Lidar, mobile device and lidar attachment detection method

Abstract

The present application discloses a type of optical radar, a mobile device, and a method for measuring an optical radar attachment. The optical radar comprises a transmit / receive assembly, a diffuser, a measurement module, and a control module. The transmit / receive assembly is used to emit a transmitted laser beam and to receive an echo laser beam. The diffuser is installed in an optical path corresponding to the transmit / receive assembly, and a portion of the transmitted laser beam emitted from the transmit / receive assembly is reflected by the diffuser to form a reflected laser beam. The reflected laser beam includes a mirror-reflected laser beam. The measurement module is used to receive the reflected laser beam and also to generate a corresponding electrical signal. The control module is electrically connected to the transmit / receive assembly and the measurement module, and the control module is configured to determine whether an attachment is attached to the diffuser based on the corresponding electrical signal. With this design, the presence of an attachment on the diffuser can be effectively tested, thereby improving the measurement accuracy of the optical radar.

Description

Technology Field

[0001] This application relates to the field of radar technology, specifically to a type of optical radar, a mobile device, and a method for measuring an optical radar attachment. Background Technology

[0002] Optical radar is generally susceptible to external influences during operation, which can lead to the attachment of components to the diffuser. Since these components block the optical path, they cause interference with normal measurements. However, existing optical radar technologies cannot test whether components are attached to the test diffuser, resulting in inaccurate measurement results. Consequently, this affects the measurement accuracy of the optical radar, creating a risk of safety accidents when used in vehicles.

[0003] An embodiment of the present application discloses a type of optical radar, a mobile device, and a method for measuring an optical radar attachment. The problem of the optical radar's measurement accuracy deteriorating due to interference caused by the diffuser attachment to the transmitted laser beam can be resolved.

[0004] First, embodiments of the present application disclose a type of optical radar. The optical radar comprises a transmit / receive assembly, a diffuser, a measurement module, and a control module. The transmit / receive assembly is used to emit a transmitted laser beam and to receive an echo laser beam. The diffuser is installed in an optical path corresponding to the transmit / receive assembly, and a portion of the transmitted laser beam emitted from the transmit / receive assembly is reflected by the diffuser to form a reflected laser beam. The reflected laser beam includes a mirror-reflected laser beam. The measurement module is used to receive the reflected laser beam and also to generate a corresponding electrical signal. The control module is electrically connected to the transmit / receive assembly and the measurement module, and the control module is configured to determine whether an attachment is attached to the diffuser based on the corresponding electrical signal.

[0005] An optical radar based on an embodiment of the present application forms a reflected laser beam after a portion of the transmitted laser beam emitted from a transmitting and receiving assembly is reflected by a diffuser. A measurement module receives the reflected laser beam, converts it into an optical signal corresponding to the reflected laser beam, and also generates a corresponding electrical signal. A control module determines whether an attachment is attached to the diffuser based on the corresponding electrical signal. By applying the measurement module in this way to collect the reflected laser beam of the transmitting and receiving assembly and effectively determine whether an attachment is attached to the diffuser, the measurement accuracy of the optical radar can be improved.

[0006] Secondly, an embodiment of the present application discloses a type of mobile device. The mobile device includes the optical radar.

[0007] A mobile device based on the embodiment of the present application is a mobile device equipped with the optical radar. Since the optical radar has good measurement accuracy, the mobile device is provided with good safety.

[0008] Thirdly, an embodiment of the present application discloses a measurement method for a type of optical radar attachment and applies it to the optical radar, and the measurement method includes the following structure.

[0009] Acquires the electrical signal generated by the measurement module.

[0010] If the preset relationship between the electrical signal strength and the preset extreme value is satisfied, it is confirmed that an attachment is attached to the diffuser.

[0011] The optical radar attachment measurement method based on the embodiment of the present application includes the following structure. It acquires an electrical signal generated by a measurement module and analyzes and compares the magnitude between the electrical signal strength and a preset extreme value. Furthermore, it is determined that an attachment is attached to the diffuser when the electrical signal strength and the preset extreme value satisfy a preset relationship. In this way, the measurement accuracy of the optical radar can be effectively improved. Brief explanation of the drawing

[0012] In order to explain in detail the technical methods of the embodiments of the present application or the prior art, the drawings necessary for explaining the embodiments or prior art are briefly described below. The drawings in the following description are intended solely to explain some embodiments of the present invention, and those with ordinary knowledge in the technical field to which the present invention belongs will be able to obtain other drawings based on the drawings without creative labor. FIG. 1 is a structural guide diagram of an optical radar in one embodiment of the present application. FIG. 2 is a structural guide diagram of an optical radar in another embodiment of the present application. FIG. 3 is a structural guide diagram of an optical radar in another embodiment of the present application. FIG. 4 is a structural guide diagram of an optical radar in another embodiment of the present application. FIG. 5 is a structural guide diagram of an optical radar in another embodiment of the present application. FIG. 6 is a structural guide diagram of an optical radar in another embodiment of the present application. FIG. 7 is a structural guide diagram of an optical radar in another embodiment of the present application. FIG. 8 is a flowchart of an optical radar attachment measurement method in one embodiment of the present application. FIG. 9 is a flowchart of an optical radar attachment measurement method in another embodiment of the present application. FIG. 10 is a flowchart of an optical radar attachment measurement method in another embodiment of the present application. Specific details for implementing the invention

[0013] Hereinafter, embodiments of the present application will be described in more detail with reference to the accompanying drawings to more clearly explain the purpose, technical methods, and advantages of the present application. It will be understood that the specific embodiments described herein are solely for the purpose of illustrating the present application and do not limit the application.

[0014] Optical radar is a radar system that emits a laser beam to measure specific values, such as the position and velocity of a target object. Explaining its operating principle, the optical radar emits a laser beam at a target object and receives the echo laser beams that return after being reflected or diffusely reflected by the object. Furthermore, after appropriately processing the reflected or diffusely reflected echo laser beams, relevant parameters such as the target object's distance, directional position, height, velocity, attitude, and even shape can be acquired. This allows for applications in scenarios such as navigation, collision avoidance, obstacle identification, distance measurement, speed measurement, and autonomous driving for products like automobiles, robots, logistics trucks, and inspection vehicles.

[0015] Optical radar generally includes components such as a diffuser, a transmitter, and a receiver. The transmitter is used to emit the transmission laser beam, and the receiver is used to receive the echo laser beam. Both the transmitter and the receiver are located inside the diffuser, and the transmission and echo laser beams pass through the diffuser to exit or enter the optical radar.

[0016] Optical radar is generally susceptible to the influence of external factors during operation, causing attachments to adhere to the diffuser. The term "external factor" may include, but is not limited to, one or more factors such as temperature and humidity. The term "attachment" can be understood as an object that causes interference when the emitter emits a transmitted laser beam, thereby preventing some of the transmitted laser beam from being delivered to an object along a preset optical path (the transmission path of the transmitted laser beam when no attachment is attached to the diffuser). The specific form of attachments attached to the diffuser varies depending on different external factors. For example, if the external factor is temperature, water mist will adhere to the diffuser if the temperature difference between the inside and outside of the diffuser is too large. In this case, water mist is the specific form of attachment attached to the diffuser due to the temperature factor. If the external factor is dry sandy weather, the fluidity of the sandy dust in the atmosphere on the outside of the diffuser (i.e., the side facing away from the transmit / receive assembly) is relatively high, causing dust to adhere to the outside of the diffuser. In this case, dust is a specific form of expression for an attachment that adheres to the diffuser due to dry sandy dust weather elements. When the external element is humid rainy weather, the fluidity of rainwater in the atmosphere outside the diffuser is relatively high, causing water stains to adhere to the outer surface of the diffuser. In this case, water stains are a specific form of expression for an attachment that adheres to the diffuser due to humid rainy weather elements. It should be noted that the specific location of the attachment on the diffuser is not limited here. It should be understood that attachments of equivalent or different specific forms of expression will also have different specific locations on the diffuser. For example, if the attachment is water mist, the temperature on the inside of the diffuser (i.e., the side where the diffuser faces the transmitting / receiving assembly) is higher than the temperature on the outside of the diffuser, so water mist forms on the inside of the diffuser. Conversely, if the temperature on the inside of the diffuser is lower than the temperature on the outside, water mist forms on the outside of the diffuser.

[0017] If no attachment is attached to the diffuser, most of the transmitted laser beam emitted from the emitter penetrates the diffuser and is projected onto the target object. Additionally, after being reflected by the target object or undergoing diffuse reflection, it forms an echo laser beam that is also transported to the receiver. If an attachment is attached to the diffuser, the attachment acts to block the transmitted laser beam, thereby causing interference with the transmitted laser beam emitted from the emitter.

[0018] However, optical radar, among the related technologies, cannot test whether an attachment is attached to the diffuser. If the optical radar measures a target object using a transmitted laser beam that is still subject to interference from the attachment, the acquired measurement results are inevitably inaccurate, thereby affecting the measurement accuracy of the optical radar.

[0019] Therefore, how to effectively measure whether an attachment is attached to the diffuser is a problem that must be solved to improve the measurement accuracy of the optical radar.

[0020] Referring to FIG. 1 to solve the above technical problem, a type of optical radar (1) is disclosed in the first aspect of the present application as shown in FIG. 1, and the measurement accuracy of the optical radar (1) is improved by effectively determining whether an attachment is attached to the diffuser (20).

