Laser detection method and device

Abstract

The invention provides a laser detection method and device, and the method and device are applied to a laser radar which comprises a first transmitting unit, and the method is characterized in that the method comprises the steps: obtaining a random variable; determining a plurality of first emission moments according to the random variable; and emitting the laser signal at the plurality of first emission moments according to the first emission unit. According to the laser detection method provided by the embodiment of the invention, the anti-interference effect of the laser radar can be improved, and the detection accuracy is further improved.

Description

Technical Field

[0001] The present application belongs to the field of laser detection technology, and in particular, relates to a laser detection method and device. Background Art

[0002] LiDAR is a mainstream radar sensor that mainly obtains point cloud data through the echo of the emitted laser to detect objects in the environment. However, if multiple LiDARs are used for detection in the same period of time, interference between different LiDARs is likely to occur, affecting the obtained point cloud data and reducing the detection accuracy of LiDAR. Summary of the invention

[0003] The purpose of this application is to provide a laser detection method that can improve the anti-interference effect of laser radar and thus improve detection accuracy.

[0004] In a first aspect, an embodiment of the present application provides a laser detection method, which is applied to a laser radar, wherein the laser radar includes a first transmitting unit, including:

[0005] Get random variables;

[0006] Determine a plurality of first emission moments according to the random variable;

[0007] According to the first transmitting unit, laser signals are transmitted at the plurality of first transmitting moments.

[0008] Optionally, the laser radar further includes a pseudo-random number generator, and the random variable includes a seed value and a step size.

[0009] The determining of a plurality of first emission moments according to the random variable comprises:

[0010] Generate a first delay period set according to the seed value and the step size by the pseudo-random number generator, wherein the first delay period set includes a plurality of delay periods;

[0011] The first emission time corresponding to the laser signal is determined according to the multiple delay time periods.

[0012] Optionally, the multiple first transmission moments include X first transmission moments, the X first transmission moments correspond one-to-one to X first receiving moments, the X first transmission moments include an i-th first transmission moment and an (i+1)-th first transmission moment, the i-th first receiving moment among the X first receiving moments corresponds to the i-th first transmission moment, 0≤i≤X, i and X are both integers;

[0013] The step of determining the first emission time corresponding to the laser signal according to the plurality of delay time periods comprises:

[0014] Selecting a first delay period from the plurality of delay periods as a delay period of the (i+1)th first transmission moment relative to the (i)th first reception moment;

[0015] The (i+1)th first transmission time is determined according to the i-th first receiving time and the first delay period.

[0016] Optionally, the laser radar further includes a true random number generator, which is cascaded with the pseudo-random number generator.

[0017] The obtaining of random variables comprises:

[0018] The random variable is obtained according to the true random number generator.

[0019] Optionally, the laser radar further includes a second transmitting unit, and the method further includes:

[0020] Obtaining a second delay period;

[0021] Determine a plurality of second emission moments according to the plurality of first emission moments and the second delay period, wherein the plurality of first emission moments correspond to the plurality of second emission moments one by one, and the second delay period is a delay period of one of the second emission moments relative to the corresponding first emission moment;

[0022] According to the second transmitting unit, laser signals are transmitted at the plurality of second transmitting moments.

[0023] Optionally, obtaining the second delay period includes:

[0024] taking the difference between the third delay period and the fourth delay period as the second delay period;

[0025] Among them, the multiple first transmission moments correspond one-to-one to the multiple third transmission moments, the multiple first transmission moments correspond one-to-one to the multiple third transmission moments, the third transmission moment is a preset transmission moment for the first transmission unit and the second transmission unit, the third delay period is a delay period of the first transmission moment relative to the corresponding third transmission moment, and the fourth delay period is a delay period of the second transmission moment relative to the corresponding third transmission moment.

[0026] Optionally, the laser radar further includes a first register and a second register, and the method further includes:

[0027] configuring the third delay period according to the first register;

[0028] The fourth delay period is configured according to the second register.

