1010 results about "Range finding" patented technology

The embodiment of the invention provides a laser-based high-low hoisting box girder safety angle calculation method. Accurate monitoring and risk early warning in a box girder hoisting process are realized through multi-source data fusion and dynamic safety evaluation. According to the method, a mapping relation between environment parameters and distance measurement errors is established, and a self-adaptive environment compensation mechanism is adopted to improve measurement precision; performing optimization fusion on laser ranging and crown block attitude data by using Kalman filtering and confidence coefficient weight; time sequence features are extracted based on a long-short-term memory network, and a sliding time window and an autoregression model are combined to predict a box girder inclination angle change trend, so that risk grading early warning is realized. According to the method, the self-adaptive updating of the model is realized by continuously optimizing the database, and the safety monitoring level and the early warning capability in the construction process of the high-low hanging box girder are effectively improved.

The invention discloses a real-time track obstacle detection method and system and a medium. The method comprises the following steps: acquiring a visual image of a track area; segmenting the visual image by using a lightweight target segmentation model to obtain a single-frame track line, an obstacle and the category of the obstacle; according to the single-frame track line, a final track area is obtained based on dynamic multi-frame track area fitting; judging whether the obstacle is in the final track area or not, and if yes, obtaining a detection frame of the obstacle in the visual image; and according to the obtained detection frame of the obstacle in the visual image, projecting the obstacle detection frame in the visual image into the radar point cloud data to obtain an obstacle point cloud range frame, and according to the obstacle point cloud range frame, calculating the distance from the obstacle to the train head. According to the invention, real-time detection and distance measurement can be carried out on the track obstacle, and the track area can be accurately determined in the image, so that whether the obstacle is in the track area or not can be judged, and a more accurate obstacle distance measurement result can be obtained.

The embodiment of the invention provides an unmanned aerial vehicle surveying and mapping adaptive control method and device based on image analysis, and belongs to the technical field of laser surveying and mapping. The method comprises the following steps: controlling an unmanned aerial vehicle carrying a laser scanning distance measurement module to fly to a target area and stably hover, and obtaining three-dimensional point cloud data of a target; analyzing target features based on the acquired three-dimensional point cloud data, and determining at least one target measuring point needing fine displacement measurement; acquiring image data of the target measurement point, and judging whether the measurement point meets a laser interference measurement condition or not based on image processing; collecting a laser interference signal of the target measuring point when image judgment meets a measuring condition, and calculating vibration or displacement data of the measuring point; and performing fusion processing on the three-dimensional point cloud data and the vibration / displacement data of the measurement point, and outputting the geometric dimension and displacement measurement result of the target. According to the scheme, the stability and pertinence of infinitesimal displacement measurement in the surveying and mapping task of the unmanned aerial vehicle are effectively improved.

The invention relates to the technical field of surface measurement, in particular to a road surface flatness rapid detection method based on a laser radar, which comprises the following steps: collecting vehicle attitude data to form a three-dimensional vector, mapping laser data to a space coordinate system, identifying a projection difference adjustment track, detecting a disturbance generation distribution area, and transversely distributing a translation direction line. Uniformly projecting to construct a reference line, extracting an echo and time index recombination time sequence segment, analyzing a point number trend to screen a stable segment, and extracting symmetric points to compare an included angle to generate a closed zone. According to the method, the attitude vectors of the vehicle in rolling, pitching and yawing states are obtained, the laser echo distance measurement data are mapped to the absolute space coordinate system, and the included angle difference between the distance measurement direction and the ground direction is accurately calculated, so that the space matching precision of a measurement path is remarkably improved, and a longitudinal section analysis result is closer to a real road state; and the space integrity, the track smoothness and the section structure rationality of the whole measurement process are comprehensively optimized.

