Laser ranging imaging method and system, electronic equipment and readable storage medium

Abstract

The invention discloses a laser ranging imaging method and system, electronic equipment and a readable storage medium, and the method comprises the steps: carrying out the conversion processing of echo signals related to the transmission time of each target in a target time subset, obtaining corresponding square wave signals, carrying out the smooth filtering processing and matched filtering processing of the square wave signals, and obtaining a square wave signal; obtaining at least one target signal; performing peak detection on the at least one target signal to obtain corresponding peak time when the at least one target signal reaches a preset peak point, calculating a mean value of the peak time, and selecting a certain target signal corresponding to a certain peak time closest to the peak time mean value from the peak time; and flight time is generated according to the emission starting time of the linear frequency modulation laser signal corresponding to a certain target signal and the receiving starting time of the corresponding echo signal, and then a to-be-measured distance is obtained through calculation. The calculation amount and the related operation complexity are greatly reduced, and the hardware cost of laser ranging equipment is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser ranging, and in particular relates to a laser ranging imaging method, system, electronic equipment and readable storage medium. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect target position and / or speed and other characteristic quantities. Among them, LiDAR ranging plays an indispensable role in the perception link in the field of intelligent motion due to its excellent characteristics. However, with the increasing use of LiDAR, any LiDAR in use will inevitably face interference LiDARs that emit laser pulse signals of the same wavelength nearby within its effective ranging range. The similar or even identical laser pulse signals emitted by the interfering LiDAR will make it difficult to distinguish after being received by the LiDAR in use, resulting in crosstalk and misjudgment. Summary of the invention

[0003] The present invention provides a laser ranging imaging method, system, electronic equipment and readable storage medium, which are used to solve the technical problems of low anti-interference accuracy and high complexity of related calculations in the laser ranging process.

[0004] In a first aspect, the present invention provides a laser ranging imaging method, comprising:

[0005] Transmitting at least one linear frequency modulated laser signal to the object to be measured, and receiving a returned echo signal corresponding to the at least one linear frequency modulated laser signal;

[0006] According to the emission start time of the at least one linear frequency modulation laser signal and the reception start time of each echo signal, the transmission duration corresponding to each echo signal is calculated, wherein the transmission duration is the duration from the emission start time of the most recent linear frequency modulation laser signal corresponding to the echo signal to the reception start time of the echo signal;

[0007] Determine whether a difference between a first sending duration and a second sending duration is greater than a preset threshold, wherein the first sending duration and the second sending duration are two adjacent sending durations;

[0008] If it is not greater than a preset threshold, the first sending duration and the second sending duration are divided into a certain duration subset in a pre-constructed duration set based on a preset division rule, and a target duration subset is selected from the duration set, wherein there is an association relationship between each target sending duration in the target duration subset and each corresponding echo signal;

[0009] Based on the comparator threshold, the echo signal associated with each target transmission duration in the target duration subset is converted to obtain a corresponding square wave signal, and the square wave signal is smoothed and matched filtered to obtain at least one target signal;

[0010] Performing peak detection on the at least one target signal to obtain a peak time corresponding to when the at least one target signal reaches a preset peak point, calculating an average of each peak time, and selecting a target signal corresponding to a peak time that is closest to the average value of the peak time from among the peak times;

[0011] The flight time is generated according to the emission start time of the linear frequency modulation laser signal corresponding to the certain target signal and the reception start time of the corresponding echo signal, and then the distance to be measured is calculated.

[0012] In a second aspect, the present invention provides a laser ranging imaging system, comprising:

[0013] A receiving module, configured to transmit at least one linear frequency modulated laser signal to the object to be measured, and receive a returned echo signal corresponding to the at least one linear frequency modulated laser signal;

[0014] A calculation module, configured to calculate the transmission duration corresponding to each echo signal according to the transmission start time of the at least one linear frequency modulation laser signal and the reception start time of each echo signal, wherein the transmission duration is the duration from the transmission start time of the most recent linear frequency modulation laser signal corresponding to the echo signal to the reception start time of the echo signal;

