampling data with the waveform characteristics through ADC sampling processing on the electric signals obtained after photoelectric conversion of the laser reflected by the measured object, so that the main controller can generate the ranging result after processing according to the waveform characteristics, and the ranging precision is improved.

Description

Technical Field

[0001] The present application relates to the field of laser ranging technology, and in particular to a laser ranging device, a control method, a storage medium and a computer program product. Background Art

[0002] Laser ranging technology has been widely used in many measurement fields, including military, science and technology, and production and construction. It plays a vital role in these fields. Compared with traditional optical ranging systems, laser ranging technology stands out for its advantages such as high ranging accuracy, high resolution, strong anti-interference ability, and small and lightweight size. However, in current technical practice, laser ranging products usually use shaping circuits to process the laser signal reflected back by the light receiving circuit and convert it into an electrical signal. These shaped signals are then sent to the time digital converter (TDC) to stop the timing and calculate the distance. Unfortunately, this processing method completely ignores the waveform characteristics of the original electrical signal, which is no longer applicable in the current situation of increasing requirements for ranging accuracy. Summary of the invention

[0003] The main purpose of this application is to provide a laser ranging device, aiming to solve the technical problem of improving the ranging accuracy by utilizing the waveform characteristics of the original electrical signal.

[0004] To achieve the above object, the present application proposes a laser distance measuring device, the laser distance measuring device comprising:

[0005] A laser emission module, used for emitting laser;

[0006] A laser receiving module is used to receive the laser reflected by the object to be measured, and generate ADC sampling data after performing photoelectric conversion and ADC sampling processing;

[0007] A main controller, the main controller is electrically connected to the laser emitting module and the laser receiving module, and is used to send a control signal to the laser emitting module to control the laser emitting module to emit laser; the main controller is used to generate a clock signal and output it to the laser receiving module, so as to configure the sampling time period of the laser receiving module; the main controller is also used to receive the ADC sampling data and process and generate a ranging result.

[0008] In one embodiment, the main controller comprises:

[0009] A first controller, the first controller is electrically connected to the laser emitting module and the laser receiving module respectively, and is used to send a control signal to the laser emitting module. The first controller is used to generate a clock signal and output it to the laser receiving module, so that the laser receiving module configures the sampling time period according to the clock signal; the first controller is also used to generate time data after receiving the ADC sampling data and accumulating and processing it;

[0010] The second controller is communicatively connected with the first controller, and is used for sending a start instruction to the first controller to control the first controller to generate a control signal, and output it to the laser emission module to control the operation of the laser emission module; the second controller is used for processing and generating a ranging result according to the received time data.

[0011] In one embodiment, the second controller uses the peak time point of the time data or any edge time point on both sides of the peak time point as the flight calculation time to generate the distance measurement result.

[0012] In one embodiment, the light receiving circuit is used to receive the laser reflected by the measured object and output an echo signal after photoelectric conversion into an electrical signal;

[0013] An ADC sampling module, the ADC sampling module is electrically connected to the laser receiving module, and the ADC sampling module is electrically connected to the second controller, and is used to sample the received echo signal according to a sampling time period configured by a reference clock pulse to generate ADC sampling data with a waveform.

[0014] In one embodiment, the laser ranging device also includes a time interval unit, which is electrically connected to the laser emitting module and the first controller respectively, and is used to monitor the start time and stop time of the laser emitting module emitting laser, and generate a time interval signal to send to the first controller.

[0015] In addition, to achieve the above-mentioned purpose, the present application also proposes a method for controlling a laser ranging device, the method comprising the laser ranging device as described above, the laser ranging device comprising a laser transmitting module, a laser receiving module and a main controller, the method comprising:

[0016] Get the startup command;

[0017] According to the start-up instruction, the laser emission module is controlled to emit laser;

[0018] Acquire ADC sampling data generated and fed back by the laser receiving module after receiving laser reflection;

[0019] The acquired AD sampling data is accumulated to generate time data, so as to calculate and generate the distance measurement result.

[0020] In one embodiment, the laser ranging device further includes a time interval unit, and after the main controller generates time data by accumulating the received AD sampling data, the step of calculating and generating the ranging result further includes:

[0021] The time interval unit monitors the start time and stop time of the laser emission module generating laser light;

[0022] The compensation value is calculated according to the fixed error compensation formula to compensate the distance measurement result.

[0023] In one embodiment, after the main controller generates time data by accumulating the received AD sampling data, the step of calculating and generating the distance measurement result includes:

[0024] The AD sampling data is accumulated and processed by a linear cumulative average algorithm to generate time data;

[0025] The time data is calculated by a multi-echo multi-frame algorithm to obtain a distance measurement result.

