A laser ranging method and system

Abstract

This invention discloses a laser ranging method and system, belonging to the field of laser ranging. The method includes: acquiring a reflected laser pulse signal and obtaining a sampling signal based on the reflected laser pulse signal; real-time monitoring of the reflected laser pulse signal and the sampling signal; when the reflected laser pulse signal is at a falling edge and the sampling signal is at a rising edge, subsampling the reflected laser pulse signal based on the sampling signal to ensure that the initial phase of the sampling signal is consistent with that of the reflected laser pulse signal during subsampling, thereby obtaining subsampling data; and performing counting operations on the subsampling data to obtain distance information, thus completing laser ranging. The method disclosed in this invention can eliminate accumulated errors, improve sampling integrity, and thus improve measurement accuracy.

Description

Technical Field

[0001] This invention belongs to the field of laser ranging, and particularly relates to a laser ranging method and system. Background Technology

[0002] Laser ranging is a technology that uses a laser as a light source to measure distance. It primarily obtains the round-trip time of the laser signal using either the pulse method or the phase method, and then calculates the target distance by combining this with the speed of light. Gas lasers are mostly used for phase-based ranging, semiconductor lasers are suitable for infrared ranging, and solid-state lasers are used for pulse-based ranging. Due to the high monochromaticity and strong directionality of lasers, this technology offers advantages such as day and night operation and high accuracy, and is widely used in topographic mapping, military equipment, and industrial surveying.

[0003] Current laser ranging technologies generally use an ADC (Analog-to-Digital Converter) signal with a frequency close to that of the laser signal to sample the laser echo signal. However, this measurement method not only suffers from the cumulative increase in measurement error due to the random changes in the initial phase each time, but also fails to capture all the characteristics of the laser signal within one cycle due to the similar frequency, resulting in a measurement error of about one cycle. Therefore, existing technologies suffer from the accumulation of errors due to random changes in the initial phase and cannot fully capture the single-cycle characteristics of the laser signal, leading to a relatively large measurement error. Summary of the Invention

[0004] The present invention aims to provide a laser ranging method and system to solve the above-mentioned technical problems, eliminate accumulated errors, improve sampling integrity, and improve measurement accuracy.

[0005] To address the aforementioned technical problems, this invention provides a laser ranging method, with a signal processing module as the execution entity, comprising the following steps: Acquire the reflected laser pulse signal, and obtain a sampling signal based on the reflected laser pulse signal; The reflected laser pulse signal and the sampling signal are monitored in real time. When the reflected laser pulse signal is a falling edge and the sampling signal is a rising edge, the reflected laser pulse signal is subsampled based on the sampling signal so that the initial phase of the sampling signal is consistent with that of the reflected laser pulse signal during subsampling, thereby obtaining subsampled data. The subsampled data is counted to obtain distance information, thus completing laser ranging.

[0006] In the above scheme, when the reflected laser pulse signal is a falling edge and the sampling signal is a rising edge, subsampling of the reflected laser pulse signal based on the sampling signal ensures that the initial phase of the sampling signal is consistent with that of the reflected laser pulse signal during sampling. This prevents the sampling process from changing due to changes in the initial phase, thereby reducing accumulated errors, improving sampling integrity, and enhancing measurement accuracy. Furthermore, performing counting operations on the subsampling data allows for precise extraction of distance information, resulting in more accurate distance information and further improving measurement accuracy.

[0007] Further, the step of acquiring the reflected laser pulse signal and obtaining a sampling signal based on the reflected laser pulse signal includes: acquiring the reflected laser pulse signal; generating a reference signal based on the reflected laser pulse signal; mixing the reflected laser pulse signal and the reference signal in the time domain to obtain a sum-frequency signal and a difference-frequency signal; and filtering the sum-frequency signal and the difference-frequency signal to obtain the sampling signal.

[0008] Further, generating a reference signal based on the reflected laser pulse signal includes: obtaining the period of the reflected laser pulse signal; calculating the period of the reflected laser pulse signal to obtain a reference period; and generating a reference signal based on the reference period.

