Control method, device and electronic equipment

Abstract

The present application provides a control method, device and electronic device, and the method is applied to laser radar detection. The laser radar includes a laser transmitter, a laser receiver, a laser receiver power supply and a receiver power switch, the laser receiver power supply is connected to the receiver power switch, and the receiver power switch is used to control the laser receiver power supply. The method includes: obtaining a shutdown delay for shutting down the laser receiver power supply and the first emission moment when the laser transmitter emits a laser, and taking the sum of the first emission moment and the shutdown delay as the shutdown moment of the laser receiver power supply, and then shutting down the laser receiver power supply according to the shutdown moment. When detecting a target, since the power supply of the laser receiver is cut off before the stray light reaches the laser receiver, and the power supply is restored after the stray light ends, the laser receiver is avoided from being affected by the stray light, the appearance of false targets in the detection results is prevented, and the accuracy of the detection results is improved.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a control method, device and electronic equipment for avoiding stray light when detecting a target. Background Art

[0002] Laser radar is a device that uses the flight time of laser to detect distance and target position. It is widely used in intelligent robots, drones, autonomous driving and other fields. According to the different layouts of the laser radar's transmitting and receiving optical paths, it can be divided into two categories: coaxial transmission and reception and off-axis transmission and reception. Among them, the coaxial laser radar's transmission and reception paths are coaxial, such as Figure 1 As shown in the figure, when the laser is emitted by the laser transmitter and incident on the galvanometer through the small hole, stray light will be generated in the internal structure of the system. The stray light is reflected on the galvanometer and the reflector plate successively and reaches the laser receiver. Because it is received by the laser receiver, the laser radar detects a false target at a close distance. In addition, Figure 2 As shown in the figure, when the laser receiver of the laser radar is working, the electrical signal will not disappear immediately after the light ends, but will gradually decrease after about 40-60ns due to the device characteristics of the laser receiver. This is the tailing phenomenon. The tailing phenomenon will cause the laser radar to be unable to accurately detect the target signal during this period, and there will be a large blind spot in the close-range field of view. Summary of the invention

[0003] The present application provides a control method, device and electronic device for avoiding stray light when a laser radar detects a target, thereby making the detection result more accurate.

[0004] In a first aspect, the present application provides a control method, which is applied to a laser radar, wherein the laser radar comprises at least a laser transmitter, a laser receiver, a laser receiver power supply and a receiver power switch, wherein the laser receiver power supply is connected to the receiver power switch, and the receiver power switch is used to control the laser receiver power supply, and the method comprises:

[0005] Acquire a shutdown delay for shutting down the power supply of the laser receiver and a first emission time of the laser emitter emitting laser;

[0006] The sum of the first emission time and the closing time delay is used as the closing time of the laser receiver power supply;

[0007] The laser receiver power supply is turned off according to the turn-off time.

[0008] In the above method, when the laser radar detects a target, the power supply of the laser receiver is cut off before the stray light reaches the laser receiver. After the stray light ends, the power supply is restored. From this point on, the signal received by the laser receiver comes from the detected target, avoiding the laser receiver from being affected by the stray light, preventing the appearance of false targets in the detection results, and improving the accuracy of the detection results.

[0009] In one possible design, obtaining a shutdown delay for shutting down a power supply of the laser receiver includes:

[0010] Acquire a first receiving time when the laser receiver receives a first echo signal, set a preset closing time difference, and determine a first time difference between the first receiving time and a first initial time, wherein the first initial time is the time when the laser transmitter emits laser for the first time;

[0011] When the laser receiver power is turned on after being turned off, a second receiving time when the laser receiver receives the second echo signal is obtained, and a second time difference between the second receiving time and the second initial time is determined, wherein the second initial time is the time when the laser transmitter emits the laser for the second time, and the turning off time is the sum of the second initial time and the turning off time difference;

[0012] determining whether the second time difference is greater than the first time difference;

[0013] If yes, use the closing time difference as the closing delay;

[0014] If not, delay compensation is performed on the closing time difference until the second time difference is greater than the first time difference.

[0015] Through the above method, a shut-down time delay for shutting down the power supply of the laser receiver is obtained, and it is determined whether the obtained shut-down time delay needs to be compensated.

