Laser ranging method and device, laser ranging equipment and storage medium

Abstract

Embodiments of the present application disclose a laser ranging method and device, a laser ranging apparatus and a storage medium. The method is based on a laser ranging apparatus, the ranging apparatus comprising a control unit, a laser and a sampling unit. The method comprises: performing phase delay control and delay output control on the laser by the control unit, so that the laser emits a plurality of laser pulse signals to a measured target in turn at a preset delay step after phase delay; the laser pulse signals form echo signals after being reflected by the measured target; sampling a plurality of the echo signals by the sampling unit to obtain a plurality of groups of first sampling data; each echo signal corresponds to a group of first sampling data; and determining a detection distance of the measured target based on the plurality of groups of first sampling data by the control unit. The method effectively improves the precision of laser ranging at a lower cost.

Description

Technical Field

[0001] This application relates to the field of laser ranging technology, and in particular to a laser ranging method, apparatus, laser ranging device and storage medium. Background Technology

[0002] Currently, in the field of laser ranging, the resolution and accuracy can be improved by increasing the sampling frequency. However, improving the sampling frequency of the sampling device itself requires a significant amount of logic resources, resulting in substantial costs. Summary of the Invention

[0003] In view of this, embodiments of this application provide a laser ranging method, apparatus, laser ranging device, and storage medium.

[0004] This application provides a laser ranging method based on a laser ranging device, which includes a control unit, a laser, and a sampling unit; the method includes: The control unit performs phase delay control and delay output control on the laser, so that the laser emits multiple laser pulse signals sequentially toward the target under test after phase delay with a preset delay step; the laser pulse signals are reflected by the target under test to form echo signals. The sampling unit samples multiple echo signals to obtain multiple sets of first sample data; each echo signal corresponds to a set of first sample data. The control unit determines the detection distance of the target based on the multiple sets of first sampling data.

[0005] In some embodiments, the laser ranging device further includes a driver; the delay output control of the laser includes: The delay unit of the control unit controls the delayed output of the transmit enable signal; The transmit enable signal is transmitted to the driver so that the driver drives the laser to emit laser pulse signals based on the transmit enable signal.

[0006] In some embodiments, the delay unit is a programmable delay unit of an input / output module, or a delay carry chain unit.

[0007] In some embodiments, determining the detection distance of the target based on the plurality of sets of first sampling data includes: The reception time of the corresponding echo signal is determined based on the first sampled data of each group; Based on the receiving time and the emission time of the laser pulse signal corresponding to the echo signal, the flight time corresponding to the laser pulse signal is determined. Based on the flight time, the detection distance of the target is determined.

[0008] In some embodiments, each set of first sampled data includes multiple sets of first sampled data; determining the reception time of the corresponding echo signal based on each set of first sampled data includes: For any one set of first sampled data from multiple sets of first sampled data, the multiple first sampled data in the arbitrary set of first sampled data are fitted to obtain the reception time of the echo signal corresponding to the arbitrary set of first sampled data.

[0009] In some embodiments, the method further includes: The sampling unit samples multiple laser pulse signals to obtain multiple sets of second sampling data; each laser pulse signal corresponds to a set of second sampling data. The emission time of the corresponding laser pulse signal is obtained based on each of the multiple sets of second sampling data.

[0010] This application provides a laser ranging device, which is based on a ranging device including a control unit, a laser, and a sampling unit. The device includes: The delay module is used to perform phase delay control and delay output control on the laser through the control unit, so that the laser emits multiple laser pulse signals sequentially toward the target under test after phase delay with a preset delay step; the laser pulse signals are reflected by the target under test to form echo signals. The sampling module is used to sample multiple echo signals through the sampling unit to obtain multiple sets of first sampling data; each echo signal corresponds to a set of first sampling data. The determination module is used to determine the detection distance of the target being tested based on the multiple sets of first sampling data.

