Laser ranging method, system, device and medium based on multi-phase delay sampling

Abstract

The present application relates to the technical field of laser ranging, and particularly relates to a laser ranging method, system, device and medium based on multi-phase delay sampling, wherein the method comprises: inputting a generated reference trigger signal into an RC delay array in parallel to generate a plurality of trigger branch signals; driving a laser emitting unit to emit laser detection pulses by using the plurality of trigger branch signals; receiving a return signal and obtaining a plurality of initial return sequences by using a sampling clock; rearranging and mapping the plurality of initial return sequences into a time domain coordinate system to perform time domain registration and fusion, reconstructing a synthesized return feature, and calculating a time of flight to determine target ranging information. Thus, the present application guides multi-cycle sampling in batches, and fills sampling points of different phases into gaps of a sampling period according to a time sequence rearrangement logic to reconstruct a high-resolution synthesized return, so that quantization deviation is effectively eliminated and ranging resolution is significantly enhanced without improving a hardware native sampling frequency.

Description

Technical Field

[0001] This invention relates to the field of laser ranging technology, and in particular to a laser ranging method, system, device and medium based on multi-phase delay sampling. Background Technology

[0002] In the field of laser ranging technology, current ranging schemes mainly include time-of-flight (TOF) schemes and analog-to-digital converter (ADC) schemes. Because the ADC scheme can digitally acquire the received laser echo and support more complex waveform feature analysis and data processing, it exhibits significant advantages in measurement accuracy and stability. Therefore, the ADC scheme has been widely used in laser ranging telescopes and other equipment.

[0003] However, the final measurement accuracy of existing laser ranging systems using ADC solutions is largely limited by the system's sampling frequency. In practical applications, due to limitations in hardware cost, system power consumption, and the physical characteristics of electronic components, the sampling clock frequency often has a technical upper limit and cannot be increased indefinitely.

[0004] Due to the limited sampling frequency, the time interval between two adjacent sampling points is relatively long when the analog-to-digital converter quantizes the laser echo signal. Because of the extremely high speed of light, this temporal sampling interval directly translates into a large step in spatial distance. Therefore, when calculating distance, it is difficult to capture more subtle feature changes in the echo signal, easily leading to significant quantization deviations. Due to this spatial sampling gap determined by the sampling frequency, existing laser ranging solutions still face bottlenecks in measurement accuracy, failing to meet users' demands for high-precision, finely detailed measurement data in complex testing environments. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a laser ranging method, system, device and medium based on multi-phase delay sampling, which solves the technical problems of inaccurate echo feature capture and low measurement resolution in the existing laser ranging scheme due to the excessively large sampling interval of the echo signal in the spatial dimension caused by the sampling frequency limited by the physical characteristics of the hardware.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0009] In a first aspect, embodiments of the present invention provide a laser ranging method based on multi-phase delay sampling, comprising:

[0010] In response to the ranging start command, a reference trigger signal is generated and input in parallel to an RC delay array configured with different time constants to generate multiple trigger branch signals with preset discrete phase gradients;

[0011] By using multiple trigger branch signals, the laser emitting unit is driven to emit laser detection pulses corresponding to discrete phase gradients at different sub-phase times in each measurement cycle;

[0012] The system receives the echo signal after the laser detection pulse is reflected by the target object, and uses a sampling clock synchronized with the reference trigger signal to obtain multiple initial echo sequences corresponding to each transmission.

[0013] Based on the discrete phase gradient, multiple initial echo sequences are rearranged and mapped to a time-domain coordinate system for time-domain registration and fusion, reconstructing synthetic echo features with equivalent sampling rate enhancement, and calculating the flight time based on the synthetic echo features to determine target ranging information.

[0014] Optionally, a reference trigger signal is generated in response to the ranging start command, and the reference trigger signal is input in parallel to an RC delay array configured with different time constants to generate multiple trigger branch signals with preset discrete phase gradients, including:

[0015] In response to the ranging start command, a reference trigger signal is generated and synchronously input to the common signal input terminal of the through reference link and multiple RC integral delay links in the RC delay array;

[0016] Real-time monitoring of the level transition status at the output of the direct reference link is used to determine the zero-phase reference timestamp corresponding to the zero-time offset.

[0017] The system monitors the integral potential rise status at the output of multiple RC integral delay links in parallel, generates a time delay by utilizing the charging circuit composed of resistors and capacitors in each RC integral delay link, and obtains the time count value of each RC integral delay link relative to the zero phase reference timestamp when the integral potential reaches the preset logic judgment threshold to trigger level flipping.

[0018] Based on the correspondence between each time count value and the preset discrete phase gradient, the equivalent delay offset parameter of each RC integral delay link is calibrated.

[0019] Based on the zero-phase reference timestamp and each equivalent delay offset parameter, the logic is recombined to generate multiple trigger branch signals distributed according to discrete phase gradients in the time-domain coordinate system.

[0020] Optionally, based on the correspondence between each time count value and a preset discrete phase gradient, the equivalent delay offset parameters of each RC integral delay link are calibrated, including:

[0021] The discrete phase gradient is decomposed into multiple target time delay references distributed within a single sampling period; wherein, the sampling period is configured as the time interval between adjacent sampling points of a sampling clock synchronized with the reference trigger signal;

[0022] Based on the obtained physical path distribution information between the controller and the RC delay array, the mapping relationship between each RC integral delay link and each target delay reference is determined;

[0023] Based on the mapping relationship, the acquired time count value is associated and aligned with the corresponding target delay reference to determine the real physical delay attribute data corresponding to each RC integral delay link, which is used as the equivalent delay bias parameter.

[0024] Optionally, multiple trigger branch signals are used to drive the laser emitting unit to emit laser detection pulses corresponding to discrete phase gradients at different sub-phase times in each measurement cycle, including:

[0025] The time-domain reference for each measurement cycle is determined based on the start edge of the sampling clock synchronized with the reference trigger signal, and each measurement cycle is arranged into a transmission mission sequence that matches the number of trigger branch signals, so that each trigger branch signal is assigned to each measurement cycle in the transmission mission sequence.

