Laser radar and control method thereof

Abstract

The present invention discloses a laser radar and a control method thereof. The laser radar is a non-coaxial laser radar and has a first detection area. The laser radar includes a transmitting module, a receiving module, a distance sensor, and a control module. The transmitting module is used to transmit a laser beam, and the receiving module is used to receive an echo beam reflected by a target object from the laser beam emitted by the transmitting module. The distance sensor has a second detection area, and the second detection area does not overlap with the first detection area. The control module is electrically connected to the transmitting module and the distance sensor and controls the transmitting module according to the detection result of the distance sensor. The laser radar of the present invention has a first detection area and a second detection area, can detect targets in the second detection area, and control the intensity of the laser emitted by the transmitting module according to the detection result.

Description

Technical Field

[0001] The present invention relates to the field of lasers, and in particular to a laser radar and a control method thereof. Background Art

[0002] To ensure the safety of human eyes, some lidars have the function of adjusting light power. That is, when a target is detected within a certain distance, the laser power of the next emission cycle will be reduced to avoid eye damage caused by people being too close to the lidar.

[0003] But for non-coaxial transceiver laser radar, such as Figure 1 As shown in the figure, as the distance between the target and the radar decreases, the returned light spot shifts along the laser toward the detector on the detector. The size of the detector is limited by the optical components of the receiving light path and the internal space of the lidar. When the distance between the target and the lidar is very close, the reflected light spot will shift outside the detector, and the reflected echo of the target within a certain range cannot be received by the detector. This range is called the close-range blind zone, or simply the blind zone.

[0004] Therefore, even if the laser radar with a non-coaxial optical path will reduce the laser emission power after detecting a close target, if the person is in the blind spot, the laser radar will not be able to detect it and will not reduce the laser emission power. At this time, the distance between the person and the laser radar is very close, which will cause certain safety hazards. Summary of the Invention

[0005] The purpose of the present invention is to provide a laser radar and a control method thereof to solve the problems existing in the above-mentioned prior art.

[0006] In order to solve the above problem, according to one aspect of the present invention, a laser radar is provided. The laser radar is a non-coaxial laser radar and has a first detection area. The laser radar includes:

[0007] A transmitting module, wherein the transmitting module is used to transmit a laser beam;

[0008] A receiving module, the receiving module is used to receive an echo beam of the laser beam emitted by the transmitting module and reflected by a target object;

[0009] a distance sensor having a second detection area, wherein the second detection area is different from the first detection area; and

[0010] A control module is electrically connected to the transmitting module and the distance sensor and controls the transmitting module according to a detection result of the distance sensor.

[0011] In one embodiment, the second detection area includes an area between the first detection area and the laser radar.

[0012] In one embodiment, the control module is configured to control the power and / or frequency of the laser beam emitted by the transmitting module according to the detection result of the distance sensor.

[0013] In one embodiment, the distance sensor is configured to send a trigger signal to the control module when detecting the target in the second detection area; and the control module is configured to control the transmitting module according to the received trigger signal.

[0014] In one embodiment, the distance sensor is configured to send distance information to the control module when detecting the target object in the second detection area. The control module determines whether the distance is less than a preset distance and controls the transmitting module when the distance is less than the preset distance.

[0015] In one embodiment, the transmitting module is configured to transmit laser beams with different powers.

[0016] In one embodiment, the transmitting module includes a plurality of laser transmitting devices with different powers.

[0017] In one embodiment, the emission module includes a laser emission device and a driving device. The driving device is connected to the control module and controls the power of the laser beam emitted by the laser emission device according to different driving signals.

[0018] In one embodiment, when the control module receives the trigger signal or the distance between the target object and the laser radar is lower than a preset distance, the control module controls the power of the laser beam of the laser emitting device to decrease.

[0019] In one embodiment, when the control module receives the trigger signal or the distance between the target object and the laser radar is lower than a preset distance, the control module controls the frequency of the laser beam of the laser emitting device to decrease.

[0020] In one embodiment, the detection frequency of the laser radar is not less than the detection frequency of the distance sensor.

[0021] In one embodiment, the detection frequency of the laser radar is an integer multiple of the detection frequency of the distance sensor.

