Laser radar code disk fault location method, code disk fault correction method and device

Abstract

The present application is applicable to the field of remote sensing detection technology, and provides a method for locating a laser radar code disk fault, a method for correcting a code disk fault, and a device. The method includes: receiving a square wave level signal, which is obtained by filtering the analog voltage signal output by the photoelectric sensor; identifying a valid level jump signal from the square wave level signal each time, determining that the photoelectric sensor currently scans a code tooth, obtaining the number of the currently scanned code tooth, and counting the interval time between the photoelectric sensor currently scanning a code tooth and the last time it scanned a code tooth; obtaining the regular interval time between the photoelectric sensor scanning two adjacent code teeth when the code disk is normally triggered, comparing the interval time between the photoelectric sensor currently scanning a code tooth and the last time it scanned a code tooth with the regular interval time, and obtaining the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number. The above method can quickly identify the abnormal fault triggered by the code disk jump tooth, and accurately locate the code disk fault.

Description

Technical Field

[0001] The present application belongs to the field of remote sensing detection technology, and in particular relates to a laser radar code disk fault location method, a code disk fault correction method and a device. Background Art

[0002] In the field of remote sensing technology, Lidar (Light Detection and Ranging) is an optical remote sensing technology that obtains target-related information by detecting the scattered light characteristics of distant targets. It is the product of the combination of traditional radar technology and modern laser technology.

[0003] At present, for mechanical laser radars, the rotation speed of the laser radar is calculated and the light-emitting frequency and number of times of the laser radar are controlled based on the output signal of the photoelectric encoder.

[0004] During use, there may be a mismatch between the code disk and the photoelectric sensor (such as deformation of components under high temperature conditions), mechanical damage (such as broken code teeth of the code disk), and dirty or glitchy code channels. This may cause the photoelectric sensor to jump teeth and trigger the laser radar to emit light or not trigger the laser radar to emit light, which in turn causes the point cloud collected by the laser radar to rotate, the point cloud cannot be collected, or the laser radar motor stalls. Therefore, there is an urgent need for a way to efficiently locate and correct the laser radar code disk fault. Summary of the Invention

[0005] The embodiments of the present application provide a laser radar code disk fault location method, a code disk fault correction method and a device, which can solve the above technical problems.

[0006] In a first aspect, an embodiment of the present application provides a method for locating a code disk fault of a laser radar, comprising: receiving a square wave level signal; wherein the square wave level signal is obtained by filtering the analog voltage signal output by a photoelectric sensor; each time a valid level jump signal is identified from the square wave level signal, it is determined that the photoelectric sensor currently scans a code tooth, the number of the currently scanned code tooth is obtained, and the interval time between the current code tooth scanned by the photoelectric sensor and the last code tooth scanned is counted; the regular interval time between the photoelectric sensor scanning two adjacent code teeth when the code disk is normally triggered is obtained; the interval time between the current code tooth scanned by the photoelectric sensor and the last code tooth scanned and the regular interval time are compared to obtain the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number.

[0007] Further, each time a valid level jump signal is identified from the square wave level signal, determining that the photoelectric sensor currently scans a code tooth includes: each time a falling edge from a high level to a low level is identified from the square wave level signal, determining that the photoelectric sensor currently scans a code tooth.

[0008] Furthermore, a duration indicator light is provided on the laser radar, and the method further includes: controlling the state of the duration indicator light to flip once each time a valid level jump signal is identified from the square wave level signal; wherein, the state of the duration indicator light includes an on state and an off state.

[0009] Furthermore, a fault indicator light is provided on the laser radar, and the method further includes: if the interval time between the photoelectric sensor currently scanning the code tooth and the last time scanning the code tooth is compared with the normal interval time, and an abnormal code tooth number is obtained, the fault indicator light is controlled to light up.

[0010] In a second aspect, an embodiment of the present application provides a method for correcting a code disk fault of a laser radar, comprising: if the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number are obtained according to the code disk fault locating method of the laser radar of the first aspect above, then the number of skipped teeth corresponding to the abnormal code tooth number is determined according to the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time; according to the number of skipped teeth corresponding to the abnormal code tooth number, the number of target laser emissions corresponding to the abnormal code tooth number is corrected; when the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again, the laser radar is controlled to emit laser according to the corrected number of target laser emissions corresponding to the abnormal code tooth number.

[0011] In a third aspect, an embodiment of the present application provides a code disk fault locating device for a laser radar, comprising: a receiving unit for receiving a square wave level signal; wherein the square wave level signal is obtained after filtering the analog voltage signal output by the photoelectric sensor; a statistical unit for identifying a valid level jump signal from the square wave level signal, determining that the photoelectric sensor currently scans a code tooth, obtaining the number of the currently scanned code tooth, and counting the interval time between the current code tooth scanned by the photoelectric sensor and the last code tooth scanned; an acquisition unit for obtaining the regular interval time between the photoelectric sensor scanning two adjacent code teeth when the code disk is normally triggered; a positioning unit for comparing the interval time between the current code tooth scanned by the photoelectric sensor and the last code tooth scanned and the regular interval time, and obtaining the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number.

[0012] Furthermore, the statistical unit is specifically configured to: whenever a falling edge from a high level to a low level is identified from the square wave level signal, determine that the photoelectric sensor currently scans a code tooth.

[0013] Furthermore, the code disk fault locating device of the laser radar also includes: a first indication unit, which is used to control the state of the duration indicator light to flip once each time a valid level jump signal is identified from the square wave level signal; wherein the state of the duration indicator light includes an on state and an off state.

[0014] Furthermore, the laser radar code disk fault locating device also includes: a second indication unit, which is used to control the fault indicator light to light up if the abnormal code tooth number is obtained by comparing the interval time between the current scanning of the code tooth by the photoelectric sensor and the last scanning of the code tooth with the normal interval time.

