Laser radar laser tube charging sequence switching method and device, and storage medium

Abstract

The invention discloses a laser radar laser tube charging sequence switching method and device and a storage medium, relates to the technical field of laser radars, and is applied to a charging circuit at least provided with a first charging channel and a second charging channel, and the method comprises the steps: setting a charging sequence array and charging control logic of a laser radar laser tube; receiving a charging enabling sequence switching signal of a laser tube of the laser radar; and according to the charging enabling sequence switching signal, the charging sequence array and the charging control logic, switching a charging sequence and a charging channel to charge the laser radar laser tube. According to the invention, through the preset charging sequence array and the charging control logic, the method can flexibly and dynamically adjust the charging sequence and select the charging channel according to the received charging enabling sequence switching signal, thereby ensuring that the laser radar laser tube can be charged under the optimal charging condition, improving the charging efficiency, and reducing the power consumption of the laser radar laser tube. And unnecessary energy loss and charging time are reduced.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and more specifically, to a laser radar laser tube charging sequence switching method, device and storage medium. Background Art

[0002] As a precise measurement and perception technology, LiDAR has been widely used in the fields of autonomous driving, drone mapping, industrial automation, etc. in recent years. LiDAR transmits laser pulses and receives reflected signals to accurately measure the distance, shape, position and other information of objects. The laser tube in LiDAR is one of its core components and plays a vital role in the performance and stability of LiDAR.

[0003] In the prior art, in a LiDAR system, in order to optimize the efficiency and performance of laser emission, the LiDAR can adopt different charging methods such as direct power supply from a DC battery, AC power conversion, capacitor charging or a boost converter according to different application scenarios.

[0004] However, the charging output mode of the existing laser tube charging solution is relatively simple, or the switching control method of the charging sequence is relatively complex, which cannot achieve fast channel selection and switching, and the configurability and flexibility of the charging sequence are poor, resulting in low efficiency of laser tube charging. Summary of the invention

[0005] In response to at least one defect or improvement need in the prior art, the present invention provides a lidar laser tube charging sequence switching method, device and storage medium, which are used to solve the problem that the charging output mode of the laser tube charging solution in the prior art is relatively single, or the switching control method of its charging sequence is relatively complex, and fast channel selection and switching cannot be achieved, and the configurability and flexibility of the charging sequence are poor, resulting in low efficiency of laser tube charging.

[0006] To achieve the above object, according to a first aspect of the present invention, a method for switching a laser radar laser tube charging sequence is provided, which is applied to a charging circuit having at least a first charging channel and a second charging channel, comprising:

[0007] Set up the charging sequence array and charging control logic for the LiDAR laser tube;

[0008] Receive a charging enable sequence switching signal of a laser radar laser tube;

[0009] The charging sequence and charging channel are switched according to the charging enable sequence switching signal, the charging sequence array and the charging control logic to charge the lidar laser tube.

[0010] In a possible implementation, the charging control logic includes: normally closing the second charging channel; opening the first charging channel when the charging enable sequence switching signal is at a high level; and closing the first charging channel when the charging enable sequence switching signal is at a low level.

[0011] In a possible implementation, the charging control logic further includes: normally closing the first charging channel; opening the second charging channel when the charging enable sequence switching signal is at a high level; and closing the second charging channel when the charging enable sequence switching signal is at a low level.

[0012] In a possible implementation, the charging control logic further includes:

[0013] When the charge enable sequence switching signal is at a high level, the first charging channel is turned on; when the charge enable sequence switching signal is at a low level, the first charging channel is turned off;

[0014] When a rising edge of the charging enable sequence switching signal occurs, the conduction state of the second charging channel is switched.

[0015] In a possible implementation, setting a charging sequence array of a lidar laser tube includes setting a start charging sequence and a stop charging sequence.