[0022] In one embodiment, the distance sensor is any one of an infrared ranging sensor, an ultrasonic radar or a millimeter wave radar.

[0023] According to another aspect of the present invention, a method for controlling a laser radar is provided, the method comprising the following steps:

[0024] Step 1: The distance sensor detects the target object in the second detection area and sends the detection result to the control module;

[0025] Step 2: The control module adjusts the transmission parameters of the transmission module according to the detection result.

[0026] In one embodiment, in step one, when the distance sensor detects a target in the second detection area, it sends a trigger signal to the control module; and in step two, the control module adjusts the transmission parameters of the transmission module according to the received trigger signal.

[0027] In one embodiment, in step one, when the distance sensor detects the target object in the second detection area, it sends distance information to the control module, and in step two, the control module determines whether the distance is less than a preset distance, and adjusts the transmission parameters of the transmission module when the distance is less than the preset distance.

[0028] In one embodiment, the emission parameters include the power and / or frequency of the laser emitted by the emission module.

[0029] In one embodiment, the method further includes setting the detection frequency of the laser radar to be no less than the detection frequency of the distance sensor.

[0030] In one embodiment, the method further includes setting the detection frequency of the laser radar to an integer multiple of the detection frequency of the distance sensor.

[0031] In one embodiment, the detection period of the distance sensor is set to 1 / N of the detection period of the laser radar, and after the distance sensor performs one detection, the laser intensity of the laser radar for subsequent N-1 detections is adjusted according to the detection result of the distance sensor, where N is an integer.

[0032] The laser radar of the present invention has a first detection area and a second detection area, can detect targets in the second detection area, and control the intensity of the laser emitted by the transmitting module according to the detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a working schematic diagram of the laser radar in the background technology.

[0034] Figure 2 This is a schematic diagram of the connection of various modules of a laser radar of the present invention.

[0035] Figures 3 to 5 Schematic diagrams showing the relative positional relationships of the receiving module, the transmitting module and the distance sensor according to different embodiments are shown respectively.

[0036] Figure 6 It is a schematic diagram of the composition of a laser radar according to an embodiment of the present invention.

[0037] Figure 7 It is a schematic diagram of the composition of a laser radar according to another embodiment of the present invention.

[0038] Figure 8 It is a schematic diagram of the operation of a solid-state laser radar according to an embodiment of the present invention.

[0039] Figure 9 It is a schematic diagram of the operation of a mechanical laser radar according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0041] In the following description, for the purpose of illustrating the various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0042] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0043] In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but words such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and should not be understood as restrictive terms.

[0044] The present invention relates to a laser radar, which is a non-coaxial laser radar and has a first detection area. A non-coaxial laser radar refers to a laser radar in which the exit window of the emission beam and the incident window of the echo beam after being reflected by the target are located at different positions, for example, the optical axis of the emission optical component and the optical axis of the receiving optical component are parallel to each other. The first detection area refers to the target detection area of ​​the laser radar, for example, the maximum detection distance is 200m, minus the Figure 1 The blind area shown is the target detection area of ​​the lidar.

[0045] The following combination Figure 2 The laser radar 100 of the present invention will be described. Figure 2 FIG. 1 is a schematic diagram showing the connection of the modules of the laser radar 100. Figure 2 As shown, the laser radar 100 includes a transmitting module 10, a receiving module 20, a distance sensor 30, and a control module 40. The control module 40 is electrically connected to the transmitting module 10, the receiving module 10, and the distance sensor 30. The transmitting module 10 is used to transmit a laser beam to the target space, and the receiving module 20 receives the echo beam reflected by the target object from the laser beam emitted by the transmitting module 10. The laser radar 100 has a first detection area, that is, the target detection area of ​​the laser radar 100, for example Figure 1 The laser radar detector shown detects an area, and the first detection area does not include a blind spot. The distance sensor 30 has a second detection area that is different from the first detection area. This difference means that the first and second detection areas at least partially do not overlap. For example, the second detection area may include the area between the first detection area and the receiving module 20. The second detection area can be the laser radar's blind spot, or it can be a detection area larger than the blind spot, such as a detection area extending from the laser radar to a certain distance within the first detection area as the second detection area.

