Solid-state laser radar control method, control unit, and solid-state laser radar

Abstract

The present invention provides a solid-state laser radar control method, control unit, and solid-state laser radar. The method includes causing a first selector to select corresponding light-emitting units and a second selector to select target photoelectric conversion elements corresponding to the light-emitting units according to a pre-set light-emitting sequence, while periodically varying the supply voltage of the target photoelectric conversion elements by at least one cycle to complete scanning of the detection area corresponding to the light-emitting units. After completing scanning of the detection area corresponding to all light-emitting units, the detection result is determined based on the light-emitting moments recorded by the first timer and the signal reception moments recorded by the second timer. By enabling a second timer to serve multiple target photoelectric conversion elements according to the configured second selector, field-of-view detection is completed through the corresponding scanning method. This effectively reduces the number of amplifiers and timers required for the solid-state laser radar, thereby reducing the radar's complexity.

Description

Technical Field

[0001] The present application belongs to the field of communication technology, and in particular relates to a solid-state laser radar control method, a control unit, and a solid-state laser radar. Background Art

[0002] FLASH solid-state lidar has developed rapidly in recent years due to its advantages such as no mechanical rotating parts, high reliability, strong environmental adaptability, low price and easy mass production.

[0003] Conventional solid-state lidar has disadvantages such as low electro-optical conversion efficiency per unit area, high internal resistance and large divergence angle. It not only requires a large driving current, but also greatly reduces the collimation efficiency, increases the driving difficulty and cost. At the same time, each channel of the detector requires a set of transimpedance amplifiers and timers, which increases the complexity of the receiving system and thus affects the development of solid-state lidar. Summary of the Invention

[0004] In view of this, the present invention provides a solid-state laser radar control method, a control unit and a solid-state laser radar, aiming to solve the problem of high complexity of solid-state laser radar in the prior art.

[0005] A first aspect of an embodiment of the present invention provides a solid-state laser radar control method, wherein the solid-state laser radar includes a transmitting unit, a receiving unit, a power supply unit, and a control unit; the power supply unit is respectively connected to the transmitting unit, the receiving unit, and the control unit; the control unit is respectively connected to the transmitting unit and the receiving unit; the transmitting unit includes a multi-channel array laser; the multi-channel array laser includes a first gate and a plurality of light-emitting units arranged in sequence; the first gate is used to select the corresponding light-emitting unit according to a control signal of the control unit; the receiving unit includes a multi-channel array detector; the multi-channel array detector includes at least one second gate and photoelectric conversion elements arranged in sequence, the light-emitting unit corresponds to the photoelectric conversion element; the second gate is used to select the corresponding photoelectric conversion element according to the control signal of the control unit; the solid-state laser radar also includes a first timer and a second timer, the first timer is used to record the light-emitting moment of each light-emitting unit; each second gate corresponds to a second timer; each second timer is used to record the signal reception moment of the photoelectric conversion element selected by the corresponding second gate; the method includes:

[0006] Determine the triggering time of each light-emitting unit according to the preset light-emitting sequence of each light-emitting unit;

[0007] sending a control signal to the first gate according to the triggering time of each light-emitting unit so that the first gate turns on the corresponding light-emitting unit; when a light-emitting unit is turned on, sending a control signal to the second gate so that the second gate turns on the target photoelectric conversion element corresponding to the light-emitting unit, and at the same time sending a control signal to the power supply unit so that the supply voltage of the target photoelectric conversion element changes periodically, and determining that the scanning of the detection area corresponding to the light-emitting unit is completed after the supply voltage of the target photoelectric conversion element changes for at least one cycle;

[0008] After completing the scanning of the detection area corresponding to all light-emitting units, the detection result of the solid-state laser radar is determined according to the light-emitting moment recorded by the first timer and the signal receiving moment recorded by the second timer when the detection area is scanned.

[0009] In some possible implementations, the multiple light-emitting units are arranged in rows, the multi-channel area array laser includes n rows of light-emitting units, and the multi-channel area array detector includes n rows and m columns of photoelectric conversion elements and m second selectors; the n rows of light-emitting units correspond one-to-one to the n rows of photoelectric conversion elements; the n selection channels in each second selector correspond one-to-one to the n photoelectric conversion elements in each column of photoelectric conversion elements; the method further includes: setting a light-emitting sequence for each light-emitting unit; and setting the light-emitting sequence for each light-emitting unit includes:

[0010] The light-emitting units are set to be triggered in sequence from the 1st row to the nth row.

[0011] In some possible implementations, the plurality of light-emitting units are arranged in an n*m matrix, the multi-channel area array detector includes m rows and n columns of photoelectric conversion elements and a second gate; the n*m light-emitting units correspond one-to-one to the m rows and n columns of photoelectric conversion elements, and the n*m gating channels in the second gate correspond one-to-one to the m rows and n columns of photoelectric conversion elements; the method further includes: setting a light-emitting sequence for each light-emitting unit; and setting the light-emitting sequence for each light-emitting unit includes:

[0012] The light-emitting units are set to be triggered in sequence according to the order of two-dimensional addressing.