[0016] In a possible implementation, each group of charging sequences includes a cycle number threshold and a charging data sequence;

[0017] charging the laser radar tube from a starting charging sequence according to a charging enable sequence switching signal and a charging control logic;

[0018] When the charge enable sequence switching signal becomes a low level, it is determined whether the number of cycles of the current charge sequence reaches a corresponding cycle number threshold.

[0019] In a possible implementation, if the number of cycles of the current starting charging sequence reaches the corresponding cycle number threshold, when the charging enable sequence switching signal becomes a high level, the next charging sequence is switched to charge the lidar laser tube.

[0020] In one possible implementation, if the number of cycles of the current starting charging sequence does not reach the corresponding cycle number threshold, when the charging enable sequence switching signal becomes a high level, the lidar laser tube is charged with the current charging sequence.

[0021] According to a second aspect of the present invention, a laser radar laser tube charging sequence switching device is also provided, which includes at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit executes any step of the above-mentioned laser radar laser tube charging sequence switching method.

[0022] According to the third aspect of the present invention, a storage medium is also provided, which stores a computer program that can be executed by a laser radar laser tube charging sequence switching device. When the computer program is run on the laser radar laser tube charging sequence switching device, the laser radar laser tube charging sequence switching device executes the steps of any one of the above-mentioned laser radar laser tube charging sequence switching methods.

[0023] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0024] The present invention provides a LiDAR laser tube charging sequence switching method. Through a preset charging sequence array and charging control logic, the method can flexibly and dynamically adjust the charging sequence and select the charging channel according to the received charging enable sequence switching signal, thereby ensuring that the LiDAR laser tube can be charged under the optimal charging conditions, thereby improving the charging efficiency and reducing unnecessary energy loss and charging time; and the system adopts a multi-channel charging design. When one of the charging channels fails or its performance degrades, it can quickly switch to another backup channel to ensure that the LiDAR laser tube continues to obtain a stable charging current. This redundant design significantly enhances the reliability and stability of the system and reduces the risk of system downtime due to a single failure point. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of a flow chart of an embodiment of a method for switching a laser radar laser tube charging sequence provided by the present invention;

[0027] Figure 2 A timing diagram of an embodiment of charging of the first charging control logic of the laser tube provided by the present invention;

[0028] Figure 3 A schematic diagram of an arrangement of an embodiment of a charging sequence array of a laser radar laser tube provided by the present invention;

[0029] Figure 4 A schematic diagram of the structure of a laser radar laser tube charging sequence switching device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] The terms "first", "second", "third", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0032] The present invention provides a laser radar laser tube charging sequence switching method, device and storage medium, which are described below respectively.

[0033] See also Figure 1 , Figure 1 A schematic flow chart of an embodiment of a laser radar laser tube charging sequence switching method provided by the present invention. In a specific embodiment of the present invention, a laser radar laser tube charging sequence switching method is disclosed, which is applied to a charging circuit having at least a first charging channel and a second charging channel, including:

[0034] S101, setting a charging sequence array and charging control logic for a laser radar laser tube;

[0035] S102, receiving a charging enable sequence switching signal of a laser radar laser tube;

[0036] S103, switching the charging sequence and the charging channel according to the charging enable sequence switching signal, the charging sequence array and the charging control logic to charge the laser radar laser tube.

[0037] In the above embodiment, according to the working characteristics (such as life, power consumption, heat generation, etc.) and charging requirements of the laser radar laser tube, N charging sequence Seq arrays are pre-set, and each group of charging sequence Seq contains charging parameters at different stages, such as charging current, voltage, duration, etc., to adapt to the charging requirements of the laser tube in different states. In a preferred embodiment, each group of charging sequence Seq contains three parts, namely: charging sequence data Chn (M bits) corresponding to M charging channels; the number of loops Loop (J bits) corresponding to the current sequence Seq; and the output mode selection Sel (K bits) corresponding to the current sequence Seq.

[0038] The first charging channel may be a PMOS channel SWP, and the second charging channel may be an NMOS channel SWN, wherein the source of the PMOS channel SWP is connected to a high voltage level, the source of the NMOS channel SWN is grounded, and the gate state is determined by the sequence data Chn and the output logic of the current charging sequence Seq.