[0026] Within each measurement cycle, a trigger branch signal is selected sequentially as the timing reference for the current transmission round;

[0027] The logic potential flip state of the timing reference is acquired in real time, and in response to the occurrence of the logic potential flip state, a laser drive control signal is generated and transmitted to the laser emitting unit in real time to excite the laser emitting unit to emit laser detection pulses, and the emission completion status of the current measurement cycle is marked simultaneously.

[0028] The system iteratively switches based on the launch completion status, using different timing references in different measurement cycles within the launch mission sequence. This allows multiple sets of laser probe pulses to generate controlled offsets in the time domain relative to the start edge of the sampling clock, corresponding to a preset discrete phase gradient.

[0029] Optionally, the echo signal after the laser detection pulse is reflected by the target is received, and multiple initial echo sequences corresponding to each transmission are obtained using a sampling clock synchronized with the reference trigger signal, including:

[0030] The sampling clock pulse is determined by using a sampling clock synchronized with the reference trigger signal, and the analog-to-digital conversion of the echo signal is driven according to the sampling clock pulse to generate a continuous sampling data stream;

[0031] Based on the starting point of each measurement cycle, a sampling window corresponding to the emission time of each laser detection pulse is extracted from the continuous sampling data stream;

[0032] Within each sampling window, extract a set of digital sampling points with a preset sampling length;

[0033] The sets of digital sampling points are mapped and associated with the equivalent delay offset parameters used in the corresponding measurement period to obtain multiple sets of initial echo sequences corresponding to each transmission and with phase attribute identifiers.

[0034] Optionally, based on the discrete phase gradient, multiple initial echo sequences are rearranged and mapped to a time-domain coordinate system for time-domain registration and fusion, reconstructing synthetic echo features with an equivalent sampling rate enhancement. The flight time is then calculated based on the synthetic echo features to determine target ranging information, including:

[0035] Extract the controlled offset corresponding to each measurement cycle, and map the discrete sampling points contained in multiple initial echo sequences to their corresponding positions in the time-domain coordinate system using the corresponding controlled offset as the starting offset.

[0036] Based on the distribution of the controlled offset within a single sampling period, multiple sets of discrete sampling points mapped to the time coordinate system are logically rearranged in chronological order, and discrete sampling points from different measurement periods are used to fill the sampling gap within a single sampling period.

[0037] By fusing and rearranging the discrete sampling points, a synthetic echo feature with increased sampling point density is reconstructed within a single sampling period, making the temporal resolution of the synthetic echo feature better than the original sampling resolution of a single measurement period.

[0038] Identify waveform envelope feature points in the synthetic echo features, determine the echo timestamps corresponding to the waveform envelope feature points in the time domain coordinate system, and subtract the echo timestamps from the zero-phase reference timestamps to obtain the flight time, thereby determining the target ranging information.

[0039] Secondly, embodiments of the present invention provide a laser ranging system based on multi-phase delay sampling, comprising:

[0040] The delay generation module is used to generate a reference trigger signal in response to the ranging start command, and input the reference trigger signal in parallel to an RC delay array configured with different time constants to generate multiple trigger branch signals with preset discrete phase gradients;

[0041] The laser emission module is used to drive the laser emission unit to emit laser detection pulses corresponding to discrete phase gradients at different sub-phase times in each measurement cycle using multiple trigger branch signals.

[0042] The echo acquisition module is used to receive the echo signal after the laser detection pulse is reflected by the target object, and to obtain multiple sets of initial echo sequences corresponding to each transmission using a sampling clock synchronized with the reference trigger signal.

[0043] The temporal reconstruction module is used to rearrange multiple initial echo sequences and map them to a temporal coordinate system based on the discrete phase gradient for temporal registration and fusion, reconstructing synthetic echo features with equivalent sampling rate enhancement, and calculating the flight time based on the synthetic echo features to determine the target ranging information.

[0044] Optionally, the RC delay array includes a direct reference link and multiple RC integral delay links;

[0045] The direct reference link outputs a signal corresponding to the zero-phase reference timestamp. Each RC integral delay link includes a resistor and a capacitor. The time constant of each RC integral delay link is determined by configuring the product of the resistor and capacitor to generate multiple trigger branch signals corresponding to the preset discrete phase gradient.

[0046] The input terminals of the direct reference link and multiple RC integral delay links are connected to the signal output terminal of the controller, so as to select different trigger branch signals as timing references by switching in different measurement cycles.

[0047] Thirdly, embodiments of the present invention provide a laser ranging device based on multi-phase delay sampling, comprising: at least one controller; and a memory communicatively connected to the at least one controller; wherein the memory stores instructions executable by the at least one controller, the instructions being executed by the at least one controller to enable the at least one controller to perform the laser ranging method based on multi-phase delay sampling as described above.

[0048] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a controller, implement the laser ranging method based on multi-phase delay sampling as described above.

[0049] (III) Beneficial Effects

[0050] The beneficial effects of this invention are:

[0051] First, this invention converts the reference trigger signal into multiple trigger branch signals with preset discrete phase gradients by configuring RC delay arrays with different time constants. Given the nanosecond-level fine delay characteristics of RC circuits, a multi-phase time reference superior to the original sampling clock period is determined at the physical level, effectively expanding a single time reference dimension into multiple parallel reference dimensions with phase shifts. The trigger branch signals with different phase gradients drive the laser emission unit to emit in stages, resulting in a controlled phase shift of the probe pulses in each measurement cycle on the time axis. Since the echo signals are synchronously captured at different sub-phase moments, waveform details that were originally ignored by the sampling gap can be discretely recorded in multiple initial echo sequences.

