Laser radar adjustment method, circuit, device, laser radar and storage medium

Abstract

The present application discloses a laser radar adjustment method, circuit, device, laser radar and storage medium. The method is applied to a laser radar, wherein the laser radar includes a photoelectric sensor, and the method includes: obtaining the operating temperature of the photoelectric sensor; determining a target bias voltage based on the operating temperature; the target bias voltage is the difference between the voltages applied to the cathode and anode of the photoelectric sensor; adjusting the voltage applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage, which can compensate for the influence of temperature changes on the receiving ability of the photoelectric sensor, and improve the adaptability of the laser radar to various working environments and the ranging ability of the laser radar.

Description

Technical Field

[0001] This application relates to the field of galvanometer control technology, and particularly to a method, circuit, device, electronic device, and computer storage medium for lidar adjustment. Background Art

[0002] In a lidar ranging system, conditions such as the operating temperature of the optoelectronic sensor itself and the application environment will seriously affect the receiving ability of the optoelectronic sensor, resulting in weak ranging capabilities such as the lidar being unable to measure far or not being able to measure in specific scenarios or under certain operating conditions. Summary of the Invention

[0003] Embodiments of this application provide a method, circuit, device, lidar, and storage medium for lidar adjustment, which can compensate for the influence of temperature changes on the receiving ability of the optoelectronic sensor, and improve the adaptability of the lidar to various working environments and the ranging ability of the lidar. The technical solutions are as follows:

[0004] In a first aspect, embodiments of this application provide a method for lidar adjustment, which is applied to a lidar, and the lidar includes an optoelectronic sensor. The method includes:

[0005] Obtain the operating temperature of the optoelectronic sensor;

[0006] Determine a target bias voltage based on the operating temperature; the target bias voltage is the difference between the voltages applied to the cathode and anode of the optoelectronic sensor;

[0007] Adjust the voltage applied to the anode and / or cathode of the optoelectronic sensor according to the target bias voltage.

[0008] In a second aspect, embodiments of this application provide a lidar adjustment circuit, which includes: a control sub-circuit, a detection sub-circuit, and an optoelectronic sensor;

[0009] The detection sub-circuit is connected to the optoelectronic sensor and is used to detect the operating temperature of the optoelectronic sensor;

[0010] The control sub-circuit is connected to the transmitting sub-circuit, the detection sub-circuit, and the optoelectronic sensor;

[0011] The optoelectronic sensor is used to receive echo signals;

[0012] The control sub-circuit is used to control the detection sub-circuit to detect the operating temperature of the optoelectronic sensor;

[0013] The control sub - circuit is further configured to determine a target bias voltage based on the operating temperature, and adjust the voltage value applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage; the target bias voltage is the difference between the voltages applied to the anode and cathode of the photoelectric sensor.

[0014] In a third aspect, an embodiment of the present application provides a lidar adjustment device, which is applied to a lidar. The lidar includes a photoelectric sensor, and the device includes:

[0015] An acquisition module, configured to acquire the operating temperature of the photoelectric sensor;

[0016] A determination module, configured to determine a target bias voltage based on the operating temperature; the target bias voltage is the difference between the voltages applied to the cathode and anode of the photoelectric sensor;

[0017] An adjustment module, configured to adjust the voltage applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage.

[0018] In a fourth aspect, an embodiment of the present application provides a lidar, including: a photoelectric sensor, a processor, and a memory;

[0019] The processor is connected to the photoelectric sensor and the memory;

[0020] The photoelectric sensor is configured to receive an echo signal;

[0021] The memory is configured to store executable program code;

[0022] The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method steps provided in the first aspect or any possible implementation manner of the first aspect of the embodiments of the present application.

[0023] In a fifth aspect, an embodiment of the present application provides a computer storage medium, which stores multiple instructions, and the instructions are adapted to be loaded and executed by a processor to execute the method steps provided in the first aspect or any possible implementation manner of the first aspect of the embodiments of the present application.

[0024] The beneficial effects brought by the technical solutions provided in some embodiments of the present application at least include:

[0025] In one or more embodiments of the present application, according to the characteristic that the smaller the bias voltage across the optoelectronic sensor, the weaker its receiving ability, by adjusting the voltage applied to the anode and / or cathode of the optoelectronic sensor according to the operating temperature of the optoelectronic sensor and the preset mapping relationship between the bias voltage across the optoelectronic sensor and the operating temperature, the bias voltage across the optoelectronic sensor is adjusted to compensate for the influence of temperature change on the receiving ability of the optoelectronic sensor, and the adaptability of the lidar to various working environments and the ranging ability of the lidar are improved. The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are hereinafter specifically exemplified. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0027] Figure 1A Schematic diagram of the structure of a lidar provided in an exemplary embodiment of the present application;

[0028] Figure 1B Schematic diagram of the voltage across an optoelectronic sensor provided in an exemplary embodiment of the present application;

[0029] Figure 2 Schematic diagram of the flow of a lidar adjustment method provided in an exemplary embodiment of the present application;

[0030] Figure 3 Schematic diagram of a preset mapping relationship curve provided in an exemplary embodiment of the present application;

[0031] Figure 4 Schematic diagram of the structure of another lidar provided in an exemplary embodiment of the present application;

[0032] Figure 5 Schematic diagram of the flow of another lidar adjustment method provided in an exemplary embodiment of the present application;

[0033] Figure 6A Schematic diagram of a first preset linear relationship provided in an exemplary embodiment of the present application;

[0034] Figure 6B Schematic diagram of a pulse wideband modulation signal provided in an exemplary embodiment of the present application;

[0035] Figure 6C Another schematic diagram of the voltage across both ends of a photoelectric sensor provided by an exemplary embodiment of the present application;

[0036] Figure 7 Another schematic flow chart of a lidar adjustment method provided by an exemplary embodiment of the present application;

[0037] Figure 8A A schematic diagram of a second preset linear relationship provided by an exemplary embodiment of the present application;

[0038] Figure 8B Another schematic diagram of a pulse wideband modulation signal provided by an exemplary embodiment of the present application;

[0039] Figure 8C Another schematic diagram of the voltage across both ends of a photoelectric sensor provided by an exemplary embodiment of the present application;

[0040] Figure 9 Another schematic flow chart of a lidar adjustment method provided by an exemplary embodiment of the present application;

[0041] Figure 10 A schematic diagram of the voltage change of the anode and cathode of a photoelectric sensor provided by an exemplary embodiment of the present application;

[0042] Figure 11 Another schematic structural diagram of a lidar provided by an exemplary embodiment of the present application;

[0043] Figure 12 Another schematic structural diagram of a lidar provided by an exemplary embodiment of the present application;

[0044] Figure 13 Another schematic flow chart of a lidar adjustment method provided by an exemplary embodiment of the present application;

[0045] Figure 14 Another schematic flow chart of a lidar adjustment method provided by an exemplary embodiment of the present application;

[0046] Figure 15 A schematic diagram of the voltage change of the cathode of a photoelectric sensor provided by an exemplary embodiment of the present application;

[0047] Figure 16 A schematic structural diagram of a lidar adjustment circuit provided by an exemplary embodiment of the present application;

[0048] Figure 17 A schematic structural diagram of a lidar adjustment device provided by an exemplary embodiment of the present application;

[0049] Figure 18Another structural schematic diagram of a lidar provided by an exemplary embodiment of the present application. Detailed implementation manners

[0050] To make the features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0051] The terms "first", "second", "third", etc. in the specification, claims and drawings of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0052] Please refer to Figure 1A , Figure 1A which exemplarily shows a structural schematic diagram of a lidar provided by an embodiment of the present application. As Figure 1A shown, the lidar may include: a laser emitter 110, a photoelectric sensor 120, a power supply 130, a temperature sensor 140, and a controller 150. Among them:

[0053] The laser emitter 110 can be used to emit laser beams.

[0054] The photoelectric sensor 120 can be a diode or the like, and is used to receive the echo signal generated by the laser beam.

[0055] The power supply 130 can be used to supply energy to the photoelectric sensor 120 and apply a bias voltage across the photoelectric sensor 120; the power supply 130 can include a first end and a second end; the first end of the anode of the photoelectric sensor 120 can be a negative power supply, and the second end of the cathode of the photoelectric sensor 120 can be a positive power supply, etc., and the present application does not limit this.

[0056] The temperature sensor 140 is connected to the photoelectric sensor 120 and is used to detect the working temperature of the photoelectric sensor 120 in real time.

[0057] The controller 150 is electrically connected to the laser emitter 110 and the temperature sensor 140, and is configured to control the laser emitter 110 to emit a laser beam and control the temperature sensor 140 to detect the operating temperature of the photoelectric sensor 120 at a preset time interval, and receive the operating temperature output by the temperature sensor 140; the preset time interval may be 2 ms, 3 s, etc., and the present application does not make specific limitations thereon.

[0058] The controller 150 is further configured to determine a target bias voltage corresponding to the operating temperature of the photoelectric sensor 120 according to a preset mapping relationship, and adjust the voltage applied to the anode and / or cathode of the photoelectric sensor 120 according to the target bias voltage; the preset mapping relationship includes multiple temperatures and the bias voltages corresponding to the different temperatures respectively.

[0059] Specifically, the controller 150 is configured to determine the duty cycle of the pulse width modulation signal applied to the first end and / or the second end according to the target bias voltage corresponding to the operating temperature of the photoelectric sensor 120, and output a pulse width modulation signal to the first end and / or the second end based on the duty cycle to provide a voltage for the cathode and / or anode of the photoelectric sensor 120.

[0060] Exemplarily, the anode of the photoelectric sensor 120 may be provided with a voltage 131 as shown in Figure 1B with a magnitude of V1 by the second end; the cathode of the photoelectric sensor 120 may be provided with a voltage 132 as shown in Figure 1B with a magnitude of V2 by the first end. At this time, regardless of how the operating conditions and application environment of the photoelectric sensor 120 change, the bias voltage ΔV across the photoelectric sensor 120 is always V2 - V1 (V2 > V1).