The invention discloses a wide-range weak feature scene measurement system based on multi-sensor fusion and structured light scanning, and relates to the technical field of wide-range scene scanning, in the system, an extended Kalman filtering algorithm is adopted, fusion is carried out based on positioning data provided by an inertial measurement module and a positioning sensing module, and a wide-range weak feature scene is obtained. And the distance measurement information provided by the laser distance measurement module is combined to correct the fused positioning data, so that the precision and robustness of subsequent point cloud registration are ensured. Then, according to position information and attitude information of the binocular structured light scanning camera during scene scanning, calculating a relative rotation matrix and a relative displacement matrix of each frame of scanning point cloud data relative to the first frame of scanning point cloud data, and performing coarse registration; in the coarse registration process, all frames of point clouds can be converted into a unified coordinate system by directly utilizing global pose information, and the efficiency of coarse registration is greatly improved. And finally, extracting laser marking point clouds projected by the non-contact laser marking device in each frame of scanning point cloud data, and performing iterative precise registration on each frame of scanning point cloud data by using color features and geometric distribution rules of the extracted laser marking point clouds. In conclusion, high-precision, high-efficiency and high-robustness point cloud registration in a large-scale weak feature scene is realized, and the method can be used for realizing high-precision non-contact measurement.

The invention discloses a wafer detection focusing method and device, electronic equipment and a computer storage medium. The method comprises the following steps: when a target detection point of a to-be-detected wafer moves to an imaging center position of a detection camera, obtaining a wafer warping degree which is obtained by carrying out distance measurement on the target detection point and is corresponding to a distance measuring instrument; and controlling the detection camera to focus according to the wafer warping degree corresponding to the target detection point and the initial focal length of the detection camera, so that a to-be-detected wafer image shot by the detection camera at the target detection point meets a preset detection requirement, and the wafer detection speed and precision are improved. Meanwhile, the detection camera and the range finder are coaxial, the range finder is always located in front of the scanning path of the detection camera, an independent light path and the range finder are used for focusing, interference of irregular reflection or scattered light generated by the range finder focusing and ranging light path on an imaging light path of the detection camera is avoided, and the stability and reliability of wafer detection are improved.

The invention provides a laser radar and gamma camera integrated detection system based on a shared SiPM array, and belongs to the field of detector equipment. The system comprises a laser emission module, a gamma camera, an optical module, an SiPM array detection module, a signal processing module and a control module. Wherein the optical module controls high-frequency pulse laser of the laser emission module to scan a target scene, respectively guides a reflected laser beam and a scintillation light signal emitted by the gamma camera to the SIPM array detection module for photoelectric conversion to generate an electric signal, and performs gain and time gate adjustment according to a sensor working mode to obtain a first electric signal; the signal processing module receives the first electric signal and carries out laser radar ranging calculation and gamma camera imaging processing to obtain three-dimensional point cloud data and a radioactivity distribution image of the target scene. According to the invention, efficient fusion of functions of the laser radar and the gamma camera is realized, the size and weight of the system are greatly reduced, and the manufacturing and maintenance cost is also reduced.

The present invention provides an automatic focusing method, an electronic device, and a readable storage medium. The automatic focusing method comprises: using a target detection model to detect a target object in an image frame acquired at an initial focal length by an optical imaging device to be focused, so as to acquire a target object detection result; on the basis of the target object detection result, determining whether a target object is present in the image frame; if yes, determining an actual object distance on the basis of the target object detection result and the initial focal length, and on the basis of the actual object distance and a mapping relationship between the object distance and an optimal imaging focal length, determining the optimal imaging focal length; and if not, using a preset search algorithm to search for a focal length until an image having the highest definition value is found, and using a focal length corresponding to the image having the highest definition value as the optimal imaging focal length. The present invention primarily employs a deep learning-based automatic focusing method, supplemented by an image definition evaluation method. Compared with traditional passive focusing methods, the present invention greatly improves the focusing efficiency. Compared with traditional active focusing methods, the present invention eliminates a need for adding an additional optical ranging component, ensuring that the imaging device has a simple structure and a low cost.

The invention relates to the technical field of laser measurement, in particular to a structure deformation monitoring method, device and system based on laser ranging. The method comprises the following steps: analyzing the numerical distribution of current ranging data and the stability degree of local data in time sequence at each measuring point to obtain the structural stability degree of each measuring point; dividing according to the structural stability degree to obtain a structural region of the measurement point; obtaining a laser adjustment coefficient of each structural region through global position distribution and structural stability degree conditions of the structural regions; and obtaining final distance measurement data of the measurement point based on the laser adjustment coefficient for monitoring. According to the invention, by analyzing the change distribution of the current ranging data, the laser intensity is adaptively adjusted by determining the areas with similar structures so as to adapt to a more complex surface environment, and the monitoring accuracy is improved.

