CN116660919A - Multi-point laser ranging device and method - Google Patents

Abstract

The application discloses a multipoint laser ranging device and a method, wherein the device comprises a circuit board, a transmitting array, a collimating lens, a receiving array and a focusing lens; the emitting array comprises M emitting units which are arranged in an array mode and are different in positions relative to a main optical axis; the receiving array comprises N receiving units which are arranged in an array manner and have different positions relative to a main optical axis; m and N are positive integers greater than 1, and M is less than or equal to N. The application adopts the array CMOS sensor to change the structures of the light emitter and the light receiver, can emit and receive a plurality of laser beams with different angles, realizes multi-point laser ranging, widens the measuring range of a vertical plane and improves the light receiving intensity; the light sensing chip is arranged, TOF ranging is introduced into the triangular ranging, the defect of poor remote ranging precision is overcome, and the measuring range is extended; the multi-point fusion technology is adopted, the information of one surface is integrated into one point, and the scanning speed is improved.

Description

Multi-point laser ranging device and method

Technical Field

The application relates to the technical field of laser detection, in particular to a multi-point laser ranging device and a multi-point laser ranging method.

Background

With miniaturization of components and parts and low cost, the space positioning technology is increasingly popularized in the common consumer market, wherein the most typical application scene is the autonomous navigation field of mobile terminals such as household small robots, unmanned aerial vehicles and the like. In the space positioning technology, compared with other positioning modes such as ultrasonic positioning, the optical positioning has the advantages of high precision, quick response, relatively strong anti-interference performance and the like, and is widely adopted.

The laser ranging (laser distance measuring) uses a laser as a light source for ranging. A continuous laser and a pulse laser are classified according to the manner in which laser light operates. The helium-neon, argon ion, krypton-cadmium and other gas lasers work in a continuous output state and are used for phase laser ranging; the double heterogeneous gallium arsenide semiconductor laser is used for infrared ranging; the solid laser is used for pulse laser ranging. The laser range finder is an instrument for accurately measuring the distance to a target by using laser. The laser range finder emits a very thin laser beam to the target during operation, the photoelectric element receives the laser beam reflected by the target, the timer measures the time from the emission to the reception of the laser beam, and the distance from the observer to the target is calculated.

In the prior art, most of sweeping robots and service robots mostly adopt single-line laser radar to detect the distance information of a space so as to acquire space point cloud data for navigation or obstacle avoidance. The laser radar is often based on single-point ranging, so that only the spatial distance information of one horizontal plane can be detected, and the laser radar is difficult to adapt to navigation and obstacle avoidance of complex scenes. For example, in the present patent (CN 202210454219.3), a method based on zonal exposure and data acquisition is provided to achieve multi-point ranging, which is limited by the fact that the angle of visibility of the planar array image sensor in the vertical direction is too small, and it is difficult to achieve large-angle measurement of the robot in the vertical direction.

Therefore, how to design a large-angle and multi-point type laser ranging device and method which can adapt to complex scene navigation and obstacle avoidance is a problem to be solved.

Disclosure of Invention

Based on this, it is necessary to provide a multi-point laser ranging apparatus and method for solving the problems of the prior art.

In a first aspect, an embodiment of the present application provides a multi-point laser ranging apparatus, including a circuit board, a transmitting array, a collimating lens, a first lens holder, a receiving array, a focusing lens, and a second lens holder;

the emitting array comprises M emitting units which are arranged in an array mode and are different in position relative to a main optical axis;

the receiving array comprises N receiving units which are arranged in an array manner and have different positions relative to a main optical axis;

wherein M and N are positive integers greater than 1, and M is less than or equal to N.

Preferably, the receiving unit is a CMOS sensor and/or a photo-sensitive chip, and the photo-sensitive chip is an APD chip or a SPAD chip.

Preferably, the M emitting units emit the M laser beams at different angles.

Preferably, M laser beams of different angles are irradiated to the target object to generate M reflected laser beams.

