A method, device, storage medium and lidar for monitoring the state of a radar motor

Abstract

The present application provides a method and device for monitoring the state of a radar motor, a storage medium, and a lidar, including: after the motor of the lidar enters a steady state, obtaining a first type of rotational speed based on the main wave signal; when the difference between the first type of rotational speed and the second type of rotational speed is greater than the rotational speed fault threshold, generating a first type of motor state monitoring result; wherein, the second type of rotational speed is the target rotational speed corresponding to the motor or the current rotational speed of the motor detected by the rotational speed detection module, and the first type of motor state monitoring result indicates that the rotational speed of the motor is abnormal. Generating the first type of motor state monitoring result indicating that the rotational speed of the motor is abnormal is used to prompt relevant personnel. Only one detection module needs to be set up to complete the monitoring of the motor state, thereby reducing the hardware cost.

Description

Technical Field

[0001] This application relates to the field of lidar, and more particularly, to a method and device for monitoring the state of a radar motor, a storage medium, and a lidar. Background Art

[0002] The application of intelligent driving technology in the automotive industry is becoming more and more widespread. As the core sensor of intelligent driving technology, lidar has also been more and more widely used. Lidar provides the distance information of environmental targets for the whole vehicle, and provides decision-making input data for the intelligent driving of the whole vehicle. It is a product related to driving safety. Therefore, the safety of the lidar product itself must be fully guaranteed.

[0003] For semi-solid lidar, there is a horizontal rotation mechanism, which includes a rotating motor and a rotating prism, to achieve the horizontal scanning function of the laser. During operation, the rotation speed of the horizontal rotation mechanism needs to be precisely controlled and precisely matched with the laser emission to calculate and output the target distance information. Once the rotation speed control fails, the horizontal scanning of the radar and the target distance calculation will fail. Therefore, it is necessary to have a monitoring, fault diagnosis, and reporting mechanism for the rotation speed of the radar rotation mechanism to ensure the normal operation of the radar and the safe output of the target distance information. Summary of the Invention

[0004] The purpose of this application is to provide a method and device for monitoring the state of a radar motor, a storage medium, and a lidar to at least partially improve the above problems.

[0005] To achieve the above purpose, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, an embodiment of this application provides a method for monitoring the state of a radar motor, the method including: after the motor of the lidar enters a steady state, obtaining a first type of rotation speed based on a main wave signal; generating a first type of motor state monitoring result when the difference between the first type of rotation speed and a second type of rotation speed is greater than a rotation speed fault threshold; where the second type of rotation speed is the target rotation speed corresponding to the motor or the current rotation speed of the motor detected by a rotation speed detection module, and the first type of motor state monitoring result indicates that the motor rotation speed is abnormal.

[0007] It should be understood that generating a first type of motor state monitoring result indicating that the motor rotation speed is abnormal is used to prompt relevant personnel. Only one detection module needs to be set to complete the monitoring of the motor state, thereby reducing the hardware cost.

[0008] Optionally, the step of obtaining the first type of rotational speed based on the primary wave signal includes: obtaining a first time point and a second time point; wherein, the first time point is the time point when the laser emission signal is incident on the first target on the first prism surface, and the second time point is the time point when the laser emission signal is incident on the second target on the second prism surface; obtaining the first type of rotational speed based on the first time point and the second time point.

[0009] It should be understood that the first type of rotational speed is used as reference data for motor status monitoring in this application, and its accuracy directly affects the accuracy of the status monitoring result. By ensuring the accuracy of the first type of rotational speed, the accuracy of the status monitoring result can be improved.

[0010] Optionally, the step of obtaining the first time point and the second time point includes: obtaining the intensity values of the primary wave signal after the laser emission signal is incident on the first prism surface and the second prism surface respectively; taking the time point corresponding to the maximum intensity value of the primary wave signal on the first prism surface as the first time point; taking the time point corresponding to the maximum intensity value of the primary wave signal on the second prism surface as the second time point.