[0013] In some possible implementations, determining the detection result of the solid-state laser radar according to the light emission moment recorded by the first timer and the signal reception moment recorded by the second timer during the detection area scanning includes:

[0014] Determine the detection result of each channel in the multi-channel area array detector in each cycle according to the light emission time recorded by the first timer and the signal reception time recorded by the second timer when the detection area is scanned in each power supply voltage change cycle;

[0015] Clustering the detection results to obtain cluster points and judging whether there is a target in the field of view of the solid-state laser radar according to the number of cluster points;

[0016] If the number of cluster points of a certain category is not less than a preset threshold, then there is a target in the field of view of the solid-state laser radar;

[0017] If the number of cluster points of all categories is less than the preset threshold, there is no target in the field of view of the solid-state laser radar.

[0018] In some possible implementations, when a target exists in the detection area, the method further includes: determining a detection range of each selected channel;

[0019] The expression of the detection distance of each channel is:

[0020]

[0021] Among them, L i is the detection distance of the i-th target, T i is the signal receiving time of the i-th channel, T f is the corresponding luminous moment, and c is the speed of light.

[0022] In some possible implementations, the method further includes:

[0023] Determine the circuit delay of solid-state lidar;

[0024] The target detection distance is corrected according to the circuit delay.

[0025] In some possible implementations, the circuit delay is measured as follows:

[0026]

[0027] Wherein, ΔT is the circuit delay, and L is the known measurement distance.

[0028] A second aspect of an embodiment of the present invention provides a solid-state laser radar control device, the solid-state laser radar including a transmitting unit, a receiving unit, a power supply unit and a control unit; the power supply unit is respectively connected to the transmitting unit, the receiving unit and the control unit; the control unit is respectively connected to the transmitting unit and the receiving unit; the transmitting unit includes a multi-channel array laser; the multi-channel array laser includes a first gate and a plurality of light-emitting units arranged in sequence; the first gate is used to select the corresponding light-emitting unit according to the control signal of the control unit; the receiving unit includes a multi-channel array detector; the multi-channel array detector includes at least one second gate and photoelectric conversion elements arranged in sequence, the light-emitting unit corresponds to the photoelectric conversion element; the second gate is used to select the corresponding photoelectric conversion element according to the control signal of the control unit; the solid-state laser radar also includes a first timer and a second timer, the first timer is used to record the light-emitting moment of each light-emitting unit; each second gate corresponds to a second timer; each second timer is used to record the signal reception moment of the photoelectric conversion element selected by the corresponding second gate; the device includes:

[0029] A trigger determination module, configured to determine the trigger time of each light emitting unit according to a preset light emitting sequence of each light emitting unit;

[0030] a light emitting control module, configured to send a control signal to the first gate according to the triggering time of each light emitting unit so that the first gate turns on the corresponding light emitting unit;

[0031] a field of view scanning module, configured to, when a certain light-emitting unit is turned on, send a control signal to the second selector to enable the second selector to enable a target photoelectric conversion element corresponding to the light-emitting unit, and simultaneously send a control signal to the power supply unit to periodically change the supply voltage of the target photoelectric conversion element, and determine that the scanning of the detection area corresponding to the light-emitting unit is completed after the supply voltage of the target photoelectric conversion element changes for at least one cycle;

[0032] The result determination module is used to determine the detection result of the solid-state laser radar according to the light-emitting moment recorded by the first timer and the signal receiving moment recorded by the second timer when the detection area is scanned after completing the scanning of the detection area corresponding to all light-emitting units.

[0033] The third aspect of an embodiment of the present invention provides a control unit, characterized in that it includes a memory, a processor, and a computer program stored in the memory and runnable on the processor, and characterized in that when the processor executes the computer program, it implements the steps of the solid-state lidar control method described in the first aspect above.

[0034] A fourth aspect of an embodiment of the present invention provides a solid-state laser radar, comprising: a control unit as described in the third aspect above.

[0035] The fifth aspect of an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and is characterized in that when the computer program is executed by a processor, it implements the steps of the solid-state laser radar control method described in the first aspect above.

[0036] The solid-state laser radar control method, control unit and solid-state laser radar provided by the embodiments of the present invention include determining the trigger time of each light-emitting unit according to a pre-set light-emitting sequence of each light-emitting unit; sending a control signal to the first selector according to the trigger time of each light-emitting unit to enable the first selector to select the corresponding light-emitting unit; when a light-emitting unit is selected, sending a control signal to the second selector to enable the second selector to select the target photoelectric conversion element corresponding to the light-emitting unit, and at the same time sending a control signal to the power supply unit to cause the supply voltage of the target photoelectric conversion element to change periodically, and determining that the scanning of the detection area corresponding to the light-emitting unit is completed after the supply voltage of the target photoelectric conversion element changes for at least one cycle; after completing the scanning of the detection area corresponding to all light-emitting units, determining the detection result of the solid-state laser radar according to the light-emitting moment recorded by the first timer and the signal reception moment recorded by the second timer when the detection area is scanned. By setting a corresponding second selector, a second timer is set for each second selector, so that one second timer serves multiple target photoelectric conversion elements, thereby completing field of view detection through the above-mentioned corresponding scanning method, which can effectively reduce the number of amplifiers and timers required to be set up for the solid-state laser radar and reduce the complexity of the radar. At the same time, by partitioning the light emission, the requirements for the circuit driving capability of the light emission can be reduced, and the output light power density can be increased, thereby improving the ranging capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 Schematic diagram of the structure of a solid-state laser radar provided by an embodiment of the present invention;