[0015] In a fourth aspect, an embodiment of the present application provides a code disk fault correction device for a laser radar, comprising: a determination unit for determining the number of skipped teeth corresponding to the abnormal code tooth number according to the ratio of the abnormal interval time corresponding to the abnormal code tooth number to the normal interval time if the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number are obtained according to the code disk fault locating method for the laser radar of the first aspect mentioned above; a correction unit for correcting the number of target laser emissions corresponding to the abnormal code tooth number according to the number of skipped teeth corresponding to the abnormal code tooth number; and a control unit for controlling the laser radar to emit laser according to the corrected number of target laser emissions corresponding to the abnormal code tooth number when the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again.

[0016] In the fifth aspect, an embodiment of the present application provides a code disk fault location system for a laser radar, comprising: a photoelectric code disk module, a motor module, a signal filtering module and a microcontroller; the photoelectric code disk module comprises a code disk and a photoelectric sensor; the code disk is arranged around the central axis of the laser radar, and the code disk comprises a plurality of code teeth; the motor module is used to drive the photoelectric sensor to rotate around the central axis of the laser radar; the photoelectric sensor comprises a receiving end and a transmitting end, the receiving end is used to receive a light signal emitted by the transmitting end and blocked by the code teeth at intervals, and the photoelectric sensor outputs an analog voltage signal to the signal filtering module according to the luminous flux of the light signal received by the receiving end; the signal filtering module is used to filter the analog voltage signal and output a square wave level signal to the microcontroller; the microcontroller is used to execute the code disk fault location method for the laser radar as described in the first aspect above.

[0017] In the sixth aspect, an embodiment of the present application provides a code disk fault correction system for a laser radar, comprising: a photoelectric code disk module, a motor module, a signal filtering module, a microcontroller and a fault correction module; the photoelectric code disk module comprises a code disk and a photoelectric sensor; the code disk is arranged around the central axis of the laser radar, and the code disk comprises a plurality of code teeth; the motor module is used to drive the photoelectric sensor to rotate around the central axis of the laser radar; the photoelectric sensor comprises a receiving end and a transmitting end, the receiving end is used to receive a light signal emitted by the transmitting end and blocked by the code teeth at intervals, and the photoelectric sensor outputs an analog voltage signal to the signal filtering module according to the luminous flux of the light signal received by the receiving end; the signal filtering module is used to filter the analog voltage signal and output a square wave level signal to the microcontroller; the microcontroller is used to execute the code disk fault locating method for the laser radar as described in the first aspect above; the fault correction module is used to receive the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number obtained by the microcontroller, and execute the code disk fault correction method for the laser radar as described in the second aspect above.

[0018] In the seventh aspect, an embodiment of the present application provides a code disk fault locating device for a laser radar, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method of the first aspect described above is implemented.

[0019] In the eighth aspect, an embodiment of the present application provides a code disk fault correction device for a laser radar, comprising a processor, a memory, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, the method as described in the second aspect above is implemented.

[0020] In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method of the first aspect described above.

[0021] In a tenth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method of the second aspect mentioned above.

[0022] In the embodiment of the present application, each time a valid level jump signal is identified from the square wave level signal, it is possible to determine that the photoelectric sensor has currently scanned a code tooth, obtain the number of the currently scanned code tooth, and statistically calculate the interval between the photoelectric sensor's current scan of the code tooth and the last scan of the code tooth. Since the motor speed of the laser radar is stable, the interval between the photoelectric sensor scanning two adjacent code teeth is essentially unchanged. Therefore, the regular interval between the photoelectric sensor scanning two adjacent code teeth when the code disk is normally triggered is obtained. By comparing the interval between the photoelectric sensor's current scan of the code tooth and the last scan of the code tooth with the regular interval, if the difference between the two is large, it can be determined that a tooth jump trigger anomaly has occurred. The abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number can then be obtained, thereby improving the accuracy and efficiency of code disk fault location.

[0023] On the other hand, since each time a valid level transition signal is identified from the square wave level signal, the laser radar is triggered to emit m lasers (m is a positive integer). Therefore, if the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number can be obtained according to the above-mentioned laser radar code disk fault location method, it indicates that a tooth jump triggering anomaly exists, which will cause the laser radar to be unable to emit lasers normally. Therefore, to ensure the normal operation of the laser radar, it is necessary to determine the number of tooth jumps corresponding to the abnormal code tooth number based on the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time. Then, based on the number of tooth jumps corresponding to the abnormal code tooth number, the target laser emission count corresponding to the abnormal code tooth number is corrected. When the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again, the laser radar is controlled to emit lasers based on the corrected target laser emission count corresponding to the abnormal code tooth number, ensuring that the laser radar can operate normally when the tooth jump triggering anomaly occurs. The above method can correct the code disk fault without disassembling the laser radar, which not only improves the maintenance efficiency of the laser radar, but also internally corrects the point cloud rotation and left-right jitter problems caused by the code disk tooth jump triggering. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 This is a schematic flow chart of a laser radar code disk fault location method provided in the first embodiment of the present application;

[0026] Figure 2 This is a schematic diagram of the structure of the code disk provided in an embodiment of the present application;

[0027] Figure 3 is a schematic structural diagram of a photoelectric sensor provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram showing a square wave level signal provided in an embodiment of the present application;

[0029] Figure 5 Another schematic diagram showing a square wave level signal according to an embodiment of the present application;

[0030] Figure 6 This is a schematic flow chart of a method for correcting a laser radar code disk fault provided in the second embodiment of the present application;

[0031] Figure 7 2 is a schematic diagram of a laser radar code disk fault location device provided in the third embodiment of the present application;

[0032] Figure 8 2 is a schematic diagram of a laser radar code disk fault correction device provided in a fourth embodiment of the present application;