[0021] The optical radar (1) includes a transmit / receive assembly (10), a diffuser (20), a measurement module (30), and a control module (not shown). The transmit / receive assembly (10) is used to emit a transmitted laser beam and to receive an echo laser beam. The diffuser (20) is installed in an optical path corresponding to the transmit / receive assembly (10) and forms a reflected laser beam after some of the transmitted laser beam emitted from the transmit / receive assembly (10) is reflected by the diffuser (20). The reflected laser beam includes a mirror-reflected laser beam. The measurement module (30) is used to receive the reflected laser beam and also to generate a corresponding electrical signal. The control module, the transmit / receive assembly (10), and the measurement module (30) are electrically connected, and the control module is configured to determine whether an attachment is attached to the diffuser (20) based on the corresponding electrical signal.

[0022] Hereinafter, the specific structure of the optical radar (1) will be explained in conjunction with Figures 1 to 7.

[0023] As shown in Fig. 1, the optical radar (1) includes a transmit / receive assembly (10), a diffuser (20), a measurement module (30), and a control module.

[0024] The transmitting and receiving assembly (10) is a component that can be used to emit a laser beam from an optical radar (1) and also to receive an echo laser beam.

[0025] The transmission and reception assembly (10) includes a light emitter and a light receiver. The light emitter is used to emit the transmitted laser beam to a target object within the measurement area. The light receiver is used to receive the echo laser beam returning from the target object. The echo laser beam is formed after the transmitted laser beam is reflected or diffusely reflected by the target object. Specifically, the light emitter may be a photodiode (PD). The photodiode converts a continuous analog electrical signal into an optical signal corresponding to the transmitted laser beam. The light receiver may be an avalanche photodiode (APD). The avalanche photodiode converts the optical signal corresponding to the received echo laser beam into a continuous analog electrical signal and also transmits it to a control module (described below).

[0026] In optical radars (1) of different representation types, the relative positional relationship between the optical emitter and the optical receiver may also differ. For example, if the optical radar (1) is a mechanical optical radar or a flash solid-state optical radar, the optical emitter and the optical receiver are set off-axis. That is, the optical path of the transmitted laser beam emitted by the optical emitter and the optical path of the echo laser beam received by the optical receiver are different. The angle between the optical path of the transmitted laser beam emitted by each optical emitter and the diffuser (20) is a fixed angle. The angle between the optical path of the echo laser beam received by each optical receiver and the diffuser (20) is also a fixed angle. If the optical radar (1) is a rotary mirror scan optical radar and / or a Microelectro Mechanical Systems (MEMS) vibrating mirror scan optical radar, the optical emitter and the optical receiver are set coaxially. That is, the optical path of the transmitted laser beam emitted by the optical emitter and the optical path of the echo laser beam received by the optical receiver are equivalent (the optical paths overlap in space). Since the optical path passes through a rotating mirror and / or a vibrating mirror deflection rotational scan, there are multiple angles of narrowing between the optical path of the transmitted laser beam emitted by each optical emitter and the diffuser (20). There are also multiple angles of narrowing between the optical path of the echo laser beam received by each optical receiver and the diffuser (20).

[0027] On the one hand, the diffuser (20) serves as a window for the optical radar (1) to allow the transmitted laser beam emitted by the optical emitter and the echo laser beam received by the optical receiver to pass through, and on the other hand, as part of the case of the optical radar (1) to protect components such as the optical emitter and the optical receiver. Here, the specific structure of the diffuser (20) is not limited, and the designer can design it reasonably according to actual needs. Here, the specific manufacturing materials of the diffuser (20) are not limited, and the designer can select them reasonably according to actual needs. Furthermore, it will be understood that the specific structure and specific manufacturing materials of the diffuser (20) of the optical radar (1) of different forms may also differ.

[0028] The diffuser (20) is installed in an optical path corresponding to the transmitting and receiving assembly (10). In other words, the transmitted laser beam emitted by the optical emitter of the transmitting and receiving assembly (10) passes through the diffuser (20), and the echo laser beam received by the optical receiver of the transmitting and receiving assembly (10) also passes through the diffuser (20).

[0029] A portion of the transmitted laser beam emitted by the optical emitter of the transmitting and receiving assembly (10) forms a reflected laser beam after reflection by the diffuser (20). In other words, some of the transmitted laser beam emitted by the optical emitter of the transmitting and receiving assembly (10) passes through the diffuser (20) and is emitted from the optical radar (1), while other portions of the transmitted laser beam do not pass through the diffuser (20) and are reflected by the diffuser (20), thereby forming the reflected laser beam. Among these, the reflected laser beam includes a mirror-reflected laser beam and a diffuse-reflected laser beam. When no attachment is attached to the diffuser (20), a portion of the transmitted laser beam emitted by the optical emitter of the transmitting and receiving assembly (10) forms a mirror-reflected laser beam after being mirror-reflected by the diffuser (20). At the same time, a portion of the transmitted laser beam emitted by the optical emitter of the transmitting and receiving assembly (10) also forms a diffuse-reflected laser beam after diffuse reflection by the diffuser (20). At this time, the intensity of the optical signal corresponding to the mirror-reflected laser beam is relatively strong, and the intensity of the optical signal corresponding to the diffuse-reflected laser beam is relatively weak. When an attachment is attached to the diffuser (20), a portion of the output laser beam emitted by the light emitter of the transmitting and receiving assembly (10) forms a diffuse-reflected laser beam after being diffusely reflected by the attachment attached to the diffuser (20). At the same time, a portion of the output laser beam emitted by the light emitter of the transmitting and receiving assembly (10) also forms a mirror-reflected laser beam after reflection by the diffuser (20). At this time, the intensity of the optical signal corresponding to the diffuse-reflected laser beam is relatively strong, and the intensity of the optical signal corresponding to the mirror-reflected laser beam is relatively weak.

[0030] The measurement module (30) is a component that measures whether an attachment is attached to the diffuser (20) among the optical radars (1). The measurement module (30) may be a standalone optical measuring device separated from the optical emitter or optical receiver, or it may be formed as the optical receiver. The specific form of the measurement module (30) is described below.

[0031] The measurement module (30) receives the reflected laser beam and also uses it to form a corresponding electrical signal. In other words, the measurement module (30) receives a portion of the transmitted laser beam emitted by the light emitter of the transmitting and receiving assembly (10) and the reflected laser beam formed after reflection by the diffuser (20), and the measurement module (30) can also convert the optical signal corresponding to the reflected laser beam into an electrical signal.

[0032] The control module is used as the core controller of the optical radar (1).

[0033] The control module is electrically connected to the light emitter of the transmission / reception assembly (10) and controls the light emitter to emit a laser beam toward a target object. The control module is also electrically connected to the light receiver of the transmission / reception assembly (10) and controls the light receiver to receive an echo laser beam returning from the target object.

[0034] The control module is electrically connected to the measurement module (30) and configured to determine whether an attachment is attached to the diffuser (20) based on the corresponding electrical signal. For example, if an attachment is not attached to the diffuser (20), the intensity of the light signal corresponding to the mirror-reflected laser beam formed after a portion of the transmitted laser beam emitted by the light emitter of the transmitting and receiving assembly (10) is mirror-reflected by the diffuser (20) is relatively strong. The measurement module (30) can convert the relatively strong light signal and also generate a first electrical signal (a type of the above electrical signal, described below). The control module determines that an attachment is not attached to the diffuser (20) based on the corresponding first electrical signal. In addition, for example, if an attachment is attached to the diffuser (20), the intensity of the light signal corresponding to the diffusely reflected laser beam formed after a portion of the transmitted laser beam emitted by the light emitter of the corresponding transmission / reception assembly (10) is diffusely reflected by the attachment attached to the diffuser (20) is relatively strong. The measurement module (30) converts the relatively strong light signal and also generates a second electrical signal different from the first electrical signal (a type of electrical signal, described below). The control module can determine that an attachment is attached to the diffuser (20) based on the second electrical signal. It should also be noted that when the control module determines whether an attachment is attached to the diffuser (20) based on the electrical signal, the control module may control other parts of the optical radar (1) to perform the corresponding operation. For example, if the attached object is water mist, the control module can remove the water mist attached to the diffuser (20) by controlling the heating module of the optical radar (1) to heat the diffuser (20). If the attached object is dust, the control module can remove the dust attached to the diffuser (20) by controlling the cleaning module of the optical radar (1) to automatically clean the diffuser (20).Of course, the control module can also control the alarm module of the optical radar (1) to generate an alarm signal (e.g., a buzzer alarm) to suggest cleaning the diffuser (20) to the user and remove dust attached to the diffuser (20).

[0035] Specifically, the control module may include an analog-to-digital conversion unit and an integration unit. The analog-to-digital conversion unit may be an analog-to-digital converter (ADC) or a time-to-digital converter (TDC). The analog-to-digital conversion unit is used to convert an analog electrical signal output from the optical receiver of the transmit / receive assembly (10) into a digital electrical signal and also to output it to the integration unit. The integration unit may be a chip or a Field Programmable Gate Array (FPGA). The integration unit can control each structure of the optical radar (1) and use it to analyze and process the digital electrical signal output from the analog-to-digital conversion unit to measure a target object. Among these, the integration unit may include a controller and a signal processor. The controller can be used for driving control of the optical emitter of the transmit / receive assembly (10) and rotation control of the optical deflection module (40) (described below), etc. The signal processor can be used to determine parameters such as the intensity, flight time, or angle of the echo laser beam by performing operations such as filtering, sampling, and time monitoring on the digital electrical signal output from the analog-to-digital conversion unit, and further to acquire related parameters such as the distance, direction position, height, speed, attitude, and even shape of the target object.