[0016] In a possible design, delay compensation is performed on the closing time difference, and the method includes:

[0017] Determining whether a setting parameter in the laser radar is a setting threshold;

[0018] If yes, then increase the closing time difference according to the preset delay compensation value to obtain a first compensated closing time difference, and use the first compensated closing time difference that is smaller than the first preset adjustment threshold as the closing time difference;

[0019] If not, the closing time difference is reduced according to the preset delay compensation value to obtain a second compensated closing time difference, and the second compensated closing time difference which is greater than the first preset adjustment threshold is used as the closing time difference.

[0020] By using the above method, the shutdown delay is compensated, and the shutdown delay used to shut down the laser receiver power supply after compensation is obtained. In a possible design, it is determined whether the set parameter in the laser radar is a set threshold, and the method includes:

[0021] Determining whether the first compensation closing time difference is less than a first preset adjustment threshold;

[0022] If so, increasing the first compensation off time difference until the second time difference is greater than the first time difference;

[0023] If not, set the setting parameter in the laser radar not to the set threshold, adjust the time difference compensation mode to the reduction compensation mode, and reduce the closing time difference according to the preset delay compensation value.

[0024] Through the above method, an appropriate choice is made between two compensation methods for adjusting the closing time difference, the two compensation methods being increase compensation and decrease compensation respectively.

[0025] In one possible design, the method further includes:

[0026] Determining whether the second compensation closing time difference is greater than a second preset adjustment threshold;

[0027] If yes, reduce the second compensation off time difference until the second time difference is greater than the first time difference;

[0028] If not, a prompt message is generated, wherein the prompt message is used to prompt that the preset adjustment threshold or the receiver closing time window does not meet the preset condition.

[0029] In a second aspect, the present application further provides a control device, which is applied to a laser radar, wherein the laser radar comprises at least a laser transmitter, a laser receiver, a laser receiver power supply and a receiver power switch, wherein the laser receiver power supply is connected to the receiver power switch, and the receiver power switch is used to control the laser receiver power supply, wherein the device comprises:

[0030] An acquisition module, used to acquire a shutdown delay for shutting down the power supply of the laser receiver and a first emission time of the laser emitter emitting the laser;

[0031] A processing module, configured to use the sum of the first emission time and the shutdown delay as the shutdown time of the laser receiver power supply;

[0032] A control module is used to turn off the power supply of the laser receiver according to the turn-off time.

[0033] In a possible design, the acquisition module includes:

[0034] an acquisition unit, configured to acquire a first receiving moment when the laser receiver receives a first echo signal, set a preset closing time difference, and determine a first time difference between the first receiving moment and a first initial moment, wherein the first initial moment is a moment when the laser transmitter emits laser light for the first time;

[0035] The processing unit, when the laser receiver power is turned on after the power off time, obtains a second receiving time when the laser receiver receives the second echo signal, and determines a second time difference between the second receiving time and the second initial time, wherein the second initial time is the time when the laser transmitter emits the laser for the second time, and the shut-down time is the time when the second initial time and the shut-down time difference are added;

[0036] A determination unit is used to determine whether the second time difference is greater than the first time difference; if so, use the closing time difference as the closing delay; if not, perform delay compensation on the closing time difference until the second time difference is greater than the first time difference.

[0037] In a possible design, the determining unit is further configured to:

[0038] Determining whether a setting parameter in the laser radar is a setting threshold;

[0039] If yes, then increase the closing time difference according to the preset delay compensation value to obtain a first compensated closing time difference, and use the first compensated closing time difference that is smaller than the first preset adjustment threshold as the closing time difference;

[0040] If not, the closing time difference is reduced according to the preset delay compensation value to obtain a second compensated closing time difference, and the second compensated closing time difference which is greater than the first preset adjustment threshold is used as the closing time difference.

[0041] In a possible design, the determination unit is further configured to:

[0042] Determining whether the first compensation closing time difference is less than a first preset adjustment threshold;

[0043] If so, increasing the first compensation off time difference until the second time difference is greater than the first time difference;

[0044] If not, set the setting parameter in the laser radar not to the set threshold, adjust the time difference compensation mode to the reduction compensation mode, and reduce the closing time difference according to the preset delay compensation value.