[0015] A determination module, configured to determine whether a difference between a first sending duration and a second sending duration is greater than a preset threshold, wherein the first sending duration and the second sending duration are two adjacent sending durations;

[0016] a division module, configured to divide the first sending duration and the second sending duration into a certain duration subset in a pre-constructed duration set based on a preset division rule if the duration is not greater than a preset threshold, and select a target duration subset from the duration set, wherein there is an association relationship between each target sending duration in the target duration subset and each corresponding echo signal;

[0017] a processing module configured to convert the echo signals associated with each target transmission duration in the target duration subset based on a comparator threshold to obtain a corresponding square wave signal, and perform smoothing filtering and matched filtering on the square wave signal to obtain at least one target signal;

[0018] a selection module configured to perform peak detection on the at least one target signal, obtain a peak time corresponding to when the at least one target signal reaches a preset peak point, calculate an average of each peak time, and select a target signal corresponding to a peak time closest to the average value of the peak time from among the peak times;

[0019] The output module is configured to generate a flight time according to a start time of emission of a linear frequency modulation laser signal corresponding to a certain target signal and a start time of reception of a corresponding echo signal, and then calculate the distance to be measured.

[0020] According to a third aspect, an electronic device is provided, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable 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 perform the steps of the laser ranging imaging method of any embodiment of the present invention.

[0021] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the program instructions are executed by a processor, the processor executes the steps of the laser ranging imaging method of any embodiment of the present invention.

[0022] The laser ranging imaging method, system, electronic device and readable storage medium of the present application can effectively filter out interference signals by eliminating the results of sending duration, obtain correct echo pulse signals, and achieve the purpose of anti-interference. Therefore, on the basis of ensuring the accuracy of anti-interference, it can greatly reduce the amount of calculation and the complexity of related operations, which is conducive to reducing the hardware cost of laser ranging equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A flowchart of a laser ranging imaging method provided by one embodiment of the present invention;

[0025] Figure 2 A structural block diagram of a laser ranging imaging system provided by one embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0028] See also Figure 1 , which shows a flow chart of a laser ranging imaging method of the present application.

[0029] like Figure 1 As shown, the laser ranging imaging method specifically includes the following steps:

[0030] Step S101 , transmitting at least one linear frequency modulated laser signal to an object to be measured, and receiving a returned echo signal corresponding to the at least one linear frequency modulated laser signal.

[0031] In this step, when performing laser ranging, the object whose distance needs to be measured can be recorded as the object to be measured, and the distance of the object to be measured can be measured, that is, the distance between the object to be measured and the laser ranging device is detected. When performing laser ranging on the object to be measured, a linear frequency modulated laser signal can be emitted to it, that is, a laser signal with a continuously changing frequency is emitted to the object to be measured. This signal has a broadband property and can have a corresponding effect on the object to be measured, thereby generating an echo signal. The laser ranging device can receive the echo signal and detect the distance of the object to be measured based on the echo signal.

[0032] Step S102, based on the emission start time of the at least one linear frequency modulation laser signal and the reception start time of each echo signal, calculate the transmission duration corresponding to the each echo signal, wherein the transmission duration is the duration from the emission start time of the most recent linear frequency modulation laser signal corresponding to the echo signal to the reception start time of the echo signal.

[0033] Step S103, determining whether a difference between a first sending duration and a second sending duration is greater than a preset threshold, wherein the first sending duration and the second sending duration are two adjacent sending durations.

[0034] In a specific embodiment, after determining whether the difference between the first sending duration and the second sending duration is greater than a preset threshold, if it is greater than the preset threshold, the first sending duration and the second sending duration are respectively divided into a certain duration subset and another duration subset in a pre-constructed duration set based on a preset division rule.

[0035] Step S104, if it is not greater than the preset threshold, the first sending duration and the second sending duration are divided into a certain duration subset in a pre-constructed duration set based on a preset division rule, and a target duration subset is selected from the duration set, wherein there is a correlation between each target sending duration in the target duration subset and each corresponding echo signal.