[0033] Figure 9 1 is a schematic diagram of a laser radar code disk fault location system provided in a fifth embodiment of the present application;

[0034] Figure 10 1 is a schematic diagram of a laser radar code disk fault correction system provided in a sixth embodiment of the present application;

[0035] Figure 11 This is a schematic diagram of a laser radar code disk fault location device provided in the seventh embodiment of the present application;

[0036] Figure 12 This is a schematic diagram of the laser radar code disk fault correction device provided in the eighth embodiment of the present application. DETAILED DESCRIPTION

[0037] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0038] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0039] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0040] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0041] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0042] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0043] See Figure 1 , Figure 1 This is a schematic flow chart of a laser radar code disk fault locating method provided in the first embodiment of the present application. In this embodiment, the execution subject of a laser radar code disk fault locating method is a device with a laser radar code disk fault locating function. The laser radar code disk fault locating device can be a controller, a microcontroller, etc., or a personal computer, a server, etc. The embodiment of the present application uses the laser radar code disk fault locating device (hereinafter referred to as the device) as the execution subject of the laser radar code disk fault locating method for the following explanations and descriptions, without specifically limiting the device. Figure 1 The laser radar code disk fault location method shown may include:

[0044] S101: receiving a square wave level signal; wherein the square wave level signal is obtained by filtering the analog voltage signal output by the photoelectric sensor.

[0045] In the embodiment of the present application, the code disk refers to the code disk in the laser radar, which, in conjunction with the photoelectric sensor, can be used to calculate the rotation speed of the laser radar and control the light-emitting time and number of times the laser radar emits light.

[0046] The code disk is arranged around the central axis of the laser radar, wherein the code disk includes a plurality of code teeth, which are used to block the transmission of light signals. The specific material of the code disk is not limited here.

[0047] In an alternative embodiment, see Figure 2 , Figure 2 The code disc 2 generally includes a plurality of code teeth 21. Figure 2 The code teeth 21 are erected on the base 22 at equal intervals. The code teeth and the base can be an integrated structure or a detachable structure.

[0048] Figure 2 There are gaps between adjacent code teeth 21 in the code wheel 2 shown, so the optical signal will not be blocked.

[0049] In another optional embodiment, there may be no gap between adjacent code teeth, but the material is transparent. Accordingly, the code teeth in the code disk are made of opaque material, which can also achieve the function of blocking the transmission of light signals.

[0050] The photoelectric sensor rotates around the central axis of the laser radar. Specifically, the laser radar is provided with a motor that can drive the photoelectric sensor to rotate around the central axis of the laser radar.

[0051] A photoelectric sensor is also called a photoelectric transducer. It is a sensor based on the photoelectric effect. When it is exposed to visible light, it produces a photoelectric effect and converts the light signal into an electrical signal for output.

[0052] The photoelectric sensor includes a transmitting end and a receiving end. In the embodiment of the present application, the receiving end receives the light signal emitted by the transmitting end and blocked by the code teeth at intervals in sequence.

[0053] It should be noted here that the transmitter stably transmits light signals at a certain transmission frequency, and the receiver will always receive the light signals transmitted by the transmitter. However, since the photoelectric sensor rotates around the central axis of the lidar, several code teeth will block part of the light signal at intervals.

[0054] See also Figure 3 , Figure 3 Schematic diagram of the structure of the photoelectric sensor provided in the embodiment of the present application. Figure 3The photoelectric sensor 3 shown includes a transmitting end 31 and a receiving end 32, which are arranged opposite to each other. The transmitting end 31 is used to transmit light signals, and the receiving end 32 is used to receive light signals. The photoelectric sensor outputs an analog voltage signal according to the luminous flux of the received light signal.

[0055] You can see Figure 3 The figure also shows the code tooth 21. When the photoelectric sensor 3 rotates to the code tooth 21, the code tooth 21 is located between the transmitting end 31 and the receiving end 32, thereby blocking the transmission of the optical signal and causing the analog voltage signal to change.

[0056] Since analog voltage signals are not convenient for fault location, the analog voltage signals output by the photoelectric sensor can be filtered and converted into square wave level signals. The square wave level signal is a digital signal composed of high and low levels.

[0057] In an optional implementation, the analog voltage signal may be processed by an existing comparator to convert it into a square wave level signal, and the device receives the square wave level signal.

[0058] It should also be noted that the device that executes the laser radar code disk fault location method can be inside the laser sensor, for example: it can be a microcontroller (i.e., MCU) inside the laser sensor, or it can be outside the laser sensor, such as: a PC, server, etc., which needs to establish a data connection with the laser sensor.

[0059] S102: Whenever a valid level jump signal is identified from the square wave level signal, it is determined that the photoelectric sensor has currently scanned a code tooth, the number of the currently scanned code tooth is obtained, and the interval time between the current code tooth scanned by the photoelectric sensor and the last code tooth scanned is counted.

[0060] Each time the device identifies a valid level jump signal from the square wave level signal, it determines that the photoelectric sensor currently scans a code tooth.

[0061] In an optional embodiment, the effective level jump signal refers to a falling edge from a high level to a low level. Simply put, when the code teeth block the projection of the light signal, the square wave level signal will jump, and a falling edge from a high level to a low level will appear.

[0062] That is to say, every time the device identifies a falling edge from a high level to a low level from the square wave level signal, it can be determined that the photoelectric sensor currently scans a code tooth.

[0063] Since the device can confirm that the photoelectric sensor scans multiple code teeth during one rotation, the code teeth can be encoded during this process.

[0064] Specifically, the embodiment of the present application uses a cumulative numbering method to encode the code teeth. Figure 4 , Figure 4 A schematic diagram of the display of a square wave level signal provided in an embodiment of the present application.

