CN113866788A - Laser ranging method, device and readable storage medium - Google Patents
Laser ranging method, device and readable storage medium Download PDFInfo
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- CN113866788A CN113866788A CN202111024934.5A CN202111024934A CN113866788A CN 113866788 A CN113866788 A CN 113866788A CN 202111024934 A CN202111024934 A CN 202111024934A CN 113866788 A CN113866788 A CN 113866788A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
Abstract
The invention discloses a laser ranging method, a device and a readable storage medium, wherein the laser ranging method comprises the following steps: controlling a laser ranging device to emit ranging laser at a first power, and acquiring a first echo signal of the ranging laser emitted at the first power; when the peak value of the first echo signal is larger than or equal to a preset threshold value, determining second power according to the first power, wherein the first power is larger than the second power; controlling the laser ranging equipment to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power; and when the second echo signal peak value is smaller than the preset threshold value, determining a ranging result according to the second echo signal peak value. According to the invention, the transmitting power of the laser ranging equipment is adjusted, so that the peak value of the acquired echo signal is smaller than the preset threshold value, and the time point corresponding to the peak value of the echo signal is accurately identified, thereby reducing the measurement error.
Description
Technical Field
The present invention relates to the field of laser ranging, and in particular, to a laser ranging method, device and readable storage medium.
Background
The existing AD data acquisition laser echo signal calculates the distance, when the laser echo signal exceeds the AD data acquisition range, the laser echo signal acquired by AD is a full-range value, and the software cannot accurately identify the wave crest corresponding to the echo signal, so that the correct time point cannot be acquired, and the measurement error becomes large.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a laser ranging method, which aims to accurately identify a time point corresponding to an echo signal peak, reduce a measurement error and solve the problem of large measurement error caused by the fact that a correct time point cannot be obtained by adjusting the transmitting power of a laser ranging device.
In order to achieve the above object, the present invention provides a laser ranging method, including the steps of:
controlling a laser ranging device to emit ranging laser at a first power, and acquiring a first echo signal of the ranging laser emitted at the first power;
when the peak value of the first echo signal is larger than or equal to a preset threshold value, determining second power according to the first power, wherein the first power is larger than the second power;
controlling the laser ranging equipment to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power;
and when the second echo signal peak value is smaller than the preset threshold value, determining a ranging result according to the second echo signal peak value.
Further, when the first echo signal peak value is greater than or equal to a preset threshold, the step of determining a second power according to the first power includes:
acquiring a pulse width corresponding to the first echo signal;
when the pulse width is larger than a preset value, adjusting the emission voltage to a preset voltage as a second voltage, wherein the preset voltage is smaller than a first voltage corresponding to a first power;
when the pulse width is smaller than or equal to a preset value, taking a cis-position voltage under the first voltage as a second voltage;
and determining corresponding second power according to the second voltage.
Further, before the step of controlling the laser ranging apparatus to emit the ranging laser at the first power and acquire the first echo signal of the ranging laser emitted at the first power, the method further includes:
and acquiring a plurality of voltage values, and sequencing according to the voltage values so as to adjust the transmitting voltage when the peak value of the echo signal is greater than or equal to a preset threshold value.
Further, when the second echo signal peak value is smaller than the preset threshold, the step of determining a ranging result according to the second echo signal peak value includes:
controlling the laser ranging equipment to transmit the ranging laser for multiple times at a second power and obtain a plurality of second echo signals;
and determining a ranging result according to the plurality of second echo signals.
Further, the step of determining a ranging result according to the plurality of second echo signals comprises:
acquiring the second echo signal for multiple times, and determining corresponding echo electric signal data according to the second echo signal;
determining a simulated echo signal according to the echo electric signal data;
determining a target echo signal according to the superposed plurality of simulated echo signals;
and determining a ranging result according to the time point corresponding to the peak value of the target echo signal.
Further, the step of controlling the laser ranging apparatus to emit the ranging laser at the first power includes:
and when receiving the power regulation instruction, controlling the laser ranging equipment to emit laser at the maximum power.
In order to achieve the above object, the present invention further provides a laser ranging apparatus, which includes a memory, a processor, and a laser ranging program stored on the memory and executable on the processor, wherein the laser ranging program, when executed by the processor, implements the steps of the laser ranging method according to any one of the above aspects.