[0052] Based on this, multiple initial echo sequences are rearranged and mapped to a time-domain coordinate system according to the discrete phase gradient for time-domain registration and fusion. Discrete sampling points from different measurement periods can accurately fill the sampling gaps within a single sampling period, thereby logically reconstructing a synthetic echo feature with an equivalent sampling rate enhancement. This synthetic waveform significantly improves the sampling point density, making the temporal resolution of the synthetic echo feature superior to the original sampling resolution of a single measurement period, and greatly reducing the quantization deviation caused by excessively large sampling steps. Finally, time-of-flight calculation is performed based on the synthetic echo feature, achieving higher-dimensional measurement accuracy and resolution, effectively compensating for the performance shortcomings of traditional solutions in long-distance or high-precision scenarios. Attached Figure Description

[0053] Figure 1 A flowchart illustrating the method provided in an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram illustrating the specific process of step S1 of the method provided in this embodiment of the invention;

[0055] Figure 3 This is a schematic diagram of the circuit structure provided in an embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram illustrating the specific process of step S14 of the method provided in the embodiments of the present invention;

[0057] Figure 5 This is a schematic diagram illustrating the specific process of step S2 in the method provided in this embodiment of the invention;

[0058] Figure 6 A waveform logic diagram provided for an embodiment of the present invention;

[0059] Figure 7 This is a detailed flowchart illustrating step S3 of the method provided in this embodiment of the invention;

[0060] Figure 8This is a detailed flowchart illustrating step S4 of the method provided in this embodiment of the invention;

[0061] Figure 9 The above is a measured waveform diagram of a multi-phase signal provided in an embodiment of the present invention. Detailed Implementation

[0062] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0063] like Figure 1 As shown in the figure, a laser ranging method based on multi-phase delay sampling proposed in this invention includes: generating a reference trigger signal in response to a ranging start command, and inputting the reference trigger signal in parallel to an RC delay array configured with different time constants to generate multiple trigger branch signals with preset discrete phase gradients; using the multiple trigger branch signals to drive the laser emitting unit to emit laser detection pulses corresponding to the discrete phase gradients at different sub-phase times in each measurement cycle; receiving the echo signal after the laser detection pulses are reflected by the target object, and using a sampling clock synchronized with the reference trigger signal to obtain multiple sets of initial echo sequences corresponding to each emission; rearranging the multiple sets of initial echo sequences according to the discrete phase gradient and mapping them to a time-domain coordinate system for time-domain registration and fusion, reconstructing a synthetic echo feature with an equivalent sampling rate enhancement, and calculating the flight time based on the synthetic echo feature to determine the target ranging information.

[0064] First, this invention converts the reference trigger signal into multiple trigger branch signals with preset discrete phase gradients by configuring RC delay arrays with different time constants. Given the nanosecond-level fine delay characteristics of RC circuits, a multi-phase time reference superior to the original sampling clock period is determined at the physical level, effectively expanding a single time reference dimension into multiple parallel reference dimensions with phase shifts. The trigger branch signals with different phase gradients drive the laser emission unit to emit in stages, resulting in a controlled phase shift of the probe pulses in each measurement cycle on the time axis. Since the echo signals are synchronously captured at different sub-phase moments, waveform details that were originally ignored by the sampling gap can be discretely recorded in multiple initial echo sequences.

[0065] Based on this, multiple initial echo sequences are rearranged and mapped to a time-domain coordinate system according to the discrete phase gradient for time-domain registration and fusion. Discrete sampling points from different measurement periods can accurately fill the sampling gaps within a single sampling period, thereby logically reconstructing a synthetic echo feature with an equivalent sampling rate enhancement. This synthetic waveform significantly improves the sampling point density, making the temporal resolution of the synthetic echo feature superior to the original sampling resolution of a single measurement period, and greatly reducing the quantization deviation caused by excessively large sampling steps. Finally, time-of-flight calculation is performed based on the synthetic echo feature, achieving higher-dimensional measurement accuracy and resolution, effectively compensating for the performance shortcomings of traditional solutions in long-distance or high-precision scenarios.

[0066] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0067] Specifically, embodiments of the present invention provide a laser ranging method based on multi-phase delay sampling, including:

[0068] S1. In response to the ranging start command, a reference trigger signal is generated, and the reference trigger signal is input in parallel to an RC delay array configured with different time constants to generate multiple trigger branch signals with preset discrete phase gradients.

[0069] Furthermore, such as Figure 2 As shown, step S1 includes:

[0070] S11. In response to the ranging start command, a reference trigger signal is generated and synchronously input to the common signal input terminal of the direct reference link and multiple RC integral delay links in the RC delay array.

[0071] Specifically, refer to Figure 3 The RC delay array has multiple parallel transmission channels, including a direct reference link and multiple RC integral delay links configured with different time constants. In terms of physical layout, the input terminals of the direct reference link and each RC integral delay link are connected to the same output pin of the controller (such as an FPGA) to generate the reference trigger signal.

[0072] The reference trigger signal is transmitted through these parallel physical paths and arrives at the corresponding output terminals: Specifically, it is transmitted to the directly connected output terminal A1 via a direct reference link to determine the zero-phase reference timestamp; it is transmitted to the first RC circuit output terminal A2 via the first RC integration delay link, and to the second RC circuit output terminal A3 via the second RC integration delay link, and so on. Each output terminal A1~A5 is connected to the signal selection input terminal of the controller, enabling the controller to monitor the potential state of each link output terminal in real time and capture the corresponding level transitions.

[0073] S12. Real-time monitoring of the level transition state at the output of the through-reference link to determine the zero-phase reference timestamp corresponding to the zero-time offset. During the transmission of the reference trigger signal to the delay array output via the through-reference link, the level transition state at the output of the through-reference link is monitored in real time. For example, when the output corresponding to the through path (e.g., ...) is detected... Figure 3 When A1 generates a level transition instant, a zero-phase reference timestamp corresponding to the zero-time offset is determined, which marks the logical origin of all time measurements within the current measurement cycle.

[0074] S13. Parallel monitoring of the integral potential rise at the output terminals of multiple RC integral delay links; utilizing the charging circuit composed of resistors and capacitors in each RC integral delay link to generate a time delay; and acquiring the time count value of each RC integral delay link relative to the zero-phase reference timestamp when each integral potential reaches a preset logic threshold trigger level flip. In this step, the parallel monitoring of the integral potential rise at the output terminals of multiple RC integral delay links; and the synchronous injection of the reference trigger signal into each charging circuit composed of resistors and capacitors, generating a preset delay effect through the physical charging and discharging process. When the output terminals of each RC integral delay link (e.g., ...) reach the zero-phase reference timestamp, the time count value of each RC integral delay link is obtained. Figure 3 When the integrated potentials of A2, A3, etc. in the circuit reach the preset logic judgment threshold and trigger the level flipping action, the time difference value of each flipping moment relative to the zero-phase reference timestamp is recorded. Through the above actions, the time count value of each RC integral delay link relative to the zero-phase reference timestamp is obtained.