[0065] When the photoelectric sensor rotates one circle, the first code tooth it scans is numbered 1. Figure 4 As shown, it can be seen that a falling edge from a high level 41 to a low level 42 appears in the square wave level signal. After that, each time the photoelectric sensor identifies a falling edge from a high level to a low level from the square wave level signal, it determines that the photoelectric sensor currently scans a code tooth and successively numbers the code teeth from 2 to n, where n is the number of code teeth.

[0066] The device counts the time interval between the photoelectric sensor's current scan of the code tooth and the last scan of the code tooth. Figure 4 As shown, the interval time T1 to T n-1 .

[0067] Figure 4 The square wave level signal shown is when the code tooth is normally triggered. Figure 5 , Figure 5 Another display diagram of a square wave level signal provided in an embodiment of the present application. Figure 5 The figure shows a square wave level signal when a tooth-jumping trigger anomaly occurs. Step S103 will explain in detail how to identify the tooth-jumping trigger anomaly.

[0068] S103: Obtaining a regular interval time between two adjacent code teeth when the code disk is normally triggered and the photoelectric sensor scans the code teeth.

[0069] Since the motor speed of the lidar is stable, the interval time between the photoelectric sensor scanning two adjacent code teeth does not change much. Therefore, in order to determine whether there is a tooth skipping trigger anomaly, the device needs to first obtain the normal interval time between the photoelectric sensor scanning two adjacent code teeth when the code disk is normally triggered.

[0070] It should be noted that the regular interval time is not a preset value. The operation of the device obtaining the regular interval time here only refers to the operation of retrieving the regular interval time from the storage address. The regular interval time is continuously collected and updated at a certain frequency. Whether the regular interval time is updated has nothing to do with whether it is necessary to determine whether the tooth jump trigger anomaly is present.

[0071] In an optional embodiment, the regular interval time may refer to the average value of the interval time between when the photoelectric sensor scans two adjacent code teeth when the code disk is normally triggered.

[0072] S104: Compare the interval time between the current scanning of the code tooth by the photoelectric sensor and the last scanning of the code tooth with the normal interval time to obtain the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number.

[0073] The device obtains the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number by comparing the interval time between the current and last scans of the code tooth by the photoelectric sensor and the normal interval time.

[0074] It is understandable that if the interval time between the photoelectric sensor currently scanning the code tooth and the last time it scanned the code tooth differs greatly from the normal interval time, then the device can determine that there is a tooth jump trigger anomaly.

[0075] In an optional embodiment, when the ratio between the interval time between the photoelectric sensor currently scanning the code tooth and the last time scanning the code tooth and the regular interval time exceeds a preset ratio threshold, the device determines that there is a tooth jump trigger anomaly. The preset ratio threshold is not limited here.

[0076] When the device determines that a tooth jump triggering abnormality exists by comparing the interval time between the current and last scans of the code tooth by the photoelectric sensor with the normal interval time, the code of the last scanned code tooth is set as the abnormal code tooth number, and the interval time between the current and last scans of the code tooth is set as the abnormal interval time corresponding to the abnormal code tooth number.

[0077] Below through Figure 5 An example is given below. Figure 5 In the example, the photoelectric sensor remains at a high level after scanning code tooth number 3. That is, although the photoelectric sensor scans code tooth number 4, the square wave signal does not produce a falling edge from a high level to a low level. Therefore, the device cannot number this code tooth. Furthermore, the device will number code tooth number 4, which should have been 5, the last time it identified a falling edge from a high level to a low level in the square wave signal. At this point, the device obtains interval time T3 that is longer than the normal interval time T. Therefore, the device can obtain abnormal code tooth number 3 and the abnormal interval time T3 corresponding to the abnormal code tooth number.

[0078] Depend on Figure 5 It can be seen that in the abnormal interval time T3, one code tooth jumps and triggers the abnormality, and in the abnormal interval time T5, two code teeth jump and trigger the abnormality. Different numbers of code teeth jump and trigger the abnormality have different corresponding abnormal interval times.

[0079] The abnormal interval time can be used for subsequent encoder fault correction.

[0080] It should also be noted that every time a valid level jump signal is identified from the square wave level signal, the laser radar will be triggered to emit m lasers (m is a positive integer). Therefore, if there is a tooth jump trigger anomaly, the laser radar will not be able to emit lasers normally, and problems such as point cloud rotation, point cloud jitter, and no point cloud will occur.

[0081] In an optional embodiment, a duration indicator light is provided on the laser radar, and each time the device identifies a valid level jump signal from the square wave level signal, the state of the duration indicator light is controlled to flip once.

[0082] The status of the duration indicator light includes an on state and an off state.

[0083] Specifically, each time the device identifies a valid level jump signal from the square wave level signal, it determines that the photoelectric sensor currently scans a code tooth, and thus controls the state of the duration indicator light to flip once.

[0084] Optionally, if the previous state of the duration indicator light is the off state, then the device controls the state of the duration indicator light to flip once, and it will change from the off state to the lit state. Furthermore, the next time a valid level jump signal is identified from the square wave level signal and it is determined that the photoelectric sensor has scanned a code tooth, the device will control the state of the duration indicator light to flip again, from the lit state to the off state.

[0085] It can be further understood that as the photoelectric sensor continuously scans each code tooth, the state of the duration indicator light will continuously flip.

[0086] Moreover, it is obvious that the duration of the time indicator light in one state corresponds to the interval between the current scanning of the code tooth and the last scanning of the code tooth by the photoelectric sensor. Therefore, by observing the duration of the time indicator light in one state, it is possible to intuitively determine whether a tooth jumping trigger abnormality occurs.

