CN207601310U

CN207601310U - A kind of jamproof range unit

Info

Publication number: CN207601310U
Application number: CN201721649624.1U
Authority: CN
Inventors: 冯强; 卢锁; 李旭兴; 沃伦; 张莹; 刘浩; 张庆舜; 郑凯; 疏达; 李�远
Original assignee: Benewake Beijing Co Ltd
Current assignee: Benewake Beijing Co Ltd
Priority date: 2017-11-30
Filing date: 2017-11-30
Publication date: 2018-07-10
Anticipated expiration: 2027-11-30

Abstract

The utility model discloses a kind of jamproof devices, and including detection module, whether the optical detection process for detecting the first optical range finding apparatus is interfered by the second optical range finding apparatus；Postponement module, for when detecting that the first optical range finding apparatus is interfered by the second optical range finding apparatus, the first optical range finding apparatus is by optical detection process lag preset time；Data processing module for when the optical detection process for detecting the first optical range finding apparatus is not interfered by the second optical range finding apparatus, the first optical range finding apparatus to obtain the detection data that optical detection process is acquired, carries out data handling procedure and obtains distance measurement result.It can be seen that, after first optical range finding apparatus detects interference of the optical detection process by other optical range finding apparatus, by optical detection process lag preset time, so that the optical detection process of the first optical range finding apparatus, it will not be influenced by the optical detection process of the second optical range finding apparatus, it is ensured that the accuracy for the detection data that the first optical range finding apparatus is acquired during optical detection.

Description

A kind of jamproof range unit

Technical field

The utility model is related to infrared distance measurement technical field, more particularly to a kind of jamproof range unit.

Background technology

Due to having many advantages, such as that speed of detection is fast using the distance measuring method of optical signal transmission, detection accuracy is high, becomes current One of most common distance measuring method.By taking laser radar range technology as an example, when carrying out ranging using laser radar range technology, packet Two courses of work are included, first job process is optical detection process, during optical detection, first by the laser in laser radar Device emission detection light, the detection light encounter barrier and are reflected, then by spy of the photodetector in laser radar to being reflected It surveys light to be received, also, the optical signal to receiving carries out opto-electronic conversion；Second course of work is data handling procedure, The electric signal exported by the processor in laser radar to photodetector is handled, so as to obtain laser radar and barrier Distance.

Under many application scenarios, there is a situation where that more optical range finding apparatus work at the same time.But more optical range finding apparatus When working at the same time, the detection light of the light source transmitting of different optical range finding apparatus can interfere with each other, and reduce optical range finding apparatus ranging Accuracy.

Utility model content

The utility model embodiment solve the technical issues of one of be to provide a kind of jamproof distance measuring method and device, So as to improve the accuracy of optical range finding apparatus.

For this purpose, in a first aspect, the embodiment of the present application provides a kind of jamproof distance measuring method, applied in range-measurement system Any one optical range finding apparatus, the method includes：

Whether the first optical range finding apparatus detection light detection process is done by the second optical range finding apparatus in the range-measurement system It disturbs；

When detecting the optical detection process of first optical range finding apparatus by the second flash ranging in the range-measurement system During interference away from device, first optical range finding apparatus is by the optical detection process lag preset time；

When detecting the optical detection process of first optical range finding apparatus not by the range-measurement system second During the interference of optical range finding apparatus, first optical range finding apparatus obtains the detection data that the optical detection process is acquired, and carries out Data handling procedure obtains distance measurement result.

In some possible embodiments, whether the first optical range finding apparatus detection light detection process is by the survey Interference away from the second optical range finding apparatus in system includes：

First optical range finding apparatus acquires ambient image, and the ambient image is used to characterize first optical range finding apparatus Residing environmental information；

Whether first optical range finding apparatus detects the optical detection process by the ranging according to the ambient image The interference of second optical range finding apparatus described in system.

In some possible embodiments, in the range-measurement system optical detection process of each optical range finding apparatus time Length is all identical, and the ambient image includes first environment image and second environment image, and the first environment image is used for table The environmental information at the first moment residing for first optical range finding apparatus is levied, first moment crosses Cheng Qian in the optical detection, The second environment image is used to characterize the environmental information at the second moment residing for first optical range finding apparatus, when described second After being engraved in the optical detection process, first optical range finding apparatus according to the ambient image, detection light detection process whether by Into the range-measurement system, the interference of the second optical range finding apparatus includes：

First optical range finding apparatus obtains error image according to the first environment image and the second environment image, The error image is used to characterize the difference of the first environment image and the second environment gray value of image；

First optical range finding apparatus obtains the sum of the absolute value of the gray value of each pixel in the error image；

When the absolute value of the gray value and during more than the preset first threshold, first optical range finding apparatus is true The fixed optical detection process is interfered by the second optical range finding apparatus described in the range-measurement system.

In some possible embodiments, the ambient image is used to be characterized in the environment letter that Cheng Qian is crossed in the optical detection Breath；First optical range finding apparatus is according to the ambient image, and whether detection light detection process is by the range-measurement system The interference of two optical range finding apparatus includes：

First optical range finding apparatus obtains the shade of gray of the ambient image；

When the shade of gray is more than preset second threshold, first optical range finding apparatus determines the optical detection Journey is interfered by the second optical range finding apparatus described in the range-measurement system.

First optical range finding apparatus calculates detection data described in every group respectively, normal data corresponding with the detection data Difference standard deviation, the corresponding normal data of the detection data is used to characterize the light when detection data is not interfered Intensity values；

When there is at least one set of detection data, the standard deviation of the difference of normal data corresponding with the detection data, greatly When preset third threshold value, first optical range finding apparatus determines the optical detection process by described in the range-measurement system The interference of second optical range finding apparatus.

In some possible embodiments, the method further includes：

When all detection datas, the standard deviation of the difference of normal data corresponding with the detection data, all no more than preset During third threshold value, first optical range finding apparatus determines the optical detection process not by second described in the range-measurement system The interference of optical range finding apparatus；

First optical range finding apparatus replaces the corresponding normal data of the detection data using each detection data.

In some possible embodiments, first optical range finding apparatus is by the optical detection process lag preset time Including：

First optical range finding apparatus is according to time ratio, determine that the preset time is the optical detection process N times, In, N be no more than the time than positive integer, the time than the data handling procedure for first optical range finding apparatus with The ratio of the time of the optical detection process；

First optical range finding apparatus carries out the optical detection process after postponing the preset time.