[0011] It should be understood that during the high-speed rotation of the motor, it is relatively difficult to accurately locate the time point when the laser emission signal is incident on the first target on the first prism surface and the time point when the laser emission signal is incident on the second target on the second prism surface. The accuracy of the first time point and the second time point is the basis for ensuring the accuracy of the first type of rotational speed, which directly affects the accuracy of motor status monitoring.

[0012] Optionally, the step of obtaining the first time point and the second time point includes: obtaining the intensity values of the primary wave signal after the laser emission signal is incident on the first prism surface and the second prism surface respectively; taking the time point when the intensity value of the primary wave signal on the first prism surface exceeds the preset intensity threshold as the first time point; taking the time point when the intensity value of the primary wave signal on the second prism surface exceeds the preset intensity threshold as the second time point.

[0013] Optionally, the intensity value of the primary wave signal is the pulse width of the primary wave signal.

[0014] Optionally, the method further includes: after the lidar is started, determining whether the difference between the second type of rotational speed and the target rotational speed is less than a preset difference at a preset period; if it is less than the preset difference, determining that the motor of the lidar enters a steady state; if it is greater than or equal to the preset difference, determining whether the startup time exceeds a preset time threshold; if it exceeds the preset time threshold, generating a second type of motor status monitoring result, wherein the first type of motor status monitoring result indicates that the motor startup times out; if it does not exceed the preset time threshold, repeating to determine whether the difference between the second type of rotational speed and the target rotational speed is less than the preset difference at the preset period.

[0015] Optionally, the method further includes: generating a third type of motor status monitoring result when the difference between the first type of rotational speed and the second type of rotational speed is less than or equal to the rotational speed fault threshold; wherein, the third type of motor status monitoring result indicates that the motor rotational speed is normal.

[0016] In a second aspect, an embodiment of the present application provides a radar motor status monitoring device, the device includes: a preprocessing unit, configured to obtain a first type of rotational speed based on a main wave signal when the motor of the lidar enters a steady state; a judgment unit, configured to generate a first type of motor status monitoring result when the difference between the first type of rotational speed and the second type of rotational speed is greater than the rotational speed fault threshold; wherein, the second type of rotational speed is the target rotational speed corresponding to the motor or the current rotational speed of the motor detected by the rotational speed detection module, and the first type of motor status monitoring result indicates that the motor rotational speed is abnormal.

[0017] In a third aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned method is implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a lidar, the lidar includes: a processor and a memory, the memory is used to store one or more programs; when the one or more programs are executed by the processor, the above-mentioned method is implemented.

[0019] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. Description of the Drawings

[0020] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0021] Figure 1 A schematic diagram of the hardware module of a lidar provided by an embodiment of the present application;

[0022] Figure 2 A schematic diagram of the structure of the core control unit provided by an embodiment of the present application; <00>

[0023] Figure 3 A schematic flow chart of the radar motor status monitoring method provided by an embodiment of the present application;

[0024] Figure 4 A schematic diagram of the intensity value of a main wave signal provided by an embodiment of the present application;

[0025] Figure 5 This is the second flowchart diagram of the radar motor status monitoring method provided by the embodiments of the present application;

[0026] Figure 6 This is the unit diagram of the radar motor status monitoring device provided by the embodiments of the present application.

[0027] In the figure: 10 - processor; 11 - memory; 12 - bus; 13 - communication interface; 201 - preprocessing unit; 202 - judgment unit. Specific Embodiments

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings herein can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0031] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0032] In the description of this application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on this application.

[0033] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, or electrical connections; direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0034] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0035] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a laser radar hardware module provided in an embodiment of the present application. Figure 1 As shown, the laser radar includes a core processing unit, a laser emitting unit, a rotating motor control unit, a laser receiving unit and a rotating mechanism. The core processing unit is connected to the laser emitting unit, the rotating motor control unit and the laser receiving unit respectively. The rotating mechanism includes a motor and at least two prisms ( Figure 1 The four-sided prism is used as an example, but is not limited thereto), the motor is transmission-connected to the at least two prisms, and the motor is electrically connected to the rotating motor control unit.