[0039] Figure 2 This is a flow chart of an implementation of a solid-state laser radar control method provided by an embodiment of the present invention;

[0040] Figure 3Schematic diagram of light-emitting units divided by rows and corresponding photosensitive pixels on receiving units provided by an embodiment of the present invention;

[0041] Figure 4 A logic circuit for progressive scanning processing provided by an embodiment of the present invention;

[0042] Figure 5 Schematic diagram of light-emitting units divided by columns and corresponding photosensitive pixels on receiving units provided by an embodiment of the present invention;

[0043] Figure 6 The logic circuit for column-by-column scanning processing provided by the embodiment of the present invention;

[0044] Figure 7 Schematic diagram of light-emitting units divided in a two-dimensional addressing manner and corresponding photosensitive pixels on a receiving unit provided by an embodiment of the present invention;

[0045] Figure 8 A logic circuit for performing scanning processing in a two-dimensional addressing manner provided by an embodiment of the present invention;

[0046] Figure 9 1 is a schematic diagram of a periodic voltage control circuit provided by an embodiment of the present invention;

[0047] Figure 10 1 is a schematic structural diagram of a solid-state laser radar control device provided by an embodiment of the present invention;

[0048] Figure 11 It is a structural diagram of a control unit provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0050] Figure 1 It is a structural schematic diagram of a solid-state laser radar provided by an embodiment of the present invention. Figure 2 This is a flow chart of the implementation of the solid-state laser radar control method provided by the embodiment of the present invention. Figure 1 As shown, in this embodiment, the solid-state laser radar 1 includes a transmitting unit 11, a receiving unit 12, a power supply unit 13 and a control unit 14.

[0051] The power supply unit 13 is connected to the transmitting unit 11 , the receiving unit 12 , and the control unit 14 respectively; the control unit 14 is connected to the transmitting unit 11 and the receiving unit 12 respectively.

[0052] The emitting unit 11 includes a multi-channel area array laser; the multi-channel area array laser includes a first gate and a plurality of light-emitting units arranged in sequence; the first gate is used to gate the corresponding light-emitting unit according to the control signal of the control unit 14.

[0053] The receiving unit 12 includes a multi-channel area array detector; the multi-channel area array detector includes at least one second gate and photoelectric conversion elements arranged in sequence, and the light-emitting units correspond to the photoelectric conversion elements; the second gate is used to select the corresponding photoelectric conversion element according to the control signal of the control unit 14.

[0054] The solid-state laser radar also includes a first timer and a second timer. The first timer is used to record the light-emitting moment of each light-emitting unit; each second selector corresponds to a second timer; and each second timer is used to record the signal reception moment of the photoelectric conversion element selected by the corresponding second selector.

[0055] In this embodiment, the multi-channel area array laser is a VCSEL (Vertical-Cavity Surface-Emitting Laser), i.e., a single laser diode that can emit light in partitions, with each emitting area being controlled separately as a light-emitting unit. Specifically, it can be a DBR-VCSEL (Distributed Bragg Refraction) or an HCG-VCSEL (High Contrast Grating), without limitation. Furthermore, the collimated optical axis of the solid-state lidar of the present invention is perpendicular to the plane of the vertical cavity semiconductor laser light-emitting surface / vertical cavity semiconductor laser driver circuit board. Each channel of the multi-channel area array detector can be a single pixel, such as a SPAD (monolithic single-photon avalanche photodiode), or multiple pixels, such as an MPPC (silicon photomultiplier) or SiPM (silicon photomultiplier). That is, the detector is an area array and does not require movement during the detection process. The control unit 14 is used to control and process the digital and analog signals of the transmitting unit 11 and the receiving unit 12. The first timer and the second timer can identify and calculate the time information of the signal of the current channel, and can also identify and calculate the time information of the external trigger signal. The number of the first gate is 1, and the number of the second gate can be 1 or more, which is not limited here.

[0056] like Figure 2 As shown, in this embodiment, the solid-state laser radar control method includes:

[0057] S201, determining the triggering time of each light-emitting unit according to a preset light-emitting sequence of each light-emitting unit;

[0058] S202, sending a control signal to the first gate according to the triggering time of each light-emitting unit so that the first gate turns on the corresponding light-emitting unit;

[0059] S203, when a certain light-emitting unit is turned on, sending a control signal to the second selector to enable the second selector to turn on the target photoelectric conversion element corresponding to the light-emitting unit, and simultaneously sending a control signal to the power supply unit to periodically change the supply voltage of the target photoelectric conversion element, and determining that the scanning of the detection area corresponding to the light-emitting unit is completed after the supply voltage of the target photoelectric conversion element changes for at least one cycle;

[0060] S204, after completing the scanning of the detection area corresponding to all the light-emitting units, determine the detection result of the solid-state laser radar according to the light-emitting moment recorded by the first timer and the signal receiving moment recorded by the second timer when the detection area is scanned.