Second aspect, the embodiment of the present application provide a kind of jamproof range unit, applied to appointing in range-measurement system One optical range finding apparatus of meaning, described device include：

Detection module, for whether detecting the optical detection process of the first optical range finding apparatus by the range-measurement system second The interference of optical range finding apparatus；

Postponement module, for working as the optical detection process for detecting first optical range finding apparatus by the ranging system In system during the interference of the second optical range finding apparatus, first optical range finding apparatus is by the optical detection process lag preset time；

Data processing module, for working as the optical detection process for detecting first optical range finding apparatus not by institute When stating the interference of the second optical range finding apparatus in range-measurement system, first optical range finding apparatus obtains the optical detection process and is acquired Detection data, carry out data handling procedure obtain distance measurement result.

In some possible embodiments, the detection module includes：

Collecting unit, for acquiring ambient image, the ambient image is used to characterize residing for first optical range finding apparatus Environmental information；

Detection unit, for according to the ambient image, whether detecting the optical detection process by the range-measurement system Described in the second optical range finding apparatus interference.

In some possible embodiments, in the range-measurement system optical detection process of each optical range finding apparatus time Length is all identical, and the ambient image includes first environment image and second environment image, and the first environment image is used for table The environmental information at the first moment residing for first optical range finding apparatus is levied, first moment crosses Cheng Qian in the optical detection, The second environment image is used to characterize the environmental information at the second moment residing for first optical range finding apparatus, when described second After being engraved in the optical detection process, the detection unit includes：

First obtains subelement, for obtaining differential chart according to the first environment image and the second environment image Picture, the error image are used to characterize the difference of the first environment image and the second environment gray value of image；

Second obtains subelement, for obtaining the sum of the absolute value of the gray value of each pixel in the error image；

First determination subelement, for when the absolute value of the gray value and during more than the preset first threshold, Determine that the optical detection process is interfered by the second optical range finding apparatus described in the range-measurement system.

In some possible embodiments, the ambient image is used to be characterized in the environment letter that Cheng Qian is crossed in the optical detection Breath；The detection unit includes：

Third obtains subelement, for obtaining the shade of gray of the ambient image；

Second determination subelement, for when the shade of gray is more than preset second threshold, determining the optical detection Process is interfered by the second optical range finding apparatus described in the range-measurement system.

In some possible embodiments, the detection module includes：

Computing unit, for calculating detection data described in every group respectively, the difference of normal data corresponding with the detection data Standard deviation, the corresponding normal data of the detection data is used to characterize light intensity value when detection data is not interfered；

First determination unit, for when in the presence of at least one set of detection data, criterion numeral corresponding with the detection data According to the standard deviation of difference be more than preset third threshold value when, determine the optical detection process by described in the range-measurement system the The interference of two optical range finding apparatus.

In some possible embodiments, described device further includes：

Determining module, for working as all detection datas, the standard deviation of the difference of normal data corresponding with the detection data, all During no more than preset third threshold value, determine the optical detection process not by the second ligh-ranging described in the range-measurement system The interference of device；

Replacement module, for replacing the corresponding normal data of the detection data using each detection data.

In some possible embodiments, the Postponement module includes：

Second determination unit, for first optical range finding apparatus according to time ratio, it is described to determine the preset time N times of optical detection process, wherein, N be no more than the time than positive integer, the time ratio for first ligh-ranging dress The data handling procedure put and the ratio of the time of the optical detection process；

Delay cell, first optical range finding apparatus carry out the optical detection process after postponing the preset time.

According to the above-mentioned technical solution, the embodiment of the present application has the advantages that：

In range-measurement system, for any one optical range finding apparatus in the range-measurement system, it is in detection light detection process It is no to be interfered by other optical range finding apparatus in the range-measurement system, by other optical range finding apparatus during optical detection is detected Interference when, then by optical detection process lag preset time, other ligh-rangings dresses are not received during optical detection is detected During the interference put, then the optical range finding apparatus obtains the detection data that optical detection process is acquired, and carries out data handling procedure to obtain Obtain distance measurement result.The above process is as it can be seen that for any one optical range finding apparatus in range-measurement system, if detecting optical detection It is interfered, is shown during the optical range finding apparatus carries out optical detection, there are other flash rangings by other optical range finding apparatus in journey Light spy then process also is being carried out away from device, during optical detection, the detection light of the optical range finding apparatus can be by other ligh-rangings The interference of the detection light of device, the detection data so as to which the optical range finding apparatus can be caused to be acquired during optical detection are not allowed Really, at this point, the optical range finding apparatus does not carry out data processing using the inaccurate detection data that the optical detection process is acquired Distance measurement result is obtained, but after postponing preset time, which performs optical detection process again.Using aforesaid way, directly To the optical detection process of the optical range finding apparatus, will not be influenced by the optical detection process of other optical range finding apparatus, it is ensured that the light The accuracy for the detection data that range unit is acquired during optical detection, and then improve the accurate of optical range finding apparatus ranging Property.

Description of the drawings

It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor Under, it can also be obtained according to these attached drawings other attached drawings.

Fig. 1 is the time diagram of the ranging process of each optical range finding apparatus in range-measurement system.

Fig. 2 is the time diagram for the ranging process that optical range finding apparatus A, B, C are carried out at the same time ranging.

Fig. 3 is the time diagram of the ranging process after optical range finding apparatus A, B, C are anti-interference.

Fig. 4 is a kind of jamproof distance measuring method flow diagram in the embodiment of the present application.

Fig. 5 a are that the optical detection process of the first optical range finding apparatus and the second optical range finding apparatus in the embodiment of the present application is mutually dry The time diagram disturbed.

Fig. 5 b are that the optical detection process of the first optical range finding apparatus and the second optical range finding apparatus in the embodiment of the present application is mutually dry The time diagram disturbed.

Fig. 5 c are that the optical detection process of the first optical range finding apparatus and the second optical range finding apparatus in the embodiment of the present application is mutually dry The time diagram disturbed.

Fig. 6 a are the ranging process of the first optical range finding apparatus and the second optical range finding apparatus before postponing in the embodiment of the present application Time diagram.

Fig. 6 b are the ranging process of the first optical range finding apparatus and the second optical range finding apparatus after postponing in the embodiment of the present application Time diagram.

Fig. 7 is a kind of jamproof range unit structure diagram in the embodiment of the present application.

Fig. 8 is a kind of hardware device structure diagram of jamproof ranging in the embodiment of the present application.

Specific embodiment

In order to provide raising optical range finding apparatus（Light Detection And Ranging, LiDAR）The accuracy of ranging Implementation, the utility model embodiment provides a kind of jamproof distance measuring method and device, attached below in conjunction with specification Figure illustrates the embodiment of the utility model, it should be understood that embodiment described herein is only used for describing and explaining this Utility model is not used to limit the utility model.And in the absence of conflict, the embodiment and embodiment in the application In feature can be combined with each other.