[0009] It should be noted that the period of the reflected laser pulse signal is The formula for calculating the reference period is: in, The frequency of the desired sampling signal is an integer multiple of the frequency of the reflected laser pulse signal, such that the sampling signal passes through... The period can traverse the complete cycle of the reflected laser pulse signal, and its value is determined by the ranging accuracy required by the actual application hardware. After generating a reference signal based on the reference period, the period obtained by mixing and filtering the reflected laser pulse signal and the reference signal in the time domain is... The sampled signal.

[0010] In the above scheme, the reflected laser pulse signal is used as the basis for generating the sampling signal. Based on the period of the reflected laser pulse signal, the period of the reference signal is determined according to the reference period calculation formula, thus generating the reference signal. The reflected laser pulse signal and the reference signal are then mixed in the time domain. Multiplication in the time domain yields a mixed signal containing the sum frequency and difference frequency signals. This mixed signal is then filtered to remove useless interference signals, accurately extracting the desired signal as the sampling signal. This ensures that the sampling signal can completely traverse a full cycle of the reflected laser pulse signal after n cycles. This ensures that the initial phase can be controlled consistently, thereby improving the integrity of subsequent sub-sampling and further avoiding error superposition caused by signal frequency mismatch or interference, significantly improving the measurement accuracy of laser ranging.

[0011] Furthermore, the step of performing counting operations on the subsampled data to obtain distance information for laser ranging includes: counting the subsampled data within one cycle of the reflected laser pulse signal to obtain coarse counting data; counting the subsampled data within one cycle of the sampled signal to obtain fine counting data; and calculating the coarse counting data and the fine counting data to obtain distance information for laser ranging.

[0012] It should be noted that the distance information is obtained by calculating the coarse and fine count data, specifically by calculating the flight time from the coarse and fine count data. The formula for calculating flight time is: in, y represents coarse count data, and y represents fine count data. The period of the reflected laser pulse signal. Let be the period of the sampling signal. The distance information D is then obtained using the laser ranging calculation formula, specifically: Where c is the speed of light of the laser in the propagation medium, and t is the flight time, thus obtaining accurate laser ranging results and completing the laser ranging process.

[0013] In the above scheme, counting the subsampled data within one cycle of the reflected laser pulse signal yields coarse count data, which accurately captures the effective quantity of subsampled data within the complete cycle of the reflected laser pulse signal, corresponding to the complete cycle portion of the laser signal propagation process. Counting the subsampled data within one cycle of the sampled signal yields fine count data, accurately recording the remaining portion of the subsampled data that is insufficient for a complete cycle of the reflected laser pulse, avoiding calculation errors. Then, by calculating the coarse and fine count data—that is, calculating the product of the coarse count data and the reflected laser pulse signal cycle, and the product of the fine count data and the sampled signal cycle—and combining the two products, the flight time of the laser signal is obtained. Distance information is then obtained using laser ranging formulas. This coarse and fine counting calculation method fully utilizes the integrity of the subsampled data, comprehensively covering the entire cycle information of the reflected laser pulse signal propagation, avoiding the potential for missed data or errors caused by a single counting method, further reducing cumulative errors, ensuring the accuracy of laser flight time calculation, and effectively improving the precision of laser ranging.

[0014] Furthermore, the signal processing module is implemented based on a microcontroller.

