Human eye protection circuit, control method thereof, electronic device, medium and vehicle

Abstract

The present application relates to the technical field of laser radar, and particularly provides an eye protection circuit, a control method thereof, an electronic device, a medium and a vehicle, aiming to solve the problem of eye injury caused by continuous emission of a mechanical rotating vehicle-mounted laser radar to a fixed target. To this end, the eye protection circuit comprises a comparison circuit and a control circuit; the comparison circuit comprises at least a first comparator and a second comparator, the output end of the first comparator is connected to an input end of the second comparator, and the comparison circuit is configured to output a level signal to the control circuit based on the rotation condition of the rotating mirror motor; the control circuit comprises at least a logic gate, and the control circuit is configured to receive the level signal output by the comparison circuit and output a laser control signal to control whether the laser works. In this way, whether the laser works is automatically controlled according to the rotation condition of the rotating mirror motor, so that the eye injury caused by continuous emission to a fixed target is prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar, and particularly provides a human eye protection circuit, a control method thereof, an electronic device, a medium and a vehicle. BACKGROUND

[0002] At present, mechanical rotating vehicle-mounted laser radars are widely used on vehicles and have been put into mass production in recent years. The mechanical structure of the mechanical rotating vehicle-mounted laser radars rotates at a certain speed when working, so that a horizontal panoramic field of view is obtained, and a directional distributed scanning is adopted in the vertical direction, so that the mechanical rotating vehicle-mounted laser radars stand out among many types of laser radars.

[0003] The laser driver and the vehicle-mounted laser radar commonly used in the prior art do not consider the possible harm to people when the laser fails. The mechanical rotating vehicle-mounted laser radars emit laser pulses and calculate the distance of the target through the time of flight of the pulses, and contain a rotating mirror to radiate laser. If the rotating mirror fails to rotate, it will continuously emit laser pulses to a fixed target. Since the instantaneous power of the laser emitter is as high as hundreds of watts, the high and continuous peak power laser is easy to cause safety hazards if it is fixedly emitted to a place for a long time, especially when it is emitted to the human eye, which will cause irreversible damage to the human eye.

[0004] Correspondingly, there is a need in the art for a new human eye protection scheme to solve the above problems.

[0005] To solve the problem that the mechanical rotating vehicle-mounted laser radars continuously emit to a fixed target when the rotating mirror motor fails, and to improve the safety of the vehicle-mounted laser radars. SUMMARY

[0006] In order to overcome the above defects, the present application is proposed to provide a human eye protection circuit, a control method thereof, an electronic device, a medium and a vehicle to solve or at least partially solve the problem of human eye damage caused by the mechanical rotating vehicle-mounted laser radars continuously emitting to a fixed target.

[0007] In a first aspect, the present application provides a human eye protection circuit applied to a mechanical rotating vehicle-mounted laser radar, wherein the vehicle-mounted laser radar is provided with a laser and a rotating mirror motor for controlling the rotation of the laser, and the human eye protection circuit comprises a comparison circuit and a control circuit; the comparison circuit at least comprises a first comparator and a second comparator, the output end of the first comparator is connected to an input end of the second comparator, and the comparison circuit is configured to output a level signal to the control circuit based on the rotation condition of the rotating mirror motor; the control circuit at least comprises a logic gate, and the control circuit is configured to receive the level signal output by the comparison circuit and output a laser control signal to control whether the laser works.

[0008] In one of the above technical solutions of the human eye protection circuit, a Hall sensor is arranged on the rotating mirror motor to convert the rotating condition of the rotating mirror motor into a level signal, the comparison circuit comprises: the first comparator is an inverting comparator, the inverting input end of the first comparator is used as the input end of the comparison circuit to receive the level signal sent by the Hall sensor, and the non-inverting input end of the first comparator is connected to a first reference voltage; the second comparator is a non-inverting comparator, the output end of the first comparator is connected to the non-inverting input end of the second comparator, the output end of the second comparator is used as the output end of the comparison circuit to output a level signal to the control circuit, and the inverting input end of the second comparator is connected to a second reference voltage; the first reference voltage is lower than the second reference voltage.

[0009] In one of the above technical solutions of the human eye protection circuit, the comparison circuit further comprises a first resistor and a capacitor: the common end of the first resistor and the capacitor is connected to the non-inverting input end of the second comparator, the other end of the first resistor is connected to a power supply voltage, and the other end of the capacitor is grounded.