[0036] It should be noted that there are many types of optical radar (1) that measure target objects based on different light waves, and the embodiments of this application are not limited thereto. For example, the optical radar (1) may be a laser radar. In this case, the light emitter is a laser emitter, and the transmitted laser beam emitted by the laser emitter is a transmitted laser. Correspondingly, the light receiver is a laser receiver, and the echo laser beam received by the laser receiver is an echo laser. A portion of the transmitted laser emitted by the light emitter is reflected by the diffuser (20) to form a reflected laser beam, i.e., a reflected laser.

[0037] A portion of the transmitted laser beam emitted from the transmitting and receiving assembly (10) based on the optical radar (1) of the present application embodiment forms a reflected laser beam after being reflected by the diffuser (20). A measurement module (30) receives the reflected laser beam, converts an optical signal corresponding to the reflected laser beam, and also generates a corresponding electrical signal. A control module determines whether an attachment is attached to the diffuser (20) based on the corresponding electrical signal. In this way, by applying the measurement module (30) to collect the reflected laser beam of the transmitting and receiving assembly (10), it is possible to effectively determine whether an attachment is attached to the diffuser (20). This improves the measurement accuracy of the optical radar (1).

[0038] The specific form of the measurement module (30) may be other standalone optical sensors other than the light emitter and the light receiver. For example, the measurement module (30) includes a first measuring instrument (31).

[0039] The light emitter and light receiver of the transmission and reception assembly (10) are installed off-axis.

[0040] As shown in FIG. 1, in some embodiments, the number of first measuring instruments (31) may be one or multiple (two or more). The first measuring instruments (31) and the transmitting / receiving assembly (10) are installed in a 1:1 correspondence. That is, each transmitting / receiving assembly (10) has at most one corresponding first measuring instrument (31).

[0041] The first measuring device (31) is installed in the optical path of the mirror-reflected laser beam of the corresponding transmitting and receiving assembly (10). That is, the first measuring device (31) can receive the mirror-reflected laser beam of the transmitting and receiving assembly (10). It should be noted that if the quantity of the first measuring device (31) is one, the quantity of the transmitting and receiving assembly (10) may also be one. In this case, the corresponding first measuring device (31) is installed in the optical path of the mirror-reflected laser beam of the corresponding transmitting and receiving assembly (10). Of course, the quantity of the transmitting and receiving assembly (10) may also be multiple. In this case, the corresponding first measuring device (31) is installed in the optical path of the mirror-reflected laser beam of one of the transmitting and receiving assemblies (10), and the remaining transmitting and receiving assemblies (10) are installed so as not to correspond to the first measuring device (31). If the number of first measuring devices (31) is multiple, the number of transmitting and receiving assemblies (10) is also multiple, and the number of first measuring devices (31) and the number of transmitting and receiving assemblies (10) may be equal. In this case, each first measuring device (31) is installed in the optical path of the mirror-reflected laser beam of the corresponding transmitting and receiving assembly (10). Of course, the number of first measuring devices (31) may be smaller than the number of transmitting and receiving assemblies (10). In this case, each first measuring device (31) is installed in the optical path of the mirror-reflected laser beam of the corresponding transmitting and receiving assembly (10), and the remaining transmitting and receiving assemblies (10) may be installed so as not to correspond to the first measuring devices (31). It should be noted that the angle between the optical path of the transmitted laser beam emitted by the optical emitter of each transmitting and receiving assembly (10) and the diffuser (20) is fixed and constant. The optical path of the corresponding mirror-reflected laser beam formed after being mirror-reflected by the diffuser (20) is also fixed and unchanging. However, only the first measuring device (31) installed in the optical path of the mirror-reflected laser beam can receive the mirror-reflected laser beam. If the first measuring device (31) is installed in an optical path other than the mirror-reflected laser beam, it cannot receive the mirror-reflected laser beam.

[0042] The first measuring device (31) can convert an optical signal corresponding to the received mirror-reflected laser beam and also generate a first electrical signal (it can be said that one of the electrical signals or the first electrical signal is included in the electrical signal).

[0043] The control module is electrically connected to the first measuring device (31) and can be configured to determine whether an attachment is attached to the diffuser (20) based on the first electrical signal. If no attachment is attached to the diffuser (20), a portion of the output laser beam emitted by the light emitter of the transmitting and receiving assembly (10) forms a mirror-reflected laser beam after being mirror-reflected by the diffuser (20). At this time, it can be understood that the intensity of the light signal corresponding to the mirror-reflected laser beam is relatively strong (i.e., the energy of the mirror-reflected laser beam is large). Of course, a portion of the output laser beam emitted by the light emitter of the transmitting and receiving assembly (10) also forms a diffusely-reflected laser beam after being diffusely-reflected by the diffuser (20). At this time, the intensity of the light signal corresponding to the diffusely-reflected laser beam is relatively weak. The first measuring device (31) converts the relatively strong light signal corresponding to the received mirror-reflected laser beam and also generates the first electrical signal. At this time, the intensity of the first electrical signal is relatively large. The control module determines that no attachment is attached to the diffuser (20) based on a first electrical signal with a relatively high intensity. When an attachment is attached to the diffuser (20), a portion of the transmitted laser beam emitted by the light emitter of the transmitting and receiving assembly (10) is diffusely reflected by the attachment attached to the diffuser (20) and forms a diffusely reflected laser beam. At this time, the intensity of the light signal corresponding to the diffusely reflected laser beam is relatively strong. Of course, a portion of the transmitted laser beam emitted by the light emitter of the transmitting and receiving assembly (10) is mirror-reflected by the diffuser (20) and also forms a mirror-reflected laser beam. At this time, the intensity of the light signal corresponding to the mirror-reflected laser beam is relatively weak (i.e., the energy of the mirror-reflected laser beam is small). The first measuring device (31) converts the light signal with a relatively weak intensity corresponding to the received mirror-reflected laser beam and also generates a first electrical signal. At this time, the intensity of the first electrical signal is relatively small.The control module determines that an attachment is attached to the diffuser (20) based on a first electrical signal of relatively low intensity.

[0044] The light emitter and light receiver of the transmission and reception assembly (10) are installed coaxially.

[0045] As shown in FIG. 2, in some embodiments, the number of first measuring instruments (31) may be one or multiple (two or more). A transmitting and receiving assembly (10) is installed to correspond to at least one first measuring instrument (31). Among them, the transmitting and receiving assembly (10) may be installed to correspond to one first measuring instrument (31). The transmitting and receiving assembly (10) may also be installed to correspond to multiple first measuring instruments (31).

[0046] The optical path of the mirror-reflected laser beam of the transmitting and receiving assembly (10) may include multiple angles. In other words, the direction of the mirror-reflected laser beam formed after the transmitted laser beam fired at the diffuser (20) at different incident angles is mirror-reflected by the diffuser (20) is also all different.

[0047] A first measuring device (31) is installed in the optical path of a mirror-reflected laser beam at a different angle. When one first measuring device (31) is installed corresponding to the transmitting and receiving assembly (10), the first measuring device (31) can receive a mirror-reflected laser beam in one direction within the observation field of view of the transmitting and receiving assembly (10) and generate a first electrical signal. In order to cover a relatively large number of mirror-reflected laser beams in many directions within the observation field of view of the transmitting and receiving assembly (10), a plurality of first measuring devices (31) can be set corresponding to the transmitting and receiving assembly (10).

[0048] The first measuring device (31) receives a mirror-reflected laser beam at a corresponding angle and uses it to generate a first electrical signal.

[0049] The control module is electrically connected to the first measuring device (31) and is configured to determine whether an attachment is attached to the diffuser (20) based on the first electrical signal. If no attachment is attached to the diffuser (20), a portion of the output laser beam emitted by the light emitter of the transmitting and receiving assembly (10) forms a mirror-reflected laser beam after being mirror-reflected by the diffuser (20). At this time, it can be understood that the intensity of the light signal corresponding to the mirror-reflected laser beam in each direction is relatively strong. Of course, a portion of the output laser beam emitted by the light emitter of the transmitting and receiving assembly (10) also forms a diffusely-reflected laser beam after being diffusely-reflected by the diffuser (20). At this time, the intensity of the light signal corresponding to the diffusely-reflected laser beam is relatively weak. The first measuring device (31) converts the relatively strong light signal corresponding to the received mirror-reflected laser beam in different directions and also generates the first electrical signal. At this time, the intensity of the first electrical signal is relatively large. The control module can determine that no attachment is attached to the diffuser (20) based on a first electrical signal with a relatively high intensity. When an attachment is attached to the diffuser (20), a portion of the transmitted laser beam emitted by the light emitter of the transmitting and receiving assembly (10) is diffusely reflected by the attachment attached to the diffuser (20) and forms a diffusely reflected laser beam in a different direction. At this time, the intensity of the light signal corresponding to the diffusely reflected laser beam in each direction is relatively strong. Of course, a portion of the light emitted by the light emitter of the transmitting and receiving assembly (10) can also form a mirror-reflected laser beam in a different direction after being mirror-reflected by the diffuser (20). At this time, the intensity of the light signal corresponding to the mirror-reflected laser beam in each direction is relatively weak (i.e., the energy of the mirror-reflected laser beam in each direction is small). The first measuring device (31) can convert the light signal with a relatively weak intensity corresponding to the received mirror-reflected laser beam in a different direction and generate a first electrical signal.At this time, the strength of the first electrical signal is relatively small. Based on the first electrical signal with a relatively small strength, the control module can determine that an attachment is attached to the diffuser (20).