[0039] The charging enable sequence switching signal SW is received from the host computer, sensor or other control unit through the system interface. The charging enable sequence switching signal SW is a level signal that changes with the clock signal. According to the charging enable sequence switching signal and the current state of the laser tube, charging starts from the preset starting charging sequence in the charging sequence array. At the same time, the system status is monitored, including key parameters such as current, voltage, and temperature to ensure the safety and effectiveness of the charging process.

[0040] Compared with the prior art, the present embodiment provides a method for switching the charging sequence of a laser radar tube. Through a preset charging sequence array and charging control logic, the method can flexibly and dynamically adjust the charging sequence and select the charging channel according to the received charging enable sequence switching signal, thereby ensuring that the laser radar laser tube can be charged under the optimal charging conditions, thereby improving the charging efficiency and reducing unnecessary energy loss and charging time. In addition, the system adopts a multi-channel charging design. When one of the charging channels fails or its performance degrades, it can quickly switch to another backup channel to ensure that the laser radar laser tube continues to obtain a stable charging current. This redundant design significantly enhances the reliability and stability of the system and reduces the risk of system downtime due to a single point of failure.

[0041] In some embodiments of the present invention, the charging control logic includes: normally closing the second charging channel; opening the first charging channel when the charging enable sequence switching signal is at a high level; and closing the first charging channel when the charging enable sequence switching signal is at a low level.

[0042] In the above embodiment, the charging control logic is recorded as the first charging control logic, that is, when the SW signal is pulled high, the SWP of the selected channel is turned on, and when the SW signal is pulled low, the SWP is turned off. In any case, SWN is not turned on.

[0043] When the system starts, the second charging channel (SWN) is set to a normally closed state by default. This is a safety measure to prevent charging from starting without authorization or preparation. The system generates a charging enable sequence switching signal (SW) by monitoring one or more external or internal signals. This signal is a logic level signal used to indicate whether the charging process is allowed to start or end.

[0044] When the SW signal is high, it means that the charging conditions have been met, and the system immediately turns on the first charging channel (SWP), allowing current to charge the battery through this channel. When the SW signal is low, it means that charging should be suspended or terminated, and the system quickly turns off the first charging channel (SWP), cuts off the charging current, and ensures battery safety.

[0045] In some embodiments of the present invention, the charging control logic further includes: normally closing the first charging channel; opening the second charging channel when the charging enable sequence switching signal is at a high level; and closing the second charging channel when the charging enable sequence switching signal is at a low level.

[0046] In the above embodiment, the charging control logic is recorded as the second charging control logic, that is, when the SW signal is pulled high, the SWN of the selected channel is turned on, and when the SW signal is pulled low, the SWN is turned off. In any case, the SWP is not turned on.

[0047] When the system starts up, both the first charging channel (SWP) and the second charging channel (SWN) are set to a normally closed state. This is a safety precaution to prevent accidental charging during initialization or inactive state.

[0048] When the charge enable sequence switching signal (SW) is high, it means that the charging conditions have been met and the charging process is authorized to start. At this time, the system checks the current battery status, temperature, and whether other safety conditions are met. If all safety conditions are passed, the system turns on the second charging channel (SWN) and allows current to charge the battery through this channel. It should be noted that in this logic, although two charging channels are mentioned, the second channel (SWN) will only be activated when the SW signal is high; the first channel (SWP) always remains closed.

[0049] When the charge enable sequence switching signal (SW) is at a low level, it means that the charging process needs to be suspended or terminated. At this time, the system immediately turns off the second charging channel (SWN) to cut off the charging current to ensure battery safety. In this process, the first charging channel (SWP) remains closed and does not participate in the charging operation, regardless of how the SW signal changes.