Preferably, the N receiving units are configured to receive M reflected laser beams reflected by the target object.

Preferably, the focusing lens is used to converge the reflected laser beam to the receiving array.

In a second aspect, another embodiment of the present application provides a multi-point laser ranging method, including the steps of:

acquiring M laser beams with different emergent angles emitted from an emission array;

the M laser beams are irradiated to a target object after passing through a collimating lens and M reflected laser beams are generated;

m reflected laser beams enter a receiving array and are converted into first electric signals to be output;

and obtaining first target distances of M positions of the target object by using a triangular distance measurement method according to the first electric signal.

Preferably, the receiving array includes a photosensitive chip, the photosensitive chip is an APD chip or a SPAD chip, and the photosensitive chip receives any one of the reflected laser beams and converts the reflected laser beams into a second electrical signal;

obtaining a second object distance of the object by using a time flight method according to the second electric signal;

and inputting the first target distance into a preset correction model to obtain a third target distance.

Preferably, the inputting the first target distance into a preset correction model to obtain a third target distance includes:

the correction of the first distance is performed using the following equation (1):

D(i)＝(1-c*f(D _i ))D _i +c*f(D _i )*D _tof (1)；

wherein i is E [1, M]，c∈[0,1)，f(D _i ) E [0, 1), D (i) is the corrected first target distance corresponding to beam i, D _i D, for the first target distance corresponding to the light speed i obtained by the triangular distance measurement method _tof To obtain the second target distance by time-of-flight, i is the beam number, c is the weighting coefficient, f (D _i ) Is a distance coefficient.

Preferably, the M reflected laser beams enter the receiving array, are converted into first electrical signals, and output, including:

n receiving units respectively receive M reflected laser beams, acquire a plurality of time differences corresponding to the N receiving units, perform average processing on the time differences, and output the average time difference, wherein the time difference is a time difference between emitted light and received light.

Preferably, the acquiring a plurality of time differences corresponding to the N receiving units, performing a mean processing on the plurality of time differences, and outputting the mean time difference, including: n receiving units acquire N time difference values, filter the N time difference values, average the N time difference values after removing noise, and output the average time difference value.

Preferably, the obtaining the second target distance of the target object according to the electric signal by using a time-of-flight method includes:

and calculating the distance from the target object to the laser ranging device by using a formula D=C, wherein C is the light speed, and DeltaT is the mean time difference value according to the mean time difference value.

In the embodiment of the application, the method has the following advantages: (1) The structure of the traditional light emitter and light receiver is changed by adopting the low-cost array CMOS sensor, so that a plurality of laser beams with different angles can be emitted and received, the multi-point laser ranging is realized, the measuring range of a vertical plane is widened, and the light receiving intensity is improved; (2) The light sensing chip (APD or SAPD) is arranged in the receiving array, namely, the TOF ranging mode is introduced in the traditional triangular ranging mode, so that the defect of poor remote ranging precision of the triangular ranging mode is overcome, the measuring range of the ranging device is extended, and the volume of the ranging device is further reduced; (3) By adopting the multipoint fusion technology, the distance of the target object can be calculated according to the time-of-flight method only by calculating the time difference value after the mean value. The processing speed is greatly improved; meanwhile, for the traditional array sensor, a plurality of distances are acquired through a plurality of independent receiving units, so that depth information of one surface is obtained, the information of one surface is integrated into one point by utilizing a multipoint fusion technology, and the scanning speed is obviously improved within a certain range.

Drawings

Exemplary embodiments of the present application may be more fully understood by reference to the following drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.

