Laser ranging method, circuit, equipment, storage medium and product

Abstract

The invention discloses a laser ranging method, circuit, device, storage medium and product, and relates to the technical field of laser ranging, the disclosed laser ranging method comprises the following steps: during laser ranging, emitting laser to a to-be-measured target; when the laser arrives at the to-be-measured target and returns, receiving return laser in contact with the to-be-measured target; processing the plurality of return lasers to obtain a target echo signal and echo time; and according to the plurality of target echo signals and the echo time, obtaining a target distance between a laser emission position and the to-be-measured target position. According to the invention, the obtained echo signals are processed, superposed and then combined with the echo time for calculation to obtain the target distance, compared with the prior art, the target distance measured by reinforcing the ultra-far weak target echo signals is more exquisite, and the measurement range is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of laser ranging technology, and in particular to a laser ranging method, circuit, equipment, storage medium and product. Background Art

[0002] Due to the unique characteristics of lasers, such as strong directionality, high brightness, good monochromaticity, good coherence, etc., lasers are often used as light sources for photoelectric ranging, and laser ranging technology has emerged. Laser ranging is the development of optics, laser technology, computing technology and integration. Laser ranging is developing towards digitalization, automation, low cost, small size and lightness, and the range accuracy of laser ranging has also been greatly improved.

[0003] Laser ranging technology has been widely used in various measurement industries. It plays an important role in the military field, science and technology, and production and construction. Compared with general optical ranging systems, laser ranging has a series of advantages such as high measurement accuracy, high resolution, strong anti-interference ability, small size and light weight.

[0004] In order to give full play to the advantages of laser ranging technology, overcome its various technical problems, and promote the application of laser ranging technology, researchers at home and abroad have been conducting various research and experiments. In particular, users have put forward higher requirements in terms of cost, range and accuracy.

[0005] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of the present invention is to provide a laser ranging method, circuit, device, storage medium and product, aiming to solve the technical problems in cost, range and accuracy.

[0007] To achieve the above object, the present invention provides a laser ranging method, which comprises:

[0008] When performing laser ranging, the laser is emitted to the target to be measured;

[0009] When the laser reaches the target to be measured and returns, receiving the return laser that contacts the target to be measured;

[0010] Processing the plurality of return lasers to obtain a target echo signal and an echo time;

[0011] The target distance between the laser emission position and the target position to be measured is obtained according to the multiple target echo signals and the echo time.

[0012] In one embodiment, the return laser includes a white noise wave, an ambient light noise wave, and an echo of a measured target, and the step of processing a plurality of the return lasers to obtain a target echo signal and an echo time includes:

[0013] By increasing the number of laser beams emitted, the positive white noise and negative white noise of the white noise wave are offset;

[0014] Keeping the emission position of the laser and the position of the target to be measured unchanged each time, and eliminating the ambient light noise wave;

[0015] Superimposing the measured target echoes to obtain the target echo signal;

[0016] The laser is emitted to the target to be measured once every target preset time; and the target preset time of each emission is accumulated to obtain the echo time.

[0017] In one embodiment, the step of obtaining the target distance between the laser emission position and the target position to be measured according to the plurality of target echo signals and the echo time comprises:

[0018] Get the target distance calculation formula;

[0019] Substitute the target echo signal and the echo time into the target distance calculation formula to obtain the target distance.

[0020] In one embodiment, after the step of obtaining the target distance between the laser emission position and the target position to be measured according to the target echo signal, the method further comprises:

[0021] The number of times the laser is emitted is determined according to the target distance, and the laser is emitted to the target to be measured according to the number of times.

[0022] In addition, to achieve the above object, the present invention further provides a laser ranging circuit, the laser ranging circuit comprising:

[0023] MCU chip, integrated circuit, analog-to-digital converter, light-emitting circuit and light-receiving circuit;

[0024] The MCU chip is connected to the integrated circuit; the integrated circuit is respectively connected to the analog-to-digital converter and the light-emitting circuit; the analog-to-digital converter is connected to the light-receiving circuit.

[0025] In addition, to achieve the above-mentioned purpose, the present invention also proposes a laser ranging method device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the laser ranging method as described above.

[0026] In addition, to achieve the above-mentioned purpose, the present invention 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 method described above are implemented.