[0029] Optionally, the multiple first emission moments include X first emission moments, the multiple first emission moments include the zth first emission moment, z≥1, z is an integer,

[0030] The determining of a plurality of first emission moments according to the random variable comprises:

[0031] selecting a fifth delay period in a second delay set, the second delay set comprising a plurality of delay periods of different durations;

[0032] The zth first transmission time is determined according to the random variable and the fifth delay period.

[0033] Optionally, the first transmitting unit includes a voltage-controlled delay chain, and the method further includes:

[0034] The voltage-controlled delay chain is used to periodically generate multiple third delay sets, which correspond one-to-one to the multiple first emission moments, wherein the second delay set is the set in the multiple third delay sets corresponding to the zth first emission moment.

[0035] In a second aspect, an embodiment of the present application provides a laser detection device, comprising:

[0036] Acquisition module, used to obtain random variables;

[0037] A processing module, used for determining a plurality of first emission moments according to the random variables;

[0038] The transceiver module is used to transmit the laser signal at the plurality of first transmitting moments according to the first transmitting unit.

[0039] A third aspect of an embodiment of the present application provides a laser detection device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described above when executing the computer program.

[0040] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0041] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: after the chip is turned on, the pseudo-random number generator will read the seed value and step size transmitted by the true random number generator, and then cyclically generate a series of random values ​​on this basis, namely the above-mentioned first delay period set. By superimposing the selected delay period after the receiving time of the last laser signal, the emission time of the laser signal is obtained, and the overlap degree of the flight time of different laser radars can be reduced as much as possible, thereby improving the anti-interference effect of the laser radar, and then improving the detection accuracy. Furthermore, the random numbers generated by the true random number generator are not generated by calculation or predictable methods, but come from unpredictable physical processes. This further enhances the anti-interference effect of the laser radar and improves the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of an example of the transmission and reception timing of laser radar #1 and laser radar #2;

[0043] Figure 2 A schematic diagram of a laser detection method 100 provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of an example of the architecture of the laser radar #1 and the laser radar #2 provided in an embodiment of the present application;

[0045] Figure 4A A schematic diagram of an example of the transmitting and receiving timing of the laser radar #1 and the laser radar #2 provided in an embodiment of the present application;

[0046] Figure 4B A schematic diagram of another example of the transmitting and receiving timing of the laser radar #1 and the laser radar #2 provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of an example of the architecture of a first transmitting unit provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of a laser detection method 200 provided in an embodiment of the present application;

[0049] Figure 7 A schematic diagram of an example of the sending and receiving timing of simultaneous scanning of left and right channels in a laser radar provided in an embodiment of the present application;

[0050] Fig. 8A A schematic diagram of a sampling situation without adding jitter provided in an embodiment of the present application;

[0051] Figure 8B A schematic diagram of the first scanning sampling after adding jitter provided in an embodiment of the present application;

[0052] Figure 8C A schematic diagram of the second scanning sampling after adding jitter provided in an embodiment of the present application;

[0053] Fig.8D A schematic diagram of the sampling situation after two scans are combined after adding jitter provided in an embodiment of the present application;

[0054] Fig. 9 A schematic diagram of a laser detection device provided in an embodiment of the present application;

[0055] Fig.10 A schematic diagram of another laser detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0057] It should be understood that the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, the words "first" and "second" are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not limit them to be different.

[0058] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0059] The laser detection method involved in the present application is mainly performed by a time of flight (TOF) radar in a laser radar. In order to more clearly illustrate the embodiments of the present application, the TOF radar and its related contents involved in the present application are first introduced before introducing the embodiments of the present application.

[0060] 1. Time of flight technology and tof radar.

[0061] Time of flight technology can be broadly understood as a technology that further understands certain properties of ions or media by measuring the time it takes for an object, particle or wave to fly a certain distance in a fixed medium (the medium / distance / time are all known or measurable). For example, the distance from the sensor to the object is measured by emitting laser pulses. Laser pulses refer to multiple collimated light pulses emitted one after another in a short time interval. They are reflected by the object and collected again by the detector. The time required to emit and receive the laser pulse is calculated to obtain the distance from the sensor to the object.