[0015] In the above scheme, a microcontroller is used as the clock synchronization control unit to perform end-to-end clock synchronization control over the signal acquisition and operation processing stages in the entire laser ranging process. The signal acquisition stage includes the acquisition of reflected laser pulse signals and the generation of sampled signals; the operation processing stage includes signal mixing and filtering, initial phase control before subsampling, and clock reference unification during counting operations. This end-to-end clock synchronization ensures that all signal processing stages in the entire laser ranging process operate strictly based on the same high-precision clock reference, avoiding problems caused by clock frequency offsets or timing misalignments between different modules. Especially in the critical stage of initial phase control, the microcontroller works in conjunction with the timer interrupt by configuring an external interrupt pin: on the one hand, the timer outputs a stable clock signal to provide a time reference for edge detection of the reflected laser pulse signal and the sampled signal; on the other hand, it monitors the level changes of the two signals in real time. When the falling edge of the reflected laser pulse signal transitioning from high to low is detected, and the rising edge of the sampled signal transitioning from low to high is simultaneously captured, subsampling is immediately initiated, ensuring that the initial phase of the two signals remains stably at 180° each time subsampling is initiated. This precise initial phase control, combined with the microcontroller's stable management of the sampling signal period, ensures that the sampling signal, after n cycles, precisely traverses one cycle of the reflected laser pulse signal. This completely avoids the problem of incomplete laser cycle coverage caused by initial phase changes, ensuring that the sub-sampling data fully reflects the full-cycle characteristics of the laser pulse signal. Furthermore, the microcontroller's clock synchronization control provides reliable assurance for counting operations: during coarse and fine counting, the microcontroller provides the same clock reference, ensuring that the time units for both types of counting are completely consistent. This avoids problems such as mismatch between the fine and coarse counting time references due to clock deviations, thus guaranteeing the accuracy of time-of-flight calculations. This end-to-end, high-precision clock synchronization control avoids measurement and calculation deviations caused by clock asynchrony from the source, ensuring that signals and data at every stage of laser ranging are accurately acquired and calculated. Ultimately, it stably controls the measurement error within 1 / n times the laser pulse period, effectively meeting the high-precision ranging requirements of industrial inspection, architectural surveying, and other scenarios, significantly improving the measurement accuracy of laser ranging.

[0016] The present invention also provides a laser ranging system, comprising: a signal acquisition module for acquiring a reflected laser pulse signal and obtaining a sampling signal based on the reflected laser pulse signal; a subsampling module for real-time monitoring of the reflected laser pulse signal and the sampling signal, wherein when the reflected laser pulse signal is a falling edge and the sampling signal is a rising edge, the reflected laser pulse signal is subsampled based on the sampling signal to make the initial phase of the sampling signal consistent with that of the reflected laser pulse signal during subsampling, thereby obtaining subsampled data; and a data processing module for performing counting operations on the subsampled data to obtain distance information, thereby completing laser ranging.

[0017] Furthermore, the signal acquisition module is used to acquire the reflected laser pulse signal and obtain a sampled signal based on the reflected laser pulse signal, including: acquiring the reflected laser pulse signal; generating a reference signal based on the reflected laser pulse signal; mixing the reflected laser pulse signal and the reference signal in the time domain to obtain a sum-frequency signal and a difference-frequency signal; and filtering the sum-frequency signal and the difference-frequency signal to obtain the sampled signal.

[0018] Further, generating a reference signal based on the reflected laser pulse signal includes: obtaining the period of the reflected laser pulse signal; calculating the period of the reflected laser pulse signal to obtain a reference period; and generating a reference signal based on the reference period.

[0019] Furthermore, the data processing module is used to perform counting operations on the subsampled data to obtain distance information in order to complete laser ranging, including: counting the subsampled data within one cycle of the reflected laser pulse signal to obtain coarse counting data; counting the subsampled data within one cycle of the sampled signal to obtain fine counting data; and calculating the coarse counting data and the fine counting data to obtain distance information in order to complete laser ranging.

[0020] Furthermore, it also includes a microcontroller main control module, used to control the laser ranging system to realize the laser ranging process.