[0050] As shown in FIG. 3, in some embodiments, the number of first measuring instruments (31) may be one or multiple. The first measuring instrument (31) is configured to correspond with at least two transmitting and receiving assemblies (10).

[0051] The optical path of the mirror-reflected laser beam of the transmitting and receiving assembly (10) covers a single reflection angle range. It should be explained that, in terms of the entire optical radar (1), the angle range covered by the observation field angles of all transmitting and receiving assemblies (10) is different. For example, if there are three transmitting and receiving assemblies (10), the observation field angle of the first transmitting and receiving assembly (10) covers -7°-0° within the optical radar's forward observation field, the observation field angle of the second transmitting and receiving assembly (10) covers -2°-5° within the optical radar's forward observation field, and the observation field angle of the third transmitting and receiving assembly (10) covers 3°-7° within the optical radar's forward observation field. Here, the specific values ​​of the reflection angle range of each transmitting and receiving assembly (10) are not limited, and the designer can design them reasonably based on actual needs.

[0052] There is some overlap between the observation angles of adjacent transmitting and receiving assemblies (10). There is also some overlap in the reflection angle range formed after some of the transmitted laser beams of the two transmitting and receiving assemblies (10) are reflected by a diffuser. The first measuring device (31) is installed within the overlapping angle range of the reflection angle ranges of at least two transmitting and receiving assemblies (10). Thus, the same first measuring device (31) can be used to receive mirror-reflected laser beams emitted from at least two transmitting and receiving assemblies (10), and the purpose of reducing the overall cost of the optical radar (1) is achieved by reducing the number of first measuring devices (31).

[0053] The first measuring device (31) receives the mirror-reflected laser beams of at least two transmitting and receiving assemblies (10) and uses them to generate a first electrical signal.

[0054] The control module and the first measuring device (31) are electrically connected, and the control module is configured to determine whether an attachment is attached to the diffuser (20) based on the first electrical signal. If no attachment is attached to the diffuser (20), a portion of the output laser beam emitted by the light emitter of all transmission and reception assemblies (10) forms a mirror-reflected laser beam after being mirror-reflected by the diffuser (20). At this time, it can be understood that the intensity of the light signal corresponding to the mirror-reflected laser beam is relatively strong (i.e., the energy of the mirror-reflected laser beam is high). Of course, a portion of the output laser beam emitted by the light emitter of all transmission and reception assemblies (10) also forms a diffusely-reflected laser beam after being diffusely-reflected by the diffuser (20). At this time, the intensity of the light signal corresponding to the diffusely-reflected laser beam is relatively weak. The first measuring device (31) can convert the relatively strong light signal corresponding to the mirror-reflected laser beam falling within the overlap angle range and also generate the first electrical signal. At this time, the strength of the first electrical signal is relatively large. Based on the first electrical signal with a relatively large strength, the control module determines that no attachment is attached to the diffuser (20). If an attachment is attached to the diffuser (20), a portion of the transmitted laser beam emitted by the light emitter of all transmitting and receiving assemblies (10) is diffusely reflected by the attachment attached to the diffuser (20) and forms a diffusely reflected laser beam. At this time, the strength of the light signal corresponding to the diffusely reflected laser beam is relatively strong. Of course, a portion of the transmitted light emitted by the light emitter of the transmitting and receiving assembly (10) is mirror-reflected by the diffuser (20) and also forms a mirror-reflected laser beam. At this time, the strength of the light signal corresponding to the mirror-reflected laser beam is relatively weak (i.e., the energy of the mirror-reflected laser beam is small). The first measuring device (31) can convert the light signal with a relatively weak strength corresponding to the received mirror-reflected laser beam and generate the first electrical signal. At this time, the strength of the first electrical signal is relatively small.The control module determines that an attachment is attached to the diffuser (20) based on a first electrical signal of relatively low intensity.

[0055] Of course, to further improve the measurement performance of the optical radar (1) by more accurately measuring whether the measuring module (30) is attached to the diffuser (20), the measuring module (30) may also include a second measuring instrument (32), for example.

[0056] As shown in Fig. 4, the number of second measuring devices (32) may be one or multiple. All second measuring devices (32) are installed outside the optical path of the mirror-reflected laser beam. That is, the second measuring devices (32) cannot receive the mirror-reflected laser beam of the transmitting and receiving assembly (10).

[0057] The second measuring device (32) is used to receive a diffusely reflected laser beam and also to generate a second electrical signal (a type of electrical signal or the second electrical signal included in the electrical signal). When multiple transmitting and receiving assemblies (10) operate in series, the second measuring device (32) does not operate during the non-measurement time interval (described below) of the corresponding transmitting and receiving assembly (10). The second measuring device (32) operates normally only during the measurement time interval of the corresponding transmitting and receiving assembly (10) and is used to receive the diffusely reflected laser beam. At this time, each second measuring device (32) can be used to receive the diffusely reflected laser beam of one transmitting and receiving assembly (10) and to generate the second electrical signal. In order to reduce the overall cost of the corresponding optical radar (1) by reducing the number of second measuring devices (32) in consideration of the diffusely reflected laser beam being relatively dispersed, the second measuring device (32) is preferably used to receive the diffusely reflected laser beams of at least two transmitting and receiving assemblies (10). In other words, the same second measuring device (32) can receive the diffusely reflected laser beam of a different transmitting and receiving assembly (10).

[0058] The control module and the second measuring device (32) are electrically connected, and the control module determines whether an attachment is attached to the diffuser (20) based on at least one of the first electrical signal and the second electrical signal. If no attachment is attached to the diffuser (20), a portion of the output laser beam emitted by the light emitter of the transmission / reception assembly (10) forms a mirror-reflected laser beam after reflection by the diffuser (20). At this time, it can be understood that the intensity of the light signal corresponding to the mirror-reflected laser beam is relatively strong (i.e., the energy of the mirror-reflected laser beam is high). Of course, a portion of the output laser beam emitted by the light emitter of the transmission / reception assembly (10) also forms a diffusely reflected laser beam after being diffusely reflected by the diffuser (20). At this time, the intensity of the light signal corresponding to the diffusely reflected laser beam is relatively weak (i.e., the energy of the diffusely reflected laser beam is low). The first measuring device (31) can convert the relatively strong light signal corresponding to the mirror-reflected laser beam and also generate the first electrical signal. At this time, the strength of the first electrical signal is relatively large. The second measuring device (32) converts a light signal with a relatively weak strength corresponding to the diffusely reflected laser beam and also generates a second electrical signal. At this time, the strength of the second electrical signal is relatively small. The controller can determine whether an attachment is attached to the diffuser (20) solely through the first electrical signal. It can also determine whether an attachment is not attached to the diffuser (20) solely through the second electrical signal. Furthermore, it can determine whether an attachment is not attached to the diffuser (20) jointly through the first electrical signal and the second electrical signal. When an attachment is attached to the diffuser (20), a portion of the transmitted laser beam emitted by the light emitter of the transmitting and receiving assembly (10) is diffusely reflected by the attachment attached to the diffuser (20) to form a diffusely reflected laser beam.At this time, the intensity of the optical signal corresponding to the diffuse reflection laser beam is relatively strong (i.e., the energy of the diffuse reflection laser beam is high). Of course, a portion of the output laser beam emitted by the light emitter of the transmitting and receiving assembly (10) is mirror-reflected by the diffuser (20) and then forms a mirror-reflected laser beam. At this time, the intensity of the optical signal corresponding to the mirror-reflected laser beam is relatively weak (i.e., the energy of the mirror-reflected laser beam is low). The second measuring device (32) can convert the relatively strong optical signal corresponding to the diffuse reflection laser beam and generate a second electrical signal. At this time, the intensity of the second electrical signal is relatively high. The first measuring device (31) can convert the optical signal with a relatively weak intensity corresponding to the mirror-reflected laser beam and generate a first electrical signal. At this time, the intensity of the first electrical signal is relatively low. The controller can determine, solely through the second electrical signal, that an attachment is attached to the diffuser (20). It can also determine, solely through the first electrical signal, that an attachment is attached to the diffuser (20). In addition, it may be determined that an attachment is attached to the diffuser (20) through the first electric signal and the second electric signal. It should be noted that when the control module determines whether an attachment is attached to the diffuser (20) through the first electric signal and the second electric signal, it may determine this by using the first electric signal and the second electric signal each satisfying different conditions as a determination condition. Alternatively, it may determine this by using the first electric signal and the second electric signal jointly satisfying the same condition as a determination condition.

[0059] Of course, the first measuring device (31) and the second measuring device (32) of the measuring module (30) can reuse the optical receiver of the transmission and reception assembly (10). For example, the optical receiver of the transmission and reception assembly (10) is used as the first measuring device (31). In this way, the optical receiver of the transmission and reception assembly (10) can be used to receive the echo laser beam of the target object and also to receive the mirror reflection laser beam, thereby reducing the number of parts of the optical radar (1), thereby reducing the total volume of the optical radar (1) and simultaneously achieving the goal of lowering the total cost of the optical radar (1).

