Self-correction method of laser radar, laser radar, device, equipment and medium

Abstract

The invention provides a self-correction method of a laser radar, the laser radar, a device, electronic equipment and a computer readable storage medium, and relates to the technical field of radars, and the method comprises the steps: setting a first identifier and a second identifier which are different in position and reflectivity on the inner wall of the peripheral side of a diaphragm of the laser radar in advance, the method comprises the following steps: firstly, controlling a laser transceiving device to emit a laser beam, then acquiring a first echo signal of a first identification reflection laser beam and a second echo signal of a second identification reflection laser beam, and then calculating difference information between the first echo signal and the second echo signal; therefore, the working parameters of the laser transceiver are determined according to the difference information and the preset difference information, the self-correction of the working parameters of the laser radar is realized, the correction work does not need manual participation, does not need specific correction equipment, is not limited by sites, and is beneficial to improving the efficiency of the correction work.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and more specifically, to a self-correction method of a laser radar, a laser radar, a device, an electronic device, and a computer-readable storage medium in the field of radar technology. Background Art

[0002] The application of LiDAR has become more and more extensive with the expansion of high-tech industries, and the visual presentation effect of LiDAR is also quite significant, but the safe use of lasers has always been the top priority of the industry. In the actual use of LiDAR, as the use time increases, the functional modules inside the LiDAR will gradually age, causing the working parameters of the LiDAR (such as the transmission power) to change, resulting in a decrease in the ranging capability of the LiDAR. Therefore, the calibration of the working parameters of the LiDAR is one of the key steps in the use of LiDAR.

[0003] In the existing related technologies, the calibration of the working parameters of the LiDAR generally requires specific equipment. For example, to calibrate the transmit power of the LiDAR, it is necessary to use a specific standard reflectivity plate, a power meter, and a point cloud acquisition device for calibration. The calibration process is complicated and cumbersome, and it is difficult to implement it anytime and anywhere. Summary of the invention

[0004] The present application provides a self-calibration method of a laser radar, a laser radar, a device, an electronic device and a computer-readable storage medium. The method can realize self-calibration of the working parameters of the laser radar, simplify the working parameter calibration process, and help improve the measurement accuracy and efficiency of the calibration work.

[0005] In a first aspect, a self-correction method of a laser radar is provided, which is applied to a laser radar, wherein the laser radar includes a laser transceiver and a window plate, wherein a first marker and a second marker are arranged on the inner wall around the window plate, wherein a position of the first marker is different from a position of the second marker, and the reflectivity of the first marker and the second marker are different; the self-correction method includes: controlling the laser transceiver to emit a laser beam; acquiring a first echo signal of the laser beam reflected by the first marker, and a second echo signal of the laser beam reflected by the second marker; determining difference information between the first echo signal and the second echo signal; and determining working parameters of the laser transceiver according to the difference information and preset difference information.

[0006] In combination with the first aspect, in some possible implementations, the working parameters include the emission power of the laser beam emitted by the laser transceiver; the controlling the laser transceiver to emit the laser beam includes: controlling the laser emitting device to emit a laser beam with a first emission power; the determining the working parameters of the laser transceiver according to the difference information and the preset difference information includes: determining the difference between the difference information and the preset difference information; when the difference is greater than or equal to the preset value, controlling the laser emitting device to emit a laser beam with a second emission power according to the difference; returning to execute the steps of obtaining the first echo signal of the laser beam reflected by the first marker and the second echo signal of the laser beam reflected by the second marker until the difference is less than the preset value.

[0007] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the laser emitting device to emit a laser beam of a second emission power according to the difference includes: obtaining a first emission power charging time for the laser transceiver to emit a laser beam of the first emission power in a previous emission cycle; determining an emission power charging change time according to the difference; determining a second emission power charging time required for the laser transceiver to emit a laser beam of the second emission power in a current emission cycle according to the first emission power charging time and the emission power charging change time; and driving the laser transceiver using the second emission power charging time so that the laser transceiver emits a laser beam of the second emission power.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the difference information between the first echo signal and the second echo signal includes: obtaining a first signal curve of the first echo signal; obtaining a second signal curve of the second echo signal; and determining the energy difference between the echo energy of the first echo signal and the echo energy of the second echo signal based on the first signal curve and the second signal curve to obtain the difference information.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, obtaining the first echo signal of the laser beam reflected by the first marker, and the second echo signal of the laser beam reflected by the second marker, includes: determining whether the laser beam is directed toward the first marker and / or the second marker; when the laser beam is directed toward the first marker and the second marker, determining the first signal analysis area corresponding to the first marker and the second signal analysis area corresponding to the second marker; obtaining the reflection signal of the laser beam received by the laser transceiver in the first signal analysis area to obtain the first echo signal; obtaining the reflection signal of the laser beam received by the laser transceiver in the second signal analysis area to obtain the second echo signal.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining whether the laser beam is directed toward the first marker and / or the second marker includes: determining the emission angle of the laser beam emitted by the laser transceiver; determining whether the emission angle matches the specific field of view angle range corresponding to the first marker and the second marker, and if so, determining that the laser beam is directed toward the first marker and / or the second marker.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the laser radar also includes a scanning device; determining the emission angle of the laser beam emitted by the laser transceiver device includes: obtaining the pitch angle and yaw angle of the scanning device; determining the vertical emission angle among the emission angles according to the pitch angle; and determining the horizontal emission angle among the emission angles according to the yaw angle.

[0012] In a second aspect, a laser radar is provided, the laser radar comprising:

[0013] A window sheet, wherein a first mark and a second mark are arranged on the inner wall of the peripheral side of the window sheet, the position of the first mark is different from the position of the second mark, and the reflectivity of the first mark and the reflectivity of the second mark are different;

[0014] a laser transceiver, configured to emit a laser beam, and obtain a first echo signal of the laser beam reflected by the first marker, and a second echo signal of the laser beam reflected by the second marker;

[0015] The parameter correction module is used to determine the difference information between the first echo signal and the second echo signal, and determine the working parameters of the laser transceiver device according to the difference information and preset difference information.

[0016] In combination with the second aspect, in some possible implementations, the laser transceiver device includes multiple, multiple identification combinations are set on the inner wall, each of the identification combinations includes the first identification and the second identification, and each of the laser transceiver devices corresponds to one identification combination.

[0017] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, for each of the identification combinations, the first identification is arranged near the first edge of the inner wall of the peripheral side of the window piece, and the second identification is arranged near the second edge of the inner wall of the peripheral side of the window piece, and the first edge is opposite to the second edge.

[0018] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, for each of the identification combinations, the first identification and the second identification are both arranged close to the single-side edge of the inner wall of the peripheral side of the window piece, there is a gap between the first identification and the second identification, and the first identification and the second identification are parallel to each other.

[0019] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, for each of the logo combinations, the first logo and the second logo are both arranged close to the single-sided edge of the inner wall on the peripheral side of the window piece, the first logo and the second logo are located on the same horizontal line, and the center line of the single-sided edge is the symmetry line of the first logo and the second logo.

[0020] In a third aspect, a self-calibration device of a laser radar is provided, which is configured for the laser radar, wherein the laser radar includes a laser transceiver and a window piece, wherein a first mark and a second mark are arranged on an inner wall of a peripheral side of the window piece, wherein a position of the first mark is different from a position of the second mark, and the reflectivity of the first mark and the second mark is different;

[0021] The self-correction device of the laser radar comprises:

[0022] A laser emission module, used to control the laser transceiver to emit a laser beam;

[0023] an echo acquisition module, used for acquiring a first echo signal of the laser beam reflected by the first marker, and a second echo signal of the laser beam reflected by the second marker;

[0024] a difference calculation module, used to determine difference information between the first echo signal and the second echo signal;

[0025] A parameter adjustment module is used to determine the working parameters of the laser transceiver device according to the difference information and preset difference information.

[0026] In conjunction with the third aspect, in some possible implementations, the operating parameter includes a transmission power of the laser beam transmitted by the laser transceiver;

[0027] The laser emitting module is specifically used to control the laser emitting device to emit a laser beam with a first emitting power;

[0028] The parameter adjustment module comprises:

[0029] a difference calculation unit, used to determine the difference between the difference information and the preset difference information;

[0030] A first control unit, configured to control the laser emitting device to emit a laser beam of a second emission power according to the difference when the difference is greater than or equal to a preset value;

[0031] The second control unit is used to return to the step of obtaining the first echo signal of the laser beam reflected by the first marker and the second echo signal of the laser beam reflected by the second marker until the difference is less than a preset value.