In order to achieve the above object, the present invention further provides a readable storage medium, on which a laser ranging program is stored, the laser ranging program implementing the steps of the laser ranging method according to any one of the above items when executed by a processor.
In the technical scheme of the invention, a laser ranging device is controlled to emit ranging laser at a first power, and a first echo signal of the ranging laser emitted at the first power is obtained; when the peak value of the first echo signal is larger than or equal to a preset threshold value, determining second power according to the first power, wherein the first power is larger than the second power; controlling the laser ranging equipment to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power; and when the second echo signal peak value is smaller than the preset threshold value, determining a ranging result according to the second echo signal peak value. Therefore, the transmitting power of the laser ranging device is adjusted, so that the peak value of the collected echo signal is smaller than the preset threshold value, the time point corresponding to the peak value of the echo signal is accurately identified, the measurement error is reduced, and the problem that the measurement error is large due to the fact that the correct time point cannot be obtained is solved.
Drawings
FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a laser ranging method according to an embodiment of the present invention;
FIG. 3 is a detailed flowchart of step S20 in the laser ranging method according to the present invention;
fig. 4 is a detailed flowchart of step S40 in the laser ranging method according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main technical scheme of the invention is as follows:
controlling a laser ranging device to emit ranging laser at a first power, and acquiring a first echo signal of the ranging laser emitted at the first power;
when the peak value of the first echo signal is larger than or equal to a preset threshold value, determining second power according to the first power, wherein the first power is larger than the second power;
controlling the laser ranging equipment to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power;
and when the second echo signal peak value is smaller than the preset threshold value, determining a ranging result according to the second echo signal peak value.
In the related art, when the laser echo signal exceeds the AD data acquisition range, the laser echo signal acquired by the AD is a full-range value, and the software cannot accurately identify the peak corresponding to the echo signal, so that a correct time point cannot be obtained, and the measurement error becomes large.
In the technical scheme of the invention, a laser ranging device is controlled to emit ranging laser at a first power, and a first echo signal of the ranging laser emitted at the first power is obtained; when the peak value of the first echo signal is larger than or equal to a preset threshold value, determining second power according to the first power, wherein the first power is larger than the second power; controlling the laser ranging equipment to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power; and when the second echo signal peak value is smaller than the preset threshold value, determining a ranging result according to the second echo signal peak value. Therefore, the transmitting power of the laser ranging device is adjusted, so that the peak value of the collected echo signal is smaller than the preset threshold value, the time point corresponding to the peak value of the echo signal is accurately identified, the measurement error is reduced, and the problem that the measurement error is large due to the fact that the correct time point cannot be obtained is solved.
As shown in fig. 1, fig. 1 is a schematic diagram of a hardware operating environment of a terminal according to an embodiment of the present invention.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may comprise a touch screen and/or keys, etc., and the optional user interface 1003 may also comprise a standard wired interface, a wireless interface, etc. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a non-volatile memory such as a disk memory), the memory 1005 may optionally also be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the terminal shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a laser ranging program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke the laser ranging program stored in the memory 1005 and perform the following operations:
controlling a laser ranging device to emit ranging laser at a first power, and acquiring a first echo signal of the ranging laser emitted at the first power;
when the peak value of the first echo signal is larger than or equal to a preset threshold value, determining second power according to the first power, wherein the first power is larger than the second power;
controlling the laser ranging equipment to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power;
and when the second echo signal peak value is smaller than the preset threshold value, determining a ranging result according to the second echo signal peak value.
Further, the processor 1001 may call the laser ranging program stored in the memory 1005, and further perform the following operations:
acquiring a pulse width corresponding to the first echo signal;
when the pulse width is larger than a preset value, adjusting the emission voltage to a preset voltage as a second voltage, wherein the preset voltage is smaller than a first voltage corresponding to a first power;
when the pulse width is smaller than or equal to a preset value, taking a cis-position voltage under the first voltage as a second voltage;
and determining corresponding second power according to the second voltage.
Further, the processor 1001 may call the laser ranging program stored in the memory 1005, and further perform the following operations:
and acquiring a plurality of voltage values, and sequencing according to the voltage values so as to adjust the transmitting voltage when the peak value of the echo signal is greater than or equal to a preset threshold value.