[0075] S14. Based on the correspondence between each time count value and the preset discrete phase gradient, the equivalent delay offset parameter of each RC integral delay link is calibrated. According to the correspondence between each time count value and the preset discrete phase gradient, the measured data and theoretical design values ​​are correlated and aligned. By calculating the small deviation between the correlated and aligned time count values ​​and the target delay reference, the error correction amount for each link is extracted. The original target reference is compensated using the error correction amount, and finally the true physical delay attribute data corresponding to each RC integral delay link is determined, which is then used as the equivalent delay offset parameter required for subsequent reconstruction and synthesis of the echo.

[0076] Furthermore, such as Figure 4 As shown, step S14 includes:

[0077] S141. The discrete phase gradient is decomposed into multiple target time delay references distributed within a single sampling period; wherein, the sampling period is configured as the time interval between adjacent sampling points of a sampling clock synchronized with the reference trigger signal.

[0078] S142. Based on the obtained physical path distribution information between the controller and the RC delay array, determine the mapping relationship between each RC integral delay link and each target delay reference.

[0079] S143. Based on the mapping relationship, the acquired time count values ​​are associated and aligned with the corresponding target delay reference to determine the actual physical delay attribute data corresponding to each RC integral delay link, which serves as the equivalent delay bias parameter. In the process of obtaining the equivalent delay bias parameter, the deviation between the associated and aligned time count values ​​and the target delay reference is calculated to extract the error correction amount. This error correction amount is then used to compensate the target delay reference (e.g., through algebraic addition), thereby establishing the actual physical delay attribute data corresponding to each RC integral delay link. Due to process variations in resistors and capacitors, as well as PCB trace delays, the actual delay generated by the RC circuit often deviates from the target value. Therefore, the equivalent delay bias parameter established through the calibration process represents the precise time displacement that the physical link can actually achieve.

[0080] In one specific embodiment, if the sampling clock frequency is configured to 50MHz, the corresponding sampling period is 20ns. The 20ns time interval is divided into equal gradient steps to obtain multiple target delay references such as 0ns, 6.66ns, and 13.332ns. The sampling period is configured as the time interval between adjacent sampling points of the sampling clock synchronized with the reference trigger signal.

[0081] Secondly, based on the acquired physical path distribution information between the controller and the RC delay array, the mapping relationship between each RC integral delay link and each target delay reference is determined. The physical path distribution information maps the physical connection topology between the controller pins and the output terminals of the RC circuit (e.g., A2, A3). By determining the mapping relationship, the controller can identify which theoretical target delay reference each physical pin corresponds to.

[0082] Next, based on the mapping relationship, the acquired time count values ​​are associated and aligned with the corresponding target delay reference. The controller retrieves the mapping relationship and logically aligns the time count values ​​obtained from different RC integral delay links with the corresponding target delay reference to determine the theoretical reference point of each RC integral delay link in the time domain coordinate system. The deviation between the associated and aligned time count values ​​and the target delay reference is calculated to extract the error correction amount, which reflects the physical delay deviation generated by the hardware circuit. Furthermore, the target delay reference is compensated using the error correction amount (e.g., algebraic addition) to determine the actual physical delay attribute data corresponding to each RC integral delay link, which serves as the equivalent delay bias parameter.

[0083] S15. Based on the zero-phase reference timestamp and each equivalent delay offset parameter, perform logical recombination to generate multiple trigger branch signals distributed according to discrete phase gradients in the time-domain coordinate system. In this step, by adding the zero-phase reference timestamp and the equivalent delay offset parameters corresponding to different RC integral delay links, the zero-phase reference timestamp is used as the starting time value and accumulated with each equivalent delay offset parameter to generate a set of trigger branch signals arranged in a stepped manner on the time axis.

[0084] S2. Using multiple trigger branch signals, the laser emission unit is driven to emit laser detection pulses corresponding to discrete phase gradients at different sub-phase times in each measurement cycle. During the laser emission phase, the trigger branch signals enter the driving logic as a synchronization source. By activating the laser emission unit at different phase times, the originally single emission action is split into multiple pulse emission tasks with preset phase offsets, providing the original signal source for subsequent improvement of the equivalent sampling rate.

[0085] Furthermore, such as Figure 5 As shown, step S2 includes:

[0086] S21. Determine the time-domain reference for each measurement cycle based on the start edge of the sampling clock synchronized with the reference trigger signal, and arrange each measurement cycle into a transmission task sequence matching the number of trigger branch signals, so that each trigger branch signal is assigned to each measurement cycle in the transmission task sequence. Specifically, the rising edge of the sampling clock is used as the absolute timing start point of each measurement cycle. If there are three trigger branch signals, a transmission task sequence containing three measurement cycles is arranged. Through the allocation logic of the transmission task sequence, the first trigger branch signal (e.g., corresponding to a 0ns bias) is bound to the first measurement cycle, the second trigger branch signal (e.g., corresponding to a 6.66ns bias) is bound to the second measurement cycle, and so on, to determine the correspondence between each cycle and the phase signal.

[0087] S22. Within each measurement cycle, a trigger branch signal is sequentially selected as the timing reference for the current transmission round. Upon entering a specific measurement cycle, the trigger branch signal pre-assigned to this cycle is automatically selected, and this selected signal serves as the time reference for the current transmission mission, ensuring that the laser emission time is strictly controlled within the preset phase offset.

