Method for improving range finding speed of laser range finder and laser range finder

Abstract

The invention relates to a method for increasing the ranging speed of a laser range finder and the laser range finder, and the method comprises the steps: controlling a laser transmitting module to transmit a laser ranging pulse signal to a measured object, and then controlling an optical signal receiving module to receive an optical reflection signal reflected by the measured object; performing first filtering processing on the light reflection signal by adopting a mean filtering method to obtain a filtered signal; wherein the filtered signal comprises a plurality of waveform signals; comparing the signal-to-noise ratio value of each waveform signal in the plurality of waveform signals with the corresponding signal-to-noise ratio reference value, and screening the waveform signals greater than the corresponding signal-to-noise ratio reference value as screened signals for ranging; wherein each signal-to-noise ratio reference value is determined based on the measured object distance corresponding to each waveform signal; and the final distance of the measured object is determined based on the screened signals, so that the distance measuring speed and the distance measuring efficiency are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of laser distance measurement, and in particular to a method for improving the distance measurement speed of a laser distance meter and a laser distance meter. Background Art

[0002] When existing laser rangefinders perform laser ranging, they all transmit multiple laser signals to the object being measured. The receiving module then processes the waveform signals reflected by the object one by one, determines the effective signal based on the frequency of the position where the maximum peak value of the reflected signal peak appears, and calculates the distance of the object being measured through the effective signal.

[0003] However, since this method needs to collect multiple laser return signal waves, it takes a long time to process the signal and calculate the distance of the object being measured, which leads to low ranging efficiency, especially when processing waveforms for long-distance ranging. Since the maximum peak of the effective value in the returned waveform is close to the peak of the interference waveform, the signal needs to be further processed, such as signal integration, which will superimpose the waveforms at the same position to obtain an effective waveform. Therefore, it takes a lot of time and seriously affects the ranging efficiency of the laser rangefinder. Summary of the invention

[0004] 1. Technical issues to be resolved In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a method for improving the ranging speed of a laser rangefinder and a laser rangefinder, which solves the technical problem of relatively low laser ranging efficiency in the prior art.

[0005] (II) Technical solution In order to achieve the above object, the main technical solutions adopted by the present invention include: In a first aspect, an embodiment of the present invention provides a method for improving the ranging speed of a laser rangefinder, the method being applied to a data processing module in the laser rangefinder, the laser rangefinder comprising a laser emitting module, an optical signal receiving module and a data processing module; the method comprising: after controlling the laser emitting module to emit a laser ranging pulse signal to an object to be measured, controlling the optical signal receiving module to receive a light reflection signal reflected by the object to be measured; performing a first filtering process on the light reflection signal using a mean filtering method to obtain a filtered signal; wherein the filtered signal comprises a plurality of waveform signals; comparing a signal-to-noise ratio value of each waveform signal in the plurality of waveform signals and a corresponding signal-to-noise ratio reference value thereof, and filtering a waveform signal greater than the corresponding signal-to-noise ratio reference value thereof as a filtered signal for ranging; wherein each signal-to-noise ratio reference value is determined based on the distance of the object to be measured corresponding to each waveform signal; and determining a final distance of the object to be measured based on the filtered signal.

[0006] In a possible embodiment, the process of obtaining the signal-to-noise ratio reference value includes: calculating the distance of the object under test corresponding to the current waveform signal; wherein the current waveform signal is any one of multiple waveform signals; substituting the distance of the object under test corresponding to the current waveform signal into the reference value linear proportional relationship equation to obtain the signal-to-noise ratio reference value corresponding to the current waveform signal.

[0007] In a possible embodiment, the calculation expression of the reference value linear proportional relationship equation is as follows: y =-0.0039 x +4.9883; In the formula, y Indicates the signal-to-noise ratio reference value corresponding to the current waveform signal; x Indicates the distance of the object being measured corresponding to the current waveform signal.

[0008] In a possible embodiment, the final distance of the object to be measured is determined based on the filtered signal, including: when the filtered signal is strong, selecting the waveform signal with the largest peak value from all filtered signals as the target signal, and determining the final distance of the object to be measured based on the target signal.

