Flash solid-state laser radar detection method, device, equipment and medium

Abstract

The invention discloses a Flash solid-state laser radar detection method, and the method comprises the steps: carrying out the phase difference calibration of a plurality of laser receivers, and obtaining the fixed phase difference between each laser receiver and a corresponding laser transmitter; acquiring sampling data of all laser receivers; distance calculation is carried out on the sampling data, correction is carried out in combination with the fixed phase difference, and corrected distance data are obtained; converting the corrected distance data into three-dimensional laser point cloud data; calculating the peak-to-peak value of the received optical signal according to the sampling data, determining the confidence coefficient of the data of each pixel point according to the peak-to-peak value, and filtering the three-dimensional laser point cloud data in the overlapping detection area of the plurality of laser receivers to obtain the filtered three-dimensional laser point cloud data; and packaging the filtered three-dimensional laser point cloud data and the confidence coefficient of each point cloud data into a data packet and storing the data packet. The problem of mutual interference when a plurality of Flash laser radars carry out detection at the same time is solved, and the detection range and the data accuracy are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, specifically to a Flash solid-state lidar detection method, apparatus, equipment, and medium. Background Technology

[0002] With the development of autonomous driving technology and intelligent transportation systems, Flash LiDAR technology, as a high-precision and high-reliability environmental perception method, has received widespread attention. Flash LiDAR is the mainstream technology among all-solid-state LiDAR systems. Its principle is to emit a large-area laser to cover most of the environment in front, and then use an array panel to receive the reflected echoes from the scattered light source. It has the advantages of simple structure and fast imaging speed. However, Flash LiDAR has a limited field of view, which prevents it from performing large-area detection. Furthermore, when multiple Flash LiDARs are detecting simultaneously, there is a problem of laser interference between them, leading to measurement errors. Summary of the Invention

[0003] The purpose of this invention is to provide a Flash solid-state lidar detection method, device, equipment, and medium, which can solve the problem of mutual interference when multiple Flash lidars detect simultaneously, realize horizontal 360-degree non-scanning detection, and effectively improve the detection range and data accuracy.

[0004] This invention is achieved through the following technical solution:

[0005] In a first aspect, the first embodiment of the present invention provides a Flash solid-state lidar detection method, comprising:

[0006] Multiple laser emitters are controlled to emit lasers outward at the same frequency and phase, uniformly covering a horizontal 360-degree range, and multiple laser receivers are simultaneously controlled to start laser receiving functions, covering a horizontal 360-degree range.

[0007] Phase difference calibration is performed on multiple laser receivers to obtain the fixed phase difference between each laser receiver and its corresponding laser emitter.

[0008] Acquire sampling data from all laser receivers;

[0009] The distance of the sampled data is calculated by using the continuous wave modulation indirect time-of-flight method, and then corrected by combining a fixed phase difference to obtain the corrected distance data.

[0010] Based on the inherent parameters of the laser receiver and its optical components, the corrected distance data is converted into three-dimensional laser point cloud data;

[0011] The peak-to-peak value of the received optical signal is calculated based on the sampled data. The confidence level of each pixel data is determined based on the peak-to-peak value. The three-dimensional laser point cloud data in the overlapping detection area of ​​multiple laser receivers is filtered to obtain the filtered three-dimensional laser point cloud data.

[0012] The filtered 3D laser point cloud data and confidence scores are encapsulated into data packets and stored.

[0013] Furthermore, the specific method for calibrating the phase difference of multiple laser receivers includes:

[0014] Phase calibration measurements are performed at a fixed distance D. Assume the final distance measured by the i-th laser receiver is [value missing]. Then we have:

[0015]

[0016] Where f is the laser emission frequency and c is the speed of light. Let be the fixed phase difference between the i-th laser receiver and the laser transmitter.

