Signal strength self-adaption method, device, equipment and medium

Abstract

The invention relates to the technical field of radar detection, and discloses a signal intensity self-adaption method, device and equipment and a medium, and the method comprises the steps: sequentially obtaining a mixing signal sequence corresponding to each rotating mirror angle of a laser radar in a first collection period; if a first frequency mixing signal located outside the preset threshold interval exists in the frequency mixing signal sequence, recording a first rotating mirror angle and a first channel identifier corresponding to the first frequency mixing signal; in a second acquisition period after the first acquisition period, when the rotating mirror angle of the laser radar is a first rotating mirror angle, adjusting the gain of an optical amplifier (SOA) of a channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and a preset threshold interval, according to the invention, the rotating mirror angle and the channel identifier corresponding to the frequency mixing signal with overlarge amplitude are recorded, so that the SOA gain of the corresponding channel antenna is adjusted under the corresponding rotating mirror angle of the adjacent acquisition periods, the adaptive adjustment of the signal intensity is realized, and the power consumption of a chip in a radar is reduced.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to a signal strength adaptive method, device, equipment and medium. Background Art

[0002] Frequency modulated continuous wave (FMCW) laser radar has the advantages of high precision and high distance resolution. It is particularly suitable for space target detection and is widely used in automated driving, warehouses and other fields. FMCW transmits frequency modulated signals through antennas. When the signals touch an object, they are reflected back to the antenna. By processing the received signals, the distance, speed, angle and other information of the object are calculated and finally converted into point cloud data.

[0003] The FMCW multi-channel transceiver antenna can improve the working efficiency of the LiDAR. Through the on-chip integrated optical amplifier (Semiconductor Optical Amplifier, SOA), the optical signal transmitted by each antenna can be amplified, reducing the number of lasers used.

[0004] Currently, for the SOA gain of each channel, a fixed gain is usually used to transmit the signal. Due to the large number of channels and the fixed SOA gain corresponding to each channel, the power consumption of the optical amplifier is high, which increases the overall power consumption of the chip. Summary of the invention

[0005] In view of this, the present invention provides a signal strength adaptive method, device, equipment and medium to solve the problem that the overall power consumption of the chip is increased due to the high power consumption of the optical amplifier.

[0006] In a first aspect, the present invention provides a signal strength adaptive method, the method comprising:

[0007] Sequentially acquiring a mixing signal sequence corresponding to each mirror rotation angle of the laser radar in a first acquisition cycle, wherein the mixing signal sequence includes: mixing signals corresponding to a plurality of channel antennas respectively;

[0008] If there is a first mixing signal in the mixing signal sequence, record a first rotating mirror angle corresponding to the mixing signal sequence to which the first mixing signal belongs and a first channel identifier of a channel antenna corresponding to the first mixing signal, and the amplitude of the first mixing signal is outside a preset threshold range;

[0009] In a second acquisition cycle after the first acquisition cycle, when the rotation mirror angle of the laser radar is the first rotation mirror angle, the optical amplifier (SOA) gain of the channel antenna indicated by the first channel identifier is adjusted based on the amplitude of the first mixing signal and the preset threshold range.

[0010] The method provided in this aspect adjusts the SOA gain of the channel antenna corresponding to the channel identifier by adjusting the relevant information of the mixing signal with excessive amplitude in the mixing signal sequence corresponding to each mirror rotation angle in the first acquisition period, that is, the corresponding mirror rotation angle and channel identifier, so as to achieve adaptive adjustment of the signal strength and reduce the chip power consumption in the radar when the mirror angle of the laser radar is the corresponding mirror angle in the adjacent second acquisition period.

[0011] In an optional implementation, the arrangement direction of the multiple channel antennas is perpendicular to the changing direction of the rotating mirror angle;

[0012] The method further comprises:

[0013] Performing data processing on the mixed signal sequence corresponding to each rotating mirror angle to obtain a point cloud data set corresponding to each rotating mirror angle;

[0014] Based on the point cloud data sets corresponding to each rotation mirror angle and the arrangement sequence of the channel antennas, global point cloud data of the acquisition frame corresponding to the first acquisition cycle is generated.

[0015] In this embodiment, the arrangement direction of the channel antenna and the changing direction of the rotation mirror angle are made perpendicular to each other, so that after obtaining the point cloud data set corresponding to each rotation mirror angle, the global point cloud data of the corresponding acquisition frame is generated in combination with the arrangement sequence of the antenna, thereby ensuring the accuracy of the global point cloud data.

[0016] In an optional implementation, the preset threshold interval is determined as follows:

[0017] Acquire the local optical power and the standard return optical power of the laser radar, and determine the standard amplitude of the mixing signal based on the local optical power and the standard return optical power;

[0018] Determine a maximum value of a preset threshold interval according to the first preset coefficient and the standard amplitude;

[0019] The minimum value of the preset threshold interval is determined according to the second preset coefficient and the standard assignment.

[0020] In this embodiment, the standard amplitude corresponding to the received mixing signal is determined by the local power and standard return optical power of the laser radar, thereby determining the maximum and minimum values ​​of the preset threshold range, thereby improving the effectiveness of the subsequent judgment of the first mixing signal.