[0061] Optionally, the controller 150 may include a processing unit and a collection unit; the collection unit is connected to the temperature sensor 140 and the photoelectric sensor 120, and is configured to collect data such as the operating temperature of the photoelectric sensor 120 detected by the temperature sensor 140 and the echo signal generated by the laser beam received by the photoelectric sensor 120; the processing unit may process the data collected by the collection unit.

[0062] The receiving ability of the photoelectric sensor 120 is directly related to the bias voltage across its two ends. When the bias voltage remains unchanged, the receiving ability of the photoelectric sensor 120 varies with the operating temperature. During the ranging process of the lidar, the operating temperature of the photoelectric sensor 120 is not constant. The change in the operating temperature will seriously affect the receiving ability of the photoelectric sensor 120, resulting in the lidar having weak ranging capabilities such as being unable to measure far or not being able to measure at all in specific scenarios or some operating conditions. According to the mapping relationship between the bias voltage across the two ends of the photoelectric sensor 120 and the operating temperature, the voltage applied to the anode and / or cathode of the photoelectric sensor is adjusted, thereby adjusting the bias voltage of the photoelectric sensor 120 to compensate for the influence of temperature change on the receiving ability of the photoelectric sensor 120 and improving the adaptability of the lidar to various operating environments and the ranging ability of the lidar.

[0063] Next, in combination with Figure 1A and Figure 1B , a lidar adjustment method provided by an exemplary embodiment of the present application will be introduced. Specifically, please refer to Figure 2 , which is a schematic flowchart of a lidar adjustment method provided by an exemplary embodiment of the present application. As Figure 2 shown, the lidar adjustment method includes the following steps:

[0064] Step 201, obtain the operating temperature of the photoelectric sensor.

[0065] Specifically, during the ranging process of the lidar, the temperature sensor 140 can be controlled to detect the operating temperature of the photoelectric sensor at a preset time interval, and the operating temperature of the above-mentioned photoelectric sensor is obtained. The above-mentioned preset time interval can be 2 ms, 3 s, etc., and the present application does not make specific limitations thereto.

[0066] Step 202, determine the target bias voltage based on the operating temperature.

[0067] Specifically, after obtaining the operating temperature of the photoelectric sensor, the target bias voltage corresponding to the above-mentioned operating temperature can be determined by querying the preset mapping relationship. The above-mentioned preset mapping relationship includes multiple temperatures and the respective bias voltages corresponding to different temperatures. The above-mentioned preset mapping relationship represents the relationship between the bias voltage of the photoelectric sensor and its operating temperature. The above-mentioned target bias voltage is the difference between the voltages applied to the cathode and anode of the photoelectric sensor.

[0068] Exemplarily, please refer to Figure 3 , which is a schematic diagram of a preset mapping relationship curve provided by an exemplary embodiment of the present application. As Figure 3 shown, when the obtained operating temperature of the photoelectric sensor is 40 °C, it can be queried as Figure 3The above-mentioned offset voltage ΔV corresponding to the working temperature is 30V obtained from the preset mapping relationship curve 310 shown. That is, when the working temperature of the photoelectric sensor is 40°C, the target offset voltage corresponding to both ends of the photoelectric sensor should be 30V. That is, if the working temperature of the photoelectric sensor is 40°C, then only when the offset voltage ΔV at both ends of the photoelectric sensor is 30V, the photoelectric sensor is in the best working state, and thus the ranging ability of the lidar can be guaranteed.

[0069] Step 203, adjust the voltage applied to the anode and / or cathode of the photoelectric sensor according to the target offset voltage.

[0070] Specifically, after determining the target offset voltage corresponding to the working temperature of the photoelectric sensor, the duty cycle of the pulse width modulation signal applied to the power supply 130 can be determined according to the above target offset voltage, and the power supply 130 is controlled to output a target voltage to the anode and / or cathode of the photoelectric sensor based on the modulation signal with the above duty cycle. The above modulation signal can be a pulse width modulation signal. That is, by adjusting the duty cycle of the pulse width modulation signal, the magnitude of the voltage provided by the second end to the anode of the photoelectric sensor and / or the magnitude of the voltage provided by the first end to the cathode of the photoelectric sensor are controlled, so that the offset voltage at both ends of the photoelectric sensor is the target offset voltage.

[0071] In the embodiment of the present application, by adjusting the voltage applied to the anode and / or cathode of the photoelectric sensor according to the working temperature of the photoelectric sensor and the preset mapping relationship between the offset voltage at both ends of the photoelectric sensor and the working temperature, the offset voltage at both ends of the photoelectric sensor is adjusted to compensate for the influence of temperature change on the receiving ability of the photoelectric sensor, and the adaptability of the lidar when the working temperature changes slowly and the ranging ability of the lidar are improved.

[0072] Please refer to Figure 4 , the structural schematic diagram of another lidar provided by an exemplary embodiment of the present application. As Figure 4 shown, the lidar may include: a laser emitter 410, a photoelectric sensor 420, a power supply 430, a temperature sensor 440, and a controller 450. Among them:

[0073] The laser emitter 410 is used to emit a laser beam.

[0074] The photoelectric sensor 420 is used to receive the echo signal generated by the above laser beam.

[0075] The power supply 430 may include a first terminal 431 and a second terminal 432; the first terminal 431 may be an adjustable power supply or a Digital to Analog Converter (DAC) or a high-speed high-voltage operational amplifier, and is used to provide a voltage for the anode of the photoelectric sensor 420; the adjustable power supply realizes a wide range of adjustment of voltage and current by broadening the voltage and current of the switching power supply; the DAC can convert a binary digital quantity into a DC voltage; the high-speed high-voltage operational amplifier is a circuit unit with a very high amplification factor; the second terminal 432 may be an adjustable power supply or a DAC or a high-speed high-voltage operational amplifier, and is used to provide a voltage for the cathode of the photoelectric sensor.

[0076] The temperature sensor 440 is connected to the photoelectric sensor 420 and is used to detect the operating temperature of the photoelectric sensor 420.

[0077] The controller 450 is connected to the laser emitter 410 and the temperature sensor 440, and is used to control the laser emitter 410 to emit a laser beam and receive the operating temperature output by the temperature sensor 440.

[0078] The controller 450 is further specifically configured to determine a target bias voltage based on the operating temperature, and adjust the voltage value applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage; the target bias voltage is the difference between the voltages applied to the anode and cathode of the photoelectric sensor.

[0079] Next, in combination with Figure 4 , another lidar adjustment method provided by an exemplary embodiment of the present application will be introduced. When Figure 4 the controller 450 in is used to control the voltage value applied to the anode of the photoelectric sensor 420, please specifically refer to Figure 5 , which is a schematic flowchart of a lidar adjustment method provided by an exemplary embodiment of the present application. As Figure 5 shown, the lidar adjustment method includes the following steps:

[0080] Step 501, obtain the operating temperature of the photoelectric sensor.

[0081] Specifically, step 501 is the same as step 201, and will not be elaborated here.

[0082] Step 502, determine the target bias voltage based on the operating temperature.

[0083] Specifically, step 502 is the same as step 202, and will not be elaborated here.

[0084] Step 503, determine the voltage value applied to the cathode of the photoelectric sensor.

[0085] Specifically, if the lidar has a structure as shown in Figure 4 , the voltage value output from the second terminal 432 can be directly used as the voltage value applied to the cathode of the photoelectric sensor.

[0086] Exemplarily, if the voltage value output from the second terminal 432 of the lidar as shown in Figure 4 is 30V, it can be determined that the voltage value applied to the cathode of the photoelectric sensor is 30V.

[0087] Step 504: Determine the duty cycle of the modulation signal according to the target bias voltage and the voltage value applied to the cathode of the photoelectric sensor.

[0088] Specifically, the above modulation signal can be a pulse width modulation signal. All the following embodiments are described by taking the modulation signal as a pulse width modulation signal as an example. The voltage value that needs to be applied to the anode of the photoelectric sensor can be determined according to the above target bias voltage and the voltage value applied to the cathode of the photoelectric sensor, so that the duty cycle of the pulse width modulation signal that needs to be applied to the first terminal 431 can be determined according to the first preset linear relationship. The above first preset linear relationship is used to characterize the relationship between the voltage value output from the second terminal and the duty cycle of the pulse width modulation signal. The duty cycle of the above pulse width modulation signal is the percentage of the time when the pulse width modulation signal is at a high level in the entire cycle within one cycle.

[0089] Exemplarily, if the above target bias voltage ΔV is 20V and the voltage value V2 applied to the cathode of the photoelectric sensor is 5V, it can be determined that the voltage value V1 that needs to be applied to the anode of the photoelectric sensor is V1 = V2 - ΔV = -15V. Thus, when the voltage value output from the first terminal 431, that is, the voltage value V1 applied to the anode of the photoelectric sensor, is -15V, the corresponding duty cycle of the pulse width modulation signal that needs to be applied to the first terminal 431 can be queried from the first preset linear relationship 610 as shown in Figure 6A . At this time, the pulse width modulation signal output by the controller 450 is as shown in Figure 6B . It can be seen from Figure 6B that within one cycle T, the time when the pulse width modulation signal 620 is at a high level occupies 50% of the entire cycle T, that is, T / 2.

[0090] Step 505: Control the first terminal to output a target voltage to the anode of the photoelectric sensor based on the modulation signal with the duty cycle.

[0091] Specifically, when the controller 450 determines the duty cycle of the pulse width modulation signal applied to the first terminal 431, the pulse width modulation signal with the above duty cycle can be output to the first terminal 431, so as to control the voltage value output from the first terminal 431 to be the target voltage, so that the bias voltage across the photoelectric sensor is the target bias voltage.