Also referring to Fig. 1, Fig. 1 shows that the sequential of the ranging process of each optical range finding apparatus in range-measurement system is shown It is intended to, each ranging period includes optical detection process I and data handling procedure II.Optical range finding apparatus carries out the specific reality of ranging Now process is：Optical range finding apparatus can send out the detection light modulated by modulating signal source in optical detection process I first（The detection The light source of light is laser light source or LED light source）, and encountered after barrier reflected in detection light, receive what is be reflected back Light is detected, then the detection light is sampled, obtains detection data；Then in data handling procedure II, to optical detection process The middle obtained detection data that samples carries out data processing, so as to obtain the distance of range unit and barrier.

But applicant it has been investigated that, when in range-measurement system there are during multiple optical range finding apparatus, for each ligh-ranging Device, optical detection process may be interfered by the optical detection process of other optical range finding apparatus.Include three with range-measurement system For optical range finding apparatus A, B, C, also referring to Fig. 2, survey during ranging is carried out Fig. 2 shows three optical range finding apparatus A, B, C Time diagram away from process.As seen from Figure 2, if optical range finding apparatus A, B, C are carried out at the same time ranging, optical range finding apparatus A Optical detection process IA, there are time of coincidence section m with the optical detection process IB of optical range finding apparatus B.In time of coincidence section m, The optical detection process IA of optical range finding apparatus A, can by optical range finding apparatus B interfering in the optical detection process IB detection light sent out, That is, during being sampled to the detection light being reflected back toward in the optical detection process IA of optical range finding apparatus A, it has been mingled with by light The interference detection light that range unit B is sent out.The interference detection light can directly be emitted to ligh-ranging to fill from optical range finding apparatus B Put A's or by the directive optical range finding apparatus A by barrier reflection.

Similarly, due to the optical detection process IA of optical range finding apparatus A, there is weight with the optical detection process IC of optical range finding apparatus C Period n is closed, in time of coincidence section n, the optical detection process IA of optical range finding apparatus A can also be sent out by optical range finding apparatus C Detection light interference.That is, if there are time of coincidence section, ligh-rangings for the optical detection process of optical range finding apparatus A, B, C The optical detection process of device A, B, C, which can exist, to be interfered with each other, that is, the optical detection process IA of optical range finding apparatus A receives ligh-ranging The interference of the optical detection process of device B and C.Similarly, the optical detection process IB of optical range finding apparatus B, can by optical range finding apparatus A and The interference of the optical detection process of C；Likewise, the optical detection process IC of optical range finding apparatus C, it also can be by optical range finding apparatus A and B The interference of optical detection process.

It is appreciated that for each optical range finding apparatus, if by other ligh-rangings during optical detection process is carried out The interference of the detection light of device, then sample the detection light being interfered, obtained detection data is inaccurate, Jin Ergen The optical range finding apparatus and the distance of barrier obtained according to the detection data is also inaccurate, so as to reduce optical range finding apparatus ranging Accuracy.

In order to improve the accuracy of optical range finding apparatus ranging, the embodiment of the present application provides a kind of jamproof ranging side Method so that the optical detection process of each optical range finding apparatus in range-measurement system, not by the optical detection of other optical range finding apparatus The influence of process, to improve the accuracy of optical range finding apparatus ranging.Specifically, still by taking three optical range finding apparatus A, B, C as an example, it is right In each optical range finding apparatus, all can detection light detection process whether done by other optical range finding apparatus in the range-measurement system It disturbs, when the optical detection process for detecting the optical range finding apparatus, when being interfered by other optical range finding apparatus, then the optical range finding apparatus By optical detection process lag preset time so that the optical detection process of the optical range finding apparatus, it will not be by other optical range finding apparatus Optical detection process influence.As shown in figure 3, there is no intersections for the optical detection process between optical range finding apparatus A, B, C.In this way, For each optical range finding apparatus when carrying out optical detection process, other optical range finding apparatus are all without carrying out optical detection process, so as to be somebody's turn to do The optical detection process of optical range finding apparatus is not also just detected interfering for light by other optical range finding apparatus, and then, the ligh-ranging Device samples the detection light for not being mingled with interference light, obtains accurate detection data, and the optical range finding apparatus obtained with The distance of barrier is also accurately and reliably.

Correspondingly, when the optical detection process for detecting the optical range finding apparatus, do not interfered by other optical range finding apparatus, Show in the optical range finding apparatus during optical detection, there is no carry out optical detection process, the then flash ranging for other optical range finding apparatus The optical detection collected detection data of institute, and handled the detection data to obtain ranging knot in the process is obtained away from device Fruit.It, therefore, should there is no being interfered by other optical range finding apparatus since the optical range finding apparatus is during optical detection is carried out The laser radar and the distance of barrier that optical range finding apparatus is obtained are naturally also accurately and reliably.

As a kind of example, the utility model embodiment can be applied to more pilotless automobiles or motor dolly It waits in application scenarios.In the application scenarios, be both provided in each pilotless automobile or motor dolly to environment into The optical range finding apparatus of row detection, the optical detection process to avoid multiple optical range finding apparatus interfere with each other, each optical range finding apparatus Whether will be interfered in detection light detection process by other optical range finding apparatus, when the optical detection for detecting the optical range finding apparatus Process, when being interfered by other optical range finding apparatus, then optical detection process lag preset time is worked as detection by the optical range finding apparatus To when not interfered by other optical range finding apparatus, then the optical range finding apparatus obtains the detection number acquired during optical detection According to, and data processing is carried out to collected detection data to obtain distance measurement result.

Below in conjunction with the accompanying drawings, a kind of jamproof ranging side in the utility model embodiment is described in detail by embodiment The various non-limiting embodiments of method and device.

Also referring to Fig. 4, Fig. 4 shows a kind of jamproof distance measuring method flow signal in the utility model embodiment Figure.In the present embodiment, with two optical range finding apparatus of detection system（First optical range finding apparatus and the second optical range finding apparatus）It keeps away Exempt to illustrate for interference, this method may comprise steps of：

S401：Whether the first optical range finding apparatus detection light detection process is done by the second optical range finding apparatus in range-measurement system It disturbs.

The first optical range finding apparatus is included at least in range-measurement system and carries out ranging.If it is understood that in range-measurement system Only there are one optical range finding apparatus to carry out ranging, then the optical range finding apparatus fills during optical detection is carried out without other ligh-rangings It can be interfered by putting.

When at least the first optical range finding apparatus in range-measurement system and the second optical range finding apparatus carry out ranging, if the first light There is the period overlapped in the optical detection process of range unit and the second optical range finding apparatus, then the optical detection of the first optical range finding apparatus Process can be interfered by the second optical range finding apparatus, correspondingly, the first optical range finding apparatus can also interfere with the second optical range finding apparatus Optical detection process.