[0088] S23. Real-time acquisition of the logic potential flip state of the timing reference, and in response to the occurrence of the logic potential flip state, real-time generation and transmission of a laser drive control signal to the laser emitting unit to excite the laser emitting unit to emit laser detection pulses, and synchronously marking the completion status of the current measurement cycle. During the monitoring process, once the timing reference is captured to flip from low level to high level, the generation of the laser drive control signal is immediately triggered. The laser drive control signal is transmitted to the laser emitting unit, exciting the laser emitting unit to emit detection pulses towards the target. After the emission action is completed, the task status of the current cycle is updated synchronously to determine that the current round of emission has ended.

[0089] S24. Iterative switching is performed based on the launch completion status to cyclically use different timing references in different measurement cycles within the launch mission sequence. This causes multiple sets of laser probe pulses to generate a controlled offset in the time domain relative to the start edge of the sampling clock, corresponding to a preset discrete phase gradient. After detecting the launch completion status of the previous measurement cycle, the logic flow automatically iterates to the next measurement cycle. In this way, by cyclically retrieving different timing references in the launch mission sequence, the time position of the laser pulse emission time relative to the start edge of the sampling clock is offset in multiple consecutive measurement cycles. This offset strictly corresponds to the preset discrete phase gradient, thereby achieving multi-phase subdivision acquisition of the laser echo signal on the time axis.

[0090] like Figure 6 The diagram illustrates the waveform logic for the timing reference-induced physical delay: the signal at the FPGA output FPGA-OUT is the reference trigger signal; A1-A5 correspond to the potential rise waveforms generated at the FPGA signal selection input FPGA-INPUT of RC integral delay links with different time constants, where the waveform corresponding to A1 is used to determine the zero-phase reference timestamp. In the specific implementation, when the potential of a specific link in A1-A5 rises to the logic threshold determined by the FPGA, a potential flip is immediately induced, thereby generating a laser drive control signal to drive the laser pulse emission. Figure 3The laser drive control signal output terminal TX-OUT of the FPGA is used. The horizontal distance on the time axis between the rising edge of the zero-phase reference timestamp and the rising edge of the laser drive control signal is determined as the controlled offset delay time, which causes the laser detection pulse to produce an equivalent phase shift in the time domain relative to the start edge of the sampling clock. By cyclically switching different RC integral delay links (i.e., changing the voltage ramp slope corresponding to A1-A5) in different measurement cycles, the value of the controlled offset delay time is shifted in steps according to a preset discrete phase gradient. Finally, by controlling the output time of the laser drive control signal output terminal TX-OUT, the precise phase shift of the laser detection pulse in the time domain relative to the start edge of the sampling clock is achieved.

[0091] S3. Receive the echo signal after the laser detection pulse is reflected by the target object, and use a sampling clock synchronized with the reference trigger signal to obtain multiple initial echo sequences corresponding to each transmission. The echo signal formed after the laser detection pulse is reflected by the target object is received by the detector and converted into an electrical signal. A sampling clock that is strictly synchronized with the reference trigger signal ensures that the sampling logic and the transmission logic operate under a unified time reference. By digitally acquiring the echoes generated by each transmission mission, multiple initial echo sequences are determined.

[0092] Furthermore, such as Figure 7 As shown, step S3 includes:

[0093] S31. A sampling clock pulse is determined using a sampling clock synchronized with the reference trigger signal, and the analog-to-digital conversion of the echo signal is driven according to the sampling clock pulse to generate a continuous sampled data stream. The sampling clock provides a highly stable time interval reference, and the starting point of the analog-to-digital conversion is established through each beat of the sampling clock. Driven by the sampling clock pulse, the analog form of the echo electrical signal is converted into discrete digital quantities in real time. Through continuous analog-to-digital conversion, a continuous sampled data stream reflecting the change of echo intensity over time is generated.

[0094] S32. Based on the starting point of each measurement cycle, a sampling window corresponding to the emission time of each laser detection pulse is extracted from the continuous sampling data stream. By setting the sampling window, noise interference during non-ranging periods is eliminated, and the time domain range of the effective echo data is determined.

[0095] S33. Within each sampling window, extract a set of digital sampling points with a preset sampling length. Within the defined sampling window, read a predetermined number of discrete sampling data sequentially, completely mapping the echo envelope of the physical world to the extracted set of digital sampling points. The preset sampling length determines the data scale for analyzing the echo morphology within a single measurement cycle.

[0096] S34. Map and associate each set of digital sampling points with the equivalent delay offset parameter used in the corresponding measurement cycle to obtain multiple sets of initial echo sequences corresponding to each transmission and bearing phase attribute identifiers. The mapping and association logic logically binds the extracted set of digital sampling points with the equivalent delay offset parameter bound during the execution of the current measurement cycle. Since each set of sampling points corresponds to a specific phase offset value, this binding determines the phase attribute of each set of initial echo sequences.

[0097] S4. Based on the discrete phase gradient, multiple initial echo sequences are rearranged and mapped to a time-domain coordinate system for time-domain registration and fusion, reconstructing synthetic echo features with an equivalent sampling rate enhancement. The flight time is then calculated based on these synthetic echo features to determine the target ranging information. In the data reconstruction stage, by aligning multiple initial echo sequences carrying different phase attributes on a unified time axis, high-precision reconstruction of the echo waveform is achieved.

[0098] Furthermore, such as Figure 8 As shown, step S4 includes:

[0099] S41. Extract the controlled offset corresponding to each measurement cycle, and map the discrete sampling points contained in multiple initial echo sequences to their corresponding positions in the time-domain coordinate system using the corresponding controlled offset as the starting offset. Extract the equivalent delay offset parameter calibrated and stored in step S14 as the controlled offset corresponding to each measurement cycle. Use the corresponding controlled offset as the starting offset on the time axis for the discrete sampling points contained in multiple initial echo sequences. Through this mapping method, the discrete sampling points of different measurement cycles obtain precise positions in the time-domain coordinate system relative to the starting edge of the sampling clock.