[0032] In combination with the third aspect and the foregoing implementation manner, in some possible implementation manners, the first control unit includes:

[0033] A time acquisition subunit, used to obtain a first transmission power charging time when the laser transceiver device transmits the laser beam of the first transmission power in the previous transmission cycle;

[0034] A first calculation subunit, used to determine a transmission power charging change time according to the difference;

[0035] A second calculation subunit is used to determine, according to the first transmission power charging time and the transmission power charging change time, a second transmission power charging time required for the laser transceiver device to transmit the laser beam of the second transmission power in the current transmission cycle;

[0036] The driving subunit is used to drive the laser transceiver device using the second transmission power charging time, so that the laser transceiver device transmits the laser beam of the second transmission power.

[0037] In combination with the third aspect and the above implementations, in some possible implementations, the difference calculation module includes:

[0038] a curve acquisition unit, configured to acquire a first signal curve of the first echo signal, and acquire a second signal curve of the second echo signal;

[0039] A difference calculation unit is used to determine the energy difference between the echo energy of the first echo signal and the echo energy of the second echo signal according to the first signal curve and the second signal curve to obtain the difference information.

[0040] In combination with the third aspect and the above implementations, in some possible implementations, the echo acquisition module includes:

[0041] an area determination unit, used for determining whether the laser beam is directed toward the first mark and / or the second mark;

[0042] a time period acquisition unit, configured to determine a first signal analysis area corresponding to the first identifier and a second signal analysis area corresponding to the second identifier when the laser beam is directed to the first identifier and the second identifier;

[0043] A first signal acquisition unit, configured to acquire a reflection signal of the laser beam received by the laser transceiver in the first signal analysis area, to obtain the first echo signal;

[0044] The second signal acquisition unit is used to acquire the reflection signal of the laser beam received by the laser transceiver device in the second signal analysis area to obtain the second echo signal.

[0045] In combination with the third aspect and the above implementation manner, in some possible implementation manners, the area determination unit includes:

[0046] An emission angle acquisition subunit, used to determine the emission angle of the laser beam emitted by the laser transceiver;

[0047] The area judgment subunit is used to judge whether the emission angle matches within the specific field of view angle range corresponding to the first mark and the second mark. If so, it is determined that the laser beam is emitted to the first mark and / or the second mark.

[0048] In combination with the third aspect and the above-mentioned implementation methods, in some possible implementation methods, the laser radar also includes a scanning device, and the emergence angle acquisition subunit is specifically used to obtain the pitch angle and yaw angle of the scanning device; determine the vertical emergence angle among the emergence angles according to the pitch angle; and determine the horizontal emergence angle among the emergence angles according to the yaw angle.

[0049] In a fourth aspect, an electronic device is provided, comprising the above-mentioned laser radar, a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the electronic device executes the self-calibration method of the laser radar in the above-mentioned first aspect or any possible implementation of the first aspect.

[0050] In a fifth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the self-correction method of the laser radar in the above-mentioned first aspect or any possible implementation of the first aspect.

[0051] In the sixth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the self-correction method of the laser radar in the above-mentioned first aspect or any possible implementation of the first aspect.

[0052] The embodiments of the present application provide a laser radar self-calibration method, a laser radar, a device, an electronic device, and a computer-readable storage medium, which have the following technical effects:

[0053] The self-correction method of the laser radar provided in the embodiment of the present application sets a first marker and a second marker with different positions and reflectivities on the inner wall of the peripheral side of the window piece of the laser radar in advance, and first controls the laser transceiver to emit a laser beam, then obtains a first echo signal of the laser beam reflected by the first marker and a second echo signal of the laser beam reflected by the second marker, and then calculates the difference information between the first echo signal and the second echo signal, and then determines the working parameters of the laser transceiver according to the difference information and preset difference information. The technical solution realizes self-correction of the working parameters of the laser radar, and the correction work does not require manual participation, does not require specific correction equipment, and is not restricted by the site. It can be performed anytime and anywhere, which not only simplifies the correction process of the working parameters of the laser radar, but also reduces the cost of the correction work, which is conducive to improving the efficiency of the correction work. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A schematic flow chart of a self-calibration method for a laser radar provided in an embodiment of the present application is shown;

[0055] Figure 2 A schematic diagram of the internal structure of a laser radar provided in an embodiment of the present application is shown;

[0056] Figure 3 A plan view of the window piece is shown;

[0057] Figure 4 The internal structure block diagram of the laser radar provided in the embodiment of the present application is shown;

[0058] Figure 5 An exemplary schematic diagram of setting a first identifier and a second identifier is shown;

[0059] Figure 6Another exemplary schematic diagram of setting a first identifier and a second identifier is shown;

[0060] Figure 7 Another exemplary schematic diagram of setting a first identifier and a second identifier is shown;

[0061] Figure 8 A schematic diagram of the structure of a self-correction device for a laser radar provided in an embodiment of the present application is shown;

[0062] Fig. 9 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0063] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0064] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0065] The application of LiDAR has become more and more extensive with the expansion of high-tech industries, and the visual presentation effect of LiDAR is also quite significant, but the safe use of lasers has always been the top priority of the industry. In the actual use of LiDAR, as the use time increases, the functional modules inside the LiDAR will gradually age, causing the working parameters of the LiDAR (such as transmission power, receiving conversion efficiency, etc.) to change, thereby causing the ranging capability of the LiDAR to decrease. Therefore, the calibration of the working parameters of the LiDAR is one of the key steps in the use of LiDAR.

[0066] In the existing related technologies, the working parameters of the laser radar need to be calibrated before the laser radar leaves the factory. The calibration of the working parameters of the laser radar is achieved manually, and the working parameters of the laser radar need to be manually calibrated in a specific calibration environment. After the working parameters of the laser radar are manually calibrated, the calibration values ​​are written into the memory for data solution. After the laser radar is offline and put into actual use, as the use time increases, the internal components of the laser radar will gradually age, causing the actual working parameters to deviate from the calibration values, resulting in a decrease in the measurement accuracy of the laser radar, and returning the laser radar to the factory for calibration is time-consuming and laborious. For example, the working parameter of the laser radar is the transmission power, also known as the light output power of the laser beam. The calibration of the transmission power generally requires specific equipment, such as the need to calibrate through a specific standard reflectivity plate, a power meter, and a point cloud acquisition device. The calibration process is complicated and cumbersome, and it is difficult to implement anytime and anywhere. In addition, in actual use, the ambient temperature will also affect the transmission power of the lidar, resulting in unstable radar performance. Currently, compensation is mainly carried out by introducing temperature calibration, reserving margins, etc., which increases production costs and has poor compensation effects. Therefore, there is a need for a radar that can perform self-correction after leaving the production line.

[0067] The calibration value obtained by calibrating the working parameters of the laser radar when it leaves the factory is used for data solution. Therefore, the calibration of the working parameters before the production line is a necessary process, and only one calibration is required. Since the calibration of the working parameters of the laser radar occurs before the production line, that is, the laser radar has not been put into use after the production line, there is no problem of device aging, that is, for the calibration of the working parameters of the laser radar, there is no need to find a method to realize the self-correction of the working parameters of the laser radar to solve the problem of inaccurate measurement due to device aging. This application mainly solves the problem of inaccurate measurement due to device aging during the operation of the laser radar after the calibration of the working parameters of the laser radar is completed and the laser radar is put into actual use after the production line is put into use. That is, after the laser radar has been running for a certain period of time, the device ages, the transmitter power declines or the photoelectric conversion ability of the receiver declines, resulting in a decrease in the amplitude of the reflected signal; and the sampling threshold and reflectivity value calibrated according to the amplitude of the ideal reflected signal at the factory, the reduced reflected signal is sampled and solved, which will lead to inaccurate detection results; the decline in transmission power will also reduce the ranging capability. Therefore, based on the problem of inaccurate measurements due to device aging during the operation of the laser radar, the embodiments of the present application propose a self-calibration method, laser radar, device, electronic device and computer-readable storage medium for the laser radar, which can realize self-calibration of the working parameters of the laser radar, simplify the working parameter correction process, and help improve the measurement accuracy and efficiency of the correction work, as well as reduce production costs.

[0068] The following is an embodiment of a self-calibration method for a laser radar provided in an embodiment of the present application.