Further, the processor 1001 may call the laser ranging program stored in the memory 1005, and further perform the following operations:
controlling the laser ranging equipment to transmit the ranging laser for multiple times at a second power and obtain a plurality of second echo signals;
and determining a ranging result according to the plurality of second echo signals.
Further, the processor 1001 may call the laser ranging program stored in the memory 1005, and further perform the following operations:
determining a simulated echo signal according to the echo electric signal data;
determining a target echo signal according to the superposed plurality of simulated echo signals;
and determining a ranging result according to the time point corresponding to the peak value of the target echo signal.
Further, the processor 1001 may call the laser ranging program stored in the memory 1005, and further perform the following operations:
and when receiving the power regulation instruction, controlling the laser ranging equipment to emit laser at the maximum power.
As shown in fig. 2, in an embodiment of the present invention, the laser ranging method includes the following steps:
step S10, controlling a laser ranging device to emit ranging laser with a first power, and acquiring a first echo signal of the ranging laser emitted with the first power;
in this embodiment, when the user uses the laser ranging device to measure the distance to the target object, the laser ranging device is controlled to emit ranging laser with a first power, and after the ranging laser is emitted, the ranging laser is reflected by the target object and is received by the laser ranging device as a first echo signal corresponding to the ranging laser.
Step S20, determining a second power according to the first power when the peak value of the first echo signal is greater than or equal to a preset threshold, wherein the first power is greater than the second power;
in this embodiment, after receiving a first echo signal, determining a peak value of the first echo signal, comparing the peak value of the first echo signal with a preset threshold, and when the peak value of the first echo signal is greater than or equal to the preset threshold, determining a second power according to the first power, where the first power is greater than the second power, and the first power is not the most appropriate transmit power. A plurality of emission voltages are preset in the laser ranging device, and correspond to power. And when the distance measuring laser is transmitted according to the first power and the peak value of the received echo signal is larger than a preset threshold value, adjusting the voltage to be lower than a first voltage corresponding to the first power to obtain a corresponding second voltage, and determining the corresponding second power according to the second voltage.
Step S30, controlling the laser ranging apparatus to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power;
in this embodiment, after the second power is determined according to the first power, the laser ranging apparatus is controlled to emit ranging laser to the same target object according to the second power, and receive a second echo signal reflected by the target object.
And step S40, when the second echo signal peak value is smaller than the preset threshold value, determining a ranging result according to the second echo signal peak value.
In this embodiment, a second echo signal corresponding to the ranging laser which controls the laser ranging device to emit at the second power is received. And when the peak value of the second echo signal is smaller than a preset threshold value, the second power is the most appropriate transmitting power. And after the second power is determined to be the most appropriate transmitting power, controlling the laser ranging device to transmit ranging laser to the target object at the second power, receiving the corresponding echo signal, determining the time point corresponding to the wave crest of the echo signal, and determining a ranging result, namely the spacing distance between the laser ranging device and the target object according to the time point and the propagation speed of the laser in the current environment. And when the peak value of the second echo signal is equal to or greater than a preset threshold value, taking the second power as the first power, and executing the step of determining the second power according to the first power until the peak value of the second echo signal is less than the preset threshold value.
In summary, in the technical solution of the present invention, a laser ranging apparatus is controlled to emit a ranging laser at a first power, and a first echo signal of the ranging laser emitted at the first power is obtained, and when a peak value of the first echo signal is greater than or equal to a preset threshold, a second power is determined according to the first power, where the first power is greater than the second power; controlling the laser ranging equipment to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power; and when the second echo signal peak value is smaller than the preset threshold value, determining a ranging result according to the second echo signal peak value. Therefore, the transmitting power of the laser ranging device is adjusted, so that the peak value of the collected echo signal is smaller than the preset threshold value, the time point corresponding to the peak value of the echo signal is accurately identified, the measurement error is reduced, and the problem that the measurement error is large due to the fact that the correct time point cannot be obtained is solved.
As shown in fig. 3, in an embodiment of the present invention, the step S20 includes:
step S21, acquiring a pulse width corresponding to the first echo signal;
step S22, when the pulse width is larger than a preset value, adjusting the emission voltage to a preset voltage as a second voltage, wherein the preset voltage is smaller than a first voltage corresponding to a first power;
step S23, when the pulse width is smaller than or equal to a preset value, using a cis-position voltage under the first voltage as a second voltage;
and step S24, determining corresponding second power according to the second voltage.