[0100] S42. Based on the distribution of controlled offset values ​​within a single sampling period, the multiple sets of discrete sampling points mapped to the time-domain coordinate system are logically rearranged in chronological order, using discrete sampling points from different measurement periods to fill the sampling gaps within a single sampling period. In this step, based on the distribution of controlled offset values ​​within a single sampling period (e.g., 20 ns), such as 0 ns, 6.66 ns, and 13.332 ns, the discrete sampling points acquired in different measurement periods are placed on the same reference axis of the time-domain coordinate system, and the absolute time position of each discrete sampling point in the time-domain coordinate system is established based on the controlled offset of each measurement period. Then, all discrete sampling points in multiple initial echo sequences are traversed, the absolute time position values ​​of each discrete sampling point are compared, and an ascending sorting operation is performed. Through the above sorting action, sampling points that were originally in the same relative position in different sampling windows are rearranged to different time points within the span of a single sampling period according to the differences in controlled offset values.

[0101] S43. By fusing and rearranging the discrete sampling points, a synthetic echo feature with increased sampling point density is reconstructed within a single sampling period, making the temporal resolution of the synthetic echo feature superior to the original sampling resolution of a single measurement period. The rearranged discrete sampling points are sequentially filled into the corresponding time domain nodes within a single sampling period according to their respective time positions. Since the rearranged discrete sampling points come from multiple measurement periods with different equivalent delay bias parameters, the time gaps originally limited by a single hardware sampling clock period are filled by multiple sampling data with phase shifts, and the originally sparse time intervals are encrypted by multiple sets of newly added sampling points, thereby reconstructing a synthetic echo feature with significantly increased sampling point density within a single sampling period.

[0102] S44. Identify waveform envelope feature points in the synthesized echo features, determine the corresponding echo timestamps of these feature points in the time-domain coordinate system, and subtract the echo timestamps from the zero-phase reference timestamps to obtain the flight time, thereby determining the target ranging information. Identify waveform envelope feature points (such as wave crests or 50% potential points on the rising edge) in the synthesized echo features, and establish the corresponding echo timestamps of these feature points in the time-domain coordinate system. Subtract the echo timestamps from the zero-phase reference timestamps to obtain the flight time of the laser pulse from emission to return. Based on the calculation of the flight time and the speed of light constant, establish the final target ranging information. Through the above reconstruction and calculation logic, the quantization error caused by hardware sampling steps is effectively eliminated.

[0103] In addition, this embodiment of the invention provides a laser ranging system based on multi-phase delay sampling, comprising: a delay generation module, used to generate a reference trigger signal in response to a ranging start command, and input the reference trigger signal in parallel to an RC delay array configured with different time constants to generate multiple trigger branch signals with preset discrete phase gradients; a laser emission module, used to drive a laser emission unit to emit laser detection pulses corresponding to discrete phase gradients at different sub-phase times in each measurement cycle using the multiple trigger branch signals; an echo acquisition module, used to receive the echo signal after the laser detection pulse is reflected by the target object, and use a sampling clock synchronized with the reference trigger signal to obtain multiple initial echo sequences corresponding to each emission; and a time-domain reconstruction module, used to rearrange the multiple initial echo sequences according to the discrete phase gradient and map them to a time-domain coordinate system for time-domain registration and fusion, reconstructing a synthetic echo feature with equivalent sampling rate enhancement, and calculating the flight time based on the synthetic echo feature to determine the target ranging information.

[0104] Also refer to Figure 3The RC delay array comprises a direct reference link and multiple RC integral delay links, spatially divided into two types of paths. The first type is the direct reference link, which does not contain charging / discharging electronic components and is used to transmit the original physical signal. The second type consists of multiple RC integral delay links, each configured with a resistor-capacitor combination with different time constants to generate controlled time delays. The direct reference link outputs a signal corresponding to the zero-phase reference timestamp. Each RC integral delay link includes resistors and capacitors; the time constant of each link is determined by configuring the product of the resistors and capacitors to generate multiple trigger branch signals corresponding to a preset discrete phase gradient. The inputs of both the direct reference link and the multiple RC integral delay links are connected to the signal output of the controller, allowing different trigger branch signals to be selected as timing references during different measurement cycles.

[0105] refer to Figure 9 As can be seen, the blue waveform represents the standard signal output through the direct reference link, while the yellow waveform represents the delayed signal generated through multiple RC integral delay links. By comparing the waveform trajectories, it is established that the standard signal has the earliest transition moment as the time origin, while the multiple sets of yellow waveforms exhibit a clear stepped lag distribution on the time axis due to the integral effect of the resistor and capacitor charging / discharging circuits. The time offset of different yellow waveforms relative to the standard signal is determined by adjusting the time constant of the resistor and capacitor parameters, thus physically expanding a single reference signal into multiple trigger branch signals with preset discrete phase gradients. By observing the distribution of the rising edges of different waveforms in the time domain, it is established that the signal has already completed precise segmentation of the microscopic time dimension before entering the measurement cycle, providing physical visual evidence to support subsequent data interpolation within a single sampling period and the establishment of high-resolution synthetic echo characteristics.

[0106] Meanwhile, this embodiment of the invention provides a laser ranging device based on multi-phase delay sampling, including: at least one controller; and a memory communicatively connected to the at least one controller; wherein the memory stores instructions that can be executed by the at least one controller, and the instructions are executed by the at least one controller to enable the at least one controller to perform the laser ranging method based on multi-phase delay sampling as described above.

[0107] More specifically, the controller includes an FPGA. The technical logic of choosing an FPGA as the core logic control unit lies in the fact that the FPGA's pure hardware parallel execution structure synchronously monitors the level transition states of the direct reference link and multiple RC integral delay links. Compared to ordinary microprocessors that execute instructions sequentially, the FPGA can eliminate random jitter caused by software scheduling and establish absolute alignment of each trigger branch signal at the acquisition time. At the same time, since laser ranging involves time measurement on the order of picoseconds to nanoseconds, the FPGA, through its internal high-performance clock manager and high-speed input / output interface, establishes a sampling clock pulse that is strictly synchronized with the laser emission pulse. Through hardware-level timing control, the solution can accurately capture the echo characteristics of different phases within a single sampling period. In addition, through the reconfigurable characteristics of the FPGA, the solution can execute error correction logic in real time at the hardware level. By associating the acquired time count value with the preset discrete phase gradient, the FPGA can quickly establish the equivalent delay bias parameter, thereby completing high-density echo characteristic reconstruction within a single sampling period and achieving a significant improvement in ranging accuracy.