[0061] In this embodiment, each gate path of the first gate is connected to a light-emitting unit. After receiving a control signal from the control unit 14, the first gate activates the light-emitting unit indicated by the control signal, and the first timer records the time of light emission. The control unit 14 then controls the second gate to activate the photoelectric conversion element corresponding to the activated light-emitting unit in the detector to scan the detection area, and the second timer records the time of signal reception. This process is repeated continuously, thereby detecting the entire field of view.

[0062] In this embodiment, the detection area of the solid-state laser radar is a rectangular area, the detection range (i.e., the width of the rectangle) is determined by the light-emitting unit, and the detection distance (i.e., the length of the rectangle) is determined by the power supply voltage of the receiving unit. The higher the power supply voltage, the longer the detection distance. In order to adapt to different detection distances, the control unit 14 continuously changes the power supply voltage of the receiving unit 12 through the power supply unit 13. The change in the power supply voltage can be irregular or periodic, which is not limited here. When generating a control signal, the control unit 14 can generate a control signal in real time according to the selected light-emitting area when scanning the light-emitting area, or it can generate all control signals after determining the selection order of each light-emitting area, and send the control signals in sequence during scanning, which is not limited here.

[0063] In this embodiment, by setting the second selector according to the corresponding scanning area, the n selection channels in each second selector correspond one-to-one to the n photoelectric conversion elements; each second selector is correspondingly provided with a second timer, so that one second timer serves the multiple photosensitive channels corresponding to the scanning area in the detector, thereby completing the field of view detection through the above-mentioned corresponding scanning method, which can effectively reduce the number of amplifiers and timers required to be set up for the solid-state laser radar and reduce the complexity of the radar. At the same time, by performing partitioned control of light emission, the requirements for circuit driving capability of light emission can be reduced, and the output light power density can be increased, thereby improving the ranging capability.

[0064] In some embodiments, a plurality of light-emitting units are arranged in rows, a multi-channel area array laser includes n rows of light-emitting units, and a multi-channel area array detector includes n rows and m columns of photoelectric conversion elements and m second selectors; the n rows of light-emitting units correspond one-to-one to the n rows of photoelectric conversion elements; the n selection channels in each second selector correspond one-to-one to the n photoelectric conversion elements in each column of photoelectric conversion elements; the method further includes: setting a light-emitting sequence for each light-emitting unit; setting a light-emitting sequence for each light-emitting unit includes:

[0065] The light-emitting units are set to be triggered in sequence from the 1st row to the nth row.

[0066] It should be noted that, in this article, rows and columns are relative concepts. The area array detector may also include m rows and n columns of photoelectric conversion elements and m second selectors. Correspondingly, the multi-channel area array laser includes n columns of light-emitting units, and the n columns of light-emitting units correspond one-to-one to the n columns of photoelectric conversion elements; the n selection channels in each second selector correspond one-to-one to the n photoelectric conversion elements in each column of photoelectric conversion elements; the light-emitting units are triggered in sequence from the 1st column to the nth column.

[0067] In each of the drawings, the light-emitting unit is the light-emitting area shown in the figure, and each photoelectric conversion element of the receiving unit is the photosensitive pixel in the figure. mn Represents the path corresponding to the photoelectric conversion element in the mth row (column) and the nth column (row). The total number of timers (first timer and second timer) g and the number of detector channels k and the number of laser channels N are related as follows:

[0068]

[0069] For example, when the light-emitting units are arranged in rows (columns), the number of detector channels is k = n, and the number of laser channels is N = m*n, so g ≥ m + 1. When the light-emitting units are arranged in a two-dimensional addressing manner, the number of detector channels is k = m*n, and the number of laser channels is N = m*n, so g ≥ 2.

[0070] Figure 3This is a schematic diagram of the light-emitting units divided by rows and the corresponding photosensitive pixels on the receiving units provided by an embodiment of the present invention. Figure 4 This is a logic circuit for line-by-line scanning processing provided by an embodiment of the present invention.

[0071] like Figure 3 and Figure 4 As shown, in this embodiment, when scanning the detection area in rows, the multi-channel area array laser includes light-emitting units arranged in rows and a first selector Ch0. The first selector Ch0 has n channels corresponding to the P and P of the light-emitting units. 01 ~P 0n The multi-channel area array detector includes n rows and m columns of channel photoelectric conversion elements, m second gates (i.e., Ch1 to Chm), a transimpedance amplifier unit, and a timing unit, wherein each second gate includes at least n channels, the transimpedance amplifier unit includes at least m TIA transimpedance amplifiers that can operate in parallel, and the timing unit includes at least m+1 TDC timers (i.e., m second timers and 1 first timer) that operate in parallel.