[0062] tof radar: the laser emits a laser signal to the object to be measured, which reaches the photoelectric device after reflection, converts the signal to the echo signal processing circuit, and finally obtains an electrical pulse signal to the timer to calculate the time of light flight. Because the speed of light is constant, the total time from the departure to the reception of the light is measured and divided by 2 times the speed of light, which can calculate the distance from the radar to the object to be measured.

[0063] 2. Pseudo-random number generator and true random number generator.

[0064] The laser radar provided in the present application includes a pseudo-random number generator and optionally also includes a true random number generator.

[0065] Pseudo-random number generators are used to calculate pseudo-random numbers through a series of seed values ​​when the system needs random numbers. Because it is impossible for a computer to generate a truly "random number", pseudo-random numbers are only as close to the randomness they should have as possible, but because of the "seed value", pseudo-random numbers are controllable and predictable to a certain extent.

[0066] A true random number generator is a device used to generate random numbers. The random numbers it outputs are based on physical random phenomena or processes that are inherently random. Unlike pseudo-random number generators, the random numbers generated by a true random number generator are not generated by calculation or predictable methods, but come from unpredictable physical processes.

[0067] 3. Sampling rate of LiDAR.

[0068] The sampling rate can also be called the sampling rate or sampling frequency, which is the number of times collected per second. The sampling rate of the lidar indicates the number of point clouds acquired by the radar per second, which can be calculated based on the scanning range, angular resolution, and frame rate. The higher the value, the more signals are collected per unit time.

[0069] As described in the background technology, if multiple laser radars perform detection in the same period of time, interference is likely to occur between different laser radars, causing the obtained point cloud data to be affected, thereby reducing the detection accuracy of the laser radar. Figure 1 Schematic diagram of an example of the transmission and reception timing of laser radar #1 and laser radar #2. Figure 1 As mentioned above, the flight time of laser radar #1 and laser radar #2 completely overlaps, or in other words, the sending and receiving time of laser radar #1 and laser radar #2 completely overlaps. At this time, the return laser received by laser radar #1 is not necessarily emitted by the device, so there is serious mutual interference between different laser radars.

[0070] In a related technology, the problem is solved by encoding and decoding code elements. For the TOF laser radar, the emitted laser beam itself is not encoded. The general practice is to encode the time of emission and reception. Specifically, a coding sequence is pre-stored, and the coding sequence includes multiple time periods. Each time it is transmitted, a time period is taken from the coding sequence as the emission superposition time period of this emission. After the fixed emission cycle, the emission superposition time period is superimposed, and then the next laser emission is performed. Since the sequence is pre-configured by the microprocessor and is not absolutely random, two laser radars of the same model may have the same coding sequence generated by the same software program, so the two laser radars will still interfere with each other.

[0071] Therefore, how to improve the detection accuracy of lidar has become an urgent problem to be solved.

[0072] Figure 2 A schematic diagram of a laser detection method 100 provided in an embodiment of the present application. The method 100 is applied to a laser radar. The laser radar includes a first transmitting unit, a true random number generator and a pseudo random number generator, and the true random number generator and the pseudo random number generator are cascaded.

[0073] S101, obtaining random variables.

[0074] The random variable includes a seed value and a step length. For example, the minimum step length is 2 ns and the maximum step length is 64 ns.

[0075] Illustratively, the random variable is generated by a true random number generator.

[0076] S102, determining a plurality of first emission moments according to random variables.

[0077] In one embodiment, the starting time of the flight time corresponding to the emitted multiple laser signals is determined according to a random variable.

[0078] As an example, the laser radar also includes a pseudo-random number generator, and the random variable includes a seed value. A first delay period set is generated according to the seed value and the step size by the pseudo-random number generator. Among them, the first delay period set includes multiple delay periods. It can be understood that the multiple delay periods are a series of random values ​​generated by the pseudo-random number generator based on the seed value and the step size. For each laser signal emitted by the first emitting unit, the emission time corresponding to each laser signal is determined according to the delay period selected from the multiple delay periods. Optionally, different delay periods can be randomly selected from the multiple delay periods for each laser signal. For example, by superimposing the selected delay period after the receiving time of the last receiving laser signal, the emission time of the laser signal emitted this time is obtained.