[0087] In an optional embodiment, the duration indicator light can be set on the top or side of the laser radar. If the duration indicator light rotates driven by the motor, then to the naked eye, an arc-shaped duration indicator line will appear on the top or side of the laser radar, and the duration indicator line alternates between light and dark. If the duration indicator light remains in a state for too long, then a longer bright line will appear, or a longer dark line will appear. Since it does not conform to the normal light and dark alternation pattern, it can be more quickly and intuitively determined whether a tooth jumping trigger anomaly occurs.

[0088] In an optional embodiment, in order to better locate the code disk fault, a fault indicator light is provided on the laser radar. If the interval time between the current scanning of the code tooth by the photoelectric sensor and the last scanning of the code tooth is compared with the normal interval time, the abnormal code tooth number is obtained, and the fault indicator light is controlled to light up.

[0089] Optionally, the fault indicator light may remain on until the fault is corrected. Then, the device will control the fault indicator light to turn off only when responding to an instruction indicating that the fault has been successfully corrected.

[0090] Optionally, a fault indicator light can be set on the top or side of the lidar.

[0091] In the embodiment of the present application, each time a valid level jump signal is identified from the square wave level signal, it is possible to determine that the photoelectric sensor has currently scanned a code tooth, obtain the number of the currently scanned code tooth, and statistically calculate the interval between the photoelectric sensor's current scan of the code tooth and the last scan of the code tooth. Since the motor speed of the laser radar is stable, the interval between the photoelectric sensor scanning two adjacent code teeth is essentially unchanged. Therefore, the regular interval between the photoelectric sensor scanning two adjacent code teeth when the code disk is normally triggered is obtained. By comparing the interval between the photoelectric sensor's current scan of the code tooth and the last scan of the code tooth with the regular interval, if the difference between the two is large, it can be determined that a tooth jump trigger anomaly has occurred. The abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number can then be obtained, thereby improving the accuracy and efficiency of code disk fault location.

[0092] See Figure 6 , Figure 6 This is a schematic flow chart of a laser radar code disk fault correction method provided in the second embodiment of the present application. In this embodiment, the execution subject of the laser radar code disk fault correction method is a device with a laser radar code disk fault correction function. The laser radar code disk fault correction device can be a controller, a microcontroller, etc., or a personal computer, a server, etc. The embodiment of the present application uses the laser radar code disk fault correction device (hereinafter referred to as the device) as the execution subject of the laser radar code disk fault correction method for the following explanations and descriptions, and does not specifically limit the device. Figure 6 The laser radar code disk fault correction method shown may include:

[0093] S201: If the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number are obtained according to the laser radar code disk fault location method in the first embodiment, the number of skipped teeth corresponding to the abnormal code tooth number is determined according to the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time.

[0094] For a specific implementation of obtaining the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number, reference may be made to the first embodiment.

[0095] In this embodiment, if the device obtains the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number according to the laser radar code disk fault location method in the first embodiment, then the number of skipped teeth corresponding to the abnormal code tooth number is determined based on the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time.

[0096] The normal interval time refers to the interval time between two adjacent code teeth when the code disk is normally triggered.

[0097] In an optional embodiment, the regular interval time may refer to the average value of the interval time between when the photoelectric sensor scans two adjacent code teeth when the code disk is normally triggered.

[0098] Since each time a valid level jump signal is identified from the square wave level signal, the laser radar will be triggered to emit m lasers (m is a positive integer). Therefore, if there is a tooth jump trigger anomaly, the laser radar will not be able to emit lasers normally. In this case, the laser radar can be triggered to emit lasers normally by determining the number of tooth jumps.

[0099] If the ratio of the abnormal interval time corresponding to the abnormal code tooth number to the normal interval time is expressed as k, then the number of tooth skips corresponding to the abnormal code tooth number is [k-1]. Here, k is a positive number, and [k-1] means rounding k-1 to ensure that the number of tooth skips is a positive integer.

[0100] S202: Correct the target laser emission times corresponding to the abnormal code tooth number according to the number of tooth jumps corresponding to the abnormal code tooth number.

[0101] The device corrects the target laser emission times corresponding to the abnormal code tooth number according to the number of tooth jumps corresponding to the abnormal code tooth number.

[0102] If a valid level jump signal is identified from the square wave level signal, the laser radar will be triggered to emit m lasers (m is a positive integer). The number of jumps corresponding to the abnormal code tooth number is [k-1]. Then, the device corrects the target laser emission times corresponding to the abnormal code tooth number to m([k-1]+1).

[0103] S203: When the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again, the laser radar is controlled to emit laser according to the corrected target laser emission times corresponding to the abnormal code tooth number.

[0104] When the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again, the device controls the laser radar to emit laser according to the target laser emission times m([k-1]+1) corresponding to the abnormal code tooth number.

[0105] For example, if the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time is 2.05, the number of tooth jumps corresponding to the abnormal code tooth number is 1, and the corrected target laser emission times is 2m. If the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time is 2.9, the number of tooth jumps corresponding to the abnormal code tooth number is 2, and the corrected target laser emission times is 3m.

[0106] It should be noted that although the laser radar will be triggered to emit m([k-1]+1) lasers, the light emission frequency of the laser radar remains unchanged.

[0107] It should also be noted that the device that executes the laser radar code disk fault correction method can be inside the laser sensor, for example: it can be a fault correction module inside the laser sensor, or it can be outside the laser sensor, such as: a PC, server, etc., which needs to establish a data connection with the laser sensor.

[0108] In the embodiment of the present application, each time a valid level jump signal is identified from the square wave level signal, the laser radar is triggered to emit m lasers (m is a positive integer). Therefore, if the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number can be obtained according to the above-mentioned laser radar code disk fault location method, it indicates that there is a tooth jump triggering abnormality, which will cause the laser radar to be unable to emit laser normally. Therefore, to ensure the normal operation of the laser radar, it is necessary to determine the number of tooth jumps corresponding to the abnormal code tooth number based on the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time. Then, based on the number of tooth jumps corresponding to the abnormal code tooth number, the target laser emission count corresponding to the abnormal code tooth number is corrected. When the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again, the laser radar is controlled to emit laser according to the corrected target laser emission count corresponding to the abnormal code tooth number to ensure that the laser radar can operate normally when the tooth jump triggering abnormality occurs. The above method does not require disassembling the laser radar, that is, the code disk fault can be corrected, which not only improves the maintenance efficiency of the laser radar, but also can internally correct the point cloud rotation and left-right jitter problems caused by the code disk tooth jump triggering.