Specifically, as shown in Figure 5 a, the first optical range finding apparatus first carries out optical detection process, one section of optical detection process is being carried out After time, the second optical range finding apparatus proceeds by optical detection process again, then the optical detection process of the first optical range finding apparatus, can be by The influence of the optical detection process of second optical range finding apparatus, correspondingly, the optical detection process of the first optical range finding apparatus, can also influence The optical detection process of two optical range finding apparatus；As shown in Figure 5 b, the second optical range finding apparatus first carries out optical detection process, is carrying out light spy Survey process for a period of time after, the first optical range finding apparatus proceeds by optical detection process again, then the optical detection of the first optical range finding apparatus Process can also be influenced by the optical detection process of the second optical range finding apparatus；As shown in Figure 5 c, the first optical range finding apparatus and second Optical range finding apparatus is carried out at the same time optical detection process, then the optical detection process of the first optical range finding apparatus and the second optical range finding apparatus also can It interferes with each other.

S402：When the optical detection process for detecting the first optical range finding apparatus, by the second optical range finding apparatus in range-measurement system Interference when, the first optical range finding apparatus is by optical detection process lag preset time.

When the optical detection process for detecting the first optical range finding apparatus, when being interfered by the second optical range finding apparatus, show For one optical range finding apparatus during optical detection process is carried out, the second optical range finding apparatus also carries out optical detection process, i.e. the first ligh-ranging There is the period overlapped in the optical detection process of device, with the optical detection process of the second optical range finding apparatus as shown in Fig. 2, ligh-ranging The optical detection process of device A and optical range finding apparatus B, there are time of coincidence section m.

It in order to avoid the optical detection process of the first optical range finding apparatus, is interfered by the second optical range finding apparatus, the first flash ranging Away from device by optical detection process lag preset time so that the time of the optical detection process of the first optical range finding apparatus, with the second light The time of the optical detection process of range unit mutually staggers, and such first optical range finding apparatus is when carrying out optical detection process, and second Optical range finding apparatus is without optical detection process, so that the optical detection process of the first optical range finding apparatus, neither by the second flash ranging The interference of optical detection process away from device will not interfere the optical detection process of the second optical range finding apparatus.

It is appreciated that the ranging process of optical range finding apparatus, mainly includes optical detection process and data handling procedure, and Only during optical detection is carried out, it can just be interfered by other optical range finding apparatus, and in data processing, ligh-ranging Device is there is no transmitting or receives detection light, but carries out data processing to the detection light reflected by barrier received, To obtain the distance between laser radar and barrier.It therefore, can be by the optical detection process and second of the first optical range finding apparatus Optical range finding apparatus optical detection process is staggered in time.That is, the first optical range finding apparatus is when carrying out optical detection process, Two optical range finding apparatus are carrying out data handling procedure, and the first optical range finding apparatus is when carrying out data handling procedure, the second ligh-ranging Device is carrying out optical detection process.In this way, between the first optical range finding apparatus and the second optical range finding apparatus, it would not be in optical detection Interference optically occurs in journey.

As a kind of illustrative specific embodiment, the first optical range finding apparatus is by optical detection process lag in the present embodiment Preset time specifically may comprise steps of：

Step a：First optical range finding apparatus is according to the time of data handling procedure and optical detection process than determining preset time Be N times of optical detection process time, wherein, N be no more than the time than positive integer, the time is than for the first optical range finding apparatus Data handling procedure and the ratio of the time of its optical detection process；

Step b：Optical detection process is carried out after first optical range finding apparatus delay preset time.

Under normal conditions, optical range finding apparatus carries out the time of data handling procedure, will not be less than and carry out optical detection process Time.If the data handling procedure of optical range finding apparatus is more complicated, light spy can be much larger than by carrying out the time of data handling procedure The time of survey process.Therefore, when determining delay time, N number of unit can be postponed as unit of the time of optical detection process The time of optical detection process.Wherein, N is positive integer, and the time of the optical detection process of N number of unit, it is impossible at data The time of reason process, that is, N be no more than data handling procedure and optical detection process time than positive integer.

By the time of the N times of optical detection process of optical detection process lag of the first optical range finding apparatus, it is therefore intended that so that first When optical range finding apparatus carries out optical detection process, the second optical range finding apparatus is carrying out data handling procedure, such first ligh-ranging dress The optical detection process put would not be interfered by the second optical range finding apparatus.If it is appreciated that the detection of the first optical range finding apparatus It is interfered to optical detection process, and by after optical detection process lag preset time, the light after the delay of the first optical range finding apparatus Detection process still may have the period overlapped, that is, the first ligh-ranging is filled with the optical detection process of the second optical range finding apparatus The optical detection process put, still can be interfered, then the first optical range finding apparatus is checked again for optical detection process after being interfered, Also it just needs that optical detection process lag preset time is repeated aforesaid way again, until the first optical range finding apparatus detects light When detection process is interference-free, just stop optical detection process lag preset time.Wherein, the first optical range finding apparatus is every time by light The preset time of detection process delay can be identical, can not also be identical.

It should be noted that every time by optical detection process lag preset time when, the value of N can be section [1, the time Than] between arbitrary positive integer.Wherein, the optical detection process of the first optical range finding apparatus may need repeatedly to be postponed, then and When one optical range finding apparatus randomly chooses one as N from the positive integer between [1, time ratio], the preset time that postpones every time Can be identical, can not also be identical, here without specifically limiting.But if the first optical range finding apparatus detects the second flash ranging Interference away from device, meanwhile, which can also detect the interference of the first optical range finding apparatus, at this point, the first light The optical detection process of range unit and the second optical range finding apparatus is all respectively necessary for being postponed.

It illustrates：Please also refer to Fig. 6 a and Fig. 6 b, with the first optical range finding apparatus in range-measurement system and the second flash ranging It is carried out at the same time for optical detection process away from device：Assuming that the optical detection process of the first optical range finding apparatus and the second optical range finding apparatus Time is identical with the time difference of data handling procedure, and the time of data handling procedure is the 2 of the time of optical detection process Times, i.e., time ratio is 2.As shown in Figure 6 a, the first optical range finding apparatus detects optical detection process, by the second optical range finding apparatus The optical detection process of first optical range finding apparatus then can be postponed the time of 1 times of optical detection process backward by interference；Also, the Two optical range finding apparatus can also detect that optical detection process is interfered by the first optical range finding apparatus, then the second optical range finding apparatus can be with By optical detection process, postpone the time of 2 times of optical detection process backward, so that the first optical range finding apparatus is carrying out optical detection During process, the second optical range finding apparatus is carrying out data handling procedure, as shown in Figure 6 b.In this way, the first optical range finding apparatus is carrying out During optical detection process, it would not be interfered by the second optical range finding apparatus.