[0079] In one example, the multiple first transmission moments include X first transmission moments, the X first transmission moments correspond one-to-one to the X first receiving moments, the X first transmission moments include the i-th first transmission moment and the i+1-th first transmission moment, the i-th first receiving moment among the X first receiving moments corresponds to the i-th first transmission moment, 0≤i≤X, i and X are both integers. A first delay period is selected from the multiple delay periods as a delay period of the i+1-th first transmission moment relative to the i-th first receiving moment; and the i+1-th first transmission moment is determined according to the i-th first receiving moment and the first delay period.

[0080] S103, emitting laser signals at a plurality of first emitting moments according to the first emitting unit.

[0081] It is understandable that after the chip is turned on, the pseudo-random number generator will read the seed value and step size transmitted from the true random number generator, and then cyclically generate a series of random values ​​according to the seed value and step size, that is, the above-mentioned first delay period set. By superimposing the selected delay period (i.e., the first delay period) after the receiving time of the last laser signal, the emission time of the laser signal is obtained, which can reduce the overlap of the flight time of different laser radars as much as possible, thereby improving the anti-interference effect of the laser radar and further improving the detection accuracy.

[0082] Furthermore, as mentioned above, the random numbers generated by the true random number generator are not generated by calculation or predictable methods, but come from unpredictable physical processes. Therefore, even if two lidars of the same model (for example, lidar #1 and lidar #2) are turned on at the same time, the true random number generators located on different lidars will generate different seed values ​​and step sizes.

[0083] Figure 3 A schematic diagram of an example of the architecture of the laser radar #1 and the laser radar #2 provided in the embodiment of the present application. Figure 3 As shown, laser radar #1 includes true random number generator #1 and pseudo random number generator #1, and true random number generator #1 transmits seed value #1 and step size #1 to pseudo random number generator #1. Laser radar #2 is similar. For example, true random number generator #1 located on laser radar #1 generates seed value #1 and step size #1, and true random number generator #2 located on laser radar #2 generates seed value #2 and step size #2, seed value #1 is different from seed value #2, and / or step size #1 is different from step size #2. Then, the first delay period set #1 generated by pseudo random number generator #1 is less likely to be the same as the first delay period set #2 generated by pseudo random number generator #1. This further enhances the anti-interference effect of the laser radar and improves detection accuracy.

[0084] Combination Figure 3 By superimposing the selected delay period on the receiving time of the last laser signal, the emission time of the laser signal is obtained. It can also be understood as: superimposing a randomly selected delay period before the starting time of each tof, or superimposing a randomly selected delay period after the end time of each tof, so that the end time of each delay period is the starting time of the next tof.

[0085] Figure 4A This is a schematic diagram of an example of the sending and receiving timing of the laser radar #1 and the laser radar #2 provided in the embodiment of the present application. Figure 4A As shown, seed value #1≠seed value #2, step #1=step #2, the duration of the i-th tof of laser radar #1 and the i-th tof of laser radar #2 are the same, the i-th emission moment of laser radar #1 and the i-th receiving moment of laser radar #2 are different, i≥1 and i is an integer.

[0086] Figure 4B This is another schematic diagram of the transmitting and receiving timing of the laser radar #1 and the laser radar #2 provided in the embodiment of the present application. Figure 4B As shown, seed value #1 = seed value #2, step size #1≠step size #2, the duration of the i-th tof of laser radar #1 and the i-th tof of laser radar #2 are different, the i-th emission moment of laser radar #1 and the i-th receiving moment of laser radar #2 are the same, i≥1 and i is an integer.

[0087] Or, except Figure 4A and Figure 4B In addition to the examples provided, there may also be situations where seed value #1≠seed value #2 and step size #1≠step size #2, and this application does not impose any restrictions on this.

[0088] In the above steps of method 100, it is introduced how to reduce the interference between different laser radars. The following describes how the first transmitting unit increases the sampling rate of the receiving side by controlling the first transmitting time in step S102.