[0036] In this step, the first sending duration and the second sending duration are directly divided into a certain duration subset, and it is determined whether the difference between the second sending duration and the third sending duration is greater than a preset threshold; if the difference between the second sending duration and the third sending duration is not greater than the preset threshold, the third sending duration is directly divided into a certain duration subset; if the difference between the second sending duration and the third sending duration is greater than the preset threshold, the third sending duration is divided into other duration subsets; the number of sending durations of each duration subset in the duration set is obtained, and a duration subset with the largest number of sending durations is selected as the target duration subset.

[0037] Step S105, based on the comparator threshold, convert the echo signal associated with each target transmission duration in the target duration subset to obtain a corresponding square wave signal, and perform smoothing filtering and matched filtering on the square wave signal to obtain at least one target signal.

[0038] In this step, each signal point to be converted on each echo signal is compared with the comparator threshold; if the amplitude of the signal point to be converted is less than the comparator threshold, the signal point to be converted is adjusted to a low-level signal point; or, if the amplitude of the signal point to be converted is greater than or equal to the comparator threshold, the signal point to be converted is adjusted to a high-level signal point.

[0039] Specifically, before the echo signal is converted, the echo signal can also be amplified. The amplification process is to increase the amplitude of the echo signal so that it can be more easily detected by the comparator and converted into a corresponding square wave signal. The amplification process can be implemented using electronic components such as amplifiers to amplify the amplitude of the echo signal to an appropriate size. In the embodiment of the present application, the amplification process can not only improve the detection sensitivity of the signal, but also reduce the noise interference of the signal, thereby improving the signal quality and stability. It should be noted that during the amplification process, it is necessary to avoid excessive amplification, which causes signal distortion and noise increase. In the embodiment of the present application, there is no restriction on the specific parameters of the amplification process, which can be flexibly selected as needed.

[0040] Step S106, perform peak detection on the at least one target signal to obtain the peak time corresponding to when the at least one target signal reaches a preset peak point, calculate the average of each peak time, and select a target signal corresponding to a peak time closest to the peak time average value from each peak time.

[0041] Step S107, generating a flight time according to the emission start time of the linear frequency modulation laser signal corresponding to the certain target signal and the reception start time of the corresponding echo signal, and then calculating the distance to be measured.

[0042] In summary, the method of the present application can effectively filter out interference signals by eliminating the results of the sending duration, obtain the correct echo pulse signal, and achieve the purpose of anti-interference. Therefore, on the basis of ensuring the accuracy of anti-interference, it can greatly reduce the amount of calculation and the complexity of related operations, which is conducive to reducing the hardware cost of laser ranging equipment.

[0043] In one embodiment, the hardware part of the laser ranging imaging device is divided into five circuit boards in total: a laser ranging main board, an echo signal processing board, a power supply board, a laser transmitting board and a laser receiving board.

[0044] (1) The main control circuit generates a pulse sequence to drive the trigger signal source to transmit the first and second trigger signals respectively. The first trigger signal and the second trigger signal respectively notify the local oscillator optical path modulation drive unit and the signal optical path modulator drive unit to perform frequency modulation. The local oscillator optical path modulation unit receives the first trigger signal and generates a periodic linear frequency modulated optical signal. At the signal optical branch end, the drive unit controlled by the second trigger signal drives the acousto-optic modulator to modulate the signal light. After being encoded by the optical amplifier, circulator and array, the high-power pulsed laser is emitted from the lens. After the wavefront distortion of the echo optical signal is corrected by the adaptive optical system, it enters the combiner from the circulator 3 end and is combined with the local oscillator light.

[0045] (2) After the photodetector responds to the combined light beam, it is converted into an electrical signal by the APD laser receiving circuit; the laser pulse echo signal is first amplified by the pre-amplifier circuit, and then enters the voltage-controlled gain amplifier circuit; the main control circuit collects the pulse peak value through the pulse peak holding circuit, sets the DAC output voltage according to the peak value, and uses the DAC voltage to control the gain of the voltage-controlled gain amplifier to achieve the purpose of automatic gain control.