[0050] In some embodiments of the present invention, the charging control logic further includes:

[0051] When the charge enable sequence switching signal is at a high level, the first charging channel is turned on; when the charge enable sequence switching signal is at a low level, the first charging channel is turned off;

[0052] When a rising edge of the charging enable sequence switching signal occurs, the conduction state of the second charging channel is switched.

[0053] In the above embodiment, the charging control logic is recorded as the third charging control logic, that is, when the SW signal is pulled high, the SWP of the selected channel is turned on, and when the SW signal is pulled low, the SWP is turned off. SWN is fully turned on by default and only changes at the rising edge of SW, wherein the SWN of the selected channel is turned off at the rising edge of SW, and is turned on until the next SW rising edge and the channel is not selected.

[0054] For the control of the first charging channel (SWP), when the SW signal is pulled to a high level, it indicates that the charging conditions have been met, and the system immediately turns on the first charging channel (SWP), allowing current to charge the battery through this channel. When the SW signal drops from a high level to a low level, it indicates that charging should be suspended or terminated, and the system immediately turns off the first charging channel (SWP), cutting off the charging current to ensure battery safety.

[0055] For the control of the second charging channel (SWN), the default state: In the third charging control logic, the second charging channel (SWN) remains fully open in the initial state or when not triggered by specific logic, in order to support some form of backup charging path or pre-charging process. Rising edge trigger: The state change of SWN is not directly determined by the level of the SW signal, but is triggered by the rising edge of the SW signal. Specifically, when the SW signal jumps from a low level to a high level (i.e., a rising edge occurs), the system checks the currently selected charging channel (assuming that it is determined based on a certain selection logic) and closes the SWN corresponding to the channel. This mechanism ensures that the state of SWN is adjusted only when the SW signal clearly indicates the start of a new charging cycle. Recovery mechanism: The closed SWN channel will automatically open at the next rising edge of the SW signal and the channel is not selected as the current charging channel, allowing the SWN to remain open when not in use so that it is ready to serve the next charging process at any time, while avoiding unnecessary closing and reopening of SWN in consecutive charging cycles, thereby improving the efficiency and reliability of the system.

[0056] See also Figure 2 , Figure 2 This is a timing diagram of an embodiment of the first charging control logic charging of the laser tube provided by the present invention. When the SW signal is pulled high, the PMOS channel SWP is turned on and the NMOS channel SWN is turned off.

[0057] In some embodiments of the present invention, setting a charging sequence array for a laser radar laser tube includes setting a start charging sequence and a stop charging sequence.

[0058] In the above embodiment, the charging sequence array can set the sequence switching interval through the IIC interface, and the sequence switching interval includes the starting charging sequence Seq_A and the ending charging sequence Seq_B. The starting charging sequence is the initial stage of the laser radar laser tube charging process, and its design purpose is to provide a smooth and safe startup environment for the laser tube; the ending charging sequence is the end stage of the laser radar laser tube charging process, and its design goal is to safely and effectively shut down the charging process and prepare the laser tube to enter the next working cycle or standby state.

[0059] In some embodiments of the present invention, each set of charging sequences includes a cycle number threshold and a charging data sequence;

[0060] charging the laser radar tube from a starting charging sequence according to a charging enable sequence switching signal and a charging control logic;

[0061] When the charge enable sequence switching signal becomes a low level, it is determined whether the number of cycles of the current charge sequence reaches a corresponding cycle number threshold.

[0062] In the above embodiment, a cycle number threshold is set for each charging sequence, which represents the upper limit of the number of times the charging data sequence in the sequence is repeatedly executed. The setting of the cycle number threshold is based on the characteristics of the lidar laser tube, charging requirements, expected service life and other factors, aiming to balance the relationship between charging efficiency and laser tube protection.

[0063] The charging data sequence contains the specific parameters and steps that need to be performed during each charging process, such as charging voltage, current, duration, intermittent time, etc. These data sequences are customized according to the specific requirements and charging strategies of the LiDAR laser tube to ensure the safety and effectiveness of the charging process.