[0072] You can use P 01 ~P 0n The light is driven in sequence. At the same time, the corresponding channels of the selectors Ch0~Chm are selected. The light beam is reflected by the object to be measured, and the optical signal is converted into an electrical signal by the photoelectric conversion element. The received time information is obtained after TIA amplification and TDC timing. The time information received by TDC timer channels 1~m is compared with the time information received by TDC timer channel 0 to obtain the detection results corresponding to each photoelectric conversion element in the corresponding row of the detector.

[0073] Figure 5 It is a schematic diagram of the light-emitting units divided by columns and the corresponding photosensitive pixels on the receiving units provided by an embodiment of the present invention. Figure 6 This is a logic circuit for column-by-column scanning processing provided by an embodiment of the present invention.

[0074] like Figure 5 and Figure 6 As shown, in this embodiment, when scanning the detection area in columns, the multi-channel area array laser includes light-emitting units arranged in columns and a first gate Ch0, and the first gate Ch0 has n channels corresponding to the P and P of the light-emitting units. 01 ~P 0n The multi-channel area array detector includes m rows and n columns of channel photoelectric conversion elements, m second gates (i.e., Ch1 to Chm), a transimpedance amplifier unit, and a timing unit, wherein each second gate includes at least n channels, the transimpedance amplifier unit includes at least m TIA transimpedance amplifiers that can operate in parallel, and the timing unit includes at least m+1 TDC timers (i.e., m second timers and 1 first timer) that operate in parallel.

[0075] You can use P 01 ~P 0n The light is driven in sequence. At the same time, the corresponding channels of the selectors Ch0~Chm are selected. The light beam is reflected by the object to be measured, and the optical signal is converted into an electrical signal by the photoelectric conversion element. The received time information is obtained after TIA amplification and TDC timing. The time information received by TDC timer channels 1~m is compared with the time information received by TDC timer channel 0 to obtain the detection results corresponding to each photoelectric conversion element in the corresponding column of the detector.

[0076] Figure 7 It is a schematic diagram of the light-emitting units divided in a two-dimensional addressing manner and the corresponding photosensitive pixels on the receiving units provided by an embodiment of the present invention. Figure 8 This is a logic circuit for performing scanning processing in a two-dimensional addressing manner provided by an embodiment of the present invention. Figure 7 and Figure 8 As shown, in some embodiments, a plurality of light-emitting units are arranged in a matrix of m rows and n columns, and the multi-channel area array detector includes m rows and n columns of photoelectric conversion elements and a second gate; the n*m light-emitting units correspond one-to-one to the m rows and n columns of photoelectric conversion elements, and the n*m gating channels in the second gate correspond one-to-one to the m rows and n columns of photoelectric conversion elements; the method further includes: setting a light-emitting sequence of each light-emitting unit; setting a light-emitting sequence of each light-emitting unit includes:

[0077] The light-emitting units are set to be triggered in sequence according to the order of two-dimensional addressing.

[0078] In this embodiment, the multi-channel area array laser includes a two-dimensional addressable array laser and a gate Ch0, wherein the first gate Ch0 has a total of m×n channels corresponding to each light-emitting unit; the detector 23 includes m rows and n columns of channel photoelectric conversion elements, a second gate Ch1, a transimpedance amplifier, and a timer, wherein the second gate Ch1 includes at least m×n channels; during operation, each light-emitting unit is driven to emit light in sequence, and at the same time, the first gate Ch0 and the second gate Ch1 are correspondingly gated for the channels, the light beam is reflected by the object to be measured, the optical signal is converted into an electrical signal by the photoelectric conversion element, and the receiving time information is obtained through TIA amplification and TDC timing. The time information received by the TDC timer 1 channel is compared with the time information received by the TDC timer 0 channel to obtain the field of view distance information corresponding to each photoelectric conversion element in the corresponding row of the detector.

[0079] In some embodiments, S204 may include:

[0080] Determine the detection result of each channel in the multi-channel area array detector in each cycle according to the light emission time recorded by the first timer and the signal reception time recorded by the second timer when the detection area is scanned in each power supply voltage change cycle;

[0081] For each channel, cluster the detection results of the channel in each cycle to obtain the cluster points of the channel;

[0082] Judging whether there is a target in the field of view of the solid-state laser radar according to the number of cluster points in each channel;

[0083] If the number of cluster points in a certain channel is not less than a preset threshold, there is a target in the field of view of the solid-state laser radar;

[0084] If the number of cluster points of all channels is less than the preset threshold, there is no target in the field of view of the solid-state laser radar.

[0085] In this embodiment, the detection distance is controlled by controlling the supply voltage. A single field of view detection is completed when the voltage changes by one cycle. However, due to the presence of background light and other radar light, the results of a single field of view detection may not be accurate. Therefore, for each channel, multiple detection cycles are performed within a certain period of time. The detection results of each cycle are clustered, and the point with the most clustered results is taken as the final result. After clustering is completed for all channels, an accurate field of view detection result can be obtained, effectively eliminating the impact of background light and other radar light on the detection distance.