[0027] In addition, to achieve the above-mentioned purpose, the present invention 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 method described above are implemented.

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

[0029] The present invention transmits a laser to a target to be measured during laser ranging; when the laser reaches the target to be measured and returns, a return laser that contacts the target to be measured is received; multiple return lasers are processed to obtain a target echo signal and an echo time; and the target distance between the position of the emitted laser and the position of the target to be measured is obtained according to the multiple target echo signals and the echo time. The present invention calculates the target distance by processing the obtained echo signals, superimposing them, and then combining them with the echo time. Compared with the prior art, the target distance measured by strengthening the ultra-long and weak target echo signals is more refined, and the measurement range is also greatly improved. 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 invention and, together with the description, serve to explain the principles of the invention.

[0031] In order to more clearly illustrate the embodiments of the present invention 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 schematic diagram of a process flow provided for the first embodiment of the laser ranging method of the present invention;

[0033] Figure 2 A schematic diagram of a process flow provided for the second embodiment of the laser ranging method of the present invention;

[0034] Figure 3 It is a waveform diagram of the laser ranging method of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of a laser distance measuring device according to an embodiment of the present invention;

[0036] Figure 5 The figure is a schematic diagram of the device structure of the hardware operating environment involved in the laser ranging method in the embodiment of the present invention.

[0037] Description of Figure Numbers:

[0038] 1. MCU chip; 2. Integrated circuit; 3. Analog-to-digital converter; 4. Light-emitting circuit; 5. Light-receiving circuit.

[0039] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0040] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present invention and are not used to limit the present invention.

[0041] In order to better understand the technical solution of the present invention, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0042] The main solution of the embodiment of the present invention is: when performing laser ranging, a laser is emitted to the target to be measured; when the laser reaches the target to be measured and returns, a return laser that contacts the target to be measured is received; multiple return lasers are processed to obtain a target echo signal and an echo time; based on the multiple target echo signals and the echo time, the target distance between the emitted laser position and the target position to be measured is obtained.

[0043] In this embodiment, for the convenience of description, the following description is made by taking the identification laser ranging circuit as the execution subject.

[0044] Since the width of the echo signals after reshaping in the TDC edge-triggered timing method of the prior art is significantly different, the leading edge triggering time is different, and the level of the threshold level directly affects the distance of the distance measurement, that is, the distance accuracy. The moment identification timing method of echo signal restoration can use the peak moment of the echo signal to calculate the distance, or it can use any edge value on both sides of the peak to calculate. This greatly increases the flexibility of moment point processing, and different algorithms can be introduced to improve accuracy and range. This is something that the existing TDC edge-triggered timing method cannot do. However, this method is very weak for ultra-long-distance echo signals, and some are even weaker than interference signals. At this time, it is impossible to determine the position of the echo signal and calculate the distance. In summary, the prior art includes the problems of distance accuracy and short range.

[0045] The present invention provides a solution, which includes emitting a laser to a target to be measured during laser ranging; when the laser reaches the target to be measured and returns, receiving a return laser that contacts the target to be measured; processing a plurality of return lasers to obtain a target echo signal and an echo time; and obtaining a target distance between the position of the emitted laser and the position of the target to be measured according to the plurality of target echo signals and the echo time. The present invention calculates the target distance by processing the obtained echo signals, superimposing them, and then combining them with the echo time. Compared with the prior art, the target distance measured by strengthening the ultra-long and weak target echo signals is more refined, and the measurement range is also greatly improved.

[0046] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes the laser ranging circuit as an example to illustrate this embodiment and the following embodiments.

[0047] Based on this, the embodiment of the present invention provides a laser ranging method, referring to Figure 1 , Figure 1 Schematic diagram of the process of the first embodiment of the laser ranging method of the present invention.

[0048] In this embodiment, the laser ranging method includes steps S10 to S40:

[0049] Step S10, when performing laser ranging, emitting laser to the target to be measured.

[0050] It should be noted that the above-mentioned laser may be a pulse laser or a continuous wave laser.

[0051] It is understandable that in different laser ranging circuits, the above lasers are all different, and this embodiment does not impose any limitation on this.