[0046] (3) After the signal is automatically amplified, it is denoised by the echo signal to suppress interference noise, and finally the processed pulse signal is output; the multi-channel time identification circuit uses a high-speed comparator to perform multi-channel time identification on the pulse signal under different thresholds, where the threshold voltage is controlled by the digital control threshold circuit; the identified multi-channel time pulses are measured by the flight time measurement circuit to obtain multiple flight times, and finally the MCU main control circuit reads the multi-threshold flight time data through the SPI bus; the MCU main control uses a dynamic multi-threshold error correction method to correct the pulse front edge time identification error and then projects it onto the APD array, and the data system collects and images the target information obtained by the APD array. The distance to the measured target is calculated based on the flight time, and the data is output through the serial port.

[0047] See also Figure 2 , which shows a structural block diagram of a laser ranging imaging system of the present application.

[0048] like Figure 2 As shown, the laser ranging imaging system 200 includes a receiving module 210, a calculating module 220, a judging module 230, a dividing module 240, a processing module 250, a selecting module 260 and an output module 270.

[0049] Among them, the receiving module 210 is configured to transmit at least one linear frequency modulated laser signal to the object to be measured, and receive a returned echo signal corresponding to the at least one linear frequency modulated laser signal; the calculating module 220 is configured to calculate the sending duration corresponding to each echo signal according to the starting time of transmitting the at least one linear frequency modulated laser signal and the starting time of receiving each echo signal, wherein the sending duration is the duration from the starting time of transmitting the most recent linear frequency modulated laser signal corresponding to the echo signal to the starting time of receiving the echo signal; the judging module 230 is configured to judge whether the difference between the first sending duration and the second sending duration is greater than a preset threshold value, wherein the first sending duration and the second sending duration are two adjacent sending durations; the dividing module 240 is configured to divide the first sending duration and the second sending duration into a certain duration subset in the pre-constructed duration set based on a preset dividing rule if it is not greater than the preset threshold value, and in the A target duration subset is selected from the duration set, wherein there is a correlation between each target transmission duration in the target duration subset and each corresponding echo signal; a processing module 250 is configured to convert the echo signal associated with each target transmission duration in the target duration subset based on a comparator threshold to obtain a corresponding square wave signal, and perform smoothing filtering and matched filtering on the square wave signal to obtain at least one target signal; a selection module 260 is configured to perform peak detection on the at least one target signal to obtain a peak time corresponding to when the at least one target signal reaches a preset peak point, and calculate the average of each peak time, and select a target signal corresponding to a peak time closest to the average value of the peak time from each peak time; an output module 270 is configured to generate a flight time according to the emission start time of the linear frequency modulation laser signal corresponding to the certain target signal and the reception start time of the corresponding echo signal, and then calculate the distance to be measured.

[0050] It should be understood that Figure 2 Modules and references documented in Figure 1 Therefore, the operations and features described above for the method and the corresponding technical effects are also applicable to Figure 2 The modules in it will not be described in detail here.

[0051] In some other embodiments, the embodiments of the present invention further provide a computer-readable storage medium having a computer program stored thereon, wherein when the program instructions are executed by a processor, the processor is caused to execute the laser ranging imaging method in any of the above method embodiments;

[0052] As an implementation mode, the computer-readable storage medium of the present invention stores computer-executable instructions, and the computer-executable instructions are configured as follows:

[0053] Transmitting at least one linear frequency modulated laser signal to the object to be measured, and receiving a returned echo signal corresponding to the at least one linear frequency modulated laser signal;

[0054] According to the emission start time of the at least one linear frequency modulation laser signal and the reception start time of each echo signal, the transmission duration corresponding to each echo signal is calculated, wherein the transmission duration is the duration from the emission start time of the most recent linear frequency modulation laser signal corresponding to the echo signal to the reception start time of the echo signal;

[0055] Determine whether a difference between a first sending duration and a second sending duration is greater than a preset threshold, wherein the first sending duration and the second sending duration are two adjacent sending durations;

[0056] If it is not greater than a preset threshold, the first sending duration and the second sending duration are divided into a certain duration subset in a pre-constructed duration set based on a preset division rule, and a target duration subset is selected from the duration set, wherein there is an association relationship between each target sending duration in the target duration subset and each corresponding echo signal;

[0057] Based on the comparator threshold, the echo signal associated with each target transmission duration in the target duration subset is converted to obtain a corresponding square wave signal, and the square wave signal is smoothed and matched filtered to obtain at least one target signal;

[0058] Performing peak detection on the at least one target signal to obtain a peak time corresponding to when the at least one target signal reaches a preset peak point, calculating an average of each peak time, and selecting a target signal corresponding to a peak time that is closest to the average value of the peak time from among the peak times;

[0059] The flight time is generated according to the emission start time of the linear frequency modulation laser signal corresponding to the certain target signal and the reception start time of the corresponding echo signal, and then the distance to be measured is calculated.