[0009] In one possible embodiment, the final distance of the object to be measured is determined based on the filtered signal, including: when the filtered signal is weak, intercepting a continuous signal including the filtered signal from the light reflection signal, and calculating the mean of the continuous signal; calculating the mean square error of each waveform signal and the mean in the filtered signal in turn to obtain the waveform characteristics of each waveform signal; calculating the ratio of the waveform characteristics of each waveform signal to the waveform characteristics of a pre-stored standard signal in turn, and taking the waveform signal corresponding to the ratio greater than the preset value as a valid signal; selecting the valid signal with the largest ratio from all valid signals as the target signal, and determining the final distance of the object to be measured based on the target signal.

[0010] In a second aspect, an embodiment of the present invention provides a laser rangefinder, which includes a laser emission module, an optical signal receiving module and a data processing module; The data processing module is used to: after controlling the laser emitting module to emit a laser ranging pulse signal to the object to be measured, control the optical signal receiving module to receive the optical reflection signal reflected by the object to be measured; adopt the mean filtering method to perform the first filtering process on the optical reflection signal to obtain the filtered signal; wherein the filtered signal includes a plurality of waveform signals; compare the signal-to-noise ratio value of each waveform signal in the plurality of waveform signals and its corresponding signal-to-noise ratio reference value, and filter the waveform signal greater than the corresponding signal-to-noise ratio reference value as the filtered signal for ranging; wherein each signal-to-noise ratio reference value is determined based on the distance of the object to be measured corresponding to each waveform signal; and determine the final distance of the object to be measured based on the filtered signal.

[0011] In one possible embodiment, the data processing module is specifically used to: calculate the distance of the object under test corresponding to the current waveform signal; wherein the current waveform signal is any one of multiple waveform signals; substitute the distance of the object under test corresponding to the current waveform signal into the reference value linear proportional relationship equation to obtain the signal-to-noise ratio reference value corresponding to the current waveform signal.

[0012] In a possible embodiment, the calculation expression of the reference value linear proportional relationship equation is as follows: y =-0.0039 x +4.9883; In the formula, y Indicates the signal-to-noise ratio reference value corresponding to the current waveform signal; x Indicates the distance of the object being measured corresponding to the current waveform signal.

[0013] In a possible embodiment, the data processing module is specifically used to: when the filtered signal is strong, select the waveform signal with the largest peak value from all filtered signals as the target signal, and determine the final distance of the object to be measured based on the target signal.

[0014] In one possible embodiment, the data processing module is specifically used to: when the filtered signal is weak, intercept a continuous signal including the filtered signal from the light reflection signal, and calculate the mean of the continuous signal; calculate the mean square error of each waveform signal and the mean in the filtered signal in turn to obtain the waveform characteristics of each waveform signal; calculate the ratio of the waveform characteristics of each waveform signal to the waveform characteristics of a pre-stored standard signal in turn, and take the waveform signal corresponding to the ratio greater than the preset value as a valid signal; select the valid signal with the largest ratio from all valid signals as the target signal, and determine the final distance of the object to be measured based on the target signal.

[0015] (III) Beneficial effects The beneficial effects of the present invention are: The present application provides a method for improving the ranging speed of a laser rangefinder and a laser rangefinder. After controlling a laser emitting module to emit a laser ranging pulse signal to an object to be measured, controlling an optical signal receiving module to receive an optical reflection signal reflected by the object to be measured, and using a mean filtering method to perform a first filtering process on the optical reflection signal to obtain a filtered signal, wherein the filtered signal includes a plurality of waveform signals, and the signal-to-noise ratio value of each waveform signal in the plurality of waveform signals and its corresponding signal-to-noise ratio reference value are compared, and the waveform signal greater than the corresponding signal-to-noise ratio reference value is filtered as a filtered signal for ranging, and based on the filtered signal, the final distance of the object to be measured is determined, so that only one laser signal needs to be emitted to obtain an accurate waveform returned by the object to be measured, thereby greatly improving the ranging speed and ranging efficiency.