[0010] In one of the above technical solutions of the human eye protection circuit, the control circuit comprises: the logic gate is an exclusive OR gate, the first input end of the exclusive OR gate is used as the input end of the control circuit to receive the level signal output by the comparison circuit, the second input end of the exclusive OR gate is connected to the controller, and the output end of the exclusive OR gate is used as the output end of the control circuit to output a laser control signal to control whether the laser works.

[0011] In a second aspect, the present application provides a control method of a human eye protection circuit, which is applied to a mechanical rotating vehicle-mounted laser radar, the vehicle-mounted laser radar is provided with a laser and a rotating mirror motor for controlling the working of the laser, and the control method comprises the following steps: obtaining a level signal based on the rotating condition of the rotating mirror motor; outputting a control signal of the laser based on the level signal and any one of the above human eye protection circuits; and automatically controlling whether the laser works based on the control signal.

[0012] In one of the above technical solutions of the control method, a Hall sensor is arranged on the rotating mirror motor to convert the rotating condition of the rotating mirror motor into a level signal, a notch is arranged on the metal ring of the rotating mirror motor, the Hall sensor generates a high level when the notch passes the Hall sensor with the rotation of the rotating mirror motor, and the control method of the human eye protection circuit further comprises the following steps of converting the rotating condition of the rotating mirror motor into a level signal: outputting a low level signal by the Hall sensor when the rotating mirror motor does not rotate; and outputting a pulse signal by the Hall sensor when the rotating mirror motor rotates, and the pulse period of the pulse signal depends on the rotating speed of the rotating mirror motor.

[0013] In one of the technical solutions of the control method, when the rotation speed of the rotating mirror motor is lower than a preset rotation speed threshold, the pulse period of the pulse signal output by the Hall sensor is greater than a preset period threshold; based on the pulse signal output by the Hall sensor, the first comparator periodically outputs a low-level signal, and the period of the low-level signal is consistent with the pulse period of the pulse signal output by the Hall sensor; when the first comparator outputs the low-level signal, the capacitor is discharged, so that the level of the same-direction input end of the second comparator is higher than the second reference voltage.

[0014] In one of the technical solutions of the control method, the control signal of the output laser includes: when the rotating mirror motor does not rotate or the rotation speed is lower than a preset rotation speed threshold, the output laser control signal is low; when the rotation speed of the rotating mirror motor is not lower than the preset rotation speed threshold, the output laser control signal is high.

[0015] In a third aspect, an electronic device is provided, which includes a processor and a memory, the memory is adapted to store a plurality of program codes, the program codes are adapted to be loaded and run by the processor to execute the control method of any one of the technical solutions of the control method of the human eye protection circuit.

[0016] In a fourth aspect, a computer readable storage medium is provided, which stores a plurality of program codes, the program codes are adapted to be loaded and run by a processor to execute the control method of any one of the technical solutions of the control method of the human eye protection circuit.

[0017] In a fifth aspect, a vehicle is provided, which includes a vehicle body, a vehicle-mounted laser radar, and any one of the human eye protection circuits and / or the electronic device described above.

[0018] Scheme 1. A human eye protection circuit applied to a mechanical rotating vehicle-mounted laser radar, the vehicle-mounted laser radar is provided with a laser and a rotating mirror motor for controlling the rotation of the laser, characterized in that the human eye protection circuit comprises a comparison circuit and a control circuit.

[0019] The comparison circuit at least includes a first comparator and a second comparator, the output end of the first comparator is connected to an input end of the second comparator, and the comparison circuit is configured to output a level signal to the control circuit based on the rotation condition of the rotating mirror motor;

[0020] The control circuit at least includes a logic gate, and the control circuit is configured to receive the level signal output by the comparison circuit and output a laser control signal to control whether the laser works.

[0021] The circuit according to scheme 1, a Hall sensor is arranged on the rotating mirror motor for converting the rotating condition of the rotating mirror motor into a level signal, characterized in that the comparison circuit comprises:

[0022] The first comparator is an inverting comparator, the inverting input end of which is taken as the input end of the comparison circuit and receives the level signal sent by the Hall sensor, and the non-inverting input end of the first comparator is connected to a first reference voltage;

[0023] The second comparator is a non-inverting comparator, the non-inverting input end of which is connected to a second reference voltage, the output end of the first comparator is connected to the non-inverting input end of the second comparator, the output end of the second comparator is taken as the output end of the comparison circuit and outputs a level signal to the control circuit, and the inverting input end of the second comparator is connected to the second reference voltage; the first reference voltage is lower than the second reference voltage.

[0024] The circuit according to scheme 2, characterized in that the comparison circuit further comprises a first resistor and a capacitor:

[0025] The common end of the first resistor and the capacitor is connected to the non-inverting input end of the second comparator, the other end of the first resistor is connected to a power supply voltage, and the other end of the capacitor is grounded.