[0021] The system architecture provided by the above scheme is logically clear, with well-defined functional divisions and close collaboration among modules, forming a complete laser ranging process: The signal acquisition module first captures the reflected laser pulse signal, obtains its period based on the signal, and calculates the reference period using the reference period calculation formula, thereby generating a suitable reference signal. Then, the reflected laser pulse signal and the reference signal are mixed in the time domain to obtain a sum-frequency signal and a difference-frequency signal, which are then filtered to extract the sampled signal. The subsampling module monitors the edge states of the reflected laser pulse signal and the sampled signal in real time, initiating subsampling only when the reflected laser pulse signal is at a falling edge and the sampled signal is at a rising edge. This ensures that the initial phase of each sample is consistent, preventing changes in the initial phase during the sampling process, thus reducing accumulated errors, improving sampling integrity, and obtaining complete subsampling data. After receiving the subsampling data, the data processing module counts the subsampling data within one period of the reflected laser pulse signal and one period of the sampled signal, obtaining coarse and fine count data. The laser flight time is derived by calculating these two types of data and converted into distance information. Meanwhile, the microcontroller main control module performs clock synchronization control over the entire process of signal acquisition, subsampling operation, and data counting calculation, ensuring consistent timing across all stages and avoiding additional errors caused by clock deviations. This system achieves laser ranging through the collaborative work of its various modules. The signal acquisition module generates a frequency-adapted sampling signal through mixing and filtering, providing fundamental support for the complete traversal of the reflected laser pulse signal period during subsampling. The subsampling module reduces accumulated errors caused by initial phase changes at the source through edge-triggered initial phase control. The data processing module performs coarse and fine counting to comprehensively cover the complete period and remaining portion of the laser pulse signal, avoiding accuracy deviations caused by missing data in single counting. The clock synchronization of the microcontroller main control module ensures that all modules operate on the same clock reference, thereby enhancing the stability of the entire system. This collaborative mechanism specifically addresses the problems of error accumulation due to initial phase changes and low measurement accuracy caused by incomplete sampling in existing laser ranging technologies. It eliminates the need for complex additional calibration equipment, achieving high-precision ranging solely through the orderly linkage of core functional modules. Ultimately, it eliminates accumulated errors, improves sampling integrity, and thus enhances measurement accuracy. Attached Figure Description

[0022] Figure 1 This is a schematic flowchart of a laser ranging method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a laser ranging system architecture provided in an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see Figure 1 This embodiment provides a method, including the following steps: Step S1: Obtain the reflected laser pulse signal and obtain a sampling signal based on the reflected laser pulse signal; Step S2: Monitor the reflected laser pulse signal and the sampling signal in real time. When the reflected laser pulse signal is a falling edge and the sampling signal is a rising edge, perform subsampling on the reflected laser pulse signal based on the sampling signal to make the initial phase of the sampling signal consistent with that of the reflected laser pulse signal during subsampling, and obtain subsampling data. Step S3: Perform counting operations on the subsampled data to obtain distance information, thereby completing laser ranging.

[0025] In this embodiment, when the reflected laser pulse signal is a falling edge and the sampling signal is a rising edge, subsampling of the reflected laser pulse signal based on the sampling signal ensures that the initial phase of the sampling signal is consistent with that of the reflected laser pulse signal, preventing changes in the sampling process due to changes in the initial phase. This reduces accumulated errors, improves sampling integrity, and enhances measurement accuracy. Furthermore, performing counting operations on the subsampling data allows for precise extraction of distance information, resulting in more accurate distance data and further improving measurement precision.

[0026] Further, the step of acquiring the reflected laser pulse signal and obtaining a sampling signal based on the reflected laser pulse signal includes: acquiring the reflected laser pulse signal; generating a reference signal based on the reflected laser pulse signal; mixing the reflected laser pulse signal and the reference signal in the time domain to obtain a sum-frequency signal and a difference-frequency signal; and filtering the sum-frequency signal and the difference-frequency signal to obtain the sampling signal.

[0027] Further, generating a reference signal based on the reflected laser pulse signal includes: obtaining the period of the reflected laser pulse signal; calculating the period of the reflected laser pulse signal to obtain a reference period; and generating a reference signal based on the reference period.

[0028] It should be noted that the period of the reflected laser pulse signal is The formula for calculating the reference period is: in, The frequency of the desired sampling signal is an integer multiple of the frequency of the reflected laser pulse signal, such that the sampling signal passes through... The period can traverse the complete cycle of the reflected laser pulse signal, and its value is determined by the ranging accuracy required by the actual application hardware. After generating a reference signal based on the reference period, the period obtained by mixing and filtering the reflected laser pulse signal and the reference signal in the time domain is... The sampled signal.

[0029] In this embodiment, the reflected laser pulse signal is used as the basis for generating the sampling signal. Based on the period of the reflected laser pulse signal, the period of the reference signal is determined according to the reference period calculation formula, thereby generating the reference signal. Then, the reflected laser pulse signal and the reference signal are mixed in the time domain. By multiplying in the time domain, a mixed signal containing the sum frequency signal and the difference frequency signal is obtained. Subsequently, the mixed signal is filtered to remove other useless interference signals, and the required signal is accurately extracted as the sampling signal. This ensures that the sampling signal can completely traverse a complete cycle of the reflected laser pulse signal after n cycles. This ensures that the initial phase can be controlled to be consistent, thereby improving the integrity of subsequent subsampling and further avoiding the superposition of errors caused by signal frequency mismatch or interference, significantly improving the measurement accuracy of laser ranging.

