Angle detection method and system, laser radar equipment and computer storage medium

Abstract

The invention discloses an angle detection method and system, laser radar equipment and a computer storage medium, and relates to the technical field of laser radar equipment, the angle detection method is applied to the laser radar equipment, the laser radar equipment is internally provided with an angle detection device and a temperature sensor, and the angle detection device comprises a transmitting part and a reflecting part. Comprising the following steps: controlling a temperature sensor to detect an angle detection device so as to obtain a real-time temperature value of the angle detection device; obtaining a target temperature compensation curve of the angle detection device, and determining a target power adjustment value of the transmitting part based on the target temperature compensation curve and the real-time temperature value; adjusting the real-time transmitting power of the transmitting part to the target transmitting power according to the target power adjustment value; and obtaining an angle detection value based on a measurement value obtained by scanning the measurement light emitted by the emission part according to the target emission power through the reflection part. The technical effects of improving the precision of the angle detection device and obtaining a more accurate angle detection value are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of laser radar equipment, and in particular to an angle detection method, system, laser radar equipment and computer-readable storage medium. Background Art

[0002] At present, laser radar generally uses a driving device to drive a transceiver system or a driving device to drive a scanning device to achieve detection with a large field of view.

[0003] In the related art, the driving device generally needs to use an angle detection device to detect the corresponding scanning angle to ensure the accuracy of detection. However, the current angle monitoring device is generally susceptible to temperature drift, resulting in absolute position offset, which in turn causes the position accuracy detected by the angle detection device to be insufficient and cannot meet high-precision requirements. Summary of the invention

[0004] The main purpose of this application is to provide an angle detection method, system, laser radar equipment and computer-readable storage medium, aiming to improve the accuracy of the angle detection device and obtain more accurate angle detection values.

[0005] To achieve the above object, the present application provides an angle detection method, which is applied to a laser radar device, wherein the laser radar device is provided with an angle detection device and a temperature sensor, wherein the angle detection device includes a transmitting part and a reflecting part, and the method includes:

[0006] Controlling the temperature sensor to detect the angle detection device to obtain a real-time temperature value of the angle detection device;

[0007] Acquire a target temperature compensation curve of the angle detection device, and determine a target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value;

[0008] Adjust the real-time transmission power of the transmitting unit to the target transmission power according to the target power adjustment value;

[0009] The angle detection value is obtained based on the measurement value obtained when the measurement light emitted by the emitting portion according to the target emission power sweeps across the reflecting portion.

[0010] Furthermore, the target temperature compensation curve includes a plurality of standard temperature values ​​and standard signal adjustment values ​​corresponding to each of the plurality of standard temperature values;

[0011] The step of determining the target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value includes:

[0012] querying the target temperature compensation curve according to the real-time temperature value to determine the target temperature value among the plurality of standard temperature values;

[0013] determining a target signal adjustment value among the plurality of standard signal adjustment values ​​based on the target temperature value;

[0014] The target power adjustment value of the transmitting unit is determined according to the target signal adjustment value.

[0015] Furthermore, after the step of determining a target temperature value from a plurality of standard temperature values, the method further comprises:

[0016] Determining the accuracy requirement corresponding to the angle detection device, and determining a target weight coefficient based on the accuracy requirement;

[0017] Determining a standard signal adjustment value corresponding to the target temperature value in the target temperature compensation curve;

[0018] Based on the target weight coefficient, the standard signal adjustment value corresponding to the target temperature value is modified to obtain a target signal adjustment value;

[0019] Determining a target power adjustment value of the transmitting unit according to the target signal adjustment value, and adjusting the real-time transmitting power of the transmitting unit to the target transmitting power according to the target power adjustment value;

[0020] The angle detection value is obtained based on the measurement value obtained when the measurement light emitted by the emitting portion according to the target emission power sweeps across the reflecting portion.

[0021] Furthermore, the laser radar device is also provided with a current source, and the current source is electrically connected to the angle detection device;

[0022] The step of adjusting the real-time transmit power of the transmitting unit to the target transmit power according to the target power adjustment value comprises:

[0023] Determining a target transmission power of the transmitting unit based on the target power adjustment value, and determining a target driving current value or a target driving voltage value corresponding to the target transmission power;

[0024] The real-time driving current value output by the current source to the transmitting unit is adjusted according to the target driving current value so that the real-time transmission power of the transmitter is equal to the target transmission power, or the real-time driving voltage value of the current source is adjusted according to the target driving voltage value so that the real-time transmission power of the transmitting unit is equal to the target transmission power.

[0025] Furthermore, before the step of controlling the temperature sensor to detect the angle detection device, the method further includes:

[0026] Obtaining each standard temperature value, and determining the target angle feedback value corresponding to each of the standard temperature values;

[0027] A target temperature compensation curve is constructed based on a preset feedback reference value, each of the standard temperature values ​​and each of the target angle feedback values.

[0028] Furthermore, the step of constructing a target temperature compensation curve based on a preset feedback reference value, each of the standard temperature values ​​and each of the target angle feedback values ​​includes:

[0029] Comparing each of the target angle feedback values ​​with a preset feedback reference value to obtain a plurality of feedback signal deviation values;

[0030] Determine a standard signal adjustment value corresponding to each of the standard temperature values ​​based on the plurality of feedback signal deviation values;

[0031] A target temperature compensation curve is constructed based on each of the standard temperature values ​​and each of the standard signal adjustment values.

[0032] Furthermore, the laser radar device is also provided with a temperature regulating device. After the step of obtaining the real-time temperature value of the angle detection device, the method further includes:

[0033] Determine the target temperature value;

[0034] The real-time temperature value of the angle detection device is adjusted to the target temperature value by the temperature adjustment device.

[0035] In addition, to achieve the above-mentioned purpose, the present application also provides an angle detection system, which is applied to a laser radar device, wherein an angle detection device and a temperature sensor are configured in the laser radar device, wherein the angle detection device includes a transmitting part and a reflecting part, and wherein the system includes:

[0036] A temperature detection module, used to control the temperature sensor to detect the angle detection device to obtain a real-time temperature value of the angle detection device;

[0037] A data search module, used to obtain a target temperature compensation curve of the angle detection device, and determine a target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value;

[0038] A power adjustment module, used for adjusting the real-time transmission power of the transmitting unit to the target transmission power according to the target power adjustment value;

[0039] The angle detection module is used to obtain an angle detection value based on a measurement value obtained when the measurement light emitted by the emission part according to the target emission power scans the reflection part.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a laser radar device, which includes: a memory and a processor, wherein the memory stores an angle detection program that can be run on the processor, and when the angle detection program is executed by the processor, the steps of the angle detection method as described above are implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which an angle detection program is stored. When the angle detection program is executed by a processor, the steps of the angle detection method as described above are implemented.

[0042] The embodiments of the present application provide an angle detection method, system, laser radar device and computer-readable storage medium, a laser radar device, wherein the laser radar device is equipped with an angle detection device and a temperature sensor, the angle detection device includes a transmitting part and a reflecting part, the angle detection device is detected by controlling the temperature sensor to obtain a real-time temperature value of the angle detection device; a target temperature compensation curve of the angle detection device is obtained, and a target power adjustment value of the transmitting part is determined based on the target temperature compensation curve and the real-time temperature value; the real-time transmission power of the transmitting part is adjusted to the target transmission power according to the target power adjustment value; an angle detection value is obtained based on a measurement value obtained by scanning the reflecting part with a measurement light emitted by the transmitting part according to the target transmission power.