[0026] The circuit according to scheme 1, characterized in that the control circuit comprises: the logic gate is an XOR gate, the first input end of the XOR gate is taken as the input end of the control circuit and receives the level signal output by the comparison circuit, the second input end of the XOR gate receives a high-level signal, and the output end of the XOR gate is taken as the output end of the control circuit and is used for outputting a laser control signal to control whether the laser works.

[0027] The control method of the human eye protection circuit, applied to a mechanical rotating vehicle-mounted laser radar, the vehicle-mounted laser radar is provided with a laser and a rotating mirror motor for controlling the working of the laser, characterized in that the method comprises:

[0028] Based on the rotating condition of the rotating mirror motor, a level signal is obtained;

[0029] Based on the level signal and the human eye protection circuit according to any one of schemes 1 to 4, a control signal of the laser is outputted;

[0030] Based on the control signal, whether the laser works is automatically controlled.

[0031] Scheme 6. The control method according to scheme 5, wherein a Hall sensor is arranged on the rotating mirror motor to convert the rotation of the rotating mirror motor into a level signal, and a notch is arranged on the metal ring of the rotating mirror motor, wherein the Hall sensor outputs a high level when the notch passes the Hall sensor with the rotation of the rotating mirror motor, and wherein the control method of the human eye protection circuit further comprises converting the rotation of the rotating mirror motor into a level signal based on at least:

[0032] the Hall sensor outputs a low level signal when the rotating mirror motor is not rotating;

[0033] the Hall sensor outputs a pulse signal when the rotating mirror motor is rotating, and the pulse period of the pulse signal depends on the rotation speed of the rotating mirror motor.

[0034] Scheme 7. The control method according to scheme 6, wherein the control method of the human eye protection circuit further comprises:

[0035] the pulse period of the pulse signal output by the Hall sensor is greater than a preset period threshold when the rotation speed of the rotating mirror motor is lower than a preset rotation speed threshold;

[0036] the first comparator periodically outputs a low level signal based on the pulse signal output by the Hall sensor, and the period of the low level signal is consistent with the pulse period of the pulse signal output by the Hall sensor;

[0037] the capacitor discharges when the first comparator outputs the low level signal, so that the level of the non-inverting input of the second comparator is higher than the second reference voltage.

[0038] Scheme 8. The control method according to scheme 6, wherein the control signal of the output laser comprises:

[0039] the output laser control signal is low when the rotating mirror motor is not rotating or the rotation speed of the rotating mirror motor is lower than a preset rotation speed threshold;

[0040] the output laser control signal is high when the rotation speed of the rotating mirror motor is not lower than a preset rotation speed threshold.

[0041] Scheme 9. An electronic device comprising a processor and a memory, wherein the memory is adapted to store a plurality of program codes, and wherein the program codes are adapted to be loaded and run by the processor to execute the control method of the human eye protection circuit according to any one of schemes 5 to 8.

[0042] Scheme 10. A computer readable storage medium, wherein a plurality of program codes are stored, characterized in that the program codes are suitable for being loaded and run by a processor to execute the control method of the human eye protection circuit according to any one of schemes 5 to 8.

[0043] Scheme 11. A vehicle, characterized in that comprising a vehicle body, a vehicle-mounted laser radar, and the human eye protection circuit according to any one of schemes 1 to 4 and / or the electronic device according to scheme 9.

[0044] The above one or more technical solutions of the present application have at least one or more of the following advantages

[0045] Advantages:

[0046] In the implementation of the technical solutions of the present application, through the Hall sensor output signal of the rotating mirror motor, the control signal of the laser is output through two-stage comparators and logic control gates, so as to automatically control the laser to work according to the rotating condition of the rotating mirror motor: when the rotating mirror motor stops rotating or rotates at low speed, the laser stops working; when the rotating mirror motor rotates normally, the laser works normally, preventing the vehicle-mounted laser radar from continuously emitting against a fixed target.