[0064] When the charging enable sequence switching signal becomes high, the system starts charging the lidar laser tube from the initial charging sequence according to the preset charging control logic. The initial charging sequence may include key steps such as pre-charging and voltage / current ramp-up to ensure that the laser tube can smoothly transition to the charging state.

[0065] During the charging process, the system will perform charging operations according to the instructions of the charging data sequence and monitor the status of the charging enable sequence switching signal. If the signal remains at a high level and the number of cycles of the current charging sequence has not reached the corresponding cycle number threshold, the system will continue to perform charging operations according to the charging data sequence until the cycle number threshold is reached or the charging enable sequence switching signal changes.

[0066] When the charge enable sequence switching signal becomes low, the system first determines whether the number of cycles of the current charging sequence has reached the corresponding cycle number threshold. If the threshold has been reached, the charging sequence is considered to be completed, and the system can prepare to enter the next charging stage or enter the standby state; if the threshold has not been reached, it may be necessary to decide whether to continue charging according to the specific situation (for example, if charging is accidentally interrupted and the number of remaining cycles is small, it may try to resume charging), or record relevant information for subsequent analysis.

[0067] By setting the cycle number threshold and charging data sequence, the present invention realizes precise control of the charging process of the lidar laser tube, ensuring the stability and reliability of the charging process. Reasonable setting of the cycle number threshold and charging data sequence helps to avoid damage to the laser tube due to overcharging or undercharging, thereby extending its service life. According to different usage scenarios and requirements, the parameters of the cycle number threshold and charging data sequence can be flexibly adjusted to meet different charging needs.

[0068] In some embodiments of the present invention, if the number of cycles of the current starting charging sequence reaches the corresponding cycle number threshold, when the charging enable sequence switching signal becomes a high level, the next charging sequence is switched to charge the laser radar laser tube.

[0069] In the above embodiment, during the charging process, the system will continuously monitor the number of cycles of the current starting charging sequence. Once the number reaches a preset cycle number threshold, the system will consider that the charging task of the sequence has been completed or is nearly completed and needs to prepare to switch to the next charging stage.

[0070] At the same time, the system also pays close attention to the status of the charging enable sequence switching signal. When the signal changes from a low level to a high level, it usually indicates that a new charging instruction or condition has been triggered, and the system should respond accordingly.

[0071] When it is confirmed that the number of cycles of the current starting charging sequence has reached the threshold and the charging enable sequence switching signal becomes high, the system will automatically select and switch to the next charging sequence according to the preset charging strategy or algorithm, which may involve adjusting the charging voltage, current, duration and other parameters to adapt to the needs of the LiDAR laser tube in different charging stages.

[0072] To ensure the continuity and stability of the charging process, the system should be designed to consider how to achieve seamless transitions between charging sequences, which may include necessary status checks and preparations before switching, and continuous monitoring and adjustment of the lidar laser tube status during the switching process.

[0073] By automatically switching to the next charging sequence, the system can ensure that the LiDAR laser tube can obtain the best charging effect at different charging stages, thereby improving the overall charging efficiency. A reasonable charging sequence switching strategy helps to prevent the laser tube from being damaged due to being in the same charging state for a long time, further extending its service life. This mechanism enables the charging process to be dynamically adjusted and optimized according to actual needs, enhancing the flexibility and adaptability of the system.

[0074] In some embodiments of the present invention, if the number of cycles of the current starting charging sequence does not reach the corresponding cycle number threshold, when the charging enable sequence switching signal becomes a high level, the laser radar laser tube is charged with the current charging sequence.

[0075] In the above embodiment, after confirming that there are still remaining cycles in the current charging sequence that have not been executed, the system will decide to continue charging the lidar laser tube with the current charging sequence. Whether it is the charging voltage, current, duration or other related parameters, they will remain unchanged to ensure the continuity and stability of the charging process.