[0108] In terms of specific product form and application scenarios, the laser ranging device of this invention is embodied as a portable measuring terminal with miniaturized features, such as a handheld laser rangefinder or a laser ranging telescope. Depending on the needs of different measurement tasks, the handheld laser rangefinder, within a range of 0.05 meters to 150 meters, establishes high quantization accuracy through multi-phase delay sampling, making it widely applicable to scenarios requiring precise dimensional data, such as indoor decoration measurement, engineering surveying, and property acceptance. The laser ranging telescope, designed for long-distance detection needs from 600 meters to 1500 meters, establishes real-time feedback of target location and distance information in long-distance power cable inspection, golf course obstacle ranging, and outdoor exploration operations through deep integration of an optical magnification system and high-speed FPGA processing logic. By integrating a high-frequency measurement unit into a lightweight structure, the device can adapt to high-frequency mobile measurement tasks. Furthermore, by effectively enhancing the echo signal within a single sampling period, it establishes highly reliable measurement results even in complex physical environments such as strong outdoor light interference or weak target surface reflection, establishing the technical versatility of the solution as a precision ranging tool for all scenarios.

[0109] Furthermore, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a controller, implement the laser ranging method based on multi-phase delay sampling as described above.

[0110] In summary, this invention provides a laser ranging method, system, device, and medium based on multi-phase delay sampling. By configuring a control circuit containing an FPGA and an RC delay array within the laser ranging module, a precise time modulation mechanism is established. Specifically, during execution, the FPGA synchronously injects a reference trigger signal into the RC delay array through its output terminal, and the RC circuit generates multiple signals with nanosecond-level delay differences. By configuring different physical paths, the output terminal A1 of the RC delay array generates the original signal, output terminal A2 generates a signal delayed by 6.66 ns, and output terminal A3 generates a signal delayed by 13.332 ns, thereby establishing multiple trigger branch signals with preset discrete phase gradients. Based on these signals, the laser emitting unit is driven to emit laser detection pulses sequentially at different sub-phase times in each measurement cycle, and multiple initial echo sequences corresponding to different emission delays are recorded simultaneously. By mapping multiple initial echo sequences to the same time-domain coordinate system and performing logical rearrangement, the sampling data of different periods are accurately filled into the sampling gap of a single sampling period, and finally the synthetic echo features with equivalent sampling rate enhancement are reconstructed, providing a high-density numerical basis for the precise calculation of target ranging information.

[0111] Therefore, the present invention effectively overcomes the bottleneck limitation of measurement resolution on the hardware sampling frequency in existing technologies by using multiple nanosecond-level physical delays generated by the RC circuit. By employing multiple measurements in conjunction with laser emission tasks of different phases, the scheme achieves signal sampling with smaller steps in the time domain, allowing the final synthesized complete signal data to more finely reconstruct the true shape of the echo envelope. Through this cross-cycle sampling point fusion, the reconstructed synthetic echo time resolution is significantly better than the original sampling resolution of the hardware, thus achieving a significant improvement in ranging accuracy without increasing the cost of high-frequency sampling hardware. Finally, the time of flight established based on the high-precision synthetic echo characteristics greatly eliminates the quantization deviation caused by excessively large sampling steps, ensuring the accuracy and reliability of target ranging information in complex application scenarios.

[0112] Since the systems / devices described in the above embodiments of the present invention are systems / devices used to implement the methods of the above embodiments of the present invention, those skilled in the art can understand the specific structure and modifications of the systems / devices based on the methods described in the above embodiments of the present invention, and therefore will not be repeated here. All systems / devices used in the methods of the above embodiments of the present invention fall within the scope of protection of the present invention.

[0113] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0115] It should be noted that any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0116] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0117] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0118] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, then this invention should also include these modifications and variations.

Claims

1. A laser ranging method based on multi-phase delay sampling, characterized in that, include; In response to the ranging start command, a reference trigger signal is generated and input in parallel to an RC delay array configured with different time constants to generate multiple trigger branch signals with preset discrete phase gradients; By using multiple trigger branch signals, the laser emitting unit is driven to emit laser detection pulses corresponding to discrete phase gradients at different sub-phase times in each measurement cycle; The system receives the echo signal after the laser detection pulse is reflected by the target object, and uses a sampling clock synchronized with the reference trigger signal to obtain multiple initial echo sequences corresponding to each transmission. Based on the discrete phase gradient, multiple initial echo sequences are rearranged and mapped to a time-domain coordinate system for time-domain registration and fusion, reconstructing synthetic echo features with equivalent sampling rate enhancement, and calculating the flight time based on the synthetic echo features to determine target ranging information.

2. The laser ranging method based on multi-phase delay sampling as described in claim 1, characterized in that, In response to the ranging start command, a reference trigger signal is generated and input in parallel to an RC delay array configured with different time constants to generate multiple trigger branch signals with preset discrete phase gradients, including: In response to the ranging start command, a reference trigger signal is generated and synchronously input to the common signal input terminal of the through reference link and multiple RC integral delay links in the RC delay array; Real-time monitoring of the level transition status at the output of the direct reference link is used to determine the zero-phase reference timestamp corresponding to the zero-time offset. The system monitors the integral potential rise status at the output of multiple RC integral delay links in parallel, generates a time delay by utilizing the charging circuit composed of resistors and capacitors in each RC integral delay link, and obtains the time count value of each RC integral delay link relative to the zero phase reference timestamp when the integral potential reaches the preset logic judgment threshold to trigger level flipping. Based on the correspondence between each time count value and the preset discrete phase gradient, the equivalent delay offset parameter of each RC integral delay link is calibrated. Based on the zero-phase reference timestamp and each equivalent delay offset parameter, the logic is recombined to generate multiple trigger branch signals distributed according to discrete phase gradients in the time-domain coordinate system.