[0047] In the implementation of the technical solutions of the present application, the safety protection mechanism is set based on the working condition of the vehicle-mounted laser radar, and whether the laser works is controlled in combination with the rotating condition of the rotating mirror motor, which avoids safety accidents or human eye injury caused by the rotating mirror motor not rotating and the laser continuously emitting against a fixed target. The automatic control scheme does not need human intervention and software algorithm control, and the used devices are simple, saving the cost of the vehicle-mounted laser radar. BRIEF DESCRIPTION OF DRAWINGS

[0048] The disclosure of the present application will become more apparent with reference to the drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes, and are not intended to limit the scope of protection of the present application. In addition, similar numbers in the figures are used to represent similar components, wherein:

[0049] Figure 1 is a schematic diagram of a human eye protection circuit according to an embodiment of the present application;

[0050] Figure 2 is a schematic diagram of a human eye protection circuit of the present application corresponding to a reference voltage module;

[0051] Figure 3 is a main step flowchart of the control method of the human eye protection circuit according to an embodiment of the present application;

[0052] Figure 4 is a schematic diagram of a human eye protection circuit according to another embodiment of the present application;

[0053] Figure 5 This is a main structural block diagram of an electronic device used to execute the control method of the present invention. Detailed Implementation

[0054] Some embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0055] In the description of this invention, "module" and "processor" can include hardware, software, or a combination of both. A module can include hardware circuitry, various suitable sensors, communication ports, memory, and may also include software components, such as program code, or a combination of software and hardware. A processor can be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and / or signal processing capabilities. The processor can be implemented in software, in hardware, or a combination of both. Non-transitory computer-readable storage media includes any suitable medium capable of storing program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The terms "at least one A or B" or "at least one of A and B" have a similar meaning to "A and / or B" and can include only A, only B, or A and B. The singular terms "a" or "this" can also include plural forms.

[0056] This invention provides an eye protection circuit.

[0057] See appendix Figure 1 , Figure 1 This is a schematic diagram of an eye protection circuit according to an embodiment of the present invention. Figure 1 As shown, the eye protection circuit is applied to a mechanically rotating vehicle-mounted lidar. The vehicle-mounted lidar is equipped with a laser U4 and a rotating mirror motor M for controlling the rotation of the laser. The eye protection circuit includes a comparator circuit 101 and a control circuit 102. The comparator circuit 101 includes at least a first comparator U1 and a second comparator U2. The output terminal of the first comparator U1 is connected to an input terminal of the second comparator U2. The comparator circuit 101 is configured to output a level signal to the control circuit 102 based on the rotation of the rotating mirror motor M. The control circuit 102 includes at least one logic gate. The control circuit 102 is configured to receive the level signal output by the comparator circuit 101 and output a laser control signal to control whether the laser U4 is working.

[0058] Exemplarily, the first comparator U1 is configured to distinguish whether the rotating mirror motor M rotates or not, and output a level signal; the second comparator U2 is configured to distinguish whether the rotating speed of the rotating mirror motor M is lower than a preset rotating speed threshold or not, and output a level signal.

[0059] In other embodiments of the present application, the first comparator U1 and the second comparator U2 can also be configured to distinguish the rotating condition of the rotating mirror motor M in other manners, which are not limited in the present embodiment, and the comparison circuit 101 can output a level signal to the control circuit 102 based on the rotating condition of the rotating mirror motor M.

[0060] In the present embodiment, the rotating mirror motor M is provided with a Hall sensor U0, which is configured to convert the rotating condition of the rotating mirror motor M into a level signal, and the comparison circuit 101 comprises: the first comparator U1 is an inverting comparator, the inverting input end of which is configured as the input end of the comparison circuit 101, and receives the level signal output by the Hall sensor U0; the non-inverting input end of the first comparator U1 is connected to a first reference voltage V REF1 .

[0061] The second comparator U2 is a non-inverting comparator, the non-inverting input end of the first comparator U1 is connected to the non-inverting input end of the second comparator, the output end of the second comparator U2 is configured as the output end of the comparison circuit 101, and outputs a level signal to the control circuit 102, the inverting input end of the second comparator U2 is connected to a second reference voltage V REF2 ; the first reference voltage V REF1 is lower than the second reference voltage V REF2 .

[0062] Further, the comparison circuit 101 further comprises a first resistor R1 and a capacitor C: the common end of the first resistor R1 and the capacitor C is connected to the non-inverting input end of the second comparator U2, the other end of the first resistor R1 is connected to a supply voltage V CC , and the other end of the capacitor C is grounded. The supply voltage V CC is configured to charge the capacitor C, so that the capacitor C can provide a level to the second comparator U2; and the first resistor R1 is configured to protect and limit current.

[0063] Specifically, the supply voltage V CC is 3.3V, and the first reference voltage V REF1 and the second reference voltage V REF2 are both less than 3.3V.