It is of course also possible to by the optical detection process of the first optical range finding apparatus, postpone backward 2 times optical detection process when Between, by the optical detection process of the second optical range finding apparatus, postpone the time of 1 times of optical detection process backward.Its specific embodiment, Similar with the above embodiment, details are not described herein.

S403：When the optical detection process for detecting the first optical range finding apparatus, not by the second ligh-ranging in range-measurement system During the interference of device, the first optical range finding apparatus obtains the detection data that optical detection process is acquired, and carries out data handling procedure and obtains Obtain distance measurement result.

When the optical detection process for detecting the first optical range finding apparatus, when not interfered by the second optical range finding apparatus, table For bright first optical range finding apparatus when carrying out optical detection process, the second optical range finding apparatus does not carry out optical detection process, then acquires Detection data is accurate, then, the first optical range finding apparatus carries out data processing in data processing, to the detection data, to obtain The distance between the first optical range finding apparatus and barrier as a result, since the detection data is accurate, then the first optical range finding apparatus institute The distance results obtained are also accurate.

It should be noted that each optical range finding apparatus is mutually independent in range-measurement system completes ranging work, i.e., for every Whether a optical range finding apparatus carries out ranging work, is controlled in itself by the optical range finding apparatus, is with other optical range finding apparatus No progress ranging work is unrelated, will not control the ranging work of other optical range finding apparatus in range-measurement system.And it is only surveying During away from being carried out at the same time ranging there are at least two optical range finding apparatus in system, it is likely to the optical detection that will appear light detection device Situation about mutually being interfered between journey.Therefore, above-mentioned jamproof distance measuring method can be adapted for each in range-measurement system A light detection device, i.e., each light detection device will detect the optical detection process of the optical range finding apparatus, be when carrying out ranging The no interference of optical detection process for receiving other optical range finding apparatus, if detecting that optical detection process is filled by other ligh-rangings The interference of optical detection process put, then postpone preset time.Also, after by optical detection process lag preset time, optical detection Device also will continue to detection light detection process, if nevertheless suffers from the interference of the optical detection process of other optical range finding apparatus, repeats Above-mentioned steps are not done until the optical detection process of the optical range finding apparatus by the optical detection process of other optical range finding apparatus It disturbs.Even if there is only an optical range finding apparatus in the range-measurement system to carry out ranging work, although the optical range finding apparatus will not It is interfered by other optical range finding apparatus not worked in the range-measurement system, still, which can't learn other The optical range finding apparatus, which does not carry out ranging work, still can use jamproof distance measuring method provided by the utility model, perform With the presence or absence of other optical range finding apparatus interference the step of.

In the present embodiment, in including at least the range-measurement system of the first optical range finding apparatus and the second optical range finding apparatus, first Whether optical range finding apparatus can be interfered in detection light detection process by the second optical range finding apparatus, during optical detection is detected When being interfered by the second optical range finding apparatus, then by optical detection process lag preset time, do not have during optical detection is detected When having the interference for receiving the second optical range finding apparatus, then the first optical range finding apparatus obtains the detection data that optical detection process is acquired, Data handling procedure is carried out to obtain distance measurement result.

As it can be seen that if the first optical range finding apparatus detects optical detection process, interfered, shown by other optical range finding apparatus During the first optical range finding apparatus carries out optical detection, light spy then process also is being carried out there are the second optical range finding apparatus, is being visited in light During survey, the detection light of the first optical range finding apparatus can be detected interfering for light by the second optical range finding apparatus, so as to cause Detection data that first optical range finding apparatus is acquired during optical detection is inaccurate, at this point, the first optical range finding apparatus and unfavorable The inaccurate detection data acquired with the optical detection process carries out data processing and obtains distance measurement result, but postpones default After time, the first optical range finding apparatus performs optical detection process again.Using aforesaid way, until the optical detection of the first optical range finding apparatus Process will not be influenced, it is ensured that the first optical range finding apparatus is in optical detection process by the optical detection process of the second optical range finding apparatus The accuracy of middle acquired detection data, and then improve the accuracy of the first optical range finding apparatus ranging.

It should be noted that it is with the first optical range finding apparatus in range-measurement system and the second ligh-ranging dress in above-described embodiment Example is set to illustrate, and there may also be other optical range finding apparatus in range-measurement system, for example there is third optical range finding apparatus Deng.When the optical range finding apparatus there are three and three or more in range-measurement system, the first optical range finding apparatus anti-disturbance method with it is upper It is similar to state embodiment, the first optical range finding apparatus is detecting optical detection process by the second optical range finding apparatus and/or third flash ranging After interference away from device, by optical detection process lag preset time, until the optical detection process of the first optical range finding apparatus is not by the After the interference of two optical range finding apparatus and third optical range finding apparatus, first is obtained according to the detection data acquired during optical detection The distance between optical range finding apparatus and barrier.In second optical range finding apparatus, third optical range finding apparatus and the detection system Other optical range finding apparatus are required for detection light being avoided to be disturbed using the above method, so as to the detection light not being interfered It is sampled, obtains accurate detection data, and then obtain accurate distance measurement result.Wherein, in detection system, each ligh-ranging The time of the optical detection process of device and, no more than the ranging period minimum in each optical range finding apparatus.

In addition, for the more detailed technical solution for introducing the application, the utility model embodiment additionally provides following Several first optical range finding apparatus detection light detection process whether by the second optical range finding apparatus interfere embodiment.

The first detection interference embodiment be, according to the ambient image before and after optical detection process determine whether by Interference.The embodiment specifically includes following steps：

Step A：First optical range finding apparatus acquires ambient image, and the ambient image is used to characterize first flash ranging Away from the environmental information residing for device；

Step B：Whether first optical range finding apparatus detects the optical detection process by institute according to the ambient image State the interference of the second optical range finding apparatus described in range-measurement system.

It should be noted that the environmental information that the first optical range finding apparatus is residing before and after optical detection process, can reflect First optical range finding apparatus is carrying out optical detection process, if is influenced by the second optical range finding apparatus.It on the one hand, can be according to After the first environment image of Cheng Qian and the first optical range finding apparatus progress optical detection process are crossed in the progress optical detection of one optical range finding apparatus Second environment image, determine the optical detection process of the first optical range finding apparatus, if interfered by the second optical range finding apparatus；Separately On the one hand, the ambient image of Cheng Qian can also be only crossed according to the progress optical detection of the first optical range finding apparatus, determines that the first ligh-ranging fills The optical detection process put, if interfered by the second optical range finding apparatus.Two ways is described in detail respectively below.