[0092] Exemplarily, if the operating temperature of the photoelectric sensor obtained at time t1 is greater than the operating temperature of the photoelectric sensor before time t1, and the target bias voltage ΔV1 determined according to the operating temperature of the photoelectric sensor at time t1 is 20V, as Figure 6C shown, the voltage 630 applied to the cathode of the photoelectric sensor is 5V, and the duty cycle of the pulse width modulation signal applied to the first terminal 431 determined according to the first preset linear relationship 610 as Figure 6A shown is 50%, then the controller 450 can output the pulse width modulation signal 620 with a duty cycle of 50% as Figure 6B shown to the first terminal 431 at time t1, so as to Figure 6C shown, control the voltage output by the first terminal 431 to jump from the V1 voltage 640 as Figure 6C shown to the target voltage 650 of -15V, so that the bias voltage across the photoelectric sensor reaches the target bias voltage ΔV1.

[0093] In the embodiment of the present application, the target bias voltage across the photoelectric sensor when the influence of temperature on the receiving ability of the photoelectric sensor can be eliminated is determined according to the operating temperature of the photoelectric sensor, and then the high and low level duty cycles of the pulse width modulation signal are adjusted according to the target bias voltage across the photoelectric sensor and the voltage value applied to the cathode of the photoelectric sensor, so as to control the first terminal 431 to output different voltages, that is, control the voltage applied to the anode of the photoelectric sensor, thereby compensating for the influence of temperature on the receiving ability of the photoelectric sensor, ensuring the ranging performance of the lidar, and improving the user experience.

[0094] The second terminal will next be combined with Figure 4 , and another lidar adjustment method provided by an exemplary embodiment of the present application will be introduced. When Figure 4 the controller 450 in is used to control the voltage value applied to the cathode of the photoelectric sensor 420, please specifically refer to Figure 7 , which is a schematic flowchart of a lidar adjustment method provided by an exemplary embodiment of the present application. As Figure 7 shown, the lidar adjustment method includes the following steps:

[0095] Step 701, obtain the operating temperature of the photoelectric sensor.

[0096] Specifically, step 701 is the same as step 201, and will not be elaborated here.

[0097] Step 702, determine the target bias voltage based on the operating temperature.

[0098] Specifically, step 702 is the same as step 202, and will not be elaborated here.

[0099] Step 703: Determine the voltage value applied to the anode of the photoelectric sensor.

[0100] Specifically, for the lidar structure as Figure 4 shown, the voltage value output from the first terminal 431 can be directly used as the voltage value applied to the anode of the photoelectric sensor.

[0101] Exemplarily, if the voltage value output from the first terminal 431 of the lidar as Figure 4 shown is -30V, then the voltage value applied to the anode of the photoelectric sensor can be directly determined to be -30V.

[0102] Step 704: Determine the duty cycle of the modulation signal according to the target bias voltage and the voltage value applied to the anode of the photoelectric sensor.

[0103] Specifically, the above modulation signal can be a pulse width modulation signal. All the following embodiments are described by taking the modulation signal as a pulse width modulation signal as an example. The lidar includes a second terminal, and the above second terminal can be the second terminal 432 as Figure 4 shown. The voltage value to be applied to the cathode of the photoelectric sensor can be determined according to the above target bias voltage and the voltage value applied to the anode of the photoelectric sensor, so that the duty cycle of the pulse width modulation signal to be applied to the second terminal 432 can be determined according to the second preset linear relationship. The above second preset linear relationship is used to characterize the relationship between the voltage value output from the first terminal and the duty cycle of the pulse width modulation signal. The duty cycle of the above pulse width modulation signal is the percentage of the time when the pulse width modulation signal is at a high level in the entire cycle within one cycle.

[0104] Exemplarily, if the above target bias voltage ΔV is 20V and the voltage value V1 applied to the anode of the photoelectric sensor is -10V, then the voltage value V2 to be applied to the cathode of the photoelectric sensor can be determined to be V2 = ΔV + V1 = 10V. Thus, when the voltage value output from the second terminal 432, that is, the voltage value V2 applied to the cathode of the photoelectric sensor, is 10V, the corresponding duty cycle of the pulse width modulation signal to be applied to the second terminal 432 can be queried from the second preset linear relationship 810 as Figure 8A shown, which is 33.3%. At this time, the pulse width modulation signal output by the controller 450 is as Figure 8B shown. As Figure 8B can be seen, within one cycle T, the time when the pulse width modulation signal 820 is at a high level occupies 33.3% of the entire cycle T, that is, T / 3.

[0105] Step 705: Control the second terminal to output a target voltage to the cathode of the photoelectric sensor based on the modulation signal with the duty cycle.

[0106] Specifically, after the controller 450 determines the duty cycle of the pulse width modulation signal applied to the second terminal 432, it can output the pulse width modulation signal with the above-mentioned duty cycle to the second terminal 432, so as to control the voltage value output by the second terminal 432 to be the target voltage, and make the bias voltage across the photoelectric sensor be the target bias voltage.

[0107] Exemplarily, if the operating temperature of the photoelectric sensor obtained at time t2 is greater than the operating temperature of the photoelectric sensor before time t1, and the target bias voltage ΔV2 determined according to the operating temperature of the photoelectric sensor at time t2 is 20V, as Figure 8C shown, the voltage 830 applied to the anode of the photoelectric sensor is -10V, and the duty cycle of the pulse width modulation signal applied to the second terminal 432 determined according to the second preset linear relationship 810 as Figure 8A shown is 33.3%, then the controller 450 can output the pulse width modulation signal 820 with a duty cycle of 33.3% as Figure 8B shown to the second terminal 432 at time t2, so as to Figure 8C shown, control the voltage output by the second terminal 432 to jump from the V2 voltage 840 as Figure 8C shown to the target voltage 850 of 10V, so that the bias voltage across the photoelectric sensor reaches the target bias voltage ΔV2.

[0108] In the embodiment of the present application, the target bias voltage across the photoelectric sensor when the influence of temperature on the reception ability of the photoelectric sensor can be eliminated is determined through the operating temperature of the photoelectric sensor, and then the high and low level duty cycles of the pulse width modulation signal are adjusted according to the target bias voltage across the photoelectric sensor and the voltage value applied to the anode of the photoelectric sensor, so as to control different voltages to be output at the first terminal, that is, to control the voltage applied to the cathode of the photoelectric sensor, thereby compensating for the influence of temperature on the reception ability of the photoelectric sensor, ensuring the ranging performance of the lidar, and improving the user experience.

[0109] Next, in combination with Figure 4 , another lidar adjustment method provided by an exemplary embodiment of the present application will be introduced. When Figure 4 the controller 450 in Figure 9 is used to simultaneously control the voltage values applied to the anode and cathode of the photoelectric sensor 420, please refer to Figure 9 shown, this lidar adjustment method includes the following steps:

[0110] Step 901, obtain the operating temperature of the photoelectric sensor.

[0111] Specifically, step 901 is the same as step 201, and will not be elaborated here.

[0112] Step 902: Determine a target bias voltage based on the operating temperature.

[0113] Specifically, step 902 is the same as step 202, and details are not repeated here.

[0114] Step 903: Determine the duty cycle of the modulation signal according to the target bias voltage.

[0115] Specifically, the voltage value to be applied to the anode of the photoelectric sensor and the voltage value to be applied to the cathode can be determined according to the above target bias voltage and a preset ratio, so that the duty cycle of the pulse width modulation signal to be applied to the first terminal 431 and the duty cycle of the pulse width modulation signal to be applied to the second terminal 432 can be determined according to a first preset linear relationship and a second preset linear relationship respectively. The above preset ratio is used to characterize the ratio of the voltage value to be applied to the anode of the photoelectric sensor to the voltage value to be applied to the cathode. The above preset ratio is less than 1, and can be -1:1, 1:2, -1:3, etc., which is not specifically limited in this application. The above first preset linear relationship is used to characterize the relationship between the voltage value output by the second terminal and the duty cycle of the pulse width modulation signal. The above second preset linear relationship is used to characterize the relationship between the voltage value output by the first terminal and the duty cycle of the pulse width modulation signal. The duty cycle of the above pulse width modulation signal is the percentage of the time when the pulse width modulation signal is at a high level in the entire period within one period.

[0116] Exemplarily, if the above target bias voltage ΔV is 25V and the preset ratio of the voltage value to be applied to the anode of the photoelectric sensor to the voltage value to be applied to the cathode is -3:2, then it can be determined that the voltage value V1 to be applied to the anode of the photoelectric sensor is -15V, and the voltage value V2 to be applied to the cathode of the photoelectric sensor is 10V. Thus, it can be queried from the first preset linear relationship 610 as shown in Figure 6A When the voltage value output by the first terminal 431, that is, the voltage value V1 applied to the anode of the photoelectric sensor, is -15V, the corresponding duty cycle of the pulse width modulation signal to be applied to the first terminal 431 is 50%; it can be queried from the second preset linear relationship 810 as shown in Figure 8A When the voltage value output by the second terminal 432, that is, the voltage value V2 applied to the cathode of the photoelectric sensor, is 10V, the corresponding duty cycle of the pulse width modulation signal to be applied to the second terminal 432 is 33.3%. At this time, the duty cycle of the pulse width modulation signal applied to the first terminal 431 output by the controller 450 is as shown in Figure 6B shown, and the duty cycle of the pulse width modulation signal applied to the second terminal 432 output by the controller 450 is as shown in Figure 8B shown.

[0117] Step 904: Control the first terminal and the second terminal to output a target voltage to the anode and the cathode of the photoelectric sensor based on the modulation signal having the duty cycle.

[0118] Specifically, when the controller 450 determines the duty cycles of the pulse width modulation signals applied to the first terminal 431 and the second terminal 432 respectively, it outputs the pulse width modulation signal with the duty cycle corresponding to the first terminal 431 to the first terminal 431, and outputs the pulse width modulation signal with the duty cycle corresponding to the second terminal 432 to the second terminal 432, so as to control the voltage values output by the first terminal 431 and the second terminal 432 to be the target voltage respectively, such that the bias voltage across the photoelectric sensor is the target bias voltage.