[0043] In this embodiment, when the laser radar device is running, it first calls the temperature sensor configured by itself to detect the angle detection device to obtain the real-time temperature value in the environment where the angle detection device is located. After that, the laser radar device obtains the target temperature compensation curve of the angle detection device, and queries the target temperature compensation curve based on the real-time temperature value to determine the target power adjustment value of the transmitting unit corresponding to the real-time temperature value. After that, the laser radar device adjusts the real-time transmission power of the transmitting unit based on the target power adjustment value to adjust the real-time transmission power of the transmitting unit to the target transmission power corresponding to the target power adjustment value. Finally, the laser radar device obtains the angle detection value based on the measurement value obtained by the measuring light emitted by the transmitting unit according to the target transmission power through the reflecting unit.

[0044] In this way, the present application configures a temperature sensor in the laser radar equipment, and detects the angle detection device through the temperature sensor to determine the real-time temperature value of the angle detection device, and then queries the target temperature compensation curve based on the real-time temperature value to determine the target power adjustment value of the transmitting unit, and then adjusts the transmitting power of the transmitting unit based on the target power adjustment value. This solves the problem in the related technology that the angle monitoring device is easily affected by temperature and drifts, thereby causing absolute position offset, resulting in insufficient detected position accuracy, and achieves the technical effect of improving the accuracy of the angle detection device and obtaining a more accurate angle detection value. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural diagram of a laser radar device in a hardware operating environment involved in an embodiment of the present application;

[0046] Figure 2 This is a flow chart of the first embodiment of the angle detection method of the present application;

[0047] Figure 3 A circuit diagram of a laser radar device according to an embodiment of the angle detection method of the present application;

[0048] Figure 4 This is a flow chart of the second embodiment of the angle detection method of the present application;

[0049] Figure 5 This is a schematic diagram of a target temperature compensation curve involved in an embodiment of the angle detection method of the present application;

[0050] Figure 6 and Figure 7 All of them are schematic diagrams of the control principle of the angle detection device involved in an embodiment of the angle detection method of the present application;

[0051] Figure 8 A flow chart for constructing a target temperature compensation curve involved in an embodiment of the angle detection method of the present application;

[0052] Fig. 9 This is a schematic diagram of feedback signal adjustment involved in an embodiment of the angle detection method of the present application;

[0053] Fig.10 , Fig.11 and Fig.12 All of them are structural schematic diagrams of a scanning device involved in an embodiment of the angle detection method of the present application;

[0054] Fig.13 This is a schematic diagram of the functional modules involved in the angle detection system of this application.

[0055] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the laser radar device in the hardware operating environment involved in the embodiment of the present application.

[0058] It should be noted that the laser radar device of the embodiment of the present application may be a device for executing the angle detection method of the present application, and the laser radar device may specifically be a laser radar device internally configured with a galvanometer motor, a temperature sensor, a photoelectric sensor, and a current source for controlling the photoelectric sensor, or the laser radar device may also be a laser radar device internally configured with a rotating mirror motor or a mechanical rotating platform to form an angle detection device;

[0059] For details, please refer to Fig.10 , Fig.11 and Fig.12 , Fig.10 , Fig.11 and Fig.12 All of them are structural schematic diagrams of the angle monitoring device of the scanning device involved in this application, such as Fig.10 , Fig.11 and Fig.12 As shown, the scanning device of the laser radar may include a scanning angle monitoring device composed of a transmitting part (receiver 110) and a reflecting part (grating code disk 120), wherein the reflector 110 includes a transmitting sensor and a receiving sensor arranged relatively to each other, wherein the transmitting sensor in the reflector 110 can emit light, which passes through each grating hole 122 between the grating code disk 120 and is received by the receiving sensor 111 in the reflector, thereby detecting the rotation angle of the scanning device. It can be understood that the transmitting sensor and the receiving sensor in the reflector 110 can be integrally connected or separate, and the present application does not impose any limitation thereto. It can be understood that the corresponding number of the transmitting sensor and the receiving sensor can be one-to-one or one-to-many, and the present application does not impose any specific limitation thereto. In addition, as Fig.10 , Fig.11 and Fig.12 As shown, the widths between the grating teeth 121 corresponding to different grating code disks 120 are different, which in turn makes the accuracy of different grating code disks different. According to different angle monitoring devices and different detection requirements of laser radar, the transmission power of the transmitting sensor in the transmitter 110 is adjusted. Among them, it can be understood that, Fig.10 , Fig.11 , Fig.12The angle monitoring device in the radar may be an angle monitoring device corresponding to a scanning device (for example, a scanning device such as a rotating mirror or a galvanometer) in the radar. Optionally, Fig.10 , Fig.11 , Fig.12 The corresponding angle monitoring device may also be an angle monitoring device of a rotary scanning drive motor of a mechanical laser radar, and this application does not impose any limitation on this.

[0060] like Figure 1 As shown, the laser radar device may also include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0061] Those skilled in the art will understand that Figure 1 The structure shown in does not constitute a limitation of the laser radar device and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0062] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and various angle detection programs.

[0063] exist Figure 1 In the laser radar device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the laser radar device of the present application can be set in the laser radar device, and the laser radar device calls the angle detection program stored in the memory 1005 through the processor 1001, and performs the following operations:

[0064] Controlling the temperature sensor to detect the angle detection device to obtain a real-time temperature value of the angle detection device;

[0065] Acquire a target temperature compensation curve of the angle detection device, and determine a target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value;

[0066] Adjust the real-time transmission power of the transmitting unit to the target transmission power according to the target power adjustment value;

[0067] The angle detection value is obtained based on the measurement value obtained when the measurement light emitted by the emitting portion according to the target emission power sweeps across the reflecting portion.

[0068] Furthermore, the target temperature compensation curve includes a plurality of standard temperature values ​​and standard signal adjustment values ​​corresponding to the plurality of standard temperature values; the processor 1001 calls the angle detection program stored in the memory 1005, and further performs the following operations:

[0069] querying the target temperature compensation curve according to the real-time temperature value to determine the target temperature value among the plurality of standard temperature values;

[0070] determining a target signal adjustment value among the plurality of standard signal adjustment values ​​based on the target temperature value;

[0071] The target power adjustment value of the transmitting unit is determined according to the target signal adjustment value.

[0072] Further, the processor 1001 calls the angle detection program stored in the memory 1005, and also performs the following operations:

[0073] Determining the accuracy requirement corresponding to the angle detection device, and determining a target weight coefficient based on the accuracy requirement;

[0074] Determining a standard signal adjustment value corresponding to the target temperature value in the target temperature compensation curve;

[0075] Based on the target weight coefficient, the standard signal adjustment value corresponding to the target temperature value is modified to obtain a target signal adjustment value;

[0076] Determining a target power adjustment value of the transmitting unit according to the target signal adjustment value, and adjusting the real-time transmitting power of the transmitting unit to the target transmitting power according to the target power adjustment value;

[0077] The angle detection value is obtained based on the measurement value obtained when the measurement light emitted by the emitting portion according to the target emission power sweeps across the reflecting portion.

[0078] Furthermore, the laser radar device is also provided with a current source, and the current source is electrically connected to the angle detection device. The processor 1001 calls the angle detection program stored in the memory 1005, and further performs the following operations:

[0079] Determining a target transmission power of the transmitting unit based on the target power adjustment value, and determining a target driving current value or a target driving voltage value corresponding to the target transmission power;

[0080] The real-time driving current value output by the current source to the transmitting unit is adjusted according to the target driving current value so that the real-time transmission power of the transmitter is equal to the target transmission power, or the real-time driving voltage value of the current source is adjusted according to the target driving voltage value so that the real-time transmission power of the transmitting unit is equal to the target transmission power.

[0081] Further, the processor 1001 calls the angle detection program stored in the memory 1005, and also performs the following operations:

[0082] Obtaining each standard temperature value, and determining the target angle feedback value corresponding to each of the standard temperature values;

[0083] A target temperature compensation curve is constructed based on a preset feedback reference value, each of the standard temperature values ​​and each of the target angle feedback values.

