Output voltage determination method, device, electronic device and storage medium

Abstract

The present application provides a method, device, electronic device and storage medium for determining an output voltage, and relates to the field of laser technology, wherein the method comprises: sending multiple emission laser pulse signals to a target object, wherein each of the multiple emission laser pulse signals is generated according to a different output voltage; receiving multiple reflected laser pulse signals reflected back by the target object; processing the multiple reflected laser pulse signals to obtain a target pulse signal; determining a target distance value corresponding to a target pulse peak value according to the target pulse signal; and determining a target output voltage corresponding to the target distance value according to a preset corresponding relationship. The implementation of the technical solution provided by the present application achieves the effect of improving the efficiency of determining the output voltage.

Description

Technical Field

[0001] The present application relates to the field of laser technology, and in particular to a method, device, electronic device and storage medium for determining an output voltage. Background Art

[0002] At present, laser technology has been widely used in industrial production and scientific research, such as laser processing, or laser ranging. With the increasing requirements for laser processing quality and efficiency, how to accurately control the output of the laser has become one of the urgent problems to be solved. The working principle of the laser determines that its output is directly affected by the power supply, so fine adjustment of the laser power supply is a key factor in ensuring the quality of laser processing. In laser ranging, when measuring at close range, it is easy to cause the laser energy to be too strong, so the output voltage must be adjusted. At present, most of the feedback adjustment methods on the market are used, that is, testing by trying different output voltages multiple times. For example, a target voltage or power value is set first, and then the laser starts to work and emits the laser. After that, the system will detect the actual output power of the laser or the received reflected laser signal intensity, and compare it with the target value. If there is a deviation between the actual value and the target value, the system will adjust the output voltage of the power supply to try to reduce this deviation. It can be seen that the method in the related art requires multiple laser emissions and waiting for the target voltage to be determined, which consumes too much time, resulting in the problem of low efficiency in determining the output voltage. Summary of the invention

[0003] In order to solve the above technical problems, the present application provides a method, device, electronic device and storage medium for determining an output voltage.

[0004] In a first aspect, the present application provides a method for determining an output voltage, which is applied to a laser device, comprising: sending a plurality of emission laser pulse signals to a target object, wherein each of the plurality of emission laser pulse signals is generated according to a different output voltage; receiving a plurality of reflected laser pulse signals reflected back by the target object, wherein each of the plurality of reflected laser pulse signals corresponds to one of the plurality of emission laser pulse signals; processing the plurality of reflected laser pulse signals to obtain a target pulse signal; determining a target distance value corresponding to a target pulse peak value according to the target pulse signal; and determining a target output voltage corresponding to the target distance value according to a preset corresponding relationship.

[0005] By adopting the above technical solution, multiple emission laser pulse signals generated based on different output voltages are sent to the target object, and the reflected laser pulse signals reflected from the target object are received. Then, these reflected laser pulse signals are processed to obtain the target pulse signal, and then the target distance value is determined according to the peak value of the target pulse signal. Finally, the target output voltage corresponding to the target distance value is determined using a preset corresponding relationship. In this way, the output voltage of the laser device can be determined, avoiding the cumbersome process of multiple attempts and adjustments of the output voltage in the related art, but by sending multiple laser pulses at different voltages at one time, and directly determining the optimal output voltage by analyzing the reflected signal. This method not only improves efficiency, but also reduces errors and uncertainties that may be caused by multiple attempts and adjustments.

[0006] Optionally, processing multiple reflected laser pulse signals to obtain a target pulse signal includes: superimposing multiple reflected laser pulse signals to obtain a target pulse signal.

[0007] By adopting the above technical solution, multiple reflected laser pulse signals are superimposed to obtain a target pulse signal. This superposition process can enhance the intensity of the target pulse signal, while suppressing the influence of noise and interference signals to a certain extent. Specifically, since the target pulse signal is reflected from the same target, it has similar waveforms and characteristics in multiple pulse signals. These similar signal components can be enhanced through superposition processing; and since the noise and interference signals are random and unrelated, their intensity will be offset or weakened to a certain extent during the superposition process. That is, the intensity of the target pulse signal is enhanced, and the noise and interference are suppressed.

[0008] Optionally, a target distance value corresponding to a target pulse peak value is determined based on the target pulse signal, including: determining a target pulse peak value from the target pulse signal, wherein the target pulse peak value is used to represent the value with the maximum signal amplitude in the target pulse signal; determining a target flight time corresponding to the target pulse peak value; and obtaining a target distance value based on the target flight time.