[0060] The computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created according to the use of the laser ranging imaging system, etc. In addition, the computer-readable storage medium may include a high-speed random access memory, and may also include a memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the computer-readable storage medium may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the laser ranging imaging system via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0061] Figure 3 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, such as Figure 3 As shown, the device includes: a processor 310 and a memory 320. The electronic device may also include: an input device 330 and an output device 340. The processor 310, the memory 320, the input device 330 and the output device 340 may be connected via a bus or other means. Figure 3 In the example, the connection through the bus is taken as an example. The memory 320 is the above-mentioned computer-readable storage medium. The processor 310 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 320, that is, the laser ranging imaging method of the above-mentioned method embodiment is realized. The input device 330 can receive input digital or character information, and generate key signal input related to user settings and function control of the laser ranging imaging system. The output device 340 may include display devices such as display screens.

[0062] The electronic device can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided by the embodiment of the present invention.

[0063] As an implementation mode, the electronic device is applied to a laser ranging imaging system and is used for a client, and includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable 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:

[0064] Transmitting at least one linear frequency modulated laser signal to the object to be measured, and receiving a returned echo signal corresponding to the at least one linear frequency modulated laser signal;

[0065] According to the emission start time of the at least one linear frequency modulation laser signal and the reception start time of each echo signal, the transmission duration corresponding to each echo signal is calculated, wherein the transmission duration is the duration from the emission start time of the most recent linear frequency modulation laser signal corresponding to the echo signal to the reception start time of the echo signal;

[0066] Determine whether a difference between a first sending duration and a second sending duration is greater than a preset threshold, wherein the first sending duration and the second sending duration are two adjacent sending durations;

[0067] If it is not greater than a preset threshold, the first sending duration and the second sending duration are divided into a certain duration subset in a pre-constructed duration set based on a preset division rule, and a target duration subset is selected from the duration set, wherein there is an association relationship between each target sending duration in the target duration subset and each corresponding echo signal;

[0068] Based on the comparator threshold, the echo signal associated with each target transmission duration in the target duration subset is converted to obtain a corresponding square wave signal, and the square wave signal is smoothed and matched filtered to obtain at least one target signal;

[0069] Performing peak detection on the at least one target signal to obtain a peak time corresponding to when the at least one target signal reaches a preset peak point, calculating an average of each peak time, and selecting a target signal corresponding to a peak time that is closest to the average value of the peak time from among the peak times;

[0070] The flight time is generated according to the emission start time of the linear frequency modulation laser signal corresponding to the certain target signal and the reception start time of the corresponding echo signal, and then the distance to be measured is calculated.

[0071] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser ranging imaging method, characterized in that: include: Transmitting at least one linear frequency modulated laser signal to the object to be measured, and receiving a returned echo signal corresponding to the at least one linear frequency modulated laser signal; According to the emission start time of the at least one linear frequency modulation laser signal and the reception start time of each echo signal, the transmission duration corresponding to each echo signal is calculated, wherein the transmission duration is the duration from the emission start time of the most recent linear frequency modulation laser signal corresponding to the echo signal to the reception start time of the echo signal; Determine whether a difference between a first sending duration and a second sending duration is greater than a preset threshold, wherein the first sending duration and the second sending duration are two adjacent sending durations; If it is not greater than a preset threshold, the first sending duration and the second sending duration are divided into a certain duration subset in a pre-constructed duration set based on a preset division rule, and a target duration subset is selected from the duration set, wherein there is an association relationship between each target sending duration in the target duration subset and each corresponding echo signal; Based on the comparator threshold, the echo signal associated with each target transmission duration in the target duration subset is converted to obtain a corresponding square wave signal, and the square wave signal is smoothed and matched filtered to obtain at least one target signal; Performing peak detection on the at least one target signal to obtain a peak time corresponding to when the at least one target signal reaches a preset peak point, calculating an average of each peak time, and selecting a target signal corresponding to a peak time that is closest to the average value of the peak time from among the peak times; The flight time is generated according to the emission start time of the linear frequency modulation laser signal corresponding to the certain target signal and the reception start time of the corresponding echo signal, and then the distance to be measured is calculated.

