CN114114296A - Laser ranging method and device, laser ranging equipment and readable storage medium - Google Patents
Laser ranging method and device, laser ranging equipment and readable storage medium Download PDFInfo
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- CN114114296A CN114114296A CN202111446343.7A CN202111446343A CN114114296A CN 114114296 A CN114114296 A CN 114114296A CN 202111446343 A CN202111446343 A CN 202111446343A CN 114114296 A CN114114296 A CN 114114296A
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- 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
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Abstract
The application provides a laser ranging method, a laser ranging device and a readable storage medium, wherein the method comprises the following steps: after transmitting a laser signal to a target object, receiving an echo signal of the target object to obtain an original echo signal; converting the original echo signal into an original digital echo signal; reversely superposing a pre-stored digital echo signal of the filter element and an original digital echo signal to obtain a target digital echo signal; calculating the distance between the target object and the target digital echo signal; the digital echo signals of the filter element in the filtered original digital echo signals are offset, so that the echo signals of the filter element in the echo signals of the target object are effectively processed, accurate echo signals of the target object are obtained, the ranging error is reduced, and the ranging blind area is effectively eliminated.
Description
Technical Field
The present application belongs to the field of laser technology, and in particular, to a method and an apparatus for laser ranging, a laser ranging device, and a readable storage medium.
Background
Currently, laser ranging measures the distance to a target using a laser. The principle is that a thin laser beam is emitted to a target, the laser beam reflected by the target is received by a photoelectric element, the time from the emission to the reception of the laser beam is measured by a timer, and the distance from an observer to the target is calculated.
However, when the distance of a near target is measured, the received echo of the target contains noise caused by a filter element of the laser range finder, and the noise and the target echo cannot be accurately distinguished from the received echo, so that the distance measurement error is very large, a distance measurement blind area is formed, and the distance of the near target cannot be calculated.
Disclosure of Invention
The embodiment of the application provides a laser ranging method and device, laser ranging equipment and a readable storage medium, which can solve the problem that the distance of a near target cannot be calculated.
In a first aspect, an embodiment of the present application provides a method for laser ranging, including:
further, after transmitting a laser signal to a target object, receiving an echo signal of the target object to obtain an original echo signal;
converting the original echo signal into an original digital echo signal;
reversely superposing a pre-stored digital echo signal of the filter element and the original digital echo signal to obtain a target digital echo signal;
and calculating the distance between the target object and the target digital echo signal.
Further, before reversely superimposing the pre-stored filter element digital echo signal and the original digital echo signal, the method further includes:
and if the updating signal is detected, updating the digital echo signal of the filter element.
Further, the updating the filter element digital echo signals includes:
after a laser signal is sent to a target area, an echo signal of the target area is received, and no reflector exists between the target area and a laser ranging device;
determining a first received echo signal of the echo signals of the target region as a filter element echo signal;
and converting the filter element echo signals into filter element digital echo signals, and storing the filter element digital echo signals.
Further, after converting the original echo signal into an original digital echo signal, the method further includes:
filtering the original digital echo signal to obtain a filtered original digital echo signal;
and reversely superposing the pre-stored digital echo signal of the filter element and the filtered original digital echo signal to obtain a target digital echo signal.
Further, the filtering the original digital echo signal to obtain a filtered original digital echo signal includes:
continuously sampling the original digital echo signal according to a preset sampling frequency;
grouping the sampling points according to a time sequence, wherein the number of the sampling points of each sampling group is a first preset value;
for each sampling group, if the amplitude of at least one sampling point in the sampling group is smaller than a threshold value, setting the amplitudes of all the sampling points in the sampling group to be a second preset value;
and processing all the sampling groups to obtain filtered original digital echo signals.
Further, before obtaining the filtered original digital echo signal, the method further includes:
according to the time sequence, continuous sampling points form a filtering group, and the number of the sampling points of the filtering group is a first preset value;
carrying out mean value filtering processing on the filtering groups;
and performing shift-out processing on the first sampling point in the filtering group, performing successive compensation processing on the sampling point at the next moment of the last sampling point, and returning to execute the step of performing mean value filtering processing on the filtering group until all the sampling points are subjected to mean value filtering processing.