[0119] Exemplarily, if the operating temperature of the photoelectric sensor obtained at time t3 is greater than the operating temperature of the photoelectric sensor before time t3, and the target bias voltage ΔV3 determined according to the operating temperature of the photoelectric sensor at time t3 is 25V, the voltage applied to the cathode of the photoelectric sensor determined according to a preset ratio is 10V, the voltage applied to the anode of the photoelectric sensor is -15V, according to Figure 6A the duty cycle of the pulse width modulation signal applied to the first terminal 431 determined according to the first preset linear relationship 610 as shown is 50%, then at time t3, the controller 450 can output the pulse width modulation signal 620 with a duty cycle of 50% as shown to the first terminal 431, so as to Figure 6B as shown, control the voltage output by the first terminal 431 to jump from the V1 voltage 1010 as shown in Figure 10 to the target voltage 1020 of -15V as shown in Figure 10 ; the duty cycle of the pulse width modulation signal applied to the second terminal 432 determined according to the second preset linear relationship 810 as shown is 33.3%, then at time t3, the controller 450 can output the pulse width modulation signal 820 with a duty cycle of 33.3% as shown to the second terminal 432, so as to Figure 8A as shown, control the voltage output by the second terminal 432 to jump from the V2 voltage 1030 as shown in Figure 8B to the target voltage 1040 of 10V as shown in Figure 10 so that the bias voltage across the photoelectric sensor reaches the target bias voltage ΔV3. Figure 10

[0120] ​In an embodiment of the present application, the target bias voltage across the optoelectronic sensor when the influence of temperature on the reception ability of the optoelectronic sensor can be eliminated is determined based on the operating temperature of the optoelectronic sensor. Then, the duty cycles of the high and low levels of the pulse width modulation signals applied to the first end 431 and the second end 432 are adjusted respectively according to the target bias voltage across the optoelectronic sensor, so as to control the first end 431 and the second end 432 to output different voltages respectively, that is, to control the voltages applied to the anode and cathode of the optoelectronic sensor, thereby compensating for the influence of temperature on the reception ability of the optoelectronic sensor, ensuring the ranging performance of the lidar, and improving the user experience.

[0121] Since strong reflection targets and strong sunlight will both cause the operating current of the optoelectronic sensor to increase instantaneously, thereby causing the operating temperature of the optoelectronic sensor to rise instantaneously, and at the same time, the echo signal saturation, that is, being too strong, will affect the actual ranging of the lidar. To eliminate the above problems, on the basis of the Figure 4 circuit, an active voltage regulation circuit can be added, that is, a resistor, such as 1 kΩ, 2 kΩ, etc., is connected in series between the first end 440 and the cathode of the optoelectronic sensor 420, thereby obtaining another lidar. For details, please refer to Figure 11 the schematic structural diagram of another lidar provided by an exemplary embodiment of the present application. As Figure 11 shown, the lidar may include: a laser emitter 1110, an optoelectronic sensor 1120, a power supply 1130, a temperature sensor 1140, a controller 1150, and a resistor 1160. Among them:

[0122] The laser emitter 1110 is configured to emit a laser beam.

[0123] The optoelectronic sensor 1120 is configured to receive the echo signal generated by the above laser beam.

[0124] The power supply 1130 includes a first end 1131 and a second end 1132; the above first end 1131 is configured to provide a voltage for the anode of the optoelectronic sensor; the above second end 1132 is configured to provide a voltage for the cathode of the optoelectronic sensor.

[0125] The temperature sensor 1140 is connected to the optoelectronic sensor 1120 and is configured to detect the operating temperature of the optoelectronic sensor 1120.

[0126] One end of the resistor 1160 is connected to the second end 1132, and the other end of the resistor 1160 is connected to the optoelectronic sensor 1120, and is configured to reduce the voltage of the cathode of the optoelectronic sensor 1120.

[0127] The controller 1150 is connected to the laser emitter 1110 and the temperature sensor 1140, and is configured to control the laser emitter 1110 to emit a laser beam and receive the operating temperature output by the temperature sensor 1140.

[0128] In the embodiments of the present application, when the current of the photoelectric sensor 1120 increases instantaneously due to a strong reflection target or strong sunlight, etc., according to Kirchhoff's voltage law, a relatively large voltage drop will be generated on the series resistor 1160, and then the voltage of the cathode of the photoelectric sensor 1120 will become smaller. That is, when receiving a strong echo signal, by utilizing the characteristic that the current of the photoelectric sensor 1120 increases instantaneously, the voltage of the cathode of the photoelectric sensor 1120 is reduced through the resistor 1160, so that the bias voltage across the photoelectric sensor 1120 will instantaneously become smaller, its receiving ability becomes weaker, and the echo signal will not be saturated and can be detected normally; at the same time, when the operating temperature of the photoelectric sensor 1120 rises suddenly, the operating life of the photoelectric sensor 1120 can be effectively extended by reducing the voltage of the cathode of the photoelectric sensor 1120.

[0129] Since both a strong reflection target and strong sunlight will cause the operating current of the photoelectric sensor to increase instantaneously, thereby causing the operating temperature of the photoelectric sensor to rise instantaneously, and at the same time, the saturation of the echo signal, that is, being too strong, will affect the actual ranging of the lidar. To eliminate the above problems, an active voltage regulating circuit can be added. In addition to Figure 11 the method of connecting a resistor in series between the first end and the cathode of the photoelectric sensor as shown, the first end can also be replaced with a high-voltage amplifier, thereby obtaining another lidar. For details, please refer to Figure 12 Figure 349, a schematic structural diagram of another lidar provided by an exemplary embodiment of the present application. As Figure 12 shown, the lidar may include: a laser emitter 1210, a photoelectric sensor 1220, a power supply 1230, a high-voltage amplifier 1240, a temperature sensor 1250, and a controller 1260. Among them:

[0130] The laser emitter 1210 is configured to emit a laser beam.

[0131] The photoelectric sensor 1220 is configured to receive the echo signal generated by the above laser beam.

[0132] The power supply 1230 is connected to the photoelectric sensor 1220 and may include a first end and a second end; the above first end is used to provide a voltage for the anode of the photoelectric sensor; the above second end is used to provide a voltage for the cathode of the photoelectric sensor.

[0133] The temperature sensor 1250 is connected to the photoelectric sensor 1220 and is used to detect the operating temperature of the photoelectric sensor 1220.

[0134] The controller 1260 is connected to the laser emitter 1210 and the temperature sensor 1250, and is used to control the laser emitter 1210 to emit a laser beam and receive the operating temperature output by the temperature sensor 1250.

[0135] The controller 1260 is specifically configured to determine the target bias voltage as the preset bias voltage if the operating temperature of the photoelectric sensor 1220 meets the preset condition;

[0136] The controller 1260 is further specifically configured to use the high-voltage amplifier 1240 to switch the first voltage applied to the cathode of the photoelectric sensor 1220 to a second voltage according to the preset bias voltage; the second voltage is less than the first voltage; the above high-voltage amplifier 1240 may be a high-speed high-voltage operational amplifier, and all the following embodiments will be described by taking the high-voltage amplifier 1240 as a high-speed high-voltage operational amplifier as an example.

[0137] Optionally, the second terminal can also be replaced with a high-voltage amplifier, and then the controller 1260 uses the high-voltage amplifier to switch the first voltage applied to the anode of the photoelectric sensor to a second voltage according to the preset bias voltage; the second voltage is greater than the first voltage, so as to eliminate the influence of the instantaneous rise of the operating temperature of the photoelectric sensor or the saturation of the echo signal, that is, too strong, on the ranging of the lidar.

[0138] Next, in combination with Figure 12 , another lidar adjustment method provided by an exemplary embodiment of the present application will be introduced. Specifically, please refer to Figure 13 , which is a flowchart of a lidar adjustment method provided by an exemplary embodiment of the present application. As Figure 13 shown, the lidar adjustment method includes the following steps:

[0139] Step 1301, obtain the operating temperature of the photoelectric sensor.

[0140] Specifically, step 1301 is the same as step 201, and details will not be described here.

[0141] Step 1302, if the operating temperature of the photoelectric sensor meets the preset condition, determine the target bias voltage as the preset bias voltage.

[0142] Specifically, if the change amount of the operating temperature of the obtained photoelectric sensor 1220 rising within the preset time period is greater than the preset threshold, that is, it meets the preset condition, the target bias voltage can be determined as the preset bias voltage. The above preset bias voltage is the bias voltage between the second voltage corresponding to the second signal output by the controller 1260 and applied to the cathode of the photoelectric sensor 1220 and the voltage provided by the power supply 1230 for the anode of the photoelectric sensor 1220. The above preset time period can be 1 ms, 1 ns, etc., and the present application does not make specific limitations thereto. The above preset threshold can be 2 °C, 6 °C, etc., and the present application does not make specific limitations thereto.

[0143] Exemplarily, if the preset time period is 2 ms and the preset threshold is 7 °C, when the operating temperature of the photoelectric sensor 1220 increases by 8 °C within 2 ms, that is, it is greater than 7 °C and meets the preset condition, if the voltage provided by the power supply 1230 for the anode of the photoelectric sensor 1220 is -15 V, and the second voltage corresponding to the second signal applied to the cathode of the photoelectric sensor 1220 is 5 V, that is, the preset bias voltage is 20 V, then the target bias voltage can be determined to be 20 V.

[0144] Step 1303, according to the preset bias voltage, use a high-voltage amplifier to switch the first voltage applied to the cathode of the photoelectric sensor to a second voltage.