[0060] As shown in FIG. 5, in some embodiments, the number of transmitting and receiving assemblies (10) is at least two, and the number of transmitting and receiving assemblies (10) may be two, three, four, five, or six or more. The specific number of transmitting and receiving assemblies (10) is not limited here. A designer can design it reasonably based on actual demand.

[0061] The transmission and reception assembly (10) includes a first transmission and reception assembly and a second transmission and reception assembly.

[0062] The light emitter (33) of the first transmission / reception assembly emits a transmitted laser beam.

[0063] The measurement module (30) includes an optical receiver (34) of the second transmission / reception assembly. The optical receiver (34) of the second transmission / reception assembly is located in the optical path of the mirror-reflected laser beam of the first transmission / reception assembly. That is, the mirror-reflected laser beam of the first transmission / reception assembly can be received by the optical receiver (34) of the second transmission / reception assembly.

[0064] The optical receiver (34) of the second transmission / reception assembly converts the mirror-reflected laser beam coming from the first transmission / reception assembly received and generates a third electrical signal (a type of electrical signal or the third electrical signal included in the electrical signal).

[0065] The control module and the optical receiver (34) of the second transmission / reception assembly are electrically connected, and the control module is configured to determine whether an attachment is attached to the diffuser (20) based on the third electrical signal. If no attachment is attached to the diffuser (20), it can be understood that a portion of the transmitted laser beam emitted from the optical emitter (33) of the first transmission / reception assembly forms a mirror-reflected laser beam after being mirror-reflected by the diffuser (20). At this time, the intensity of the optical signal corresponding to the mirror-reflected laser beam is relatively strong. Of course, a portion of the transmitted laser beam emitted from the optical emitter (33) of the first transmission / reception assembly also forms a diffusely-reflected laser beam after being diffusely reflected by the diffuser (20). At this time, the intensity of the optical signal corresponding to the diffusely-reflected laser beam is relatively weak. The optical receiver (34) of the second transmission / reception assembly converts the relatively strong optical signal corresponding to the received mirror-reflected laser beam and also generates the third electrical signal. At this time, the strength of the third electrical signal is relatively large. Based on the third electrical signal with a relatively large strength, the control module determines that no attachment is attached to the diffuser (20). If an attachment is attached to the diffuser (20), a portion of the transmitted laser beam emitted from the light emitter (33) of the first transmission-reception assembly is diffusely reflected by the attachment attached to the diffuser (20) and forms a diffusely reflected laser beam. At this time, the strength of the light signal corresponding to the diffusely reflected laser beam is relatively strong. Of course, a portion of the transmitted laser beam emitted from the light emitter (33) of the first transmission-reception assembly is mirror-reflected by the diffuser (20) and also forms a mirror-reflected laser beam. At this time, the strength of the light signal corresponding to the mirror-reflected laser beam is relatively weak (i.e., the energy of the mirror-reflected laser beam is small). The light receiver (34) of the second transmission-reception assembly can convert the light signal with a relatively weak strength corresponding to the received mirror-reflected laser beam and also generate a third electrical signal. At this time, the strength of the third electrical signal is relatively small.The control module determines that an attachment is attached to the diffuser (20) based on a third electrical signal of relatively low intensity.

[0066] Furthermore, in some embodiments, when the first transmission / reception assembly and the second transmission / reception assembly are operated in serial connection, the optical receiver (34) of the second transmission / reception assembly receives a mirror-emitted laser beam during a non-measurement time interval. It will be understood that when the optical receiver (34) of the second transmission / reception assembly operates normally during a measurement time interval, it receives an echo laser beam returning from a target object, and when the optical receiver (34) of the second transmission / reception assembly does not operate during a non-measurement time interval, it does not need to receive a corresponding echo laser beam. In this way, the mirror-reflected laser beam of the first transmission / reception assembly can be received using the optical receiver (34) of the second transmission / reception assembly within a non-measurement time interval, and the optical receiver (34) of the second transmission / reception assembly is made to perform the function of the first measuring device (31). Among them, "serial operation" should be understood to mean that the light emitter (33) of the first transmission / reception assembly starts emitting a transmission laser beam, and only after the light receiver of the first transmission / reception assembly receives the echo laser beam does the light emitter of the second transmission / reception assembly begin emitting a transmission laser beam. "Non-measurement time interval" should be understood to mean the time when the light emitter of the second transmission / reception assembly does not emit a transmission laser.

[0067] As shown in FIG. 6, in some embodiments, the transmitting and receiving assembly (10) may also include other transmitting and receiving assemblies other than the first transmitting and receiving assembly and the second transmitting and receiving assembly. The number of other transmitting and receiving assemblies may be one or multiple.

[0068] At this time, the measurement module (30) also includes an optical receiver (35) of the other transmission / reception assembly. The optical receiver (35) of the other transmission / reception assembly is located in an optical path other than the mirror-reflected laser beam of the first transmission / reception assembly. That is, the optical receiver (35) of the other transmission / reception assembly can receive the diffusely reflected laser beam of the first transmission / reception assembly. The optical receiver (35) of the other transmission / reception assembly operates normally during the measurement time interval and receives the echo laser beam returning from the target object. It can be understood that the optical receiver (35) of the other transmission / reception assembly does not operate during the non-measurement time interval and therefore does not receive the echo laser beam returning from the target object. In this way, the diffusely reflected laser beam of the first transmission / reception assembly is received using the optical receiver (35) of the other transmission / reception assembly during the non-measurement time interval, and the optical receiver (35) of the other transmission / reception assembly performs the function of the second measuring device (32).

[0069] All other transmission and reception assemblies include at least one optical receiver (35) of the other transmission and reception assembly and are used to receive the diffusely reflected laser beam of the first transmission and reception assembly and to generate a fourth electrical signal (a type of electrical signal or the fourth electrical signal included in the electrical signal).

[0070] The control module and the optical receiver (35) of the other transmission / reception assembly are electrically connected, and the control module is configured to determine whether an attachment is attached to the diffuser (20) based on at least one of the third electrical signal and the fourth electrical signal. If no attachment is attached to the diffuser (20), it can be understood that a portion of the transmitted laser beam emitted by the optical emitter (33) of the first transmission / reception assembly forms a mirror-reflected laser beam after being mirror-reflected by the diffuser (20), and at this time, the intensity of the optical signal corresponding to the mirror-reflected laser beam is relatively strong (i.e., the energy of the mirror-reflected laser beam is large). Of course, a portion of the transmitted laser beam emitted by the optical emitter (33) of the first transmission / reception assembly also forms a diffuse-reflected laser beam after being diffusely reflected by the diffuser (20). At this time, the intensity of the optical signal corresponding to the diffuse-reflected laser beam is relatively weak (i.e., the energy of the diffuse-reflected laser beam is small). The optical receiver (34) of the second transmission / reception assembly converts a relatively strong optical signal corresponding to the received mirror-reflected laser beam and also generates a third electrical signal. At this time, the intensity of the third electrical signal is relatively large. The optical receiver (35) of the other transmission / reception assembly converts a relatively weak optical signal corresponding to the received diffusely reflected laser beam and also generates a fourth electrical signal. At this time, the intensity of the fourth electrical signal is relatively small. The controller can determine, alone, that an attachment is not attached to the diffuser (20) through the third electrical signal, and can also determine, alone, that an attachment is not attached to the diffuser (20) through the fourth electrical signal, and can also determine, together, that an attachment is not attached to the diffuser (20) through the third electrical signal and the fourth electrical signal. When an attachment is attached to the diffuser (20), a portion of the transmitted laser beam emitted from the light emitter (33) of the first transmitting and receiving assembly is diffusely reflected by the diffuser (20) to form a diffusely reflected laser beam.At this time, the intensity of the optical signal corresponding to the diffuse reflection laser beam is relatively strong (i.e., the energy of the diffuse reflection laser beam is high). Of course, a portion of the transmitted laser beam emitted from the optical emitter (33) of the first transmission / reception assembly is mirror-reflected by the diffuser (20) and then forms a mirror-reflected laser beam. At this time, the intensity of the optical signal corresponding to the mirror-reflected laser beam is relatively weak (i.e., the energy of the mirror-reflected laser beam is low). In addition, the optical receiver (35) of the transmission / reception assembly can convert the relatively strong optical signal corresponding to the received diffuse reflection laser beam and also generate a fourth electrical signal. At this time, the intensity of the fourth electrical signal is relatively high. The optical receiver (34) of the second transmission / reception assembly can convert the optical signal with a relatively weak intensity corresponding to the received mirror-reflected laser beam and also generate a third electrical signal. At this time, the intensity of the third electrical signal is relatively low. The controller can determine, solely through the fourth electrical signal, that an attachment is attached to the diffuser (20). In addition, it may be determined that an attachment is attached to the diffuser (20) through the third electric signal alone. In addition, it may be determined that an attachment is attached to the diffuser (20) jointly through the third electric signal and the fourth electric signal. Among these, when the controller determines whether an attachment is attached to the diffuser (20) jointly through the third electric signal and the fourth electric signal, it may determine this by using the condition that the third electric signal and the fourth electric signal each satisfy different conditions as a determination condition. In addition, it may determine this by using the condition that the third electric signal and the fourth electric signal jointly satisfy the same condition as a determination condition.