Further, the performing the mean filtering process on the filtering group includes:
adding the amplitudes of all the sampling points in the filtering group to obtain a total amplitude;
carrying out right shift operation on the total amplitude to obtain an average value of the total amplitude;
and setting the amplitude values of all the sampling points in the filtering group as the average value.
Further, the calculating a distance to the target object according to the target digital echo signal includes:
calculating a leading edge moment and a trailing edge moment according to the target digital echo signal;
calculating the pulse width of the target digital echo signal according to the leading edge time and the trailing edge time;
correcting the leading edge time according to the pulse width;
and calculating the distance between the target object and the corrected leading edge moment.
In a second aspect, an embodiment of the present application provides a laser ranging apparatus, including:
a transmitting unit for transmitting a laser signal to a target object;
the receiving unit is used for receiving the echo signal of the target object to obtain an original echo signal;
the digital-to-analog conversion unit is used for converting the original echo signal into an original digital echo signal;
the signal processing unit is used for reversely superposing a pre-stored digital echo signal of the filter element and the original digital echo signal to obtain a target digital echo signal;
and the distance between the target object and the target digital echo signal is calculated according to the target digital echo signal.
In a third aspect, an embodiment of the present application provides a laser ranging apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the method according to any one of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when executed by a processor, the computer program implements the method according to any one of the above first aspects.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of any one of the above first aspects.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that:
the method comprises the steps of receiving an echo signal of a target object after transmitting a laser signal to the target object to obtain an original echo signal; converting the original echo signal into an original digital echo signal; reversely superposing a pre-stored digital echo signal of the filter element and an original digital echo signal to obtain a target digital echo signal; calculating the distance between the target object and the target digital echo signal; the digital echo signals of the filter element in the original digital echo signals are offset, so that the echo signals of the filter element in the echo signals of the target object are effectively processed, accurate echo signals of the target object are obtained, the ranging error is reduced, and the ranging blind area is effectively eliminated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of a laser ranging method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating the process of updating the digital echo signals of the filter elements according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of a laser ranging method according to another embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a laser ranging apparatus provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a laser ranging apparatus provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
When the laser ranging device is provided with the filtering element (the filtering element comprises a filtering cover, a filtering lens and the like), the distance of a far target object is measured without influence (the distance between a far region and the laser ranging device is greater than or equal to 0.5 meter), but when the distance between a near target object is measured (the distance between a near region and the laser ranging device is less than 0.5 meter), the received echo of the target object can contain noise caused by the filtering element of the laser ranging device, and the noise and the target echo can not be accurately distinguished from the received echo, so that the ranging error is very large, a ranging blind area is formed, and the distance of the near target object can not be calculated.
In order to solve the above problem, embodiments of the present application provide a method and an apparatus for laser ranging, a laser ranging device, and a readable storage medium.
Fig. 1 is a schematic flowchart of a laser ranging method according to an embodiment of the present disclosure. As an example and not by way of limitation, applied to a laser ranging apparatus provided with a filter element, as shown in fig. 1, the method comprises:
s101: and after the laser signal is transmitted to the target object, receiving the echo signal of the target object to obtain an original echo signal.
Wherein the distance between the target object and the laser ranging device is less than 0.5 m.
As an example, the received original echo signal has only one original echo signal. Based on the filter element, the received original echo signal includes the echo signal of the filter element in addition to the echo signal of the target object.
S102: the original echo signal is converted into an original digital echo signal.
S103: and reversely superposing the pre-stored digital echo signal of the filter element and the original digital echo signal to obtain a target digital echo signal.
Specifically, the digital echo signals of the filter elements are stored in advance and read from the stored place when needed. When the digital echo signal of the optical filter element and the original digital echo signal are reversely superposed, the digital echo signal of the optical filter element in the original digital echo signal can be cancelled, and a real echo signal of a target object, namely the target digital echo signal, is obtained.
S104: and calculating the distance between the target object and the target digital echo signal.
Specifically, the distance between the target object and the time value is obtained by multiplying the time value by the light speed and dividing the time value by 2, wherein the time value is the time from sending the laser signal to receiving the echo signal.