[0016] In order to make the above-mentioned objectives, features and advantages to be achieved by the embodiments of the present application more obvious and understandable, the following specifically cites preferred embodiments and describes them in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A flow chart of a method for improving the ranging speed of a laser rangefinder provided in an embodiment of the present application is shown; Figure 2 A schematic diagram of selecting an effective waveform signal based on a coordinate of a signal-to-noise ratio and a distance provided in an embodiment of the present application is shown; Figure 3 A structural block diagram of a laser rangefinder provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0019] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0020] In order to solve the problem of low ranging efficiency of laser rangefinders in the prior art, the present application provides a method for improving the ranging speed of a laser rangefinder and a laser rangefinder, wherein after controlling a laser emitting module to emit a laser ranging pulse signal to an object to be measured, an optical signal receiving module is controlled to receive an optical reflection signal reflected by the object to be measured, and a mean filtering method is used to perform a first filtering process on the optical reflection signal to obtain a filtered signal, wherein the filtered signal includes a plurality of waveform signals, and a signal-to-noise ratio value of each waveform signal in the plurality of waveform signals and a corresponding signal-to-noise ratio reference value are compared, and a waveform signal greater than the corresponding signal-to-noise ratio reference value is screened as a screened signal for ranging, wherein each signal-to-noise ratio reference value is determined based on the distance of the object to be measured corresponding to each waveform signal, and based on the screened signal, a final distance of the object to be measured is determined, so that only one laser signal needs to be emitted to obtain an accurate waveform returned by the object to be measured, thereby greatly improving the ranging speed and ranging efficiency.

[0021] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0022] First embodiment

[0023] See also Figure 1 , Figure 1 A flow chart of a method for improving the ranging speed of a laser rangefinder provided in an embodiment of the present application is shown. Specifically, the method can be applied to a data processing module in a laser rangefinder, and the laser rangefinder may include a laser emission module, an optical signal receiving module and a data processing module; the method includes: Step S110, after controlling the laser emitting module to emit a laser ranging pulse signal to the object to be measured, controlling the optical signal receiving module to receive the optical reflection signal reflected by the object to be measured.

[0024] Specifically, a laser ranging pulse signal is emitted to the object to be measured through the laser emitting module of the laser rangefinder, and at the same time, the optical signal receiving module of the laser rangefinder starts to receive the optical reflection signal. And the signal processing module of the laser rangefinder processes the optical reflection signal received by the optical signal receiving module, thereby obtaining the received waveform signal.

[0025] Step S120, use a mean filter method to perform a first filtering process on the light reflection signal to obtain a filtered signal, wherein the filtered signal includes a plurality of waveform signals.

[0026] It should be understood that the specific process of the mean filtering method can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0027] Specifically, when the laser reflection signal is detected, the optical signal receiving module starts working, and continuously collects multiple returned waveform signals (the waveform signal can be preset), and takes the average value of the collected waveform signals, and calculates the preset multiples of the average value to obtain the calculated value, and uses the calculated value as the waveform signal reference value for filtering, and filters out signals less than the reference value, completing the first signal processing, thereby obtaining the filtered signal. Among them, the specific value of the preset multiple can be set according to actual needs, and the embodiments of the present application are not limited to this. For example, the preset multiple can be a value between 1.1 and 1.3.

[0028] Step S130, comparing the signal-to-noise ratio value of each waveform signal in the plurality of waveform signals with its corresponding signal-to-noise ratio reference value, and filtering the waveform signal that is greater than its corresponding signal-to-noise ratio reference value as a filtered signal for ranging.

[0029] It should be understood that the process of obtaining the signal-to-noise ratio reference value can be set according to actual needs, and the embodiments of the present application are not limited thereto.

[0030] Specifically, the distance of the object under test corresponding to the current waveform signal is calculated; wherein the current waveform signal is any one of multiple waveform signals; the distance of the object under test corresponding to the current waveform signal is substituted into the reference value linear proportional relationship equation to obtain the signal-to-noise ratio reference value corresponding to the current waveform signal.