[0069] Figure 1 A schematic flow chart of a self-calibration method for a laser radar provided in an embodiment of the present application is shown. Figure 2 FIG. 1 is a schematic diagram showing the internal structure of the laser radar provided in the embodiment of the present application. Figure 1 and Figure 2 As shown, the self-correction method of the laser radar provided in the embodiment of the present application is applied to the laser radar, which includes a laser transceiver, a scanning device 4, and a window piece 7. The laser transceiver includes a laser receiver 1, a laser transmitter 2, an optical device 3 and a reflecting mirror 6. The laser transmitter 2 includes a laser and a laser driving module. A first mark 5 and a second mark 8 are arranged on the inner wall of the peripheral side of the window piece 7. The position of the first mark 5 and the position of the second mark 8 are different, and the reflectivity of the first mark 5 and the reflectivity of the second mark 8 are different. The first mark 5 and the second mark 8 reflect the laser beam generated by the laser transceiver.

[0070] The self-calibration method of the above-mentioned laser radar includes the following schemes:

[0071] S110: Control the laser transceiver to emit a laser beam;

[0072] S120: Acquire a first echo signal generated by the first marker reflecting the laser beam, and a second echo signal generated by the second marker reflecting the laser beam;

[0073] S130: Determine difference information between the first echo signal and the second echo signal;

[0074] S140: Determine the operating parameters of the laser transceiver according to the difference information and preset difference information.

[0075] In an exemplary embodiment, the laser radar has a self-calibration function. During actual use, the laser radar calibrates the working parameters of the laser transceiver once every certain period of use, thereby ensuring the reliability of the laser radar and improving the detection accuracy and ranging capability. Among them, calibrating the working parameters of the laser transceiver can also be understood as recalibrating the working parameters of the laser transceiver.

[0076] After the self-correction function of the laser radar is triggered, the laser transceiver is controlled to emit a laser beam, that is, the laser driving module drives the laser to emit a laser beam, the laser beam is output to the reflector through the optical device, the laser beam is reflected to the scanning device through the reflector, and the laser beam reaches the window after passing through the scanning device. Most of the laser beam reaching the window will pass through the window to the external environment, and the laser beam at the edge of the field of view will be reflected by the first marker and the second marker, so that the first echo signal of the laser beam reflected by the first marker and the second echo signal of the laser beam reflected by the second marker can be obtained.

[0077] After obtaining the first echo signal and the second echo signal, the difference information between the first echo signal and the second echo signal is calculated, and then the obtained difference information is compared with the preset difference information, wherein the preset difference information is used as a basis for judging whether to adjust the working parameters of the laser transceiver. Since the laser transceiver is the main part of the active device used for detection at the front end of the laser radar, the working parameters of the laser transceiver can also be understood as the working parameters of the laser radar.

[0078] According to the comparison result, if the difference between the obtained difference information and the preset difference information is small, it means that the detection accuracy and ranging capability of the laser radar are normal, and there is no need to adjust the working parameters of the laser transceiver; according to the comparison result, if the difference between the obtained difference information and the preset difference information is large, it means that the detection accuracy and ranging capability of the laser radar have decreased, then the working parameters of the laser transceiver are adjusted, so as to adjust the detection accuracy and ranging capability of the laser radar to restore it to the initial state, that is, to adjust the detection accuracy and ranging capability of the laser radar put into use to be consistent with the factory state, to avoid different detection results of the same scene caused by fluctuations, and to realize the self-calibration of the working parameters of the laser transceiver. The calibration work does not require manual participation, and does not require specific calibration equipment, which simplifies the calibration process of the working parameters of the laser transceiver, and is conducive to improving the efficiency of the calibration work. Among them, the adjusted working parameters can be transmission parameters or receiving parameters. The transmission parameters and receiving parameters are adjusted, that is, the calibration of the transmission parameters and receiving parameters is realized. By calibrating the transmission parameters, the transmission power can be corrected, and by calibrating the receiving parameters, the receiving conversion efficiency can be corrected, so that the amplitude of the echo signal can be restored to the initial state. In addition, the bias voltage of the laser transceiver can also be adjusted, but after the bias voltage is adjusted, it will also affect other quantities on the receiving link, such as the amplitude of the leading signal, etc., affecting subsequent signal sampling. Therefore, this application preferably corrects the transmission power of the laser transceiver.

[0079] The self-correction method of the laser radar provided in the embodiment of the present application sets a first marker and a second marker with different positions and reflectivities on the inner wall of the peripheral side of the window piece of the laser radar in advance, and first controls the laser transceiver to emit a laser beam, then obtains a first echo signal of the laser beam reflected by the first marker and a second echo signal of the laser beam reflected by the second marker, and then calculates the difference information between the first echo signal and the second echo signal, and then determines the working parameters of the laser transceiver according to the difference information and preset difference information. The technical solution realizes self-correction of the working parameters of the laser radar, and the correction work does not require manual participation, does not require specific correction equipment, and is not restricted by the site. It can be performed anytime and anywhere, which not only simplifies the correction process of the working parameters of the laser radar, but also reduces the cost of the correction work, which is conducive to improving the efficiency of the correction work.

[0080] The following Figure 1 The specific implementation methods of each step in the illustrated embodiment are described as follows:

[0081] In a possible implementation, the operating parameters of the laser transceiver device include the transmission power of the laser beam transmitted by the laser transceiver device. The above S110, controlling the laser transceiver device to transmit the laser beam includes the following schemes:

[0082] The laser emitting device is controlled to emit a laser beam with a first emitting power.

[0083] It should be understood that before the working parameters of the laser transceiver are adjusted, the laser transceiver transmits the first laser beam according to a preset timing, and the power of the first laser beam is the first transmission power; the first transmission power can be determined by the calibration result of the laser radar when it leaves the factory, or it can be determined after the last self-calibration. In the first emission cycle after the self-calibration function of the laser radar is triggered, the laser emitting device continues to emit a laser beam with the first transmission power. Among them, the triggering of the self-calibration function of the laser radar can be customized according to actual needs, such as triggering the self-calibration function once at a specific interval, such as the laser radar performs self-calibration once every 30 days of operation; for example, the laser radar performs self-calibration every time it is powered on.

[0084] In a possible implementation, the above S140, determining the working parameters of the laser transceiver according to the difference information and the preset difference information, includes the following scheme:

[0085] determining a difference between the difference information and the preset difference information;

[0086] When the difference is greater than or equal to the preset value, the laser emitting device is controlled to emit a laser beam of a second emission power according to the difference;

[0087] Return to S120 to obtain a first echo signal of the laser beam reflected by the first marker and a second echo signal of the laser beam reflected by the second marker, until the difference is less than a preset value.

[0088] After controlling the laser emitting device to emit a laser beam of the first emission power, obtain the first echo signal of the laser beam of the first emission power reflected by the first mark, and the second echo signal of the laser beam of the first emission power reflected by the second mark, then calculate the difference information between the first echo signal and the second echo signal, compare the difference information with the preset difference information, if the difference between the difference information and the preset difference information is large, it means that the detection accuracy and ranging capability of the laser radar have been significantly reduced, then adjust the emission power emitted by the laser transceiver device to achieve the adjustment of the working parameters of the laser transceiver device. Among them, determine the difference between the difference information and the preset difference information, compare the preset value and the difference; if the difference is less than the preset value, it means that the difference information is close to the preset difference information, and the difference between the two is small; if the difference is greater than or equal to the preset value, it means that the difference between the difference information and the preset difference information is large.

[0089] The emission power of the laser emission device is determined according to the difference information and the preset difference information. If the difference is less than the preset value, the first emission power is kept unchanged; if the difference is greater than or equal to the preset value, the first emission power is adjusted to the second emission power, which is different from the first emission power, and the second emission power may be greater than the first emission power, or may be less than the first emission power.

[0090] When the difference is greater than or equal to the preset value, the laser emitting device is controlled to emit a laser beam of the second emission power, and then the process returns to S120; that is, after the laser emitting device is controlled to emit a laser beam of the first emission power, the first echo signal corresponding to the first identifier and the second echo signal corresponding to the second identifier are continuously acquired, and the difference information of the two echo signals is compared with the preset difference information using the same method as above. After adjusting the emission power of the laser beam emitted by the laser transceiver once, if the difference is less than the preset value, it indicates that the detection accuracy and ranging capability of the laser radar have been restored to the initial state, and the emission power of the laser transceiver is no longer adjusted, and the adaptive adjustment process is exited, and the adjusted emission power is maintained to continue working.

[0091] If the difference is still large, for example, greater than or equal to the preset value, continue to control the laser emitting device to emit a laser beam with a second emission power according to the difference information and the preset difference information, and return to execute S120, obtain the first echo signal corresponding to the first identifier and the second echo signal corresponding to the second identifier, and compare the difference between the difference information and the preset difference information until the difference is less than the preset value.