[0045] In a possible design, the determination unit is further configured to:

[0046] Determining whether the second compensation closing time difference is greater than a second preset adjustment threshold;

[0047] If yes, reduce the second compensation off time difference until the second time difference is greater than the first time difference;

[0048] If not, a prompt message is generated, wherein the prompt message is used to prompt that the preset adjustment threshold or the receiver closing time window does not meet the preset condition.

[0049] In a third aspect, the present application further provides an electronic device, comprising: a memory for storing a computer program; and a processor for implementing the above-mentioned control method steps when executing the computer program stored in the memory.

[0050] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above-mentioned control method steps when executed by a processor.

[0051] Based on the above control method, when the laser radar detects a target, the power supply of the laser receiver is cut off before the stray light reaches the laser receiver. After the stray light ends, the power supply is restored. From this point on, the signal received by the laser receiver comes from the detected target, avoiding the laser receiver from being affected by stray light, preventing the appearance of false targets in the detection results, and improving the accuracy of the detection results.

[0052] The technical effects that can be achieved in each of the above-mentioned second to fourth aspects and each of the above-mentioned aspects refer to the technical effects that can be achieved in the above-mentioned first aspect or various possible schemes in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of the optical path of stray light generated when a laser radar detects a target provided in this application;

[0054] Figure 2 A schematic diagram of the functional relationship between the electrical signal strength and time of a laser receiver provided in the present application;

[0055] Figure 3 A schematic diagram of the structure of a laser radar optical system capable of avoiding stray light provided in this application;

[0056] Figure 4 A flowchart for avoiding the influence of stray light during laser radar detection provided in this application;

[0057] Figure 5 A flow chart for obtaining a shutdown delay for shutting down a laser receiver power supply provided by the present application;

[0058] Figure 6 A flowchart for delay compensation of closing delay provided by this application;

[0059] Figure 7 A schematic diagram of the structure of a control device provided in this application;

[0060] Figure 8 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The specific operating methods in the method embodiments can also be applied to device embodiments or system embodiments. It should be noted that in the description of the present application, "multiple" is understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A is connected to B, which can represent: A is directly connected to B and A is connected to B through C. In addition, in the description of the present application, words such as "first" and "second" are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0062] The embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0063] like Figure 1 As shown, it is a schematic diagram of the optical path of the incident light and stray light when the laser radar provided in the example of this application detects the target. The optical system of the laser radar includes at least a laser transmitter, a reflector, a galvanometer and a laser receiver, and a small hole is set on the reflector. The laser transmitter emits a laser, and the laser passes through the small hole on the reflector to reach the galvanometer, and then reflects on the galvanometer to reach the target object. Stray light is generated when the laser reaches the galvanometer and reflects. The stray light is transmitted to the reflector, and then reflected by the reflector to reach the laser receiver. At this time, the receiver will receive the stray light, and these stray lights will be mistakenly detected as targets by the laser, thus causing the appearance of false targets.

[0064] like Figure 2 The figure shows the functional relationship between the laser receiver signal strength and time of the laser radar provided in the example of this application. After the laser receiver is illuminated, the electrical signal does not disappear immediately, but gradually decreases over a period of time, resulting in a tailing phenomenon. During this period of time, the laser radar cannot accurately detect the target signal, resulting in a close-range blind spot.

[0065] When LiDAR detects targets, the influence of stray light may cause the appearance of false targets or produce blind spots in close range vision, making it impossible to obtain accurate detection results.

[0066] In order to solve the above problems, Figure 3The figure is a schematic diagram of the structure of a laser radar optical system for adaptively avoiding stray light provided in the example of the present application. The laser radar at least includes a laser transmitter, a laser receiver, a laser receiver power supply and a receiver power switch, the laser receiver power supply is connected to the receiver power switch, and the receiver power switch is used to control the laser receiver power supply.