[0009] By adopting the above technical solution, the value with the largest signal amplitude, that is, the target pulse peak, is identified from the target pulse signal. This step ensures that the strongest and most reliable part of the reflected laser pulse signal is selected. Next, the flight time corresponding to the target pulse peak is determined, that is, the time it takes for the pulse to be reflected back by the target object and received. Once the target flight time is determined, the target distance value can be accurately calculated. That is, by calculating the distance by identifying the target pulse peak, the influence of noise and interference can be minimized, and the accuracy of the measurement results can be improved. This technical solution can quickly and accurately determine the target pulse peak from the target pulse signal, and further obtain the corresponding target flight time, thereby calculating the target distance value, which improves the speed and accuracy of output voltage determination.

[0010] Optionally, determining a target output voltage corresponding to a target distance value according to a preset corresponding relationship includes: establishing a preset corresponding relationship, wherein the preset corresponding relationship is used to represent a corresponding relationship between a measured distance and an output voltage; and determining the output voltage corresponding to the target distance value in the preset corresponding relationship as the target output voltage.

[0011] By adopting the above technical solution and establishing a preset corresponding relationship, the target output voltage corresponding to the target distance value can be quickly determined, thereby avoiding the time-consuming problem of multiple laser emission and waiting in the traditional feedback adjustment method, reducing the number of laser emission and waiting judgment, and significantly improving the efficiency of output voltage determination.

[0012] Optionally, establishing a preset corresponding relationship includes: obtaining multiple sets of historical measurement data, wherein each set of historical measurement data includes data of different measurement distances and corresponding output voltage data; constructing an objective function based on the multiple sets of historical measurement data, wherein the objective function represents a function between the output voltage and the measurement distance.

[0013] By adopting the above technical solution, by obtaining multiple sets of historical measurement data and constructing an objective function based on these data, the relationship between the output voltage and the measured distance becomes clearer and more precise, and the preset corresponding relationship can be established quickly and accurately, thereby improving the accuracy and speed of output voltage determination.

[0014] Optionally, determining a target output voltage corresponding to a target distance value according to a preset corresponding relationship includes: determining a target distance interval to which the target distance value belongs; determining a target output voltage corresponding to the target distance interval according to a preset corresponding relationship, wherein the preset corresponding relationship includes a plurality of groups of measurement distance intervals and corresponding relationships between output voltages.

[0015] By adopting the above technical solution, the target distance interval to which the target distance value belongs is first determined, and then the output voltage corresponding to the target distance interval is determined according to the preset corresponding relationship. By dividing the entire measurement distance range into multiple intervals and predetermining the corresponding output voltage value for each interval, the search time can be greatly reduced. When it is necessary to determine the target output voltage, it is only necessary to find the interval to which the target distance value belongs, and then directly read the output voltage value of the interval without traversing the entire preset corresponding relationship table.

[0016] Optionally, multiple reflected laser pulse signals are processed to obtain a target pulse signal, including: generating a target histogram based on the multiple reflected laser pulse signals, wherein the target histogram is used to represent photon counts corresponding to different flight times, and the target pulse signal is represented by the target histogram; determining a target distance value corresponding to a target pulse peak value based on the target pulse signal, including: determining a target flight time corresponding to a maximum photon count based on the target histogram; and determining a target distance value based on the target flight time.

[0017] By adopting the above technical solution, by generating a target histogram for multiple reflected laser pulse signals and using the target histogram to represent the photon counts corresponding to different flight times, the target pulse peak can be determined more accurately, thereby improving the accuracy of the target flight time and the target distance value, and ultimately making the determination of the target output voltage more accurate.

[0018] In the second aspect of the present application, there is also provided an output voltage determination device, which is located in the laser device and includes: a transmitting module, which is used to send multiple transmitting laser pulse signals to the target object, wherein each of the multiple transmitting laser pulse signals is generated according to different output voltages; a receiving module, which is used to receive multiple reflected laser pulse signals reflected back by the target object, wherein each of the multiple reflected laser pulse signals corresponds to one of the multiple transmitting laser pulse signals; a processing module, which is used to process the multiple reflected laser pulse signals to obtain a target pulse signal; a first determination module, which is used to determine a target distance value corresponding to a target pulse peak value according to the target pulse signal; and a second determination module, which is used to determine a target output voltage corresponding to the target distance value according to a preset corresponding relationship.

[0019] In a third aspect of the present application, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the program, any of the above method steps is implemented.

[0020] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions, and when the instructions are executed, any of the above method steps is performed.

