CN-115113223-B - Laser ranging method, device and computer readable storage medium

CN115113223BCN 115113223 BCN115113223 BCN 115113223BCN-115113223-B

Abstract

The application discloses a laser ranging method, a laser ranging device and a computer readable storage medium, and relates to the technical field of lasers. The method comprises the steps of obtaining a reference clock signal, obtaining a stop signal, inputting the reference clock signal and the stop signal into a plurality of measuring channels for measurement, sampling the reference clock signal and the stop signal to obtain edge time information of the stop signal and a previous reference clock signal, and obtaining a time difference value according to the reference clock count value and the edge time information. Therefore, according to the technical scheme, continuous counting is performed through the reference clock signal to serve as a rough timing result, and the accurate time difference value is obtained by combining the edge time information of the stop signal and the previous reference clock, so that laser ranging is realized, and higher precision is achieved.

Inventors

JIN LULU
LU XIAOYUN
ZHANG HAIPING
ZUO HAIYANG

Assignees

杭州瑞盟科技股份有限公司
杭州瑞盟科技股份有限公司

Dates

Publication Date: 20260421
Application Date: 20220704
Priority Date: 20220704

Claims (9)

1. A laser ranging method, comprising: acquiring a reference clock signal for acquiring a reference clock count value; Acquiring a stop signal; inputting the reference clock signal and the stop signal into a measuring channel for measurement, wherein the number of the measuring channels is multiple; Sampling the reference clock signal and the stop signal to acquire edge time information of the stop signal and the previous reference clock signal; acquiring a time difference value according to the reference clock count value and the edge time information; the inputting the reference clock signal and the stop signal to a measurement channel to perform a measurement includes: The method comprises the steps of acquiring a preset measurement mode, wherein the measurement mode comprises an independent measurement mode, a pulse distance measurement mode and a pulse width measurement mode, wherein the independent measurement mode is used for measuring the stop signal or the reference clock signal for each measurement channel independently, the pulse distance measurement mode is used for measuring the stop signal for a plurality of measurement channels, and the pulse width measurement mode is used for measuring the rising edge and the falling edge of the same stop signal for a plurality of measurement channels respectively; and measuring the reference clock signal and the stop signal according to the measurement mode.
2. The laser ranging method of claim 1, wherein the sampling the reference clock signal and the stop signal comprises: Acquiring a preset resolution; Setting the reference clock signal and the to-be-measured point of the stop signal according to the resolution; and sampling the reference clock signal and the stop signal according to the point to be detected.
3. The laser ranging method as claimed in claim 1, wherein the measuring the reference clock signal and the stop signal according to the measurement mode comprises: if the measurement mode is the independent measurement mode, each measurement channel respectively measures the stop signal; if the measurement mode is the pulse distance measurement mode, taking two measurement channels as a group, and alternately measuring the stop signal by the measurement channels in each group; and if the measuring mode is the pulse width measuring mode, taking two measuring channels as a group, and measuring the rising edge and the falling edge of the same stop signal by the measuring channels in each group in sequence.
4. The laser ranging method according to claim 1, further comprising, after the obtaining a time difference value from the reference clock count value and the edge time information: converting the time difference value output in parallel into serial data; And outputting the serial data through a serial communication interface.
5. The laser ranging method as set forth in claim 4, further comprising, after the outputting the serial data through a serial communication interface: and outputting information of measurement completion.
6. The laser ranging method according to claim 2, wherein the resolution includes a double resolution and a quadruple resolution.
7. A laser ranging device, comprising: the first acquisition module is used for acquiring a reference clock signal and acquiring a reference clock count value; the second acquisition module is used for acquiring a stop signal; The input module is used for inputting the reference clock signal and the stop signal into a measuring channel for measurement, wherein the number of the measuring channels is multiple; The sampling module is used for sampling the reference clock signal and the stop signal to acquire edge time information of the stop signal and the previous reference clock signal; A third obtaining module, configured to obtain a time difference value according to the reference clock count value and the edge time information, and obtain a measurement distance according to the time difference value; the inputting the reference clock signal and the stop signal to a measurement channel to perform a measurement includes: The method comprises the steps of acquiring a preset measurement mode, wherein the measurement mode comprises an independent measurement mode, a pulse distance measurement mode and a pulse width measurement mode, wherein the independent measurement mode is used for measuring the stop signal or the reference clock signal for each measurement channel independently, the pulse distance measurement mode is used for measuring the stop signal for a plurality of measurement channels, and the pulse width measurement mode is used for measuring the rising edge and the falling edge of the same stop signal for a plurality of measurement channels respectively; and measuring the reference clock signal and the stop signal according to the measurement mode.
8. A laser ranging device, comprising: a memory for storing a computer program; A processor for implementing the steps of the laser ranging method according to any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of the laser ranging method according to any of claims 1 to 6.