[0086] In some embodiments, when a target is present in the detection area, the method further comprises: determining a detection range of each gated channel;

[0087] The expression of the detection distance of each channel is:

[0088]

[0089] Among them, L i is the detection distance of the i-th channel, T i is the signal receiving time of the i-th channel, T f is the corresponding luminous moment, and c is the speed of light.

[0090] In some embodiments, the method further comprises:

[0091] Determine the circuit delay of solid-state lidar;

[0092] Correct the target detection distance according to the circuit delay.

[0093] In some embodiments, the circuit delay is determined by:

[0094]

[0095] Among them, ΔT is the circuit delay, and L is the known measured distance.

[0096] In this embodiment, the corrected detection distance is

[0097] In some embodiments, the control unit 14 controls the power supply unit 13 to periodically change the voltage of the receiving unit 12 from small to large to adapt to different detection distances. Figure 9 It is a schematic diagram of the periodic control circuit of the voltage provided by the embodiment of the present invention. It can be based on Figure 9 The circuit shown realizes the control of the voltage changing periodically from small to large. As Figure 9 shown, before emitting light, the switch K is disconnected, and the voltage V at both ends of the detector cc ≈HV, the capacitor C1 is charged. When emitting light, the switch K is closed, and R1 and C1 form an RC discharge circuit. A voltage drop is generated by the current flowing through both ends of R1, and the voltage V at both ends of the detector cc <HV. As the discharge progresses, the current flowing through both ends of R1 decreases, and V cc gradually recovers; by adjusting the resistance value of R1 and the capacitance value of C1, the discharge time is controlled to adapt to different detection distances, and by controlling the opening and closing of the switch K, the voltage at both ends of the detector is controlled to change periodically.

[0098] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0099] In some embodiments, the solid-state lidar 1 includes: a transmitting unit 11, a receiving unit 12, a power supply unit 13, and a control unit 14 shown in any of the above embodiments.

[0100] In this embodiment, the composition structure and connection relationship of each unit are the same as those of the Figure 1 corresponding embodiment in part, and will not be described herein again.

[0101] In some embodiments, the transmitting unit 11 further includes a laser driver and a collimating optical system;

[0102] The receiving unit 12 further includes an optical filtering system and a condensing optical system;

[0103] Among them, the multi-laser driver is used to drive each channel of the area array laser to emit light at different times; the emitted laser forms a detection light with a certain divergence angle through the collimating optical system;

[0104] In this embodiment, the multi-channel area array detector is sequentially selected according to the selected detection area and the corresponding channel of the multi-channel area array laser. The detection laser beam reflected by the object is filtered by the optical filtering system 21 and then hits the selected channel of the detector 23 through the focusing optical system 22. The selected channel of the detector 23 converts the optical signal into an electrical signal.

[0105] Figure 10 : is a schematic diagram of the structure of a solid-state laser radar control device provided in an embodiment of the present invention. In this embodiment, the solid-state laser radar control device 10 includes:

[0106] A trigger determination module 1010 is configured to determine a trigger time of each light emitting unit according to a preset light emitting sequence of each light emitting unit;

[0107] The light control module 1020 is configured to send a control signal to the first selector according to the triggering time of each light emitting unit so that the first selector selects the corresponding light emitting unit;

[0108] The field of view scanning module 1030 is configured to, when a light-emitting unit is enabled, send a control signal to the second selector to enable the second selector to enable the target photoelectric conversion element corresponding to the light-emitting unit, and simultaneously send a control signal to the power supply unit to periodically change the supply voltage of the target photoelectric conversion element, and determine that the scanning of the detection area corresponding to the light-emitting unit is completed after the supply voltage of the target photoelectric conversion element changes for at least one cycle;

[0109] The result determination module 1040 is used to determine the detection result of the solid-state laser radar according to the light-emitting moment recorded by the first timer and the signal receiving moment recorded by the second timer when the detection area is scanned after completing the scanning of the detection area corresponding to all the light-emitting units.

[0110] Optionally, multiple light-emitting units are arranged in rows, the multi-channel area array laser includes n rows of light-emitting units, and the multi-channel area array detector includes n rows and m columns of photoelectric conversion elements and m second selectors; the n rows of light-emitting units correspond one-to-one to the n rows of photoelectric conversion elements; the n selection channels in each second selector correspond one-to-one to the n photoelectric conversion elements in each column of photoelectric conversion elements.

[0111] The apparatus further includes a region dividing unit 1050;

[0112] The area division unit 1050 is used to set the light-emitting order of each light-emitting unit;

[0113] Specifically, it is used to set the light-emitting units to be triggered in sequence from the 1st row to the nth row.

[0114] Optionally, the plurality of light-emitting units are arranged in an n*m matrix, and the multi-channel area array detector includes m rows and n columns of photoelectric conversion elements and a second gate; the n*m light-emitting units correspond one-to-one to the m rows and n columns of photoelectric conversion elements, and the n*m gating channels in the second gate correspond one-to-one to the m rows and n columns of photoelectric conversion elements;

[0115] The area division unit 1050 is used to set the light-emitting order of each light-emitting unit;

[0116] Specifically, it is used to set the light-emitting units to be triggered in sequence according to the order of two-dimensional addressing.