[0064] Further, the human eye protection circuit further comprises a reference voltage module. Referring to FIG. 2, the reference voltage module comprises a reference voltage generator U3 and a second resistor R2: the output end of the reference voltage generator U3 is connected to the non-inverting input end of the first comparator U1, and the other end of the second resistor R2 is connected to the supply voltage V CC . Figure 2 , Figure 2is a schematic diagram of a human eye protection circuit corresponding to a reference voltage module of the present application. As shown, three voltage dividing resistors R2, R3 and R4 are connected in series, one end of which is connected to a power supply voltage V Figure 2 , and the other end is grounded. The voltage at the common end of the voltage dividing resistors R2 and R3 serves as a second reference voltage V CC , and is connected to the inverting input terminal of the second comparator U2; the voltage at the common end of the voltage dividing resistors R3 and R4 serves as a first reference voltage V REF2 , and is connected to the non-inverting input terminal of the first comparator U1. REF1

[0065] In the present embodiment, the resistance values of the voltage dividing resistors R2, R3 and R4 are all 10kΩ, the power supply voltage V CC is 3.3V, the first reference voltage V REF1 is 1.1V, and the second reference voltage V REF2 is 2.2V. In other embodiments, the voltage dividing resistors R2, R3 and R4 can have other resistance values according to the actual requirements of the first comparator U1 and the second comparator U2, so as to obtain corresponding first reference voltage V REF1 and second reference voltage V REF2 , as long as the first reference voltage V REF1 is lower than the second reference voltage V REF2 .

[0066] In the present embodiment, the control circuit 102 comprises: the logic gate is an XOR gate U3, a first input terminal of the XOR gate U3 serves as an input terminal of the control circuit 101, and receives the level signal output by the comparison circuit 102; a second input terminal of the XOR gate U3 receives a high level signal; and an output terminal of the XOR gate U3 serves as an output terminal of the control circuit 101, and is used to output a laser control signal to control whether the laser U4 works.

[0067] For example, the second input terminal of the XOR gate U3 is connected to the controller U5, and the XOR gate U3 outputs a high level signal through the controller U5.

[0068] The present application also provides a control method of a human eye protection circuit, which is applied to any one of the human eye protection circuits.

[0069] Referring to the accompanying drawings, Figure 3 , Figure 3 is a main step flowchart of the control method of the human eye protection circuit of one embodiment of the present application. As shown, Figure 3 ​As shown, the present application provides a control method of a human eye protection circuit, applied to a mechanical rotation type vehicle-mounted laser radar, the vehicle-mounted laser radar is provided with a laser and a rotating mirror motor for controlling the operation of the laser, the control method of the human eye protection circuit in the embodiment of the present application mainly comprises the following steps S301-S303.

[0070] In step S301, a level signal is obtained based on the rotation condition of the rotating mirror motor.

[0071] In one embodiment, a Hall sensor U0 is arranged on the rotating mirror motor M, for converting the rotation condition of the rotating mirror motor M into a level signal, a notch is arranged on the metal ring of the rotating mirror motor M, when the notch passes the Hall sensor U0 with the rotation of the rotating mirror motor M, the Hall sensor U0 generates a high level; when the non-notched position of the metal ring passes the Hall sensor U0, the Hall sensor U0 generates a low level.

[0072] In the embodiment, the control method of the human eye protection circuit further comprises at least converting the rotation condition of the rotating mirror motor into a level signal based on the following steps: when the rotating mirror motor does not rotate, the Hall sensor outputs a low level signal; when the rotating mirror motor rotates, the Hall sensor outputs a pulse signal, and the pulse period of the pulse signal depends on the rotating speed of the rotating mirror motor.

[0073] In step S302, a control signal of the laser is output based on the level signal and the human eye protection circuit of any one of the above.

[0074] In the embodiment, the output control signal of the laser comprises: when the rotating mirror motor does not rotate or the rotating speed is lower than a preset rotating speed threshold, the output laser control signal is a low level; when the rotating speed of the rotating mirror motor is not lower than the preset rotating speed threshold, the output laser control signal is a high level.

[0075] In one embodiment, when the rotating mirror motor M does not rotate, the Hall sensor U0 outputs a low level signal. Since the first comparator U1 is an inverting comparator, when the input voltage is lower than the first reference voltage V REF1 , the first comparator U1 outputs a high level signal. Based on the low level signal output by the Hall sensor U0, the first comparator U1 outputs a high level signal. Since the second comparator U2 is a non-inverting comparator, when the input voltage is higher than the second reference voltage V REF2When the controller U5 outputs a high-level signal, the XOR gate U3 outputs a high-level signal. Since the XOR gate U3 outputs a high-level signal when the levels of its two input terminals are different, and at this time both input terminals of the XOR gate U3 are at a high level, the XOR gate U3 outputs a low-level signal, meaning the laser control signal is low.