[0011] This application provides a laser ranging device, characterized in that it includes: a control unit, a laser, and a sampling unit, wherein; The control unit is used to perform phase delay control and delay output control on the laser. The laser is used to emit multiple laser pulse signals sequentially toward the target under test after a phase delay and with a preset delay step, based on the control of the control unit; the laser pulse signals are reflected by the target under test to form echo signals. The sampling unit is used to sample multiple echo signals to obtain multiple sets of first sampling data; each echo signal corresponds to a set of first sampling data. The control unit is also used to determine the detection distance of the target based on the multiple sets of first sampling data.

[0012] This application also provides a computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, implements the laser ranging method provided in this application.

[0013] This application also provides a computer program product, including a computer program, which, when loaded and executed by a processor, implements the laser ranging method provided in this application.

[0014] In this embodiment, the control unit performs phase delay control and delayed output control on the laser, so that the laser emits multiple laser pulse signals sequentially towards the target after phase delay with a preset delay step. The sampling unit samples the echo signals formed after the multiple laser pulse signals are reflected by the target to obtain multiple sets of first sampling data. Then, the control unit determines the detection distance of the target based on the multiple sets of first sampling data. By performing phase delay and delayed output at the laser's transmitting end, the laser can emit laser pulse signals with finer-grained delay intervals, thereby indirectly improving the sampling rate. No improvement is needed for the sampling unit, thus saving its required logic resources. The delay control at the transmitting end only needs to utilize the control unit's own logic resources, achieving a significant improvement in laser ranging accuracy at a lower cost. Attached Figure Description

[0015] In accompanying drawings that are not necessarily drawn to scale, the same reference numerals can describe similar components in different views. The same numbers with different letter suffixes can represent different instances of similar components. The accompanying drawings generally illustrate the various embodiments discussed in this document by way of example, not limitation.

[0016] Figure 1 A schematic flowchart of a laser ranging method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a laser ranging device provided in an embodiment of this application; Figure 3 This is a schematic diagram of a phase-delayed laser pulse signal provided in an embodiment of this application; Figure 4 This is a schematic diagram of sampling data provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a laser ranging device provided in an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0018] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0019] Furthermore, in the embodiments of this application, directional terms such as "upper," "lower," "left," and "right" are defined relative to the orientation of the components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation of the components in the accompanying drawings.

[0020] In the embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a series of elements includes which elements, and also includes other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0021] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or related scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0022] See Figure 1 This diagram illustrates a flow chart of a laser ranging method provided in an embodiment of this application. The method is based on a laser ranging device, which includes a control unit, a laser, and a sampling unit. The laser ranging method may include: Step 101: Perform phase delay control on the laser through the control unit; Step 102: Based on the phase delay control, the laser is subjected to delayed output control so that the laser emits multiple laser pulse signals sequentially toward the target under test with a preset delay step after the phase delay; the laser pulse signals are reflected by the target under test to form echo signals. Step 103: The sampling unit samples multiple echo signals to obtain multiple sets of first sampling data; each echo signal corresponds to a set of first sampling data. Step 104: The control unit determines the detection distance of the target based on the multiple sets of first sampling data.

[0023] In this embodiment, laser ranging is performed on the target object using a laser ranging device. See also Figure 2 , Figure 2 This is a schematic diagram of a laser ranging device provided in an embodiment of this application. The laser ranging device 110 includes a control unit 111, a laser 112, and a sampling unit 113. In some embodiments, the laser ranging device further includes a photoelectric converter 114, a emitting lens 115, and a receiving lens 116. The photoelectric converter 114 converts the laser signal into an analog electrical signal. In one embodiment, the photoelectric converter 114 transmits the analog electrical signal to the sampling unit, and the sampling unit 113 converts the analog electrical signal into a digital electrical signal. Here, the sampling unit 113 is an analog-to-digital converter (ADC) or a digital-to-analog (AD) chip. The sampling frequency of the sampling unit 113 can be 50Hz.