[0031] For example, the steps of obtaining the reference value linear proportional relationship equation include: According to the strength characteristics of the waveform signal returned by the measured object at different distances during the laser ranging process (when the measured object is close, the returned signal is strong and its waveform peak is high; when the measured object is farther away, the returned signal is weaker and its waveform peak is lower), the linear proportional relationship of the peak height of the waveform is used to preset the reference value of the signal-to-noise ratio of the measured object at different distances. The linear proportional relationship equation of the reference value is as follows: y = ax + b ; In the formula, y Indicates the signal-to-noise ratio reference value corresponding to the current waveform signal; a It represents the slope of the linear proportional relationship equation of the waveform, and it can be -0.0039; x Indicates the distance of the object being measured corresponding to the current waveform signal; b represents a constant and may be 4.9883.

[0032] It should be noted here that the reference value linear proportional relationship equation can be obtained originally. In subsequent use, the distance of the object under test corresponding to the current waveform signal can be directly substituted without the need to perform the above-mentioned reference value linear proportional relationship equation acquisition process.

[0033] Subsequently, the signal-to-noise ratio value of each waveform signal in the filtered signal is compared with its corresponding signal-to-noise ratio reference value, and the waveform signal with a signal-to-noise ratio value greater than its corresponding signal-to-noise ratio reference value is used as the screened signal for ranging, that is, it is the waveform signal obtained after the second signal processing.

[0034] That is to say, step S120 of the present application is the first signal processing, and step S130 is the second signal processing, so that through the first signal processing, some weak noise signals with peaks smaller than the average value can be filtered out, reducing the amount of post-processing signals, and improving the signal processing efficiency, and through the second signal processing, other interference signals that affect the measurement accuracy can be removed, thereby further reducing the noise signals, and then after two filtering, a waveform similar to the target waveform can be obtained.

[0035] It should be noted here that the above second signal processing can effectively and quickly eliminate clutter interference signals. Figure 2 As shown, in the received signal, there will be some interference signals that are stronger than the signal returned by the measured object, especially when performing long-distance measurement, when there is a clutter signal in the middle that is stronger than the signal returned by the measured object, the system will make a misjudgment and identify the clutter signal as a valid waveform, thereby outputting the measured distance after calculation, causing measurement error or invalid measurement. Therefore, after the second signal processing of the present application, according to the different signal-to-noise ratios of the waveform returned by the measured object at different distances, the signal-to-noise ratio range value of the valid signal at the current distance is set, and a linear proportional relationship is set according to different distances. When measuring the distance, when a signal with a large signal-to-noise ratio appears at a certain distance, the second signal processing is performed. If the signal-to-noise ratio value of the signal is less than the preset value of the current distance calculated by the linear equation, the signal is filtered out, thereby filtering out the interference signal, so that the acquired signal is more accurate.

[0036] Step S140, based on the filtered signal, determine the final distance of the object to be measured, wherein the distance of the object to be measured refers to the distance between the object to be measured and the object to be measured.

[0037] It should be understood that the specific process of determining the final distance of the object to be measured based on the filtered signal can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0038] Optionally, when the filtered signal is strong, the waveform signal with the largest peak value is selected from all filtered signals as the target signal, and the final distance of the object to be measured is determined based on the target signal. The specific method of determining the final distance of the object to be measured based on the target signal can be implemented according to the existing method, and this application does not limit this.

[0039] That is to say, when the filtered signal is strong (i.e. the measurement distance is short), the waveform signal with the largest peak value in the waveform after the second signal processing can be directly selected and used as the target signal, and the final distance of the object to be measured can be determined based on the target signal.

[0040] It should be understood that the specific method for determining the strength of the filtered signal can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0041] For example, when the laser rangefinder has a short-distance measurement mode and a long-distance measurement mode, it can be determined which measurement mode the user has selected. If it is determined that the measurement mode selected by the user is the short-distance measurement mode, it can be determined that the distance to the object to be measured is relatively close, so that the signal after screening is relatively strong; if it is determined that the measurement mode selected by the user is the long-distance measurement mode, it can be determined that the distance to the object to be measured is relatively far, so that the signal after screening is relatively weak.

[0042] For another example, the amplitudes of all filtered signals may be detected, and the strengths of the filtered signals may be determined based on the detected amplitudes.