[0026] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the laser ranging device control method described above are implemented.

[0027] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the laser ranging device control method described above are implemented.

[0028] One or more technical solutions proposed in this application have at least the following technical effects:

[0029] A laser distance measuring device, the laser distance measuring device comprises: a laser emitting module, used to emit laser; a laser receiving module, used to receive the laser reflected by the measured object, and generate ADC sampling data after performing photoelectric conversion and ADC sampling processing; a main controller, the main controller is electrically connected to the laser emitting module and the laser receiving module, and is used to send a control signal to the laser emitting module to control the laser emission of the laser emitting module; the main controller is used to generate a clock signal and output it to the laser receiving module, so as to configure the sampling time period of the laser receiving module; the main controller is also used to receive the ADC sampling data and process it to generate a distance measurement result. In this way, the laser distance measuring device can convert the electrical signal reflected by the measured object through photoelectric conversion, and generate ADC sampling data that retains the waveform characteristics of the electrical signal through ADC sampling processing, so that the main controller can generate a distance measurement result after processing according to the waveform characteristics, thereby improving the distance measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0032] Figure 1 A circuit system block diagram provided for an embodiment of the laser ranging device of the present application;

[0033] Figure 2 A schematic diagram of a method provided for an embodiment of a laser ranging device control method of the present application;

[0034] Figure 3 A schematic diagram of a method provided for an embodiment of a laser ranging device control method of the present application;

[0035] Figure 4 A method schematic diagram provided for an embodiment of a laser ranging device control method of the present application.

[0036] Description of Figure Numbers:

[0037] 1-main controller; 11-first controller; 12-second controller; 2-laser transmitting module; 3-laser receiving module; 31-light receiving circuit; 32-ADC sampling module; 4-time interval unit.

[0038] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0042] The present invention provides a laser distance measuring device, the laser distance measuring device comprising:

[0043] Laser emission module 2, used for emitting laser;

[0044] The laser receiving module 3 is used to receive the laser reflected by the object to be measured, and generate ADC sampling data after performing photoelectric conversion and ADC sampling processing;

[0045] A main controller 1, wherein the main controller 1 is electrically connected to the laser emitting module 2 and the laser receiving module 3, and is used to send a control signal to the laser emitting module 2 to control the laser emitting module 2 to emit laser; the main controller 1 is used to generate a clock signal and output it to the laser receiving module 3, so as to configure the sampling time period of the laser receiving module 3; the main controller 1 is also used to receive the ADC sampling data and process and generate a ranging result.

[0046] In this embodiment, the laser emission module 2 can be implemented by using solid laser emitters, semiconductor laser emitters, fiber laser emitters and the like. The laser receiver can collect optical signals through photodetectors (such as photodiodes, avalanche photodiodes, photomultiplier tubes, single photon avalanche diodes and silicon photomultiplier tubes) and convert them into electrical signals, amplifiers (such as preamplifiers and main amplifiers used together) amplify the electrical signals to ensure the strength of the electrical signals, and the ADC module of the single-chip microcomputer or an independent ADC chip performs ADC sampling processing to generate ADC sampling data. The main controller 1 can be composed of, for example, MCU (Microcontroller Unit), DSP (Digital Signal Process), FPGA (Field Programmable Gate Array), SOC (System On Chip, system-level chip) to be implemented in one or more ways. Specifically, the main controller 1 sends a control signal to the laser emitting module 2 to control the laser emitting module 2 to emit laser. At the same time, the main controller 1 generates a clock signal and outputs it to the laser receiving module 3, and then configures the sampling time period of the laser receiving module 3. The laser receiving module 3 performs photoelectric conversion on the electrical signal of the laser reflected by the object to be measured, performs ADC sampling processing according to the configured sampling time period, generates ADC sampling data and sends it to the main controller 1. The main controller 1 processes the ADC sampling data with waveform characteristics to generate a ranging result.

[0047] In one embodiment, the main controller 1 comprises:

[0048] A first controller 11, the first controller 11 is electrically connected to the laser emitting module 2 and the laser receiving module 3 respectively, and is used to send a control signal to the laser emitting module 2. The first controller 11 is used to generate a clock signal and output it to the laser receiving module 3, so that the laser receiving module 3 performs sampling clock cycle configuration according to the clock signal; the first controller 11 is also used to generate time data after receiving the ADC sampling data and accumulating and processing it;

[0049] The second controller 12 is communicatively connected with the first controller 11, and is used for sending a start instruction to the first controller 11 to control the first controller 11 to generate a control signal, and output it to the laser emission module 2 to control the operation of the laser emission module 2; the second controller 12 is used for processing and generating a ranging result according to the received time data.