[0024] In some embodiments, the laser ranging device further includes a driver for driving the laser to emit laser pulse signals. In actual implementation, the control unit generates an emit enable signal with a certain pulse width, which drives the laser through the gate driver, for example, with a pulse width of 20 ns or wider.

[0025] In practice, the laser rangefinder emits a laser pulse signal towards the target and receives the echo signal reflected back from the target. The distance between the laser rangefinder and the target is calculated using the round-trip time (time of flight) of the signal. The specific calculation formula is as follows: (1) Where d is the distance between the laser rangefinder and the target; c is the speed of the laser pulse signal, i.e., the speed of light: 3 * 10⁻⁶. 8Meters per second; t is the time interval between the laser pulse signal being emitted from the laser ranging device, reflected by the target, and received by the laser ranging device, which is also the flight time of the laser pulse signal. In this embodiment, the signal after the laser pulse signal is reflected by the target is called the echo signal, which is actually the laser pulse signal after the direction is reflected.

[0026] In this embodiment, the laser is phase-delayed by a control unit, enabling the emitted laser pulse signals to be emitted with a phase delay. Here, the phase delay can be 1 / 8 of the phase. Specifically, the laser triggering time is configured based on an FPGA to achieve the phase delay; for example, a phase-locked loop (PLL) can be used to achieve a 45-degree phase deviation between two adjacent laser pulse signals.

[0027] For example, see Figure 3 , Figure 3 This is a schematic diagram of a phase-delayed laser pulse signal provided in an embodiment of this application. Here, a continuously delayed laser pulse signal is generated by programming, such as... Figure 3 In this embodiment, the clock frequency is 50MHz. The first triggered laser pulse signal is aligned with the first clock cycle, the second triggered laser pulse signal is aligned with the second clock cycle, and so on, achieving continuous sampling within the same cycle. In this example, the trigger time is delayed without increasing the phase. However, the device can also typically operate at 100MHz to increase the delay trigger time resolution. For example, at 50MHz, each cycle is 20ns, so the delay resolution can be 5ns using the above method. If the device's main frequency is 100MHz, each cycle is 10ns, so the delay resolution can be increased to 2.5ns using the above method, thereby doubling the positioning accuracy. See also... Figure 4 , Figure 4 This is a schematic diagram of sampling data provided in an embodiment of this application. A 50MHz ADC samples data from three points A, B, and C. By offsetting the trigger time, four sets of data are obtained: (A1, B1, C1), (A2, B2, C2), (A3, B3, C3), and (A4, B4, C4).

[0028] In this embodiment, in addition to phase delay control of the laser, delay output control is also performed. That is, the laser pulse signal is emitted by combining phase delay control and delay output control. Each time it is emitted, the laser pulse signal is delayed for a certain period of time.

[0029] In some embodiments, the laser ranging device further includes a driver; the delayed output control of the laser includes: delaying the output control of the emission enable signal through the delay unit of the control unit; and transmitting the emission enable signal to the driver so that the driver drives the laser to emit a laser pulse signal based on the emission enable signal.

[0030] The delay unit is either a delay unit of an input / output (IO) module or an adder. The delay unit can also be an input / output delay (IODELAY) unit, an input delay (IDELAY) unit, or a control module (IDELAYCTRL delay unit) used in conjunction with an input delay. An adder can be, for example, a delay carry chain unit. In some embodiments, the delay unit is implemented based on a field-programmable gate array (FPGA). In actual implementation, each IO module includes an IODELAY delay unit, providing a total of 128 (0~127) delay configurations. The single-step delay time for the GW1N series FPGA is approximately 30 ps, ​​and for the GW2A series FPGA, it is approximately 18 ps. This embodiment uses a single-step delay time of 30 ps. Data acquired via 8 phases, with a sampling period of 2.5 ns, achieves a maximum accuracy of 0.375 μs. To further improve measurement accuracy, the programmable IODELAY delay unit can be used, enabling a delay configuration of 2.5 ns / 30 ps = 83.33 times, or approximately 84 times. An example instantiation of the IODELAY primitive is shown below: Verilog instantiation: IODELAY iodelay_inst( .DO(dout), .DF(df), .DI(di), .SDTAP(sdtap), .SETN(setn), .VALUE(value) ); defparam iodelay_inst.C_STATIC_DLY=0 The transmit enable signal can be delayed and controlled in a programmable manner. Specifically, the step size can be controlled to be 1, meaning each change is 30 ps. For example, 2.5 ns is 2500 ps, ​​and 2500 / 30 ps = 83.333, which means that 83 delays can be performed to meet the requirements of continuous sampling.