3. The laser ranging method based on multi-phase delay sampling as described in claim 2, characterized in that, Based on the correspondence between each time count value and the preset discrete phase gradient, the equivalent delay offset parameters for each RC integral delay link are calibrated, including: The discrete phase gradient is decomposed into multiple target time delay references distributed within a single sampling period; wherein, the sampling period is configured as the time interval between adjacent sampling points of a sampling clock synchronized with the reference trigger signal; Based on the obtained physical path distribution information between the controller and the RC delay array, the mapping relationship between each RC integral delay link and each target delay reference is determined; Based on the mapping relationship, the acquired time count value is associated and aligned with the corresponding target delay reference to determine the real physical delay attribute data corresponding to each RC integral delay link, which is used as the equivalent delay bias parameter.

4. The laser ranging method based on multi-phase delay sampling as described in claim 3, characterized in that, Using multiple trigger branch signals, the laser emitting unit is driven to emit laser detection pulses corresponding to discrete phase gradients at different sub-phase times in each measurement cycle, including: The time-domain reference for each measurement cycle is determined based on the start edge of the sampling clock synchronized with the reference trigger signal, and each measurement cycle is arranged into a transmission mission sequence that matches the number of trigger branch signals, so that each trigger branch signal is assigned to each measurement cycle in the transmission mission sequence. Within each measurement cycle, a trigger branch signal is selected sequentially as the timing reference for the current transmission round; The logic potential flip state of the timing reference is acquired in real time, and in response to the occurrence of the logic potential flip state, a laser drive control signal is generated and transmitted to the laser emitting unit in real time to excite the laser emitting unit to emit laser detection pulses, and the emission completion status of the current measurement cycle is marked simultaneously. The system iteratively switches based on the launch completion status, using different timing references in different measurement cycles within the launch mission sequence. This allows multiple sets of laser probe pulses to generate controlled offsets in the time domain relative to the start edge of the sampling clock, corresponding to a preset discrete phase gradient.

5. The laser ranging method based on multi-phase delay sampling as described in claim 4, characterized in that, The system receives the echo signal after the laser detection pulse is reflected by the target object, and uses a sampling clock synchronized with the reference trigger signal to obtain multiple initial echo sequences corresponding to each transmission, including: The sampling clock pulse is determined by using a sampling clock synchronized with the reference trigger signal, and the analog-to-digital conversion of the echo signal is driven according to the sampling clock pulse to generate a continuous sampling data stream; Based on the starting point of each measurement cycle, a sampling window corresponding to the emission time of each laser detection pulse is extracted from the continuous sampling data stream; Within each sampling window, extract a set of digital sampling points with a preset sampling length; The sets of digital sampling points are mapped and associated with the equivalent delay offset parameters used in the corresponding measurement period to obtain multiple sets of initial echo sequences corresponding to each transmission and with phase attribute identifiers.

6. The laser ranging method based on multi-phase delay sampling as described in claim 5, characterized in that, Based on the discrete phase gradient, multiple initial echo sequences are rearranged and mapped to a time-domain coordinate system for time-domain registration and fusion, reconstructing synthetic echo features with an equivalent sampling rate enhancement. The time of flight is then calculated based on these synthetic echo features to determine target ranging information, including: Extract the controlled offset corresponding to each measurement cycle, and map the discrete sampling points contained in multiple initial echo sequences to their corresponding positions in the time-domain coordinate system using the corresponding controlled offset as the starting offset. Based on the distribution of the controlled offset within a single sampling period, multiple sets of discrete sampling points mapped to the time coordinate system are logically rearranged in chronological order, and discrete sampling points from different measurement periods are used to fill the sampling gap within a single sampling period. By fusing and rearranging the discrete sampling points, a synthetic echo feature with increased sampling point density is reconstructed within a single sampling period, making the temporal resolution of the synthetic echo feature better than the original sampling resolution of a single measurement period. Identify waveform envelope feature points in the synthetic echo features, determine the echo timestamps corresponding to the waveform envelope feature points in the time domain coordinate system, and subtract the echo timestamps from the zero-phase reference timestamps to obtain the flight time, thereby determining the target ranging information.

7. A laser ranging system based on multi-phase delay sampling, characterized in that, include; The delay generation module is used to generate a reference trigger signal in response to the ranging start command, and input the reference trigger signal in parallel to an RC delay array configured with different time constants to generate multiple trigger branch signals with preset discrete phase gradients; The laser emission module is used to drive the laser emission unit to emit laser detection pulses corresponding to discrete phase gradients at different sub-phase times in each measurement cycle using multiple trigger branch signals. The echo acquisition module is used to receive the echo signal after the laser detection pulse is reflected by the target object, and to obtain multiple sets of initial echo sequences corresponding to each transmission using a sampling clock synchronized with the reference trigger signal. The temporal reconstruction module is used to rearrange multiple initial echo sequences and map them to a temporal coordinate system based on the discrete phase gradient for temporal registration and fusion, reconstructing synthetic echo features with equivalent sampling rate enhancement, and calculating the flight time based on the synthetic echo features to determine the target ranging information.

8. The laser ranging system with multi-phase delay sampling as described in claim 7, characterized in that, The RC delay array includes a direct reference link and multiple RC integral delay links; The direct reference link outputs a signal corresponding to the zero-phase reference timestamp. Each RC integral delay link includes a resistor and a capacitor. The time constant of each RC integral delay link is determined by configuring the product of the resistor and capacitor to generate multiple trigger branch signals corresponding to the preset discrete phase gradient. The input terminals of the direct reference link and multiple RC integral delay links are connected to the signal output terminal of the controller, so as to select different trigger branch signals as timing references by switching in different measurement cycles.

9. A laser ranging device based on multi-phase delay sampling, characterized in that, include: At least one controller; and a memory that is communicatively connected to at least one controller; The memory stores instructions that can be executed by at least one controller, which enables the at least one controller to perform the laser ranging method based on multi-phase delay sampling as described in any one of claims 1-6.

10. A computer-readable storage medium storing computer-executable instructions thereon, characterized in that, When the executable instructions are executed by the controller, they implement the laser ranging method based on multi-phase delay sampling as described in any one of claims 1-6.

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