The invention relates to a three-way laser ranging method and device, equipment and a medium. The method comprises the following steps: acquiring a laser echo signal reflected from a target object; transmitting the laser echo signal to an image sensor to obtain a three-way light spot image; performing morphological feature recognition on the three-way light spot image, judging whether the light spot of the three-way light spot image has abnormal deformation or not, obtaining a light spot recognition result, and obtaining a stability index of the light spot form in each direction based on the light spot recognition result; carrying out validity marking on the distance measurement data in each direction according to the light spot identification result to obtain effective direction distance measurement data, and generating an integrity index of the distance measurement data; and carrying out flight time calculation based on the effective direction distance measurement data to obtain three-dimensional coordinates of the target object. The method has the effect of improving the reliability of laser measurement.

The invention belongs to the technical field of building measurement, and discloses a building distance measuring device and a use method thereof, and the method comprises the steps that a route planning module plans an optimal advancing route; automatically controlling a moving trolley distance measuring mechanism to carry out building distance measuring operation; the monitoring analysis mechanism receives environment sensor data; the image acquisition module continuously acquires building scene images; the image analysis module continuously detects whether an obstacle exists in the image; adjusting the distance measuring mechanism to a proper height and an accurate direction; the monitoring analysis mechanism obtains accurate distance data after correction calculation; during long-distance detection, data of the laser range finder and the ultrasonic range finder are combined, and an accurate distance value is obtained through fusion analysis of the comprehensive evaluation module. According to the invention, the monitoring analysis mechanism can correct and comprehensively analyze distance measurement data according to environmental parameters to obtain accurate distance data; and the comprehensive evaluation module fuses the laser ranging data and the ultrasonic ranging data, so that the long-distance detection precision is improved.

The invention discloses a tracking scanning measurement system and platform, the tracking scanning measurement system comprises a two-dimensional angle measurement driving device, a contact laser tracker, a non-contact laser scanner and a control device, and the control device is connected with the contact laser tracker, the non-contact laser scanner and the two-dimensional angle measurement driving device. The system is used for controlling a two-dimensional angle measurement driving device to drive a laser tracker to track a set tracking cooperative target in real time in a tracking coordinate measurement mode, obtaining coordinate data of a contact point of the tracking cooperative target and the to-be-measured surface through combination of two-dimensional angle measurement and laser interference distance measurement data, and scanning the to-be-measured surface in a scanning measurement mode. The two-dimensional angle measurement driving device is controlled to drive the non-contact laser scanner to scan a to-be-measured surface, and the scanning point cloud data of the to-be-measured surface is obtained through the combination of two-dimensional angle measurement and absolute distance measurement data. According to the invention, high-precision tracking coordinate measurement and high-efficiency scanning measurement can be realized through one instrument, and the detection efficiency is remarkably improved.

The invention provides a water turbine vibration monitoring sensor system and method. The water turbine vibration monitoring sensor system comprises a space compensation mechanism, a stabilizing mechanism, a distance measuring sensor and a reflection target. The reflection target is fixedly arranged on a tested device and is used for transmitting vibration; the space compensation mechanism is connected with a tested device, the stabilizing mechanism is arranged on the space compensation mechanism, and the space compensation mechanism is used for compensating the influence of vibration on the stabilizing mechanism; the stabilizing mechanism is used for keeping the relative stability of the spatial position, the distance measuring sensor is arranged in the stabilizing mechanism, and the distance measuring sensor detects the distance data of the spatial component between the distance measuring sensor and the reflection target so as to obtain the low-frequency vibration data of the detected device. According to the invention, an active driving space compensation mechanism is arranged and is matched with a prediction compensation scheme based on artificial intelligence, so that the problem of sensor stability of a conventional stabilizing mechanism in a low-frequency state is solved. And the laser range finders are adopted to respectively collect the distance between the laser range finders and the reflection target, and displacement data are accurately obtained, so that accurate low-frequency vibration data are obtained.

The invention discloses an area array Gm-APD detection laser radar distance drift error correction method and system, and belongs to the field of data processing. The method comprises the steps of building a single-photon laser ranging system, adjusting the width of a laser pulse, detecting a target distance by using an area array Gm-APD detection laser radar, carrying out repeated measurement on a certain plane for multiple times, obtaining arrival time distribution of a target single-photon event, carrying out weighted average after carrying out filtering and denoising on ranging signals, and obtaining a signal region ranging value. And estimating the average detection photon number of the received monopulse by using the statistical detection probability, and correcting the drift error. According to the method, the drift error caused by echo signal photon accumulation in the area array Gm-APD detection laser radar can be corrected, and the ranging error of the area array Gm-APD detection laser radar is reduced.