[0031] In this embodiment, after the phase delay control and delay output control described above, the laser emits multiple laser pulse signals towards the target under test with a preset delay step size after the phase delay. Here, the phase delay after the phase delay is, for example, 1 / 8 of the phase, i.e., 2.5ns. The preset delay step size is the delay step size corresponding to the delay output control, for example, 30ps. The multiple laser pulse signals form echo signals after being reflected by the target under test. The sampling unit samples the multiple echo signals, and each echo signal corresponds to a set of first sampled data. In the above manner, the sampling unit can perform 84*8 samplings. Then, based on the sampled signals, the flight time of the laser pulse signals is calculated to obtain the detection distance of the target under test.

[0032] In this embodiment, the control unit performs phase delay control and delayed output control on the laser, so that the laser emits multiple laser pulse signals sequentially towards the target after phase delay with a preset delay step. The sampling unit samples the echo signals formed after the multiple laser pulse signals are reflected by the target to obtain multiple sets of first sampling data. Then, the control unit determines the detection distance of the target based on the multiple sets of first sampling data. By performing phase delay and delayed output at the laser's transmitting end, the laser can emit laser pulse signals with finer-grained delay intervals, thereby indirectly improving the sampling rate. No improvement is needed for the sampling unit, thus saving its required logic resources. The delay control at the transmitting end only needs to utilize the control unit's own logic resources, such as the delay unit of the FPGA's IO module or its internal adder, to achieve a significant improvement in laser ranging accuracy at a lower cost.

[0033] In some embodiments, determining the detection distance of the target based on the plurality of sets of first sampling data includes: determining the reception time of the corresponding echo signal based on each set of first sampling data; determining the flight time of the corresponding laser pulse signal based on the reception time and the emission time of the laser pulse signal corresponding to the echo signal; and determining the detection distance of the target based on the flight time.

[0034] In practical implementation, the echo signal is received by the photoelectric converter and converted into an electrical signal, which is then sampled by the sampling unit to obtain the first sampled data. It should be noted that the maximum range of the delay output control is 0~127, with each deviation being, for example, 30ns. Therefore, 128*30=3840ps, meaning that, according to calculations, the maximum sampling frequency is 1000 / 3.84=260.416MHz. Thus, by controlling the delay at the laser emitter, the sampling rate becomes 260MHz, effectively increasing the sampling rate.

[0035] In this embodiment, the reception time of the corresponding echo signal is determined through each set of first sampling data, and the flight time of the laser pulse signal, i.e., the difference between the reception time and the transmission time, is determined based on the emission time of the laser pulse signal corresponding to the echo signal. Then, the detection distance of the target is calculated based on the flight time and the signal transmission speed. It should be noted that this embodiment of the application averages the detection distances determined from multiple echo signals to obtain the final detection distance of the target, thereby improving the accuracy of ranging.

[0036] In some embodiments, each set of first sampled data includes multiple sets of first sampled data; determining the reception time of the corresponding echo signal based on each set of first sampled data includes: for any set of first sampled data in the multiple sets of first sampled data, performing fitting processing on multiple sets of first sampled data in the arbitrary set of first sampled data to obtain the reception time of the echo signal corresponding to the arbitrary set of first sampled data.