[0071] It should be noted that the array positions, optical path directions, etc., of the multiple transmitting and receiving assemblies (10) within the optical radar (1) are all accurately designed in advance and belong to the basic structural design of the optical radar (1). In order for the optical radar (1) to normally acquire relevant parameters such as the distance, direction, height, speed, attitude, and even shape of a target object, the basic structure of the optical radar (1), in which the multiple transmitting and receiving assemblies (10) are formed in array positions, optical directions, etc., within the optical radar (1), is fixed and immutable. Through a method of measurement or calculation in a situation where the basic structure of the optical radar (1) is fixed and immutable, the mirror-reflected laser beam of one of the transmitting and receiving assemblies (10) is accurately aligned with the optical path of another transmitting and receiving assembly (10) and can also be received by the other transmitting and receiving assembly (10). However, the first transmitting and receiving assembly and the second transmitting and receiving assembly can be determined only if the relationship corresponding to the optical paths of the "one of the transmitting and receiving assemblies (10)" and the "other transmitting and receiving assembly (10)" is satisfied. In addition, the first transmission / reception assembly is designated as "one of the transmission / reception assemblies (10)" and the second transmission / reception assembly is designated as "another transmission / reception assembly (10)". In other words, the relationship corresponding to the optical path between the transmission / reception assemblies (10) is determined through methods such as measurement or calculation. Then, the first transmission / reception assembly and the second transmission / reception assembly are determined by creating a reusable design using the relationship corresponding to the optical path. The first transmission / reception assembly and the second transmission / reception assembly are not directly and simply set up and implemented.

[0072] Furthermore, in order to improve the measurement accuracy of the optical radar (1) by accurately transmitting the mirror-reflected laser beam of the first transmission-reception assembly to the optical receiver (34) of the second transmission-reception assembly, the optical radar (1) may also include an optical deflection module (40) in some embodiments as illustrated in FIG. 7. The optical deflection module (40) is located in the optical path of the mirror-reflected laser beam of the first transmission-reception assembly. The optical deflection module (40) is used to adjust the optical path direction of the mirror-reflected laser beam of the first transmission-reception assembly so that the mirror-reflected laser beam is transmitted directly to the optical receiver (34) of the second transmission-reception assembly after being reflected by the optical deflection module (40). The optical deflection module (40) may include a reflective lens or a refractive prism, but is not limited thereto. Additionally, when the optical deflection module (40) includes a reflective lens, the reflective lens is provided with a reflective surface. The reflective lens may be fixed so that the reflective surface faces in one direction. The reflective lens may also be rotatable so that the reflective surface faces in a different direction. It should be noted that if "one of the transmitting and receiving assemblies (10)" and "another transmitting and receiving assembly (10)" satisfying the relationship corresponding to the optical path are not found through measurement or calculation methods, the optical path direction of the mirror-reflected laser beam of "one of the transmitting and receiving assemblies (10)" is adjusted through the design of the optical deflection module (40), so that the mirror-reflected laser beam of "one of the transmitting and receiving assemblies (10)" after adjustment is accurately aligned with the optical path of "another transmitting and receiving assembly (10)" and also received by "another transmitting and receiving assembly (10)." This causes "one of the transmitting and receiving assemblies (10)" and "another transmitting and receiving assembly (10)" to satisfy the relationship corresponding to the optical path.

[0073] A mobile device of a type is disclosed in a second aspect of the present application. The mobile device includes the optical radar (1). The mobile device may include, but is not limited to, a device equipped with functions such as navigation collision avoidance, obstacle identification, distance measurement, speed measurement, and autonomous driving, such as an automobile, robot, logistics truck, or inspection vehicle. In the design, the mobile device equipped with the optical radar (1) ensures that the mobile device has good safety by ensuring good measurement accuracy of the optical radar (1).

[0074] As illustrated in FIGS. 8 to 10, a method for measuring an attachment of a type of optical radar (1) is disclosed in the third aspect of the present application. The method for measuring an attachment of an optical radar (1) disclosed in the embodiment of the present application can be applied to various light wave-based object measuring optical radars (1), for example, laser radars.

[0075] Next, usage scenarios for the measurement method of the optical radar (1) attachment disclosed in the embodiment of the present application are described. The usage scenarios include, but are not limited to, the following situations. For example, there are scenarios in which a robot plans self-positioning and a path through the optical radar (1), scenarios in which an unmanned vehicle plans an environmental test and a movement path through the optical radar (1), scenarios in which obstacles are measured through the optical radar (1) during drone flight, scenarios in which an Augmented Reality (AR) device tests the environment and builds a model through the optical radar (1), and scenarios in which a marine exploration device distinguishes fish types and measures fish school density through the optical radar (1). In the above various scenarios, the attachment attached to the diffuser (20) of the optical radar (1) can be measured through the measurement method of the optical radar (1) disclosed in the embodiment of the present application, further processing of the attachment, and further improving the measurement accuracy of the optical radar (1).

[0076] Hereinafter, a measurement method for an optical radar (1) attachment disclosed in an embodiment of the present application is described. The measurement method is applied to the optical radar (1). It should be noted that each procedure of the method may be executed by the optical radar (1) and may also be executed by the control module of the optical radar (1). As illustrated in FIG. 8, FIG. 8 is a flowchart of a measurement method for an optical radar (1) attachment disclosed in an embodiment of the present application. As illustrated in FIG. 8, the measurement method includes procedure S201 and procedure S202.

[0077] Procedure S201, acquire the electrical signal generated by the measurement module (30).

[0078] The optical radar (1) emits a laser beam at a target object when in operation and also receives an echo laser beam that is reflected back by the target object. In one embodiment, the optical radar (1) emits a laser beam through a light emitter of a transmitting and receiving assembly (10) and receives an echo laser beam through a light receiver of a transmitting and receiving assembly (10).

[0079] A portion of the transmitted laser beam emitted by the optical emitter of the transmitting and receiving assembly (10) forms a reflected laser beam after being reflected by the diffuser (20) of the optical radar (1). Among these, the reflected laser beam includes a mirror-reflected laser beam and a diffuse-reflected laser beam. When no attachment is attached to the diffuser (20), a portion of the transmitted laser beam emitted by the optical emitter of the transmitting and receiving assembly (10) forms a mirror-reflected laser beam after being mirror-reflected by the diffuser (20). At the same time, a portion of the transmitted laser beam emitted by the optical emitter of the transmitting and receiving assembly (10) also forms a diffuse-reflected laser beam after being diffusely reflected by the diffuser (20). At this time, the intensity of the optical signal corresponding to the mirror-reflected laser beam is relatively strong, and the intensity of the optical signal corresponding to the diffuse-reflected laser beam is relatively weak. When an attachment is attached to the diffuser (20), a portion of the output laser beam emitted by the light emitter of the transmitting and receiving assembly (10) is diffusely reflected by the attachment attached to the diffuser (20) to form a diffusely reflected laser beam. At the same time, a portion of the output laser beam emitted by the light emitter of the transmitting and receiving assembly (10) is reflected by the diffuser (20) to also form a mirror-reflected laser beam. At this time, the intensity of the light signal corresponding to the diffusely reflected laser beam is relatively strong, and the intensity of the light signal corresponding to the mirror-reflected laser beam is relatively weak.

[0080] The measurement module (30) is used to receive a reflected laser beam and also to generate a corresponding electrical signal. Among these, the measurement module (30) may be a standalone optical meter separated from the optical emitter or optical receiver, or it may be formed as the optical receiver. If the measurement module (30) is a standalone optical meter separated from the optical emitter and the optical receiver, then the measurement module (30) includes the first measuring device (31). The first measuring device (31) is used to receive the mirror-reflected laser beam of the transmission / reception assembly (10) and also to generate the first electrical signal. Of course, the measurement module (30) may also include the second measuring device (32). The second measuring device (32) is used to receive the diffusely reflected laser beam of the transmission / reception assembly (10) and also to generate the second electrical signal. When the measurement module (30) uses the optical receiver in duplicate, the optical receiver (34) of the second transmission / reception assembly may be used as the measurement module (30). The optical receiver (34) of the second transmission / reception assembly receives the mirror-reflected laser beam of the first transmission / reception assembly and is also used to generate the third electrical signal. Of course, the optical receiver (35) of the other transmission / reception assembly can also be used as the measurement module (30). The optical receiver (35) of the other transmission / reception assembly receives the diffusely reflected laser beam of the first transmission / reception assembly and is also used to generate the fourth electrical signal. The electrical signal includes the first electrical signal, the second electrical signal, the third electrical signal, and the fourth electrical signal.

[0081] Procedure S202, if the preset relationship between the strength of the electric signal and the preset extreme value is satisfied, it is confirmed that an attachment is attached to the diffuser (20).

[0082] If no attachment is attached to the diffuser (20), it can be understood that the actual intensity of the optical signal corresponding to the mirror-reflected laser beam received by the measurement module (30) is relatively strong. The first measuring instrument (31) converts the relatively strong optical signal corresponding to the mirror-reflected laser beam and also generates the first electrical signal. At this time, the intensity of the first electrical signal is relatively large. By comparing the intensity of the first electrical signal with a preset extreme value, it is confirmed that no attachment is attached to the diffuser (20). Alternatively, the optical receiver (34) of the second transmission / reception assembly may convert the relatively strong optical signal corresponding to the mirror-reflected laser beam and also generate the third electrical signal. At this time, the intensity of the third electrical signal is relatively large. By comparing the intensity of the third electrical signal with a preset extreme value, it is confirmed that no attachment is attached to the diffuser (20).