[0043] Optionally, when the filtered signal is weak, a continuous signal including the filtered signal is intercepted from the light reflection signal, and the mean of the continuous signal is calculated; the mean square error of each waveform signal in the filtered signal and the mean is calculated in turn to obtain the waveform characteristics of each waveform signal; the ratio of the waveform characteristics of each waveform signal to the waveform characteristics of a pre-stored standard signal is calculated in turn, and the waveform signal corresponding to the ratio greater than the preset value is taken as a valid signal; the valid signal with the largest ratio is selected from all valid signals as the target signal, and the final distance of the object to be measured is determined based on the target signal.

[0044] Among them, the standard signal is obtained by obtaining the signals returned by multiple rangefinders in an ideal environment and calculating the average value. Because during the laser ranging process, when the laser rangefinder reaches a certain distance, the signal returned by the laser rangefinder will become very weak, and its waveform will approach a small spike wave. Moreover, the waveforms of the subsequent distances are basically the same, and the difference is not too large. You can select one or more distances in this distance, use multiple rangefinders to measure in an ideal environment, and take the average value to get the standard signal. For example: the range is 1000 meters, and after reaching 600 meters, the signal becomes very weak. The signal waveforms obtained between 600 meters and 1000 meters are basically the same and will not change much. You can take one or more distances between 600 meters and 1000 meters, and then measure them with multiple rangefinders, and take the average value to get the standard signal.

[0045] For example, when the filtered signal is weak, a continuous signal including the filtered signal is intercepted from the light reflection signal (the signal segment includes 1 to n signals, n is a natural number), recorded as X={x1, x2...x n}.

[0046] It should be noted here that x1, x2...x n These n signals can be regarded as a data set.

[0047] Then, the average value of this continuous signal can be calculated, that is, .

[0048] Then, according to the following formula, the waveform signal x of each filtered signal is calculated in turn. i The mean square error from the mean is used as the waveform feature of each waveform signal CH i , i is any natural number from 1 to n, and the i Waveform characteristics of a waveform signal CH i The calculation expression is as follows: ; In the formula, CH i Indicates i The waveform characteristics of a waveform signal; Indicates i The first j data, and p Indicates i The total number of data included in a waveform signal.

[0049] Then, calculate the i Waveform characteristics of a waveform signal CHi Waveform characteristics of the standard signal CH s The ratio of CH i / CH s , and then the waveform signal corresponding to the ratio greater than the preset value is taken as a valid signal. The specific value of the preset value can be set according to actual needs, and the embodiment of the present application is not limited thereto. For example, the value range of the preset value can be 0.5~0.8, and preferably, the value range of the preset value is 0.7~0.8.

[0050] It should be noted here that the waveform characteristics of the standard signal CH s It can also be the waveform characteristics of the standard signal in an ideal environment calculated according to the above method. CH s At the same time, the waveform characteristics of the standard signal can be CH s Stored in the laser rangefinder.

[0051] Subsequently, the valid signal with the largest ratio may be selected from all valid signals as the target signal, and the final distance of the object to be measured may be determined based on the target signal.

[0052] In summary, compared with the existing laser ranging signal processing method, the present application only needs to obtain a single return signal, and by obtaining N waveform signals including the returned waveform signal of the object to be measured, and then performing secondary processing on these N waveform signals, it is possible to obtain an accurate target signal. There is no need to transmit and receive signals multiple times as in the prior art, and to superimpose or integrate multiple return signals. When the target signal is enhanced to a sufficiently large size, the target signal is obtained, thereby avoiding a large number of complex algorithms affecting the ranging efficiency, thereby improving the measurement speed while also improving the ranging accuracy, reducing power consumption, and improving the endurance of the laser rangefinder.

[0053] In addition, with the help of the above technical solution, the ranging method of the present application can achieve ranging from 0 to 5000m.

[0054] It should be understood that the above method for improving the ranging speed of the laser rangefinder is only exemplary, and those skilled in the art may make various modifications based on the above method, and the modified scheme also falls within the protection scope of the present application.