[0050] In this embodiment, the first controller 11 can be implemented by FPGA, and the second controller 12 can be implemented by MCU or SOC. The second controller 12 generates a start instruction through a user trigger or a built-in control method. The second controller 12 sends the start instruction to the first controller 11, and the first controller 11 generates a control signal and a clock signal according to the start instruction. The laser emitting module 2 works to emit laser according to the received control signal. At the same time, the laser receiving module 3 configures the sampling clock cycle according to the received clock signal, so that the laser receiving module 3 can generate ADC sampling data after ADC sampling of the electrical signal. A controller 11 is also used to receive the ADC sampling data, and can generate time data after cumulative calculation through linear cumulative average or nonlinear cumulative algorithm, so that the second controller 12 can generate ranging results according to the received time data and the algorithm model, wherein, since the first controller 11 simultaneously triggers the laser emitting module 2 to emit laser and configures the laser receiving module 3 according to the clock signal, the time error when the laser emitting module 2 is started by the second controller 12 to emit laser can be effectively reduced, and the ranging accuracy can be improved. Since the second controller 12 calculates and processes to generate ranging results, the processing time can be effectively reduced, the overall efficiency of the system can be improved, and the main controller 1 can be used in conjunction with a variety of components. This division of labor and cooperation ensures the efficient operation of the system and the generation of high-precision ranging results.

[0051] In this embodiment, the second controller 12 can also work in conjunction with a dedicated digital signal processing module (DSP module). The DSP module can be specifically used to perform complex mathematical operations, such as fast Fourier transform (FFT) and filtering algorithms to optimize the signal processing process. In this way, the system can more accurately identify and separate useful signals, thereby improving the ranging accuracy.

[0052] In addition, in order to ensure the stability and reliability of the system, the present embodiment may further include a temperature compensation module. Since temperature changes may affect the performance of the photodetector (i.e., the light receiving circuit) and the ADC sampling module 32, the temperature compensation module may monitor the ambient temperature in real time and adjust the relevant parameters to ensure the accuracy of the ranging result. The temperature compensation module may use a thermistor or other temperature sensor and be controlled by the first controller 11.

[0053] In one embodiment, the second controller 12 uses the peak time point of the time data or any edge time point on both sides of the peak time point as the flight calculation time to generate the distance measurement result.

[0054] In this embodiment, the second controller 12 determines the distance by measuring the round-trip time of the laser pulse according to the Time-of-Flight (ToF) technology, and generates a distance measurement result after calculation according to the formula S=C*T1 / 2, wherein the second controller 12 can use the peak moment point of the moment data or any edge moment point on both sides of the peak moment point as the flight calculation time T1, S is the distance measurement result, and C is the speed of light to generate the distance measurement result, so that the laser ranging device can use the peak moment point of the moment data or any edge moment point on both sides of the peak moment point as the flight calculation, which facilitates the subsequent first controller 11 to make a specific algorithm from the signal characteristics to calculate a higher distance accuracy.

[0055] In one embodiment, the laser receiving module 3 includes:

[0056] The light receiving circuit 31 is used to receive the laser reflected by the measured object and output an echo signal after photoelectric conversion into an electrical signal;

[0057] The ADC sampling module 32 is electrically connected to the laser receiving module 3, and the ADC sampling module 32 is electrically connected to the second controller 12, and is used to sample the received echo signal according to the sampling time period configured by the reference clock pulse to generate ADC sampling data with a waveform.

[0058] In this embodiment, the light receiving circuit 31 can be configured to have specific performance parameters and structural features to ensure that it can efficiently and accurately complete the photoelectric conversion task. For example, the light receiving circuit 31 can include a highly sensitive photodetector to ensure effective conversion even in the case of weak light signals. In addition, the light receiving circuit 31 can also be equipped with appropriate filtering and amplification circuits to optimize signal quality and reduce noise interference, thereby improving the accuracy and reliability of the echo signal of the light receiving circuit 31. The ADC sampling module 32 can be independently configured as an analog-to-digital converter, or it can be implemented through the built-in ADC sampling port of the FPGA. In this way, the ADC sampling module 32 can convert the echo signal into ADC sampling data with a waveform for subsequent processing and analysis.