[0030] Furthermore, the step of performing counting operations on the subsampled data to obtain distance information for laser ranging includes: counting the subsampled data within one cycle of the reflected laser pulse signal to obtain coarse counting data; counting the subsampled data within one cycle of the sampled signal to obtain fine counting data; and calculating the coarse counting data and the fine counting data to obtain distance information for laser ranging.

[0031] It should be noted that the distance information is obtained by calculating the coarse and fine count data, specifically by calculating the flight time from the coarse and fine count data. The formula for calculating flight time is: in, y represents coarse count data, and y represents fine count data. The period of the reflected laser pulse signal. Let be the period of the sampling signal. The distance information D is then obtained using the laser ranging calculation formula, specifically: Where c is the speed of light of the laser in the propagation medium, and t is the flight time, thus obtaining accurate laser ranging results and completing the laser ranging process.

[0032] In this embodiment, coarse count data is obtained by counting the subsampled data within one cycle of the reflected laser pulse signal. This accurately captures the effective quantity of subsampled data within the complete cycle of the reflected laser pulse signal, corresponding to the complete cycle portion of the laser signal propagation process. Fine count data is obtained by counting the subsampled data within one cycle of the sampled signal. This accurately records the remaining portion of the subsampled data that is insufficient for a complete cycle of the reflected laser pulse, avoiding calculation errors. The coarse and fine count data are then calculated—that is, the product of the coarse count data and the cycle of the reflected laser pulse signal is calculated, and the product of the fine count data and the cycle of the sampled signal is calculated. These two products are then combined to obtain the time of flight of the laser signal. The distance information is then obtained using laser ranging formulas. This coarse and fine counting method fully utilizes the integrity of the subsampled data, comprehensively covering the entire cycle information of the reflected laser pulse signal propagation. It avoids the problem of data omission or deviation that may occur with a single counting method, further reducing accumulated errors, ensuring the accuracy of laser time of flight calculation, and effectively improving the precision of laser ranging.

[0033] Furthermore, the signal processing module is implemented based on a microcontroller.

[0034] In this embodiment, a microcontroller is used as the clock synchronization control unit to perform end-to-end clock synchronization control over the signal acquisition and operation processing stages in the entire laser ranging process. The signal acquisition stage includes the acquisition of reflected laser pulse signals and the generation of sampled signals; the operation processing stage includes signal mixing and filtering, initial phase control before subsampling, and clock reference unification during counting operations. This end-to-end clock synchronization ensures that all signal processing stages in the entire laser ranging process operate strictly based on the same high-precision clock reference, avoiding problems caused by clock frequency offsets or timing misalignments between different modules. Especially in the critical stage of initial phase control, the microcontroller works in conjunction with an external interrupt pin and a timer interrupt: on the one hand, the timer outputs a stable clock signal to provide a time reference for edge detection of the reflected laser pulse signal and the sampled signal; on the other hand, it monitors the level changes of the two signals in real time. When a falling edge of the reflected laser pulse signal transitioning from high to low is detected, and a rising edge of the sampled signal transitioning from low to high is simultaneously captured, subsampling is immediately initiated, ensuring that the initial phase of the two signals remains stably at 180° each time subsampling is initiated. This precise initial phase control, combined with the microcontroller's stable management of the sampling signal period, ensures that the sampling signal, after n cycles, precisely traverses one cycle of the reflected laser pulse signal. This completely avoids the problem of incomplete laser cycle coverage caused by initial phase changes, ensuring that the sub-sampling data fully reflects the full-cycle characteristics of the laser pulse signal. Furthermore, the microcontroller's clock synchronization control provides reliable assurance for counting operations: during coarse and fine counting, the microcontroller provides the same clock reference, ensuring that the time units for both types of counting are completely consistent. This avoids problems such as mismatch between the fine and coarse counting time references due to clock deviations, thus guaranteeing the accuracy of time-of-flight calculations. This end-to-end, high-precision clock synchronization control avoids measurement and calculation deviations caused by clock asynchrony from the source, ensuring that signals and data at every stage of laser ranging are accurately acquired and calculated. Ultimately, it stably controls the measurement error within 1 / n times the laser pulse period, effectively meeting the high-precision ranging requirements of industrial inspection, architectural surveying, and other scenarios, significantly improving the measurement accuracy of laser ranging.