[0092] Through the above-mentioned iterative method, the transmission power of the laser emitting device is continuously adjusted until the transmission power of the adjusted laser beam can compensate for the deviation caused by the performance attenuation of the laser transceiver device, and the difference between the difference information of the two echo signals and the preset difference information meets the preset value, thereby restoring the detection accuracy and ranging capability of the laser radar to the initial state.

[0093] When the difference is less than the preset value, it indicates that the detection accuracy and ranging capability of the laser radar remain in the initial state, and there is no need to adjust the transmission power of the laser beam emitted by the laser emitting device. The laser emitting device continues to be controlled to emit a laser beam with the first transmission power, and the adaptive adjustment process is exited.

[0094] In a possible implementation, when the difference is greater than or equal to the preset value, controlling the laser emitting device to emit a laser beam with a second emission power according to the difference includes the following schemes:

[0095] Obtaining a first transmission power charging time of a laser transceiver device transmitting a laser beam with a first transmission power in a previous transmission cycle;

[0096] Determine the transmission power charging change time according to the difference;

[0097] Determine, according to the first transmission power charging time and the transmission power charging change time, the second transmission power charging time required for the laser transceiver device to transmit a laser beam of the second transmission power in the current transmission cycle;

[0098] The laser emitting device is driven by the second emission power charging time so that the laser emitting device emits a laser beam of the second emission power.

[0099] The laser emitting device drives the laser through the process of charging-converting-enabling to accurately control the emission power of the laser emitting device. Adjusting the emission power of the laser emitting device is achieved by controlling the charging time. The adjustment process is as follows:

[0100] The first transmission power charging time S_last of the laser beam emitted by the laser transceiver in the last transmission cycle is obtained, and the charging time adjustment amount is determined according to the difference, and the transmission power charging change time ΔS is calculated; the second transmission power is adjusted based on the detection result of the laser beam of the first transmission power, and the second transmission power charging time S_put required for the laser transceiver to emit the laser beam in the current transmission cycle is calculated by S_last and ΔS as S_put=S_last+ΔS. Among them, the transmission power control module controls the laser emitting device to emit the laser beam, and the transmission power control module controls the charging time to adjust the transmission power. The transmission power control module is mainly based on the PID controller, and the setting proportional parameter KP=a of the PID controller, for example, a=1, the integral parameter KI=b, for example, b=0.05, and the differential coefficient KD=c, for example, c=0. The calculation formula of ΔS is: ΔS=(J*KP+J*KI+J*KD)*EC, where EC is the energy and charging conversion coefficient, and J is the difference between the difference information and the preset difference information.

[0101] After obtaining S_put, the laser emitting device is driven by the second transmission power charging time S_put, and the laser emitting device emits a laser beam of the second transmission power to achieve the transmission power adjustment of the laser beam. Among them, the process of using the second transmission power charging time S_put to drive the laser emitting device to emit a laser beam of the second transmission power includes: the transmission power control module controls the charging module to continuously charge the second transmission power charging time S_put so that energy is accumulated on the charging capacitor. The longer the second transmission power charging time S_put is, the more energy is accumulated on the charging capacitor. The charging is completed after the second transmission power charging time S_put ends; then all the energy accumulated on the charging capacitor is transferred to the energy transfer capacitor of the energy transfer module; after receiving the enable signal, the energy on the energy transfer capacitor is released at one time, and the laser emits a laser beam of the second transmission power. Based on the driving characteristics of the laser emitting device, △S is calculated according to the difference on the basis of the charging time S_last of the previous cycle, and based on the calculated charging time of the current cycle, the S_put required for the laser transceiver to emit the laser beam in the current emission cycle is further calculated. Using S_last to drive the laser emitting device can make the laser driving module respond quickly and realize rapid adjustment of the emission power.

[0102] In a possible implementation, the above S130, determining the difference information between the first echo signal and the second echo signal, includes the following scheme:

[0103] Acquire a first signal curve of a first echo signal;

[0104] Acquire a second signal curve of a second echo signal;

[0105] An energy difference between the echo energy of the first echo signal and the echo energy of the second echo signal is determined according to the first signal curve and the second signal curve to obtain difference information.

[0106] After the laser beam is reflected by the first mark, it returns to the first reflected beam. After the first reflected beam is received by the laser receiving device, it undergoes photoelectric conversion and is converted into a first echo signal. The first echo signal curve is a curve of voltage variation over time, which can be represented by a function. The horizontal axis of the first echo signal curve is time and the vertical axis is voltage. Similarly, after the laser beam is reflected by the second mark, it returns to the second reflected beam. After the second reflected beam is received by the laser receiving device, it undergoes photoelectric conversion and is converted into a second echo signal. The second echo signal curve is also a curve of voltage variation over time, which can be represented by a function.

[0107] Since the emitted laser beam is pulsed, the received reflected beam is also pulsed, and the pulse width is wider than the emitted laser beam. The echo energy of the first echo signal is obtained by integrating the function corresponding to the first echo signal, that is, calculating the area of ​​the enclosed area between the first signal curve and the horizontal coordinate; similarly, the echo energy of the second echo signal is obtained by integrating the function corresponding to the first echo signal, which is the area of ​​the enclosed area between the second signal curve and the horizontal coordinate. .

[0108] The echo energy of the first echo signal is subtracted from the echo energy of the second echo signal to calculate the energy difference between the echo energy of the first echo signal and the echo energy of the second echo signal, and the energy difference is the difference information between the first echo signal and the second echo signal. Calculating the energy difference as the difference information can eliminate the background noise in the echo signal and reduce the impact of ambient light changes on the echo energy, thereby avoiding affecting the self-correction judgment and adjustment amount.

[0109] In addition, by establishing the first signal curve, the echo energy change of the first echo signal can be visualized, and by establishing the second signal curve, the echo energy change of the second echo signal can be visualized. By combining the first signal curve and the second signal curve, the difference information between the first echo signal and the second echo signal can be intuitively seen.

[0110] In a possible implementation, the above S120, obtaining a first echo signal of the laser beam reflected by the first marker, and a second echo signal of the laser beam reflected by the second marker, includes the following scheme:

[0111] Determining whether the laser beam is directed toward the first mark and / or the second mark;

[0112] When the laser beam is directed toward the first mark and the second mark, a first signal analysis area corresponding to the first mark and a second signal analysis area corresponding to the second mark are determined;

[0113] Acquire a reflection signal of a laser beam received by a laser transceiver in a first signal analysis area to obtain a first echo signal;

[0114] A reflected signal of the laser beam received by the laser transceiver in the second signal analysis area is obtained to obtain a second echo signal.

[0115] The laser radar is equipped with a clock module inside, and the laser beams are emitted in sequence, and each laser beam has a corresponding timestamp. Taking a laser beam L1 in the working process of the laser transceiver as an example, the laser beam L1 has a corresponding analysis area. The starting time of the analysis area is the emission time of the laser beam L1, and the duration of the analysis area is greater than or equal to the longest distance flight time of the laser beam L1. The reception time of the reflected beam R1 corresponding to the laser beam L1 falls within the analysis area.

[0116] The positions of the first identifier and the second identifier in the field of view are known. Based on the known position information, the corresponding sub-area and the emission timestamp of the laser beam are determined, thereby determining the corresponding analysis area. Specifically, the first identifier corresponds to sub-area i (for example, the mth row and the nth column, where m and n are both positive integers) in the field of view. The i-th laser beam emitted in the detection cycle corresponds to scanning the sub-area i. The emission time and duration of the i-th laser beam are obtained, and the first signal analysis area corresponding to the first identifier can be determined. Wherein, 1≤i≤k, i is an integer, and k is the number of laser beams emitted in one detection cycle. The method for determining the second signal analysis area corresponding to the second identifier is similar and will not be repeated here.

[0117] The laser transceiver emits laser beams in a time sequence during the detection period, and the laser transceiver also continuously receives reflected beams. Since the distances of the objects to be measured in the field of view are different and the flight times of photons are different, the reflected beams in the detection period are not received in sequence according to the emission sequence. Therefore, according to the first signal analysis area corresponding to the first identifier and the second signal analysis area corresponding to the second identifier, the first echo signal and the second echo signal can be accurately obtained in the corresponding time period.

[0118] In a possible implementation, the above-mentioned determination of whether the laser beam is directed toward the first mark and / or the second mark includes the following schemes:

[0119] Determine the emission angle of the laser beam emitted by the laser transceiver;

[0120] It is determined whether the emission angle matches within the specific field of view angle range corresponding to the first mark and the second mark. If so, it is determined that the laser beam is emitted to the first mark and / or the second mark.