[0046] The control module 40 is electrically connected to the transmitting module 10 , the receiving module 20 and the distance sensor 30 .

[0047] For example, in one embodiment, when the distance sensor 30 detects the presence of a target object in the second detection area, it sends a trigger signal to the control module 40. The control module 40 controls the laser emission frequency or power of the transmitting module 10 according to the received trigger signal, for example, reducing the laser emission frequency or power, or controlling the laser emission frequency and power of the transmitting module to be reduced, thereby avoiding damage to human eyes caused by, for example, a person being too close to the laser radar.

[0048] In another embodiment, when the distance sensor 30 detects the presence of a target object within the second detection area, it may also send the distance information of the target object to the control module 40. The control module 40 determines whether the distance is less than a preset distance and, if the distance is less than the preset distance, controls the laser emission frequency or power of the transmitting module 10, for example, to reduce the laser emission frequency or power, or to control both the laser emission frequency and power of the transmitting module to reduce, thereby avoiding eye damage caused by, for example, a person being too close to the laser radar. It should be noted that the preset distance here can be the range of a blind spot or another manually set distance.

[0049] In one embodiment, the proximity sensor can be an infrared distance measuring sensor. It utilizes an infrared transceiver diode or infrared integrated chip within the sensor to transmit infrared light signals of a specific frequency and receive infrared signals reflected from the object being measured. After internal calculation, it outputs a distance sensing reference value. The distance sensor then transmits this distance sensing reference value (i.e., distance information) to a control module, which determines whether the distance sensing reference value is less than a preset distance. If so, it controls the laser transmission power and / or frequency of the transmitting module.

[0050] In another embodiment, the proximity sensor may be an ultrasonic radar, which transmits an ultrasonic signal, calculates the time it takes for the ultrasonic signal to travel between the radar and the target, and combines this with the current speed of sound (which has been temperature-compensated, minimizing errors) to calculate the actual distance to the target. The distance sensor then transmits this actual distance value (i.e., distance information) to a control module, which determines whether the actual distance is less than a preset distance. If so, the control module controls the laser transmission power and / or frequency of the transmitter module.

[0051] In another embodiment, the proximity sensor may be a millimeter-wave radar. Millimeter-wave radar operates in the millimeter-wave band. It transmits radio waves (radar waves) and receives echoes, measuring the target's location based on the time difference between transmission and reception. The distance sensor then transmits this distance to a control module, which determines whether the distance is less than a preset distance. If so, the control module controls the laser transmission power and / or frequency of the transmitter module.

[0052] Figures 3 to 5 Schematically showing a front view of a laser radar 100 in different embodiments.

[0053] Figures 3 to 5 The schematic diagram shows the exit window 14 corresponding to the transmitting module 10 and the entrance window 23 corresponding to the receiving module 20. Figure 3-5It can be seen that the positions of the exit window 14 and the entrance window 23 of the laser radar in this embodiment are different, that is, the laser radar 100 is a non-coaxial laser radar.

[0054] In one embodiment, Figure 3 As shown, Figure 3 The direction in is a reference, the exit window 14 is arranged above the entrance window 23, and the distance sensor 30 is arranged below the entrance window 23. That is, the distance sensor is arranged side by side with the transmitting module 10 and the receiving module 20 in the vertical direction.

[0055] In one embodiment, Figure 4 As shown, the exit window 14 and the incident window 23 are arranged side by side, and the distance sensor 30 is arranged on one side of the exit window 14 and the incident window 23. Figure 4 The direction shown is for reference, the exit window 14 and the entrance window 23 are arranged side by side in the transverse direction, and the distance sensor 30 is arranged below the exit window 14 and the entrance window 23 .

[0056] In one embodiment, Figure 5 As shown, the exit window 14 and the entrance window 23 are arranged side by side, and the distance sensor 30 is arranged between the exit window 14 and the entrance window 23 .

[0057] It should be noted that Figure 3-5 The illustrations only illustrate several arrangements of the distance sensor 30 . Those skilled in the art will appreciate that the distance sensor 30 may be arranged at other locations of the laser radar as needed.