[0117] Optionally, the result determination module 1040 is configured to determine the detection result of the solid-state laser radar according to the light emission moment recorded by the first timer and the signal reception moment recorded by the second timer when scanning the detection area, including:

[0118] Determine the detection result of each channel in the multi-channel area array detector in each cycle according to the light emission time recorded by the first timer and the signal reception time recorded by the second timer when the detection area is scanned in each power supply voltage change cycle;

[0119] Clustering each detection result to obtain cluster points and judging whether there is a target in the field of view of the solid-state laser radar based on the number of cluster points;

[0120] If the number of cluster points of a certain category is not less than a preset threshold, then there is a target in the field of view of the solid-state laser radar;

[0121] If the number of cluster points of all categories is less than the preset threshold, there is no target in the field of view of the solid-state laser radar.

[0122] Optionally, the device further includes a distance calculation unit 1060;

[0123] The distance calculation unit 1060 is used to determine the detection distance of each selected channel when there is a target in the detection area;

[0124] The expression of the detection distance of each channel is:

[0125]

[0126] Among them, L i is the target detection distance, T i is the signal receiving time of the i-th channel, T f is the corresponding luminous moment, and c is the speed of light.

[0127] Optionally, the device further includes a distance correction unit 1070;

[0128] The distance correction unit 1070 is used to measure the circuit delay of the solid-state laser radar;

[0129] Correct the target detection distance according to the circuit delay.

[0130] Optionally, the circuit delay can be expressed as:

[0131]

[0132] Where ΔT is the circuit delay and L is the known measurement distance.

[0133] The solid-state laser radar control device provided in this embodiment can be used to execute the above-mentioned method embodiment. Its implementation principle and technical effects are similar, and will not be repeated here in this embodiment.

[0134] Figure 11 FIG. 1 is a schematic diagram of a control unit provided by an embodiment of the present invention. Figure 11 As shown, an embodiment of the present invention provides a control unit 11, which includes: a processor 1100, a memory 1110, and a computer program 1120 stored in the memory 1110 and executable on the processor 1100. When the processor 1100 executes the computer program 1120, the steps in the above-mentioned embodiments of the steel industry chain logistics cost analysis method based on blockchain technology are implemented, such as Figure 2 Alternatively, when the processor 1100 executes the computer program 1120, the functions of the modules / units in the above-mentioned system embodiments are realized, for example, Figure 10 Functions of modules 1010 to 1050 are shown.

[0135] Exemplarily, the computer program 1120 may be divided into one or more modules / units, one or more of which are stored in the memory 1110 and executed by the processor 1100 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 1120 in the control unit 11.

[0136] The control unit 11 can be a single chip microcomputer, MCU, desktop computer, notebook, PDA and other computing devices. The terminal can include, but is not limited to, a processor 1100 and a memory 1110. Those skilled in the art will understand that Figure 11 This is only an example of the control unit 11 and does not constitute a limitation on the control unit 11. The control unit 11 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal may also include input and output devices, network access devices, buses, etc.

[0137] The processor 1100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0138] The memory 1110 may be an internal storage unit of the control unit 11, such as a hard disk or memory of the control unit 11. The memory 1110 may also be an external storage device of the control unit 11, such as a plug-in hard disk equipped on the control unit 11, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Furthermore, the memory 1110 may include both an internal storage unit of the control unit 11 and an external storage device. The memory 1110 is used to store computer programs and other programs and data required by the terminal. The memory 1110 may also be used to temporarily store data that has been output or is about to be output.

[0139] An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps in the above-mentioned embodiment of the steel industry chain logistics cost analysis system based on blockchain technology.

[0140] The computer-readable storage medium stores a computer program 1120, which includes program instructions. When the program instructions are executed by the processor 1100, all or part of the process in the above-mentioned embodiment method can be implemented. The computer program 1120 can also be used to instruct related hardware to complete the process. The computer program 1120 can be stored in a computer-readable storage medium. When the computer program 1120 is executed by the processor 1100, it can implement the steps of each of the above-mentioned method embodiments. Among them, the computer program 1120 includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in computer-readable media can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable media does not include electrical carrier signals and telecommunications signals.

[0141] The computer-readable storage medium may be an internal storage unit of the terminal in any of the aforementioned embodiments, such as a hard disk or memory of the terminal. The computer-readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart memory card (SMC), a secure digital (SD) card, a flash memory card, etc. Furthermore, the computer-readable storage medium may include both an internal storage unit of the terminal and an external storage device. The computer-readable storage medium is used to store computer programs and other programs and data required by the terminal. The computer-readable storage medium may also be used to temporarily store data that has been output or is about to be output.