[0121] The laser transceiver device emits laser beams in a time sequence to scan the field of view area in sequence during a detection cycle, and one laser beam corresponds to a sub-area in the scanned field of view area. The detection cycle includes multiple emission cycles, and at least one laser beam is emitted during each emission cycle. For a laser radar with a scanning device, the laser beam emitted by the laser transceiver device is directed to the measured area through the scanning device to achieve scanning. During a detection cycle, the laser beam emitted in a time sequence is deflected by the scanning device and then emitted outward at the corresponding field of view angle, and is directed to a sub-area in the field of view area.

[0122] The positions of the first mark and the second mark in the field of view area are known. According to the known position information, the specific field of view angle range corresponding to the first mark and the second mark is determined, thereby comparing the field of view angle of the laser beam emitted by the laser transceiver with the specific field of view angle range. If the field of view angle is within the specific field of view angle range, it is determined that the laser beam is directed to the first mark and / or the second mark. Usually, a laser beam is only directed to one mark. When the first mark and the second mark are connected, it is possible that a laser beam is directed to the position where the two marks are connected. Specifically, the field of view area of ​​the laser transceiver covers a field of view angle of -12° to 12° in the horizontal direction and -11° to 11° in the vertical direction, wherein the specific field of view angle range corresponding to the first mark is -12° to -11° in the horizontal direction and 10° to 11° in the vertical direction; the exit angle of the laser beam L1 after deflection by the scanning device is -12° in the horizontal direction and -11° in the vertical direction. The exit angle of the laser beam L1 is within the specific field of view angle range, and it is determined that the laser beam L1 is directed to the first mark. Similarly, the method for determining whether to shoot at the second marker is similar and will not be repeated here.

[0123] Through the correspondence between the emission angle and the field of view angle, it is possible to directly determine whether the currently emitted laser beam is directed to the first mark and / or the second mark. If so, the first signal analysis area or the second signal analysis area is further determined according to the timestamp of the currently emitted laser beam, and the first echo signal and the second echo signal are accurately obtained.

[0124] As can be seen from the above, the laser beam is emitted outwards through the window piece toward the field of view, and the size of the window piece is generally matched with the size of the field of view. In order to make full use of the light-transmitting area of ​​the window piece, the field of view formed by the laser beam emitted by the laser transceiver device after being deflected by the scanning device will be slightly larger than the light-transmitting area of ​​the window piece, that is, a small part of the laser beam falls on the edge area of ​​the window piece, or even falls on the inner wall of the shell surrounding the window piece. Therefore, this is also the reason why the first mark and the second mark are set on the inner wall around the window piece in this application, so as to combine the physical structure with the software method to realize the self-correction of the laser radar.

[0125] In a possible implementation, the above-mentioned determination of the emission angle of the laser beam emitted by the laser transceiver device includes the following scheme:

[0126] Obtaining the pitch angle and yaw angle of the scanning device;

[0127] Determine the vertical emission angle in the emission angle according to the pitch angle;

[0128] The horizontal emission angle among the emission angles is determined according to the yaw angle.

[0129] Since the laser beam is emitted outward through the window after passing through the scanning device. In the laser radar using the galvanometer as the scanning device, the laser beam emitted by the laser transceiver is deflected by the galvanometer and then emitted outward at a certain emission angle, which includes the vertical emission angle and the horizontal emission angle. The principle of the galvanometer reflecting the laser beam to change the field of view of the laser beam is that when the galvanometer vibrates, there is a pitch angle and a yaw angle, which change periodically. The pitch angle determines the vertical scanning angle of the laser beam, that is, the vertical emission angle, and the yaw angle determines the horizontal scanning angle of the laser beam, that is, the horizontal emission angle. The pitch angle of the galvanometer corresponds to the vertical emission angle, and the yaw angle of the galvanometer corresponds to the horizontal emission angle. Based on the feedback signal of the galvanometer, the pitch angle and yaw angle of the galvanometer can be obtained, thereby obtaining the corresponding vertical emission angle and horizontal emission angle of the laser beam.

[0130] The embodiment of the present application uses the above-mentioned self-calibration method of the laser radar, and the specific effects are as follows:

[0131] 1. As the usage time of the laser radar increases, the life of the laser transceiver gradually decreases, and the energy of the laser beam emitted by the laser in the laser transceiver will produce a certain energy attenuation, resulting in a decrease in the ranging capability of the laser beam under the same transmission power. The present application will embed a real-time automatic calibration device for the transmission power of the self-correction method of the laser radar into the laser radar. The laser radar will recalibrate or adjust the transmission power of the laser beam emitted by the laser transceiver in a certain usage cycle to meet the ranging requirements.

[0132] 2. The present application integrates the above-mentioned self-calibration method of the laser radar into the laser radar system in the form of software, eliminating the step of setting up a special laser beam emission power calibration station, does not require specific calibration equipment, is not restricted by the site, and does not need to be returned to the factory for processing.

[0133] 3. In the prior art, when the laser radar is in the testing phase, it is inevitable to repeat the operation of the laser radar transmission power calibration link, and the data needs to be reprocessed after each calibration. However, this application is suitable for the testing phase of the laser radar, can adapt to the laser radar transmission power calibration in different environments, and store and compare the data, which is convenient for self-checking when an error warning is generated.

[0134] 4. This application adopts a new method of real-time automatic calibration of transmission power, designs a control system model, and standardizes and systematizes the adjustment parameters of transmission power. Compared with the traditional method of measuring with a power meter and collecting reflectivity data, the data collected by the technical solution of this application is stable, and by adjusting the dynamic parameters and drawing curves, the variables can be visualized.

[0135] The following is an embodiment of a laser radar provided in an embodiment of the present application.

[0136] like Figure 2 As shown, a laser radar provided in an embodiment of the present application includes a laser transceiver, a scanning device 4, a window sheet 7 and a parameter correction module. Among them:

[0137] like Figure 3 As shown, Figure 3 The plan view of the window piece is shown. The first mark 5 and the second mark 8 are arranged on the inner wall of the peripheral side of the window piece 7. The position of the first mark 5 is different from the position of the second mark 8, and the reflectivity of the first mark 5 is different from the reflectivity of the second mark 8. The first mark 5 and the second mark 8 reflect the laser beam generated by the laser transceiver. Among them, the window piece 7 has a window area and a non-window area arranged around the window area; the window area is used to allow the laser beam and the reflected beam to pass through to detect the field of view area; the non-window area is usually the area where the window piece 7 is connected to the radar shell, which cannot be light-transmitting. The first mark 5 and the second mark 8 are usually arranged in the non-window area, that is, on the inner wall of the peripheral side of the window piece 7.

[0138] The laser transceiver device includes a laser receiver 1, a laser transmitter 2, an optical device 3 and a folding mirror 6; the laser transmitter 2 includes a laser and a laser driving module. The laser transceiver device is used to emit a laser beam, and obtain a first echo signal of the laser beam reflected by the first mark 5, and a second echo signal of the laser beam reflected by the second mark 8.

[0139] The parameter correction module is used to determine the difference information between the first echo signal and the second echo signal, and determine the working parameters of the laser transceiver device according to the difference information and preset difference information.

[0140] The working principle of LiDAR to adjust the working parameters of the laser transceiver is as follows:

[0141] The laser radar has a self-calibration function. During actual use, the laser radar calibrates the working parameters of the laser transceiver once every certain period of time to ensure the reliability of the laser radar and improve the detection accuracy and ranging capability. Among them, the calibration of the working parameters of the laser transceiver can also be understood as the calibration of the working parameters of the laser transceiver.

[0142] After the self-correction function of the laser radar is triggered, the laser emitting device emits a laser beam, that is, the laser driving module drives the laser to emit a laser beam, and the laser beam is output to the reflecting mirror 6 through the optical device 3. The laser beam is reflected by the reflecting mirror 6 to the scanning device 4. After passing through the scanning device 4, the laser beam will reach the window plate 7. Most of the laser beam reaching the window plate 7 will be emitted into the external environment through the window plate 7. The laser beam at the edge of the field of view will be reflected by the first marker 5 and the second marker 8. The laser receiving device can obtain the first echo signal of the laser beam reflected by the first marker 5 and the second echo signal of the laser beam reflected by the second marker 8.

[0143] After the laser receiving device obtains the first echo signal and the second echo signal, the parameter correction module calculates the difference information between the first echo signal and the second echo signal, and then compares the obtained difference information with the preset difference information, wherein the preset difference information is used as a basis for judging whether to adjust the working parameters of the laser transceiver. Since the laser transceiver is the main part of the active device used for detection at the front end of the laser radar, the working parameters of the laser transceiver can also be understood as the working parameters of the laser radar.