In an example, the filter element is a filter mask, and after transmitting a laser signal to the target object, the filter element receives an echo signal of the target object to obtain an original echo signal, where the original echo signal includes an echo signal of the target object and an echo signal of the filter mask; and finally, calculating the distance between the target object according to the target digital echo signal to obtain the distance between the target object and the filter mask digital echo signal.
In the embodiment, after a laser signal is transmitted to a target object, an echo signal of the target object is received to obtain an original echo signal; converting the original echo signal into an original digital echo signal; reversely superposing a pre-stored digital echo signal of the filter element and an original digital echo signal to obtain a target digital echo signal; calculating the distance between the target object and the target digital echo signal; the digital echo signals of the filter element in the original digital echo signals are offset, so that the echo signals of the filter element in the echo signals of the target object are effectively processed, accurate echo signals of the target object are obtained, the ranging error is reduced, and the ranging blind area is effectively eliminated.
In another embodiment, before inversely superposing the pre-stored filter element digital echo signal and the original digital echo signal, the method further includes:
and if the updating signal is detected, updating the digital echo signal of the filter element.
Specifically, when the laser ranging device is powered on, an updating signal is generated. In this case, an update signal is detected, which indicates that the digital echo signal of the filter element needs to be updated, and then the digital echo signal of the filter element is collected and stored, so as to update the digital echo signal of the filter element.
In this embodiment, if the update signal is detected, the filter element digital echo signal is updated, and the filter element digital echo signal can be updated in time to obtain an accurate filter element digital echo signal, so that the filter element echo signal in the echo signal of the target object is better processed, and the accurate echo signal of the target object is obtained.
Fig. 2 is a schematic flow chart illustrating a process of updating a digital echo signal of a filter element according to an embodiment of the present application. By way of example and not limitation, as shown in fig. 2, the updating process of the filter element digital echo signals includes:
s201: and after the laser signal is sent to the target area, the echo signal of the target area is received, and no reflector exists between the target area and the laser ranging device.
Illustratively, the target area is a far area and there are no reflectors between the far area and the laser ranging device, i.e., the near area has no reflectors.
And sending a laser signal to a far area, wherein the received first echo signal is a filter element echo signal.
S202: a first received echo signal of the echo signals of the target region is determined as a filter element echo signal.
S203: the filter element echo signals are converted into filter element digital echo signals and the filter element digital echo signals are stored.
Specifically, when the rising edge of the discharge signal of the light emitting diode in the laser ranging device starts, the filter element digital echo signal is written into the storage module in the laser ranging device.
And when the amplitude of the digital echo signal of the optical filter element is smaller than the preset amplitude, judging that the digital echo signal of the optical filter element is ended, and stopping writing the digital echo signal of the optical filter element.
For example, the preset amplitude is set to 30, but not limited thereto.
In the embodiment, after the laser signal is sent to the target area, the echo signal of the target area is received, and no reflector exists between the target area and the laser ranging device; determining a first received echo signal of the echo signals of the target region as a filter element echo signal; the filter element echo signals are converted into filter element digital echo signals, and the filter element digital echo signals are stored, so that accurate filter element digital echo signals can be obtained.
In another embodiment, after converting the original echo signal into an original digital echo signal, the method further includes:
and filtering the original digital echo signal to obtain a filtered original digital echo signal.
Specifically, the pre-filtering processing is performed on the original digital echo signal, the spur filtering is eliminated and/or the mean filtering processing is performed, and the smoothing and denoising are performed.
Correspondingly, the pre-stored digital echo signal of the filter element and the filtered original digital echo signal are reversely superposed to obtain a target digital echo signal.
In the embodiment, the original digital echo signal is filtered to obtain the filtered original digital echo signal, so that the interference of the surrounding environment on the original digital echo signal is reduced; and reversely superposing the pre-stored digital echo signal of the filter element and the filtered original digital echo signal to obtain a more accurate target digital echo signal.
In another embodiment, the filtering the original digital echo signal to obtain a filtered original digital echo signal includes:
firstly, according to a preset sampling frequency, continuously sampling an original digital echo signal.
The preset sampling frequency is determined by a control chip in the laser ranging device. The sampling is started from the head of the original digital echo signal, the continuous sampling is carried out, and the sampling is stopped at the tail of the digital echo signal.