[0084] Further, the processor 1001 calls the angle detection program stored in the memory 1005, and also performs the following operations:

[0085] Comparing each of the target angle feedback values ​​with a preset feedback reference value to obtain a plurality of feedback signal deviation values;

[0086] Determine a standard signal adjustment value corresponding to each of the standard temperature values ​​based on the plurality of feedback signal deviation values;

[0087] A target temperature compensation curve is constructed based on each of the standard temperature values ​​and each of the standard signal adjustment values.

[0088] Further, the processor 1001 calls the angle detection program stored in the memory 1005, and also performs the following operations:

[0089] Determine the target temperature value;

[0090] The real-time temperature value of the angle detection device is adjusted to the target temperature value by the temperature adjustment device.

[0091] Based on the above-mentioned laser radar equipment, the overall concept of the angle detection method of the present application is provided.

[0092] At present, laser radar generally uses a driving device to drive the transceiver system or a driving device to drive the scanning device to achieve detection of a large field of view. In related technologies, the driving device generally needs to use an angle detection device to detect the corresponding scanning angle to ensure the accuracy of detection. However, the current angle monitoring device is generally susceptible to temperature drift, resulting in absolute position offset, which in turn causes the position accuracy detected by the angle detection device to be inaccurate and cannot meet high-precision requirements.

[0093] In response to the above phenomenon, the present application proposes an angle detection method, which is applied to a laser radar device. The laser radar device is equipped with an angle detection device and a temperature sensor, and the angle detection device includes a transmitting part and a reflecting part. The method includes the steps of: controlling the temperature sensor to detect the angle detection device to obtain a real-time temperature value of the angle detection device; obtaining a target temperature compensation curve of the angle detection device, and determining a target power adjustment value of the transmitting part based on the target temperature compensation curve and the real-time temperature value; adjusting the real-time transmission power of the transmitting part to the target transmission power according to the target power adjustment value; and obtaining an angle detection value based on a measurement value obtained by scanning the measuring light emitted by the transmitting part according to the target transmission power through the reflecting part.

[0094] In this way, the present application configures a temperature sensor in the laser radar equipment, and detects the angle detection device through the temperature sensor to determine the real-time temperature value of the angle detection device, and then queries the target temperature compensation curve based on the real-time temperature value to determine the target power adjustment value of the transmitting unit, and then adjusts the transmitting power of the transmitting unit based on the target power adjustment value. This solves the problem in the related technology that the angle monitoring device is easily affected by temperature and drifts, thereby causing absolute position offset, resulting in insufficient detected position accuracy, and achieves the technical effect of improving the accuracy of the angle detection device and obtaining a more accurate angle detection value.

[0095] Based on the above-mentioned laser radar device and the overall concept and laser radar device of the angle detection method of the present application, various embodiments of the angle detection method of the present application are further proposed.

[0096] It should be noted that, taking the laser radar scanning through the galvanometer motor as an example, please refer to Figure 3 , Figure 3 The circuit diagram of the laser radar device involved in an embodiment of the angle detection method of the present application is shown in FIG. Figure 3The laser radar device shown is configured with a galvanometer motor, wherein the galvanometer motor is configured with a temperature sensor, a transmitting sensor LED and a receiving sensor PD (wherein it can be understood that the transmitting sensor LED and the receiving sensor PD are an angle monitoring device as a whole);

[0097] Among them, it is understandable that Figure 3 In the embodiment, the controller obtains the rotation angle of the galvanometer motor by receiving the signal received by the receiving sensor PD, thereby realizing the rotation monitoring of the galvanometer motor.

[0098] Among them, it is understandable that Figure 3 In the present invention, the controller receives the information fed back by the temperature sensor in the galvanometer motor, and adjusts the transmitting power of the transmitting sensor LED based on the motor temperature information fed back by the temperature sensor, so as to achieve more accurate detection.

[0099] Please refer to Figure 2 , Figure 2 This is a flow chart of the first embodiment of the angle detection method of the present application.

[0100] It should be understood that although a logical order is shown in the flowchart, in some cases, the angle detection method in the present application can of course also perform the steps shown or described in an order different from that shown here.

[0101] like Figure 2 As shown, in this embodiment, the angle detection method in this application may include the following steps:

[0102] Step S10: controlling the temperature sensor to detect the angle detection device to obtain a real-time temperature value of the angle detection device;

[0103] In this embodiment, during the operation of the laser radar device, it first controls the temperature sensor configured therein to detect the angle detection device to obtain the real-time temperature value in the environment where the angle detection device is located.

[0104] Exemplarily, for example, during operation, the laser radar device first obtains a detection interval preset by a technician, and then controls its configured temperature sensor to detect the galvanometer motor or the rotating mirror motor based on the detection interval to obtain the real-time temperature value of the surrounding environment of the galvanometer motor or the rotating mirror motor during operation.

[0105] Step S20: acquiring a target temperature compensation curve of the angle detection device, and determining a target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value;

[0106] In this embodiment, the laser radar device reads the storage device configured therein to obtain the target temperature compensation curve of the angle detection device, and queries the target temperature compensation curve based on the obtained real-time temperature value to determine the target power adjustment value corresponding to the transmitting part at the real-time temperature value.

[0107] Furthermore, in a feasible embodiment, the target temperature compensation curve includes a plurality of standard temperature values, and standard signal adjustment values ​​corresponding to each of the plurality of standard temperature values;

[0108] The step of "determining the target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value" in the above step S20 may specifically include:

[0109] Step S201: querying the target temperature compensation curve according to the real-time temperature value to determine the target temperature value among the multiple standard temperature values;

[0110] In this embodiment, after obtaining the target temperature compensation curve, the laser radar device first reads the target temperature compensation curve to determine the multiple standard temperature values ​​contained in the target temperature compensation curve, and the standard signal adjustment values ​​corresponding to the multiple standard temperature values. The laser radar device then queries the target temperature compensation curve based on the real-time temperature value to determine the target temperature value consistent with the real-time temperature value among the multiple standard temperature values.

[0111] Step S202: determining a target signal adjustment value from among a plurality of standard signal adjustment values ​​based on the target temperature value;

[0112] In this embodiment, after determining the target temperature value, the laser radar device determines a standard signal adjustment value corresponding to the target temperature value within the target temperature compensation curve, and determines the standard signal adjustment value as the target signal adjustment value.

[0113] Step S203: determining a target power adjustment value of the transmitting unit according to the target signal adjustment value;

[0114] In this embodiment, the laser radar device determines a target power adjustment value corresponding to the transmitting part in the angle detection device based on the acquired target signal adjustment value.

[0115] For example, see Figure 5 , Figure 5 This is a schematic diagram of a target temperature compensation curve involved in an embodiment of the angle detection method of this application. The laser radar device obtains Figure 5After the target temperature compensation curve shown, the target temperature compensation curve is first read to obtain multiple standard temperature values ​​contained in the target temperature compensation curve, and the standard signal duty cycles corresponding to the multiple standard change values. The laser radar device then queries the multiple standard temperature values ​​contained in the target temperature compensation curve based on the real-time temperature value of the galvanometer motor, and then compares the real-time temperature value with the multiple standard temperature values ​​to obtain multiple comparison results. After that, the laser radar device continues to query the target temperature compensation curve to determine the standard signal duty cycle corresponding to the target temperature value in the target temperature compensation curve, thereby determining the standard signal duty cycle as the target signal duty cycle. The laser radar device determines the target power adjustment value corresponding to the photoelectric sensor LED at the real-time temperature value based on the acquired target signal duty cycle.