[0144] According to the comparison result, if the difference between the obtained difference information and the preset difference information is small, it means that the detection accuracy and ranging capability of the laser radar are normal, and the working parameters of the laser transceiver do not need to be adjusted; according to the comparison result, if the difference between the obtained difference information and the preset difference information is large, it means that the detection accuracy and ranging capability of the laser radar have decreased, then the working parameters of the laser transceiver are adjusted, so as to adjust the detection accuracy and ranging capability of the laser radar to restore it to the initial state, that is, to adjust the detection accuracy and ranging capability of the laser radar put into use to be consistent with the factory state, to avoid different detection results of the same scene caused by fluctuations, and to realize the self-correction of the working parameters of the laser transceiver. The correction work does not require manual participation, nor does it require specific correction equipment, which simplifies the correction process of the working parameters of the laser transceiver, and is conducive to improving the efficiency of the correction work. Among them, the adjusted working parameters can be transmission parameters or receiving parameters. The transmission parameters and receiving parameters are adjusted, that is, the correction of the transmission parameters and receiving parameters is realized. By correcting the transmission parameters, the transmission power can be corrected, and by correcting the receiving parameters, the receiving conversion efficiency can be corrected, so that the amplitude of the echo signal can be restored to the initial state. In addition, the bias voltage of the laser transceiver can also be adjusted, but after the bias voltage is adjusted, it will also affect other quantities on the receiving link, such as the leading signal, etc. Therefore, the present application preferably calibrates the transmission power of the laser transceiver.

[0145] Figure 4The internal structure block diagram of the laser radar provided in the embodiment of the present application is shown as follows: Figure 4 As shown, the parameter correction module includes: an angle acquisition module, a signal extraction module, an energy difference calculation module, an energy difference setting module and a transmission power control module. The parameter correction module specifically implements the process of adjusting the working parameters of the laser transceiver as follows:

[0146] The working parameters of the laser transceiver device include the emission power of the laser beam emitted by the laser emitting device. The laser emitting device emits a laser beam of a first emission power according to a preset timing. After the laser beam of the first emission power passes through the scanning device 4 (galvanometer), the galvanometer reflects the laser beam, and the scanning device 4 outputs the laser beam to the window piece 7. When the galvanometer reflects the laser beam, the angle acquisition module can identify the pitch angle and yaw angle of the galvanometer when reflecting the laser beam. Since the pitch angle of the galvanometer corresponds to the vertical emission angle, and the yaw angle of the galvanometer corresponds to the horizontal emission angle, the angle acquisition module can identify the pitch angle and yaw angle of the galvanometer, and then obtain the corresponding vertical emission angle and horizontal emission angle of the laser beam according to the corresponding relationship, that is, obtain the emission angle of the laser beam, and then judge whether the laser beam is emitted to the first mark 5 and / or the second mark 8 according to the emission angle of the laser beam, that is, judge whether the emission angle of the laser beam matches the specific field of view angle range corresponding to the first mark 5 and the second mark 8. If so, it is determined that the laser beam is emitted to the first mark 5 and / or the second mark 8, and then the angle acquisition module sends the judgment result that the laser beam is emitted to the first mark 5 and the second mark 8 to the signal extraction module.

[0147] After the signal extraction module receives the judgment result sent by the angle acquisition module, it determines the first signal analysis area corresponding to the first identifier 5 and the second signal analysis area corresponding to the second identifier 8, and then obtains the reflection signal of the laser beam received by the laser transceiver in the first signal analysis area to obtain the first echo signal, and obtains the reflection signal of the laser beam received by the laser transceiver in the second signal analysis area to obtain the second echo signal, thereby obtaining the first echo signal of the laser beam reflected by the first identifier 5 and the second echo signal of the laser beam reflected by the second identifier 8. After the signal extraction module obtains the first echo signal and the second echo signal, it obtains the first signal curve and the second signal curve. Both the first signal curve and the second signal curve are curves of voltage variation over time, which can be expressed by functions, and the area of ​​the enclosed area between the first signal curve and the horizontal coordinate is calculated to obtain the echo energy of the first echo signal, and the area of ​​the enclosed area between the second signal curve and the horizontal coordinate is calculated to obtain the echo energy of the second echo signal, and then the echo energy of the first echo signal and the echo energy of the second echo signal are sent to the energy difference calculation module.

[0148] After receiving the echo energy of the first echo signal and the echo energy of the second echo signal sent by the signal extraction module, the energy difference calculation module calculates the energy difference between the echo energy of the first echo signal and the echo energy of the second echo signal, compares the energy difference with the preset energy difference sent by the energy difference setting module, and determines whether the difference between the energy difference and the preset energy difference is greater than or equal to the preset value. If the difference is greater than or equal to the preset value, the judgment result that the difference is greater than or equal to the preset value and the difference are sent to the transmission power control module. The preset energy difference is stored in the energy difference setting module, which is set in advance according to the scene requirements, and the required transmission power of the laser beam is transmitted to the first mark 5 and the second mark 8 of known reflectivity, and the theoretical energy difference between the echo signals of the laser beam reflected by the first mark 5 and the second mark 8 is obtained, and the theoretical energy difference is used as the preset energy difference.

[0149] After receiving the judgment result and difference value sent by the energy difference calculation module, the transmission power control module obtains S_last of the laser beam of the first transmission power emitted by the laser emitting device in the previous transmission cycle, and calculates ΔS based on the calculation formula of ΔS, that is, ΔS=(J*KP+J*KI+J*KD)*EC. After obtaining ΔS, the S_put required for the laser emitting device to emit a laser beam of the second transmission power in the current transmission cycle is calculated based on S_last and ΔS, that is, S_put=S_last+ΔS.

[0150] After the transmission power control module calculates S_put, it uses S_put to drive the laser driving module, and the laser driving module drives the laser to emit a laser beam of the second transmission power, thereby quickly adjusting the first transmission power of the laser beam emitted by the laser transceiver to the second transmission power.

[0151] After the laser emitting device emits a laser beam of the second transmitting power, the process is repeated in which the laser transceiver device emits a laser beam of the first transmitting power to the energy difference calculation module to calculate and determine whether the difference between the energy difference and the preset energy difference is greater than or equal to the preset value. If the difference is less than the preset value, it means that the detection accuracy and ranging capability of the laser radar have been restored to the initial state, and the transmitting power will no longer be adjusted, and the adaptive adjustment process is exited, and the adjusted transmitting power is maintained to continue working.

[0152] If the difference is still large, for example, greater than or equal to the preset value, the above-mentioned repeated process is continued until the difference is less than the preset value.

[0153] Through the above-mentioned iterative method, the transmission power of the laser emitting device is continuously adjusted until the transmission power of the adjusted laser beam can compensate for the deviation caused by the performance attenuation of the laser transceiver device, and the difference between the difference information of the two echo signals and the preset difference information meets the preset value, thereby restoring the detection accuracy and ranging capability of the laser radar to the initial state.

[0154] If the difference is less than the preset value, it means that the detection accuracy and ranging capability of the laser radar remain in the initial state, and there is no need to adjust the transmission power of the laser beam emitted by the laser emitting device. In this case, the laser emitting device continues to be controlled to emit a laser beam with the first transmission power, and the adaptive adjustment process is exited.

[0155] The laser radar provided in the present application can realize self-calibration of the working parameters of the laser radar, so that the detection accuracy and ranging capability of the laser radar can be maintained in the initial state. The calibration work does not require human participation or specific calibration equipment, which simplifies the calibration process of the working parameters and is conducive to improving the efficiency of the calibration work.

[0156] In a possible implementation, the first mark 5 is coated with a reflective material, and the reflectivity of the reflective material is different from the reflectivity of the inner wall around the window sheet 7, and the reflectivity of the second mark 8 is the same as the reflectivity of the inner wall around the window sheet 7. For example, a specific position of the inner wall around the window sheet 7 is selected as the second mark 8, that is, after the first mark 5 is coated with the reflective material, the reflectivity of the first mark 5 is different from the reflectivity of the second mark 8, so that the first mark 5 and the second mark 8 can reflect the laser beam and distinguish the echo signal of the reflected laser beam. Alternatively, the first mark 5 is coated with a first reflective material, and the second mark 8 is coated with a second reflective material, and the reflectivity of the first reflective material is different from the reflectivity of the second reflective material, that is, because the reflectivity of the first reflective material coated on the first mark 5 is different from the reflectivity of the second reflective material coated on the second mark 8, the reflectivity of the first mark 5 is different from the reflectivity of the second mark 8, so that the first mark 5 and the second mark 8 can reflect the laser beam and distinguish the echo signal of the reflected laser beam.