Fig. 1 is a schematic plan view of a multi-point laser ranging apparatus according to an exemplary embodiment of the present application;

fig. 2 is a schematic view of an optical path structure of a multi-point laser ranging apparatus according to an exemplary embodiment of the present application;

fig. 3 is a schematic plan view of a multi-point laser ranging apparatus according to another exemplary embodiment of the present application;

fig. 4 is a schematic view of a first optical path structure of a multi-point laser ranging apparatus according to another exemplary embodiment of the present application;

fig. 5 is a schematic view of a second optical path structure of a multi-point laser ranging apparatus according to another exemplary embodiment of the present application;

fig. 6 is a schematic view of a third optical path structure of a multi-point laser ranging apparatus according to another exemplary embodiment of the present application;

fig. 7 is a schematic view of a fourth optical path structure of a multi-point laser ranging apparatus according to another exemplary embodiment of the present application;

fig. 8 is a schematic view of a fifth optical path structure of a multi-point laser ranging apparatus according to another exemplary embodiment of the present application;

fig. 9 is a schematic view of a sixth optical path structure of a multi-point laser ranging apparatus according to another exemplary embodiment of the present application;

fig. 10 shows a flowchart of a multi-point laser ranging method according to an exemplary embodiment of the present application.

Reference numerals

1-circuit board, 2-emission array, 3-first lens support, 4-collimating lens, 5-target, 6-focusing lens, 7-second lens support, 8-receiving array.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.

In addition, the terms "first" and "second" etc. are used to distinguish different objects and are not used to describe a particular order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

The embodiment of the application provides a multi-point laser ranging device, which is described below with reference to the accompanying drawings.

Referring to fig. 1 and 2, a multi-point laser ranging apparatus according to some embodiments of the present application includes a circuit board 1, an emitter array 2, a first lens holder 3, a collimator lens 4, a focusing lens 6, a second lens holder 7, and a receiver array 8.

The emitting array 2 includes M emitting lasers arranged in an array, and the multiple lasers are fixed on a PCB according to a certain arrangement mode, and since the M emitting lasers are in a distributed arrangement structure, the positions of each emitting laser relative to the main optical axis are different, the M emitting lasers emit M light beams, and after being collimated by the collimating lens, the M emitting light beams with different emitting angles are formed. Because a certain included angle exists between every two adjacent light beams, each light beam can gradually exit according to different angles along with the increase of the propagation distance, and finally a dot matrix light beam vertical to the horizontal plane can be formed, so that the scanning range of laser is enlarged, and finally the purpose of widening the measuring range of the vertical plane is achieved.

The receiving array 8 is configured to receive the light beams reflected by the target object 5 and perform signal processing, and specifically, the receiving array 8 includes N receiving units, in this embodiment, the receiving units are CMOS sensors, and a plurality of CMOS sensors are fixed on a PCB board according to a certain arrangement mode.

In this embodiment, M and N are both positive integers greater than 1, and M is less than N, specifically, M is 4 and N is 5; in some preferred embodiments, M and N are equal, i.e. CMOS sensors for each laser need to be provided first, e.g. sensor D0 for sensor S0, since CMOS sensors are relatively large. Thus, it is possible to provide that the laser signals emitted by several lasers are received by one CMOS, for example, the sensor lasers D0, D1 correspond to the sensor S0, and the sensors D2, D3 correspond to the sensor S1; one CMOS sensor for each laser is also possible.

In addition, when the multipoint laser ranging device works, a plurality of different exposure modes can be selected to adapt to different application scenes, for example, in order to realize asynchronous multi-angle cyclic signal acquisition, the sensors of the receiving array are configured as a CMOS sensor 1, a CMOS sensor 2, a CMOS sensor 3, a CMOS sensor n and a CMOS sensor n, and cyclic exposure is respectively carried out at t1, t2 and t3 and tn.. In another preferred embodiment, any CMOS sensor may be further configured to perform cyclic exposure at times t1, t2, t3, tn., respectively, in this way, targeted and focused cyclic signal acquisition may be performed for different application scenarios.

Preferably, in actual operation, a CMOS sensor corresponding to each laser, such as sensor D0 corresponding to sensor S0, needs to be provided first, since the CMOS sensor is relatively large. Thus, it is possible to provide that the laser signals emitted by several lasers are received by one CMOS, for example, the sensor lasers D0, D1 correspond to the sensor S0 and the sensors D2, D3 correspond to the sensor S1.