A method of operating a time-of-flight (ToF) ranging system includes: transmitting, by an emitter, a light signal toward one or more targets; receiving, by a ToF sensor, the light signal reflected by the one or more targets; generating a histogram based on the received light signal; estimating gradients of histogram bins of the histogram by computing differences between adjacent histogram bins; identifying one or more pulse regions in the histogram; finding, in a pulse region, a rising edge having a gradient that is larger than a pre-determined threshold or is a maximum gradient in the pulse region, where the rising edge is a leftmost rising edge in the pulse region having the gradient; fine-tuning a location of the rising edge; and computing an estimate of a distance of a target in the pulse region by adding a pre-determined offset to a distance of the rising edge.

Ultra-Wideband (UWB) technology exploits modulated coded impulses over a wide frequency spectrum with very low power over a short distance for digital data transmission. Such UWB systems through their receivers may operate in the presence of interfering signals and should provide for robust communications. Accordingly, an accurate and sharp filter that operates at low power is required and beneficially one that does not require a highly accurate power heavy clock. Further, many UWB applications require location and / or range finding of other elements and it would therefore be beneficial to provide a UWB based range finding and / or location capability removing the requirement to add additional device complexity and, typically significant, power consumption.

The invention discloses a mobile robot accurate docking method based on edge calculation, and aims to solve the problems that the dynamic docking precision is reduced and the collision risk is increased due to micro-motion or drifting of a target station. According to the method, unified time reference alignment is carried out on data of a camera, a laser radar, an inertial measurement unit, an ultra-wideband range finder, a station encoder and a programmable logic controller at an edge node, and a three-dimensional special Euclidean group equivariant multi-source fusion network is used for outputting relative pose estimation and covariance; the estimation in the time window is further used as a condition to be input into a conditional diffusion short-time prediction model to obtain a time-varying mean value and a time-varying covariance, an anisotropic probability tube is constructed, and prediction-measurement joint correction is carried out based on a score function; scenarized opportunity constraints are constructed under correction probability tube constraints, a tubular nonlinear model is adopted to predict, control and solve a reference trajectory, an actuator command is generated in combination with depth visual servo and compliance control, and the technical effects of high precision, robustness and safe docking under the station dynamic disturbance condition are achieved.

The utility model belongs to the field of measurement, particularly relates to an elevator top space measuring device, and aims to solve the problems that an existing laser range finder needs to be held by a hand to measure the distance during use and an existing device cannot well follow an elevator car to move and measure, the following scheme is provided: the elevator top space measuring device comprises a limiting base, a measuring and calculating base is fixedly installed on one side of the limiting base, a clamping buckle is rotatably installed on one side of the measuring and calculating base, a laser range finder is installed on the inner side of the clamping buckle in a clamped mode, a containing groove is formed in the limiting base, and a sliding metal block is installed on the inner wall of one side of the containing groove in a sliding mode. Two rack grooves are formed in the bottom of the limiting base. According to the utility model, working personnel can record and calculate conveniently, the stability of the laser range finder during measurement is ensured, the laser range finder can move along with the elevator car, and the space at the top of the elevator shaft can be measured and calculated more effectively.

A UWB range finding method, device and system, the UWB range finding method comprising: in a range finding round, receiving a range finding end information frame by a UWB device in a range finding report time slot for receiving the range finding end information frame; when it is confirmed that the distance measurement ending information frame is received, the UWB device forwards the distance measurement ending information frame after the distance measurement report time slot; and when it is confirmed that the ranging end information frame is not received, the UWB device receives the ranging end information frame after the ranging report time slot.

The invention discloses a target identification positioning and distance measuring method based on a monocular camera, and the method comprises the steps: building a world coordinate system through fixing the position, angle and range of monitoring equipment, and setting a base point to determine the world coordinate of the base point; world coordinates are converted into image coordinates through camera parameters, feature points are recognized through a YOLOv7-ORB algorithm, base point pixel coordinates are extracted, and then the affine transformation relation between the world coordinates and the image coordinates is established. And after the target is identified, substituting the position of the target in the image coordinate into the affine function, converting the affine function into a world coordinate, and calculating the distance of the target through a camera projection model to realize the positioning and distance measurement of the target. The method has high precision and real-time performance, and is suitable for various target identification and ranging positioning scenes.