[0021] In summary, one or more technical solutions provided in this application have at least the following technical effects or advantages:

[0022] 1. By emitting multiple laser pulses at different voltages at one time and directly determining the optimal output voltage by analyzing the reflected signal, the cumbersome process of multiple attempts and adjustments of the output voltage in the related technology is avoided. This method improves efficiency and reduces the errors and uncertainties that may be caused by multiple attempts and adjustments;

[0023] 2. It can quickly and accurately determine the target pulse peak value from the target pulse signal, and further obtain the corresponding target flight time, so as to calculate the target distance value, thereby improving the speed and accuracy of output voltage determination;

[0024] 3. By using multiple sets of historical measurement data to construct the objective function, the relationship between the output voltage and the measured distance is made clearer and more precise, and the preset corresponding relationship can be established quickly and accurately, thereby improving the accuracy and speed of output voltage determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a flow chart of a method for determining an output voltage provided in an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of a received signal corresponding to a lower limit voltage provided in an embodiment of the present application;

[0027] Figure 3 is a schematic diagram of a received signal corresponding to a preset voltage provided in an embodiment of the present application;

[0028] Figure 4 is a schematic diagram of a received signal corresponding to an upper limit voltage provided in an embodiment of the present application;

[0029] Figure 5 is a schematic diagram of a received signal corresponding to superposition provided in an embodiment of the present application;

[0030] Figure 6 is a structural block diagram of a device for determining an output voltage provided in an embodiment of the present application;

[0031] Figure 7 It is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application.

[0032] Description of reference numerals: 700 - electronic device; 701 - processor; 702 - communication bus; 703 - user interface; 704 - network interface; 705 - memory. DETAILED DESCRIPTION

[0033] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0034] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0035] In the description of the embodiments of the present application, the term "plurality" means two or more. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0036] The following is combined with Figure 1-Figure 7 The embodiments of the present application are described.

[0037] The present application provides a method for determining an output voltage, which is applied to a laser device, referring to Figure 1 , Figure 1 1 is a flow chart of a method for determining an output voltage provided in an embodiment of the present application, comprising the following steps:

[0038] Step S101, sending a plurality of emission laser pulse signals to a target object, wherein each of the plurality of emission laser pulse signals is generated according to a different output voltage;

[0039] Step S102, receiving a plurality of reflected laser pulse signals reflected by the target object, wherein each of the plurality of reflected laser pulse signals corresponds to one of the plurality of transmitted laser pulse signals;

[0040] Step S103, processing the multiple reflected laser pulse signals to obtain a target pulse signal;

[0041] Step S104, determining a target distance value corresponding to a target pulse peak value according to the target pulse signal;

[0042] Step S105, determining a target output voltage corresponding to the target distance value according to a preset corresponding relationship.

[0043] Through the above steps, multiple laser pulse signals based on different output voltages are sent to the target object, and the reflected laser pulse signals reflected from the target object are received. Then, these reflected laser pulse signals are processed to obtain the target pulse signal, and then the target distance value is determined according to the peak value of the target pulse signal. Finally, the target output voltage corresponding to the target distance value is determined using a preset corresponding relationship. That is, by processing these reflected laser pulse signals, the target distance value corresponding to the target pulse peak value can be directly found, and then the target output voltage matching the target distance value can be quickly determined according to the preset corresponding relationship, so that the output voltage of the laser device can be determined, avoiding the cumbersome process of multiple attempts and adjustment of the output voltage in the related art, but by sending multiple laser pulses at different voltages at one time, and directly determining the optimal output voltage by analyzing the reflected signal. This method not only improves efficiency, but also reduces errors and uncertainties that may be caused by multiple attempts and adjustments.

[0044] In laser ranging and processing, due to the instability of laser energy, the output voltage of the laser needs to be precisely controlled to ensure the accuracy of measurement and the quality of processing. Before measuring the distance of an object, the actual distance of the object to be measured (such as the target object mentioned above) is usually unknown, so it is not clear how much voltage should be output to the laser device. In the prior art, different output voltages are tested multiple times, and the accuracy of the output voltage is judged based on the results. For example, 10V, 9V, 8V, etc. are tried, or 10V, 5V, 7.5V, etc. are tried. It is necessary to emit the laser multiple times and wait for the target voltage to be judged, which is time-consuming and inefficient.

[0045] In practical applications, by emitting multiple groups of laser pulses at different voltages at one time and quickly analyzing the reflected signals, the optimal output voltage can be quickly determined, thereby greatly improving efficiency. In practical applications, by accurately adjusting the output voltage, it is possible to ensure that the energy of the laser during the processing is moderate, and neither the processing quality will be affected by too low energy, nor the target object will be damaged or cause safety hazards due to too high energy. This method is not only suitable for laser ranging, but can also be widely used in various industrial production and scientific research fields that require precise control of laser output. By testing multiple voltage levels at one time, instead of relying on the successive approximation method, the number of laser launches and waiting for judgment is reduced, thereby significantly improving the efficiency of output voltage determination. By accurately measuring and processing the reflected signals, the required output voltage can be determined more accurately, thereby improving the quality and efficiency of laser processing. By quickly and accurately determining the output voltage, it is possible to ensure that the laser equipment outputs stable and appropriate laser energy during laser processing and ranging. In laser processing, this helps to improve processing quality and efficiency; in laser ranging, it can more accurately measure target objects at different distances, while avoiding the problem of excessive laser energy when measuring at close range.