[0076] In another embodiment, when the rotational speed of the rotating mirror motor M is lower than a preset speed threshold, the pulse period of the pulse signal output by the Hall sensor U0 is greater than a preset period threshold. Since the first comparator U1 is an inverting comparator, based on the pulse signal output by the Hall sensor U0, the first comparator U1 periodically outputs a low-level signal, the period of which is consistent with the pulse period of the pulse signal output by the Hall sensor U0. When the first comparator U1 outputs a low-level signal, the capacitor C discharges, causing the level at the non-inverting input of the second comparator U2 to be higher than the second reference voltage V. REF2 Since the second comparator U2 is a non-inverting comparator, it outputs a high-level signal. The controller U5 outputs a high-level signal. Because both inputs of the XOR gate U3 are high, the laser control signal output by the XOR gate U3 is low.

[0077] In another embodiment, when the rotational speed of the rotating mirror motor M is not lower than a preset speed threshold, the pulse period of the pulse signal output by the Hall sensor U0 is not greater than a preset period threshold. Since the first comparator U1 is an inverting comparator, based on the pulse signal output by the Hall sensor U0, the first comparator U1 periodically outputs a low-level signal, the period of which is consistent with the pulse period of the pulse signal output by the Hall sensor U0. Because the period of the low-level signal is not greater than the preset period threshold, when the first comparator U1 outputs a low-level signal, the capacitor C discharges, but the level at the non-inverting input of the second comparator U2 cannot reach the second reference voltage V. REF2 Since the second comparator U2 is a non-inverting comparator, it outputs a low-level signal. The controller U5 outputs a high-level signal. Because the XOR gate U3 outputs a high level when the levels at its two inputs are different, the laser control signal output by the XOR gate U3 is also high.

[0078] Further, the level of the second comparator U2 in-phase input end is related to the voltage before the capacitor C discharges. Due to the rotation of the mirror motor M, the first comparator U1 outputs low level signal periodically, and the capacitor C discharges when the first comparator U1 outputs low level signal, and the capacitor C charges when the first comparator U1 does not output low level signal. Therefore, when the rotation speed of the mirror motor M is lower than the preset rotation speed threshold, the voltage before the capacitor C discharges is between 2.2V-3.3V due to sufficient charging time, which is higher than the second reference voltage V REF2 ; when the rotation speed of the mirror motor M is not lower than the preset rotation speed threshold, the voltage before the capacitor C discharges is lower than 2.2V due to insufficient charging time, which is lower than the second reference voltage V REF2 .

[0079] Further, the level of the second comparator U2 in-phase input end is related to the voltage before the capacitor C discharges. Due to the rotation of the mirror motor M, the first comparator U1 outputs low level signal periodically, and the capacitor C discharges when the first comparator U1 outputs low level signal, and the capacitor C charges when the first comparator U1 does not output low level signal. Therefore, when the rotation speed of the mirror motor M is lower than the preset rotation speed threshold, the voltage before the capacitor C discharges is between 2.2V-3.3V due to sufficient charging time, which is higher than the second reference voltage V REF2 .

[0080] Please refer to the accompanying Figure 4 , Figure 4 is a schematic diagram of an eye protection circuit according to another embodiment of the present application. In Figure 4 , a resistor R5 is added between the first comparator U1 and the capacitor C, and the resistance value of the resistor R5 can be set by those skilled in the art according to actual conditions, and the connection mode of other elements in the comparison circuit 401 and the control circuit 402 is referred to the above-mentioned embodiment of the eye protection circuit.

[0081] Step S303: automatically controlling whether the laser works based on the control signal.

[0082] In the embodiment, when the laser control signal is high level, the laser works normally; and when the laser control signal is low level, the laser stops working.

[0083] Based on the above steps S301-S303, the control signal of the laser is output through the Hall sensor output signal of the mirror motor, two-stage comparators and a logic control gate, so as to automatically control the working of the laser according to the rotation of the mirror motor: when the mirror motor stops rotating or rotates at low speed, the laser stops working; and when the mirror motor rotates normally, the laser works normally, thereby preventing the vehicle-mounted laser radar from continuously emitting against a fixed target.

[0084] In the technical solutions of the present application, the safety protection mechanism is set based on the working condition of the vehicle-mounted laser radar, and the laser is controlled to work or not work in combination with the rotation condition of the rotating mirror motor, so as to avoid safety accidents or eye injuries caused by the non-rotation of the rotating mirror motor and the continuous emission of the laser to a fixed target. The automatic control scheme does not need human intervention and software algorithm control, and the used devices are simple, thereby saving the cost of the vehicle-mounted laser radar.