Description

Laser ranging method, device and computer readable storage medium Technical Field The present application relates to the field of laser technologies, and in particular, to a laser ranging method, a laser ranging device, and a computer readable storage medium. Background The pulse laser ranging has the advantages of high peak power, long detection distance, high measurement speed, high repetition frequency and simple structure, and has low requirements on the coherence of light sources, thereby playing an important role in the fields of military, science and technology and production. The laser ranging system calculates the distance by the time between the laser emission and the return, so the time difference measurement becomes a key factor affecting the whole measurement precision, and the time difference measurement by using a time-to-digital converter (Time to Digital Convert, TDC) chip can realize higher measurement precision. In the existing time measurement technology, the reference clock cycle number in the time interval to be measured can be directly counted by a direct counting method, so that a final calculation result is obtained. However, this direct measurement method can realize time difference measurement over a wide range, but has poor measurement accuracy. In view of the above, designing a laser ranging method is a problem to be solved by those skilled in the art. Disclosure of Invention The application aims to provide a laser ranging method, a laser ranging device and a computer readable storage medium. In order to solve the technical problems, the present application provides a laser ranging method, which includes: acquiring a reference clock signal for acquiring a reference clock count value; Acquiring a stop signal; inputting the reference clock signal and the stop signal into a measuring channel for measurement, wherein the number of the measuring channels is multiple; Sampling the reference clock signal and the stop signal to acquire edge time information of the stop signal and the previous reference clock signal; and acquiring a time difference value according to the reference clock count value and the edge time information. Preferably, the sampling the reference clock signal and the stop signal includes: Acquiring a preset resolution; Setting the reference clock signal and the to-be-measured point of the stop signal according to the resolution; and sampling the reference clock signal and the stop signal according to the point to be detected. Preferably, the inputting the reference clock signal and the stop signal to a measurement channel to perform measurement includes: acquiring a preset measurement mode, wherein the measurement mode comprises an independent measurement mode, a pulse distance measurement mode and a pulse width measurement mode; and measuring the reference clock signal and the stop signal according to the measurement mode. Preferably, said measuring said reference clock signal and said stop signal according to said measurement mode comprises: if the measurement mode is the independent measurement mode, each measurement channel respectively measures the stop signal; if the measurement mode is the pulse distance measurement mode, taking two measurement channels as a group, and alternately measuring the stop signal by the measurement channels in each group; and if the measuring mode is the pulse width measuring mode, taking two measuring channels as a group, and measuring the rising edge and the falling edge of the same stop signal by the measuring channels in each group in sequence. Preferably, after the obtaining of the time difference value according to the reference clock count value and the edge time information, the method further includes: converting the time difference value output in parallel into serial data; And outputting the serial data through a serial communication interface. Preferably, after the serial data is output through the serial communication interface, the method further includes: and outputting information of measurement completion. Preferably, the resolution includes a double resolution and a quadruple resolution. In order to solve the technical problem, the application further provides a laser ranging device, which comprises: the first acquisition module is used for acquiring a reference clock signal and acquiring a reference clock count value; the second acquisition module is used for acquiring a stop signal; The input module is used for inputting the reference clock signal and the stop signal into a measuring channel for measurement, wherein the number of the measuring channels is multiple; The sampling module is used for sampling the reference clock signal and the stop signal to acquire edge time information of the stop signal and the previous reference clock signal; And the third acquisition module is used for acquiring a time difference value according to the reference clock count value and the edge time information and acquiring a meas