2. A laser ranging imaging method according to claim 1, characterized in that: After determining whether the difference between the first sending duration and the second sending duration is greater than a preset threshold, the method further includes: If it is greater than a preset threshold, the first sending duration and the second sending duration are respectively divided into a certain duration subset and another duration subset in a pre-constructed duration set based on a preset division rule.

3. The laser ranging imaging method according to claim 1, characterized in that: The dividing the first sending duration and the second sending duration into a certain duration subset in a pre-constructed duration set based on a preset division rule, and selecting a target duration subset in the duration set includes: Directly dividing the first sending duration and the second sending duration into the certain duration subset, and determining whether a difference between the second sending duration and the third sending duration is greater than a preset threshold; If the difference between the second sending duration and the third sending duration is not greater than a preset threshold, directly classifying the third sending duration into the certain duration subset; If the difference between the second sending duration and the third sending duration is greater than a preset threshold, the third sending duration is divided into other duration subsets; The number of sent durations of each duration subset in the duration set is obtained, and a duration subset with the largest number of sent durations is selected as the target duration subset.

4. The laser ranging imaging method according to claim 1, characterized in that: The converting and processing of the echo signal associated with each target transmission duration in the target duration subset based on the comparator threshold to obtain the corresponding square wave signal includes: Comparing each signal point to be converted on each echo signal with the comparator threshold; If the amplitude of the signal point to be converted is less than the comparator threshold, the signal point to be converted is adjusted to a low level signal point; or, if the amplitude of the signal point to be converted is greater than or equal to the comparator threshold, the signal point to be converted is adjusted to a high level signal point.

5. The laser ranging imaging method according to claim 1, characterized in that: Before converting the echo signal associated with each target transmission duration in the target duration subset based on the comparator threshold to obtain a corresponding square wave signal, the method further includes: Amplify each echo signal.

6. A laser ranging imaging system, characterized in that: include: A receiving module, configured to transmit at least one linear frequency modulated laser signal to the object to be measured, and receive a returned echo signal corresponding to the at least one linear frequency modulated laser signal; A calculation module, configured to calculate the transmission duration corresponding to each echo signal according to the transmission start time of the at least one linear frequency modulation laser signal and the reception start time of each echo signal, wherein the transmission duration is the duration from the transmission start time of the most recent linear frequency modulation laser signal corresponding to the echo signal to the reception start time of the echo signal; A determination module, configured to determine whether a difference between a first sending duration and a second sending duration is greater than a preset threshold, wherein the first sending duration and the second sending duration are two adjacent sending durations; a division module, configured to divide the first sending duration and the second sending duration into a certain duration subset in a pre-constructed duration set based on a preset division rule if the duration is not greater than a preset threshold, and select a target duration subset from the duration set, wherein there is an association relationship between each target sending duration in the target duration subset and each corresponding echo signal; a processing module configured to convert the echo signals associated with each target transmission duration in the target duration subset based on a comparator threshold to obtain a corresponding square wave signal, and perform smoothing filtering and matched filtering on the square wave signal to obtain at least one target signal; a selection module configured to perform peak detection on the at least one target signal, obtain a peak time corresponding to when the at least one target signal reaches a preset peak point, calculate an average of each peak time, and select a target signal corresponding to a peak time closest to the average value of the peak time from among the peak times; The output module is configured to generate a flight time according to a start time of emission of a linear frequency modulation laser signal corresponding to a certain target signal and a start time of reception of a corresponding echo signal, and then calculate the distance to be measured.

7. An electronic device, characterized in that: include: At least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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