[0076] During this process, the system will continuously monitor various key parameters in the charging process, such as current, voltage, temperature, etc., to ensure that the charging process is carried out within a safe range. At the same time, the system will also record the number and duration of each charging cycle for subsequent data analysis and optimization.

[0077] Although the current charging sequence has not yet completed its preset number of cycles, the system will also prepare the conditions for switching to the next charging sequence, so it may include but is not limited to checking whether the next charging sequence is ready, whether pre-charging or other pre-operations are required, etc. Once these conditions are met and the number of cycles of the current charging sequence reaches the threshold, the system can seamlessly switch to the next charging sequence.

[0078] Through this mechanism, the present invention not only ensures the continuity and stability of the charging process, but also improves the flexibility of charging management. Even if there is a brief change in the charging enable signal during the charging process, the system can make intelligent decisions based on the completion of the current charging sequence, thereby avoiding unnecessary charging interruptions or waste of resources.

[0079] See also Figure 3 , Figure 3 The schematic diagram of the arrangement of an embodiment of the charging sequence array of the laser radar laser tube provided by the present invention, in which the number of groups N of the charging sequence Seq is 128, and the number of charging channels M is 8. In the use embodiment of the present invention, the laser tube charging sequence can support up to 128 types, and each charging sequence Seq has an independent corresponding number of cycles and output logic, which solves the problem of a single laser tube charging output mode and poor configurability and flexibility of the charging sequence. At the same time, a single SW signal is used to control 8 channels simultaneously to achieve fast channel selection and switching, which improves the flexibility of the laser tube charging sequence switching scheme and the integration of the circuit.

[0080] See also Figure 4 , Figure 4 A schematic diagram of the structure of a laser radar laser tube charging sequence switching device provided by an embodiment of the present invention. Based on the above laser radar laser tube charging sequence switching method, the present invention also provides a laser radar laser tube charging sequence switching device, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a PDA, and a server. The laser radar laser tube charging sequence switching device 400 includes a processor 410, a memory 420, and a display 430. Figure 4 Only some components of the synchronous tracking flying welding equipment for real-time measurement of battery height are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0081] In some embodiments, the memory 420 may be an internal storage unit of the laser radar laser tube charging sequence switching device 400, such as a hard disk or memory of the laser radar laser tube charging sequence switching device 400. In other embodiments, the memory 420 may also be an external storage device of the laser radar laser tube charging sequence switching device 400, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the laser radar laser tube charging sequence switching device 400. Further, the memory 420 may also include both the internal storage unit of the laser radar laser tube charging sequence switching device 400 and an external storage device. The memory 420 is used to store application software and various data installed in the laser radar laser tube charging sequence switching device 400, such as the program code for installing the laser radar laser tube charging sequence switching device 400. The memory 420 can also be used to temporarily store data that has been output or is to be output. In one embodiment, a laser radar laser tube charging sequence switching program 440 is stored in the memory 420, and the laser radar laser tube charging sequence switching program 440 can be executed by the processor 410, thereby realizing the laser radar laser tube charging sequence switching method of each embodiment of the present application.

[0082] In some embodiments, the processor 410 can be a central processing unit (CPU), a microprocessor or other data processing chip, which is used to run the program code or process data stored in the memory 420, such as executing a lidar laser tube charging sequence switching method.

[0083] In some embodiments, the display 430 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 430 is used to display information on the laser radar laser tube charging sequence switching device 400 and to display a visual user interface. The components 410-430 of the laser radar laser tube charging sequence switching device 400 communicate with each other through a system bus.

[0084] In one embodiment, when the processor 410 executes the lidar laser tube charging sequence switching program 440 in the memory 420, the steps in the above lidar laser tube charging sequence switching method are implemented.

[0085] This embodiment also provides a computer-readable storage medium, on which a laser radar laser tube charging sequence switching program is stored. When the laser radar laser tube charging sequence switching program is executed by a processor, the following steps are implemented:

[0086] Set up the charging sequence array and charging control logic for the LiDAR laser tube;

[0087] Receive a charging enable sequence switching signal of a laser radar laser tube;

[0088] The charging sequence and charging channel are switched according to the charging enable sequence switching signal, the charging sequence array and the charging control logic to charge the lidar laser tube.