[0036] In some possible implementations, the rotating mechanism is described using a four-sided prism and a fixed speed control rule as an example. The core control unit sends a speed command (including a target speed) to the rotating motor control unit. The rotating motor control unit receives the speed command, calculates the motor speed value based on the position information detected by the motor position sensor (or detection circuit), and adjusts the motor control signal based on the deviation between the target speed in the speed command and the actual detected current motor speed, so that the motor reaches the target speed with the four-sided prism.

[0037] The core control unit controls the laser emission unit to emit laser① according to the position of the motor; the laser emitted by the lidar passes through the surface of the multi-faceted prism, is reflected and output, and is also reflected back to the receiving circuit through the surface of the multi-faceted prism to realize the emission and reception of the laser. The core control unit controls the receiving control unit to detect the returned laser②. The core processing unit detects the signal of the receiving circuit and calculates the target distance information; at the same time, part of the laser incident on the prism surface is not output and is directly reflected back inside the lidar and detected by the receiving circuit. The received signal formed by this part of the laser is called the main wave.

[0038] It should be understood that the laser received by the receiving circuit includes two parts: the laser that is not reflected by the four-sided prism to the outside of the lidar, is reflected back inside the lidar, and is detected by the receiving unit is called the main wave; the laser that is reflected by the four-sided prism to the outside of the lidar, is reflected back by the external target, and is detected by the receiving unit is called the echo. There is a time difference between the main wave and the echo. The main wave is received first, and then the echo is received.

[0039] The core control unit calculates the target distance information according to the laser emission time t1 and the time t2 when the echo signal is received.

[0040] It should be noted that when only one set of rotational speed detection modules (motor position sensors or detection circuits) is set in the lidar, when a fault occurs and the currently detected rotational speed of the motor is too large or too small, it will affect the detection accuracy of the lidar, and it is impossible to diagnose whether the rotational speed detection module has a fault.

[0041] In some possible implementation manners, in order to monitor the state of the rotational speed detection module and determine whether a fault occurs, the rotational speed can be collected by using two sets of rotational speed detection modules (motor position / speed sensors). The currently detected rotational speed of the motor is obtained through the information collected by the two sets of rotational speed detection modules, and then compared to determine whether a fault occurs. The defect is that the cost needs to be increased.

[0042] To monitor the state of the lidar motor, specifically to monitor its rotational speed without incurring additional hardware costs, the embodiments of this application provide a method for monitoring the state of the radar motor, which is applied to the above-mentioned core control unit. Specifically, when laser light is incident on different positions of each face of the prism, the incident angle is different, and the intensity of the reflected laser light is also different, resulting in differences in the intensity of the main wave signal. When the lidar is operating normally, the rotational speed pattern of the rotating mechanism is fixed (illustrated with a fixed rotational speed as an example). The intensity of the main wave signal received by the receiving circuit alternates according to a pattern proportional to the rotational speed. Through this pattern of change, the rotational speed information of the rotating mechanism can be calculated in reverse. The core processing unit of the radar can calculate and monitor the rotational speed of the rotating mechanism in this way, without the need to add additional position / rotational speed sensors and detection circuits, resulting in lower costs.

[0043] The embodiments of this application provide a lidar, including the above-mentioned core control unit. Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of the core control unit provided by the embodiments of this application. The core control unit includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected through the bus 12. The processor 10 is used to execute the executable module stored in the memory 11, such as a computer program.

[0044] The processor 10 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the radar motor state monitoring method can be completed through the integrated logic circuit in the hardware of the processor 10 or instructions in software form. The above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it can also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0045] The memory 11 may include a high-speed random access memory (RAM: Random Access Memory), and may also include non-volatile memory, such as at least one disk memory.

[0046] The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Figure 2 Only one bidirectional arrow is used in the figure, but it does not mean that there is only one bus 12 or one type of bus 12.