[0035] Please see Figure 2This embodiment also provides a laser ranging system, including: a signal acquisition module for acquiring a reflected laser pulse signal and obtaining a sampling signal based on the reflected laser pulse signal; a subsampling module for real-time monitoring of the reflected laser pulse signal and the sampling signal, wherein when the reflected laser pulse signal is a falling edge and the sampling signal is a rising edge, the reflected laser pulse signal is subsampled based on the sampling signal to make the initial phase of the sampling signal consistent with that of the reflected laser pulse signal during subsampling, thereby obtaining subsampled data; and a data processing module for performing counting operations on the subsampled data to obtain distance information to complete laser ranging.

[0036] Furthermore, the signal acquisition module is used to acquire the reflected laser pulse signal and obtain a sampled signal based on the reflected laser pulse signal, including: acquiring the reflected laser pulse signal; generating a reference signal based on the reflected laser pulse signal; mixing the reflected laser pulse signal and the reference signal in the time domain to obtain a sum-frequency signal and a difference-frequency signal; and filtering the sum-frequency signal and the difference-frequency signal to obtain the sampled signal.

[0037] Further, generating a reference signal based on the reflected laser pulse signal includes: obtaining the period of the reflected laser pulse signal; calculating the period of the reflected laser pulse signal to obtain a reference period; and generating a reference signal based on the reference period.

[0038] Furthermore, the data processing module is used to perform counting operations on the subsampled data to obtain distance information in order to complete laser ranging, including: counting the subsampled data within one cycle of the reflected laser pulse signal to obtain coarse counting data; counting the subsampled data within one cycle of the sampled signal to obtain fine counting data; and calculating the coarse counting data and the fine counting data to obtain distance information in order to complete laser ranging.

[0039] Furthermore, it also includes a microcontroller main control module, used to control the laser ranging system to realize the laser ranging process.

[0040] The system architecture provided in this embodiment is logically clear, with well-defined functional divisions and close collaboration among modules, forming a complete laser ranging process: The signal acquisition module first captures the reflected laser pulse signal, obtains its period based on the signal, and calculates the reference period using the reference period calculation formula, thereby generating a suitable reference signal. Then, the reflected laser pulse signal and the reference signal are mixed in the time domain to obtain a sum-frequency signal and a difference-frequency signal, which are then filtered to extract the sampled signal. The subsampling module monitors the edge states of the reflected laser pulse signal and the sampled signal in real time, initiating subsampling only when the reflected laser pulse signal is at a falling edge and the sampled signal is at a rising edge. This ensures that the initial phase of each sample is consistent, preventing changes in the initial phase during the sampling process, thus reducing accumulated errors, improving sampling integrity, and obtaining complete subsampling data. After receiving the subsampling data, the data processing module counts the subsampling data within one period of the reflected laser pulse signal and one period of the sampled signal, obtaining coarse and fine count data. The laser flight time is derived by calculating these two types of data and converted into distance information. Meanwhile, the microcontroller main control module performs clock synchronization control over the entire process of signal acquisition, subsampling operation, and data counting calculation, ensuring consistent timing across all stages and avoiding additional errors caused by clock deviations. This system achieves laser ranging through the collaborative work of its various modules. The signal acquisition module generates a frequency-adapted sampling signal through mixing and filtering, providing fundamental support for the complete traversal of the reflected laser pulse signal period during subsampling. The subsampling module reduces accumulated errors caused by initial phase changes at the source through edge-triggered initial phase control. The data processing module performs coarse and fine counting to comprehensively cover the complete period and remaining portion of the laser pulse signal, avoiding accuracy deviations caused by missing data in single counting. The clock synchronization of the microcontroller main control module ensures that all modules operate on the same clock reference, thereby enhancing the stability of the entire system. This collaborative mechanism specifically addresses the problems of error accumulation due to initial phase changes and low measurement accuracy caused by incomplete sampling in existing laser ranging technologies. It eliminates the need for complex additional calibration equipment, achieving high-precision ranging solely through the orderly linkage of core functional modules. Ultimately, it eliminates accumulated errors, improves sampling integrity, and thus enhances measurement accuracy.