[0046] In an optional embodiment, processing a plurality of reflected laser pulse signals to obtain a target pulse signal includes: superimposing a plurality of reflected laser pulse signals to obtain a target pulse signal.

[0047] In the above embodiment, multiple reflected laser pulse signals are superimposed to obtain a target pulse signal. This superposition process can enhance the intensity of the target pulse signal, while suppressing the influence of noise and interference signals to a certain extent. Specifically, since the target pulse signal is reflected from the same target, it has similar waveforms and characteristics in multiple pulse signals, and these similar signal components can be enhanced through superposition processing; and since the noise and interference signals are random and unrelated, their intensity will be offset or weakened to a certain extent during the superposition process. That is, the intensity of the target pulse signal is enhanced, and the noise and interference are suppressed.

[0048] In practical applications, laser pulses emitted by lidar or similar devices will be reflected back after encountering a target, forming a reflected laser pulse signal. However, due to factors such as environmental noise, multiple reflections, and errors in the device itself, the received reflected laser pulse signal often contains multiple signal components, or when multiple laser pulses with different output voltages are emitted, due to environmental noise or other factors, a single reflected signal may not be strong or clear enough, making it difficult to directly extract useful information from it. Through superposition processing, the signal-to-noise ratio of the effective signal can be enhanced, making it easier to identify and analyze. The target pulse signal after superposition processing can more accurately reflect the distance information of the target object, making the corresponding output voltage more accurate, improving the quality and efficiency of laser processing or laser ranging.

[0049] In an optional embodiment, a target distance value corresponding to a target pulse peak value is determined based on a target pulse signal, including: determining a target pulse peak value from the target pulse signal, wherein the target pulse peak value is used to represent the value with the maximum signal amplitude in the target pulse signal; determining a target flight time corresponding to the target pulse peak value; and obtaining a target distance value based on the target flight time.

[0050] In the above embodiment, the value with the largest signal amplitude, i.e., the target pulse peak value, is identified from the target pulse signal. This step ensures that the strongest and most reliable part of the reflected laser pulse signal is selected. Next, the flight time corresponding to the target pulse peak value is determined, i.e., the time it takes for the pulse to be reflected back by the target object and received. Finally, the target distance value is calculated using the formula of distance = speed × time based on the flight time and the known pulse propagation speed (such as the speed of light). In laser radar, sonar or other pulse signal ranging technologies, the target pulse peak value usually represents the strongest part of the reflected signal received from the target, which is directly related to the flight time of the pulse from emission to reception, and then the distance between the target and the emission source can be calculated. By accurately identifying the pulse peak value with the largest signal amplitude, the flight time of the laser signal between the target object and the laser device can be more reliably determined. There is a direct proportional relationship between the flight time and the distance (considering that the speed of light is a constant), so once the target flight time is determined, the target distance value can be accurately calculated. That is, by identifying the target pulse peak to calculate the distance, the influence of noise and interference can be minimized and the accuracy of the measurement results can be improved; the target pulse peak is usually the most obvious feature in the reflected signal, so this method has high reliability in a variety of environments; this method is not only applicable to laser radar, but also to other pulse signal-based ranging technologies, such as sonar, ultrasonic ranging, etc. This embodiment can quickly and accurately determine the target pulse peak from the target pulse signal, and further obtain the corresponding target flight time, thereby calculating the target distance value, which improves the speed and accuracy of output voltage determination.

[0051] In an optional embodiment, determining a target output voltage corresponding to a target distance value according to a preset corresponding relationship includes: establishing a preset corresponding relationship, wherein the preset corresponding relationship is used to represent a corresponding relationship between a measured distance and an output voltage; and determining the output voltage corresponding to the target distance value in the preset corresponding relationship as the target output voltage.

[0052] In the above embodiment, by establishing a preset corresponding relationship, the target output voltage corresponding to the target distance value can be quickly determined, avoiding the time consumption problem of multiple laser emission and waiting in the traditional feedback adjustment method, reducing the number of laser emission and waiting judgment, and significantly improving the efficiency of output voltage determination. By establishing a preset corresponding relationship, the output voltage value corresponding to the target distance value can be accurately found. This correspondence can be obtained based on historical experimental data, theoretical calculations or equipment characteristics, thereby improving the efficiency of output voltage determination. The preset corresponding relationship can be adjusted according to the needs of specific application scenarios. For example, different corresponding relationships can be set in different measurement ranges to adapt to different accuracy requirements. In addition, as the characteristics of the equipment change (such as aging, temperature changes, etc.), the preset corresponding relationship can be updated to maintain the accuracy of the conversion. Through the pre-established correspondence table between the measurement distance and the output voltage, the corresponding optimal output voltage can be found immediately after the target distance value is determined. This method not only greatly simplifies the operation process and improves efficiency, but also ensures that the most suitable output voltage can be used for each measurement, thereby improving the stability of the laser equipment and the accuracy of the measurement results.