[0089] It is understandable that the sampling rate of the time-to-digital converter (TDC) on the receiving side cannot be too large due to the digital operating frequency and power consumption. Generally, the interval between two samples is in the nanosecond level. This results in the photons received by the LiDAR being missed within a period of time, thereby reducing the accuracy of the LiDAR's monitoring. Fig. 8A This is a schematic diagram of a sampling situation without adding jitter provided in an embodiment of the present application. Fig. 8A As shown in the figure, each arrow represents a sampling, and the interval between each two arrows is a sampling interval. The black photon pointed by the arrow indicates that the photon is collected, and the white photon pointed by the arrow indicates that the photon is missed; the arrow pointing to the blank area indicates that the photon is not collected. Fig. 8A As shown, 9 photons were missed.

[0090] Figure 5 Schematic diagram of an example of the architecture of the first transmitting unit provided in an embodiment of the present application. Exemplarily, the first transmitting unit is a laser transmitter. Figure 5 As shown, the laser transmitter includes a voltage controlled delay line (VDL) and a multiplexer (MUX).

[0091] Optionally, combined Figure 5 , a possible implementation method 1 of S102 is introduced. The multiple first transmission time points include a zth first transmission time point, where z≥1, and z is an integer.

[0092] Step 1: periodically generate X third delay sets according to the VDL.

[0093] Among them, multiple third delay sets correspond to multiple first emission moments one by one. It can be understood that each time the first emission unit emits a laser signal, VDL generates a third delay set. The set corresponding to the zth first emission moment in the multiple third delay sets is called the second delay set. The second delay set includes multiple delay periods of different durations. Exemplarily, the second delay set includes delay periods with a time length of 0, 1 / 8 sampling interval, 2 / 8 sampling interval, ... 8 / 8 sampling interval.

[0094] Step 2: Select a fifth delay period in the second delay set.

[0095] Exemplarily, the digital circuit periodically generates a tx_delay_sel signal to select the fifth delay period in the second delay set.

[0096] Step 3, determining the zth first transmission time according to the random variable and the fifth delay period.

[0097] It can be understood that, assuming that the emission time corresponding to the zth laser signal to be emitted determined according to the random variable is Tz, TX_EN is output by superimposing the fifth delay period on the original tx_en. That is, the emission time corresponding to tx_en is Tz, and the emission time corresponding to TX_EN is the zth first emission time.

[0098] It can also be understood that in this implementation, a non-fixed jitter is added to the emission time (ie, a delay period is added to the emission time) to obtain the first emission time.

[0099] Figure 8B A schematic diagram of the first scan sampling after adding dithering provided in an embodiment of the present application. Figure 8C A schematic diagram of the second scan sampling after adding dithering provided in an embodiment of the present application. Fig.8D This is a schematic diagram of the sampling situation after two scans are combined after adding jitter according to the embodiment of the present application. Figure 8B As shown in the figure, the first scan collected 5 more photons than without dithering. Figure 8C As shown in the figure, the second scan collected 4 more photons than the one without dithering. Fig.8D As shown, all photons have been collected after adding dithering.

[0100] It should be noted that the possible implementation method 1 of S102 may be a separate implementation method, which includes:

[0101] Step 1': periodically generate X third delay sets according to the VDL.

[0102] Step 2': Select a fifth delay period in the second delay set.

[0103] Step 3', determining the zth first transmission time according to the fifth delay period.

[0104] Among them, steps 1' to 3' refer to the description of steps 1 to 3 for details, except that: in step 3', the emission time (Tz) corresponding to the zth laser signal to be emitted is not limited to be determined according to random variables, and further, the first emission time is not limited to be determined according to random variables.

[0105] The following describes how to reduce interference within a laser radar in conjunction with method 200. It is understandable that when the laser radar uses a dual-scan mode, as an example, the laser radar includes two left and right transmitting arrays and one receiving array. If the transmitting channels of the left and right transmitting arrays transmit at the same time, the left and right channels will interfere with each other.

[0106] Figure 6 A schematic diagram of a laser detection method 200 provided in an embodiment of the present application. The method 200 is applied to the above-mentioned laser radar including two transmitting channels. The laser radar includes a first transmitting unit, a second transmitting unit, a first register, and a second register. For the introduction of the first transmitting unit, please refer to the corresponding part in the method 100.