[0067] based on Figure 3 A schematic diagram of the structure of a laser radar optical system that can avoid stray light is shown. An embodiment of the present application provides a control method. When the laser radar detects a target, the power supply of the laser receiver is cut off before the stray light reaches the laser receiver. The power supply is restored after the stray light ends. From this point on, the signals received by the laser receiver all come from the detected target, avoiding the influence of stray light on the laser receiver, preventing the appearance of false targets in the detection results, and improving the accuracy of the detection results. Among them, the method and device described in the embodiment of the present application are based on the same technical concept. Since the principles of the problems solved by the method and the device are similar, the embodiments of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0068] like Figure 4 As shown, it is a flow chart of a control method provided by the present application, which specifically includes the following steps:

[0069] Step S41, obtaining a shutdown delay for shutting down a power supply of a laser receiver and a first emission time of a laser emitter emitting a laser.

[0070] Step S42: taking the sum of the first emission time and the shutdown delay as the shutdown time of the laser receiver power supply.

[0071] Step S43, turning off the power of the laser receiver according to the turning-off time.

[0072] Through the method provided in the embodiment of the present application, the power supply of the laser receiver can be turned off in time after the laser transmitter emits the laser, thereby turning off the laser receiver during the reception of stray light, thereby preventing the laser receiver from receiving stray light and avoiding the influence of stray light on target detection.

[0073] Furthermore, in a possible application scenario, in order to prevent the laser receiver from receiving stray light in the laser radar, it is necessary to turn off the laser receiver before the stray light reaches the laser receiver. Therefore, in this application, the laser radar first obtains the shutdown delay for turning off the laser receiver power supply. The specific method for obtaining the shutdown delay is referred to in Figure 5 As shown, the method includes:

[0074] Step S51, obtaining a first receiving moment when a laser receiver receives a first echo signal, setting a preset closing time difference, and determining a first time difference between the first receiving moment and a first initial moment.

[0075] Specifically, when determining the time difference, first turn on the receiver power switch and the transmitter power switch. The laser transmitter transmits the first laser test signal to the detected target, and the current moment is recorded as the first initial moment T0. Determine whether the laser receiver receives the echo signal. If the echo signal is received, set the moment when the laser receiver receives the first echo signal as the first receiving moment T1. Set the preset closing time difference T3 = 0, T1-T0 is the time taken from the first emission of the laser test signal to the stray light reaching the laser receiver, which is the first time difference.

[0076] Step S52, when the laser receiver power is turned off and then turned on again, obtaining a second receiving time when the laser receiver receives the second echo signal, and determining a second time difference between the second receiving time and the second initial time.

[0077] Specifically, set the parameter flag=0. In order to determine whether the compensation method is to increase compensation or decrease compensation, the present application example sets a flag parameter, and judges the compensation method based on whether the value of the flag parameter is equal to the set threshold. The set threshold of the flag parameter in the present application example is flag=0. The transmitter power switch is turned on again, and the laser transmitter transmits a second laser test signal to the detected target, and the current moment is recorded as the second initial moment t0. Set the receiver off time window y, turn off the receiver power switch at t0+T3, and turn on at t0+T3+y, and record the time when the laser receiver receives the first echo signal as the second receiving moment t1. Among them, t1-t0 is the time taken from the second emission of the laser test signal to the echo signal reaching the laser receiver, which is the second time difference.

[0078] In order to avoid the detection blind area time being too long due to the receiver power being turned off, and to fully avoid stray light during the detection process, the receiver shutdown time window is preset to be slightly longer than the stray light reception time, and the stray light reception time is allowed to occur within the receiver shutdown time window y, thereby avoiding the influence of stray light.

[0079] Step S53, determining whether the second time difference is greater than the first time difference.

[0080] Specifically, it is determined whether the second time difference t1-t0 is greater than the first time difference T1-T0.

[0081] If the second time difference is greater than the first time difference, step S54 is executed.

[0082] If the second time difference is smaller than the first time difference, step S55 is executed.

[0083] Step S54, using the closing time difference as the closing delay of the laser receiver.

[0084] Because stray light is generated on the galvanometer and the galvanometer is located inside the system of the device, the time when the stray light is received is fixed and must be less than the time when the actual target signal is received. When the second time difference is greater than the first time difference, according to the characteristic that the arrival time of the stray light and the target signal is different, it can be judged from the relationship between the time taken to receive the second echo signal and the time taken to receive the first echo signal that the first echo signal is stray light and the second echo signal is the target signal, further indicating that the stray light has been avoided at the second receiving moment.