[0017] Furthermore, the sampling data is obtained by the laser receiver performing four differential correlation samplings on the returned optical signal in each modulation cycle using the continuous wave modulation indirect time-of-flight method. The sampling points are based on the transmitted optical signal, and the phase difference between the sampling points and the transmitted optical signal is 90°, 180°, 270° and 360°. The data is accumulated over multiple cycles.

[0018] Furthermore, the specific method for calculating the distance from the sampled data using the continuous wave modulation indirect time-of-flight method and correcting it with a fixed phase difference to obtain the corrected distance data includes:

[0019] The distance is calculated from the sampled data using the continuous wave modulation indirect time-of-flight method. The formula for calculating the original distance is:

[0020] ;

[0021] ;

[0022] in, , , , These are the sampled frame data obtained when the sampling point is at 90°, 180°, 270°, and 360° relative to the emitted light signal, respectively. For the initial phase, This is the original distance;

[0023] Due to the phase difference during the calibration phase, the corrected distance formula is as follows:

[0024] ;

[0025] in, This is the corrected distance.

[0026] Furthermore, based on the inherent parameters of the laser receiver and its optical components, specific methods for converting the corrected distance data into three-dimensional laser point cloud data include:

[0027] The transformation from the image coordinate system to the world coordinate system uses camera intrinsic parameters as transformation constraints. The transformation formula is as follows:

[0028] ;

[0029] Where x, y, and z represent the actual spatial positions of the laser point cloud, and D is the distance value. and It's the camera's internal parameters. , These are coordinates in the image coordinate system.

[0030] Furthermore, the data packet includes a sequence number, a timestamp, filtered 3D laser point cloud data, and a confidence level for each point cloud data.

[0031] Secondly, another embodiment of the present invention provides a Flash solid-state lidar device, comprising: a main controller, multiple laser emitters, and a laser receiver.

[0032] The laser emitter emits lasers outward at the same frequency and phase, uniformly covering a horizontal 360-degree range.

[0033] The laser receiver synchronously receives the laser emitted by the laser transmitter, covering a horizontal 360-degree range;

[0034] The main controller includes a transceiver control module, a phase calibration module, a sampling module, a distance calculation module, a filtering module, a data conversion module, and a data packet generation module.

[0035] The transceiver control module is used to control the signal transmission and reception of the laser transmitter and laser receiver;

[0036] The phase calibration module is used to calibrate the phase difference of multiple laser receivers respectively, and obtain the fixed phase difference between each laser receiver and its corresponding laser emitter.

[0037] The sampling module is used to acquire sampling data from all laser receivers;

[0038] The distance calculation module is used to calculate the distance of the sampled data using the continuous wave modulation indirect time-of-flight method, and to correct it by combining a fixed phase difference to obtain the corrected distance data.

[0039] The data conversion module is used to convert the corrected distance data into three-dimensional laser point cloud data according to the inherent parameters of the laser receiver and its optical devices.

[0040] The filtering module is used to calculate the peak-to-peak value of the received optical signal based on the sampled data, determine the confidence level of each pixel data based on the peak-to-peak value, and filter the three-dimensional laser point cloud data in the overlapping detection area of ​​multiple laser receivers to obtain the filtered three-dimensional laser point cloud data.

[0041] The data packet generation module is used to encapsulate the filtered 3D laser point cloud data and the confidence level of each point cloud data into a data packet and store it.

[0042] Furthermore, the sampling data is obtained by the laser receiver performing four differential correlation samplings on the returned optical signal in each modulation cycle using the continuous wave modulation indirect time-of-flight method. The sampling points are based on the transmitted optical signal, and the phase difference between the sampling points and the transmitted optical signal is 90°, 180°, 270° and 360°. The data is accumulated over multiple cycles.

[0043] Thirdly, another embodiment of the present invention provides an electronic device comprising: a processor, an input device, an output device, and a memory, wherein the processor, the input device, the output device, and the memory are interconnected, the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to invoke the program instructions to execute the method described in the first embodiment above.

[0044] Fourthly, another embodiment of the present invention provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method described in the first embodiment above.