[0041] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A laser ranging method, characterized in that, With the signal processing module as the main execution unit, this laser ranging method includes: Acquire the reflected laser pulse signal, and obtain a sampling signal based on the reflected laser pulse signal; The reflected laser pulse signal and the sampling signal are monitored in real time. When the reflected laser pulse signal is a falling edge and the sampling signal is a rising edge, the reflected laser pulse signal is subsampled based on the sampling signal so that the initial phase of the sampling signal is consistent with that of the reflected laser pulse signal during subsampling, thereby obtaining subsampled data. The subsampled data is counted to obtain distance information, thus completing laser ranging.

2. The laser ranging method according to claim 1, characterized in that, The step of acquiring the reflected laser pulse signal and obtaining a sampling signal based on the reflected laser pulse signal includes: Acquire the reflected laser pulse signal; A reference signal is generated based on the reflected laser pulse signal; The reflected laser pulse signal and the reference signal are mixed in the time domain to obtain a sum-frequency signal and a difference-frequency signal; The sum-frequency signal and the difference-frequency signal are filtered to obtain the sampled signal.

3. The laser ranging method according to claim 2, characterized in that, The step of generating a reference signal based on the reflected laser pulse signal includes: Obtain the period of the reflected laser pulse signal; Calculate the period of the reflected laser pulse signal to obtain the reference period; A reference signal is generated based on the reference period.

4. The laser ranging method according to claim 1, characterized in that, The step of performing a counting operation on the subsampled data to obtain distance information for laser ranging includes: The subsampled data within one cycle of the reflected laser pulse signal is counted to obtain coarse count data; The subsampled data within one period of the sampled signal are counted to obtain fine count data; The coarse and fine count data are calculated to obtain distance information, thereby completing laser ranging.

5. The laser ranging method according to claim 1, characterized in that, The signal processing module is implemented based on a microcontroller.

6. A laser ranging system, characterized in that, include: A signal acquisition module is used to acquire reflected laser pulse signals and obtain sampling signals based on the reflected laser pulse signals; The subsampling module is used to monitor the reflected laser pulse signal and the sampling signal in real time. When the reflected laser pulse signal is a falling edge and the sampling signal is a rising edge, the reflected laser pulse signal is subsampled based on the sampling signal so that the initial phase of the sampling signal is consistent with that of the reflected laser pulse signal during subsampling, thereby obtaining subsampled data. The data processing module is used to perform counting operations on the subsampled data to obtain distance information in order to complete laser ranging.

7. A laser ranging system according to claim 6, characterized in that, The signal acquisition module is used to acquire the reflected laser pulse signal and obtain a sampling signal based on the reflected laser pulse signal, including: Acquire the reflected laser pulse signal; A reference signal is generated based on the reflected laser pulse signal; The reflected laser pulse signal and the reference signal are mixed in the time domain to obtain a sum-frequency signal and a difference-frequency signal; The sum-frequency signal and the difference-frequency signal are filtered to obtain the sampled signal.

8. A laser ranging system according to claim 7, characterized in that, The step of generating a reference signal based on the reflected laser pulse signal includes: Obtain the period of the reflected laser pulse signal; Calculate the period of the reflected laser pulse signal to obtain the reference period; A reference signal is generated based on the reference period.

9. A laser ranging system according to claim 6, characterized in that, The data processing module is used to perform counting operations on the subsampled data to obtain distance information in order to complete laser ranging, including: The subsampled data within one cycle of the reflected laser pulse signal is counted to obtain coarse count data; The subsampled data within one period of the sampled signal are counted to obtain fine count data; The coarse and fine count data are calculated to obtain distance information, thereby completing laser ranging.

10. A laser ranging system according to claim 6, characterized in that, It also includes a microcontroller main control module, which is used to control the laser ranging system to realize the laser ranging process.

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