[0085] Step S55, delay compensation is performed on the closing time difference until the compensated second time difference is greater than the first time difference.

[0086] The laser receiver controlled by the receiver power switch has an uncertain delay, which mainly includes the switch delay of the switch tube, as well as the delay caused by the driver and the printed circuit board. The above uncertain delays accumulate to tens of nanoseconds, which will have a great impact on the ranging accuracy.

[0087] In a possible application scenario, in order to avoid inaccurate LiDAR detection results caused by both delay and stray light, it is necessary to compensate for the shutdown delay obtained for shutting down the laser receiver power supply. The specific method of delay compensation is referred to Figure 6 The process shown in the figure comprises:

[0088] Step S61, determining whether the setting parameters in the laser radar are the setting thresholds.

[0089] Specifically, it is determined whether flag=0 holds.

[0090] Since the setting parameter flag is used to determine the compensation method for the closing time difference, in the embodiment of the present application, when it is determined that the second time difference is smaller than the first time difference, it is necessary to compensate for the closing time difference. At this time, the corresponding compensation method is determined by setting the parameter flag. In the embodiment of the present application, the compensation for the closing time difference is divided into increasing compensation and decreasing compensation, wherein increasing compensation is to increase the preset delay compensation value on the basis of the closing time difference, and decreasing compensation is to reduce the preset delay compensation value on the basis of the closing time difference.

[0091] When it is determined that the setting parameter flag is equal to 0, the compensation method is to increase the compensation, and step S62 is executed.

[0092] When it is determined that the setting parameter flag is not equal to 0, the compensation method is to reduce the compensation, and step S63 is executed.

[0093] Step S62, increasing the closing time difference according to the preset delay compensation value to obtain a first compensated closing time difference, and using the first compensated closing time difference that is less than the first preset adjustment threshold as the closing delay of the laser receiver.

[0094] Since the path delay of the transmission control signal and the reception delay of the reception control signal cannot be determined, in order to switch between increasing compensation and decreasing compensation as needed, the present application example sets a preset adjustment threshold. The value of the preset adjustment threshold is the absolute value of the difference between the manual nominal transmission delay accumulation of the laser emission device and the manual nominal transmission delay accumulation of the receiver switch path device plus a few tens of nanoseconds. For example, the manual nominal transmission accumulation time of the laser emission path device is a, and the manual nominal transmission delay accumulation time of the receiver switch path device is b. The value of the preset adjustment threshold is equal to |ab|+j ns .

[0095] Specifically, when the closing time difference is increased and compensated, the value of T3 is increased based on the closing time difference T3=0 to obtain the first compensated closing time difference Determine the first compensation off time difference Is it less than the first preset adjustment threshold?

[0096] When the first compensation closing time difference is less than the first preset adjustment threshold, the first compensation closing time difference is continued to be increased, and the nth compensation closing time difference that satisfies the second time difference being greater than the first time difference after the increase in compensation is used as the closing delay of the laser receiver.

[0097] Specifically, when the first compensation is turned off, the time difference When it is less than the first preset adjustment threshold, continue to increase until the second time difference t1-t0 is greater than the first time difference T1-T0, the nth compensation closing time difference is output. as a closing delay.

[0098] When the first compensation is turned off the time difference When it is greater than the first preset adjustment threshold, step S63 is executed.

[0099] Step S63, reducing the closing time difference according to the preset delay compensation value to obtain a second compensated closing time difference, and using the mth compensated closing time difference after reduction and compensation as the closing delay of the laser receiver.

[0100] Specifically, in the first compensation closing time difference When it is greater than the first preset adjustment threshold, set flag = 1. At this time, it is necessary to reduce the closing time difference and compensate, that is, reduce the value of T3 based on T3 = 0 to obtain the second compensation closing time difference. Determine the time difference of the second compensation off Is it greater than the second preset adjustment threshold?

[0101] When the second compensation closing time difference is greater than the second preset adjustment threshold, the compensation closing delay of the second compensation closing time difference is reduced, and the mth compensation closing time difference when the second time difference is greater than the first time difference after compensation is reduced As the turn-off delay of the laser receiver.