And then, grouping the sampling points according to a time sequence, wherein the number of the sampling points of each sampling group is a first preset value.
For example, the first preset value is set to 4, but not limited thereto.
Specifically, the digital echo signals are grouped and judged by taking four continuous sampling points as a group from the head of the digital echo signals.
Then, for each sampling group, if the amplitude of at least one sampling point in the sampling group is smaller than the threshold, setting the amplitudes of all sampling points in the sampling group to be a second preset value.
For example, the second preset value is set to 0, but not limited thereto.
In addition, when the amplitudes of all the sampling points in the sampling group are greater than or equal to the threshold value, the sampling points of the sampling group are considered to belong to the echo signal of the target object, and the amplitudes of the sampling points of the sampling group are reserved.
And finally, processing all the sampling groups to obtain the filtered original digital echo signal.
In the embodiment, the original digital echo signal is continuously sampled according to the preset sampling frequency; grouping the sampling points according to a time sequence, wherein the number of the sampling points of each sampling group is a first preset value; for each sampling group, if the amplitude of at least one sampling point in the sampling group is smaller than a threshold value, setting the amplitudes of all the sampling points in the sampling group as a second preset value; and after all the sampling groups are processed, the filtered original digital echo signal is obtained, so that the original digital echo signal is subjected to pre-filtering processing, and burrs are eliminated.
In another embodiment, before obtaining the filtered original digital echo signal, the method further includes:
firstly, according to the time sequence, continuous sampling points form a filtering group, and the number of the sampling points of the filtering group is a first preset value.
Then, the average filtering process is performed on the filtering group.
For example, starting from the header of the original digital echo signal, four consecutive sampling points in the header are grouped into a filtering group.
And then, carrying out shift-out processing on the first sampling point in the filtering group and carrying out successive compensation processing on the sampling point at the next moment of the last sampling point, and returning to execute the step of carrying out mean value filtering processing on the filtering group until all sampling points are subjected to mean value filtering processing.
For example, after the average filtering processing is performed on the filtering set, the first sampling point in the filtering set is shifted out, the filtering set has three sampling points left, then the sampling point at the next moment of the last sampling point is complemented, the number of the filtering set is four, then the average filtering processing is performed, and the steps are repeated until all the sampling points are subjected to the average filtering processing.
According to the embodiment, a filtering group is formed by continuous sampling points according to a time sequence, the number of the sampling points of the filtering group is a first preset value, the filtering group is subjected to mean value filtering, the first sampling point in the filtering group is shifted out and the next sampling point of the last sampling point is subjected to successive compensation processing, the step of performing mean value filtering processing on the filtering group is returned and executed until all the sampling points are subjected to mean value filtering processing, and mean value filtering processing and smooth denoising are performed on original digital echo signals.
In another embodiment, the mean filtering process for the filter bank includes:
firstly, the amplitudes of all sampling points in the filtering group are added to obtain a total amplitude.
Illustratively, the amplitudes of the four sample points in the filter group are summed.
And then, carrying out right shift operation on the total amplitude to obtain an average value of the total amplitude.
Illustratively, the division operation is performed by shifting the total amplitude value, so as to obtain an average value of the total amplitude value.
Then, the amplitudes of all the sampling points in the filter group are set as the average value.
Fig. 3 is a schematic flowchart of a laser ranging method according to another embodiment of the present disclosure. By way of example and not limitation, as shown in fig. 3, calculating a distance to a target object from a target digital echo signal includes:
s301: and calculating the leading edge time and the trailing edge time according to the target digital echo signal.
The leading edge time is the time value of the rising edge of the echo signal at the threshold, and the trailing edge time is the time value of the falling edge of the echo signal at the threshold.
The leading edge time and the trailing edge time can be obtained by a threshold value method and a least square method.
S302: and calculating the pulse width of the target digital echo signal according to the leading edge time and the trailing edge time.
Specifically, the pulse width is obtained by subtracting the leading edge time from the trailing edge time.
S303: and correcting the leading edge time according to the pulse width.
S304: and calculating the distance between the target object and the corrected leading edge moment.
Specifically, the time value corresponding to the corrected leading edge time is multiplied by the light speed, and then is divided by 2 to obtain the distance between the target object and the time value.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Corresponding to the methods described in the above embodiments, only the portions related to the embodiments of the present application are shown for convenience of explanation.