As a kind of illustrative embodiment, the light of the first optical range finding apparatus and the second optical range finding apparatus in range-measurement system The time span of detection process is all identical, and the first optical range finding apparatus acquisition first environment image, first environment image is used to characterize The environmental information at the first moment residing for the first optical range finding apparatus, i.e. the first optical range finding apparatus cross the ring of Cheng Qian carrying out optical detection Border information；First optical range finding apparatus acquires second environment image, and second environment image is for residing for the first optical range finding apparatus of characterization The second moment environmental information, i.e. environmental information of the first optical range finding apparatus after optical detection process is carried out；Then according to first Whether ambient image and second environment image, detection light detection process are interfered by the second optical range finding apparatus, specifically can be with Including：

Step A1：First optical range finding apparatus obtains error image, the difference according to first environment image and second environment image Value image is used to characterize the difference of first environment image and second environment gray value of image；

Step B1：First optical range finding apparatus obtains the sum of the absolute value of the gray value of each pixel in error image；

Step C1：When gray value the absolute value of pixel each in error image and more than preset first threshold When, the first optical range finding apparatus determines that optical detection process is interfered by the second optical range finding apparatus in range-measurement system.

It is understood that due to the first optical range finding apparatus and the time span of the optical detection process of the second optical range finding apparatus It is identical, and the time of optical detection process is usually ofer short duration, if the optical detection process of the first optical range finding apparatus not by The interference of second optical range finding apparatus, then first environment image and the usual difference of second environment image can very littles.But if first The optical detection process of optical range finding apparatus, is interfered by the second optical range finding apparatus, then first environment image and second environment image Between also can be each there are apparent difference, and then in the error image obtained by first environment image and second environment image The absolute value of the gray value of pixel and also can be larger, if the error image gray value absolute value and more than preset the One threshold value shows that the difference between first environment image and second environment image alreadys exceed the range of permission, it may be considered that The optical detection process of first optical range finding apparatus, receives the interference of the second optical range finding apparatus.

Wherein, preset first threshold can be preset by technical staff, can also be automatically generated by algorithm routine, There are a variety of set-up modes, and details are not described herein.

As another illustrative embodiment, the first optical range finding apparatus only acquires the environment map that Cheng Qian is crossed in optical detection Picture, the ambient image can characterize the environmental information that Cheng Qian is crossed in optical detection, then according to ambient image, whether detection light detection process It is interfered by the second optical range finding apparatus, can specifically be included：

Step A2：First optical range finding apparatus obtains the shade of gray of ambient image；

Step B2：When shade of gray be more than preset second threshold when, the first optical range finding apparatus determine optical detection process by The interference of the second optical range finding apparatus into range-measurement system.

Regard image as two-dimensional discrete function, then shade of gray is exactly the derivation to two-dimensional discrete function.That is, Shade of gray can reflect the change rate of the gray value of each pixel in ambient image in a specified direction.It is specifically, right Each pixel in ambient image can calculate each pixel on some direction or certain several direction, with adjacent picture Gray-value variation rate between vegetarian refreshments, and then the terraced gradient of ash that the ambient image can be obtained.

If being appreciated that the optical detection process of the first optical range finding apparatus, do not interfered by the second optical range finding apparatus, Then optical detection crosses the shade of gray of the ambient image of Cheng Qian and varies less or do not change.But when the gray scale ladder of ambient image When degree is more than preset second threshold, show that abnormal mutation, i.e. table has occurred in the gray value of part pixel in ambient image Bright second optical range finding apparatus is carrying out optical detection process, and the optical detection process of the first optical range finding apparatus can be interfered, That is, the optical detection process of the first optical range finding apparatus, can be interfered by the second optical range finding apparatus, at this point, the first optical range finding apparatus Without optical detection process, optical detection process lag avoids interference.It follows that the first optical range finding apparatus and without light Detection process will not generate any interference to the second optical range finding apparatus for carrying out optical detection process.

Wherein, shade of gray can be Roberts gradients, Sobel gradients, Prewitt gradients and Laplacian Gradient etc., process is calculated, and there are numerous embodiments, do not do excessive discussion herein.

Preset second threshold can be preset by technical staff, can also be automatically generated by algorithm routine, as The setting of threshold value, there are numerous embodiments, and details are not described herein.

Compare above two according to ambient image, whether detect the optical detection process by described in the range-measurement system The realization method of the interference of second optical range finding apparatus is understood：

In the first realization method, after needing the first optical range finding apparatus execution optical detection process, to optical detection process Front and rear acquired first environment image and second environment image are compared, and are just capable of determining whether to be interfered, if at this point, One optical range finding apparatus is interfered by the second optical range finding apparatus, then the spy that the first optical range finding apparatus is acquired during optical detection Measured data is inaccurate；Equally, the second optical range finding apparatus can also be influenced by the first optical range finding apparatus, and the second optical range finding apparatus exists The detection data acquired during optical detection is equally also inaccurate.

And in second of realization method, carry out optical detection in the first optical range finding apparatus and cross Cheng Qian, obtain ambient image and The shade of gray of ambient image, and according to the shade of gray of the ambient image determine first laser radar range unit whether by The interference of second optical range finding apparatus, if the first optical range finding apparatus is interfered by the second optical range finding apparatus, the first ligh-ranging dress The optical detection process put can be interfered, at this point, the first optical range finding apparatus can't carry out optical detection process, but direct delay Perform the time of optical detection process.Therefore, the second optical range finding apparatus will not be influenced by the first optical range finding apparatus, the second flash ranging It is accurate away from the detection data that device is acquired during optical detection.

That is, for second of realization method, the first optical range finding apparatus carries out optical detection process once meeting Condition, i.e. the shade of gray of ambient image is not more than preset second threshold, then will not be by during optical detection process is performed To the interference of other optical range finding apparatus, when other optical range finding apparatus detect the presence of interference, optical detection process is not carried out.Second Kind realization method is capable of the anti-interference ranging of realization of more convenient and quicker compared with realization method in first.