[0085] It should be noted that, although the steps in the above embodiments are described in a specific sequence, those skilled in the art can understand that, in order to achieve the effect of the present application, the steps do not have to be executed in such a sequence, and they can be executed simultaneously (in parallel) or in other sequences, and these changes are within the protection scope of the present application.

[0086] All the optional technical solutions described above can be combined to form optional embodiments of the present application, and will not be described one by one here.

[0087] Further, the present application also provides an electronic device. Please refer to the accompanying drawings Figure 4 , Figure 4 is the main structure block diagram of the electronic device for executing the control method of the present application.

[0088] As shown in the accompanying drawings Figure 5 , in an electronic device embodiment according to the present application, the electronic device includes a processor 501 and a memory 502, the memory 502 can be configured to store program code 503 of the control method of the eye protection circuit of the above-mentioned method embodiment, and the processor 501 can be configured to execute the program code 503 in the memory 502, the program code 503 includes but is not limited to the program code 503 of the control method of the above-mentioned method embodiment. For the convenience of description, only the parts related to the embodiments of the present application are shown, and the specific technical details not disclosed are referred to the method part of the embodiments of the present application.

[0089] Exemplarily, the processor 501 can be a central processing unit (CPU), and can also be 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. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0090] The memory 502 can be an internal storage unit of the electronic device 500, for example, a hard disk or a memory of the electronic device 500, or can be an external storage device of the electronic device 500, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, or the like equipped in the electronic device 500. Further, the memory 502 can include both the internal storage unit and the external storage device of the electronic device 500. The memory 502 is used to store a computer program and other programs and data required by the electronic device 700, and the memory 702 can also be used to temporarily store data that has been output or will be output.

[0091] In some possible implementation, the electronic device 500 can include a plurality of processors 501 and memories 502. The program code 503 for implementing the control method of the eye protection circuit according to the above method embodiments can be divided into a plurality of sub-programs, each of which can be loaded and executed by the processor 501 to perform different steps of the control method of the eye protection circuit according to the above method embodiments. Specifically, each sub-program can be stored in a different memory 502, and each processor 501 can be configured to execute the program in one or more memories 502 to jointly implement the control method of the eye protection circuit according to the above method embodiments, i.e., each processor 501 respectively performs different steps of the control method of the eye protection circuit according to the above method embodiments to jointly implement the control method of the eye protection circuit according to the above method embodiments.

[0092] The plurality of processors 501 can be processors deployed on the same device, for example, the electronic device can be a high-performance device composed of a plurality of processors, and the plurality of processors 501 can be processors configured on the high-performance device. In addition, the plurality of processors 501 can also be processors deployed on different devices, for example, the electronic device can be a server cluster, and the plurality of processors 501 can be processors on different servers in the server cluster.

[0093] The electronic device 500 can be a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The electronic device 500 can include but is not limited to the processor 501 and the memory 502. Those skilled in the art can understand that the electronic device 500 can include more or fewer components than those shown, or can combine some components, or include different components, for example, the electronic device can also include an input / output device, a network access device, a bus, and the like. Figure 4 The electronic device 500 is only an example and does not constitute a limitation on the electronic device 500, and can include more or fewer components than those shown, or can combine some components, or include different components, for example, the electronic device can also include an input / output device, a network access device, a bus, and the like.

[0094] Further, the present application also provides a computer readable storage medium. In an embodiment of the computer readable storage medium according to the present application, the computer readable storage medium can be configured to store a program for implementing the control method of the human eye protection circuit according to the above-mentioned embodiment, which can be loaded and run by the processor to implement the control method. For the convenience of description, only the parts related to the embodiments of the present application are shown, and the specific technical details not disclosed are referred to the method part of the embodiments of the present application. The computer readable storage medium can be a storage device formed by various electronic devices, and optionally, the computer readable storage medium in the embodiments of the present application is a non-transitory computer readable storage medium.

[0095] Further, the present application also provides a vehicle, comprising a vehicle body, a vehicle-mounted laser radar, and any one of the human eye protection circuits and / or the electronic devices described above.

[0096] In the above-mentioned embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0097] Those skilled in the art can understand that the units and algorithm steps of the examples described in combination with the embodiments of the present application can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software mode depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to realize the described functions, but such implementation should not be considered beyond the scope of the present application.

[0098] In the embodiments provided by the present application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the electronic device embodiments described above are only schematic. The division of the modules or units is only a logical function division, and there can be another division manner in actual implementation. Multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or in other forms.

[0099] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. they can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0100] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0101] If the integrated module / unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can be executed by a processor to implement the steps of each method embodiment. The computer program can include computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, 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, etc. It should be noted that the content included 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, the computer readable medium does not include electric carrier signals and telecommunication signals.