[0109] Although the above method can correct the code disk fault without disassembling the laser radar, it is an emergency correction method when a fault occurs. If a thorough correction is to be made, the code disk must be repaired in hardware according to the abnormal code tooth coding. Therefore, the first embodiment proposes to set a duration indicator light and a fault indicator light, which will help to more intuitively and efficiently observe whether the code disk has a fault, and can also quickly locate the code disk fault to assist in the hardware repair work.

[0110] 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 this application.

[0111] See Figure 7 , Figure 7 This is a schematic diagram of a laser radar code disk fault location device provided in the third embodiment of the present application. The units included are used to perform Figure 1 Each step in the corresponding embodiment. Please refer to Figure 1 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 7 , the laser radar code disk fault location device 7 includes:

[0112] The receiving unit 71 is configured to receive a square wave level signal; wherein the square wave level signal is obtained by filtering the analog voltage signal output by the photoelectric sensor;

[0113] A statistical unit 72 is configured to identify a valid level transition signal from the square wave level signal, determine that the photoelectric sensor has currently scanned a code tooth, obtain the number of the currently scanned code tooth, and calculate the interval between the photoelectric sensor's current scan of the code tooth and the last scan of the code tooth;

[0114] An acquisition unit 73 is used to acquire a regular interval time between two adjacent code teeth when the code disk is normally triggered;

[0115] The positioning unit 74 is used to compare the interval time between the photoelectric sensor currently scanning the code tooth and the last time it scanned the code tooth with the normal interval time, and obtain the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number.

[0116] Furthermore, the statistical unit 72 is specifically configured to: whenever a falling edge from a high level to a low level is identified from the square wave level signal, determine that the photoelectric sensor currently scans a code tooth.

[0117] Furthermore, the laser radar code disk fault locating device 7 also includes: a first indication unit, which is used to control the state of the duration indicator light to flip once each time a valid level jump signal is identified from the square wave level signal; wherein the state of the duration indicator light includes a lit state and an off state.

[0118] Furthermore, the laser radar code disk fault locating device 7 also includes: a second indication unit, which is used to control the fault indicator light to light up if the abnormal code tooth number is obtained by comparing the interval time between the current scanning of the code tooth by the photoelectric sensor and the last scanning of the code tooth with the normal interval time.

[0119] See Figure 8 , Figure 8 This is a schematic diagram of a laser radar code disk fault correction device provided in the fourth embodiment of the present application. The units included are used to perform Figure 6 Each step in the corresponding embodiment. Please refer to Figure 6 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 8 , the laser radar code disk fault correction device 8 includes:

[0120] A determination unit 81 is configured to, if the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number are obtained according to the laser radar code disk fault location method of the first embodiment, determine the number of skipped teeth corresponding to the abnormal code tooth number based on the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time;

[0121] A correction unit 82 is used to correct the target laser emission times corresponding to the abnormal code tooth number according to the number of tooth jumps corresponding to the abnormal code tooth number;

[0122] The control unit 83 is used to control the laser radar to emit laser according to the corrected target laser emission times corresponding to the abnormal code tooth number when the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again.

[0123] See Figure 9 , Figure 9 This is a schematic diagram of the laser radar code disk fault location system provided in the fifth embodiment of the present application. Figure 9 As shown in (a), the laser radar code disk fault location system includes a photoelectric code disk module 91, a motor module 92, a signal filtering module 93 and a microcontroller 94;

[0124] The photoelectric code disk module 91 includes a code disk 911 and a photoelectric sensor 912;

[0125] The code disk 911 is arranged around the central axis of the laser radar (not shown), and the code disk 911 includes a plurality of code teeth (not shown);

[0126] The motor module 92 is used to drive the photoelectric sensor 912 to rotate around the central axis of the laser radar;

[0127] The photoelectric sensor 912 includes a receiving end (not shown) and a transmitting end (not shown). The receiving end is used to receive the light signal emitted by the transmitting end and blocked by the code teeth at intervals. The photoelectric sensor 912 outputs an analog voltage signal to the signal filtering module 93 based on the luminous flux of the light signal received by the receiving end.

[0128] The signal filtering module 93 is used to filter the analog voltage signal and output a square wave level signal to the microcontroller 94;

[0129] The microcontroller 94 is used to execute the laser radar code disk fault location method as described in the first embodiment.

[0130] In an optional embodiment, please refer to 9(b), the laser radar code disk fault location system also includes a light driving module 95, a duration indicator light module 961 and a fault indicator light module 962.

[0131] The duration indicator light module 961 and the fault indicator light module 962 are both set on the laser radar.

[0132] If each time a valid level jump signal is identified from the square wave level signal, the microcontroller 94 controls the state of the indicator light module 961 through the light driver module 95 to flip once.

[0133] If the interval time between the current scanning of the code tooth by the photoelectric sensor 912 and the last scanning of the code tooth is compared with the normal interval time, and an abnormal code tooth number is obtained, the microcontroller 94 controls the fault indicator light module 962 to light up through the light driving module 95.