[0052] In a specific implementation, when performing laser ranging, the MCU chip sends a start instruction to the integrated circuit, so that the integrated circuit controls the light-emitting circuit to emit laser to the target to be measured.

[0053] Step S20, when the laser reaches the target to be measured and returns, receiving the return laser that contacts the target to be measured.

[0054] It should be noted that the return laser may be a pulse laser or a continuous wave laser.

[0055] It is understandable that the return laser is the laser that returns to the laser ranging circuit after contacting the target to be measured, and is the laser that carries distance information.

[0056] In a specific implementation, when the laser reaches the target to be measured and returns, the light receiving circuit receives the return laser.

[0057] Step S30, processing the multiple return lasers to obtain target echo signals and echo times.

[0058] It should be noted that the above echo signal may be a strong reflection echo or a single echo, etc.;

[0059] It should be noted that the above echo time can be 10ns or 15ns and can be calibrated.

[0060] It is understandable that in different laser ranging circuits, the echo signal and the echo time are different, and this embodiment does not limit this.

[0061] In a specific implementation, after receiving the return laser, the light receiving circuit transmits the processed return laser to the analog-to-digital converter, the analog-to-digital converter AD transmits the sampling number to the integrated circuit, and the integrated circuit saves the signal data sampled by AD in the frequency and time sequence given by the integrated circuit, and the echo time is determined by the frequency of the analog-to-digital converter and the number of times of the return laser, wherein the number of times can be the number of return trips n of the return laser, and the laser ranging return circuit can obtain the nth data of the return data of the return laser through the number of return trips n, and save the data (for example, n=1, that is, the return laser returns once and obtains the first data), therefore, the echo time=(1 / frequency of the analog-to-digital converter)*the number of times of the return laser.

[0062] Step S40, obtaining a target distance between a laser emission position and a target position to be measured according to the plurality of target echo signals and the echo time.

[0063] It should be noted that the above target distance may be 1500m, or 2000m, etc.

[0064] It is understandable that the above target distances are different in different laser ranging circuits, and this embodiment does not impose any limitation on this.

[0065] In a specific implementation, the target distance between the laser emission position and the target position to be measured is obtained by calculation according to the actual target echo signal and the echo time.

[0066] This embodiment provides a solution, by emitting a laser to the target to be measured during laser ranging; when the laser reaches the target to be measured and returns, receiving the return laser that contacts the target to be measured; processing multiple return lasers to obtain target echo signals and echo times; and obtaining the target distance between the position of the emitted laser and the position of the target to be measured based on the multiple target echo signals and the echo times. The present invention calculates the target distance by processing the obtained echo signals, superimposing them, and then combining them with the echo time. Compared with the prior art, the target distance measured by strengthening the ultra-long and weak target echo signals is more refined, and the measurement range is also greatly improved.

[0067] Based on the first embodiment of the present invention, in the second embodiment of the present invention, the same or similar contents as those in the first embodiment can refer to the above introduction, and will not be repeated in the following. Figure 2 as well as Figure 3 , Figure 2 The following is a flow chart of the second embodiment of the laser ranging method of the present invention. Figure 3 It is a waveform diagram of the laser ranging method of the present invention.

[0068] In this embodiment, step S30 includes steps S301 to S304:

[0069] Step S301, by increasing the number of lasers emitted, the positive white noise and the negative white noise of the white noise wave are offset.

[0070] It should be noted that the above white noise wave may be a background light noise wave or a scattered noise wave, etc.

[0071] It should be noted that the positive white noise and the negative white noise may be random noise mixed with the target signal during signal processing.

[0072] It is understandable that in different laser ranging circuits, the white noise wave, the positive white noise and the negative white noise are all different, and this embodiment does not impose any limitation on this.

[0073] In a specific implementation, the white noise waves mentioned above are both positive and negative, and most of them will be canceled out after multiple accumulations, and have no fixed time domain relationship with the emission control signal in the time domain. Therefore, by increasing the number of laser emissions, the white noise and the negative white noise can be canceled out, thereby reducing the interference signal in the acquired target echo signal.

[0074] Step S302, keeping the emission position of the laser each time and the position of the target to be measured unchanged, and eliminating the ambient light noise wave.

[0075] It should be noted that the above-mentioned ambient light noise wave may be shot noise, flicker noise, etc.