[0053] In an optional embodiment, establishing a preset corresponding relationship includes: obtaining multiple sets of historical measurement data, wherein each set of historical measurement data includes data of different measurement distances and corresponding output voltage data; constructing an objective function based on the multiple sets of historical measurement data, wherein the objective function represents a function between the output voltage and the measurement distance.

[0054] In the above embodiment, by acquiring multiple sets of historical measurement data and constructing the objective function based on these data, the relationship between the output voltage and the measured distance is made clearer and more accurate, and the preset corresponding relationship can be established quickly and accurately, thereby improving the accuracy and speed of determining the output voltage. In practical applications, due to various reasons such as equipment characteristics and environmental factors, the relationship between the output voltage and the measured distance may also be nonlinear. By acquiring multiple sets of historical measurement data and constructing the objective function based on these data, the nonlinear relationship between the output voltage and the measured distance can be more accurately described. This method can better reflect the actual situation than simple linear fitting or empirical formula, thereby improving the accuracy of conversion. Since the objective function is constructed based on historical measurement data, it can automatically adapt to changes in conditions such as equipment characteristics and environmental factors. This embodiment can achieve a more accurate correspondence between the output voltage and the measured distance by acquiring a large amount of historical measurement data and constructing the objective function based on these data. This method utilizes the data accumulation in actual operation, and through data analysis and modeling, it can more scientifically reflect the optimal working state of the equipment at different distances. The preset corresponding relationship thus established can not only improve the working efficiency and accuracy of the laser equipment, but also reduce errors caused by human factors. Of course, in some occasions where the measurement accuracy requirement is not high, linear fitting can also be performed based on historical measurement data to obtain a simple linear function relationship between the output voltage and the measurement distance.

[0055] In an optional embodiment, determining a target output voltage corresponding to a target distance value according to a preset corresponding relationship includes: determining a target distance interval to which the target distance value belongs; determining a target output voltage corresponding to the target distance interval according to a preset corresponding relationship, wherein the preset corresponding relationship includes a plurality of groups of measurement distance intervals and corresponding relationships between output voltages.

[0056] In the above embodiment, the target distance interval to which the target distance value belongs is first determined, and then the output voltage corresponding to the target distance interval is determined according to the preset corresponding relationship. By dividing the entire measurement distance range into multiple intervals and predetermining the corresponding output voltage value for each interval, the search time can be greatly reduced. When it is necessary to determine the target output voltage, it is only necessary to find the interval to which the target distance value belongs, and then directly read the output voltage value of the interval without traversing the entire preset corresponding relationship table. Since the distance measured in actual applications may be a continuous value, and the output voltage of the laser device is usually adjusted in a certain step size, a mechanism is required to convert the continuous distance value into a discrete output voltage adjustment scheme. If the interval division method is not adopted, a large amount of experimental data may be required to establish a very detailed voltage-distance relationship, which is neither economical nor practical in actual operation. By allocating the target distance value to a preset distance interval and determining the output voltage based on the interval, the output voltage determination process can be simplified. This method can not only reduce the complexity of data processing, but also improve the speed and accuracy of output voltage adjustment. At the same time, through interval division, it is possible to better adapt to the performance requirements of laser equipment within different distance measurement ranges and ensure the optimal voltage configuration in each interval.

[0057] For example, when the measuring distance is [150m, 200m], the corresponding output voltage is 10V; when the measuring distance is [120m, 150m), the corresponding output voltage is 8.5V; when the measuring distance is [100m, 120m), the corresponding output voltage is 7V, and so on. It should be noted that this is only an example. In actual applications, the output voltages of different laser devices may be different, and each measuring distance interval may also correspond to other different output voltages. In actual applications, the number and range of intervals can be adjusted according to actual application requirements. For example, when the measuring distance range is large or the relationship between the output voltage and the measuring distance is complex, the number of intervals can be increased to improve the search accuracy; when the measuring distance range is small or the relationship between the output voltage and the measuring distance is relatively simple, the number of intervals can be reduced to improve the search efficiency.