[0059] In summary, the laser receiving module 3 can efficiently and accurately complete the photoelectric conversion and signal sampling tasks through the coordinated work of the light receiving circuit 31 and the ADC sampling module 32, thereby providing high-quality data support for the entire ranging system.

[0060] In one embodiment, the laser ranging device also includes a time interval unit 4, which is electrically connected to the laser emitting module 2 and the first controller 11 respectively, and is used to monitor the start time and stop time of the laser emitting module 2 emitting the laser, and generate a time interval signal to send to the first controller 11.

[0061] In this embodiment, the time interval unit 4 can be implemented by a counter or TDC. The time interval unit 4 is used to monitor the start time and stop time of the laser emitting module 2 to emit the laser, thereby calculating and generating a time interval signal and sending it to the first controller 11. In this way, the first controller 11 can reduce the error of the fixed delay of the laser emitting module 2 when processing and generating the ranging result according to the time interval signal, thereby improving the ranging accuracy.

[0062] Based on the above laser distance measuring device, the embodiment of the present application also provides a laser distance measuring device control method. The specific structure of the laser distance measuring device refers to the above embodiment. Since the laser distance measuring device control method adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here. The laser distance measuring device includes a laser emitting module 2, a laser receiving module 3 and a main controller 1, and is characterized in that the method includes steps S100-S400,

[0063] Step S100, obtaining a start instruction;

[0064] Step S200, according to the start instruction, controlling the laser emitting module 2 to emit laser;

[0065] Step S300, obtaining ADC sampling data generated and fed back by the laser receiving module 3 after receiving laser reflection;

[0066] Step S400: Accumulate the acquired AD sampling data to generate time data, so as to calculate and generate a distance measurement result.

[0067] In this embodiment, the laser ranging device includes a laser emitting module 2, a laser receiving module 3 and a main controller 1. The main controller 1 generates and sends a control signal to the laser emitting module 2 according to a startup instruction to control the laser emitting module 2 to emit a laser. At the same time, the main controller 1 generates a clock signal and outputs it to the laser receiving module 3, and then configures the sampling time period of the laser receiving module 3. The laser receiving module 3 performs photoelectric conversion on the electrical signal of the laser reflected by the measured object, performs ADC sampling processing according to the configured sampling time period, generates ADC sampling data and sends it to the main controller 1. The main controller 1 generates time data based on the ADC sampling data with waveform characteristics and accumulates the acquired AD sampling data to generate time data, and then processes and generates a ranging result.

[0068] In a feasible implementation, step S400 may include steps A401 to A402:

[0069] Step A401, the time interval unit 4 monitors the start time and stop time of the laser emission module 2 generating the laser;

[0070] Step A402, calculating a compensation value according to a fixed error compensation formula to compensate the distance measurement result.

[0071] In this embodiment, there is a delay ΔT between the time when the laser beam is emitted and the time interval unit 4 receives the start signal. d1 On the other hand, there is a delay ΔT between the light beam reaching the target and reflecting back to the rangefinder until the time interval unit 4 receives the count end signal. d2 , the fixed error compensation formula is as follows: (where T and ΔT c represents the time it takes for light to travel through the air and the time between the start and stop signals respectively)

[0072] T=ΔT d1 -ΔT d2 +T c ;

[0073] Since the distance error caused by the fixed delay error is actually a fixed value, the laser ranging device is actually tested multiple times according to the fixed error compensation formula to generate a compensation model, thereby calculating the compensation value and compensating the ranging result.

[0074] In a feasible implementation, step S400 may include steps B401 to B402:

[0075] Step B401, the AD sampling data is accumulated by a linear cumulative average algorithm to generate time data;

[0076] Step B402: The time data is calculated by a multi-echo multi-frame algorithm to obtain a distance measurement result.

[0077] In this embodiment, the AD sampling data is accumulated through a linear cumulative averaging algorithm, which can not only reconstruct the signal amplitude of the AD sampling data, but also reconstruct the waveform characteristics of the weak signal more accurately. The sampled weak laser AD sampling data is processed using a digital multi-point cumulative averaging technique to suppress noise while improving the signal-to-noise ratio. The echo signal is sampled using a clock signal, and the sampled values ​​at the same position of each clock cycle are accumulated, and when the number of accumulations reaches a set value, the values ​​are averaged to restore the laser beam signal more accurately to generate time data. In this way, the first controller 11 can use different algorithms to select the peak time point of the time data or any edge time point on both sides of the peak time point as the flight calculation time to calculate and generate the ranging result based on the reconstructed time data with waveform characteristics. For example, the peak detection method can be used to calculate the ranging result based on the maximum peak time of the time data. However, since the peak detection method has poor ranging accuracy, in this embodiment, a multi-echo multi-frame algorithm is used to calculate the ranging result, which can effectively improve the ranging accuracy.