[0102] Specifically, when the second compensation is turned off, the time difference When it is greater than the second preset adjustment threshold, the second compensation closing time difference is reduced The value is set until the second time difference t1-t0 is greater than the first time difference T1-T0, and the mth compensation closing time difference is output. as a closing delay.

[0103] Among them, the value of increasing the closing time difference is positive, and the value of decreasing the closing time difference is negative. Therefore, the preset compensation values ​​in the two cases of increasing compensation and decreasing compensation are the same in size and opposite in sign, and the second preset adjustment threshold is the opposite of the first preset adjustment threshold.

[0104] When the second compensation closing time difference is less than the second preset adjustment threshold, a prompt message is generated, wherein the prompt message is used to prompt that the preset adjustment threshold or the receiver closing time window does not meet the preset condition.

[0105] Through the control method provided in the present application, after the laser transmitter of the laser radar sends out a laser signal, the receiver power switch in the laser radar can be controlled to turn off the receiver power supply, thereby ensuring that the laser receiver is in an off state when stray light is transmitted to the laser receiver, thereby avoiding the influence of stray light on target detection.

[0106] Based on the same inventive concept, the present application also provides a control device, such as Figure 7 FIG. 1 is a schematic diagram of the structure of a control device in the present application. The device is applied to a laser radar. The laser radar at least includes a laser transmitter, a laser receiver, a laser receiver power supply and a receiver power switch. The laser receiver power supply is connected to the receiver power switch. The receiver power switch is used to control the laser receiver power supply. The device includes:

[0107] An acquisition module 71 is used to acquire a shutdown delay for shutting down the power supply of the laser receiver and a first emission time of the laser emitter emitting the laser;

[0108] A processing module 72, configured to use the sum of the first emission time and the shutdown delay as the shutdown time of the laser receiver power supply;

[0109] The control module 73 is used to turn off the power supply of the laser receiver according to the turn-off time.

[0110] In a possible design, the acquisition module 71 includes:

[0111] an acquisition unit, configured to acquire a first receiving moment when the laser receiver receives a first echo signal, set a preset closing time difference, and determine a first time difference between the first receiving moment and a first initial moment, wherein the first initial moment is a moment when the laser transmitter emits laser light for the first time;

[0112] The processing unit, when the laser receiver power is turned on after the power off time, obtains a second receiving time when the laser receiver receives the second echo signal, and determines a second time difference between the second receiving time and the second initial time, wherein the second initial time is the time when the laser transmitter emits the laser for the second time, and the shut-down time is the time when the second initial time and the shut-down time difference are added;

[0113] A determination unit is used to determine whether the second time difference is greater than the first time difference; if so, use the closing time difference as the closing delay; if not, perform delay compensation on the closing time difference until the second time difference is greater than the first time difference.

[0114] In a possible design, the determining unit is further configured to:

[0115] Determining whether a setting parameter in the laser radar is a setting threshold;

[0116] If yes, then increase the closing time difference according to the preset delay compensation value to obtain a first compensated closing time difference, and use the first compensated closing time difference that is smaller than the first preset adjustment threshold as the closing time difference;

[0117] If not, the closing time difference is reduced according to the preset delay compensation value to obtain a second compensated closing time difference, and the second compensated closing time difference which is greater than the first preset adjustment threshold is used as the closing time difference.

[0118] In a possible design, the determination unit is further configured to:

[0119] Determining whether the first compensation closing time difference is less than a first preset adjustment threshold;

[0120] If so, increasing the first compensation off time difference until the second time difference is greater than the first time difference;

[0121] If not, set the setting parameter in the laser radar not to the set threshold, adjust the time difference compensation mode to the reduction compensation mode, and reduce the closing time difference according to the preset delay compensation value.

[0122] In a possible design, the determination unit is further configured to:

[0123] Determining whether the second compensation closing time difference is greater than a second preset adjustment threshold;

[0124] If yes, reduce the second compensation off time difference until the second time difference is greater than the first time difference;

[0125] If not, a prompt message is generated, wherein the prompt message is used to prompt that the preset adjustment threshold or the receiver closing time window does not meet the preset condition.

[0126] Through the control device provided in the present application, after the laser transmitter of the laser radar sends a laser signal, the receiver power switch in the laser radar can be controlled to turn off the receiver power supply, thereby ensuring that the laser receiver is in an off state when stray light is transmitted to the laser receiver, thereby avoiding the influence of stray light on target detection.