[0107] S201, obtaining a second delay period.

[0108] Among them, take the first transmitting unit and the second transmitting unit corresponding to the left channel and the right channel respectively as an example. Without considering the mutual interference between the left and right channels, the transmitting moments of the left and right channels are the same, for example, the same transmitting moment determined or preset for the first transmitting unit and the second transmitting unit is a plurality of third transmitting moments. Assuming that the starting transmitting moment of the left and right channels is T0 at this time, T0 can be understood as the starting moment of the first third transmitting moment. As an example, by configuring different delay periods for the starting transmitting moment of the first transmitting unit (i.e., the first first transmitting moment) and the starting transmitting moment of the second transmitting unit (i.e., the first second transmitting moment) relative to T0 through the first register and the second register, respectively, the starting transmitting moment of the first transmitting unit and the starting transmitting moment of the second transmitting unit can have a relative delay period between them, i.e., the second delay period. Thus, there is a second delay period between the i-th first transmitting moment and the i-th second transmitting time.

[0109] A possible implementation of S201 is given below. The difference between the third delay period and the fourth delay period is used as the second delay period. The plurality of first emission moments correspond to the plurality of third emission moments one by one, the third emission moment is a preset emission moment for the first emission unit and the second emission unit, the third delay period is a delay period of a first emission moment relative to the corresponding third emission moment, and the fourth delay period is a delay period of a second emission moment relative to the corresponding third emission moment.

[0110] In one embodiment, in combination with method 100, in possible implementation mode 2 of S102, a plurality of third emission moments are determined according to random variables; and a plurality of first emission moments are determined according to the plurality of third emission moments and the third delay period.

[0111] Optionally, a possible implementation of S201 further includes: configuring a third delay period according to the first register; and configuring a fourth delay period according to the second register.

[0112] Exemplarily, the names and descriptions of the first register and the second register are shown in Table 1. The first register is named Csr_left_tdelay, which is used to configure the delay of the left channel transmission time relative to the starting point. The second register is named Csr_right_tdelay, which is used to configure the delay of the right channel transmission time relative to the starting point. The starting point here is T0 mentioned above.

[0113] Table 1

[0114] name describe Csr_left_tdelay The delay of the left channel emission time relative to the starting point Csr_right_tdelay The delay of the right channel emission time relative to the starting point

[0115] S202, determining a plurality of second transmitting times according to a plurality of first transmitting times and a second delay period.

[0116] Among them, the multiple first emission moments correspond one-to-one to the multiple second emission moments.

[0117] The second delay period is a delay period of a second transmission time among the multiple second transmission time points relative to a first transmission time point among the multiple first transmission time points corresponding to the second transmission time point.

[0118] S203, controlling the second transmitting unit to transmit laser signals at a plurality of second transmitting moments.

[0119] Figure 7 This is a schematic diagram of an example of the sending and receiving timing of the left and right channels of the laser radar provided in the embodiment of the present application. Figure 7 As shown, the starting time of each tof can be understood as the emission time corresponding to the tof. The relative time delay between the starting time #0 of the left channel and the starting time #0 of the right channel is the second delay period, ..., the relative time delay between the starting time #n-1 of the left channel and the starting time #n-1 of the right channel is the second delay period.

[0120] In the embodiments of the present application, the overlapping period of the flight time of the left and right channels is reduced through the relative time delay of the left and right channels, thereby improving the anti-interference effect between the left and right channels of the laser radar and improving the detection accuracy.

[0121] Fig. 9 A structural block diagram of the device 1000 provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0122] Reference Fig. 9 In a possible implementation of the embodiment of the present application, the device may specifically include the following modules:

[0123] An acquisition module 1010, used for acquiring random variables;

[0124] A processing module 1020, configured to determine a plurality of first emission moments according to the random variable;

[0125] The transceiver module 1030 is configured to transmit a laser signal at the plurality of first transmitting moments according to the first transmitting unit.

[0126] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method and system embodiment section and will not be repeated here.