[0116] Step S30: adjusting the real-time transmission power of the transmitting unit to the target transmission power according to the target power adjustment value;

[0117] In this embodiment, the laser radar device adjusts the transmitting unit in the angle detection device based on the acquired target power adjustment value to adjust the real-time transmitting power of the transmitting unit to the target transmitting power corresponding to the target power adjustment value.

[0118] For example, see Fig. 9 , Fig. 9 This is a schematic diagram of feedback signal adjustment involved in an embodiment of the angle detection method of the present application. After obtaining the target power adjustment value, the laser radar device determines the real-time transmission power of the photoelectric sensor LED configured in the galvanometer motor. At the same time, the laser radar device determines the target transmission power corresponding to the photoelectric sensor LED based on the obtained target power adjustment value. The laser radar device thus adjusts the real-time transmission power of the photoelectric sensor LED to the target transmission power. Fig. 9 As shown, the laser radar device adjusts the amplitude of the feedback signal sent by the receiving sensor PD in the transmitting part configured in the galvanometer motor from A2 or A1 to the feedback reference value A0 generated by the receiving sensor PD in the transmitting part under the standard environment by adjusting the transmitting power of the photoelectric sensor LED, thereby ensuring that the laser spot of the laser radar can scan the accurate working position;

[0119] Alternatively, the laser radar device can also adjust the amplitude of the feedback signal emitted by the receiving sensor PD configured in the galvanometer motor from B1 or B2 to the feedback reference value B0 generated by the receiving sensor PD in the transmitting part under a standard environment by adjusting the transmitting sensor LED, thereby ensuring that the laser radar spot can scan the accurate working position.

[0120] It should be noted that, in this embodiment and another embodiment, when a rotating mirror is configured in the laser radar device as a scanning device, the laser radar device can also determine the real-time transmission power of the photoelectric sensor LED in the rotating mirror motor after obtaining the target power adjustment value, and determine the real-time transmission power of the photoelectric sensor LED in the rotating mirror motor to be adjusted to the target transmission power based on the obtained target power adjustment value, such as Fig. 9 As shown, the laser radar device adjusts the transmission power of the photoelectric sensor LED by controlling the signal to ensure that the pulse width of the feedback signal received by the receiving sensor PD in the rotating mirror motor is adjusted from T1 or T2 to the feedback signal pulse width T0 generated by the receiving sensor PD under the standard environment, thereby ensuring that the light spot can scan the accurate working position.

[0121] Furthermore, in a feasible embodiment, the laser radar device is further configured with a current source for controlling the angle detection device, and the above step S30 may specifically include:

[0122] Step S301: determining a target transmission power of the transmitting unit based on the target power adjustment value, and determining a target driving current value or a target driving voltage value corresponding to the target transmission power;

[0123] In this embodiment, after determining the target power adjustment value, the laser radar device determines the target transmission power corresponding to the transmitting part in the angle detection device at the real-time temperature value according to the target power adjustment value. The laser radar device thereby determines the target driving current value or the corresponding target driving voltage value that the current source should output when controlling the transmitting part to reach the target transmission power.

[0124] Step S302: adjusting the real-time driving current value outputted by the current source to the transmitting unit according to the target driving current value so that the real-time transmitting power of the transmitter is equal to the target transmitting power, or adjusting the real-time driving voltage value of the current source according to the target driving voltage value so that the real-time transmitting power of the transmitting unit is equal to the target transmitting power;

[0125] In this embodiment, the laser radar device controls the current source to adjust the real-time driving current value output by the current source to the transmitting unit to the above-mentioned target driving current value, thereby adjusting the real-time transmission power of the transmitting unit to the target transmission power by changing the driving current value output by the current source;

[0126] Alternatively, the laser radar device adjusts the real-time driving voltage value corresponding to the current source to adjust the real-time driving voltage value to the above-mentioned target driving voltage value, thereby adjusting the real-time transmission power of the transmitting unit to the target transmission power by changing the driving voltage value of the current source.

[0127] For example, for example, Figure 3 As shown, a current source Is for controlling the photoelectric sensor LED is also configured in the laser radar device. After determining the target power adjustment value corresponding to the real-time temperature value, the laser radar device first determines the target transmission power corresponding to the photoelectric sensor LED in the galvanometer motor at the real-time temperature value according to the target power adjustment value. The laser radar device thereby determines the target driving current value that the current source Is should output when the photoelectric sensor LED reaches the target transmission power. After that, the laser radar device detects the current source Is to determine the real-time driving current value output by the current source Is, and generates a first target PWM signal based on the target driving current value and the above-mentioned target duty cycle obtained. The laser radar device then transmits the first target PWM signal to a controller connected to the current source Is, so as to adjust the current source Is through the controller, so that the real-time driving current value output by the current source Is is equal to the target driving current value. The laser radar device thereby adjusts the real-time power of the corresponding transmitting sensor LED in the transmitting part to the target transmission power by adjusting the driving current value output by the current source Is, so that the receiving sensor in the transmitting part obtains a standard pulse width signal, thereby ensuring the accuracy of detection.

[0128] Alternatively, after determining the target transmission power, the laser radar device can also determine the target driving voltage value corresponding to the current source Is when the photoelectric sensor LED reaches the target transmission power, and detect the current source Is to determine the real-time driving voltage value of the current source Is. The laser radar device then generates a second target PWM signal based on the target driving voltage value and the above-mentioned target duty cycle obtained, and transmits the second target PWM signal to a controller connected to the current source Is, so that the current source Is is adjusted by the controller so that the real-time driving voltage value of the current source Is is equal to the target driving voltage value. The laser radar device thus adjusts the driving voltage value of the current source Is to make the real-time transmission power of the transmitting sensor LED in the angle monitoring device reach the target transmission power corresponding to the target driving voltage value, thereby ensuring that the pulse width of the feedback signal received by the receiving sensor in the transmitting part reaches the standard pulse width value, thereby ensuring the accuracy of angle monitoring.

[0129] It should be noted that, in this embodiment and another embodiment, after obtaining the real-time temperature value, the laser radar device can determine whether the real-time temperature value is less than 0. When the laser radar device determines that the real-time temperature value is less than 0, it determines that the ambient temperature of the galvanometer motor is reduced, and the laser radar device reads the above-mentioned target temperature compensation curve to obtain the target signal duty cycle corresponding to the real-time temperature change, and determines the target drive current value or target drive voltage value corresponding to the target signal duty cycle. The laser radar device generates a third target PWM signal based on the target drive current value or target drive voltage value and the target signal duty cycle to control the current source Is used to control the transmitting sensor LED in the transmitting part. The laser radar device sends the third target PWM signal to the controller connected to the current source Is through the galvanometer photoelectric encoder or the rotating mirror PSD sensor, so as to increase the driving current value or driving voltage value output by the current source Is through the controller, thereby increasing the real-time transmission power of the transmitting sensor LED in the transmitting part to the target transmission power corresponding to the target driving current value, and then increasing the transmission power of the transmitting sensor LED in the transmitting part to increase the feedback signal amplitude of the receiving sensor PD in the transmitting part, thereby ensuring the accurate working position of the scanned laser spot;

[0130] or;

[0131] When the laser radar device determines that the real-time temperature value is greater than 0, it is determined that the ambient temperature of the galvanometer motor increases, and the laser radar device reads the above-mentioned target temperature compensation curve to obtain the target signal duty cycle corresponding to the real-time temperature change, and determines the target drive current value or the target drive voltage value corresponding to the target signal duty cycle. The laser radar device generates a fourth target PWM signal based on the target drive current value or the target drive voltage value and each target signal duty cycle, and sends the fourth target PWM signal to a controller connected to the current source Is, so as to adjust the current source Is used to control the transmitting sensor LED in the transmitting part through the controller, so that the current source Is reduces the output drive current to the target drive current value, or reduces the real-time drive voltage value of the current source Is to the target drive voltage value. The laser radar device reduces the real-time transmission power of the transmitting sensor LED in the transmitting part to the target transmission power corresponding to the target drive current value by reducing the current value or voltage value output by the current source Is, and then reduces the transmission power of the transmitting sensor LED in the transmitting part to reduce the feedback signal amplitude of the receiving sensor PD in the high transmitting part;