[0134] See Figure 10 , Figure 10 Schematic diagram of a laser radar code disk fault correction system provided in the sixth embodiment of the present application. The laser radar code disk fault location system includes a photoelectric code disk module 101, a motor module 102, a signal filtering module 103, a microcontroller 104, and a fault correction module 105;

[0135] The photoelectric code disk module 101 includes a code disk 1011 and a photoelectric sensor 1012;

[0136] The code disk 1011 is arranged around the central axis of the laser radar (not shown in the figure), and the code disk 1011 includes a plurality of code teeth (not shown in the figure);

[0137] The motor module 102 is used to drive the photoelectric sensor 1012 to rotate around the central axis of the laser radar;

[0138] The photoelectric sensor 1012 includes a receiving end (not shown) and a transmitting end (not shown). The receiving end is used to receive the optical signal emitted by the transmitting end and blocked by the code teeth at intervals. The photoelectric sensor 1012 outputs an analog voltage signal to the signal filtering module 103 based on the luminous flux of the optical signal received by the receiving end.

[0139] The signal filtering module 103 is used to filter the analog voltage signal and output a square wave level signal to the microcontroller 104;

[0140] The microcontroller 104 is configured to execute the laser radar code disk fault location method as described in the first embodiment.

[0141] The fault correction module 105 is used to receive the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number obtained by the microcontroller 104, and execute the laser radar code disk fault correction method as described in the second embodiment.

[0142] In an optional embodiment, the laser radar code disk fault correction system further includes a light driving module, a duration indicator light module and a fault indicator light module.

[0143] Regarding the lamp driving module, duration indicator light module and fault indicator light module, please refer to the description of the lamp driving module 95, duration indicator light module 961 and fault indicator light module 962 in the previous embodiment. The functions they implement are the same and will not be repeated here.

[0144] See Figure 11 , Figure 11 This is a schematic diagram of a code disk fault location device for a laser radar provided in the seventh embodiment of the present application. Figure 11 As shown, the laser radar code disk fault location device 11 of this embodiment includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110, such as a laser radar code disk fault location program. When the processor 110 executes the computer program 112, the steps of the laser radar code disk fault location method embodiments described above are implemented, such as Figure 1 Alternatively, when the processor 110 executes the computer program 112, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 7 The functions of the receiving unit 71 to the positioning unit 74 are shown.

[0145] Exemplarily, the computer program 112 can be divided into one or more modules / units, which are stored in the memory 111 and executed by the processor 110 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 112 in the laser radar code disk fault location device 11. For example, the computer program 112 can be divided into a receiving unit, a statistical unit, and a positioning unit, and the specific functions of each unit are as follows:

[0146] A receiving unit, configured to receive a square wave level signal; wherein the square wave level signal is obtained by filtering the analog voltage signal output by the photoelectric sensor;

[0147] a statistical unit for identifying a valid level jump signal from the square wave level signal, determining that the photoelectric sensor has currently scanned a code tooth, obtaining the number of the currently scanned code tooth, and counting the interval between the photoelectric sensor currently scanning the code tooth and the last time it scanned the code tooth;

[0148] An acquisition unit, used to acquire a regular interval time between two adjacent code teeth when the code disk is normally triggered;

[0149] The positioning unit is used to compare the interval time between the current scanning of the code tooth by the photoelectric sensor and the last scanning of the code tooth with the normal interval time, and obtain the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number.

[0150] The laser radar code disk fault location device 11 may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art will understand that Figure 11 It is only an example of the laser radar code disk fault location device 11 and does not constitute a limitation of the laser radar code disk fault location device 11. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the laser radar code disk fault location device 11 may also include input and output devices, network access devices, buses, etc.

[0151] The processor 110 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), 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.

[0152] The memory 111 may be an internal storage unit of the laser radar code disk fault locating device 11, such as a hard disk or memory of the laser radar code disk fault locating device 11. The memory 111 may also be an external storage device of the laser radar code disk fault locating device 11, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the laser radar code disk fault locating device 11. Furthermore, the laser radar code disk fault locating device 11 may also include both an internal storage unit of the laser radar code disk fault locating device 11 and an external storage device. The memory 111 is used to store the computer program and other programs and data required by the laser radar code disk fault locating device 11. The memory 111 may also be used to temporarily store data that has been output or is to be output.

[0153] See Figure 12 , Figure 12 Schematic diagram of the code disk fault correction device for the laser radar provided in the eighth embodiment of the present application. Figure 12 As shown, the laser radar code disk fault correction device 12 of this embodiment includes: a processor 120, a memory 121, and a computer program 122 stored in the memory 121 and executable on the processor 120, such as a laser radar code disk fault correction program. When the processor 120 executes the computer program 122, the steps of the laser radar code disk fault correction method embodiments described above are implemented, such as Figure 6 Alternatively, when the processor 120 executes the computer program 122, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 8 The functions of the determination unit 81 to the control unit 83 are shown.

[0154] Exemplarily, the computer program 122 can be divided into one or more modules / units, which are stored in the memory 121 and executed by the processor 120 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 122 in the laser radar code disk fault correction device 12. For example, the computer program 122 can be divided into a first determination unit, a second determination unit, and a correction unit. The specific functions of each unit are as follows:

[0155] a determining unit configured to, if the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number are obtained according to the code disk fault location method for a laser radar according to the first embodiment, determine the number of tooth skips corresponding to the abnormal code tooth number based on the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time;

[0156] A correction unit, configured to correct the target laser emission times corresponding to the abnormal code tooth number according to the number of tooth jumps corresponding to the abnormal code tooth number;

[0157] The control unit is used to control the laser radar to emit laser according to the target laser emission times corresponding to the corrected abnormal code tooth number when the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again.

[0158] The laser radar code disk fault correction device 12 may include, but is not limited to, a processor 120 and a memory 121. Those skilled in the art will understand that Figure 12 It is only an example of the laser radar code disk fault correction device 12 and does not constitute a limitation of the laser radar code disk fault correction device 12. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the laser radar code disk fault correction device 12 may also include input and output devices, network access devices, buses, etc.