[0083] If an attachment is not attached to the diffuser (20) in a corresponding manner, the actual intensity of the optical signal corresponding to the diffusely reflected laser beam received by the measurement module (30) is relatively weak. The second measuring instrument (32) can convert the optical signal with a relatively weak intensity corresponding to the diffusely reflected laser beam and also generate the second electrical signal. At this time, the intensity of the second electrical signal is relatively small. By comparing the intensity of the second electrical signal with a preset extreme value, it is confirmed that an attachment is not attached to the diffuser (20). Alternatively, the optical receiver (35) of the other transmitting and receiving assembly can convert the optical signal with a relatively weak intensity corresponding to the diffusely reflected laser beam and also generate the fourth electrical signal. At this time, the intensity of the fourth electrical signal is relatively small. By comparing the intensity of the fourth electrical signal with a preset extreme value, it is confirmed that an attachment is not attached to the diffuser (20).

[0084] Of course, if an attachment is attached to the diffuser (20), the actual intensity of the optical signal corresponding to the diffusely reflected laser beam received by the measurement module (30) is relatively strong. The second measuring instrument converts the relatively strong optical signal corresponding to the diffusely reflected laser beam and also generates the second electrical signal. At this time, the intensity of the second electrical signal is relatively large. By comparing the intensity of the second electrical signal with a preset extreme value, it is confirmed that an attachment is attached to the diffuser (20). Alternatively, the optical receiver (35) of the other transmitting and receiving assembly may convert the relatively strong optical signal corresponding to the diffusely reflected laser beam and also generate the fourth electrical signal. At this time, the intensity of the fourth electrical signal is relatively large. By comparing the fourth electrical signal with a preset extreme value, it is confirmed that an attachment is attached to the diffuser (20).

[0085] If an attachment is attached to the diffuser (20) in a corresponding manner, the actual intensity of the optical signal corresponding to the mirror-reflected laser beam received by the measurement module (30) is relatively weak. The first measuring instrument converts the optical signal with a relatively weak intensity corresponding to the mirror-reflected laser beam and also generates the first electrical signal. At this time, the intensity of the first electrical signal is relatively small. By comparing the intensity of the first electrical signal with a preset extreme value, it is confirmed that an attachment is attached to the diffuser (20). Alternatively, the optical receiver (34) of the second transmission / reception assembly may convert the optical signal with a relatively weak intensity corresponding to the mirror-reflected laser beam and also generate the third electrical signal. At this time, the intensity of the third electrical signal is relatively small. By comparing the third electrical signal with a preset extreme value, it is confirmed that an attachment is attached to the diffuser (20).

[0086] It should be noted that the above electrical signal includes at least one of the first electrical signal, the second electrical signal, the third electrical signal, and the fourth electrical signal, and that the first electrical signal, the second electrical signal, the third electrical signal, and the fourth electrical signal are different from each other.

[0087] It should be noted that "electrical signal strength" is used to express the magnitude of an electrical signal as a physical quantity. For example, the electrical signal strength can be at least one of peak voltage, pulse width, and integral area. Furthermore, it can be understood that the stronger the electrical signal strength, the larger the peak voltage, pulse width, and integral area, and conversely, the weaker the electrical signal strength, the smaller the peak voltage, pulse width, and integral area.

[0088] In the measurement method of an optical radar (1) attachment based on the embodiment of the present application, an electrical signal generated by a measurement module (30) is acquired, and the magnitude between the strength of the electrical signal and a preset extreme value is analyzed and compared. Additionally, if the preset relationship between the strength of the electrical signal and the preset extreme value is satisfied, it is determined that an attachment is attached to the diffuser (20). In this way, the measurement accuracy of the optical radar (1) can be effectively improved.

[0089] Furthermore, as illustrated in FIG. 9, FIG. 9 is a flowchart of a method for measuring a type of optical radar (1) attachment disclosed in an embodiment of the present application. As illustrated in FIG. 9, the procedure S202 includes procedure S301, procedure S302, and procedure S303.

[0090] Procedure S301, if the strength of the first electrical signal is less than the first preset extreme value, it is determined that an attachment is attached to the diffuser (20).

[0091] In procedure S301, if an attachment is attached to the diffuser (20), the actual intensity of the optical signal corresponding to the mirror-reflected laser beam received by the first measuring instrument (31) is relatively weak, so the intensity of the first electrical signal is made relatively small. The intensity of the first electrical signal is compared with the magnitude of the first preset extreme value. Also, if the intensity of the first electrical signal is smaller than the first preset extreme value, it is determined that an attachment is attached to the diffuser (20). Conversely, if the intensity of the first electrical signal is greater than or equal to the first extreme value, it is determined that an attachment is not attached to the diffuser (20). Among these, the preset extreme value includes the first preset extreme value, and the first preset extreme value can be preset based on the actual situation. For example, when the optical emitter and optical receiver of the transmitting and receiving assembly (10) are set off-axis, the first measuring instrument (31) is set to correspond 1:1 with the transmitting and receiving assembly (10). At this time, the first measuring device (31) is used only to receive the mirror-reflected laser beam of a corresponding single transmitting and receiving assembly (10). Therefore, the first preset extreme value of the first measuring device (31) can be set relatively small in advance. When the optical emitter and optical receiver of the transmitting and receiving assembly (10) are set coaxially, if the transmitting and receiving assembly (10) is set to correspond to a plurality of first measuring devices (31), then each first measuring device (31) is used only to receive the mirror-reflected laser beam from one direction of the transmitting and receiving assembly (10). Therefore, the first preset extreme value of the first measuring device (31) can be set relatively small in advance. If the first measuring device (31) corresponds to a plurality of transmitting and receiving assemblies, then the first measuring device (31) is used to receive the mirror-reflected laser beams of at least two transmitting and receiving assemblies (10). Therefore, the first preset extreme value of the first measuring device (31) can be set relatively large in advance. The specific numerical value of the first preset extreme value must be set based on actual conditions and is not explained here.

[0092] Procedure S302, if the strength of the second electrical signal is greater than the second preset extreme value, it is determined that an attachment is attached to the diffuser (20).

[0093] In procedure S302, if an attachment is attached to the diffuser (20), the actual intensity of the optical signal corresponding to the diffusely reflected laser beam received by the second measuring instrument (32) is relatively strong, thereby making the intensity of the second electrical signal relatively large. The intensity of the second electrical signal is compared with the magnitude of the second preset extreme value. Furthermore, if the intensity of the second electrical signal is greater than the second preset extreme value, it is determined that an attachment is attached to the diffuser (20). Conversely, if the intensity of the second electrical signal is less than or equal to the second extreme value, it is determined that an attachment is not attached to the diffuser (20). Among these, the above preset extreme value includes the second preset extreme value, and the second preset extreme value can be preset based on the actual situation. It should be explained that the method of setting the second preset extreme value is equivalent to the method of setting the first preset extreme value. Likewise, the greater the energy of the diffusely reflected laser beam of the transmitting and receiving assembly received by the second measuring device (32), the greater the principle of setting the second preset extreme value larger in advance. Conversely, the smaller the energy of the diffusely reflected laser beam of the transmitting and receiving assembly received by the second measuring device (32), the greater the principle of setting the second preset extreme value smaller in advance. Redundant explanations are omitted here.

[0094] Procedure S303, if the comparison value of the first electrical signal and the second electrical signal is smaller than the third preset pole value, it is determined that an attachment is attached to the diffuser (20).

[0095] In procedure S303, if an attachment is attached to the diffuser (20), the actual intensity of the optical signal corresponding to the mirror-reflected laser beam received by the first measuring instrument (31) is relatively weak, so the intensity of the first electrical signal is relatively small. The actual intensity of the optical signal corresponding to the diffuse-reflected laser beam received by the second measuring instrument (32) is relatively strong, so the intensity of the second electrical signal is relatively large. The magnitude of the comparison value between the first electrical signal and the second electrical signal is compared with the magnitude of the third preset extreme value. Furthermore, if the comparison value between the first electrical signal and the second electrical signal is smaller than the third preset extreme value, it is determined that an attachment is attached to the diffuser (20). Conversely, if the comparison value between the first electrical signal and the second electrical signal is greater than or equal to the third preset extreme value, it is determined that an attachment is not attached to the diffuser (20). Among these, the above preset extreme value includes the third preset extreme value, and the third preset extreme value can be preset based on the actual situation. It should be noted that the setting method for the third preset extreme value is equivalent to the setting method for the first preset extreme value. Redundant explanation is omitted here.

[0096] It should be explained that if at least one of the above procedures S301, S302, and S303 satisfies the requirement, it can be determined that an attachment is attached to the diffuser (20). Of course, the determination that an attachment is attached to the diffuser (20) is not limited to being determined through at least one of the above procedures S301, S302, and S303, and can also be achieved through other procedures. As long as it conforms to the design logic, the explanation is omitted here.

[0097] Furthermore, as illustrated in FIG. 10, FIG. 10 is a flowchart of a method for measuring a type of optical radar (1) attachment disclosed in an embodiment of the present application. As illustrated in FIG. 10, the procedure S202 includes procedure S401, procedure S402, and procedure S403.