[0078] The present invention further proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the DRAM chip testing method as described above are implemented.

[0079] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0080] The computer-readable storage medium may be included in the laser distance measuring device; or may exist independently without being assembled into the laser distance measuring device.

[0081] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the laser ranging device, the laser ranging device executes the laser ranging device control method.

[0082] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0083] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0084] The modules involved in the embodiments of the present application may be implemented by software or hardware, wherein the name of the module does not limit the unit itself in some cases.

[0085] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned laser ranging device control method, and can solve the technical problems of the laser ranging device control method. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the laser ranging device control method provided in the above-mentioned embodiment, and will not be described in detail here.

[0086] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A laser distance measuring device, characterized in that: The laser distance measuring device comprises: A laser emission module, used for emitting laser; A laser receiving module is used to receive the laser reflected by the object to be measured, and generate ADC sampling data after performing photoelectric conversion and ADC sampling processing; A main controller, the main controller is electrically connected to the laser emitting module and the laser receiving module, and is used to send a control signal to the laser emitting module to control the laser emitting module to emit laser; the main controller is used to generate a clock signal and output it to the laser receiving module, so as to configure the sampling time period of the laser receiving module; the main controller is also used to receive the ADC sampling data and process and generate a ranging result.

2. The laser distance measuring device according to claim 1, characterized in that: The main controller comprises: A first controller, the first controller is electrically connected to the laser emitting module and the laser receiving module respectively, and is used to send a control signal to the laser emitting module. The first controller is used to generate a clock signal and output it to the laser receiving module, so that the laser receiving module configures the sampling time period according to the clock signal; the first controller is also used to generate time data after receiving the ADC sampling data and accumulating and processing it; The second controller is communicatively connected with the first controller, and is used for sending a start instruction to the first controller to control the first controller to generate a control signal, and output it to the laser emission module to control the operation of the laser emission module; the second controller is used for processing and generating a ranging result according to the received time data.

3. The laser distance measuring device according to claim 2, characterized in that: The second controller uses the peak time point of the time data or any edge time point on both sides of the peak time point as the flight calculation time to generate the distance measurement result.

4. The laser distance measuring device according to claim 2, characterized in that: The laser receiving module comprises: A light receiving circuit, used for receiving the laser reflected by the measured object and outputting an echo signal after photoelectric conversion into an electrical signal; An ADC sampling module, the ADC sampling module is electrically connected to the laser receiving module, and the ADC sampling module is electrically connected to the second controller, and is used to sample the received echo signal according to a sampling time period configured by a reference clock pulse to generate ADC sampling data with a waveform.

5. The laser distance measuring device according to claim 2, characterized in that: The laser ranging device also includes a time interval unit, which is electrically connected to the laser emitting module and the first controller respectively, and is used to monitor the start time and stop time of the laser emitting module emitting laser, and generate a time interval signal to send to the first controller.

6. A laser distance measuring device control method, characterized in that: The method comprises a laser distance measuring device according to any one of claims 1 to 5, wherein the laser distance measuring device comprises a laser transmitting module, a laser receiving module and a main controller, and is characterized in that the method comprises: Get the startup command; According to the start-up instruction, the laser emission module is controlled to emit laser; Acquire ADC sampling data generated and fed back by the laser receiving module after receiving laser reflection; The acquired AD sampling data is accumulated to generate time data, so as to calculate and generate the distance measurement result.

7. The laser distance measuring device control method according to claim 6, characterized in that: The laser distance measuring device further includes a time interval unit. After the main controller generates time data by accumulating the received AD sampling data, the step of calculating and generating the distance measurement result further includes: The time interval unit monitors the start time and stop time of the laser emission module generating laser light; The compensation value is calculated according to the fixed error compensation formula to compensate the distance measurement result.

8. The laser distance measuring device control method according to claim 6, characterized in that: After the main controller generates time data by accumulating the received AD sampling data, the step of calculating and generating the distance measurement result includes: The AD sampling data is accumulated and processed by a linear cumulative average algorithm to generate time data; The time data is calculated by a multi-echo multi-frame algorithm to obtain a distance measurement result.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the laser ranging device control method according to any one of claims 6 to 8 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the laser distance measuring device control method according to any one of claims 6 to 8 are implemented.

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