[0132] Please note that, please refer to Figure 6 and Figure 7 ,in, Figure 6 and Figure 7 All of them are schematic diagrams of the control principle of the angle detection device involved in an embodiment of the angle detection method of the present application, such as Figure 6 As shown, in the related technology, the laser radar device only controls the current source to supply constant voltage to the photoelectric sensor in the rotating mirror motor or the galvanometer motor, thereby receiving the angle signal amplitude feedback value or angle signal pulse width feedback value returned by the photoelectric sensor in the rotating mirror motor or the galvanometer motor; thus, once the temperature of the environment in which the laser radar device is located changes, the solution adopted by the related technology will not be able to adjust the transmission power of the photoelectric sensor, and thus the laser radar device will not be able to accurately detect the working position of the laser spot. After adopting the technical solution described in this application, Figure 7 As shown, the laser radar device can control the current or voltage value generated by the current source based on the real-time temperature value of the environment in which the photoelectric sensor is located, thereby adjusting the transmission power of the transmitting sensor LED in the transmitting part, and then adjusting the feedback signal amplitude generated by the receiving sensor PD in the transmitting part, ultimately reducing the accuracy interference caused by the temperature drift phenomenon to the scanning device of the laser radar device.

[0133] In addition, in this embodiment and another embodiment, the laser radar device can also generate a target DAC signal based on the acquired target driving current value or target driving voltage value, and send the target DAC signal to the above-mentioned controller so as to adjust the real-time current value or real-time voltage value of the current source Is through the controller.

[0134] Step S40: Obtaining an angle detection value based on a measurement value obtained by the measuring light emitted by the emitting unit according to the target emission power scanning the reflecting unit

[0135] In this embodiment, the laser radar device controls the transmitting part to transmit the measuring light to the reflecting part according to the target transmitting power, and determines the corresponding measurement value when the measuring light scans the reflecting part. The laser radar device then calculates the angle detection value based on the measurement value.

[0136] Exemplarily, for example, the laser radar device controls the transmitting sensor LED in the transmitting part to transmit a measuring light to the receiving sensor PD in the transmitting part according to the target transmitting power, and the laser radar device thereby receives the measurement value corresponding to the measuring light returned by the receiving sensor PD in the transmitting part, and calculates the angle detection value based on the measurement value.

[0137] In this embodiment, during the operation of the laser radar device, the laser radar device first controls the temperature sensor configured by itself to detect the angle detection device to obtain the real-time temperature value in the environment where the angle detection device is located. After that, the laser radar device reads the storage device configured by itself to obtain the target temperature compensation curve of the angle detection device, and queries the target temperature compensation curve based on the obtained real-time temperature value to determine the target power adjustment value corresponding to the transmitting part at the real-time temperature value. After that, the laser radar device adjusts the transmitting sensor in the transmitting part of the angle detection device based on the obtained target power adjustment value to adjust the real-time transmitting power of the transmitting sensor in the transmitting part to the target transmitting power corresponding to the target power adjustment value. Finally, the laser radar device controls the transmitting part to transmit the measuring light to the reflecting part according to the target transmitting power, and determines the corresponding measurement value when the measuring light scans the reflecting part. The laser radar device then calculates the angle detection value based on the measurement value.

[0138] In this way, the present application configures a temperature sensor in the laser radar equipment, and detects the angle detection device through the temperature sensor to determine the real-time temperature value of the angle detection device, and then queries the target temperature compensation curve based on the real-time temperature value to determine the target power adjustment value of the transmitting unit, and then adjusts the transmitting power of the transmitting unit based on the target power adjustment value. This solves the problem in the related technology that the angle monitoring device is easily affected by temperature and drifts, thereby causing absolute position offset, resulting in insufficient detected position accuracy, and achieves the technical effect of improving the accuracy of the angle detection device and obtaining a more accurate angle detection value.

[0139] Based on the above-mentioned first embodiment of the angle detection method of the present application, a second embodiment of the angle detection method of the present application is proposed here.

[0140] For further information, please refer to Figure 4 , Figure 4 This is a flow chart of the second embodiment of the angle detection method of the present application. Figure 4 As shown, before the above step S10, the angle detection method of the present application may further include the following steps:

[0141] Step A10: acquiring each standard temperature value, and determining the target angle feedback value corresponding to each standard temperature value;

[0142] In this embodiment, the laser radar equipment first reads the storage device configured by itself to obtain the standard temperature values ​​pre-stored by the technician, and the target angle feedback values ​​generated by the angle detection device at each standard temperature value.

[0143] Step A20: constructing a target temperature compensation curve based on a preset feedback reference value, each of the standard temperature values ​​and each of the target angle feedback values;

[0144] In this embodiment, the laser radar equipment obtains the feedback reference value preset by the technician, and constructs a target temperature compensation curve based on the feedback reference value, each standard temperature value and each target angle feedback value, and stores the target temperature compensation curve in a storage device.

[0145] Exemplarily, for example, before the laser radar device detects the ambient temperature of the galvanometer motor, the technician can place the laser radar device in an incubator and control the incubator cycle to simulate an environment of -40℃-125℃. The technician thereby controls the transmitting sensor LED in the transmitting part of the angle detection device and the receiving sensor PD in the transmitting part to work in the -40℃-125℃ environment. The laser radar device thereby obtains the target angle feedback values ​​generated by the receiving sensor PD in the transmitting part at each standard temperature value when in the -40℃-125℃ environment. At the same time, the laser radar device reads the storage device to obtain the feedback reference value preset by the technician in the 25℃ environment, when the galvanometer motor or the rotating mirror motor rotates to the target position. Afterwards, the laser radar device constructs a target temperature compensation curve based on the feedback reference value, each standard temperature value and each target angle feedback value, and stores the target temperature compensation curve in the storage device.

[0146] Furthermore, in a feasible embodiment, the above step A20 may specifically include:

[0147] Step A201: Compare each of the target angle feedback values ​​with a preset feedback reference value to obtain a plurality of feedback signal deviation values;

[0148] In this embodiment, after obtaining the feedback reference value, each standard temperature value and each target feedback signal, the laser radar device first compares each target angle feedback value with the feedback reference value to determine the feedback signal deviation value between the target angle feedback value and the feedback reference value.

[0149] Step A202: determining a standard signal adjustment value corresponding to each of the standard temperature values ​​based on a plurality of feedback signal deviation values;

[0150] In this embodiment, the laser radar determines standard signal adjustment values ​​corresponding to multiple standard temperature values ​​based on multiple feedback signal deviation values.

[0151] Step A203: constructing a target temperature compensation curve based on each of the standard temperature values ​​and each of the standard signal adjustment values;

[0152] In this embodiment, the laser radar device constructs a target temperature compensation curve based on each standard temperature value and a standard signal adjustment value corresponding to each standard temperature value, and stores the target temperature compensation curve in a storage device.