[0037] In practical implementation, the voltage values ​​in the sampled data are fused according to the sampling time to obtain target sampled data. Then, according to a set fitting algorithm, each sampled data point in the target sampled data is fitted to obtain a fitting curve for the corresponding echo signal. The time corresponding to the maximum value of the fitted curve is taken as the receiving time. Here, the set fitting algorithm can be a difference algorithm or a cosine fitting algorithm. Specifically, a cosine fitting algorithm can be used to fit a set of target sampled data corresponding to each set of sampled data to obtain a fitting curve for the corresponding echo signal. The receiving time is obtained from this fitting curve. Specifically, the maximum value of the fitting curve is obtained by taking its derivative; the time corresponding to this maximum value is the receiving time.

[0038] In some embodiments, the method further includes: sampling multiple laser pulse signals through the sampling unit to obtain multiple sets of second sampling data; each laser pulse signal corresponds to a set of second sampling data; and obtaining the emission time of the corresponding laser pulse signal based on each set of second sampling data in the multiple sets of second sampling data.

[0039] In practical implementation, the second sampling data from multiple sets of second sampling data can be fused and fitted to obtain the emission times corresponding to the multiple laser pulse signals. Then, based on the receiving time and the emission time, the flight times corresponding to the multiple laser pulse signals and the multiple echo signals can be obtained. Finally, the distance to the target can be obtained based on the flight times and the flight speeds of the laser pulse signals. It should be noted that a similar method to obtaining the receiving time can be used to obtain the emission times of the multiple laser pulse signals. After obtaining the receiving time and the emission time, the time interval between them is obtained as the flight time.

[0040] The laser ranging method provided in this application improves laser ranging accuracy by indirectly increasing the sampling frequency through delay control of the trigger time of the laser pulse signal. Changing the sampling time of the analog-to-digital converter (AD) requires more logic resources, such as a clock selector. This application, however, performs delay control at the laser emitter, thereby changing the trigger time of the laser pulse signal. This requires fewer logic resources and provides a finer-grained delay time, reaching picosecond levels, significantly improving the sampling rate.

[0041] See Figure 5. Figure 5 This is a schematic diagram of the structure of a laser ranging device provided in an embodiment of this application. This application also provides a laser ranging device 500, which is based on a ranging device including a control unit, a laser, and a sampling unit. The device 500 includes: The delay module 501 is used to perform phase delay control and delay output control on the laser through the control unit, so that the laser emits multiple laser pulse signals sequentially toward the target under test with a preset delay step after phase delay; the laser pulse signals are reflected by the target under test to form echo signals. The sampling module 502 is used to sample multiple echo signals through the sampling unit to obtain multiple sets of first sampling data; each echo signal corresponds to a set of first sampling data. The determination module 503 is used to determine the detection distance of the target being tested based on the multiple sets of first sampling data.

[0042] In some embodiments, the laser ranging device further includes a driver; the delay module 501 is further configured to perform delayed output control on the emission enable signal through the delay unit of the control unit; and transmit the emission enable signal to the driver so that the driver drives the laser to emit laser pulse signals based on the emission enable signal.

[0043] In some embodiments, the delay unit is a programmable delay unit of an input / output module, or a delay carry chain unit.

[0044] In some embodiments, the determining module is further configured to determine the reception time of the corresponding echo signal based on each set of first sampling data; determine the flight time of the corresponding laser pulse signal based on the reception time and the emission time of the laser pulse signal corresponding to the echo signal; and determine the detection distance of the target based on the flight time.

[0045] In some embodiments, each set of first sampled data includes multiple sets of first sampled data; the determining module is further configured to perform fitting processing on multiple sets of first sampled data in any one set of first sampled data to obtain the reception time of the echo signal corresponding to the any one set of first sampled data.

[0046] In some embodiments, the apparatus further includes: an emission time determination module, configured to sample multiple laser pulse signals through the sampling unit to obtain multiple sets of second sampling data; each laser pulse signal corresponds to a set of second sampling data; and to obtain the emission time of the corresponding laser pulse signal based on each set of second sampling data in the multiple sets of second sampling data.