In this embodiment, a plurality of voltage levels are pre-stored in the laser ranging apparatus, and the voltage levels are adjusted according to the received echo signal, wherein a preset voltage is set, and the preset voltage is not an adjacent voltage of the maximum voltage level. When the laser ranging device emits laser light at a first power, and a peak value of a received first echo signal is equal to or greater than a preset threshold value, a target value is determined, two time points, namely a rising time point and a falling time point, are determined in the first echo signal according to the target value, a pulse width corresponding to the first echo signal is determined according to the falling time point and the rising time point, for example, the rising point and the falling point which are the same as the target value in the echo signal are determined according to the target value, so that a corresponding rising time point T0 and a falling time point T1 are determined, and the pulse width T can be determined through T1-T0. When the pulse width is larger than a preset value, judging that the peak value of the first echo signal is far larger than a preset threshold value, and adjusting the emission voltage of the laser ranging equipment to a preset voltage, wherein the preset voltage is smaller than a first voltage corresponding to a first power. And when the pulse width is smaller than or equal to a preset value, judging that the peak value of the first echo signal is close to a preset threshold value, so that the voltage is adjusted to the next sequential voltage of the first voltage in a voltage gear to be used as a second voltage, determining corresponding second power according to the second voltage, and controlling the laser ranging equipment to emit laser at the second power. Therefore, the transmitting power is adjusted according to the determined difference between the pulse width corresponding to the first echo signal and the preset value, so that the transmitting power can be adjusted to be suitable more quickly.
In an embodiment of the present invention, before the step S10, the method further includes:
and acquiring a plurality of voltage values, and sequencing according to the voltage values so as to adjust the transmitting voltage when the peak value of the echo signal is greater than or equal to a preset threshold value.
In this embodiment, before the laser ranging device is controlled to perform ranging on the target object, a plurality of voltage values are acquired and sorted according to the magnitude of the voltage values, so that when an echo signal received by the laser ranging device exceeds an acquisition range, a voltage value smaller than a current voltage is determined as a transmitting voltage, and a corresponding transmitting power is determined according to the transmitting voltage.
As shown in fig. 4, in an embodiment of the present invention, the step S40 includes:
step S41, controlling the laser ranging device to emit the ranging laser for multiple times at a second power and acquiring a plurality of second echo signals;
step S42, determining a ranging result according to the plurality of second echo signals.
In this embodiment, when the peak value of the second echo signal is smaller than the preset threshold, the second power corresponding to the second echo signal is the most appropriate transmit power. If the laser ranging device is controlled to transmit the ranging signal at the second power only once, an interference signal may exist in the received second echo signal, thereby affecting the ranging accuracy. Therefore, after the second power is determined to be the most appropriate transmitting power, the laser ranging device is controlled to transmit the ranging signal for multiple times at the second power, so that the laser ranging device can obtain multiple echo signals and superpose the multiple echo signals, interference signals are removed, and the ranging precision of the laser ranging device is improved. Therefore, the laser ranging device is controlled for multiple times to emit ranging laser to the target object with proper power, and a plurality of corresponding echo signals are received and superposed, so that interference signals are removed, and measuring errors are reduced.
In an embodiment of the present invention, step S42 includes:
acquiring the second echo signal for multiple times, and determining corresponding echo electric signal data according to the second echo signal;
determining a simulated echo signal according to the echo electric signal data;
determining a target echo signal according to the superposed plurality of simulated echo signals;
and determining a ranging result according to the time point corresponding to the peak value of the target echo signal.
In this embodiment, after the target object reflects the ranging laser for multiple times, the laser ranging device acquires the corresponding echo signal for multiple times and determines the corresponding echo electric signal data. And sequencing the echo electric signal data according to the acquisition time, and determining a corresponding analog echo signal according to a plurality of echo electric signal data in the same time period. And superposing a plurality of analog echo electric signals, so that interference signals in a single analog echo electric signal can be removed, and a target echo signal is determined. And determining a time point corresponding to the peak value of the target echo signal, and determining a ranging result, namely the spacing distance between the laser ranging device and the target object according to the time point and the propagation speed of the laser in the current environment. Therefore, the ranging laser is transmitted for multiple times, and the echo signals are determined and superposed, so that interference signals are removed, and measurement errors are reduced.