[0153] For example, see Figure 8 , Figure 8 A flow chart for constructing a target temperature compensation curve involved in an embodiment of the angle detection method of the present application is shown in FIG. Figure 8 As shown, after obtaining the feedback reference value preset by the technician and fed back by the receiving sensor PD in the transmitting part under a 25°C environment, the standard temperature values ​​within -40°C-125°C, and the angle feedback value generated by the receiving sensor PD in the transmitting part of the rotating mirror motor or the galvanometer motor when the rotating mirror motor or the galvanometer motor is in the target position under each standard temperature value, the laser radar device first obtains a first angle feedback value under any standard temperature value, and compares the first angle feedback value with the feedback reference value to determine whether the first angle feedback value is less than the feedback reference value, and when it is determined that the first angle feedback value is less than the feedback reference value, increases the transmission power corresponding to the transmitting sensor LED in the transmitting part of the rotating mirror motor or the galvanometer motor to the target transmission power, so as to obtain the second angle feedback value generated by the rotating mirror motor or the galvanometer motor under the standard temperature value again, and then, when it is determined that the second angle feedback value is not less than the feedback reference value, the laser radar device further determines the second angle. Whether the feedback value is greater than the feedback reference value, and when it is judged that the second angle feedback value is greater than the feedback reference value, the transmission power corresponding to the transmitting sensor LED in the transmitting part of the rotating mirror motor or the galvanometer motor is reduced to the target power, until the third angle feedback value generated by the adjusted galvanometer motor or the rotating mirror motor at the standard temperature value is equal to the reference feedback value, the laser radar device records the target transmission power of the transmitting sensor LED in the transmitting part of the galvanometer motor or the rotating mirror motor after two adjustments at the standard temperature value, and thus determines the standard power adjustment value corresponding to the standard temperature value based on the target target transmission power and the initial transmission power of the photoelectric sensor when the galvanometer motor or the rotating mirror motor generates the first angle feedback value. Finally, the laser radar device repeats the experiment according to the above process to determine the standard power adjustment value corresponding to each standard temperature value, and the standard signal duty cycle corresponding to the standard power adjustment value, and constructs the following based on each standard temperature value and each standard signal duty cycle. Figure 5 The target temperature compensation curve shown is then stored in the storage device.

[0154] In this embodiment, the laser radar equipment first reads the storage device configured by itself to obtain the standard temperature values ​​pre-stored by the technician, and the target angle feedback values ​​generated by the angle detection device at each standard temperature value. After that, the laser radar equipment obtains the feedback reference value preset by the technician, and constructs a target temperature compensation curve based on the feedback reference value, the standard temperature values ​​and the target angle feedback values, and stores the target temperature compensation curve in the storage device.

[0155] In this way, the present application obtains the preset feedback reference value, each standard temperature value and the target angle feedback value corresponding to each standard temperature value, thereby calculating the standard power adjustment value corresponding to each standard temperature value, and then constructing the target temperature compensation curve based on each standard temperature value and the standard power adjustment value, thereby achieving the purpose of obtaining the target temperature compensation curve, and then enabling the laser radar equipment to adjust the photoelectric sensor based on the target temperature compensation curve.

[0156] Furthermore, based on the above-mentioned first embodiment and / or second embodiment of the angle detection method of the present application, a third embodiment of the angle detection method of the present application is proposed herein.

[0157] After the above step S10, the angle detection method of the present application may further include the following steps:

[0158] Step B10: Determine the target temperature value;

[0159] In this embodiment, after the laser radar device obtains the real-time temperature value, it can also determine the temperature value of the environment in which the angle detection device is located before the temperature changes based on the real-time temperature value, and determine the temperature value of the environment before the temperature changes as the target temperature value.

[0160] Step B20: adjusting the real-time temperature value of the angle detection device to the target temperature value by the temperature adjustment device;

[0161] In this embodiment, the laser radar device controls the temperature adjustment device configured in the angle detection device based on the acquired target temperature value to adjust the real-time temperature value of the angle detection device to the target temperature value.

[0162] Exemplarily, for example, after the laser radar device obtains the real-time temperature value, it can determine the temperature value of the environment in which the galvanometer motor is located before the temperature changes based on the real-time temperature value, and determine the temperature value of the environment in which the galvanometer motor is located before the temperature changes as the target temperature value. Afterwards, the laser radar device controls the operation of the temperature adjustment device configured in the galvanometer motor based on the target temperature value to adjust the real-time temperature value in the galvanometer motor to the target temperature value.

[0163] Furthermore, in a feasible embodiment, the temperature adjustment device includes a heating device and a cooling device; the above step B20 may specifically include:

[0164] Step B201: When the target temperature value is greater than the real-time temperature value corresponding to the galvanometer motor, controlling the heating device to perform a heating operation to increase the real-time temperature value to the target temperature value;

[0165] In this embodiment, after determining the target temperature value, the laser radar device compares the target temperature value with the real-time temperature value of the angle detection device after the temperature changes to obtain a comparison result, and when it is determined that the comparison result is that the target temperature value is greater than the real-time temperature value, the heating device included in the temperature adjustment device is controlled to operate to perform a heating operation on the angle detection device, thereby raising the real-time temperature value of the angle detection device to the target temperature value.

[0166] Step B202: When the target temperature value is less than the real-time temperature value, controlling the cooling device to perform a heat dissipation operation to reduce the real-time temperature value to the target temperature value;

[0167] In this embodiment, after determining the target temperature value, the laser radar device compares the target temperature value with the real-time temperature of the angle detection device after the temperature changes to obtain a comparison result, and when it is determined that the comparison result is that the target temperature value is less than the real-time temperature value, the heat dissipation device included in the temperature adjustment device is controlled to operate to perform a heat dissipation operation on the angle detection device, thereby reducing the real-time temperature value of the angle detection device to the target temperature value.

[0168] Exemplarily, for example, after acquiring the target temperature value, the laser radar device first compares the target temperature value with the real-time temperature value of the galvanometer motor after the temperature changes to obtain a comparison result, and when it is determined that the comparison result is that the target temperature value is greater than the real-time temperature value, it is determined that the temperature of the environment in which the galvanometer motor is located is reduced, and the laser radar device controls the operation of the heating device configured in the galvanometer motor to perform a heating operation on the galvanometer motor, thereby raising the real-time temperature value of the galvanometer motor to the target temperature value;

[0169] or,

[0170] When the laser radar device determines that the comparison result is that the target temperature value is less than the real-time temperature value, it determines that the temperature of the environment in which the galvanometer motor is located has increased. The laser radar device then controls the heat dissipation device configured in the galvanometer motor to operate to perform heat dissipation operations on the galvanometer motor, thereby reducing the real-time temperature value of the galvanometer motor to the target temperature value.

[0171] It should be noted that, in this embodiment and another embodiment, when controlling the operation of the temperature adjustment device, the laser radar device can also detect the second real-time temperature value corresponding to the galvanometer motor during the operation of the temperature adjustment device through the temperature sensor, and determine the second target signal duty cycle based on the above-mentioned target temperature compensation curve and the second real-time temperature value, and then adjust the real-time transmission power of the photoelectric sensor based on the second target signal duty cycle.

[0172] In this embodiment, after the laser radar device obtains the real-time temperature value, it can also determine the temperature value of the environment in which the angle detection device is located before the temperature changes based on the real-time temperature value, and determine the temperature value of the environment before the temperature changes as the target temperature value. Afterwards, the laser radar device controls the temperature adjustment device configured in the angle detection device based on the obtained target temperature value to adjust the real-time temperature value of the angle detection device to the target temperature value.

[0173] In this way, the present application determines the target temperature value based on the temperature change value after detecting the real-time temperature value of the angle detection device, and controls the temperature adjustment device to adjust the real-time temperature of the angle detection device based on the target temperature value, thereby providing a stable working environment for the angle detection device and further improving the performance of the galvanometer motor.

[0174] Furthermore, based on the above-mentioned embodiments of the angle detection method of the present application, a fourth embodiment of the angle detection method of the present application is proposed herein.