[0058] In an optional embodiment, multiple reflected laser pulse signals are processed to obtain a target pulse signal, including: generating a target histogram based on the multiple reflected laser pulse signals, wherein the target histogram is used to represent photon counts corresponding to different flight times, and the target pulse signal is represented by the target histogram; determining a target distance value corresponding to a target pulse peak value based on the target pulse signal, including: determining a target flight time corresponding to a maximum photon count based on the target histogram; and determining a target distance value based on the target flight time.

[0059] In the above embodiment, by generating a target histogram for multiple reflected laser pulse signals, and using the target histogram to represent the photon counts corresponding to different flight times, the target pulse peak value can be determined more accurately, thereby improving the accuracy of the target flight time and the target distance value, and finally making the determination of the target output voltage more accurate. The target histogram provides an intuitive visual presentation, making the peak detection more accurate. Even in the case of weak signals or large noise, the target pulse peak value can be accurately determined by comparing the photon counts of different flight times. Since the target histogram can accurately reflect the flight time corresponding to the maximum photon count, the target distance value can be more accurately calculated based on the flight time. In practical applications, the receiver may receive reflected laser pulse signals from multiple targets at different distances, as well as interference signals such as background noise. These signals are mixed together, making it difficult to directly determine the target distance. By generating a target histogram, signals of different flight times can be distinguished, which is convenient for subsequent processing. Traditional methods may find it difficult to accurately detect the peak of the reflected laser pulse signal, especially in the case of weak signals or large noise. The target histogram is used to represent the photon counts (or the intensity of the reflected laser pulse signal) corresponding to different flight times. Through the target histogram, the distribution of photon counts can be clearly seen, so as to more accurately determine the target pulse peak.

[0060] In an optional embodiment, multiple emitted laser pulse signals include a first emitted laser pulse signal, a second emitted laser pulse signal and a third emitted laser pulse signal, the first emitted laser pulse signal, the second emitted laser pulse signal and the third emitted laser pulse signal are generated according to a first voltage, a second voltage and a third voltage, respectively, and multiple reflected laser pulse signals include a first reflected laser pulse signal, a second reflected laser pulse signal and a third reflected laser pulse signal; processing the multiple reflected laser pulse signals to obtain a target pulse signal includes: superimposing the first reflected laser pulse signal, the second reflected laser pulse signal and the third reflected laser pulse signal to obtain a target pulse signal.

[0061] In the above embodiment, the first voltage may be the lower limit voltage of the output voltage range of the laser device, the second voltage may be the middle value of the output voltage range, and the third voltage may be the upper limit voltage of the output voltage range. For example, assuming that the output voltage range of the laser device is 1-10V, then the first voltage is 1V, the second voltage is 5V (or 7V, or 8V, or other), and the third voltage is 10V; of course, the first voltage, the second voltage and the third voltage may all be middle values ​​within the output voltage range, such as 2V, 5V and 9V, or others.

[0062] It should be noted that the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application will be described in detail below in conjunction with specific embodiments.

[0063] The embodiment of the present application provides a method for determining laser output voltage, which can quickly determine the output voltage. The method includes the following contents:

[0064] Laser emission: multiple voltages are applied to the laser emission end, and then laser emission with different powers is achieved;

[0065] Processing of received laser signals: receiving multiple reflected laser signal waveforms and superimposing the corresponding values ​​of the multiple laser signal waveforms. After superposition, the highest point of the laser signal waveform can be obtained;

[0066] Determine the target output voltage: Determine the distance information at the highest point of the waveform. The distance information is the distance measured by the laser. According to the corresponding relationship between the preset measurement distance and the output voltage, the target output voltage is determined.

[0067] Figure 2 , Figure 3 and Figure 4 Schematic diagrams of receiving signals corresponding to the lower limit voltage, preset voltage and upper limit voltage, respectively. For example, assuming that the output voltage range of the laser device is 1V-10V, the lower limit voltage is 1V, the upper limit voltage is 10V, and the preset voltage is an intermediate value within the output voltage range, such as 5V (or 7V, or other voltages). Figure 2-Figure 4 The horizontal axis represents the flight time, and the vertical axis represents the signal strength. Figure 5 Yes Figure 2-Figure 4 The received signals are superimposed, and the flight time corresponding to the highest point (or peak) after superposition is determined as the target flight time. The distance of the object under test can be calculated based on the target flight time, and then the target output voltage is determined based on the corresponding relationship between the preset distance and the output voltage.

[0068] It should be noted that the above description only uses three voltages (such as the lower limit voltage, the preset voltage and the upper limit voltage) as examples. In actual applications, lasers corresponding to more different voltages can also be emitted, and then the received laser signal can be processed in the same way as above to determine the distance information corresponding to the highest point (i.e., the peak value), and then determine the target output voltage.