[0047] Memory 11 is used to store programs, such as a program for a radar motor condition monitoring device. The radar motor condition monitoring device includes at least one software module, which can be stored in memory 11 in the form of software or firmware or embedded in the operating system (OS) of the core control unit. Upon receiving an execution instruction, processor 10 executes the program to implement the radar motor condition monitoring method.

[0048] Possibly, the core control unit provided in the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus. The processor 10 can receive control instructions transmitted by the host computer through the communication interface 13.

[0049] It should be understood that Figure 2 The structure shown is only a schematic diagram of the structure of the core control unit. The core control unit may also include Figure 2 More or fewer components than shown, or with Figure 2 Different configurations shown. Figure 2 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0050] The radar motor state monitoring method provided in the embodiment of the present application can be applied to, but not limited to, Figure 2 For the core control unit shown in the figure, please refer to Figure 3 The radar motor status monitoring method includes: step S105 and step S106, which are specifically described as follows.

[0051] Step S105: When the motor of the laser radar enters a steady state, a first type of rotational speed is obtained based on the main wave signal.

[0052] It should be understood that steady state indicates that the difference between the motor's current speed and the target speed is less than a preset difference. It should be noted that even after entering steady state, the rotary motor control unit will continue to perform closed-loop regulation based on the difference between the motor's current speed and the target speed, adjusting the motor's speed to maintain steady state. Before the LiDAR motor enters steady state, the laser does not emit a laser signal.

[0053] Step S106: When the difference between the first - type rotational speed and the second - type rotational speed is greater than the rotational - speed fault threshold, generate a first - type motor status monitoring result.

[0054] Among them, the second - type rotational speed is the target rotational speed corresponding to the motor or the current rotational speed of the motor detected by the rotational - speed detection module, and the first - type motor status monitoring result indicates that the motor rotational speed is abnormal.

[0055] Among them, the rotational - speed detection module can be, but is not limited to, a motor speed sensor, a motor position sensor, or a detection circuit.

[0056] It should be understood that when the difference between the first - type rotational speed and the second - type rotational speed is greater than the rotational - speed fault threshold, the difference between the first - type rotational speed obtained based on the main - wave signal and the second - type rotational speed is too large. It may be that the control logic of the motor rotational speed in the rotating - motor control unit fails, or it may be that the rotational - speed detection module has a fault. At this time, generate a first - type motor status monitoring result indicating that the motor rotational speed is abnormal to prompt relevant personnel. In the solution of this application, only one detection module needs to be set to complete the monitoring of the motor status, thereby reducing the hardware cost.

[0057] Optionally, when generating the first - type motor status monitoring result, the lidar stops working.

[0058] Optionally, the rotational - speed fault threshold can be set based on the target rotational speed. For example, take 10% - 20% of the target rotational speed, or take 0.5% of the target rotational speed.

[0059] In summary, a method for monitoring the status of a radar motor provided by an embodiment of this application includes: when the motor of the lidar enters a steady state, obtain a first - type rotational speed based on the main - wave signal; when the difference between the first - type rotational speed and the second - type rotational speed is greater than the rotational - speed fault threshold, generate a first - type motor status monitoring result; among them, the second - type rotational speed is the target rotational speed corresponding to the motor or the current rotational speed of the motor detected by the rotational - speed detection module, and the first - type motor status monitoring result indicates that the motor rotational speed is abnormal. Generate a first - type motor status monitoring result indicating that the motor rotational speed is abnormal to prompt relevant personnel. Only one detection module needs to be set to complete the monitoring of the motor status, thereby reducing the hardware cost.

[0060] In a possible implementation manner, the current rotational speed of the motor can be obtained after step S105 or synchronously with step S105. Specifically, calculate the current rotational speed of the motor based on the information detected by the rotational - speed detection module.

[0061] It should be understood that the first - type rotational speed, as the reference data for motor status monitoring in this application, its accuracy directly affects the accuracy of the status monitoring result. Figure 3Based on this, regarding how to ensure the accuracy of the first type of rotational speed, the embodiments of the present application also provide a possible implementation manner. Please refer to the following. Step S105 includes: Step S105-1 and Step S105-2, which are specifically described as follows.