In the practical use process, as the CMOS sensor is only applied to the triangular ranging laser radar, the triangular ranging laser radar has the advantage of high-precision measurement at a short distance, but the long-distance ranging effect is not ideal, aiming at the problem, in some preferred embodiments, referring to fig. 3 and 4, a TOF photosensitive chip (APD or SAPD) is added in a receiving array for receiving long-distance optical signals, namely, a compound function transceiver module is provided, a receiving end selects one laser to be set as a laser based on TOF ranging, the transmitting power is set, different laser wave bands are adjusted, and the TOF ranging-based photosensitive chip APD or SPAD and the like are additionally added in the CMOS sensor array at the receiving end so as to receive the light spot signals reflected by the TOF ranging-based laser; other structure lasers and CMOS are based on close range triangulation; therefore, the same module is realized, and the ranging effects of various test scenes of triangular ranging and TOF ranging are realized.

Further, for the scheme of fig. 3, the exposure mode of the ranging device may be configured to: (1) CMOS sensor 1, CMOS sensor 2, CMOS sensor row 3,..cmos sensor n: circulating exposure at t1, t2, t3, respectively, & gt tn.. While APD or SPAD sensor S is cyclically exposed at time ts.

The present application may also implement a number of different detection modes for the configuration of fig. 3:

(1) Multi-line triangle and TOF hybrid ranging mode

Referring to fig. 4, in this embodiment, a plurality of laser transmitters driving a transmitting array are required to transmit laser light, and a receiving end receives reflected laser signals together through a plurality of CMOS sensors and a TOF photosensitive chip, so as to implement a multi-line triangulation ranging and a TOF mixed ranging mode.

(2) Multi-line triangle ranging scene mode

Referring to fig. 5, in this embodiment, a plurality of laser transmitters required to drive a transmitting array transmit laser light, and a receiving end receives reflected laser light signals through a plurality of CMOS sensors, thereby implementing a multiline triangulation mode.

(3) Fast scanning and mapping mode

Referring to fig. 6, in this embodiment, only one laser emitter of the emitting array needs to be driven to emit laser light, and the receiving end receives the reflected laser signal through one CMOS sensor, which can quickly construct a map, and compared with other area array lidar scanning 3D modeling, the time and the computation are saved.

(4) TOF ranging mode

Referring to fig. 7, in this embodiment, only one laser reflector of the reflective array needs to be driven to emit laser light, and the receiving end receives the reflected laser signal through the TOF light sensing chip, so that the remote distance measurement can be achieved.

(5) Above obstacle ranging mode

Referring to fig. 8, in this embodiment, only the laser emitter of the emitting array near the upper side is required to emit laser light, and the receiving end receives the reflected laser light signal through the CMOS sensor at the upper side, thereby achieving ranging of the obstacle above.

(6) Lower obstacle ranging mode

Referring to fig. 9, in this embodiment, only the laser emitter of the emitter array near the lower side is required to emit laser light, and the receiving end receives the reflected laser light signal through the CMOS sensor below, thereby achieving ranging of the obstacle below.

In the above embodiment, an apparatus is provided, and the present application also provides a method corresponding thereto. The method provided by the embodiment of the application can be applied to the device.

In some implementations of the embodiments of the present application, the method provided by the embodiments of the present application and the apparatus provided by the foregoing embodiments of the present application have the same beneficial effects because of the same inventive concept.

Referring to fig. 10, a flow chart of a method provided by some embodiments of the present application is shown. Since the method embodiments are substantially similar to the apparatus embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part. The method embodiments described below are merely illustrative.

As shown in fig. 10, a multi-point laser ranging method includes the steps of:

s101: acquiring M laser beams with different emergent angles emitted from an emission array;

s102: the M laser beams are irradiated to a target object after passing through a collimating lens and M reflected laser beams are generated;

s103: m reflected laser beams enter a receiving array and are converted into first electric signals to be output;

the M reflected laser beams enter the receiving array and are converted into first electric signals to be output, and the M reflected laser beams comprise: n receiving units respectively receive M reflected laser beams, acquire a plurality of time differences corresponding to the N receiving units, perform average processing on the time differences, and output the average time difference, wherein the time difference is a time difference between emitted light and received light.