The invention discloses a laser measurement system suitable for a large complex curved surface and a measurement method thereof.The measurement system comprises a control module, a positioning module, a pre-scanning module and a high-precision scanning module, and the control module comprises a high-precision scanning planning unit and a scanning analysis unit; the high-precision scanning module comprises a three-dimensional scanning platform, a universal mechanical arm and a distance measuring laser; the measurement method comprises the steps of pre-scanning to generate an initial model, scanning path planning and scanning attitude control, high-precision scanning to collect point cloud data, preprocessing and marking of the high-precision scanning point cloud data, local optimization and supplementary scanning strategy generation and high-precision scanning model generation. According to the measurement system and method, the dynamic scanning path of the high-precision scanning module is intelligently planned based on the pre-scanning result, the pre-scanning and high-precision scanning strategies are combined, high-density coverage and uniform sampling of the large complex curved surface are achieved, measurement is accurate, the anti-interference capacity is high, and the model scanning precision is high; a dynamic supplementary scanning mechanism is automatically marked and triggered in the scanning process, and the quality of scanned data is ensured.

Ultra-Wideband (UWB) technology exploits modulated coded impulses over a wide frequency spectrum with very low power over a short distance for digital data transmission. Such UWB systems through their receivers may operate in the presence of interfering signals and should provide for robust communications. Accordingly, an accurate and sharp filter that operates at low power is required and beneficially one that does not require a highly accurate power heavy clock. Further, many UWB applications require location and / or range finding of other elements and it would therefore be beneficial to provide a UWB based range finding and / or location capability removing the requirement to add additional device complexity and, typically significant, power consumption.

The invention discloses a single-photon laser ranging method based on laser pulse frequency modulation deblurring, and belongs to the field of laser ranging. In the ranging process, two different pulse frequency references are firstly set to correspond to two coding code elements respectively, n-bit random codes are generated according to n-time non-fuzzy distance expansion requirements, it is guaranteed that the n-bit random codes do not have displacement symmetry, then a laser source is made to repeatedly emit corresponding pulse signals according to a sequence represented by the random codes, then echo signal sequences are received, and the pulse frequency references correspond to the two coding code elements respectively. And performing cross-correlation operation on the single photon accumulation histogram and a pulse sequence represented by a known random code to obtain an operation result, determining one of the single photon accumulation histograms with the maximum amplitude, and calculating a histogram time position corresponding to the result, namely, calculating a distance measurement result of de-blurring. According to the method, the problem of range ambiguity of pulse radar ranging can be solved, the time sliding sequence matching method proposed in cross-correlation operation has the advantages of being efficient and flexible, and the time complexity of cross-correlation operation is effectively reduced.

The invention discloses a three-dimensional positioning method for an inspection unmanned aerial vehicle in an underground pipe gallery based on multi-sensor fusion, and relates to the technical field of unmanned aerial vehicle positioning, and the method comprises the following steps: obtaining UWB distance measurement information, IMU attitude information, optical flow motion information and TOF distance measurement information, correcting the UWB and TOF information based on the IMU and optical flow information, and analyzing the global coordinates of a UWB label on the unmanned aerial vehicle; acquiring original point cloud data of the laser radar, performing motion distortion compensation on the original point cloud data through an interpolation algorithm based on the pose data of the unmanned aerial vehicle, and converting the original point cloud data from local coordinates to global coordinates; further calculating the Euclidean distance between each point cloud coordinate and the UWB label coordinate, setting a dynamic threshold interval based on the UWB label positioning result, precision and pipe gallery mapping data, and filtering the point cloud data with the distance in the threshold interval; and finally, analyzing the residual point cloud data through a laser positioning algorithm, and outputting a high-precision positioning result of the unmanned aerial vehicle.