[0127] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0128] like Fig.10 As shown, an embodiment of the present application also provides a device 1100, which includes: at least one processor 1110, a memory 1120, and a computer program 1121 stored in the memory and executable on the at least one processor, and when the processor executes the computer program, the steps in any of the above-mentioned method embodiments are implemented.

[0129] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0130] An embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, a mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0131] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0132] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0133] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0134] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0135] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0136] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A laser detection method, applied to a laser radar, wherein the laser radar comprises a first transmitting unit, characterized in that: include: Get random variables; Determine a plurality of first emission moments according to the random variable; The first transmitting unit is controlled to transmit laser signals at the plurality of first transmitting moments.

2. The method according to claim 1, characterized in that The laser radar also includes a pseudo-random number generator, and the random variable includes a seed value and a step size; The determining of a plurality of first emission moments according to the random variable comprises: Generate a first delay period set according to the seed value and the step size by the pseudo-random number generator, wherein the first delay period set includes a plurality of delay periods; The first emission time corresponding to the laser signal is determined according to the multiple delay time periods.

3. The method according to claim 2, characterized in that The multiple first transmission moments include X first transmission moments, the X first transmission moments correspond one-to-one to the X first receiving moments, the X first transmission moments include the i-th first transmission moment and the i+1-th first transmission moment, the i-th first receiving moment among the X first receiving moments corresponds to the i-th first transmission moment, 0≤i≤X, i and X are both integers; The step of determining the first emission time corresponding to the laser signal according to the plurality of delay time periods comprises: Selecting a first delay period from the plurality of delay periods as a delay period of the (i+1)th first transmission moment relative to the (i)th first reception moment; The (i+1)th first transmission time is determined according to the i-th first receiving time and the first delay period.

4. The method according to claim 2 or 3, characterized in that The laser radar further includes a true random number generator, which is cascaded with the pseudo-random number generator. The obtaining of random variables comprises: The random variable is obtained according to the true random number generator.

5. The method according to any one of claims 1 to 3, characterized in that The laser radar further includes a second transmitting unit, and the method further includes: Obtaining a second delay period; Determine a plurality of second emission moments according to the plurality of first emission moments and the second delay period, wherein the plurality of first emission moments correspond to the plurality of second emission moments one by one, and the second delay period is a delay period of one of the second emission moments relative to the corresponding first emission moment; The second transmitting unit is controlled to transmit laser signals at the plurality of second transmitting moments.

6. The method according to claim 5, characterized in that The obtaining of the second delay period comprises: taking the difference between the third delay period and the fourth delay period as the second delay period; Among them, the multiple first transmission moments correspond one-to-one to the multiple third transmission moments, the multiple first transmission moments correspond one-to-one to the multiple third transmission moments, the third transmission moment is a preset transmission moment for the first transmission unit and the second transmission unit, the third delay period is a delay period of the first transmission moment relative to the corresponding third transmission moment, and the fourth delay period is a delay period of the second transmission moment relative to the corresponding third transmission moment.

7. The method according to claim 6, characterized in that The laser radar further includes a first register and a second register, and the method further includes: configuring the third delay period according to the first register; The fourth delay period is configured according to the second register.

8. The method according to any one of claims 1 to 3, characterized in that The multiple first emission moments include the zth first emission moment, z≥1, z is an integer, The determining of a plurality of first emission moments according to the random variable comprises: selecting a fifth delay period in a second delay set, the second delay set comprising a plurality of delay periods of different durations; The zth first transmission time is determined according to the random variable and the fifth delay period.

9. The method according to claim 8, characterized in that The first transmitting unit includes a voltage controlled delay chain, and the method further includes: The voltage-controlled delay chain is used to periodically generate multiple third delay sets, which correspond one-to-one to the multiple first emission moments, wherein the second delay set is the set in the multiple third delay sets corresponding to the zth first emission moment.

10. A laser detection device, characterized in that: include: Acquisition module, used to obtain random variables; A processing module, used for determining a plurality of first emission moments according to the random variables; The transceiver module is used to transmit the laser signal at the plurality of first transmitting moments according to the first transmitting unit.

11. A laser detection device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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