[0069] The embodiments of the present application achieve the effect of improving the efficiency of determining the laser output voltage.

[0070] The present application also provides a device for determining an output voltage, which is located in a laser device, such as Figure 6 As shown, Figure 6: is a structural block diagram of a device for determining an output voltage provided in an embodiment of the present application, the device comprising:

[0071] The transmitting module 601 is used to transmit a plurality of transmitting laser pulse signals to the target object, wherein each of the plurality of transmitting laser pulse signals is generated according to a different output voltage;

[0072] A receiving module 602 is used to receive a plurality of reflected laser pulse signals reflected by a target object, wherein each of the plurality of reflected laser pulse signals corresponds to one of the plurality of transmitted laser pulse signals;

[0073] A processing module 603 is used to process multiple reflected laser pulse signals to obtain a target pulse signal;

[0074] A first determination module 604 is used to determine a target distance value corresponding to a target pulse peak value according to the target pulse signal;

[0075] The second determination module 605 is used to determine a target output voltage corresponding to the target distance value according to a preset corresponding relationship.

[0076] Through the above-mentioned device, the target output voltage suitable for the laser equipment can be determined quickly and accurately. Specifically, a plurality of emission laser pulse signals generated according to different output voltages are sent to the target object through the transmitting module, and the corresponding reflected laser pulse signals are received by the receiving module. The target pulse signal is obtained by processing these reflected laser pulse signals, and then the target distance value is determined according to the pulse peak value in the target pulse signal. Finally, the target output voltage suitable for the target distance value is determined according to the preset corresponding relationship. Through the device of the present application, the time consumption problem of multiple laser emission and waiting for the target voltage judgment in the traditional feedback adjustment method is avoided, and the efficiency of output voltage determination is significantly improved.

[0077] In an optional embodiment, the processing module 603 includes: a superposition unit, configured to superimpose a plurality of reflected laser pulse signals to obtain a target pulse signal.

[0078] In an optional embodiment, the above-mentioned first determination module 604 includes: a first determination unit, used to determine the target pulse peak value from the target pulse signal, wherein the target pulse peak value is used to represent the value with the maximum signal amplitude in the target pulse signal; a second determination unit, used to determine the target flight time corresponding to the target pulse peak value; and an acquisition unit, used to obtain the target distance value according to the target flight time.

[0079] In an optional embodiment, the above-mentioned second determination module 605 includes: an establishment unit, used to establish a preset corresponding relationship, wherein the preset corresponding relationship is used to represent the corresponding relationship between the measured distance and the output voltage; a third determination unit, used to determine the output voltage corresponding to the target distance value in the preset corresponding relationship as the target output voltage.

[0080] In an optional embodiment, the establishment unit includes: an acquisition subunit, used to acquire multiple sets of historical measurement data, wherein each set of historical measurement data includes data of different measurement distances and corresponding output voltage data; a construction subunit, used to construct an objective function based on the multiple sets of historical measurement data, wherein the objective function represents a function between the output voltage and the measurement distance.

[0081] In an optional embodiment, the above-mentioned second determination module 605 includes: a fourth determination unit, used to determine the target distance interval to which the target distance value belongs; a fifth determination unit, used to determine the target output voltage corresponding to the target distance interval according to a preset corresponding relationship, wherein the preset corresponding relationship includes a plurality of groups of measurement distance intervals and a corresponding relationship between output voltages.

[0082] In an optional embodiment, the processing module 603 includes: a generating unit for generating a target histogram based on a plurality of reflected laser pulse signals, wherein the target histogram is used to represent photon counts corresponding to different flight times, and the target pulse signal is represented by the target histogram; the first determining module 604 includes: a sixth determining unit for determining the target flight time corresponding to the maximum photon count based on the target histogram; and a seventh determining unit for determining the target distance value based on the target flight time.

[0083] The present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed, any one of the method steps described above is executed.

[0084] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0085] The present application also discloses an electronic device. Figure 7 As shown, Figure 7The electronic device 700 may include: at least one processor 701 , at least one network interface 704 , a user interface 703 , a memory 705 , and at least one communication bus 702 .

[0086] The communication bus 702 is used to realize the connection and communication between these components.

[0087] The user interface 703 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 703 may also include a standard wired interface and a wireless interface.

[0088] The network interface 704 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0089] Among them, the processor 701 may include one or more processing cores. The processor 701 uses various interfaces and lines to connect various parts of the entire electronic device (such as a server), and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 705, and calling data stored in the memory 705. Optionally, the processor 701 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 701 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 701, and it can be implemented separately through a chip.

[0090] Among them, the memory 705 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 705 includes a non-transitory computer-readable storage medium. The memory 705 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 705 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 705 may optionally also be at least one storage device located away from the aforementioned processor 701. Refer to Figure 7 , the memory 705 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program for a method for determining an output voltage.