[0058] Figure 6 FIG. 1 shows a specific embodiment of the laser radar 100 of the present invention. Figure 6 As shown, the laser radar 100 includes a transmitting module 10, a receiving module 20, a distance sensor 30 and a control module 40. The transmitting module 10 includes a transmitting optical component 11, a laser light source 12 and a light source driving device 13. The light source driving device 13 is connected to the laser light source 12 and is used to drive the laser light source 12 to emit light. The control module 40 is connected to the light source driving device 13 and controls the light source driving device 13. The laser emitted by the laser light source 12 forms a laser beam through the transmitting optical component 11 and is emitted to a preset space or a target space. The receiving module 20 includes a receiving optical component 21 and a detector 22. The laser beam emitted by the transmitting module 10 is reflected by the target object, and the echo beam reaches the detector 22 after passing through the receiving optical component 21. The area detected by the detector 22 is the first detection area of ​​the laser radar 100. The distance sensor 30 has a second detection area that is different from the first detection area. For example, the second detection area may include the area between the first detection area and the receiving module 20, that is, Figure 1 Close-range blind spot shown.

[0059] In one embodiment, when the distance sensor 30 detects the presence of a target object in the second detection area, it sends a trigger signal to the control module 40. The control module 40 sends a drive signal to the drive device 13 according to the trigger signal. The drive device 13 adjusts the magnitude of the drive current according to the drive signal, thereby adjusting the laser emission power of the laser light source 12. For example, the laser emission power is reduced by reducing the drive current, thereby avoiding damage to human eyes caused by, for example, a person being too close to the laser radar.

[0060] In another embodiment, when the distance sensor 30 detects the presence of a target object in the second detection area, it sends the distance information of the target object to the control module 40. The control module 40 determines whether the distance from the target object to the radar is less than the preset distance, and sends a driving signal to the driving device 13 when the distance from the target object to the laser radar is lower than the preset distance. The driving device 13 adjusts the magnitude of the driving current according to the driving signal, thereby adjusting the laser emission power of the laser light source 12. For example, by reducing the driving current, the laser emission power is reduced, thereby avoiding damage to human eyes caused by, for example, a person being too close to the laser radar.

[0061] Figure 7 The schematic diagram shows a laser radar 200 according to an embodiment of the present invention. The laser radar 200 differs from the laser radar 100 primarily in the composition and control method of the transmitting module. Only the differences between the laser radar 200 and the laser radar 100 are described here, and the similarities are not further described.

[0062] like Figure 7 As shown, the transmitting module 10A includes a transmitting optical assembly 11 and a first group of laser light sources 121 and a second group of laser light sources 122. The first group of laser light sources 121 and the second group of laser light sources 122 can emit lasers of different powers. For example, the lasers emitted by the first group of laser light sources 121 have a higher power, while the lasers emitted by the second group of laser light sources 122 have a lower power. The control module 40 sends control signals to control the operation of the first group of laser light sources 121 and the second group of laser light sources 122. When the distance sensor 30 does not detect the presence of a target within the second detection area, the control module 40 controls the first group of laser light sources 121 to operate, causing the transmitting module to emit higher-power lasers. When the distance sensor 30 detects the presence of a target within the second detection area, the control module 40 controls the second group of laser light sources 122 to operate, thereby reducing the laser emission power of the transmitting module 10A and preventing eye damage caused by, for example, a person being too close to the lidar.

[0063] It should be noted that although Figure 7In the embodiment shown, the transmitting module includes two groups of laser light sources. However, those skilled in the art need to understand that, based on this method, the transmitting module may also include multiple groups of laser light sources and select appropriate laser light sources for operation according to actual conditions.

[0064] Combination of the above Figure 6 and Figure 7 In the lidar described above, the control module adjusts the laser by controlling the laser emission power of the emission module. However, in another embodiment, the control module can also control the laser emission frequency of the emission module to achieve laser adjustment. For example, when the distance sensor detects a target object, the laser emission frequency is reduced, further reducing power consumption. For example, in one embodiment, when the lidar period remains unchanged, the emission frequency setting value emits light every 0.2°. When the distance sensor detects a target object, the control module controls the emission frequency of the emission module to emit light every 0.4°, reducing the laser radar emission frequency by half. When the distance sensor does not detect the target object, the laser radar emission frequency is restored.