[0175] After the above step S201, the angle detection method of the present application may further include the following steps:

[0176] Step C10: determining the accuracy requirement corresponding to the angle detection device, and determining a target weight coefficient based on the accuracy requirement;

[0177] In this embodiment, after determining the target temperature value contained in the target temperature compensation curve, the laser radar device can also determine the device structure of the angle detection device, thereby determining the accuracy requirement corresponding to the device structure. The laser radar device then screens the preset multiple weight values ​​based on the accuracy requirement to determine the target weight coefficient corresponding to the accuracy requirement.

[0178] Step C20: determining a standard signal adjustment value corresponding to the target temperature value in the target temperature compensation curve;

[0179] In this embodiment, the laser radar device queries the target temperature compensation curve based on the acquired target temperature value to determine the standard signal adjustment value corresponding to the target temperature value within the target temperature compensation curve.

[0180] Step C30: modifying the standard signal adjustment value corresponding to the target temperature value based on the target weight coefficient to obtain a target signal adjustment value;

[0181] In this embodiment, the laser radar device corrects the standard signal adjustment value ratio corresponding to the target temperature value in the target temperature compensation curve based on the acquired target weight coefficient to obtain the target signal adjustment value.

[0182] Step C40: determining a target power adjustment value of the transmitting unit according to the target signal adjustment value, and adjusting the real-time transmitting power of the transmitting unit to the target transmitting power according to the target power adjustment value;

[0183] In this embodiment, the laser radar device determines a target power adjustment value corresponding to the transmitting unit in the angle detection device based on the acquired target signal adjustment value, and adjusts the transmitting unit based on the acquired target power adjustment value to adjust the real-time transmitting power of the transmitting unit to the target transmitting power corresponding to the target power adjustment value.

[0184] Step C50: obtaining an angle detection value based on a measurement value obtained by scanning the reflective portion with the measurement light emitted by the emitting portion according to the target emission power;

[0185] In this embodiment, the laser radar device controls the transmitting part to transmit the measuring light to the reflecting part according to the target transmitting power, and determines the corresponding measurement value when the measuring light scans the reflecting part. The laser radar device then calculates the angle detection value based on the measurement value.

[0186] Exemplarily, for example, after determining the target temperature value included in the target temperature compensation curve, the laser radar device can also determine the device structure of the angle detection device, thereby determining the device type corresponding to the angle detection device as a galvanometer motor, a rotating mirror motor or a mechanical rotating platform based on the device structure. When the laser radar device determines that the device structure is a galvanometer motor, it determines the first precision requirement corresponding to the galvanometer motor. The laser radar device then screens the preset multiple weight values ​​based on the first precision requirement to determine the first target weight value corresponding to the first precision requirement from the multiple weight values. Afterwards, the laser radar device continues to query the target temperature compensation curve based on the acquired target temperature value to determine the standard signal duty cycle corresponding to the target temperature value in the target temperature compensation curve. Afterwards, the laser radar device corrects the standard signal duty cycle corresponding to the target temperature value based on the first target weight value corresponding to the first precision requirement to obtain the target signal duty cycle.

[0187] or,

[0188] When the laser radar device determines that the device structure is a rotating mirror motor, it determines a second precision requirement corresponding to the rotating mirror motor, and the laser radar device screens the preset multiple weight values ​​based on the second precision requirement to determine a second target weight value corresponding to the second precision requirement from the multiple weight values. After that, the laser radar device continues to query the target temperature compensation curve based on the acquired target temperature value to determine the standard signal duty cycle corresponding to the target temperature value in the target temperature compensation curve. Finally, the laser radar device corrects the standard signal duty cycle corresponding to the target temperature value based on the second target weight value corresponding to the second precision to obtain the target signal duty cycle.

[0189] or,

[0190] When the laser radar device determines that the device structure is a mechanical rotating platform, the third precision requirement corresponding to the mechanical rotating platform is determined, and the laser radar device screens multiple weight values ​​preset based on the third precision requirement to determine a third target weight value corresponding to the third precision requirement from multiple weight values. After that, the laser radar device continues to query the target temperature compensation curve based on the acquired target temperature value to determine the standard signal duty cycle corresponding to the target temperature value in the target temperature compensation curve. Finally, the laser radar device corrects the standard signal duty cycle corresponding to the target temperature value based on the third precision requirement to obtain the target signal duty cycle.

[0191] Afterwards, the laser radar device determines the target power adjustment value corresponding to the photoelectric sensor at the real-time temperature value based on the acquired target signal duty cycle, and after obtaining the target power adjustment value, determines the real-time transmission power of the transmission sensor LED in the transmission part configured in the galvanometer motor. At the same time, the laser radar device determines the target transmission power corresponding to the transmission sensor LED in the transmission part based on the acquired target power adjustment value. Finally, the laser radar device controls the transmission sensor LED in the transmission part to transmit a measurement light to the receiving sensor PD in the transmission part according to the target transmission power. The laser radar device thus receives the measurement value corresponding to the measurement light returned by the receiving sensor PD in the transmission part, and calculates the angle detection value based on the measurement value. In this way, during operation, the laser radar device can more accurately adjust the accuracy of the angle detection device based on the accuracy requirements of the angle detection device, thereby obtaining a more accurate detection result.

[0192] In addition, to achieve the above-mentioned purpose, the present application also provides an angle detection system, which is applied to a laser radar device, wherein an angle detection device and a temperature sensor are configured in the laser radar device, and the angle detection device includes a transmitting part and a reflecting part;

[0193] Please refer to Fig.13 , Fig.13 This is a schematic diagram of the functional modules involved in an embodiment of the angle detection system of the present application. Fig.13 As shown, the system comprises:

[0194] A temperature detection module 10, used to control the temperature sensor to detect the angle detection device to obtain a real-time temperature value of the angle detection device;

[0195] A data search module 20, used to obtain a target temperature compensation curve of the angle detection device, and determine a target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value;

[0196] The power adjustment module 30 is used to adjust the real-time transmission power of the transmitting unit to the target transmission power according to the target power adjustment value.

[0197] The angle detection module 40 is used to obtain an angle detection value based on a measurement value obtained when the measurement light emitted by the emission part according to the target emission power scans the reflection part.

[0198] Furthermore, the target temperature compensation curve includes a plurality of standard temperature values ​​and standard signal adjustment values ​​corresponding to the plurality of standard temperature values; the data search module 20 includes:

[0199] A first query unit, configured to query the target temperature compensation curve according to the real-time temperature value, so as to determine a target temperature value among the plurality of standard temperature values;

[0200] A second query unit, configured to determine a target signal adjustment value from among the plurality of standard signal adjustment values ​​based on the target temperature value;

[0201] The power calculation unit is used to determine the target power adjustment value of the transmitting unit according to the target signal adjustment value.

[0202] Furthermore, the data search module 20 further includes:

[0203] A weight determination unit, used to determine the accuracy requirement corresponding to the angle detection device, and determine a target weight coefficient based on the accuracy requirement;

[0204] a third query unit, configured to determine a standard signal adjustment value corresponding to the target temperature value in the target temperature compensation curve;

[0205] a data correction unit, configured to correct a standard signal adjustment value corresponding to the target temperature value based on the target weight coefficient to obtain a target signal adjustment value;

[0206] a power adjustment unit, configured to determine a target power adjustment value of the transmitting unit according to the target signal adjustment value, and adjust the real-time transmission power of the transmitting unit to the target transmission power according to the target power adjustment value;

[0207] The angle detection unit is used to obtain an angle detection value based on a measurement value obtained when the measurement light emitted by the emission unit according to the target emission power scans the reflection unit.