[0062] Step S105-1, obtain the first time point and the second time point.

[0063] Among them, the first time point is the time point when the laser emission signal is incident on the first target on the first prism surface, and the second time point is the time point when the laser emission signal is incident on the second target on the second prism surface.

[0064] Optionally, the first prism surface and the second prism surface are two adjacent prism surfaces in the motor rotation direction. Of course, they may also not be adjacent. The relative position of the first target on the first prism surface is the same as the relative position of the second target on the second prism surface, such as the center of the prism surface.

[0065] Step S105-2, obtain the first type of rotational speed based on the first time point and the second time point.

[0066] It should be understood that the difference between the first time point and the second time point is the time taken for the motor to rotate from the first target to the second target. By obtaining the rotation amplitude corresponding to the motor rotating from the first target to the second target, the first type of rotational speed of the motor can be obtained.

[0067] Taking the first prism surface and the second prism surface as two adjacent prism surfaces in the motor rotation direction, the first target being at the center of the first prism surface, and the second target being at the center of the second prism surface as an example, the formula corresponding to the first type of rotational speed is:

[0068] S = (0.25 / Δt) * 60 rpm;

[0069] Among them, S represents the first type of rotational speed, and Δt represents the difference between the first time point and the second time point.

[0070] It should be understood that during the high-speed rotation of the motor, it is relatively difficult to accurately locate the time point when the laser emission signal is incident on the first target on the first prism surface and the time point when the laser emission signal is incident on the second target on the second prism surface. The accuracy of the first time point and the second time point is the basis for ensuring the accuracy of the first type of rotational speed and directly affects the accuracy of motor state monitoring. Based on this, for the content in Step S105-1, the embodiments of the present application also provide a possible implementation manner. Please refer to the following. Step S105-1 includes: Step S105-1A, Step S105-1B, and Step S105-1C, which are specifically described as follows.

[0071] Step S105-1A: Obtain the intensity values of the main wave signals after the laser emission signals are incident on the first prism surface and the second prism surface respectively.

[0072] Please refer to Figure 4 , Figure 4 which is a schematic diagram of the intensity value of the main wave signal provided by an embodiment of the present application. As Figure 4 shown, when the laser emission signal is incident on different positions of the prism, the intensity of the received main wave signal is different. The closer to the center of a single mirror surface of the prism, the stronger the intensity of the main wave signal; the closer to the edge of a single mirror surface of the prism, the weaker the intensity of the main wave signal. Therefore, based on the intensity value of the main wave signal, the time points when the laser emission signal is incident on the first target on the first prism surface and the time point when the laser emission signal is incident on the second target on the second prism surface can be located.

[0073] Step S105-1B: Take the time point corresponding to the maximum intensity value of the main wave signal on the first prism surface as the first time point.

[0074] Step S105-1C: Take the time point corresponding to the maximum intensity value of the main wave signal on the second prism surface as the second time point.

[0075] Continuing with the example where the first target is at the center of the prism on the first prism surface and the second target is at the center of the prism on the second prism surface, when the laser emission signal is incident on the first prism surface, the maximum intensity value of the main wave signal on the first prism surface is determined based on the climbing algorithm; when the laser emission signal is incident on the second prism surface, the maximum intensity value of the main wave signal on the second prism surface is determined based on the climbing algorithm.

[0076] It should be understood that the maximum intensity value of the main wave signal is relatively obvious and the possibility of misidentification is low. Using the maximum intensity value of the main wave signal as a reference feature for the time point can ensure the accuracy of the first time point and the second time point.

[0077] Optionally, for the content in Step S105-1, an embodiment of the present application also provides a possible implementation manner. Please refer to the following. Step S105-1 includes: Step S105-1D, Step S105-1E, and Step S105-1F, which are specifically described as follows.