Acquiring a plurality of time differences corresponding to the N receiving units, performing average processing on the time differences, and outputting the average time difference, wherein the method comprises the following steps: n receiving units acquire N time difference values, filter the N time difference values, average the N time difference values after removing noise, and output the average time difference value.

For each receiving unit, because the integral characteristic of the unit is different, the obtained light intensity is different, each unit has an independent time difference, the light receiver can obtain the time difference of each unit, and then the N time differences are used for filtering and then average calculation (i.e. averaging) is carried out to obtain an average time difference delta T, which is equivalent to the result of multiple measurement by a CMOS sensor module, thus the ranging accuracy can be ensured, the process is directly completed inside the receiving unit, the time and the resource of an external processor are not consumed, the speed can be high, and the high-speed measurement is achieved.

The multipoint fusion technology is essentially a technology that a plurality of points (or a surface) are integrated into one point, and distance measurement can be realized according to a triangle distance measurement or a time-of-flight method only by calculating the point. In the conventional CMOS sensor, the distance between a plurality of points (n×m points) is measured independently, so that depth information of one plane is obtained, and the CMOS sensor is used for 3D scanning of a rotating platform. In the embodiment of the application, the distance of the target object can be rapidly calculated by utilizing the multi-point fusion technology and only calculating the time difference value after the mean value, and the distances of N points are not required to be measured, so that the processing speed is greatly improved. In addition, the conventional CMOS sensor is used for measuring a plurality of points to obtain depth information of the surface, and the application creatively proposes information of integrating the information of the surface into one point, thereby overcoming technical prejudice.

S104: and obtaining a first target distance of the target object by using a triangular distance measurement method according to the first electric signal.

In a preferred embodiment, the array of the distance measuring device of the present application includes a photosensitive chip, where the photosensitive chip is an APD chip or a SPAD chip, and the method correspondingly further includes the steps of:

s105: the photosensitive chip receives any one of the reflected laser beams and converts the reflected laser beams into a second electric signal;

s106: obtaining a second object distance of the object by using a time flight method according to the second electric signal;

obtaining a target distance of the target object according to the electric signal by using a time-of-flight method, wherein the method comprises the following steps: and calculating the distance from the target object to the laser ranging device by using a formula D=C, wherein C is the light speed, and DeltaT is the mean time difference value according to the mean time difference value.

S107: and inputting the first target distance into a preset correction model to obtain a third target distance.

Preferably, the inputting the first target distance into a preset correction model to obtain a third target distance includes:

the correction of the first distance is performed using the following equation (1):

D(i)＝(1-c*f(D _i ))D _i +c*f(D _i )*D _tof (1)；

wherein i is E [1, M]，c∈[0,1)，f(D _i ) E [0, 1), D (i) is the corrected first target distance corresponding to beam i, D _i D, for the first target distance corresponding to the light speed i obtained by the triangular distance measurement method _tof To obtain the second target distance by time-of-flight, i is the beam number, c is the weighting coefficient, f (D _i ) Is a distance coefficient.

In the embodiment of the application, the method has the following advantages: (1) The structure of the traditional light emitter and light receiver is changed by adopting the low-cost array CMOS sensor, so that a plurality of laser beams with different angles can be emitted and received, the multi-point laser ranging is realized, the measuring range of a vertical plane is widened, and the light receiving intensity is improved; (2) The light sensing chip (APD or SAPD) is arranged in the receiving array, namely, the TOF ranging mode is introduced in the traditional triangular ranging mode, so that the defect of poor remote ranging precision of the triangular ranging mode is overcome, the measuring range of the ranging device is extended, and the volume of the ranging device is further reduced; (3) By adopting the multipoint fusion technology, the distance of the target object can be calculated according to the time-of-flight method only by calculating the time difference value after the mean value. The processing speed is greatly improved; meanwhile, for the traditional array sensor, a plurality of distances are acquired through a plurality of independent receiving units, so that depth information of one surface is obtained, the information of one surface is integrated into one point by utilizing a multipoint fusion technology, and the scanning speed is obviously improved within a certain range.