[0157] In one possible implementation, Figure 2As shown, the laser transceiver includes multiple, multiple identification combinations are arranged on the inner wall of the window sheet 7, each identification combination includes a first identification 5 and a second identification 8, and each laser transceiver corresponds to an identification combination. By setting multiple laser transceivers, each laser transceiver is set at a different position, the emission angle of the laser beam emitted by the laser radar can be expanded, thereby expanding the detection range of the laser radar. Among them, each laser transceiver corresponds to an identification combination, that is, the laser beam emitted by each laser transceiver will be emitted to its corresponding identification, and the adjustment method of the working parameters of each laser transceiver is similar, that is, for each laser transceiver, after the laser transceiver emits the laser beam, the first echo signal of the laser beam reflected by the first identification 5 and the second echo signal of the laser beam reflected by the second identification 8 are obtained, and the parameter correction module determines the difference information between the first echo signal and the second echo signal, and determines the working parameters of the laser transceiver according to the difference information and the preset difference information. Since the devices in each channel are operated separately, their aging states are different, and each channel uses the above-mentioned adjustment method to calibrate the working parameters.

[0158] In a possible implementation, for each mark combination, the first mark 5 is disposed near the first edge of the inner wall of the window sheet 7, and the second mark 8 is disposed near the second edge of the inner wall of the window sheet 7, and the first edge is opposite to the second edge. Figure 5 As shown, Figure 5 An exemplary schematic diagram of setting a first identifier and a second identifier is shown. Figure 5 The left figure in FIG. 1 shows the arrangement of the first mark 5 and the second mark 8 in a single mark combination. Figure 5 The right figure in the figure shows the arrangement of the first mark 5 and the second mark 8 in the combination of multiple marks. The first mark 5 and the second mark 8 belong to the double edge arrangement of the inner wall around the window piece 7. For a laser radar with multiple channels arranged in the horizontal direction, the sub-field of view covered by each channel is also arranged in the horizontal direction. In this arrangement, the sub-field of view of each channel can cover the corresponding first mark 5 and the second mark 8, and the arrangement is simple.

[0159] In a possible implementation, for each logo combination, the first logo 5 and the second logo 8 are both disposed close to a single edge of the inner wall of the window sheet 7, with a gap between the first logo 5 and the second logo 8, and the first logo 5 and the second logo 8 are parallel to each other. Figure 6 As shown, Figure 6 Another exemplary schematic diagram of setting the first identifier and the second identifier is shown, Figure 6 The left figure in FIG. 1 shows the arrangement of the first mark 5 and the second mark 8 in a single mark combination. Figure 6The right figure in the figure shows the arrangement of the first mark 5 and the second mark 8 in the combination of multiple marks, and the first mark 5 and the second mark 8 belong to a single edge arrangement of the inner wall of the peripheral side of the window sheet 7. As mentioned above, in this arrangement, the sub-field range of each channel can cover the corresponding first mark 5 and the second mark 8, and the arrangement is simple.

[0160] In a possible implementation, for each logo combination, the first logo 5 and the second logo 8 are both disposed close to a single edge of the inner wall of the window sheet 7, the first logo 5 and the second logo 8 are located on the same horizontal line, and the first logo 5 and the second logo 8 are symmetrical. Figure 7 As shown, Figure 7 Another exemplary schematic diagram of setting the first identifier and the second identifier is shown. Figure 7 The left figure in FIG. 1 shows the arrangement of the first mark 5 and the second mark 8 in a single mark combination. Figure 7 The right figure in FIG. 1 shows the arrangement of the first mark 5 and the second mark 8 in the plurality of mark combinations. The first mark 5 and the second mark 8 belong to another arrangement of the single edge of the inner wall of the window sheet 7. Figure 7 The setting method of the identification combination shown in the right figure is still applicable to the aforementioned laser radar with multiple channels arranged in the horizontal direction, and each channel corresponds to a identification combination. Figure 7 As shown in the left figure, the channels of the first mark 5 and the second mark 8 of the sub-field of view range covering the mark combination can be self-calibrated, for example, the channel located in the middle position.

[0161] like Figure 5-Figure 7 As shown, each identification combination has a different setting method, that is, each identification combination can be flexibly set on the inner wall around the window piece 7. No matter how it is set, it is only necessary to keep the reflectivity of the first identification 5 and the second identification 8 different. The laser beam can be reflected by the first identification 5 and the second identification 8, thereby realizing the calibration of the working parameters of the laser transceiver device. The working parameters of the laser transceiver device can be flexibly calibrated, which improves the feasibility of automatic calibration.

[0162] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0163] Figure 8 FIG. 1 is a schematic diagram showing the structure of a self-calibration device for a laser radar provided in an embodiment of the present application. Figure 8As shown, the embodiment of the present application provides a self-calibration device of a laser radar, which is configured in the laser radar. The laser radar includes a laser transceiver and a window sheet. A first mark and a second mark are arranged on the inner wall of the peripheral side of the window sheet. The position of the first mark is different from the position of the second mark. The reflectivity of the first mark and the second mark is different. The self-calibration device 800 of the laser radar includes:

[0164] The laser emitting module 810 is used to control the laser transceiver to emit a laser beam;

[0165] The echo acquisition module 820 is used to acquire a first echo signal of the laser beam reflected by the first marker and a second echo signal of the laser beam reflected by the second marker;

[0166] A difference calculation module 830, configured to determine difference information between the first echo signal and the second echo signal;

[0167] The parameter adjustment module 880 is used to determine the working parameters of the laser transceiver according to the difference information and the preset difference information.

[0168] In a possible implementation, the operating parameter includes the transmission power of the laser beam transmitted by the laser transceiver;

[0169] The laser emitting module 810 is specifically used to control the laser emitting device to emit a laser beam with a first emitting power;

[0170] The parameter adjustment module 880 includes:

[0171] a difference calculation unit, used to determine the difference between the difference information and the preset difference information;

[0172] A first control unit, configured to control the laser emitting device to emit a laser beam of a second emission power according to the difference when the difference is greater than or equal to a preset value;

[0173] The second control unit is used to return to the step of obtaining the first echo signal of the laser beam reflected by the first marker and the second echo signal of the laser beam reflected by the second marker until the difference is less than a preset value.

[0174] In a possible implementation, the first control unit includes:

[0175] A time acquisition subunit, used to obtain a first transmission power charging time when the laser transceiver device transmits the laser beam of the first transmission power in the previous transmission cycle;

[0176] A first calculation subunit, used to determine a transmission power charging change time according to the difference;

[0177] A second calculation subunit is used to determine, according to the first transmission power charging time and the transmission power charging change time, a second transmission power charging time required for the laser transceiver device to transmit the laser beam of the second transmission power in the current transmission cycle;

[0178] The driving subunit is used to drive the laser transceiver device using the second transmission power charging time, so that the laser transceiver device transmits the laser beam of the second transmission power.

[0179] In a possible implementation, the difference calculation module 830 includes:

[0180] a curve acquisition unit, configured to acquire a first signal curve of the first echo signal, and acquire a second signal curve of the second echo signal;

[0181] A difference calculation unit is used to determine the energy difference between the echo energy of the first echo signal and the echo energy of the second echo signal according to the first signal curve and the second signal curve to obtain the difference information.

[0182] In a possible implementation, the echo acquisition module 820 includes:

[0183] an area determination unit, used for determining whether the laser beam is directed toward the first mark and / or the second mark;

[0184] a time period acquisition unit, configured to determine a first signal analysis area corresponding to the first identifier and a second signal analysis area corresponding to the second identifier when the laser beam is directed to the first identifier and the second identifier;

[0185] A first signal acquisition unit, configured to acquire a reflection signal of the laser beam received by the laser transceiver in the first signal analysis area, to obtain the first echo signal;

[0186] The second signal acquisition unit is used to acquire the reflection signal of the laser beam received by the laser transceiver device in the second signal analysis area to obtain the second echo signal.

[0187] In a possible implementation, the region determination unit includes:

[0188] An emission angle acquisition subunit, used to determine the emission angle of the laser beam emitted by the laser transceiver;

[0189] The area judgment subunit is used to judge whether the emission angle matches within the specific field of view angle range corresponding to the first mark and the second mark. If so, it is determined that the laser beam is emitted to the first mark and / or the second mark.

[0190] In a possible implementation, the laser radar also includes a scanning device, and the emission angle acquisition subunit is specifically used to obtain the pitch angle and yaw angle of the scanning device; determine the vertical emission angle among the emission angles according to the pitch angle; and determine the horizontal emission angle among the emission angles according to the yaw angle.