[0159] The processor 120 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), 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.

[0160] The memory 121 may be an internal storage unit of the laser radar code disk fault correction device 12, such as a hard disk or memory of the laser radar code disk fault correction device 12. The memory 121 may also be an external storage device of the laser radar code disk fault correction device 12, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the laser radar code disk fault correction device 12. Furthermore, the laser radar code disk fault correction device 12 may also include both an internal storage unit of the laser radar code disk fault correction device 12 and an external storage device. The memory 121 is used to store the computer program and other programs and data required by the laser radar code disk fault correction device 12. The memory 121 may also be used to temporarily store data that has been output or is to be output.

[0161] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0162] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the computer program.

[0163] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0164] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0165] If the integrated 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 application implements all or part of the processes in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0166] 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.

[0167] 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. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0168] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0169] The units described as separate components may or may not be physically separate, and the 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.

[0170] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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 application, and should all be included in the scope of protection of the present application.

Claims

1. A method for correcting a laser radar code disk fault, characterized in that: The method comprises: Receive a square wave level signal; wherein the square wave level signal is obtained by filtering the analog voltage signal output by the photoelectric sensor; Whenever a valid level jump signal is identified from the square wave level signal, it is determined that the photoelectric sensor has currently scanned a code tooth, the number of the currently scanned code tooth is obtained, and the interval time between the current scan of the code tooth by the photoelectric sensor and the last scan of the code tooth is counted; Obtaining a regular interval time between two adjacent code teeth scanned by the photoelectric sensor when the code disk is normally triggered; Compare the interval time between the current scanning of the code tooth by the photoelectric sensor and the last scanning of the code tooth with the normal interval time, and obtain the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number; Determine the number of skipped teeth corresponding to the abnormal code tooth number according to the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time; According to the number of tooth jumps corresponding to the abnormal code tooth number, the target laser emission times corresponding to the abnormal code tooth number are corrected; When the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again, the laser radar is controlled to emit laser according to the corrected target laser emission times corresponding to the abnormal code tooth number.

2. The laser radar code disk fault correction method according to claim 1, characterized in that: The step of identifying a valid level jump signal from the square wave level signal and determining that the photoelectric sensor currently scans a code tooth comprises: Whenever a falling edge from a high level to a low level is identified from the square wave level signal, it is determined that the photosensor currently scans a code tooth.

3. A laser radar code disk fault correction method according to claim 1 or 2, characterized in that: The laser radar is provided with a time duration indicator light, and the method further comprises: Each time a valid level jump signal is identified from the square wave level signal, the state of the duration indicator light is controlled to flip once; wherein, the state of the duration indicator light includes a lighting state and an off state.

4. A laser radar code disk fault correction method according to claim 1 or 2, characterized in that: The laser radar is provided with a fault indicator light, and the method further comprises: If the interval time between the current scanning of the code tooth by the photoelectric sensor and the last scanning of the code tooth is compared with the normal interval time, the abnormal code tooth number is obtained, and the fault indicator light is controlled to light up.

5. A laser radar code disk fault correction device, characterized in that: include: A receiving unit, configured to receive a square wave level signal; wherein the square wave level signal is obtained by filtering the analog voltage signal output by the photoelectric sensor; a statistical unit, configured to identify a valid level jump signal from the square wave level signal, determine that the photoelectric sensor currently scans a code tooth, obtain the number of the currently scanned code tooth, and count the interval between the current scan of the code tooth by the photoelectric sensor and the last scan of the code tooth; An acquiring unit, configured to acquire a regular interval time between two adjacent code teeth scanned by the photoelectric sensor when the code disk is normally triggered; A positioning unit is used to compare the interval time between the current scanning of the code tooth by the photoelectric sensor and the last scanning of the code tooth with the normal interval time, and obtain the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number; a determination unit, configured to determine the number of skipped teeth corresponding to the abnormal code tooth number according to a ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time; A correction unit, configured to correct the target laser emission times corresponding to the abnormal code tooth number according to the number of tooth jumps corresponding to the abnormal code tooth number; The control unit is used to control the laser radar to emit laser according to the corrected target laser emission times corresponding to the abnormal code tooth number when the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again.

6. A laser radar code disk fault correction system, characterized in that: include: Photoelectric encoder module, motor module, signal filtering module, microcontroller and fault correction module; The photoelectric code disk module includes a code disk and a photoelectric sensor; The code disk is arranged around the central axis of the laser radar, and the code disk includes a plurality of code teeth; The motor module is used to drive the photoelectric sensor to rotate around the central axis of the laser radar; The photoelectric sensor includes a receiving end and a transmitting end, the receiving end is used to receive the light signal emitted by the transmitting end and blocked by the code teeth at intervals in sequence, and the photoelectric sensor outputs an analog voltage signal to the signal filtering module according to the luminous flux of the light signal received by the receiving end; The signal filtering module is used to filter the analog voltage signal and output a square wave level signal to the microcontroller; The microcontroller is used to execute the laser radar code disk fault correction method according to any one of claims 1 to 4, to obtain the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number; The fault correction module is used to receive the abnormal code tooth number and the abnormal interval time corresponding to the abnormal code tooth number obtained by the microcontroller, and determine the number of tooth jumps corresponding to the abnormal code tooth number according to the ratio between the abnormal interval time corresponding to the abnormal code tooth number and the normal interval time; correct the number of target laser emissions corresponding to the abnormal code tooth number according to the number of tooth jumps corresponding to the abnormal code tooth number; when the photoelectric sensor rotates to the position of the code tooth corresponding to the abnormal code tooth number again, control the laser radar to emit laser according to the corrected number of target laser emissions corresponding to the abnormal code tooth number.

7. 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 steps of the code disk fault correction method of the laser radar as described in any one of claims 1 to 4 are implemented.

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