[0142] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0143] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0144] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0145] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0146] In the embodiments provided herein, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For example, the division of modules or units is merely a logical functional division. In actual implementation, other division methods may be used, such as multiple units or components being combined or integrated into another system, or some features being ignored or not implemented. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0147] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0148] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0149] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of each of the above-mentioned method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0150] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A solid-state laser radar control method, characterized in that: The solid-state laser radar includes a transmitting unit, a receiving unit, a power supply unit and a control unit; the power supply unit is respectively connected to the transmitting unit, the receiving unit and the control unit; the control unit is respectively connected to the transmitting unit and the receiving unit; the transmitting unit includes a multi-channel array laser; the multi-channel array laser includes a first gate and a plurality of light-emitting units arranged in sequence; the first gate is used to select the corresponding light-emitting unit according to the control signal of the control unit; the receiving unit includes a multi-channel array detector; the multi-channel array detector includes at least one second gate and photoelectric conversion elements arranged in sequence, the light-emitting unit corresponds to the photoelectric conversion element; the second gate is used to select the corresponding photoelectric conversion element according to the control signal of the control unit; the solid-state laser radar also includes a first timer and a second timer, the first timer is used to record the light-emitting moment of each light-emitting unit; each second gate corresponds to a second timer; each second timer is used to record the signal receiving moment of the photoelectric conversion element selected by the corresponding second gate; the method includes: Determine the triggering time of each light-emitting unit according to the preset light-emitting sequence of each light-emitting unit; sending a control signal to the first gate according to the triggering time of each light-emitting unit so that the first gate turns on the corresponding light-emitting unit; when a light-emitting unit is turned on, sending a control signal to the second gate so that the second gate turns on the target photoelectric conversion element corresponding to the light-emitting unit, and at the same time sending a control signal to the power supply unit so that the supply voltage of the target photoelectric conversion element changes periodically, and determining that the scanning of the detection area corresponding to the light-emitting unit is completed after the supply voltage of the target photoelectric conversion element changes for at least one cycle; After completing the scanning of the detection area corresponding to all light-emitting units, determining the detection result of the solid-state laser radar according to the light-emitting moment recorded by the first timer and the signal reception moment recorded by the second timer during the scanning of the detection area; The plurality of light-emitting units are arranged in rows, the multi-channel area array laser comprises n rows of light-emitting units, the multi-channel area array detector comprises n rows and m columns of photoelectric conversion elements and m second selectors; the n rows of light-emitting units correspond one-to-one to the n rows of photoelectric conversion elements; the n selection channels in each second selector correspond one-to-one to the n photoelectric conversion elements in each column of photoelectric conversion elements; the method further comprises: setting a light-emitting sequence of each light-emitting unit; the setting of the light-emitting sequence of each light-emitting unit comprises: Set the light-emitting units to be triggered in order from row 1 to row n; The method of determining the detection result of the solid-state laser radar according to the light emission moment recorded by the first timer and the signal reception moment recorded by the second timer during the scanning of the detection area includes: Determine the detection result of each channel in the multi-channel area array detector in each cycle according to the light emission time recorded by the first timer and the signal reception time recorded by the second timer when the detection area is scanned in each power supply voltage change cycle; For each channel, cluster the detection results of the channel in each cycle to obtain the cluster points of the channel; Judging whether there is a target in the field of view of the solid-state laser radar according to the number of cluster points in each channel; If the number of cluster points in a certain channel is not less than a preset threshold, there is a target in the field of view of the solid-state laser radar; If the number of cluster points of all channels is less than the preset threshold, there is no target in the field of view of the solid-state laser radar.

2. The solid-state laser radar control method according to claim 1, characterized in that: The plurality of light-emitting units are arranged in an n*m matrix, the multi-channel area array detector comprises m rows and n columns of photoelectric conversion elements and a second gate; the n*m light-emitting units correspond one-to-one to the m rows and n columns of photoelectric conversion elements, and the n*m gating channels in the second gate correspond one-to-one to the m rows and n columns of photoelectric conversion elements; The method further includes: setting a lighting sequence of each light-emitting unit; the setting a lighting sequence of each light-emitting unit includes: The light-emitting units are set to be triggered in sequence according to the order of two-dimensional addressing.

3. The solid-state laser radar control method according to claim 1, characterized in that: When a target exists in the detection area, the method further includes: determining a target detection distance for each channel; The target detection distance of each channel is determined as follows: Among them, L i is the target detection distance of the i-th channel, T i is the signal receiving time of the i-th channel, T f is the corresponding luminous moment, and c is the speed of light.

4. The solid-state laser radar control method according to claim 3, characterized in that: The method further comprises: Determine the circuit delay of solid-state lidar; The target detection distance of each channel is corrected according to the circuit delay.

5. The solid-state laser radar control method according to claim 4, characterized in that: The measurement expression of the circuit delay is: Wherein, ΔT is the circuit delay, and L is the known measurement distance.

6. A control unit, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and is characterized in that when the processor executes the computer program, the steps of the solid-state lidar control method as described in any one of claims 1 to 5 above are implemented.

7. A solid-state laser radar comprising: A control unit as claimed in claim 6.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the solid-state lidar control method as described in any one of claims 1 to 5 above are implemented.

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