[0065] Another aspect of the present invention also introduces the coordination relationship between the distance sensor and the laser radar transmitting module and receiving module.

[0066] In one embodiment, the distance sensor maintains synchronous detection with the laser radar. That is, during each detection cycle, the laser radar's transceiver module (i.e., the transmitting module and the receiving module) and the distance sensor both perform distance measurement to obtain target information. In the second detection area of ​​the laser radar, the detection data obtained by the distance sensor is used to determine whether there is a target in the second detection area. If a target is present, the laser light power of the transmitting module is reduced in the next cycle.

[0067] In another embodiment, the laser radar and the distance sensor perform detection alternately, that is, the distance sensor is used to detect targets in the second detection area before the laser radar emits light, and the light emission power of the laser radar is reduced when it is determined that there is a target in the second detection area, which can further improve the light emission power control accuracy.

[0068] In another embodiment, the detection frequencies of the distance sensor and the laser radar can be different. Since the laser radar usually has a denser number of lines or a short light-emitting interval to improve the ranging resolution, that is, the light-emitting frequency is very high, and the distance sensor is mainly used to detect targets (especially people) in the second detection area. In the second detection area, the field of view (FOV) relative to the laser radar is very large, and high-angle resolution detection is not required. Therefore, the detection frequency of the proximity sensor can be set to 1 / N of the laser radar. The time interval between two adjacent detections of the distance sensor is an integer multiple of the laser radar light-emitting interval.

[0069] Figure 8The figure is a schematic diagram of a solid-state laser radar according to an embodiment of the present invention. A solid-state radar is a mechanical radar without mechanical rotating parts, i.e., the transmitting module and the receiving module do not rotate. The transmitting module transmits the detection beam in different directions through optical design, thereby obtaining a certain range of horizontal and vertical field of view angles. Figure 8 As shown, the solid-state laser radar 300 includes a transmitting module 10, a receiving module 20 and a distance sensor 30. Figure 8 The solid-state laser radar shown can set the horizontal and / or vertical angle resolution of the distance sensor 30 to be lower than that of the laser radar. For example, the detection frequency of the distance sensor 30 is set to 1 / N of the detection frequency of the laser radar. After the close-range sensor performs one detection, the luminous intensity of the laser radar for the subsequent N-1 detections is adjusted according to the detection result of the distance sensor, where N is an integer.

[0070] Figure 9 This is a schematic diagram of a mechanical laser radar. A mechanical laser radar is a laser radar with a rotating structure. The transmitting module and the receiving module are set on a rotating platform. Driven by actuators such as motors, they rotate with the rotating platform, thereby enabling 360° detection in the horizontal direction. Figure 9 For the mechanical LiDAR shown, the horizontal angular resolution of the proximity sensor can be set lower than that of the LiDAR. A typical horizontal angular resolution of a mechanical LiDAR is 0.1° or 0.2°. The horizontal angular resolution of the distance sensor can be set to 1°, for example. This means that after the distance sensor performs its first detection, it waits for the LiDAR to rotate 1° before performing a second detection. The minimum angular resolution requirement can be determined based on the range requirements of the distance sensor and the typical size of the human body, allowing the detection period of the proximity sensor to be calculated.

[0071] exist Figure 9 In the figure, the light R1 represented by the solid line is the light emitted by the distance sensor, and the light R2 represented by the dotted line is the light emitted by the laser radar's transmitting module. Figure 9 It shows that the two lights overlap, but they may not overlap.

[0072] In summary, the laser radar and its control method of the present invention are introduced in detail. It adds a distance sensor and a control module on the basis of the original laser radar, and realizes target detection in the second detection area of ​​the laser radar through a special control method, thereby avoiding the situation where a person is not detected in the second detection area and causes eye damage.

[0073] It should be noted that the specific features, structures, methods or characteristics described above in "one embodiment" or "an embodiment" may be combined in any manner in one or more embodiments.