[0045] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0046] The present invention provides a Flash solid-state lidar detection method, device, equipment and medium, which solves the problem of mutual interference when multiple Flash lidars detect simultaneously, realizes horizontal 360-degree non-scanning detection, and effectively improves the detection range and data accuracy. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0048] Figure 1 A flowchart of a Flash solid-state lidar detection method provided in the first embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of transmission and sampling using the continuous wave modulation indirect time-of-flight method;

[0050] Figure 3 This is a schematic diagram of the structure of a Flash solid-state lidar device according to another embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the working range of the laser signal of a Flash solid-state lidar device provided in another embodiment of the present invention. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0053] like Figure 1 As shown, the first embodiment of the present invention provides a Flash solid-state lidar detection method, comprising:

[0054] Multiple laser emitters are controlled to emit lasers outward at the same frequency and phase, uniformly covering a horizontal 360-degree range, and multiple laser receivers are simultaneously controlled to start laser receiving functions, covering a horizontal 360-degree range.

[0055] Phase difference calibration is performed on multiple laser receivers to obtain the fixed phase difference between each laser receiver and its corresponding laser emitter.

[0056] Acquire sampling data from all laser receivers;

[0057] The distance of the sampled data is calculated by using the continuous wave modulation indirect time-of-flight method, and then corrected by combining a fixed phase difference to obtain the corrected distance data.

[0058] Based on the inherent parameters of the laser receiver and its optical components, the corrected distance data is converted into three-dimensional laser point cloud data;

[0059] The peak-to-peak value of the received optical signal is calculated based on the sampled data. The confidence level of each pixel data is determined based on the peak-to-peak value. The three-dimensional laser point cloud data in the overlapping detection area of ​​multiple laser receivers is filtered to obtain the filtered three-dimensional laser point cloud data.

[0060] The filtered 3D laser point cloud data and the confidence level of each point cloud data are encapsulated into a data packet and stored.

[0061] Phase difference calibration involves calibrating the phase difference between each laser receiver and its corresponding laser emitter using fixed-point measurements. This eliminates phase differences caused by devices and circuits during range calculation. All laser receivers use modulated light with the same frequency and phase, making the entire system appear as a single, synchronous, and homogeneous light source. When multiple similar radars operate simultaneously, the lasers emitted by each other have completely identical modulation characteristics, rather than random or dissimilar interference signals. This significantly mitigates or avoids cross-interference between non-cooperative Flash radars caused by different modulation parameters, improving the robustness and data reliability of multi-unit collaborative operations.

[0062] Phase calibration measurements are performed at a fixed distance D. Assume the final distance measured by the i-th laser receiver is [value missing]. Then we have:

[0063] ;

[0064] Where f is the laser emission frequency and c is the speed of light. Let be the fixed phase difference between the i-th laser receiver and the laser transmitter.

[0065] Data Sampling: The laser transmitter emits at frequency f. The laser receiver uses continuous wave modulation indirect time-of-flight method to perform four differential correlation samples (DCS) on the returned optical signal in each modulation cycle. The sampling points are based on the emitted optical signal, and the phase differences between the sampling points and the emitted optical signal are 90°, 180°, 270°, and 360°, respectively. After multiple cycles of sampling and accumulation, four sampling frames are obtained, namely DCS0, DCS1, DCS2, and DCS3. Each laser receiver sends sampling data through its own ToF Camera Module Interface (TCMI), and the main controller simultaneously reads the sampling data from all laser receivers in parallel. Figure 2 The diagram shows a schematic of transmission and sampling using the continuous wave modulation indirect time-of-flight method.

[0066] Data processing: The distance of the sampled data is calculated using the continuous wave modulation indirect time-of-flight method, and an offset is added based on a fixed phase difference to obtain the distance information at each pixel.