[0089] In summary, the present invention provides a method for switching the charging sequence of a laser radar laser tube. Through a preset charging sequence array and charging control logic, the method can flexibly and dynamically adjust the charging sequence and select the charging channel according to the received charging enable sequence switching signal, thereby ensuring that the laser radar laser tube can be charged under the optimal charging conditions, thereby improving the charging efficiency and reducing unnecessary energy loss and charging time; and the system adopts a multi-channel charging design. When one of the charging channels fails or its performance degrades, it can quickly switch to another backup channel to ensure that the laser radar laser tube continues to obtain a stable charging current. This redundant design significantly enhances the reliability and stability of the system and reduces the risk of system downtime due to a single point of failure.

[0090] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0091] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0092] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0094] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0096] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program code.

[0097] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0098] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0099] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for switching a laser radar laser tube charging sequence, applied to a charging circuit having at least a first charging channel and a second charging channel, characterized in that: include: Set up the charging sequence array and charging control logic for the LiDAR laser tube; Receive a charging enable sequence switching signal of a laser radar laser tube; The laser radar laser tube is charged by switching the charging sequence and the charging channel according to the charging enable sequence switching signal, the charging sequence array and the charging control logic.

2. The laser radar laser tube charging sequence switching method according to claim 1, characterized in that: The charging control logic includes: normally closing the second charging channel; opening the first charging channel when the charging enable sequence switching signal is at a high level; and closing the first charging channel when the charging enable sequence switching signal is at a low level.

3. The laser radar laser tube charging sequence switching method according to claim 1, characterized in that: The charging control logic also includes: normally closing the first charging channel; opening the second charging channel when the charging enable sequence switching signal is at a high level; and closing the second charging channel when the charging enable sequence switching signal is at a low level.

4. The laser radar laser tube charging sequence switching method according to claim 1, characterized in that: The charging control logic also includes: When the charging enable sequence switching signal is at a high level, the first charging channel is turned on; when the charging enable sequence switching signal is at a low level, the first charging channel is turned off; When a rising edge appears on the charging enable sequence switching signal, the conduction state of the second charging channel is switched.

5. The laser radar laser tube charging sequence switching method according to claim 1, characterized in that: The method of setting the charging sequence array of the laser radar laser tube includes setting a starting charging sequence and a terminating charging sequence.

6. The laser radar laser tube charging sequence switching method according to claim 5, characterized in that: Each set of charging sequences includes a cycle number threshold and a charging data sequence; charging the laser radar tube from the starting charging sequence according to the charging enable sequence switching signal and the charging control logic; When the charging enable sequence switching signal becomes a low level, it is determined whether the number of cycles of the current charging sequence reaches the corresponding number of cycles threshold.

7. The laser radar laser tube charging sequence switching method according to claim 6, characterized in that: If the number of cycles of the current starting charging sequence reaches the corresponding cycle number threshold, when the charging enable sequence switching signal becomes a high level, the next charging sequence is switched to charge the laser radar laser tube.

8. The laser radar laser tube charging sequence switching method according to claim 6, characterized in that: If the number of cycles of the current starting charging sequence does not reach the corresponding cycle number threshold, when the charging enable sequence switching signal becomes a high level, the laser radar laser tube is charged with the current charging sequence.

9. A laser radar laser tube charging sequence switching device, characterized in that: It includes at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit executes the steps of the laser radar laser tube charging sequence switching method according to any one of claims 1 to 8.

10. A storage medium, characterized in that: It stores a computer program that can be executed by a laser radar laser tube charging sequence switching device. When the computer program runs on the laser radar laser tube charging sequence switching device, the laser radar laser tube charging sequence switching device executes the steps of the laser radar laser tube charging sequence switching method described in any one of claims 1 to 8.

Images