Fig. 4 is a schematic structural diagram of a laser ranging device according to an embodiment of the present application. By way of example and not limitation, as shown in fig. 4, the apparatus comprises:
and a transmitting unit 10 for transmitting the laser signal to the target object.
The receiving unit 11 is configured to receive an echo signal of a target object to obtain an original echo signal;
a digital-to-analog conversion unit 12, configured to convert the original echo signal into an original digital echo signal;
the signal processing unit 13 is configured to perform reverse superposition on the pre-stored digital echo signal of the filter element and the original digital echo signal to obtain a target digital echo signal;
and the distance calculation module is used for calculating the distance between the target object and the target digital echo signal.
In another embodiment, the signal processing unit is further configured to update the digital echo signal of the filter element if the update signal is detected.
In another embodiment, the signal processing unit is specifically configured to receive an echo signal of the target area after sending the laser signal to the target area, and no reflector is located between the target area and the laser ranging device; determining a first received echo signal of the echo signals of the target region as a filter element echo signal; the filter element echo signals are converted into filter element digital echo signals and the filter element digital echo signals are stored.
In another embodiment, the apparatus further includes a filtering unit, configured to perform filtering processing on the original digital echo signal to obtain a filtered original digital echo signal;
illustratively, the filtering unit and the signal processing unit are integrated in an fpga (field Programmable Gate array).
Correspondingly, the signal processing unit is used for reversely superposing the pre-stored digital echo signal of the filter element and the filtered original digital echo signal to obtain a target digital echo signal.
In another embodiment, the filtering unit is specifically configured to perform continuous sampling on the original digital echo signal according to a preset sampling frequency; grouping the sampling points according to a time sequence, wherein the number of the sampling points of each sampling group is a first preset value; for each sampling group, if the amplitude of at least one sampling point in the sampling group is smaller than a threshold value, setting the amplitudes of all the sampling points in the sampling group as a second preset value; and processing all the sampling groups to obtain the filtered original digital echo signals.
In another embodiment, the filtering unit is specifically configured to group consecutive sampling points into a filtering group according to a time sequence, where the number of the sampling points in the filtering group is a first preset value; carrying out mean value filtering processing on the filtering group; and performing shift-out processing on the first sampling point in the filtering group, performing successive compensation processing on the sampling point at the next moment of the last sampling point, and returning to execute the step of performing mean value filtering processing on the filtering group until all sampling points are subjected to mean value filtering processing.
In another embodiment, the filtering unit is specifically configured to add amplitudes of all sampling points in the filtering group to obtain a total amplitude; carrying out right shift operation on the total amplitude to obtain an average value of the total amplitude; and setting the amplitude values of all sampling points in the filtering group as an average value.
Illustratively, when the signal processing unit is integrated in an FPGA (field Programmable Gate array), the total amplitude is right-shifted, and resources of the FPGA are not occupied.
In another embodiment, the signal processing unit is specifically configured to calculate a leading edge time and a trailing edge time according to the target digital echo signal; calculating the pulse width of the target digital echo signal according to the leading edge time and the trailing edge time; and correcting the leading edge time according to the pulse width, and calculating the distance between the target object and the leading edge time after correction.
Fig. 5 is a schematic structural diagram of a laser ranging apparatus according to an embodiment of the present application. As shown in fig. 5, the laser ranging apparatus 2 of this embodiment includes: at least one processor 20 (only one shown in fig. 5), a memory 21, and a computer program 22 stored in the memory 21 and executable on the at least one processor 20, the steps of any of the various method embodiments described above being implemented when the computer program 22 is executed by the processor 20.
The laser ranging apparatus 2 may include, but is not limited to, a processor 20, a memory 21. Those skilled in the art will appreciate that fig. 5 is merely an example of the laser ranging apparatus 2, and does not constitute a limitation of the laser ranging apparatus 2, and may include more or less components than those shown, or combine some components, or different components, such as input-output devices, network access devices, etc.