It is noted that the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description.

Claims (12)

1. The multi-point laser ranging device is characterized by comprising a circuit board, a transmitting array, a collimating lens, a first lens support, a receiving array, a focusing lens and a second lens support;

the emitting array comprises M emitting units which are arranged in an array mode and are different in position relative to a main optical axis;

the receiving array comprises N receiving units which are arranged in an array manner and have different positions relative to a main optical axis;

wherein M and N are positive integers greater than 1, and M is less than or equal to N.

2. The multipoint laser ranging device according to claim 1, wherein the receiving unit is a CMOS sensor and/or a photo-sensitive chip, and the photo-sensitive chip is an APD chip or a SPAD chip.

3. A multi-point laser ranging apparatus as claimed in claim 1, wherein M of said emitting units emit M laser beams of different angles.

4. A multi-point laser ranging apparatus as claimed in claim 3, wherein M laser beams of different angles are irradiated to the target object to generate M reflected laser beams.

5. The multi-point laser ranging apparatus as claimed in claim 4, wherein the N receiving units are configured to receive the M reflected laser beams reflected by the object.

6. The multi-point laser ranging device of claim 4, wherein the focusing lens is configured to converge the reflected laser beam to the receiving array.

7. A multi-point laser ranging method, suitable for a multi-point laser ranging apparatus as claimed in any one of claims 1 to 6, comprising the steps of:

acquiring M laser beams with different emergent angles emitted from an emission array;

the M laser beams are irradiated to a target object after passing through a collimating lens and M reflected laser beams are generated;

m reflected laser beams enter a receiving array and are converted into first electric signals to be output;

and obtaining a first target distance of the target object by using a triangular distance measurement method according to the first electric signal.

8. The method of claim 7, wherein the receiving array comprises a photo-sensitive chip, the photo-sensitive chip being an APD chip or a SPAD chip, the photo-sensitive chip receiving any of the reflected laser beams and converting it into a second electrical signal;

obtaining a second object distance of the object by using a time flight method according to the second electric signal;

and inputting the first target distance into a preset correction model to obtain a third target distance.

9. The method of claim 8, wherein inputting the first target distance into a preset correction model to obtain a third target distance comprises:

the correction of the first distance is performed using the following equation (1):

D(i)＝(1-c*f(D _i ))D _i +c*f(D _i )*D _tof (1)；

wherein i is E [1, M]，c∈[0,1)，f(D _i ) E [0, 1), D (i) is the corrected first target distance corresponding to beam i, D _i D, for the first target distance corresponding to the light speed i obtained by the triangular distance measurement method _tof To obtain the second target distance by time-of-flight, i is the beam number, c is the weighting coefficient, f (D _i ) Is a distance coefficient.

10. The method of claim 7, wherein the M reflected laser beams enter a receiving array and are converted into first electrical signals and output, and the method comprises:

n receiving units respectively receive M reflected laser beams, acquire a plurality of time differences corresponding to the N receiving units, perform average processing on the time differences, and output an average time difference, wherein the time difference is a time difference between emitted light and received light.

11. The apparatus of claim 8, wherein the obtaining a plurality of time differences corresponding to the N receiving units, averaging the plurality of time differences, and outputting the average time difference, comprises: n receiving units acquire N time difference values, filter the N time difference values, average the N time difference values after removing noise, and output the average time difference value.

12. The method of claim 10, wherein said obtaining a second target distance of said target object from said second electrical signal using a time-of-flight method comprises:

and calculating the distance from the target object to the laser ranging device by using a formula D=C, wherein C is the light speed, and DeltaT is the mean time difference value according to the mean time difference value.