[0076] It is understandable that in different laser ranging circuits, the above-mentioned ambient light noise waves are all different, and this embodiment does not impose any limitation on this.

[0077] In a specific implementation, the ambient light noise has no fixed time domain relationship with the emission control signal in the time domain. Therefore, it is only necessary to keep the emission position of the laser and the position of the target to be measured unchanged each time to eliminate the ambient light noise wave and reduce the interference signal in the acquired target echo signal.

[0078] Step S303, superimposing the measured target echoes to obtain the target echo signal.

[0079] It should be noted that the above-mentioned measured target echo may be a strong reflection echo or a single echo.

[0080] It is understandable that in different laser ranging circuits, the above-mentioned measured target echoes are all different, and this embodiment does not impose any limitation on this.

[0081] In a specific implementation, when the position of the target under test does not change, the time domain relationship with the transmission control signal in the time domain will not change. Figure 3 The waveform that remains unchanged in the time domain after accumulation generates the high amplitude shown by the k waveform. Using this principle, it is easy to determine that the high-amplitude k waveform is the above-mentioned target echo signal under test. The above-mentioned integrated circuit accumulates the above-mentioned target echo signal under test in time sequence to obtain the above-mentioned target echo signal.

[0082] Step S304, emitting laser light to the target to be measured once every target preset time; and accumulating the target preset time of each emission to obtain the echo time.

[0083] It should be noted that the above target preset time can be 1us or 2us and can be calibrated.

[0084] It is understandable that the target preset time mentioned above is different in different laser ranging circuits, and this embodiment does not limit this.

[0085] In a specific implementation, the laser is emitted to the target to be measured once every the target preset time; and the target preset time of each emission is accumulated to obtain the echo time.

[0086] In this embodiment, the step S40 includes steps S401 to S402:

[0087] Step S401, obtaining a target distance calculation formula.

[0088] In a specific implementation, the target distance calculation formula is obtained, namely S=(T*a) / 2, where S is the target distance, T is the echo time, a is the distance the light moves within the target preset time, and 2 represents a round trip.

[0089] Step S402: Substitute the target echo signal and the echo time into the target distance calculation formula to obtain the target distance.

[0090] In a specific implementation, the target echo signal and the echo time are substituted into the target distance calculation formula. For example, if the echo time is 10000ns, the distance that light moves in 1ns is 0.3m, then S is 1500m.

[0091] In a feasible implementation manner, step S40 may further include step S41':

[0092] Step S41 ′, determining the number of times the laser is emitted according to the target distance, and emitting the laser to the target to be measured according to the number of times.

[0093] In a specific implementation, when the first echo of the above-mentioned target to be measured is obtained, the intensity of the first echo of the above-mentioned target to be measured is compared with the preset echo intensity of the target to be measured, so that the number of times the above-mentioned laser is emitted can be obtained, and the above-mentioned light-emitting circuit is controlled to emit laser to the above-mentioned target to be measured according to the above-mentioned number of emissions.

[0094] It should be noted that the above examples are only used to understand the present invention and do not constitute a limitation on the laser ranging method of the present invention. More simple transformations based on this technical concept are all within the protection scope of the present invention.

[0095] The present invention also provides a laser distance measuring circuit, please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of a laser ranging device according to an embodiment of the present invention. The laser ranging circuit device comprises:

[0096] MCU chip 1, integrated circuit 2, analog-to-digital converter 3, light emitting circuit 4 and light receiving circuit 5;

[0097] The MCU chip 1 is connected to the integrated circuit 2 ; the integrated circuit 2 is respectively connected to the analog-to-digital converter 3 and the light-emitting circuit 4 ; the analog-to-digital converter 3 is connected to the light-receiving circuit 5 .

[0098] The present invention provides a laser ranging device, which includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the laser ranging method in the above-mentioned embodiment 1.

[0099] Reference below Figure 5 , which shows a schematic diagram of the structure of a laser distance measuring device suitable for implementing an embodiment of the present invention. The laser distance measuring device in the embodiment of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The laser ranging device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0100] like Figure 5 As shown, the laser ranging device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the laser ranging device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the laser ranging device to communicate with other devices wirelessly or by wire to exchange data. Although the laser ranging device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0101] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present invention are executed.