The Processor 20 may be a Central Processing Unit (CPU), and the Processor 20 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 21 may in some embodiments be an internal storage unit of the laser ranging device 2, such as a hard disk or a memory of the laser ranging device 2. In other embodiments, the memory 21 may also be an external storage device of the laser distance measuring device 2, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the laser distance measuring device 2. Further, the memory 21 may also include both an internal memory unit and an external memory device of the laser ranging device 2. The memory 21 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 21 may also be used to temporarily store data that has been output or is to be output.
Embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (11)
1. A method of laser ranging, comprising:
after a laser signal is transmitted to a target object, receiving an echo signal of the target object to obtain an original echo signal;
converting the original echo signal into an original digital echo signal;
reversely superposing a pre-stored digital echo signal of the filter element and the original digital echo signal to obtain a target digital echo signal;
and calculating the distance between the target object and the target digital echo signal.
2. The method of claim 1, wherein prior to inversely superimposing the pre-stored filter element digital echo signals and the raw digital echo signals, further comprising:
and if the updating signal is detected, updating the digital echo signal of the filter element.
3. The method of claim 2, wherein said updating the filter element digital echo signals comprises:
after a laser signal is sent to a target area, an echo signal of the target area is received, and no reflector exists between the target area and a laser ranging device;
determining a first received echo signal of the echo signals of the target region as a filter element echo signal;
and converting the filter element echo signals into filter element digital echo signals, and storing the filter element digital echo signals.
4. The method of claim 1, wherein after converting the raw echo signal into a raw digital echo signal, further comprising:
filtering the original digital echo signal to obtain a filtered original digital echo signal;
and reversely superposing the pre-stored digital echo signal of the filter element and the filtered original digital echo signal to obtain a target digital echo signal.
5. The method of claim 4, wherein said filtering said raw digital echo signal to obtain a filtered raw digital echo signal comprises:
continuously sampling the original digital echo signal according to a preset sampling frequency;
grouping the sampling points according to a time sequence, wherein the number of the sampling points of each sampling group is a first preset value;
for each sampling group, if the amplitude of at least one sampling point in the sampling group is smaller than a threshold value, setting the amplitudes of all the sampling points in the sampling group to be a second preset value;
and processing all the sampling groups to obtain filtered original digital echo signals.
6. The method of claim 5, wherein obtaining the filtered raw digital echo signal further comprises:
according to the time sequence, continuous sampling points form a filtering group, and the number of the sampling points of the filtering group is a first preset value;
carrying out mean value filtering processing on the filtering groups;
and performing shift-out processing on the first sampling point in the filtering group, performing successive compensation processing on the sampling point at the next moment of the last sampling point, and returning to execute the step of performing mean value filtering processing on the filtering group until all the sampling points are subjected to mean value filtering processing.
7. The method of claim 6, wherein said performing a mean filtering process on said filtered set comprises:
adding the amplitudes of all the sampling points in the filtering group to obtain a total amplitude;
carrying out right shift operation on the total amplitude to obtain an average value of the total amplitude;
and setting the amplitude values of all the sampling points in the filtering group as the average value.
8. The method of claim 1, wherein said calculating a distance to said target object based on said target digital echo signal comprises:
calculating a leading edge moment and a trailing edge moment according to the target digital echo signal;
calculating the pulse width of the target digital echo signal according to the leading edge time and the trailing edge time;
correcting the leading edge time according to the pulse width;
and calculating the distance between the target object and the corrected leading edge moment.
9. A laser ranging apparatus, comprising:
a transmitting unit for transmitting a laser signal to a target object;
the receiving unit is used for receiving the echo signal of the target object to obtain an original echo signal;
the digital-to-analog conversion unit is used for converting the original echo signal into an original digital echo signal;
the signal processing unit is used for reversely superposing a pre-stored digital echo signal of the filter element and the original digital echo signal to obtain a target digital echo signal;
and the distance between the target object and the target digital echo signal is calculated according to the target digital echo signal.
10. A laser ranging apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the method of any one of claims 1 to 8.
11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 8.
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| CN117991277A (en) * | 2024-04-03 | 2024-05-07 | 深圳光谦传感科技有限公司 | Distance measurement data processing method and device and computer equipment |
| CN117991277B (en) * | 2024-04-03 | 2024-06-07 | 深圳光谦传感科技有限公司 | Distance measurement data processing method and device and computer equipment |
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