In an embodiment of the present invention, the step of controlling the laser ranging apparatus to emit the ranging laser at the first power includes:
and when receiving the power regulation instruction, controlling the laser ranging equipment to emit laser at the maximum power.
In this embodiment, when a power adjustment command is received, a maximum voltage value pre-stored in the laser ranging device is determined, and the corresponding maximum power is determined according to the maximum voltage value. The laser ranging device is controlled to emit laser at the maximum power, if the received echo signal is larger than the preset threshold value, the emitting voltage is adjusted according to the pre-stored and sequenced voltage value so as to adjust the emitting power, so that the proper emitting power can be found, the phenomenon that the emitting power is too large, the corresponding echo signal is larger than the collecting range, the measuring error is increased, and the phenomenon that the emitting power is too small, the measuring error is increased when the peak value of the echo signal is far smaller than the collecting range is avoided.
In order to achieve the above object, the present invention further provides a laser ranging apparatus, which includes a memory, a processor, and a laser ranging program stored on the memory and executable on the processor, wherein the laser ranging program, when executed by the processor, implements the steps of the laser ranging method according to any one of the above aspects.
In order to achieve the above object, the present invention further provides a readable storage medium, on which a laser ranging program is stored, the laser ranging program implementing the steps of the laser ranging method according to any one of the above items when executed by a processor.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A laser ranging method is characterized by comprising the following steps:
controlling a laser ranging device to emit ranging laser at a first power, and acquiring a first echo signal of the ranging laser emitted at the first power;
when the peak value of the first echo signal is larger than or equal to a preset threshold value, determining second power according to the first power, wherein the first power is larger than the second power;
controlling the laser ranging equipment to emit the ranging laser at the second power, and acquiring a second echo signal of the ranging laser emitted at the second power;
and when the second echo signal peak value is smaller than the preset threshold value, determining a ranging result according to the second echo signal peak value.
2. The laser ranging method of claim 1, wherein the step of determining the second power according to the first power when the peak value of the first echo signal is greater than or equal to a preset threshold value comprises:
acquiring a pulse width corresponding to the first echo signal;
when the pulse width is larger than a preset value, adjusting the emission voltage to a preset voltage as a second voltage, wherein the preset voltage is smaller than a first voltage corresponding to a first power;
when the pulse width is smaller than or equal to a preset value, taking a cis-position voltage under the first voltage as a second voltage;
and determining corresponding second power according to the second voltage.
3. The laser ranging method of claim 1, wherein prior to the step of controlling the laser ranging device to emit the ranging laser at a first power and to acquire the first echo signal of the ranging laser emitted at the first power, further comprising:
and acquiring a plurality of voltage values, and sequencing according to the voltage values so as to adjust the transmitting voltage when the peak value of the echo signal is greater than or equal to a preset threshold value.
4. The laser ranging method of claim 1, wherein the step of determining the ranging result according to the second echo signal peak value when the second echo signal peak value is smaller than the preset threshold value comprises:
controlling the laser ranging equipment to transmit the ranging laser for multiple times at a second power and obtain a plurality of second echo signals;
and determining a ranging result according to the plurality of second echo signals.
5. The laser ranging method of claim 4, wherein the step of determining a ranging result from the plurality of second echo signals comprises:
acquiring the second echo signal for multiple times, and determining corresponding echo electric signal data according to the second echo signal;
determining a simulated echo signal according to the echo electric signal data;
determining a target echo signal according to the superposed plurality of simulated echo signals;
and determining a ranging result according to the time point corresponding to the peak value of the target echo signal.
6. The laser ranging method of claim 1, wherein the step of controlling the laser ranging device to emit the ranging laser at the first power comprises:
and when receiving the power regulation instruction, controlling the laser ranging equipment to emit laser at the maximum power.
7. A laser ranging apparatus comprising a memory, a processor and a laser ranging program stored on the memory and executable on the processor, the laser ranging program when executed by the processor implementing the steps of the laser ranging method of any of claims 1 to 6.
8. A readable storage medium having stored thereon a laser ranging program which, when executed by a processor, implements the steps of the laser ranging method of any of claims 1-6.
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