[0091] exist Figure 7 In the electronic device 700 shown, the user interface 703 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 701 can be used to call an application program of a method for determining an output voltage stored in the memory 705, and when executed by one or more processors 701, the electronic device 700 executes one or more of the methods described in the above embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know 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 know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for 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 this 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 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, 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, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0097] The above is only an exemplary embodiment of the present disclosure and cannot be used to limit the scope of the present disclosure. 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 disclosure of the specification, those skilled in the art will easily think of other embodiments of the present disclosure.

[0098] This application is intended to cover any modifications, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the technical field not recorded in the present disclosure.

Claims

1. A method for determining an output voltage, applied to a laser device, characterized in that: include: Sending a plurality of emission laser pulse signals to a same target object, wherein each of the plurality of emission laser pulse signals is generated according to a different output voltage; Receiving a plurality of reflected laser pulse signals reflected by the target object, wherein each of the plurality of reflected laser pulse signals corresponds to one of the plurality of transmitted laser pulse signals; Processing the multiple reflected laser pulse signals to obtain a target pulse signal; Determine a target distance value corresponding to a target pulse peak value according to the target pulse signal; Determining a target output voltage corresponding to the target distance value according to a preset corresponding relationship; The laser device performs laser ranging on the target object based on the target output voltage; The multiple reflected laser pulse signals are processed to obtain a target pulse signal, including: Superimposing the multiple reflected laser pulse signals to obtain the target pulse signal; Among them, determining the target output voltage corresponding to the target distance value according to a preset corresponding relationship includes: establishing the preset corresponding relationship, wherein the preset corresponding relationship is used to represent the corresponding relationship between the measured distance and the output voltage; and determining the output voltage corresponding to the target distance value in the preset corresponding relationship as the target output voltage.

2. The method according to claim 1, characterized in that Determining a target distance value corresponding to a target pulse peak value according to the target pulse signal includes: Determining the target pulse peak value from the target pulse signal, wherein the target pulse peak value is used to represent the value with the maximum signal amplitude in the target pulse signal; determining a target flight time corresponding to a peak value of the target pulse; The target distance value is obtained according to the target flight time.

3. The method according to claim 1, characterized in that Establishing the preset corresponding relationship includes: Acquire multiple groups of historical measurement data, wherein each group of historical measurement data includes data of different measurement distances and corresponding output voltage data; An objective function is constructed based on the multiple groups of historical measurement data, wherein the objective function represents a function between the output voltage and the measurement distance.

4. The method according to claim 1, characterized in that: Determining a target output voltage corresponding to the target distance value according to a preset corresponding relationship includes: Determine the target distance interval to which the target distance value belongs; The target output voltage corresponding to the target distance interval is determined according to the preset corresponding relationship, wherein the preset corresponding relationship includes a plurality of groups of corresponding relationships between measured distance intervals and output voltages.

5. The method according to claim 1, characterized in that Processing the multiple reflected laser pulse signals to obtain a target pulse signal includes: generating a target histogram according to the multiple reflected laser pulse signals, wherein the target histogram is used to represent photon counts corresponding to different flight times, and the target pulse signal is represented by the target histogram; Determining a target distance value corresponding to a target pulse peak value according to the target pulse signal includes: determining a target flight time corresponding to a maximum photon count based on the target histogram; and determining the target distance value according to the target flight time.

6. A device for determining an output voltage, located in a laser device, characterized in that: include: A transmitting module, used for transmitting a plurality of transmitting laser pulse signals to a same target object, wherein each of the plurality of transmitting laser pulse signals is generated according to a different output voltage; A receiving module, configured to receive a plurality of reflected laser pulse signals reflected by the target object, wherein each of the plurality of reflected laser pulse signals corresponds to one of the plurality of transmitted laser pulse signals; A processing module, used for processing the multiple reflected laser pulse signals to obtain a target pulse signal; A first determination module, configured to determine a target distance value corresponding to a target pulse peak value according to the target pulse signal; A second determination module, configured to determine a target output voltage corresponding to the target distance value according to a preset corresponding relationship; Wherein, the processing module includes: a superposition unit, which is used to superimpose multiple reflected laser pulse signals to obtain a target pulse signal; The second determination module includes: an establishment unit, configured to establish a preset corresponding relationship, wherein the preset corresponding relationship is used to represent the corresponding relationship between the measured distance and the output voltage; a third determination unit, configured to determine the output voltage corresponding to the target distance value in the preset corresponding relationship as the target output voltage; Wherein, the laser device performs laser ranging on the target object based on the target output voltage.

7. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the method according to any one of claims 1 to 5 is performed.

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