[0191] It should be noted that the self-calibration device of the laser radar provided in the above embodiment only uses the division of the above-mentioned functional modules as an example when executing the self-calibration method of the laser radar. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the self-calibration device of the laser radar provided in the above embodiment and the embodiment of the self-calibration method of the laser radar belong to the same concept. Therefore, for details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the self-calibration method of the laser radar mentioned above in the present application, which will not be repeated here.

[0192] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0193] Fig. 9 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown.

[0194] For example, Fig. 9 As shown, the electronic device 900 includes: a memory 901, a processor 902 and a laser radar 903, wherein the memory 901 stores an executable program code 9011, and the processor 902 is used to call and execute the executable program code 9011 to perform a self-correction method of a laser radar.

[0195] In this embodiment, the electronic device can be divided into functional modules according to the above method example. For example, each functional module can be corresponded to, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0196] In the case of dividing each functional module according to each function, the electronic device may include: a laser emission module, an echo acquisition module, a difference calculation module, a parameter adjustment module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0197] The electronic device provided in this embodiment is used to execute the above-mentioned self-correction method of a laser radar, and thus can achieve the same effect as the above-mentioned implementation method.

[0198] In the case of an integrated unit, the electronic device may include a processing module and a storage module. The processing module may be used to control and manage the actions of the electronic device. The storage module may be used to support the electronic device in executing mutual program codes and data.

[0199] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0200] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a self-correction method of a laser radar in the above-mentioned embodiment.

[0201] This embodiment also provides a computer program product. When the computer program product runs on a computer, it enables the computer to execute the above-mentioned related steps to implement a self-correction method of a laser radar in the above-mentioned embodiment.

[0202] In addition, the electronic device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the electronic device may include a connected processor and a memory; wherein the memory is used to store instructions, and when the electronic device is running, the processor may call and execute instructions so that the chip executes a self-correction method of a laser radar in the above-mentioned embodiment.

[0203] Among them, the electronic device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here.

[0204] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0205] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0206] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A self-calibration method for a laser radar, characterized in that: Applied to a laser radar, the laser radar comprises a laser transceiver and a window sheet, a first mark and a second mark are arranged on the inner wall of the peripheral side of the window sheet, the position of the first mark is different from the position of the second mark, and the reflectivity of the first mark and the second mark is different; The self-correction method comprises: Controlling the laser transceiver to emit a laser beam; Acquire a first echo signal of the laser beam reflected by the first marker, and a second echo signal of the laser beam reflected by the second marker; determining difference information between the first echo signal and the second echo signal; The operating parameters of the laser transceiver are determined according to the difference information and the preset difference information.

2. The self-calibration method according to claim 1, characterized in that: The working parameters include the transmission power of the laser beam transmitted by the laser transceiver; The step of controlling the laser transceiver to emit a laser beam comprises: Controlling the laser emitting device to emit a laser beam with a first emitting power; The determining the working parameters of the laser transceiver device according to the difference information and the preset difference information includes: Determining the difference between the difference information and the preset difference information; When the difference is greater than or equal to a preset value, controlling the laser emitting device to emit a laser beam of a second emission power according to the difference; Return to the step of acquiring a first echo signal of the laser beam reflected by the first marker and a second echo signal of the laser beam reflected by the second marker until the difference is less than a preset value.

3. The self-calibration method according to claim 2, characterized in that: The step of controlling the laser emitting device to emit a laser beam with a second emission power according to the difference comprises: Obtaining a first transmission power charging time during which the laser transceiver device transmits a laser beam with the first transmission power in a previous transmission cycle; Determine the transmission power charging change time according to the difference; Determine, according to the first transmission power charging time and the transmission power charging change time, a second transmission power charging time required for the laser transceiver device to transmit the laser beam of the second transmission power in the current transmission cycle; The laser transceiver device is driven by the second transmission power charging time so that the laser transceiver device transmits a laser beam of the second transmission power.

4. The self-calibration method according to claim 1, characterized in that: The determining difference information between the first echo signal and the second echo signal includes: Acquire a first signal curve of the first echo signal; Acquire a second signal curve of the second echo signal; An energy difference between the echo energy of the first echo signal and the echo energy of the second echo signal is determined according to the first signal curve and the second signal curve to obtain the difference information.

5. The self-calibration method according to any one of claims 1 to 4, characterized in that: The acquiring of a first echo signal of the laser beam reflected by the first marker and a second echo signal of the laser beam reflected by the second marker comprises: Determining whether the laser beam is directed toward the first mark and / or the second mark; When the laser beam is directed toward the first mark and the second mark, a first signal analysis area corresponding to the first mark and a second signal analysis area corresponding to the second mark are determined; Acquire a reflection signal of the laser beam received by the laser transceiver in the first signal analysis area to obtain the first echo signal; A reflection signal of the laser beam received by the laser transceiver in the second signal analysis area is obtained to obtain the second echo signal.

6. The self-calibration method according to claim 5, characterized in that: The determining whether the laser beam is directed toward the first mark and / or the second mark includes: Determining the emission angle of the laser beam emitted by the laser transceiver; It is determined whether the emission angle matches within the specific field of view angle range corresponding to the first mark and the second mark. If so, it is determined that the laser beam is emitted to the first mark and / or the second mark.

7. The self-calibration method according to claim 6, characterized in that: The laser radar also includes a scanning device; The step of determining the emission angle of the laser beam emitted by the laser transceiver device comprises: Acquiring the pitch angle and yaw angle of the scanning device; Determine a vertical emission angle among the emission angles according to the pitch angle; A horizontal emission angle among the emission angles is determined according to the yaw angle.

8. A laser radar, characterized in that: The laser radar comprises: A window sheet, wherein a first mark and a second mark are arranged on the inner wall of the peripheral side of the window sheet, the position of the first mark is different from the position of the second mark, and the reflectivity of the first mark and the reflectivity of the second mark are different; a laser transceiver, configured to emit a laser beam, and obtain a first echo signal of the laser beam reflected by the first marker, and a second echo signal of the laser beam reflected by the second marker; The parameter correction module is used to determine the difference information between the first echo signal and the second echo signal, and determine the working parameters of the laser transceiver device according to the difference information and preset difference information.

9. The laser radar according to claim 8, characterized in that: A reflective material is applied on the first mark, and the reflectivity of the reflective material is different from the reflectivity of the inner wall of the window piece; Alternatively, a first reflective material is applied on the first mark, and a second reflective material is applied on the second mark, and the reflectivity of the first reflective material is different from the reflectivity of the second reflective material.

10. The laser radar according to claim 8 or 9, characterized in that: The laser transceiver device includes a plurality of devices, and a plurality of identification combinations are arranged on the inner wall. Each of the identification combinations includes the first identification and the second identification, and each of the laser transceiver device corresponds to one identification combination.

11. The laser radar according to claim 10, characterized in that: For each of the mark combinations, the first mark is disposed near a first edge of the inner wall of the window sheet, and the second mark is disposed near a second edge of the inner wall of the window sheet, and the first edge is opposite to the second edge.

12. The laser radar according to claim 10, characterized in that: For each of the identification combinations, the first identification and the second identification are both arranged close to a single-side edge of the inner wall of the peripheral side of the window sheet, there is a gap between the first identification and the second identification, and the first identification and the second identification are parallel to each other.

13. The laser radar according to claim 10, characterized in that: For each of the logo combinations, the first logo and the second logo are both arranged close to a single-side edge of the inner wall of the peripheral side of the window sheet, the first logo and the second logo are located on the same horizontal line, and the first logo and the second logo are symmetrical.

14. A self-calibration device for a laser radar, characterized in that: The laser radar includes a laser transceiver and a window sheet, and a first mark and a second mark are arranged on the inner wall of the peripheral side of the window sheet, the position of the first mark is different from the position of the second mark, and the reflectivity of the first mark and the second mark is different; The self-correction device of the laser radar comprises: A laser emission module, used to control the laser transceiver device to emit a laser beam; an echo acquisition module, configured to acquire a first echo signal of the laser beam reflected by the first marker, and a second echo signal of the laser beam reflected by the second marker; a difference calculation module, used to determine difference information between the first echo signal and the second echo signal; A parameter adjustment module is used to determine the working parameters of the laser transceiver device according to the difference information and preset difference information.

15. An electronic device, characterized in that: The electronic device comprises: A laser radar as claimed in any one of claims 8 to 13; A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the electronic device executes the method according to any one of claims 1 to 7.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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