[0145] Specifically, when the change in the operating temperature of the photoelectric sensor 1220 obtained within the preset time period is less than or equal to the preset threshold, that is, it does not meet the preset condition, the first signal output by the controller 1260, combined with the base signal applied to the cathode of the photoelectric sensor 1220, is converted into a first voltage by the high-voltage amplifier 1240. When the change in the operating temperature of the photoelectric sensor 1220 obtained within the preset time period is greater than the preset threshold and meets the preset condition, the controller 1260 can output a low-level signal, that is, a second signal, by switching the original high-level signal, that is, the first signal, applied to the cathode of the photoelectric sensor based on the preset bias voltage, that is, switch the voltage applied to the cathode of the photoelectric sensor from a high level to a low level, and combined with the base signal applied to the cathode of the photoelectric sensor 1220, convert the second signal and the base signal into a second voltage through the high-voltage amplifier 1240. That is, when the operating temperature of the photoelectric sensor 1220 undergoes a sudden change, the controller 1260 can directly output a low-level signal, that is, a second signal, based on the preset bias voltage, and combine the second signal applied to the cathode of the photoelectric sensor 1220 and the base signal through the high-voltage amplifier 1240 to convert them into a second voltage, thereby reducing the bias voltage across the photoelectric sensor. The above base signal is the signal corresponding to the base voltage applied to the cathode of the photoelectric sensor 1220.

[0146] Exemplarily, the above base signal can be a level signal such as 2 V or 3 V, and the present application does not make specific limitations thereon. The above base signal can be converted by the high-voltage amplifier 1240 into a base voltage applied to the cathode of the photoelectric sensor 1220. The above first signal is the signal corresponding to the first voltage applied to the cathode of the photoelectric sensor 1220; the above second signal is the signal corresponding to the second voltage applied to the cathode of the photoelectric sensor 1220; the above second voltage is less than the above first voltage.

[0147] In the embodiment of the present application, when the photoelectric sensor receives a strong echo signal, the operating temperature of the photoelectric sensor will rise sharply. When the controller detects that the temperature meets the preset condition, the first signal applied to the cathode of the photoelectric sensor is switched to the second signal through the high-voltage amplifier, that is, the voltage applied to the cathode of the photoelectric sensor is instantly pulled to a low gear, so that the bias voltage across the photoelectric sensor becomes smaller, and the strong echo signal can be effectively detected. As the operating temperature of the photoelectric sensor recovers, when the strong echo signal disappears, the controller can switch the output gear signal back to the high gear again, so as to continue to ensure ranging under normal conditions. In the embodiment of the present application, when ranging is not performed, the voltage applied to the cathode of the photoelectric sensor can be switched to the low gear, thereby reducing the operating power consumption of the whole machine.

[0148] In order to eliminate the influence of strong reflection targets, strong sunlight, etc. on the actual ranging of the lidar caused by the instantaneous rise in the operating temperature of the photoelectric sensor and the over-strong echo signal, and to compensate for the influence of the slow change in the operating temperature of the photoelectric sensor on the receiving ability of the photoelectric sensor due to factors such as environmental changes or device aging, while adding an active voltage regulation circuit to the cathode of the photoelectric sensor, the voltage applied to the anode of the photoelectric sensor can be adjusted according to the operating temperature of the photoelectric sensor and the preset mapping relationship between the bias voltage across the photoelectric sensor and the operating temperature. For details, please refer to Figure 14 , which is a schematic flowchart of a lidar adjustment method provided by an exemplary embodiment of the present application. As Figure 14 shown, the lidar adjustment method includes the following steps:

[0149] Step 1401, obtain the operating temperature of the photoelectric sensor.

[0150] Specifically, step 1401 is the same as step 201, and will not be elaborated here.

[0151] Step 1402, determine whether the operating temperature of the photoelectric sensor meets the preset condition.

[0152] Specifically, if the change amount of the operating temperature of the obtained photoelectric sensor 1220 rising within the preset time period is greater than the preset threshold, it means that the preset condition is met, and it can be determined that the operating temperature of the photoelectric sensor 1220 meets the preset condition. The above preset time period can be 1ms, 1ns, etc., and the present application does not make specific limitations thereto. The above preset threshold can be 2°C, 6°C, etc., and the present application does not make specific limitations thereto.

[0153] Exemplarily, if the preset time period is 2ms and the preset threshold is 7°C, and the operating temperature of the photoelectric sensor 1220 rises by 8°C within 2ms, it can be determined that the operating temperature of the photoelectric sensor 1220 meets the preset condition.

[0154] Step 1403: If the operating temperature of the photoelectric sensor meets the preset condition, determine that the target bias voltage is the preset bias voltage.

[0155] Specifically, Step 1403 is the same as Step 1302 and will not be elaborated here.

[0156] Step 1404: Use a high-voltage amplifier to switch the first voltage applied to the cathode of the photoelectric sensor to a second voltage according to the preset bias voltage.

[0157] Specifically, if the change in the operating temperature of the obtained photoelectric sensor 1220 within a preset time period is greater than a preset threshold, i.e., it meets the preset condition, the first signal output by the controller 1260 can be switched to a second signal. Combining with the base signal applied to the cathode of the photoelectric sensor 1220, the second signal and the base signal are converted into a second voltage through the high-voltage amplifier 1240. Equivalently, when the operating temperature of the photoelectric sensor 1220 undergoes a sudden change, the controller 1260 can switch the high-level signal, i.e., the first signal, originally applied to the cathode of the photoelectric sensor to a low-level signal, i.e., the second signal, by outputting a gear-switching signal, that is, switch the voltage applied to the cathode of the photoelectric sensor from a high gear to a low gear, and combine the second signal applied to the cathode of the photoelectric sensor 1220 and the base signal through the high-voltage amplifier 1240 to convert them into a second voltage, thereby reducing the bias voltage across the photoelectric sensor. The above base signal is the signal corresponding to the base voltage applied to the cathode of the photoelectric sensor 1220. Exemplarily, the above base signal can be a level signal such as 2V, 3V, etc., and the present application does not make specific limitations thereto. The above base signal can be converted by the above high-voltage amplifier 1240, such as a high-speed high-voltage operational amplifier, into the base voltage applied to the cathode of the photoelectric sensor 1220. The above first signal is the signal corresponding to the first voltage applied to the cathode of the photoelectric sensor 1220; the above second signal is the signal corresponding to the second voltage applied to the cathode of the photoelectric sensor 1220; the above second voltage is less than the above first voltage. The above preset time period can be 1ms, 1ns, etc., and the present application does not make specific limitations thereto. The above preset threshold can be 2°C, 6°C, etc., and the present application does not make specific limitations thereto.

[0158] Exemplarily, if the preset time period is 1ms and the preset threshold is 6°C, when the operating temperature of the photoelectric sensor 1220 rises by 8°C within 1ms, i.e., it is greater than 6°C and meets the preset condition, the controller 1260 can switch the originally output first signal to a second signal by outputting a gear-switching signal, so as to Figure 15 as shown, control the voltage applied to the cathode of the photoelectric sensor 1220 to be switched from the first voltage 1510 to the second voltage 1520.

[0159] Step 1405: If the operating temperature of the photoelectric sensor does not meet the preset condition, determine the target bias voltage corresponding to the operating temperature according to the preset mapping relationship.

[0160] Specifically, if the change amount of the operating temperature of the obtained photoelectric sensor 1220 within the preset time period is less than or equal to the preset threshold, that is, it does not meet the preset condition, the process of determining the target bias voltage corresponding to the operating temperature is the same as that in Step 202, which will not be elaborated here.

[0161] Step 1406: Determine the duty cycle of the modulation signal applied to the first end according to the target bias voltage.

[0162] Specifically, first determine the voltage value applied to the cathode of the photoelectric sensor 1420 according to the target bias voltage, and then determine the duty cycle of the modulation signal applied to the first end according to the voltage value applied to the cathode of the photoelectric sensor 1420 and the target bias voltage. The specific implementation process is the same as that in Step 503 and Step 504, which will not be elaborated here.

[0163] Optionally, the duty cycle of the modulation signal applied to the second end or both the first end and the second end can also be determined according to the target bias voltage, that is, control the second end to output the target voltage to the anode of the photoelectric sensor, or both control the first end to output the target voltage to the cathode of the photoelectric sensor and control the second end to output the target voltage to the anode of the photoelectric sensor. This application does not make specific limitations on this.

[0164] Step 1407: Based on the modulation signal with the duty cycle, control the first end to output the target voltage to the anode of the photoelectric sensor.

[0165] Specifically, Step 1407 is the same as Step 505, which will not be elaborated here.

[0166] In an embodiment of the present application, when the optoelectronic sensor receives a strong echo signal, the operating temperature of the optoelectronic sensor will rise sharply. When the controller detects that the temperature meets the preset condition, the voltage applied to the cathode of the optoelectronic sensor is instantaneously pulled to a low gear through a gear switching signal and a high-voltage amplifier, so that the bias voltage across the optoelectronic sensor becomes smaller, and a strong echo signal can be effectively detected. When the optoelectronic sensor receives a strong echo signal, the operating temperature of the optoelectronic sensor will rise sharply. When the controller detects that the operating temperature of the optoelectronic sensor meets the preset condition, the voltage applied to the cathode of the optoelectronic sensor is instantaneously pulled to a low gear through a gear switching signal and a high-voltage amplifier, so that the bias voltage across the optoelectronic sensor becomes smaller, and a strong echo signal can be effectively detected. When the operating temperature of the optoelectronic sensor changes slowly due to factors such as environmental changes or device aging, that is, when the controller detects that the operating temperature of the optoelectronic sensor does not meet the preset condition, the voltage applied to the anode of the optoelectronic sensor can be adjusted according to the operating temperature of the optoelectronic sensor and the preset mapping relationship between the bias voltage across the optoelectronic sensor and the operating temperature, so as to compensate for the influence of the operating temperature on the receiving ability of the optoelectronic sensor.