The illustrative embodiments of above-mentioned detection interference, are surveyed suitable for the detection data acquired according to optical detection process In the various embodiments of embodiment away from result.And a kind of example is used as, it present embodiments provides according to optical detection process The detection data of acquisition obtains a kind of illustrative embodiments of distance measurement result.It is specifically as follows：First optical range finding apparatus into During row optical detection, it can be sampled to receiving by the reflected detection light of barrier, it is assumed that in optical detection process It is middle to carry out four samplings, four groups of detected pixel arrays are obtained, and as detection data, four can be obtained according to detection data The value of secondary sampled signal, D₀、D₁、D₂、D₃, then the first optical range finding apparatus is to the value D of the sampled signal₀、D₁、D₂、D₃Using formula （1）It is handled, obtains the distance between the first optical range finding apparatus and barrier：

Wherein, D is the distance between the first optical range finding apparatus and barrier, and C is the spread speed of light in a vacuum, and f is The frequency of detection light by modulating signal source modulation, D₀、D₁、D₂、D₃The sampled signal of difference gained during for four signal samplings Value.

It should be noted that the embodiment of above-mentioned acquisition distance measurement result is obtained as just explanation according to detection data A kind of example of distance measurement result is obtained, is not used to limit the utility model.It, can also be to the detection light that receives in practical application Double sampling etc. is carried out, is not limited herein.

When using the above embodiment come when obtaining the distance between the first optical range finding apparatus and barrier, the present embodiment is also Provide the embodiment of second of detection interference：The detection data obtained using the optical detection process of the first optical range finding apparatus Judged.Specifically, the embodiment includes：

Step I：First optical range finding apparatus calculates every group of detection data respectively, normal data corresponding with the detection data The standard deviation of difference, the corresponding normal data of the detection data are used to characterize the light intensity value when detection data is not interfered；

Step II：When there is at least one set of detection data, the standard deviation of the difference of normal data corresponding with the detection data, During more than preset third threshold value, the first optical range finding apparatus determines optical detection process by the second optical range finding apparatus in range-measurement system Interference.

If the optical detection process of the first optical range finding apparatus is not interfered by the second optical range finding apparatus, the first flash ranging Away from device to each group detection data obtained from being sampled by the reflected detection light of barrier, usually corresponding mark There is no difference or difference very little between quasi- data；But if the optical detection process of the first optical range finding apparatus is by the second flash ranging Interference away from device, then the normal data difference that each group detection data can be corresponding are larger.Therefore, every group of spy can first be calculated Then measured data, the standard deviation of the difference of normal data corresponding with the detection data can weigh first according to the standard deviation Whether the optical detection process of optical range finding apparatus is interfered by the second optical range finding apparatus.Specifically, when there are detection data, with this When the standard deviation of the difference of the corresponding normal data of detection data is more than third threshold value, show to exist some or certain detection datas and Differ larger between its corresponding normal data, it may be considered that being deposited between the normal data for causing the detection data corresponding It is in the reason of larger difference, the optical detection process of the first optical range finding apparatus receives the interference of the second optical range finding apparatus；And Only every group of detection data, the standard deviation of the difference of normal data corresponding with the detection data, during no more than third threshold value, table Difference between bright every group of detection data normal data corresponding with the detection data is smaller, just thinks the first optical range finding apparatus Optical detection process is not interfered by the optical detection process of the second optical range finding apparatus.

Wherein, preset third threshold value can be preset by technical staff, can also be automatically generated by algorithm routine, As for the setting of threshold value, there are numerous embodiments, and details are not described herein.

The embodiment in order to better understand, is exemplified below：

Assuming that the first radar range unit is during optical detection is carried out, to being carried out by the reflected detection light of barrier Four signal samplings obtain four group detection datas, and each group of detection data is a detected pixel array, then for every group Detected pixel array, it is assumed that have k pixel a on the detected pixel array₁, a₂ … a_k, then by the detected pixel array On each pixel gray value, standard pixel array corresponding with the detected pixel array（That is normal data）On it is corresponding It is poor that the gray value of pixel is made, and obtains the difference of the gray value of corresponding pixel points between detected pixel array and the standard pixel array Value：△₁, △₂ … △_k, then calculate the standard deviations of these differences.Specifically, first by these differences △₁, △₂ … △_kIt carries out cumulative summation and obtains total difference M, then by the number of pixel all on total difference M divided by detected pixel array Value k obtains the average value u of these differences, then calculates the gray value of all pixels point and average value u on the detected pixel array Difference quadratic sum W, then a numerical value k by pixel all on quadratic sum W divided by detected pixel array, obtain quadratic sum Then mean value v calculates the arithmetic square root of mean value v, you can obtain the corresponding standard pixel array of detected pixel array it Between corresponding pixel points gray value difference standard deviation.Using the above process, four groups of detected pixels can be calculated respectively The standard deviation of the difference of the gray value of corresponding pixel points between the corresponding standard pixel array of array.

To be more than preset third threshold value when there are the values of at least one standard deviation, then it is assumed that the light of the first optical range finding apparatus is visited Survey process receives the interference of the second optical range finding apparatus；When each standard deviation is no more than preset third threshold value, then it is assumed that The optical detection process of first optical range finding apparatus is not interfered by the second optical range finding apparatus.

Further, since the environment residing for the first radar range unit is not necessarily constant always（Such as illumination Become strong or die down）, in order to adapt to the variation of environment, normal data can also timely replacement.As a kind of example, this practicality New embodiment can also include：

When all detection datas, the standard deviation of the difference of normal data corresponding with the detection data, all no more than preset During third threshold value, the first optical range finding apparatus determines that optical detection process is not done by the second radar range unit in range-measurement system It disturbs；

First optical range finding apparatus can replace the corresponding normal data of the detection data using each detection data.

Therefore, in order to reduce influence caused by environmental change as far as possible, then it can work as all detection datas, with the detection The standard deviation of the difference of the corresponding normal data of data, all no more than preset third threshold value when, update normal data.By working as When some standard deviations are not more than preset third threshold value, it may be determined that optical detection process is not by the second radar range unit Interference, then light intensity value when this time the obtained detection data of optical detection process is not interfered as, by the detection data After being substituted for corresponding normal data, the environment during next optical detection residing for the first optical range finding apparatus, with normal data pair The environment answered is essentially identical, and then also just reduces the influence caused by environmental change.It is corresponding, when there are any one standards When difference is more than preset third threshold value, shows the optical detection process of the first optical range finding apparatus, receive the second radar range unit Interference, then this time the obtained detection data of optical detection process is light intensity value when being interfered.At this point, not to criterion numeral According to being updated, i.e., the detection data being interfered is not utilized to be substituted for corresponding normal data.

In addition, the embodiment of the present application additionally provides a kind of jamproof range unit, shown also referring to Fig. 7, Fig. 7 A kind of apparatus structure schematic diagram of anti-interference ranging in the embodiment of the present application.The device 700 is applied to arbitrary in range-measurement system One optical range finding apparatus, device 700 include：

Detection module 701, for whether detecting the optical detection process of the first optical range finding apparatus by range-measurement system second The interference of optical range finding apparatus；

Postponement module 702, for working as the optical detection process for detecting the first optical range finding apparatus by range-measurement system second During the interference of optical range finding apparatus, the first optical range finding apparatus is by optical detection process lag preset time；

Data processing module 703, for working as the optical detection process for detecting the first optical range finding apparatus not by ranging system In system during the interference of the second optical range finding apparatus, the first optical range finding apparatus obtains the detection data that optical detection process is acquired, and carries out Data handling procedure obtains distance measurement result.