[0127] Based on the same inventive concept, an electronic device is also provided in an embodiment of the present application, and the electronic device can realize the functions of the aforementioned control device, referring to Figure 8 , the electronic device comprises:

[0128] At least one processor 81, and a memory 82 connected to the at least one processor 81. The specific connection medium between the processor 81 and the memory 82 is not limited in the embodiment of the present application. Figure 8 In the example, the processor 81 and the memory 82 are connected via a bus 83. The bus 83 is Figure 8 The connection between other components is shown by bold lines, and the connection between other components is only for schematic illustration and is not intended to be limiting. The bus 83 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 81 may also be referred to as a controller, and there is no limitation on the name.

[0129] In the embodiment of the present application, the memory 82 stores instructions that can be executed by at least one processor 81. The at least one processor 81 can execute the control method discussed above by executing the instructions stored in the memory 82. The processor 81 can implement Figure 7 The functions of each module in the device shown.

[0130] Among them, the processor 81 is the control center of the device, and can use various interfaces and lines to connect the various parts of the entire control device. By running or executing instructions stored in the memory 82 and calling data stored in the memory 82, the various functions of the device and processing data, the device can be monitored as a whole.

[0131] In one possible design, the processor 81 may include one or more processing units, and the processor 81 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the modem processor may not be integrated into the processor 81. In some embodiments, the processor 81 and the memory 82 may be implemented on the same chip, and in some embodiments, they may also be implemented separately on separate chips.

[0132] The processor 81 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the control method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0133] The memory 82 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 82 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a programmable read-only memory (Programmable Read Only Memory, PROM), a read-only memory (Read Only Memory, ROM), an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic memory, a disk, an optical disk, etc. The memory 82 is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 82 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0134] By programming the processor 81, the code corresponding to the control method described in the above embodiment can be fixed into the chip, so that the chip can execute the control method when running. Figure 4The steps of the control method of the embodiment shown are as follows: How to design and program the processor 81 is a technique well known to those skilled in the art and will not be described in detail here.

[0135] Based on the same inventive concept, an embodiment of the present application further provides a storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the control method discussed above.

[0136] In some possible implementations, various aspects of the control method provided in the present application may also be implemented in the form of a program product, which includes a program code. When the program product is run on an apparatus, the program code is used to enable the control device to execute the steps of the control method according to various exemplary implementations of the present application described above in this specification.

[0137] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0138] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0139] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0141] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A control method, characterized in that: The method is applied to a laser radar, which at least includes a laser transmitter, a laser receiver, a laser receiver power supply and a receiver power switch, wherein the laser receiver power supply is connected to the receiver power switch, and the receiver power switch is used to control the laser receiver power supply. The method includes: Acquire a shutdown delay for shutting down the power supply of the laser receiver and a first emission time of the laser emitter emitting laser light; The sum of the first emission time and the closing time delay is used as the closing time of the laser receiver power supply; Turning off the power supply of the laser receiver according to the turning off time; The step of obtaining a shutdown delay for shutting down a power supply of the laser receiver includes: Acquire a first receiving time when the laser receiver receives a first echo signal, set a preset closing time difference, and determine a first time difference between the first receiving time and a first initial time, wherein the first initial time is the time when the laser transmitter emits laser for the first time; When the laser receiver power is turned on after being turned off, a second receiving time when the laser receiver receives the second echo signal is obtained, and a second time difference between the second receiving time and the second initial time is determined, wherein the second initial time is the time when the laser transmitter emits the laser for the second time, and the turning off time is the sum of the second initial time and the turning off time difference; determining whether the second time difference is greater than the first time difference; If yes, use the closing time difference as the closing delay; If not, delay compensation is performed on the closing time difference until the second time difference is greater than the first time difference.

2. The method according to claim 1, characterized in that Delay compensation is performed on the closing time difference, and the method includes: Determining whether a set parameter in the laser radar is a set threshold; If yes, increase the closing time difference according to the preset delay compensation value to obtain a first compensated closing time difference, and use the first compensated closing time difference which is smaller than the first preset adjustment threshold as the closing time difference; If not, the closing time difference is reduced according to the preset delay compensation value to obtain a second compensated closing time difference, and the second compensated closing time difference greater than the second preset adjustment threshold is used as the closing time difference.