[0167] Please refer to Figure 16 , which provides a lidar adjustment circuit according to an embodiment of the present application. The lidar adjustment circuit includes: a control sub-circuit 1610, a detection sub-circuit 1620, and an optoelectronic sensor 1630;

[0168] The detection sub-circuit 1620 is connected to the optoelectronic sensor 1630 and is used to detect the operating temperature of the optoelectronic sensor 1630;

[0169] The control sub-circuit 1610 is connected to the detection sub-circuit 1620 and the optoelectronic sensor 1630;

[0170] The optoelectronic sensor 1630 is used to receive echo signals;

[0171] The control sub-circuit 1610 is used to control the detection sub-circuit 1620 to detect the operating temperature of the optoelectronic sensor 1630, and is also used to determine a target bias voltage based on the operating temperature, and adjust the voltage value applied to the anode and / or cathode of the optoelectronic sensor 1630 according to the target bias voltage; the target bias voltage is the difference between the voltages applied to the anode and cathode of the optoelectronic sensor 1630.

[0172] In a possible implementation manner, the control sub-circuit 1610 is specifically configured to determine the target bias voltage corresponding to the operating temperature according to a preset mapping relationship, and adjust the voltage applied to the anode and / or cathode of the optoelectronic sensor 1630 according to the target bias voltage; the preset mapping relationship includes multiple temperatures and the respective bias voltages corresponding to different temperatures.

[0173] In a possible implementation, the control sub-circuit 1610 includes: a power supply and a controller; the power supply includes a first terminal and a second terminal;

[0174] The first terminal is connected to the cathode of the photoelectric sensor 1630 for providing a voltage to the cathode of the photoelectric sensor 1630;

[0175] The second terminal is connected to the anode of the photoelectric sensor 1630 for providing a voltage to the anode of the photoelectric sensor 1630;

[0176] Specifically, the controller is configured to determine the duty cycle of the modulation signal applied to the anode and / or cathode of the photoelectric sensor 1630 according to the target bias voltage, and output a modulation signal to the first terminal and / or the second terminal based on the duty cycle to provide a voltage to the cathode and / or anode of the photoelectric sensor 1630.

[0177] In a possible implementation, the controller is specifically configured to determine the voltage value applied to the cathode of the photoelectric sensor 1630;

[0178] The controller is further specifically configured to determine the duty cycle of the modulation signal applied to the anode of the photoelectric sensor 1630 according to the target bias voltage and the voltage value applied to the cathode of the photoelectric sensor 1630, and output a modulation signal to the second terminal based on the duty cycle to provide a voltage to the anode of the photoelectric sensor 1630;

[0179] Or

[0180] The controller is specifically configured to determine the voltage value applied to the anode of the photoelectric sensor 1630;

[0181] The controller is further specifically configured to determine the duty cycle of the modulation signal applied to the cathode of the photoelectric sensor 1630 according to the target bias voltage and the voltage value applied to the anode of the photoelectric sensor 1630, and output a modulation signal to the first terminal based on the duty cycle to provide a voltage to the cathode of the photoelectric sensor 1630.

[0182] In a possible implementation, the lidar automatic adjustment circuit further includes: a buck sub-circuit;

[0183] One end of the buck sub-circuit is connected to the first terminal;

[0184] The other end of the buck sub-circuit is connected to the photoelectric sensor 1630;

[0185] The buck sub-circuit is configured to reduce the voltage of the cathode of the photoelectric sensor 1630.

[0186] In a possible implementation, the control sub-circuit 1610 includes: a power supply, a controller, and a high-voltage amplifier;

[0187] The power supply is used to supply power to the photoelectric sensor and apply a bias voltage across the photoelectric sensor;

[0188] Specifically, the controller is configured to determine that the target bias voltage is a preset bias voltage if the operating temperature of the photoelectric sensor 1630 meets a preset condition;

[0189] Specifically, the controller is further configured to use the high-voltage amplifier to switch a first voltage applied to the cathode of the photoelectric sensor 1630 to a second voltage according to the preset bias voltage; the second voltage is less than the first voltage.

[0190] In a possible implementation, the power supply includes a first end and a second end;

[0191] Specifically, the controller is further configured to determine the target bias voltage corresponding to the operating temperature according to a preset mapping relationship if the operating temperature of the photoelectric sensor does not meet the preset condition; the preset mapping relationship includes multiple temperatures and the corresponding bias voltages for different temperatures;

[0192] Specifically, the controller is further configured to determine the voltage value applied to the cathode of the photoelectric sensor;

[0193] According to the target bias voltage and the voltage value applied to the cathode of the photoelectric sensor, determine the voltage value applied to the anode of the photoelectric sensor;

[0194] Determine the duty cycle of the modulation signal according to the voltage value of the anode of the photoelectric sensor;

[0195] Based on the modulation signal having the duty cycle, control the first end to output a target voltage to the anode of the photoelectric sensor;

[0196] Or

[0197] Determine the voltage value applied to the anode of the photoelectric sensor;

[0198] According to the target bias voltage and the voltage value applied to the anode of the photoelectric sensor, determine the voltage value applied to the cathode of the photoelectric sensor;

[0199] Determine the duty cycle of the modulation signal according to the voltage value of the cathode of the photoelectric sensor;

[0200] Based on the modulation signal having the duty cycle, control the second end to output a target voltage to the cathode of the photoelectric sensor.

[0201] Please refer to Figure 17 , which provides a lidar automatic adjustment device according to an embodiment of the present application. The lidar includes a photoelectric sensor. The lidar automatic adjustment device includes:

[0202] An acquisition module 1710, configured to acquire the operating temperature of the photoelectric sensor.

[0203] A determination module 1720, configured to determine a target bias voltage based on the operating temperature; the target bias voltage is the difference between the voltages applied to the cathode and anode of the photoelectric sensor.

[0204] An adjustment module 1730, configured to adjust the voltage applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage.

[0205] In a possible implementation manner, the determination module 1720 is specifically configured to:

[0206] Determine the target bias voltage corresponding to the operating temperature according to a preset mapping relationship; the preset mapping relationship includes multiple temperatures and the corresponding bias voltages for different temperatures.

[0207] In a possible implementation manner, the lidar further includes a power supply; the adjustment module 1730 includes:

[0208] A determination unit, configured to determine the duty cycle of the modulation signal applied to the power supply according to the target bias voltage;

[0209] An output unit, configured to control the power supply to output a target voltage to the anode and / or cathode of the photoelectric sensor based on the modulation signal having the duty cycle.

[0210] In a possible implementation manner, the power supply includes a first end and a second end; the determination module 1720 is further configured to: determine the voltage value applied to the cathode of the photoelectric sensor;

[0211] The determination unit is specifically configured to: determine the voltage value applied to the anode of the photoelectric sensor according to the target bias voltage and the voltage value applied to the cathode of the photoelectric sensor;

[0212] Determine the duty cycle of the modulation signal according to the voltage value of the anode of the photoelectric sensor;

[0213] The output unit is specifically configured to: control the first end to output a target voltage to the anode of the photoelectric sensor based on the modulation signal having the duty cycle.

[0214] Or

[0215] The determining module 1720 is further configured to: determine the voltage value applied to the anode of the photoelectric sensor;

[0216] The determining unit is specifically configured to: determine the voltage value applied to the cathode of the photoelectric sensor according to the target bias voltage and the voltage value applied to the anode of the photoelectric sensing;

[0217] Determine the duty cycle of the modulation signal according to the voltage value of the cathode of the photoelectric sensor;

[0218] The output unit is specifically configured to: control the second end to output a target voltage to the cathode of the photoelectric sensor based on the modulation signal having the duty cycle.

[0219] In a possible implementation, the lidar further includes a high-voltage amplifier;

[0220] The determining module 1720 is specifically configured to: if the operating temperature of the photoelectric sensor meets a preset condition, determine the target bias voltage as a preset bias voltage;

[0221] The adjusting module 1730 includes:

[0222] A switching unit, configured to switch the first voltage applied to the cathode of the photoelectric sensor to a second voltage by using a high-voltage amplifier according to the preset bias voltage; the second voltage is less than the first voltage.

[0223] In a possible implementation, the lidar further includes a power supply; the power supply includes a first end and a second end; the determining module 1720 is further specifically configured to: if the operating temperature of the photoelectric sensor does not meet the preset condition, determine the target bias voltage corresponding to the operating temperature according to a preset mapping relationship; the preset mapping relationship includes multiple temperatures and the bias voltages respectively corresponding to different temperatures;

[0224] The determining unit is specifically configured to: determine the voltage value applied to the cathode of the photoelectric sensor;

[0225] Determine the voltage value applied to the anode of the photoelectric sensor according to the target bias voltage and the voltage value applied to the cathode of the photoelectric sensor;

[0226] Determine the duty cycle of the modulation signal according to the voltage value of the anode of the photoelectric sensor;

[0227] The output unit is specifically configured to: control the first end to output a target voltage to the anode of the photoelectric sensor based on the modulation signal having the duty cycle;

[0228] Or

[0229] The determining unit is specifically configured to: determine the voltage value applied to the anode of the photoelectric sensor;

[0230] According to the target bias voltage and the voltage value applied to the anode of the photoelectric sensor, determine the voltage value applied to the cathode of the photoelectric sensor;

[0231] Determine the duty cycle of the modulation signal according to the voltage value of the cathode of the photoelectric sensor;

[0232] The output unit is specifically configured to: control the second terminal to output a target voltage to the cathode of the photoelectric sensor based on the modulation signal having the duty cycle.

[0233] The division of each module in the above lidar adjustment device is only for illustrative purposes. In other embodiments, the lidar adjustment device can be divided into different modules as needed to complete all or part of the functions of the above lidar adjustment device. The implementation of each module in the lidar adjustment device provided in the embodiments of this specification can be in the form of a computer program. This computer program can run on a terminal or a server. The program module constituted by this computer program can be stored in the memory of the terminal or the server. When this computer program is executed by a processor, all or part of the steps of the lidar adjustment method described in the embodiments of this specification are implemented.