[0067] The distance is calculated from the sampled data using the continuous wave modulation indirect time-of-flight method. The formula for calculating the original distance is:

[0068] ;

[0069] ;

[0070] in, , , , These are the sampled frame data obtained when the sampling point is at 90°, 180°, 270°, and 360° relative to the emitted light signal, respectively. For the initial phase, This is the original distance.

[0071] Due to the phase difference during the calibration phase, the corrected distance formula is as follows:

[0072] ;

[0073] in, This is the corrected distance.

[0074] Data filtering: Calculate the peak-to-peak value of the laser beam based on the sampled data. The formula is as follows:

[0075] .

[0076] Laser peak value The value reflects the signal-to-noise ratio and intensity of the received optical signal; a higher value indicates better measurement data quality and higher confidence level at that sampling point. Since multiple laser receivers have overlapping detection ranges, filtering can be performed on each data point based on its confidence level, removing low-confidence data and retaining high-confidence data. This filtering process not only removes low-quality noise points caused by weak signals but, more importantly, provides the optimal decision-making basis for data fusion in overlapping detection areas, selecting the data with the highest confidence level. This expands the field of view while ensuring the quality and reliability of point cloud data in key areas.

[0077] Laser point cloud data conversion: Based on the inherent parameters of the laser receiver and its optical components, the corrected distance data is processed and converted into 3D laser point cloud data, that is, from the image coordinate system to the world coordinate system. The camera intrinsic parameters are used as transformation constraints. The transformation formula is as follows:

[0078] ;

[0079] Where x, y, and z represent the actual spatial positions of the laser point cloud, and D is the distance value. and It's the camera's internal parameters. , These are coordinates in the image coordinate system.

[0080] Laser point cloud data packet storage and transmission: The processed frame of 3D laser point cloud data and the confidence scores of each point cloud data are encapsulated into a data packet, stored in memory, and awaited retrieval and transmission. The data packet structure is shown in Table 1.

[0081] Table 1 Data Packet Structure

[0082] Serial Number Timestamp Point cloud data Confidence id.001 2024092309010250 P(x,y,z) p001 id.002 2024092309010388 P(x,y,z) p002

[0083] All data in Table 1 are examples. The serial number indicates the storage number of the data, the timestamp is expressed in year, month, day, hour, minute, and second, and the point cloud data is filtered 3D laser point cloud data.

[0084] The data packet contains timestamps and point cloud data represented in three-dimensional coordinates. This not only provides rich environmental information, but its time synchronization and confidence labels are particularly crucial, providing high-quality and high-reliability input for downstream perception algorithms and facilitating system-level integration and information fusion.

[0085] The present invention provides a Flash solid-state lidar method that solves the problem of mutual interference when multiple Flash lidars detect simultaneously, realizes horizontal 360-degree non-scanning detection, and effectively improves the detection range and data accuracy.

[0086] like Figure 3As shown, another embodiment of the present invention provides a Flash solid-state lidar device, comprising: a main controller, multiple laser transmitters and laser receivers. The laser transmitters emit lasers outward at the same frequency and phase, uniformly covering a horizontal 360-degree range; the laser receivers synchronously receive the lasers emitted by the laser transmitters, covering a horizontal 360-degree range; the main controller includes a transceiver control module, a phase calibration module, a sampling module, a distance calculation module, a filtering module, a data conversion module, and a data packet generation module. The transceiver control module is used to control the signal transmission and reception of the laser transmitters and laser receivers; the phase calibration module is used to perform phase difference calibration on the multiple laser receivers respectively, obtaining a fixed phase difference between each laser receiver and its corresponding laser transmitter; the sampling module... The sampling module acquires sampling data from all laser receivers; the distance calculation module calculates the distance from the sampling data using the continuous wave modulation indirect time-of-flight method, and corrects it with a fixed phase difference to obtain corrected distance data; the data conversion module converts the corrected distance data into three-dimensional laser point cloud data based on the inherent parameters of the laser receivers and their optical components; the filtering module calculates the peak-to-peak value of the received optical signal based on the sampling data, determines the confidence level of each pixel based on the peak-to-peak value, and filters the data within the overlapping detection area of ​​multiple laser receivers to obtain filtered three-dimensional laser point cloud data; the data packet generation module encapsulates the filtered three-dimensional laser point cloud data and the confidence level of each point cloud data into a data packet and stores it. In this embodiment, the main controller uses an FPGA.