[0098] Procedure S401, if the strength of the third electrical signal is less than the fourth preset extreme value, it is determined that an attachment is attached to the diffuser (20).

[0099] In procedure S401, if an attachment is attached to the diffuser (20), the actual intensity of the optical signal corresponding to the mirror-reflected laser beam received by the optical receiver (34) of the second transmission / reception assembly is relatively weak, and thus the intensity of the third electrical signal is made relatively small. The intensity of the third electrical signal is compared with the magnitude of the fourth preset extreme value, and if the intensity of the third electrical signal is smaller than the fourth preset extreme value, it is determined that an attachment is attached to the diffuser (20). Conversely, if the intensity of the third electrical signal is greater than or equal to the fourth extreme value, it is determined that an attachment is not attached to the diffuser (20). Among these, the above preset extreme value includes the fourth preset extreme value. The fourth preset extreme value can be preset based on actual conditions. It should be explained that the method of setting the fourth preset extreme value is equivalent to the method of setting the first preset extreme value. A redundant explanation is omitted here.

[0100] Procedure S402, if the strength of the fourth electrical signal is greater than the fifth preset extreme value, it is determined that an attachment is attached to the diffuser (20).

[0101] In procedure S402, if an attachment is attached to the diffuser (20), the actual intensity of the optical signal corresponding to the diffusely reflected laser beam received by the optical receiver (35) of the other transmitting and receiving assembly is relatively strong, thereby making the intensity of the fourth electrical signal relatively large. The intensity of the fourth electrical signal is compared with the magnitude of the fifth preset extreme value, and it is determined that an attachment is attached to the diffuser (20) when the intensity of the fourth electrical signal is greater than the fifth preset extreme value. Conversely, it is determined that an attachment is not attached to the diffuser (20) when the intensity of the fourth electrical signal is less than or equal to the fifth extreme value. Among these, the above preset extreme value includes the fifth preset extreme value. The fifth preset extreme value can be preset based on actual conditions. It should be explained that the setting method of the fifth preset extreme value is equivalent to the setting method of the first preset extreme value. A redundant explanation is omitted here.

[0102] Procedure S403, if the comparison value of the third electrical signal and the fourth electrical signal is smaller than the sixth preset pole value, it is determined that an attachment is attached to the diffuser (20).

[0103] In procedure S403, if an attachment is attached to the diffuser (20), the actual intensity of the optical signal corresponding to the mirror-reflected laser beam received by the optical receiver (34) of the second transmission / reception assembly is relatively weak, so the intensity of the third electrical signal is made relatively small. In other cases, if the actual intensity of the optical signal corresponding to the diffuse-reflected laser beam received by the optical receiver (35) of the transmission / reception assembly is relatively large, the intensity of the fourth electrical signal is made relatively large. The magnitude of the comparison value between the third electrical signal and the fourth electrical signal is compared with the magnitude of the sixth preset extreme value, and if the comparison value between the third electrical signal and the fourth electrical signal is smaller than the sixth preset extreme value, it is determined that an attachment is attached to the diffuser (20). Conversely, when the comparison value between the third electrical signal and the fourth electrical signal is greater than or equal to the sixth preset extreme value, it is determined that an attachment is not attached to the diffuser (20). Among them, the above-mentioned preset extreme values ​​include a sixth preset extreme value, and the sixth preset extreme value can be preset based on actual conditions. It should be noted that the setting method of the sixth preset extreme value is equivalent to the setting method of the first preset extreme value. A redundant explanation is omitted here.

[0104] It should be explained that if at least one of the above procedures S401, S402, and S403 satisfies the requirement, it can be determined that an attachment is attached to the diffuser (20). Of course, it is not only determined that an attachment is attached to the diffuser (20) through at least one of the above procedures S401, S402, and S403, but can also be determined through other procedures. As long as it conforms to the design logic, the explanation is omitted here.

[0105] In the drawings of the present embodiment, equivalent or similar reference numerals correspond to equivalent or similar parts. It should be understood from the description of this application that directional or positional relationships indicated by terms such as "up," "down," "left," and "right" are based on the directional or positional relationships depicted in the drawings and are intended merely to simplify the description of this application; they do not imply or suggest that the device or element must necessarily be in a specific direction or have a structure and operation in a specific direction. Therefore, terms describing positional relationships in the drawings are merely illustrative descriptions and should not be understood as limitations of this patent. A person skilled in the art will be able to understand the specific meaning of the above terms based on specific circumstances.

[0106] The embodiments described above are merely exemplary embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements within the spirit or principles of this application are all within the scope of protection of this application. Explanation of the symbols

[0107] 1: Optical radar 10: Transceiver assembly 20: Diffuser 30: Measurement module 31: First measuring instrument 32: Second measuring instrument 33: Optical emitter of the first transmit / receive assembly 34: Optical receiver of the second transmission / reception assembly 35: Optical receiver of the other transmit / receive assembly 40: Optical deflection module.

Claims

Claim 1 A transmitting and receiving assembly used for emitting a transmitted laser beam and receiving an echo laser beam, wherein the quantity of the transmitting and receiving assemblies is at least two, and the at least two transmitting and receiving assemblies include a first transmitting and receiving assembly and a second transmitting and receiving assembly; a diffuser installed in an optical path corresponding to the transmitting and receiving assembly and formed a reflected laser beam by reflecting a portion of the transmitted laser beam emitted from the transmitting and receiving assembly, and the reflected laser beam includes a mirror reflected laser beam; and a measuring module, wherein the measuring module includes an optical receiver of the second transmitting and receiving assembly, wherein the optical receiver of the second transmitting and receiving assembly is located in the optical path of the mirror reflected laser beam of the first transmitting and receiving assembly, and the optical emitter of the first transmitting and receiving assembly emits the transmitted laser beam and the optical receiver of the second transmitting and receiving assembly is used to receive the mirror reflected laser beam of the first transmitting and receiving assembly and to generate a corresponding electrical signal.A type of optical radar characterized by comprising: a control module configured to determine whether an attachment is attached to the diffuser based on the corresponding electrical signal, wherein when the at least two transmitting and receiving assemblies are operated in series, the optical receiver of the second transmitting and receiving assembly receives the mirror-reflected laser beam during a non-measurement time interval, and the optical receiver of the second transmitting and receiving assembly receives the echo laser beam emitted from the optical emitter of the second transmitting and receiving assembly and returning via a target object during a measurement time interval, wherein the serial operation of the at least two transmitting and receiving assemblies includes the optical emitter of the second transmitting and receiving assembly starting to emit a transmitted laser beam only after the optical emitter of the first transmitting and receiving assembly receives the echo laser beam, and the non-measurement time interval includes the time during which the optical emitter of the second transmitting and receiving assembly does not emit the transmitted laser. Claim 2 A type of optical radar according to claim 1, wherein the reflected laser beam also includes a diffuse reflection laser beam, and the transmitting and receiving assembly also includes other transmitting and receiving assemblies different from the first transmitting and receiving assembly and the second transmitting and receiving assembly, and at least one optical receiver of the other transmitting and receiving assembly receives the diffuse reflection laser beam of the first transmitting and receiving assembly and also generates a fourth electrical signal, and the measuring module includes the optical receiver of the other transmitting and receiving assembly, and the optical receiver of the other transmitting and receiving assembly is electrically connected to the control module, and the control module is configured to determine whether the attachment is attached to the diffuser based on at least one of the third electrical signal and the fourth electrical signal, wherein the electrical signal also includes the fourth electrical signal. Claim 3 A type of optical radar according to claim 1, characterized in that it includes an optical deflection module, wherein the optical deflection module is positioned in the optical path of the mirror-reflected laser beam of the first transmitting and receiving assembly and is used to adjust the optical path direction of the mirror-reflected laser beam of the first transmitting and receiving assembly so that the mirror-reflected laser beam is directly emitted to the optical receiver of the second transmitting and receiving assembly after being reflected by the optical deflection module. Claim 4 A type of mobile device characterized by including the optical radar of any one of claims 1 to 3. Claim 5 A method for measuring a type of optical radar attachment applied to the optical radar of claim 2 or 3, characterized by acquiring an electrical signal generated by the above-mentioned measurement module and determining that the attachment is attached to the above-mentioned diffuser if a preset relationship between the strength of the above-mentioned electrical signal and a preset extreme value is satisfied. Claim 6 A measurement method for a type of optical radar attachment according to claim 5, wherein the electrical signal comprises at least one of the third electrical signal and the fourth electrical signal, and the third electrical signal and the fourth electrical signal are different from each other. Claim 7 A measurement method for a type of optical radar attachment according to claim 6, characterized in that the preset relationship between the strength of the electrical signal and the preset extreme value satisfies the condition that the strength of the third electrical signal is smaller than the fourth preset extreme value and / or the strength of the fourth electrical signal is larger than the fifth preset extreme value and / or the comparison value between the third electrical signal and the fourth electrical signal is smaller than the sixth preset extreme value. Claim 8 A measurement method for a type of optical radar attachment according to claim 5, characterized in that the strength of the electrical signal is at least one of peak voltage, pulse width, and integrated area. Claim 9 delete Claim 10 delete Claim 11 delete Claim 12 delete Claim 13 delete Claim 14 delete Claim 15 delete Claim 16 delete

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