[0234] Please refer to Figure 18 , which is a schematic structural diagram of another lidar provided by an embodiment of this application. As Figure 18 shown, the lidar may include: at least one processor 1810, at least one communication module 1820, a user interface 1830, a memory 1840, a laser emitter 1850, a photoelectric sensor 1860, a temperature sensor 1870, and at least one communication bus 1880.

[0235] Among them, the communication bus 1880 is used to realize the connection and communication between these components.

[0236] Among them, the communication module 1820 may optionally include a low-power Bluetooth module, a near field communication (NFC) module, a wireless fidelity (Wi-Fi) module, etc.

[0237] Among them, the user interface 1830 may include a display screen and a camera, and optionally the user interface 1830 may further include a standard wired interface and a wireless interface.

[0238] Among them, the memory 1840 is used to store information input by the user interface 1830, the second pitch drive voltage obtained by the processor 1810, and executable program codes and other information.

[0239] Among them, the laser emitter 1850 is used to emit a laser beam.

[0240] Among them, the photoelectric sensor 1860 receives the echo signal generated by the laser beam.

[0241] Among them, the temperature sensor 1870 is connected to the photoelectric sensor 1860 and is used to detect the operating temperature of the photoelectric sensor 1860.

[0242] Among them, the processor 1810 may include one or more processing cores. The processor 1810 uses various interfaces and circuits to connect all parts within the entire electronic device 1800. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 1840, and by calling data stored in the memory 1840, it executes various functions of the lidar and processes data. Optionally, the processor 1810 may be implemented in at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 1810 may integrate a combination of one or several of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 1810 and may be implemented separately by a single chip.

[0243] Among them, the memory 1840 may include a Random Access Memory (RAM), or may also include a Read-Only Memory (ROM). Optionally, the memory 1840 includes a non-transitory computer-readable storage medium. The memory 1840 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1840 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as an adjustment function, a determination function, an acquisition function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store the data involved in the above-mentioned various method embodiments, etc. Optionally, the memory 1840 may also be at least one storage device located far from the aforementioned processor 1810. As Figure 18 shown, in the memory 1840 as a computer storage medium, an operating system, a network communication module, a user interface module, and program instructions may be included.

[0244] In Figure 18 the lidar shown, the user interface 1830 is mainly used to provide an input interface for the user and obtain the data input by the user; while the processor 1810 can be used to call the application program stored in the memory 1840 and specifically perform the following operations:

[0245] Obtain the operating temperature of the photoelectric sensor.

[0246] Determine a target bias voltage based on the operating temperature; the target bias voltage is the difference between the voltages applied to the cathode and anode of the photoelectric sensor.

[0247] Adjust the voltage applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage.

[0248] In some possible embodiments, when the processor 1810 executes determining the target bias voltage based on the operating temperature, it is specifically used to execute:

[0249] Determine the target bias voltage corresponding to the operating temperature according to a preset mapping relationship; the preset mapping relationship includes multiple temperatures and the respective bias voltages corresponding to different temperatures.

[0250] In some possible embodiments, the lidar further includes a power supply; when the processor 1810 executes adjusting the voltage applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage, it is specifically used to execute:

[0251] Determine the duty cycle of the modulation signal applied to the power supply according to the target bias voltage.

[0252] Control the power supply to output a target voltage to the anode and / or cathode of the photoelectric sensor based on the modulation signal having the duty cycle.

[0253] In some possible embodiments, the power supply includes a first end and a second end; when the processor 1810 executes to determine the duty cycle of the modulation signal applied to the power supply according to the target bias voltage and control the power supply to output a target voltage to the anode and / or cathode of the photoelectric sensor based on the modulation signal having the duty cycle, it is specifically configured to execute:

[0254] Determine the voltage value applied to the cathode of the photoelectric sensor.

[0255] Determine the voltage value of the modulation signal applied to the anode of the photoelectric sensor according to the target bias voltage and the voltage value applied to the cathode of the photoelectric sensor.

[0256] Determine the voltage value applied to the anode of the photoelectric sensor according to the target bias voltage and the voltage value applied to the cathode of the photoelectric sensor.

[0257] Determine the duty cycle of the modulation signal according to the voltage value of the anode of the photoelectric sensor.

[0258] Control the first end to output a target voltage to the anode of the photoelectric sensor based on the modulation signal having the duty cycle.

[0259] Or

[0260] Determine the voltage value applied to the anode of the photoelectric sensor.

[0261] Determine the voltage value of the modulation signal applied to the cathode of the photoelectric sensor according to the target bias voltage and the voltage value applied to the anode of the photoelectric sensor.

[0262] Determine the duty cycle of the modulation signal according to the voltage value of the cathode of the photoelectric sensor.

[0263] Control the second end to output a target voltage to the cathode of the photoelectric sensor based on the modulation signal having the duty cycle.

[0264] In some possible embodiments, the lidar further includes a high-voltage amplifier;

[0265] When the processor 1810 executes to determine the target bias voltage based on the operating temperature, it is specifically configured to execute:

[0266] If the operating temperature of the photoelectric sensor meets a preset condition, determine that the target bias voltage is the preset bias voltage;

[0267] When the processor 1810 executes to adjust the voltage applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage, it is specifically configured to execute:

[0268] According to the preset bias voltage, use a high-voltage amplifier to switch the first voltage applied to the cathode of the photoelectric sensor to a second voltage; the second voltage is less than the first voltage.

[0269] In some possible embodiments, the lidar further includes a power supply; the power supply includes a first end and a second end; when the processor 1810 executes to determine the target bias voltage based on the operating temperature, it is specifically configured to execute:

[0270] If the operating temperature of the photoelectric sensor does not meet the preset condition, determine the target bias voltage corresponding to the operating temperature according to a preset mapping relationship; the preset mapping relationship includes multiple temperatures and the bias voltages respectively corresponding to different temperatures.

[0271] When the processor 1810 executes to adjust the voltage applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage, it is specifically configured to execute:

[0272] Determine the voltage value applied to the cathode of the photoelectric sensor;

[0273] According to the target bias voltage and the voltage value applied to the cathode of the photoelectric sensor, determine the voltage value applied to the anode of the photoelectric sensor;

[0274] Determine the duty cycle of the modulation signal according to the voltage value of the anode of the photoelectric sensor;

[0275] Based on the modulation signal with the duty cycle, control the first end to output a target voltage to the anode of the photoelectric sensor;

[0276] Or

[0277] Determine the voltage value applied to the anode of the photoelectric sensor;

[0278] According to the target bias voltage and the voltage value applied to the anode of the photoelectric sensor, determine the voltage value applied to the cathode of the photoelectric sensor;

[0279] Determine the duty cycle of the modulation signal according to the voltage value of the cathode of the photoelectric sensor;

[0280] Based on the modulation signal with the duty cycle, control the second end to output a target voltage to the cathode of the photoelectric sensor.

[0281] An embodiment of the present application further provides a computer storage medium. Instructions are stored in the computer storage medium. When the instructions are run on a computer or a processor, the computer or the processor is caused to execute one or more steps in any of the above methods. If each component module of the related devices connected to the above lidar automatic adjustment device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in the storage medium.

[0282] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that integrates one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a Digital Versatile Disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0283] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The foregoing storage medium includes various media that can store program codes, such as ROM, RAM, magnetic disks, or optical discs. Without conflict, the technical features in this embodiment and the implementation solutions can be combined arbitrarily.

[0284] The embodiments described above are only described in terms of the preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present application shall fall within the protection scope determined by the claims of the present application.

Claims

1. A laser radar adjustment method, characterized in that: Applied to a laser radar, the laser radar includes a photoelectric sensor, and the method includes: Get the working temperature of the photoelectric sensor; Determining a target bias voltage based on the operating temperature; the target bias voltage being a difference between voltages applied to a cathode and an anode of the photosensor; adjusting a voltage applied to an anode and / or a cathode of the photosensor according to the target bias voltage; The laser radar further includes a power supply and a resistor, the power supply includes a first end and a second end, the first end is connected to the anode of the photoelectric sensor, the second end is connected to the cathode of the photoelectric sensor through the resistor, and the resistor is used to reduce the voltage of the cathode of the photoelectric sensor; The step of adjusting the voltage applied to the anode and / or cathode of the photosensor according to the target bias voltage comprises: Determining the voltage value to be applied to the anode and the voltage value to be applied to the cathode of the photosensor according to the target bias voltage and a preset ratio, wherein the preset ratio is used to characterize the ratio of the voltage value to be applied to the anode and the voltage value to be applied to the cathode of the photosensor; Determine the duty cycle of the modulation signal to be applied to the second end according to the voltage value to be applied to the cathode of the photoelectric sensor and a first preset linear relationship, wherein the first preset linear relationship is used to characterize the relationship between the voltage value output by the second end and the duty cycle of the modulation signal; Determining the duty cycle of the modulation signal to be applied to the first end according to the voltage value to be applied to the anode of the photoelectric sensor as required and a second preset linear relationship, wherein the second preset linear relationship is used to characterize the relationship between the voltage value output by the first end and the duty cycle of the pulse width modulation signal; A modulation signal having a duty cycle corresponding to the first end is output to the first end, and a modulation signal having a duty cycle corresponding to the second end is output to the second end, so that the bias voltage of the anode and cathode of the photosensor is the target bias voltage.

2. The method according to claim 1, characterized in that The determining of the target bias voltage based on the operating temperature comprises: The target bias voltage corresponding to the operating temperature is determined according to a preset mapping relationship; the preset mapping relationship includes a plurality of temperatures and bias voltages corresponding to different temperatures.