[0208] Furthermore, the laser radar device is also provided with a current source, and the current source is electrically connected to the angle detection device; a power regulation module 30 includes:

[0209] A first calculation unit, configured to determine a target transmission power of the transmitting unit based on the target power adjustment value, and determine a target driving current value or a target driving voltage value corresponding to the target transmission power;

[0210] A power supply regulating unit is used to adjust the real-time driving current value output by the current source to the transmitting unit according to the target driving current value so that the real-time transmission power of the transmitter is equal to the target transmission power, or to adjust the real-time driving voltage value of the current source according to the target driving voltage value so that the real-time transmission power of the transmitting unit is equal to the target transmission power.

[0211] Furthermore, the temperature detection module 10 includes:

[0212] A parameter acquisition unit, used to acquire each standard temperature value and determine the target angle feedback value corresponding to each of the standard temperature values;

[0213] The curve construction unit is used to construct a target temperature compensation curve based on a preset feedback reference value, each of the standard temperature values ​​and each of the target angle feedback values.

[0214] Furthermore, the curve construction unit includes:

[0215] A difference calculation subunit, used for comparing each of the target angle feedback values ​​with a preset feedback reference value to obtain a plurality of feedback signal deviation values;

[0216] an adjustment value calculation subunit, configured to determine a standard signal adjustment value corresponding to each of the standard temperature values ​​based on a plurality of feedback signal deviation values;

[0217] The curve generating subunit is used to construct a target temperature compensation curve based on each of the standard temperature values ​​and each of the standard signal adjustment values.

[0218] Furthermore, the laser radar device is also provided with a temperature regulating device; the data search module 20 further includes:

[0219] A temperature determination unit, used to determine a target temperature value;

[0220] A temperature adjustment unit is used to adjust the real-time temperature value of the angle detection device to the target temperature value through the temperature adjustment device.

[0221] In addition, the present application also provides a laser radar device, which has an angle detection program that can be run on a processor. When the laser radar device executes the angle detection program, it implements the steps of the angle detection method described in any of the above embodiments.

[0222] The specific embodiments of the laser radar device of the present application are basically the same as the embodiments of the above-mentioned angle detection method, and will not be repeated here.

[0223] In addition, the present application also provides a computer-readable storage medium, on which an angle detection program is stored. When the angle detection program is executed by a processor, the steps of the angle detection method described in any of the above embodiments are implemented.

[0224] The specific embodiments of the computer-readable storage medium of the present invention are basically the same as the embodiments of the above-mentioned angle detection method, and will not be described in detail here.

[0225] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0226] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0227] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course, by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, including a number of instructions for enabling a laser radar device (which can be a laser radar device internally configured with a galvanometer motor, a temperature sensor, a photoelectric sensor, and a current source for controlling the photoelectric sensor, or the laser radar device can also be a laser radar device configured with an angle detection structure such as a rotating mirror motor or a mechanical rotating platform) to execute the methods described in the various embodiments of the present application.

[0228] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An angle detection method, characterized in that: The method is applied to a laser radar device, wherein the laser radar device is provided with an angle detection device and a temperature sensor, wherein the angle detection device includes a transmitting part and a reflecting part, and the method includes: Controlling the temperature sensor to detect the angle detection device to obtain a real-time temperature value of the angle detection device; Acquire a target temperature compensation curve of the angle detection device, and determine a target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value; Adjust the real-time transmission power of the transmitting unit to the target transmission power according to the target power adjustment value; The angle detection value is obtained based on the measurement value obtained when the measurement light emitted by the emitting portion according to the target emission power sweeps across the reflecting portion.

2. The angle detection method according to claim 1, characterized in that: The target temperature compensation curve includes a plurality of standard temperature values ​​and standard signal adjustment values ​​corresponding to the plurality of standard temperature values; The step of determining the target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value includes: querying the target temperature compensation curve according to the real-time temperature value to determine the target temperature value among the plurality of standard temperature values; determining a target signal adjustment value among the plurality of standard signal adjustment values ​​based on the target temperature value; The target power adjustment value of the transmitting unit is determined according to the target signal adjustment value.

3. The angle detection method according to claim 2, characterized in that: After the step of determining the target temperature value among the plurality of standard temperature values, the method further comprises: Determining the accuracy requirement corresponding to the angle detection device, and determining a target weight coefficient based on the accuracy requirement; Determining a standard signal adjustment value corresponding to the target temperature value in the target temperature compensation curve; Based on the target weight coefficient, the standard signal adjustment value corresponding to the target temperature value is modified to obtain a target signal adjustment value; Determining a target power adjustment value of the transmitting unit according to the target signal adjustment value, and adjusting the real-time transmitting power of the transmitting unit to the target transmitting power according to the target power adjustment value; The angle detection value is obtained based on the measurement value obtained when the measurement light emitted by the emitting portion according to the target emission power sweeps across the reflecting portion.

4. The angle detection method according to claim 1, characterized in that: The laser radar device is also provided with a current source, and the current source is electrically connected to the angle detection device; The step of adjusting the real-time transmit power of the transmitting unit to the target transmit power according to the target power adjustment value comprises: Determining a target transmission power of the transmitting unit based on the target power adjustment value, and determining a target driving current value or a target driving voltage value corresponding to the target transmission power; The real-time driving current value output by the current source to the transmitting unit is adjusted according to the target driving current value so that the real-time transmission power of the transmitter is equal to the target transmission power, or the real-time driving voltage value of the current source is adjusted according to the target driving voltage value so that the real-time transmission power of the transmitting unit is equal to the target transmission power.

5. The angle detection method according to claim 1, characterized in that: Before the step of controlling the temperature sensor to detect the angle detection device, the method further includes: Obtaining each standard temperature value, and determining the target angle feedback value corresponding to each of the standard temperature values; A target temperature compensation curve is constructed based on a preset feedback reference value, each of the standard temperature values ​​and each of the target angle feedback values.

6. The angle detection method according to claim 5, characterized in that: The step of constructing a target temperature compensation curve based on a preset feedback reference value, each of the standard temperature values ​​and each of the target angle feedback values ​​comprises: Comparing each of the target angle feedback values ​​with a preset feedback reference value to obtain a plurality of feedback signal deviation values; Determine a standard signal adjustment value corresponding to each of the standard temperature values ​​based on a plurality of the feedback signal deviation values; A target temperature compensation curve is constructed based on each of the standard temperature values ​​and each of the standard signal adjustment values.

7. The angle detection method according to claim 1, characterized in that: The laser radar device is also provided with a temperature regulating device. After the step of obtaining the real-time temperature value of the angle detection device, the method further includes: Determine the target temperature value; The real-time temperature value of the angle detection device is adjusted to the target temperature value by the temperature adjustment device.

8. An angle detection system, characterized in that: The angle detection system is applied to a laser radar device, wherein the laser radar device is provided with an angle detection device and a temperature sensor, wherein the angle detection device includes a transmitting part and a reflecting part, and the system includes: A temperature detection module, used to control the temperature sensor to detect the angle detection device to obtain a real-time temperature value of the angle detection device; A data search module, used to obtain a target temperature compensation curve of the angle detection device, and determine a target power adjustment value of the transmitting unit based on the target temperature compensation curve and the real-time temperature value; A power adjustment module, used for adjusting the real-time transmission power of the transmitting unit to the target transmission power according to the target power adjustment value; The angle detection module is used to obtain an angle detection value based on a measurement value obtained when the measurement light emitted by the emission unit according to the target emission power scans the reflection unit.

9. A laser radar device, characterized in that: The laser radar device includes: a memory and a processor, wherein the memory stores an angle detection program that can be run on the processor, and when the angle detection program is executed by the processor, the steps of the angle detection method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an angle detection program, and when the angle detection program is executed by a processor, the steps of the angle detection method according to any one of claims 1 to 7 are implemented.

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