According to the high-precision laser distance measuring device, in the actual use process, a base is adjusted to be in a horizontal state through a leveling mechanism, then a laser distance measuring instrument is started to emit light, the laser distance measuring instrument is rotated in the horizontal plane through a first angle adjusting mechanism, and the laser distance measuring instrument is rotated in the vertical plane through a second angle adjusting mechanism; the actual length of the light can be measured by making the end point of the light coincide with the measuring point, then the inclination angle between the light and the horizontal plane is determined through the rotation angle of the second angle adjusting mechanism, and the vertical distance and the horizontal distance between the measuring point and the laser range finder can be measured according to a trigonometric function so as to avoid result errors caused by the inclination angle. In addition, the laser range finder can rotate in the horizontal plane and the vertical plane, so that the extension direction of the light is convenient to adjust; in general, by using the high-precision laser distance measurement device, distance measurement is more accurate, and distance measurement can be performed on points at different spatial positions without moving the whole device.

The invention relates to the technical field of laser radars, and provides a laser radar angular resolution enhancement method, which comprises the following steps of: obtaining a spatial direction priority according to a vehicle course, road information and target information obtained by a vehicle external sensor so as to dynamically adjust laser pulse density and energy level; scanning data generated after N circles of continuous scanning serve as a composite frame, the starting angle of each circle is shifted, multiphase filtering and coherent superposition are conducted in a digital domain, and the effective angular resolution is obtained. The invention further discloses a laser radar device, the method and the device can adjust the pulse density and energy distribution in the ROI direction in real time according to the dynamic scene of the vehicle, the total pulse number is kept unchanged, and the total power consumption is not increased. The effective horizontal angle resolution is improved through inter-frame phase offset and multi-phase synthesis. A corner reflector and an IMU (Inertial Measurement Unit) are integrated in the laser radar, and phase and ranging errors are corrected in real time through periodic loopback calibration, so that the angle stability is kept.

In a ranging device, a characteristic setting unit is configured to extract, from one or more pieces of received-light information representing changes with time in amount of received light acquired by the light receiving unit, at least one of a received-light amount range and a light reception time range of pulsed light other than emitted light from the light emitting unit, as a specified range. A received-light integration unit is configured to generate integrated received-light information by integrating the received-light information on a time axis with emission timings matched over a plurality of light receptions. A distance calculation unit is configured to exclude or identify distance noise formed of pulsed waveforms arising from pulsed light other than the emitted light, using the specified range extracted by the characteristic setting unit, and calculate a distance to the object reflecting the emitted light.

The invention discloses an APD bias environment adaptive control method and device suitable for a laser range finder. The method comprises the following steps: setting a standard noise value; acquiring a previous environment temperature and an APD bias voltage value; acquiring the current environment temperature; the temperature difference between the current environment temperature and the last environment temperature is determined, the bias voltage variation is calculated in combination with the bias voltage temperature coefficient of the APD, and the bias voltage value of the APD is roughly adjusted through the bias voltage variation; obtaining a ranging echo signal of the laser range finder, and calculating a current noise value according to the ranging echo signal; and determining the noise value deviation between the current noise value and the standard noise value, and performing fine adjustment on the roughly adjusted APD bias voltage value by using a PID algorithm according to the noise value deviation. According to the invention, the bias voltage of the APD can be adjusted in real time according to the ambient temperature, the ranging target signal and the amplitude of the noise, the adaptive function of the bias voltage of the APD to the test environment is realized, and the method has good adaptability to environmental conditions of different ambient temperatures, illumination intensities, visibility and the like.

Disclosed in the present invention is a combination tool, comprising a shell, wherein a cavity is formed in the shell, a laser module and a spirit level assembly are arranged in the cavity, the laser module is configured to generate point laser and / or line laser, and the spirit level assembly is configured to indicate whether a surface is level. The combination tool can further comprise a ranging module and a detection module to achieve functions such as range finding and wooden- / metal-part detection.

The invention provides a performance simulation method and device for an SPAD laser radar, computer equipment and a storage medium, and the method comprises the steps: obtaining the number of photons received by a single photon avalanche diode (SPAD) array, and determining the number of photons received by a single SPAD at a current moment; determining a target avalanche probability of the single SPAD according to the photon number received by the single SPAD and a pre-constructed target mapping relation between the photon number and the avalanche probability; according to the target avalanche probability and the total number of SPAD, calculating the avalanche number probability of avalanche of each SPAD with different numbers, and generating initial avalanche probability distribution of the SPAD array; performing iterative operation by using the initial avalanche probability distribution to obtain target avalanche probability distribution of the SPAD array; according to the target avalanche probability distribution, the range finding performance of the SPAD laser radar is predicted, and the range finding performance of the SPAD laser radar at least comprises the limit detection distance of the SPAD laser radar.