3. The method according to claim 1, characterized in that The step of adjusting the voltage applied to the anode and / or cathode of the photosensor according to the target bias voltage comprises: determining a voltage value applied to a cathode of the photosensor; Determining a voltage value applied to an anode of the photosensor according to the target bias voltage and a voltage value applied to a cathode of the photosensor; Determining the duty cycle of the modulation signal according to the voltage value of the anode of the photoelectric sensor; controlling the first terminal to output a target voltage to the anode of the photosensor based on a modulation signal having the duty cycle; or determining a voltage value applied to an anode of the photosensor; Determining a voltage value applied to a cathode of the photosensor according to the target bias voltage and a voltage value applied to an anode of the photosensor; Determining the duty cycle of the modulation signal according to the voltage value of the cathode of the photoelectric sensor; The second terminal is controlled to output a target voltage to a cathode of the photosensor based on a modulation signal having the duty cycle.

4. The method according to claim 1, characterized in that The laser radar further includes a high-voltage amplifier; and determining a target bias voltage based on the operating temperature includes: If the operating temperature of the photoelectric sensor meets the preset condition, determining the target bias voltage to be the preset bias voltage; The step of adjusting the voltage applied to the anode and / or cathode of the photosensor according to the target bias voltage comprises: A high voltage amplifier is used to switch a first voltage applied to a cathode of the photosensor into a second voltage according to the preset bias voltage; the second voltage is less than the first voltage.

5. The method according to claim 4, characterized in that The determining of the target bias voltage based on the operating temperature comprises: If the operating temperature of the photoelectric sensor does not meet the preset condition, a target bias voltage corresponding to the operating temperature is determined according to a preset mapping relationship; the preset mapping relationship includes multiple temperatures and bias voltages corresponding to different temperatures; The step of adjusting the voltage applied to the anode and / or cathode of the photosensor according to the target bias voltage comprises: determining a voltage value applied to a cathode of the photosensor; Determining a voltage value applied to an anode of the photosensor according to the target bias voltage and a voltage value applied to a cathode of the photosensor; Determining the duty cycle of the modulation signal according to the voltage value of the anode of the photoelectric sensor; controlling the first terminal to output a target voltage to the anode of the photosensor based on a modulation signal having the duty cycle; or determining a voltage value applied to an anode of the photosensor; Determining a voltage value applied to a cathode of the photosensor according to the target bias voltage and a voltage value applied to an anode of the photosensor; Determining the duty cycle of the modulation signal according to the voltage value of the cathode of the photoelectric sensor; The second terminal is controlled to output a target voltage to a cathode of the photosensor based on a modulation signal having the duty cycle.

6. A laser radar adjustment circuit, characterized in that: The laser radar automatic adjustment circuit comprises: a control subcircuit, a detection subcircuit and a photoelectric sensor; The detection subcircuit is connected to the photoelectric sensor and is used to detect the working temperature of the photoelectric sensor; The control subcircuit is connected to the detection subcircuit and the photoelectric sensor; The photoelectric sensor is used to receive the echo signal; The control subcircuit comprises: a power supply, a resistor and a controller, the power supply comprises a first terminal and a second terminal, the first terminal is connected to the anode of the photoelectric sensor, and is used to provide a voltage to the cathode of the photoelectric sensor; the second terminal is connected to the cathode of the photoelectric sensor through the resistor, and is used to provide a voltage to the anode of the photoelectric sensor; the resistor is used to reduce the voltage of the cathode of the photoelectric sensor; The controller is used to control the detection subcircuit to detect the operating temperature of the photoelectric sensor, and is also used to determine a target bias voltage based on the operating temperature, and adjust the voltage value applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage; the target bias voltage is the difference between the voltages applied to the anode and cathode of the photoelectric sensor; The controller adjusts the voltage value applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage, including: Determining the voltage value to be applied to the anode and the voltage value to be applied to the cathode of the photosensor according to the target bias voltage and a preset ratio, wherein the preset ratio is used to characterize the ratio of the voltage value to be applied to the anode and the voltage value to be applied to the cathode of the photosensor; Determine the duty cycle of the modulation signal to be applied to the second end according to the voltage value to be applied to the cathode of the photoelectric sensor and a first preset linear relationship, wherein the first preset linear relationship is used to characterize the relationship between the voltage value output by the second end and the duty cycle of the modulation signal; Determining the duty cycle of the modulation signal to be applied to the first end according to the voltage value to be applied to the anode of the photoelectric sensor as required and a second preset linear relationship, wherein the second preset linear relationship is used to characterize the relationship between the voltage value output by the first end and the duty cycle of the pulse width modulation signal; A modulation signal having a duty cycle corresponding to the first end is output to the first end, and a modulation signal having a duty cycle corresponding to the second end is output to the second end, so that the bias voltage of the anode and cathode of the photosensor is the target bias voltage.

7. The laser radar adjustment circuit as claimed in claim 6, characterized in that: The controller is specifically used to determine the target bias voltage corresponding to the operating temperature according to a preset mapping relationship, and adjust the voltage applied to the anode and / or cathode of the photoelectric sensor according to the target bias voltage; the preset mapping relationship includes multiple temperatures and the bias voltages corresponding to different temperatures.

8. The laser radar adjustment circuit as claimed in claim 6, characterized in that: The controller is specifically used to determine the voltage value applied to the cathode of the photoelectric sensor; The controller is further specifically configured to determine a duty cycle of a modulation signal applied to the second end according to the target bias voltage and a voltage value applied to the cathode of the photosensor, and output a modulation signal to the second end based on the duty cycle to provide a voltage for the anode of the photosensor; or The controller is specifically used to determine the voltage value applied to the anode of the photoelectric sensor; The controller is also specifically used to determine the duty cycle of the modulation signal applied to the first end according to the target bias voltage and the voltage value applied to the anode of the photoelectric sensor, and output the modulation signal to the first end based on the duty cycle to provide voltage for the cathode of the photoelectric sensor.

9. The laser radar adjustment circuit as claimed in claim 6, characterized in that: The laser radar adjustment circuit also includes: a voltage reduction subcircuit; One end of the step-down subcircuit is connected to the first end; The other end of the step-down subcircuit is connected to the photoelectric sensor; The voltage-reducing subcircuit is used to reduce the voltage of the cathode of the photoelectric sensor.

10. The laser radar adjustment circuit according to claim 6, characterized in that: The control subcircuit also includes: a high voltage amplifier; The power supply is used to supply energy to the photoelectric sensor and apply a bias voltage to both ends of the photoelectric sensor; The controller is specifically configured to, if the operating temperature of the photoelectric sensor satisfies a preset condition, determine that the target bias voltage is a preset bias voltage; The controller is further configured to switch the first voltage applied to the cathode of the photoelectric sensor to a second voltage using the high-voltage amplifier according to the preset bias voltage; the second voltage is smaller than the first voltage.

11. The laser radar adjustment circuit according to claim 10, characterized in that: The controller is further specifically configured to determine, if the operating temperature of the photoelectric sensor does not meet a preset condition, a target bias voltage corresponding to the operating temperature according to a preset mapping relationship; the preset mapping relationship includes a plurality of temperatures and bias voltages corresponding to different temperatures; The controller is further specifically used to determine the voltage value applied to the cathode of the photoelectric sensor; Determining a voltage value applied to an anode of the photosensor according to the target bias voltage and a voltage value applied to a cathode of the photosensor; Determining the duty cycle of the modulation signal according to the voltage value of the anode of the photoelectric sensor; controlling the first terminal to output a target voltage to the anode of the photosensor based on a modulation signal having the duty cycle; or determining a voltage value applied to an anode of the photosensor; Determining a voltage value applied to a cathode of the photosensor according to the target bias voltage and a voltage value applied to an anode of the photosensor; Determining the duty cycle of the modulation signal according to the voltage value of the cathode of the photoelectric sensor; The second terminal is controlled to output a target voltage to a cathode of the photosensor based on a modulation signal having the duty cycle.

12. A laser radar adjustment device, characterized in that: Applied to a laser radar, the laser radar includes a photoelectric sensor, and the device includes: An acquisition module is used to obtain the working temperature of the photoelectric sensor; A determination module, configured to determine a target bias voltage based on the operating temperature; the target bias voltage being a difference between voltages applied to an anode and a cathode of the photoelectric sensor; an adjustment module, configured to adjust a voltage applied to an anode and / or a cathode of the photosensor according to the target bias voltage; The laser radar further includes a power supply and a resistor, the power supply includes a first end and a second end, the first end is connected to the anode of the photoelectric sensor, the second end is connected to the cathode of the photoelectric sensor through the resistor, and the resistor is used to reduce the voltage of the cathode of the photoelectric sensor; The step of adjusting the voltage applied to the anode and / or cathode of the photosensor according to the target bias voltage comprises: Determining the voltage value to be applied to the anode and the voltage value to be applied to the cathode of the photosensor according to the target bias voltage and a preset ratio, wherein the preset ratio is used to characterize the ratio of the voltage value to be applied to the anode and the voltage value to be applied to the cathode of the photosensor; Determine the duty cycle of the modulation signal to be applied to the second end according to the voltage value to be applied to the cathode of the photoelectric sensor and a first preset linear relationship, wherein the first preset linear relationship is used to characterize the relationship between the voltage value output by the second end and the duty cycle of the modulation signal; Determining the duty cycle of the modulation signal to be applied to the first end according to the voltage value to be applied to the anode of the photoelectric sensor as required and a second preset linear relationship, wherein the second preset linear relationship is used to characterize the relationship between the voltage value output by the first end and the duty cycle of the pulse width modulation signal; A modulation signal having a duty cycle corresponding to the first end is output to the first end, and a modulation signal having a duty cycle corresponding to the second end is output to the second end, so that the bias voltage of the anode and cathode of the photosensor is the target bias voltage.

13. A laser radar, characterized in that: include: Optical sensors, processors and memory; The processor is connected to the photoelectric sensor and the memory; The photoelectric sensor is used to receive the echo signal; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method according to any one of claims 1 to 5.

14. A computer-readable storage medium, characterized in that: The computer storage medium stores a plurality of instructions, which are suitable for being loaded by a processor and executing the method steps according to any one of claims 1 to 5.

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