[0055] Second embodiment See also Figure 3 , Figure 3 FIG. 3 shows a structural block diagram of a laser rangefinder 300 provided in an embodiment of the present application. Figure 3As shown, the laser rangefinder includes a laser emitting module 310, a data processing module 320 and an optical signal receiving module 330, and the laser emitting module 310 and the optical signal receiving module 330 are both connected to the data processing module 320; The data processing module 320 is used to: after controlling the laser emitting module to emit a laser ranging pulse signal to the object to be measured, control the optical signal receiving module to receive the optical reflection signal reflected by the object to be measured; use the mean filtering method to perform a first filtering process on the optical reflection signal to obtain a filtered signal; wherein the filtered signal includes multiple waveform signals; compare the signal-to-noise ratio value of each waveform signal in the multiple waveform signals and its corresponding signal-to-noise ratio reference value, and filter the waveform signal greater than its corresponding signal-to-noise ratio reference value as the filtered signal for ranging; and determine the final distance of the object to be measured based on the filtered signal.

[0056] In a possible embodiment, the data processing module 320 is specifically used to: calculate the distance of the object under test corresponding to the current waveform signal; wherein the current waveform signal is any one of multiple waveform signals; substitute the distance of the object under test corresponding to the current waveform signal into the reference value linear proportional relationship equation to obtain the signal-to-noise ratio reference value corresponding to the current waveform signal.

[0057] In a possible embodiment, the calculation expression of the reference value linear proportional relationship equation is as follows: y =-0.0039 x +4.9883; In the formula, y Indicates the signal-to-noise ratio reference value corresponding to the current waveform signal; x Indicates the distance of the object being measured corresponding to the current waveform signal.

[0058] In a possible embodiment, the data processing module 320 is specifically used to: when the filtered signal is strong, select the waveform signal with the largest peak value from all filtered signals as the target signal, and determine the final distance of the object to be measured based on the target signal.

[0059] In one possible embodiment, the data processing module 320 is specifically used to: when the filtered signal is weak, intercept a continuous signal including the filtered signal from the light reflection signal, and calculate the mean of the continuous signal; calculate the mean square error of each waveform signal in the filtered signal and the mean in turn to obtain the waveform characteristics of each waveform signal; calculate the ratio of the waveform characteristics of each waveform signal to the waveform characteristics of a pre-stored standard signal in turn, and take the waveform signal corresponding to the ratio greater than the preset value as a valid signal; select the valid signal with the largest ratio from all valid signals as the target signal, and determine the final distance of the object to be measured based on the target signal.

[0060] Since the device described in the above embodiment of the present invention is a device used to implement the method of the above embodiment of the present invention, based on the method described in the above embodiment of the present invention, a person skilled in the art can understand the specific structure and deformation of the device, so it is not described here. All devices used in the method of the above embodiment of the present invention belong to the scope of protection of the present invention.

[0061] It should be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions.

[0063] It should be noted that the word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising a number of different components and by means of a suitably programmed computer. Among the several means listed, several of these means may be embodied by the same hardware. The use of the words first, second, third, etc., is for convenience of expression only and does not indicate any order. These words may be understood as part of the name of the component.

[0064] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0065] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments after knowing the basic creative concept. Therefore, the technical solution should be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0066] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention belong to the scope of the technical solution of the present invention and its equivalent technology, the present invention should also include these modifications and variations.

Claims

1. A method for improving the ranging speed of a laser rangefinder, characterized in that: The method is applied to a data processing module in a laser rangefinder, wherein the laser rangefinder comprises a laser emission module, an optical signal receiving module and the data processing module; the method comprises: After controlling the laser emitting module to emit a laser ranging pulse signal to the object to be measured, controlling the optical signal receiving module to receive the optical reflection signal reflected by the object to be measured; Performing a first filtering process on the light reflection signal by using a mean filtering method to obtain a filtered signal; wherein the filtered signal includes a plurality of waveform signals; Comparing the signal-to-noise ratio value of each waveform signal in the plurality of waveform signals with its corresponding signal-to-noise ratio reference value, and filtering the waveform signal greater than its corresponding signal-to-noise ratio reference value as a filtered signal for distance measurement; wherein each of the signal-to-noise ratio reference values ​​is determined based on the distance of the measured object corresponding to each of the waveform signals; Based on the filtered signal, the final distance of the object to be measured is determined.