[0074] While the preferred embodiments of the present invention have been described in detail above, it should be understood that, after reading the above teachings of the present invention, those skilled in the art may make various changes or modifications to the present invention. Such equivalents also fall within the scope of the claims appended hereto.

Claims

1. A laser radar, which is a non-coaxial laser radar and has a first detection area, characterized in that: The laser radar includes: A transmitting module, wherein the transmitting module is used to transmit a laser beam; A receiving module, the receiving module is used to receive an echo beam of the laser beam emitted by the transmitting module and reflected by a target object; a distance sensor having a second detection area, wherein the second detection area includes an area between the first detection area and the laser radar; and A control module is electrically connected to the transmitting module and the distance sensor and controls the transmitting module according to a detection result of the distance sensor.

2. The laser radar according to claim 1, characterized in that The control module is configured to control the power and / or frequency of the laser beam emitted by the transmitting module according to the detection result of the distance sensor.

3. The laser radar according to claim 1, wherein The distance sensor is configured to send a trigger signal to the control module when detecting the target object in the second detection area; and the control module is configured to control the transmitting module according to the received trigger signal.

4. The laser radar according to claim 1, wherein The distance sensor is configured to send distance information to the control module when detecting the target object in the second detection area. The control module determines whether the distance is less than a preset distance and controls the transmitting module when the distance is less than the preset distance.

5. The laser radar according to claim 3, characterized in that The transmitting module is configured to transmit laser beams with different powers.

6. The laser radar according to claim 5, characterized in that The transmitting module includes a plurality of laser transmitting devices with different powers.

7. The laser radar according to claim 5, characterized in that The emission module includes a laser emission device and a driving device. The driving device is connected to the control module and controls the power of the laser beam emitted by the laser emission device according to different driving signals.

8. The laser radar according to claim 6 or 7, characterized in that: When the control module receives the trigger signal or the distance between the target object and the laser radar is lower than a preset distance, the control module controls the power of the laser beam of the laser emitting device to decrease.

9. The laser radar according to claim 6 or 7, characterized in that: When the control module receives the trigger signal or the distance between the target object and the laser radar is lower than a preset distance, the control module controls the frequency of the laser beam of the laser emitting device to decrease.

10. The laser radar according to claim 1, characterized in that The detection frequency of the laser radar is not less than the detection frequency of the distance sensor.

11. The laser radar according to claim 10, characterized in that The detection frequency of the laser radar is an integer multiple of the detection frequency of the distance sensor.

12. The laser radar according to claim 1, characterized in that The distance sensor is any one of an infrared ranging sensor, an ultrasonic radar or a millimeter wave radar.

13. A control method for a laser radar according to any one of claims 1 to 12, characterized in that: The method comprises the following steps: Step 1: The distance sensor detects the target object in the second detection area and sends the detection result to the control module; Step 2: The control module adjusts the transmission parameters of the transmission module according to the detection result.

14. The control method of the laser radar according to claim 13, characterized in that: In the step 1, when the distance sensor detects the target in the second detection area, it sends a trigger signal to the control module; and in the step 2, the control module adjusts the transmission parameters of the transmission module according to the received trigger signal.

15. The control method of the laser radar according to claim 13, characterized in that: In the step 1, when the distance sensor detects the target object in the second detection area, it sends distance information to the control module, and in the step 2, the control module determines whether the distance is less than a preset distance, and adjusts the transmission parameters of the transmission module when the distance is less than the preset distance.

16. The control method of the laser radar according to claim 13, characterized in that: The emission parameters include the power and / or frequency of the laser beam emitted by the emission module.

17. The control method of the laser radar according to claim 13, characterized in that: The method also includes setting the detection frequency of the laser radar to be no less than the detection frequency of the distance sensor.

18. The control method of the laser radar according to claim 13, characterized in that: The method also includes setting the detection frequency of the laser radar to an integer multiple of the detection frequency of the distance sensor.

19. The control method of the laser radar according to claim 13, characterized in that: The method also includes setting the detection period of the distance sensor to 1 / N of the detection period of the laser radar, and after the distance sensor performs one detection, adjusting the laser intensity of the laser radar for subsequent N-1 detections according to the detection result of the distance sensor, where N is an integer.

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