[0102] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after the changes or replacements will fall within the protection scope of the present application.

Claims

1. A human eye protection circuit applied to a mechanical rotation type vehicle-mounted laser radar, the vehicle-mounted laser radar being provided with a laser and a rotating mirror motor for controlling rotation of the laser, characterized in that, The human eye protection circuit comprises a comparison circuit and a control circuit; The comparison circuit comprises at least a first comparator and a second comparator, the output of the first comparator is connected to an input of the second comparator, and the comparison circuit is configured to output a level signal to the control circuit based on the rotation condition of the rotating mirror motor; The control circuit comprises at least a logic gate, and the control circuit is configured to receive the level signal output by the comparison circuit and output a laser control signal to control whether the laser works; The rotating mirror motor is provided with a Hall sensor for converting the rotation condition of the rotating mirror motor into a level signal, and the comparison circuit comprises: The first comparator is an inverting comparator, the inverting input of which is used as the input of the comparison circuit to receive the level signal output by the Hall sensor, and the non-inverting input of the first comparator is connected to a first reference voltage; The second comparator is a non-inverting comparator, the output of the first comparator is connected to the non-inverting input of the second comparator, the output of the second comparator is used as the output of the comparison circuit to output a level signal to the control circuit, and the inverting input of the second comparator is connected to a second reference voltage; the first reference voltage is lower than the second reference voltage.

2. The circuit of claim 1, wherein, The comparison circuit further comprises a first resistor and a capacitor: The common end of the first resistor and the capacitor is connected to the non-inverting input of the second comparator, the other end of the first resistor is connected to a power supply voltage, and the other end of the capacitor is grounded.

3. The circuit of claim 1, wherein, The control circuit comprises: the logic gate is an XOR gate, the first input of the XOR gate is used as the input of the control circuit to receive the level signal output by the comparison circuit, the second input of the XOR gate receives a high-level signal, and the output of the XOR gate is used as the output of the control circuit to output a laser control signal to control whether the laser works.

4. A control method of a human eye protection circuit applied to a mechanical rotation type vehicle-mounted laser radar, the vehicle-mounted laser radar being provided with a laser and a rotating mirror motor for controlling the operation of the laser, characterized in that, It comprises: Based on the rotation condition of the rotating mirror motor, a level signal is obtained; Based on the level signal and the human eye protection circuit of any one of claims 1 to 3, a control signal of a laser is outputted; Based on the control signal, whether the laser works is automatically controlled.

5. The control method according to claim 4, wherein a Hall sensor is arranged on the rotating mirror motor to convert the rotation of the rotating mirror motor into a level signal, and a notch is arranged on the metal ring of the rotating mirror motor, and the Hall sensor generates a high level when the notch passes the Hall sensor with the rotation of the rotating mirror motor. The control method of the human eye protection circuit further comprises at least the following steps of converting the rotation condition of the rotating mirror motor into a level signal: When the rotating mirror motor does not rotate, the Hall sensor outputs a low-level signal; When the rotating mirror motor rotates, the Hall sensor outputs a pulse signal, and the pulse period of the pulse signal depends on the rotating speed of the rotating mirror motor.

6. The control method according to claim 5, characterized by The control method of the human eye protection circuit further comprises: When the rotating speed of the rotating mirror motor is lower than a preset rotating speed threshold, the pulse period of the pulse signal output by the Hall sensor is greater than a preset period threshold; Based on the pulse signal output by the Hall sensor, the first comparator periodically outputs a low-level signal, and the period of the low-level signal is consistent with the pulse period of the pulse signal output by the Hall sensor; When the first comparator outputs a low-level signal, the capacitor is discharged, so that the level of the non-inverting input of the second comparator is higher than the second reference voltage.

7. The control method according to claim 5, characterized by, The control signal of the output laser includes: When the rotating mirror motor is not rotating or the rotating speed is lower than a preset rotating speed threshold, the output laser control signal is low level; When the rotating speed of the rotating mirror motor is not lower than the preset rotating speed threshold, the output laser control signal is high level.

8. An electronic device comprising a processor and a memory, the memory being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to execute the control method of the human eye protection circuit in any one of claims 4 to 7.

9. A computer readable storage medium having stored therein a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to execute the control method of the human eye protection circuit in any one of claims 4 to 7.

10. A vehicle characterized by comprising: The vehicle includes a vehicle body, a vehicle-mounted laser radar, and the human eye protection circuit in any one of claims 1 to 3 and / or the electronic device in claim 8.

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