[0047] This application also provides a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, it implements the laser ranging method provided in this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0048] This application also provides a computer program product, including a computer program, which, when loaded and executed by a processor, implements the laser ranging method provided in this application.

[0049] It should be noted that the terms "first" and "second" appearing in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0050] Furthermore, it should be understood from the several embodiments provided in this application that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components may be combined, or integrated into another system, or some features may be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0051] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0052] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0053] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0054] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0055] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application.

Claims

1. A laser ranging method, characterized in that, The method is based on a laser ranging device, which includes a control unit, a laser, and a sampling unit; the method includes: The control unit performs phase delay control and delay output control on the laser, so that the laser emits multiple laser pulse signals sequentially toward the target under test after phase delay with a preset delay step; the laser pulse signals are reflected by the target under test to form echo signals. The sampling unit samples multiple echo signals to obtain multiple sets of first sample data; each echo signal corresponds to a set of first sample data. The control unit determines the detection distance of the target based on the multiple sets of first sampling data.

2. The method according to claim 1, characterized in that, The laser ranging device further includes a driver; the delay output control of the laser includes: The delay unit of the control unit controls the delayed output of the transmit enable signal; The transmit enable signal is transmitted to the driver so that the driver drives the laser to emit laser pulse signals based on the transmit enable signal.

3. The method according to claim 2, characterized in that, The delay unit is the delay unit of the input / output module, or an adder.

4. The method according to claim 1, characterized in that, The step of determining the detection distance of the target based on the multiple sets of first sampling data includes: The reception time of the corresponding echo signal is determined based on the first sampled data of each group; Based on the receiving time and the emission time of the laser pulse signal corresponding to the echo signal, the flight time corresponding to the laser pulse signal is determined. Based on the flight time, the detection distance of the target is determined.

5. The method according to claim 4, characterized in that, Each set of first sampled data includes multiple first sampled data; determining the reception time of the corresponding echo signal based on each set of first sampled data includes: For any one set of first sampled data from multiple sets of first sampled data, the multiple first sampled data in the arbitrary set of first sampled data are fitted to obtain the reception time of the echo signal corresponding to the arbitrary set of first sampled data.

6. The method according to claim 4, characterized in that, The method further includes: The sampling unit samples multiple laser pulse signals to obtain multiple sets of second sampling data; each laser pulse signal corresponds to a set of second sampling data. The emission time of the corresponding laser pulse signal is obtained based on each of the multiple sets of second sampling data.

7. A laser ranging device, characterized in that, The device is based on a ranging equipment, which includes a control unit, a laser, and a sampling unit. The device includes: The delay module is used to perform phase delay control and delay output control on the laser through the control unit, so that the laser emits multiple laser pulse signals sequentially toward the target under test after phase delay with a preset delay step; the laser pulse signals are reflected by the target under test to form echo signals. The sampling module is used to sample multiple echo signals through the sampling unit to obtain multiple sets of first sampling data; each echo signal corresponds to a set of first sampling data. The determination module is used to determine the detection distance of the target being tested based on the multiple sets of first sampling data.

8. A laser ranging device, characterized in that, include: Control unit, laser and sampling unit, wherein; The control unit is used to perform phase delay control and delay output control on the laser. The laser is used to emit multiple laser pulse signals sequentially toward the target under test after a phase delay, based on the control of the control unit and with a preset delay step. The laser pulse signal is reflected by the target and forms an echo signal; The sampling unit is used to sample multiple echo signals to obtain multiple sets of first sampling data; each echo signal corresponds to a set of first sampling data. The control unit is also used to determine the detection distance of the target based on the multiple sets of first sampling data.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is loaded and executed by the processor, it implements the method described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The method includes a computer program that, when loaded and executed by a processor, implements the method described in any one of claims 1 to 6.

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