[0078] Step S105-1: Obtain the intensity values of the main wave signals after the laser emission signals are incident on the first prism surface and the second prism surface respectively.

[0079] Step S105-1E: Take the time point when the intensity value of the main wave signal on the first prism surface exceeds the preset intensity threshold as the first time point.

[0080] Step S105-1F, take the time point when the intensity value of the main wave signal on the second prism surface exceeds the preset intensity threshold as the second time point.

[0081] Optionally, the preset intensity threshold can be set in advance based on the maximum intensity value of the main wave signal. When the laser emission signal moves from the edge of a single mirror surface of the prism to the center of the single mirror surface of the prism, the intensity value of the corresponding main wave signal gradually increases, so that the time point when the intensity value of the main wave signal exceeds the preset intensity threshold can be captured.

[0082] In the solution of the present application, the intensity value of the main wave signal is the pulse width of the main wave signal. The intensity value of the main wave signal can also be the amplitude of the main wave signal.

[0083] On the basis of Figure 3 For the monitoring of the radar motor state during the startup process, the embodiment of the present application also provides a possible implementation manner. Please refer to Figure 5 , before step S105, the radar motor state monitoring method further includes: step S101, step S102, step S103 and step S104, which are specifically described as follows.

[0084] Step S101, after the lidar is started, determine whether the difference between the second type of rotational speed and the target rotational speed is less than the preset difference according to the preset period. If so, execute step S104; if not, execute step S102.

[0085] Step S102, determine whether the startup time exceeds the preset time threshold. If so, execute step S103; if not, repeat step S101.

[0086] Step S103, generate the second type of motor state monitoring result.

[0087] Among them, the first type of motor state monitoring result indicates that the motor startup times out.

[0088] Step S104, determine that the motor of the lidar enters a steady state.

[0089] It should be understood that after step S104, step S105 can be executed.

[0090] Please continue to refer to Figure 5 , in a possible implementation manner, the radar motor state monitoring method further includes: step S107, which is specifically described as follows.

[0091] Step S107, when the difference between the first type of rotational speed and the second type of rotational speed is less than or equal to the rotational speed fault threshold, generate the third type of motor state monitoring result.

[0092] Among them, the third type of motor state monitoring result indicates that the motor rotational speed is normal.

[0093] It should be understood that there is no sequence in the execution between step S107 and step S106.

[0094] Please refer to Figure 6 , Figure 6 A radar motor status monitoring device provided by an embodiment of the present application. Optionally, the radar motor status monitoring device is applied to the core control unit described above.

[0095] The radar motor status monitoring device includes: a preprocessing unit 201 and a judgment unit 202.

[0096] The preprocessing unit 201 is configured to obtain a first type of rotational speed based on the main wave signal when the motor of the lidar enters a steady state;

[0097] The judgment unit 202 is configured to generate a first type of motor status monitoring result when the difference between the first type of rotational speed and the second type of rotational speed is greater than the rotational speed fault threshold;

[0098] Wherein, the second type of rotational speed is the target rotational speed corresponding to the motor or the current rotational speed of the motor detected by the rotational speed detection module, and the first type of motor status monitoring result indicates that the motor rotational speed is abnormal.

[0099] Optionally, the preprocessing unit 201 may execute step S105, and the judgment unit 202 may execute steps S101 - S104, steps S106 - S107.

[0100] It should be noted that the radar motor status monitoring device provided in this embodiment can execute the method flow shown in the above method flow embodiment to achieve the corresponding technical effects. For the sake of brief description, for the parts not mentioned in this embodiment, reference may be made to the corresponding content in the above embodiment.

[0101] An embodiment of the present application also provides a storage medium that stores computer instructions and programs. When the computer instructions and programs are read and run, they execute the radar motor status monitoring method of the above embodiment. The storage medium may include memory, flash memory, registers or a combination thereof, etc.

[0102] The following provides a lidar device, which includes a core control unit as Figure 2 shown, and can implement the above-mentioned radar motor status monitoring method; specifically, the core control unit includes: a processor 10, a memory 11, and a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, and when the one or more programs are executed by the processor 10, the radar motor status monitoring method of the above embodiment is executed.