3. The method according to claim 2, characterized in that Determining whether a setting parameter in the laser radar is a setting threshold, the method comprising: Determining whether the first compensation closing time difference is less than a first preset adjustment threshold; If so, increasing the first compensation off time difference until the second time difference is greater than the first time difference; If not, set the setting parameter in the laser radar not to the set threshold, adjust the time difference compensation mode to the reduction compensation mode, and reduce the closing time difference according to the preset delay compensation value.

4. The method according to any one of claims 2 to 3, characterized in that: The method further comprises: Determining whether the second compensation closing time difference is greater than a second preset adjustment threshold; If yes, reduce the second compensation off time difference until the second time difference is greater than the first time difference; If not, generate a prompt message, wherein the prompt message is used to prompt that the first preset adjustment threshold and the second preset adjustment threshold do not meet the preset conditions, or is used to prompt that the receiver shutdown time window does not meet the preset conditions, and the receiver shutdown time window is the length of time that the receiver power switch is turned off.

5. A control device, characterized in that: The device is applied to a laser radar, which at least includes a laser transmitter, a laser receiver, a laser receiver power supply and a receiver power switch, wherein the laser receiver power supply is connected to the receiver power switch, and the receiver power switch is used to control the laser receiver power supply, and the device includes: An acquisition module, used to acquire a shutdown delay for shutting down the power supply of the laser receiver and a first emission time of the laser emitter emitting the laser; A processing module, configured to use the sum of the first emission time and the shutdown delay as the shutdown time of the laser receiver power supply; A control module, used for shutting down the power supply of the laser receiver according to the shut-down time; Wherein, the acquisition module includes: an acquisition unit, configured to acquire a first receiving moment when the laser receiver receives a first echo signal, set a preset closing time difference, and determine a first time difference between the first receiving moment and a first initial moment, wherein the first initial moment is a moment when the laser transmitter emits laser light for the first time; a processing unit, configured to obtain, when the laser receiver is turned on after the power-off time, a second receiving time at which the laser receiver receives a second echo signal, and determine a second time difference between the second receiving time and a second initial time, wherein the second initial time is the time at which the laser transmitter emits the laser for the second time, and the shut-off time is the time at which the second initial time and the shut-off time difference are summed; A determination unit is used to determine whether the second time difference is greater than the first time difference; if so, use the closing time difference as the closing delay; if not, perform delay compensation on the closing time difference until the second time difference is greater than the first time difference.

6. The device according to claim 5, characterized in that The determination unit is also used for: Determining whether a set parameter in the laser radar is a set threshold; If yes, increase the closing time difference according to the preset delay compensation value to obtain a first compensated closing time difference, and use the first compensated closing time difference which is smaller than the first preset adjustment threshold as the closing time difference; If not, the closing time difference is reduced according to the preset delay compensation value to obtain a second compensated closing time difference, and the second compensated closing time difference greater than the second preset adjustment threshold is used as the closing time difference.

7. The device according to claim 6, characterized in that The determination unit is also used for: Determining whether the first compensation closing time difference is less than a first preset adjustment threshold; If so, increasing the first compensation off time difference until the second time difference is greater than the first time difference; If not, set the setting parameter in the laser radar not to the set threshold, adjust the time difference compensation mode to the reduction compensation mode, and reduce the closing time difference according to the preset delay compensation value.

8. The device according to any one of claims 6 to 7, characterized in that The determination unit may also: Determining whether the second compensation closing time difference is greater than a second preset adjustment threshold; If yes, reduce the second compensation off time difference until the second time difference is greater than the first time difference; If not, generate a prompt message, wherein the prompt message is used to prompt that the first preset adjustment threshold and the second preset adjustment threshold do not meet the preset conditions, or is used to prompt that the receiver shutdown time window does not meet the preset conditions, and the receiver shutdown time window is the length of time that the receiver power switch is turned off.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to implement the method steps of any one of claims 1 to 4 when executing the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps of any one of claims 1 to 4 are implemented.

Images