[0102] The laser ranging device provided by the present invention adopts the laser ranging method in the above embodiment to solve the technical problem of laser ranging. Compared with the prior art, the beneficial effects of the laser ranging device provided by the present invention are the same as the beneficial effects of the laser ranging method provided by the above embodiment, and other technical features in the laser ranging device are the same as the features disclosed in the method of the previous embodiment, which will not be described in detail here.

[0103] It should be understood that the various parts disclosed in the present invention can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0104] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0105] The present invention provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the laser ranging method in the above-mentioned embodiment.

[0106] The computer-readable storage medium provided by the present invention 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 thereof. 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 thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that may 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 suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0107] The computer-readable storage medium may be included in the laser ranging device; or may exist independently without being assembled into the laser ranging device.

[0108] 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: when performing laser ranging, emits a laser to a target to be measured; when the laser reaches the target to be measured and returns, receives a return laser that contacts the target to be measured; processes a plurality of the return lasers to obtain a target echo signal and an echo time; and obtains a target distance between a position of the emitted laser and a position of the target to be measured based on the plurality of the target echo signals and the echo times.

[0109] Computer program code for performing the operations of the present invention 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., through the Internet using an Internet service provider).

[0110] 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 invention. In this regard, each square 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 square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square 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 square box in the block diagram and / or flow chart, and the combination of the square 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.

[0111] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of the module does not limit the unit itself in some cases.

[0112] The readable storage medium provided by the present invention is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned laser ranging method, and can solve the technical problem of laser ranging. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present invention are the same as the beneficial effects of the laser ranging method provided by the above-mentioned embodiment, and will not be repeated here.

[0113] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the laser ranging method as described above are implemented.

[0114] The computer program product provided by the present invention can solve the technical problem of laser ranging. Compared with the prior art, the beneficial effects of the computer program product provided by the present invention are the same as the beneficial effects of the laser ranging method provided by the above embodiment, which will not be described in detail here.

[0115] The above descriptions are only some embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A laser ranging method, characterized in that: The laser distance measurement method is applied to a laser distance measurement circuit, and the laser distance measurement method comprises: When performing laser ranging, the laser is emitted to the target to be measured; When the laser reaches the target to be measured and returns, receiving the return laser that contacts the target to be measured; Processing the plurality of return lasers to obtain a target echo signal and an echo time; The target distance between the laser emission position and the target position to be measured is obtained according to the multiple target echo signals and the echo time.

2. The laser ranging method according to claim 1, characterized in that: The return laser includes a white noise wave, an ambient light noise wave and a measured target echo. The step of processing a plurality of the return lasers to obtain a target echo signal and an echo time includes: By increasing the number of laser beams emitted, the positive white noise and negative white noise of the white noise wave are offset; Keeping the emission position of the laser and the position of the target to be measured unchanged each time, and eliminating the ambient light noise wave; Superimposing the measured target echoes to obtain the target echo signal; The laser is emitted to the target to be measured once every target preset time; and the target preset time of each emission is accumulated to obtain the echo time.

3. The laser ranging method according to claim 2, characterized in that: The step of obtaining the target distance between the laser emission position and the target position to be measured according to the plurality of target echo signals and the echo time comprises: Get the target distance calculation formula; Substitute the target echo signal and the echo time into the target distance calculation formula to obtain the target distance.

4. The laser ranging method according to claim 3, characterized in that: After the step of obtaining the target distance between the laser emission position and the target position to be measured according to the plurality of target echo signals and the echo time, the method further comprises: The number of times the laser is emitted is determined according to the target distance, and the laser is emitted to the target to be measured according to the number of times.

5. A laser ranging circuit, characterized in that: The laser ranging circuit comprises: MCU chip, integrated circuit, analog-to-digital converter, light-emitting circuit and light-receiving circuit; The MCU chip is connected to the integrated circuit; the integrated circuit is respectively connected to the analog-to-digital converter and the light-emitting circuit; the analog-to-digital converter is connected to the light-receiving circuit.

6. A laser ranging method and device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the laser ranging method according to any one of claims 1 to 4.

7. 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 method according to any one of claims 1 to 4 are implemented.

8. 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 ranging method according to any one of claims 1 to 4 are implemented.

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