[0087] The sampling data is obtained by the laser receiver performing four differential correlation samplings on the returned optical signal in each modulation cycle using the continuous wave modulation indirect time-of-flight method. The sampling points are based on the transmitted optical signal, and the phase difference between the sampling points and the transmitted optical signal is 90°, 180°, 270° and 360°. The data is accumulated over multiple cycles.

[0088] like Figure 4 The diagram shows the working range of the laser signal of a Flash solid-state lidar device provided in this embodiment.

[0089] The execution process of the main controller can be carried out according to the process steps of the Flash solid-state lidar detection method provided in the first embodiment, and will not be described in detail in this embodiment.

[0090] The Flash solid-state lidar device and the Flash solid-state lidar detection method provided in this embodiment of the invention are based on the same inventive concept and have the same beneficial effects, and will not be described again here.

[0091] Another embodiment of the present invention provides an electronic device, which includes a processor, an input device, an output device, and a memory. The processor, the input device, the output device, and the memory are interconnected. The memory is used to store a computer program, which includes program instructions. The processor is configured to call the program instructions to execute the method described in the first embodiment above.

[0092] It should be understood that, in the embodiments of the present invention, the processor may be a Central Processing Unit (CPU), but it may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0093] Input devices may include touchpads, microphones, etc., and output devices may include displays (LCDs, etc.), speakers, etc.

[0094] The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store information about the device type.

[0095] In specific implementations, the processor, input device, and output device described in the embodiments of the present invention can execute the implementation of the method embodiments described in the embodiments of the present invention, or they can execute the implementation of the system embodiments described in the embodiments of the present invention, which will not be repeated here.

[0096] The present invention also provides an embodiment of a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the method described in the first embodiment above.

[0097] The computer-readable storage medium can be an internal storage unit of the terminal described in the foregoing embodiments, such as the terminal's hard drive or memory. The computer-readable storage medium can also be an external storage device of the terminal, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the terminal. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the terminal. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0098] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0099] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the terminals and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, or may be electrical, mechanical or other forms of connection.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A Flash solid-state lidar detection method, characterized in that, include: Multiple laser emitters are controlled to emit lasers outward at the same frequency and phase, uniformly covering a horizontal 360-degree range, and multiple laser receivers are simultaneously controlled to start laser receiving functions, covering a horizontal 360-degree range. Phase difference calibration is performed on multiple laser receivers to obtain the fixed phase difference between each laser receiver and its corresponding laser emitter. Acquire sampling data from all laser receivers; The distance of the sampled data is calculated by using the continuous wave modulation indirect time-of-flight method, and then corrected by combining a fixed phase difference to obtain the corrected distance data. Based on the inherent parameters of the laser receiver and its optical components, the corrected distance data is converted into three-dimensional laser point cloud data; The peak-to-peak value of the received optical signal is calculated based on the sampled data. The confidence level of each pixel data is determined based on the peak-to-peak value. The three-dimensional laser point cloud data in the overlapping detection area of ​​multiple laser receivers is filtered to obtain the filtered three-dimensional laser point cloud data. The filtered 3D laser point cloud data and the confidence level of each point cloud data are encapsulated into a data packet and stored.

2. The Flash solid-state lidar detection method according to claim 1, characterized in that, The specific method for performing phase difference calibration on multiple laser receivers includes: Phase calibration measurements are performed at a fixed distance D. Assume the final distance measured by the i-th laser receiver is [value missing]. Then we have: ； Where f is the laser emission frequency and c is the speed of light. Let be the fixed phase difference between the i-th laser receiver and the laser transmitter.