In some possible embodiments, detection module 701 includes：

Collecting unit, for acquiring ambient image, ambient image is believed for characterizing the environment residing for the first optical range finding apparatus Breath；

Detection unit, for according to ambient image, whether detection light detection process to be by the second ligh-ranging in range-measurement system The interference of device.

In some possible embodiments, in range-measurement system the optical detection process of each optical range finding apparatus time span All identical, ambient image includes first environment image and second environment image, and first environment image is for the first ligh-ranging of characterization The environmental information at the first moment residing for device, the first moment cross Cheng Qian in optical detection, and second environment image is for characterization first The environmental information at the second moment residing for optical range finding apparatus, the second moment, detection unit included after optical detection process：

First obtains subelement, for obtaining error image, differential chart according to first environment image and second environment image Difference as being used to characterize first environment image and second environment gray value of image；

Second obtains subelement, for obtaining the sum of the absolute value of the gray value of each pixel in error image；

First determination subelement, for when the absolute value of gray value and during more than preset first threshold, determining that light is visited Survey process is interfered by the second optical range finding apparatus in range-measurement system.

In some possible embodiments, ambient image is used to be characterized in the environmental information that Cheng Qian is crossed in optical detection；Detection Unit includes：

Third obtains subelement, for obtaining the shade of gray of ambient image；

Second determination subelement, for when shade of gray be more than preset second threshold when, determine optical detection process by The interference of second optical range finding apparatus in range-measurement system.

In some possible embodiments, detection module 701 includes：

Computing unit, for calculating every group of detection data, the mark of the difference of normal data corresponding with the detection data respectively Accurate poor, the corresponding normal data of the detection data is used to characterize light intensity value when detection data is not interfered；

There is at least one set of detection data in the first determination unit, normal data corresponding with the detection data for working as The standard deviation of difference during more than preset third threshold value, determines optical detection process by the second optical range finding apparatus in range-measurement system Interference.

In some possible embodiments, which further includes：

Determining module, for working as all detection datas, the standard deviation of the difference of normal data corresponding with the detection data, all During no more than preset third threshold value, determine that optical detection process is not interfered by the second optical range finding apparatus in range-measurement system；

In some possible embodiments, Postponement module 702 includes：

Second determination unit for the first optical range finding apparatus according to time ratio, determines the N that preset time is optical detection process Times, wherein, N be no more than the time than positive integer, the time is than the data handling procedure for the first optical range finding apparatus and optical detection The ratio of the time of process；

Delay cell, the first optical range finding apparatus carry out optical detection process after postponing preset time.

About the device in above-described embodiment, wherein modules perform the concrete mode of operation in related this method Embodiment in be described in detail, explanation will be not set forth in detail herein.

The embodiment of the present application additionally provides a kind of hardware device of jamproof ranging, as shown in figure 8, including：

Memory 801, processor 802 and communication bus 803, memory 801 and processor 802 are total by the communication Line 803 carries out data interaction, and for storing instruction, processor 802 is used to hold from 801 call instruction of memory memory 801 Row, described instruction include：

When there is at least one set of detection data, the standard deviation of the difference of normal data corresponding with the detection data is more than During preset third threshold value, first optical range finding apparatus determines the optical detection process by described in the range-measurement system The interference of two optical range finding apparatus.

In some possible embodiments, described instruction further includes：

In addition, present invention also provides a kind of non-transitorycomputer readable storage medium including instructing, such as including The memory of instruction, above-metioned instruction can be performed to complete method shown in Fig. 4 as processor.For example, the non-transitory computer Readable storage medium storing program for executing can be ROM, random access memory（RAM）, CD-ROM, tape, floppy disk and optical data storage devices etc..

A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by the processing of mobile terminal When device performs so that mobile terminal is able to carry out a kind of jamproof distance measuring method, the method includes：

Whether the first optical range finding apparatus detection light detection process is interfered by the second optical range finding apparatus in range-measurement system；

Wherein, the first optical range finding apparatus and the second optical range finding apparatus are included at least in range-measurement system；

When the optical detection process for detecting the first optical range finding apparatus is interfered by the second optical range finding apparatus in range-measurement system When, the first optical range finding apparatus is by optical detection process lag preset time；

When detecting the optical detection process of the first optical range finding apparatus not by the second optical range finding apparatus in range-measurement system During interference, the first optical range finding apparatus obtains the detection data that optical detection process is acquired, and carries out data handling procedure and obtains ranging As a result.

Those skilled in the art will readily occur to this practicality after considering specification and putting into practice utility model disclosed herein Novel other embodiments.The utility model is intended to cover any variations, uses, or adaptations of the utility model, These variations, uses, or adaptations follow the general principle of the utility model and including undocumented skills of the disclosure Common knowledge or conventional techniques in art field.Description and embodiments are considered only as illustratively, the utility model True scope and spirit are pointed out by following claim.

It should be understood that the accurate knot that the utility model is not limited to be described above and be shown in the drawings Structure, and various modifications and changes may be made without departing from the scope thereof.The scope of the utility model only will by appended right It asks limiting that the above is only the preferred embodiment of the present invention, is not intended to limit the utility model, it is all in this practicality Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model Within the scope of shield.

Claims

1. a kind of jamproof range unit, which is characterized in that applied to any one optical range finding apparatus in range-measurement system, institute Device is stated to include：

Detection module, for whether detecting the optical detection process of the first optical range finding apparatus by the second flash ranging in the range-measurement system Interference away from device；

Postponement module, for working as the optical detection process for detecting first optical range finding apparatus by the range-measurement system During the interference of the second optical range finding apparatus, first optical range finding apparatus is by the optical detection process lag preset time；

Data processing module, for working as the optical detection process for detecting first optical range finding apparatus not by the survey Away from during the interference of the second optical range finding apparatus, first optical range finding apparatus obtains the spy that the optical detection process is acquired in system Measured data carries out data handling procedure and obtains distance measurement result.

2. the apparatus according to claim 1, which is characterized in that the detection module includes：

Collecting unit, for acquiring ambient image, the ambient image is used to characterize the ring residing for first optical range finding apparatus Border information；

Detection unit, for according to the ambient image, whether detecting the optical detection process by institute in the range-measurement system State the interference of the second optical range finding apparatus.