[0103] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0104] For those skilled in the art, it is obvious that the present application is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present application is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be construed as limiting the claimed rights.

Claims

1. A method for monitoring the state of a radar motor, characterized in that, The method includes: After the motor of the lidar enters a steady state, obtaining a first type of rotational speed based on the main wave signal; When the difference between the first type of rotational speed and the second type of rotational speed is greater than the rotational speed fault threshold, generating a first type of motor status monitoring result; Wherein, the second type of rotational speed is the target rotational speed corresponding to the motor or the current rotational speed of the motor detected by the rotational speed detection module, and the first type of motor status monitoring result indicates that the rotational speed of the motor is abnormal.

2. The radar motor status monitoring method according to claim 1, characterized in that The step of obtaining the first type of rotational speed based on the main wave signal includes: Obtaining a first time point and a second time point; Wherein, the first time point is the time point when the laser emission signal is incident on the first target on the first prism surface, and the second time point is the time point when the laser emission signal is incident on the second target on the second prism surface; Obtaining the first type of rotational speed based on the first time point and the second time point.

3. The radar motor status monitoring method according to claim 2, characterized in that The step of obtaining the first time point and the second time point includes: Obtaining the intensity values of the main wave signal after the laser emission signal is incident on the first prism surface and the second prism surface respectively; Taking the time point corresponding to the maximum intensity value of the main wave signal on the first prism surface as the first time point; Taking the time point corresponding to the maximum intensity value of the main wave signal on the second prism surface as the second time point.

4. The radar motor status monitoring method according to claim 2, characterized in that The step of obtaining the first time point and the second time point includes: Obtaining the intensity values of the main wave signal after the laser emission signal is incident on the first prism surface and the second prism surface respectively; Taking the time point when the intensity value of the main wave signal on the first prism surface exceeds the preset intensity threshold as the first time point; Taking the time point when the intensity value of the main wave signal on the second prism surface exceeds the preset intensity threshold as the second time point.

5. The radar motor status monitoring method according to claim 3 or 4, characterized in that The intensity value of the main wave signal is the pulse width of the main wave signal.

6. The radar motor status monitoring method according to claim 1, wherein, The method further includes: After the lidar is started, determining whether the difference between the second type of rotational speed and the target rotational speed is less than a preset difference at a preset period; If it is less than the preset difference, determining that the motor of the lidar enters a steady state; If it is greater than or equal to the preset difference, determining whether the startup time exceeds a preset time threshold; If it exceeds the preset time threshold, generating a second type of motor status monitoring result, wherein the first type of motor status monitoring result characterizes that the motor startup times out; If it does not exceed the preset time threshold, repeating to determine whether the difference between the second type of rotational speed and the target rotational speed is less than the preset difference at the preset period.

7. The radar motor status monitoring method according to claim 1, characterized in that, The method further includes: When the difference between the first type of rotational speed and the second type of rotational speed is less than or equal to the rotational speed fault threshold, generating a third type of motor status monitoring result; Wherein, the third type of motor status monitoring result indicates that the rotational speed of the motor is normal.

8. A radar motor condition monitoring device, characterized in that, The device includes: A preprocessing unit, configured to obtain a first type of rotational speed based on the main wave signal after the motor of the lidar enters a steady state; A judgment unit, configured to generate a first type of motor status monitoring result when the difference between the first type of rotational speed and the second type of rotational speed is greater than the rotational speed fault threshold; Wherein, the second type of rotational speed is the target rotational speed corresponding to the motor or the current rotational speed of the motor detected by the rotational speed detection module, and the first type of motor status monitoring result indicates that the rotational speed of the motor is abnormal.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method according to any one of claims 1-7.

10. A lidar, characterized in that, Comprising: a processor and a memory for storing one or more programs; When the one or more programs are executed by the processor, the method according to any one of claims 1-7 is implemented.

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