3. The Flash solid-state lidar detection method according to claim 1, characterized in that, The sampling data is obtained by the laser receiver performing four differential correlation samplings on the returned optical signal in each modulation cycle using the continuous wave modulation indirect time-of-flight method. The sampling points are based on the transmitted optical signal, and the phase difference between the sampling points and the transmitted optical signal is 90°, 180°, 270° and 360°. The data is accumulated over multiple cycles.

4. The Flash solid-state lidar detection method according to claim 3, characterized in that, The specific method for calculating the distance from the sampled data using the continuous wave modulation indirect time-of-flight method, and then correcting it with a fixed phase difference, to obtain the corrected distance information includes: The distance is calculated from the sampled data using the continuous wave modulation indirect time-of-flight method. The formula for calculating the original distance is: ； ； in, , , , These are the sampled frame data obtained when the sampling point is at 90°, 180°, 270°, and 360° relative to the emitted light signal, respectively. For the initial phase, This is the original distance; Due to the phase difference during the calibration phase, the corrected distance formula is as follows: ； in, This is the corrected distance.

5. The Flash solid-state lidar detection method according to claim 4, characterized in that, The specific method for converting the corrected distance data into three-dimensional laser point cloud data based on the inherent parameters of the laser receiver and its optical components includes: The transformation from the image coordinate system to the world coordinate system uses camera intrinsic parameters as transformation constraints. The transformation formula is as follows: ； Where x, y, and z represent the actual spatial positions of the laser point cloud, and D is the distance value. and It's the camera's internal parameters. , These are coordinates in the image coordinate system.

6. The Flash solid-state lidar detection method according to claim 5, characterized in that, The data packet includes a sequence number, a timestamp, filtered 3D laser point cloud data, and the confidence level of each point cloud data.

7. A Flash solid-state lidar device, characterized in that, include: Main controller, multiple laser emitters and laser receivers, The laser emitter emits lasers outward at the same frequency and phase, uniformly covering a horizontal 360-degree range. The laser receiver synchronously receives the laser emitted by the laser transmitter, covering a horizontal 360-degree range; The main controller includes a transceiver control module, a phase calibration module, a sampling module, a distance calculation module, a filtering module, a data conversion module, and a data packet generation module. The transceiver control module is used to control the signal transmission and reception of the laser transmitter and laser receiver; The phase calibration module is used to calibrate the phase difference of multiple laser receivers respectively, and obtain the fixed phase difference between each laser receiver and its corresponding laser emitter. The sampling module is used to acquire sampling data from all laser receivers; The distance calculation module is used to calculate the distance of the sampled data using the continuous wave modulation indirect time-of-flight method, and to correct it by combining a fixed phase difference to obtain the corrected distance data. The data conversion module is used to convert the corrected distance data into three-dimensional laser point cloud data according to the inherent parameters of the laser receiver and its optical devices. The filtering module is used to calculate the peak-to-peak value of the received optical signal based on the sampled data, determine the confidence level of each pixel data based on the peak-to-peak value, and filter the three-dimensional laser point cloud data in the overlapping detection area of ​​multiple laser receivers to obtain the filtered three-dimensional laser point cloud data. The data packet generation module is used to encapsulate the filtered 3D laser point cloud data and the confidence level of each point cloud data into a data packet and store it.

8. The Flash solid-state lidar device according to claim 7, characterized in that, The sampling data is obtained by the laser receiver performing four differential correlation samplings on the returned optical signal in each modulation cycle using the continuous wave modulation indirect time-of-flight method. The sampling points are based on the transmitted optical signal, and the phase difference between the sampling points and the transmitted optical signal is 90°, 180°, 270° and 360°. The data is accumulated over multiple cycles.

9. An electronic device, comprising: The processor, input device, output device, and memory are interconnected, the memory being used to store a computer program, the computer program including program instructions, characterized in that the processor is configured to invoke the program instructions to perform the method as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-6.

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