2. The method according to claim 1, characterized in that: The process of obtaining the signal-to-noise ratio reference value includes: Calculating the distance of the object to be measured corresponding to the current waveform signal; wherein the current waveform signal is any one of the multiple waveform signals; The distance of the object to be measured corresponding to the current waveform signal is substituted into the reference value linear proportional relationship equation to obtain the signal-to-noise ratio reference value corresponding to the current waveform signal.

3. The method according to claim 2, characterized in that The calculation expression of the reference value linear proportional relationship equation is as follows: y =-0.0039 x +4.9883； In the formula, y Indicates a signal-to-noise ratio reference value corresponding to the current waveform signal; x Indicates the distance of the object being measured corresponding to the current waveform signal.

4. The method according to claim 1, characterized in that The determining of the final distance of the object to be measured based on the filtered signal includes: When the filtered signal is strong, a waveform signal with the largest peak value is selected from all the filtered signals as a target signal, and the final distance of the object to be measured is determined based on the target signal.

5. The method according to claim 1, characterized in that The determining of the final distance of the object to be measured based on the filtered signal includes: When the filtered signal is weak, intercepting a continuous signal including the filtered signal from the light reflection signal, and calculating the mean value of the continuous signal; Calculating the mean square error between each waveform signal in the filtered signal and the mean value in turn to obtain the waveform feature of each waveform signal; Calculating the ratio of the waveform feature of each waveform signal to the waveform feature of the pre-stored standard signal in sequence, and taking the waveform signal corresponding to the ratio greater than the preset value as a valid signal; A valid signal with the largest ratio is selected from all the valid signals as a target signal, and the final distance of the object to be measured is determined based on the target signal.

6. A laser rangefinder, characterized in that: The laser rangefinder comprises a laser emission module, an optical signal receiving module and a data processing module; The data processing module is used to: after controlling the laser emitting module to emit a laser ranging pulse signal to the object to be measured, control the optical signal receiving module to receive the optical reflection signal reflected by the object to be measured; use the mean filtering method to perform a first filtering process on the optical reflection signal to obtain a filtered signal; wherein the filtered signal includes a plurality of waveform signals; compare the signal-to-noise ratio value of each waveform signal in the plurality of waveform signals and its corresponding signal-to-noise ratio reference value, and filter the waveform signal greater than its corresponding signal-to-noise ratio reference value as the filtered signal for ranging; wherein each of the signal-to-noise ratio reference values ​​is determined based on the distance of the object to be measured corresponding to each of the waveform signals; and determine the final distance of the object to be measured based on the filtered signal.

7. The laser rangefinder according to claim 6, characterized in that: The data processing module is specifically used to: calculate the distance of the object under test corresponding to the current waveform signal; wherein the current waveform signal is any one of the multiple waveform signals; substitute the distance of the object under test corresponding to the current waveform signal into the reference value linear proportional relationship equation to obtain the signal-to-noise ratio reference value corresponding to the current waveform signal.

8. The laser rangefinder according to claim 7, characterized in that: The calculation expression of the reference value linear proportional relationship equation is as follows: y =-0.0039 x +4.9883； In the formula, y Indicates a signal-to-noise ratio reference value corresponding to the current waveform signal; x Indicates the distance of the object being measured corresponding to the current waveform signal.

9. The laser rangefinder according to claim 6, characterized in that: The data processing module is specifically used to: when the filtered signal is strong, select the waveform signal with the largest peak value from all the filtered signals as the target signal, and determine the final distance of the object to be measured based on the target signal.

10. The laser rangefinder according to claim 6, characterized in that: The data processing module is specifically used to: when the filtered signal is weak, intercept a continuous signal including the filtered signal from the light reflection signal, and calculate the mean of the continuous signal; calculate the mean square error of each waveform signal in the filtered signal and the mean in turn to obtain the waveform characteristics of each waveform signal; calculate the ratio of the waveform characteristics of each waveform signal to the waveform characteristics of a pre-stored standard signal in turn, and take the waveform signal corresponding to the ratio greater than the preset value as a valid signal; select the valid signal with the largest ratio from all the valid signals as the target signal, and determine the final distance of the object to be measured based on the target signal.

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