[0021] In an optional implementation, adjusting the gain of an optical amplifier (SOA) of a channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold interval includes:

[0022] When the amplitude of the first mixing signal is greater than the maximum value of the preset threshold interval, the SOA gain of the channel antenna corresponding to the first channel identifier is reduced.

[0023] In this implementation, when the amplitude value of the first mixing signal exceeds the maximum value of a preset threshold interval, the SOA gain of the corresponding channel antenna is reduced, thereby reducing the overall power consumption.

[0024] In an optional implementation, adjusting the optical amplifier (SOA) gain of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold interval further includes:

[0025] When the amplitude of the first mixing signal is smaller than the minimum value of the preset threshold interval, the SOA gain of the channel antenna corresponding to the first channel identifier is increased.

[0026] In this embodiment, when the amplitude value of the first mixing signal exceeds the minimum value of the preset threshold interval, the SOA gain of the corresponding channel antenna is increased to ensure the monitorability of the received mixing signal and avoid information loss when the signal is subsequently analyzed.

[0027] In an optional implementation, when the amplitude of the first mixing signal is greater than the maximum value of the preset threshold interval, reducing the SOA gain of the channel antenna corresponding to the first channel identifier includes:

[0028] Determine a first expected amplitude based on a first adjustment coefficient and a standard amplitude, and determine a first difference between the signal amplitude of the first mixing signal and the first expected amplitude;

[0029] Based on the size of the first difference, reducing the SOA gain of the channel antenna corresponding to the first channel identifier;

[0030] When the amplitude of the first mixing signal is less than the minimum value of the preset threshold interval, increasing the SOA gain of the channel antenna corresponding to the first channel identifier includes:

[0031] Determine a second expected amplitude based on a second adjustment coefficient and a standard amplitude, and determine a second difference between the signal amplitude of the first mixing signal and the second expected amplitude;

[0032] Based on the size of the second difference, the SOA gain of the channel antenna corresponding to the first channel identifier is increased.

[0033] In this embodiment, the expected amplitude is determined based on different adjustment coefficients when the amplitude of the first mixing signal is too large or too small, so that the SOA gain is adjusted according to the difference between the amplitude of the first mixing signal and the expected value, thereby achieving accurate control of the SOA gain while taking into account both signal strength and energy consumption.

[0034] In an optional implementation, the optical amplifier of the channel antenna includes: a first optical amplifier and a second optical amplifier, the first optical amplifier is used to amplify the output signal, and the second optical amplifier is used to amplify the received signal;

[0035] The adjusting, based on the amplitude of the first mixing signal and the preset threshold interval, the gain of the optical amplifier (SOA) of the channel antenna indicated by the first channel identifier includes:

[0036] Based on the amplitude of the first mixing signal and the preset threshold interval, the SOA gains corresponding to the first optical amplifier and the second optical amplifier of the channel antenna indicated by the first channel identifier are adjusted.

[0037] In this embodiment, when performing gain adjustment, the optical amplifier for amplifying output signals and the optical amplifier for amplifying received signals in the channel antenna are adjusted respectively to ensure that the amplitude of the mixing signal meets the requirement.

[0038] In a second aspect, the present invention provides a signal strength adaptive device, the device comprising:

[0039] A signal acquisition module is used to sequentially acquire a mixing signal sequence corresponding to each mirror rotation angle of the laser radar in a first acquisition period, wherein the mixing signal sequence includes: mixing signals corresponding to a plurality of channel antennas respectively;

[0040] an information recording module, configured to record, if there is a first mixing signal in the mixing signal sequence, a first rotating mirror angle corresponding to the mixing signal sequence to which the first mixing signal belongs and a first channel identifier of a channel antenna corresponding to the first mixing signal, and the amplitude of the first mixing signal is outside a preset threshold range;

[0041] A gain adjustment module is used to adjust the optical amplifier (SOA) gain of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold range in a second acquisition cycle after the first acquisition cycle when the rotation mirror angle of the laser radar is the first rotation mirror angle.

[0042] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the signal strength adaptation method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0043] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the signal strength adaptation method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 is a schematic flow chart of a signal strength adaptive method according to an embodiment of the present invention;

[0046] Figure 2 is a schematic flow chart of another signal strength adaptive method according to an embodiment of the present invention;

[0047] Figure 3 is an example diagram of a signal position for a target object according to an embodiment of the present invention;

[0048] Figure 4 This is an example diagram of a point cloud signal strength adaptive system architecture according to an embodiment of the present invention;

[0049] Figure 5 is a structural block diagram of a signal strength adaptive device according to an embodiment of the present invention;

[0050] Figure 6 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0052] Frequency modulated continuous wave (FMCW) laser radar has the advantages of high precision and high distance resolution. It is particularly suitable for space target detection and is widely used in automated driving, warehouses and other fields. FMCW transmits frequency modulated signals through antennas. When the signals touch an object, they are reflected back to the antenna. By processing the received signals, the distance, speed, angle and other information of the object are calculated and finally converted into point cloud data.

[0053] The FMCW multi-channel transceiver antenna can improve the working efficiency of the LiDAR. Through the on-chip integrated optical amplifier (Semiconductor Optical Amplifier, SOA), the optical signal transmitted by each antenna can be amplified, reducing the number of lasers used.

[0054] Currently, for the SOA gain of each channel, a fixed gain is usually used to transmit the signal. Due to the large number of channels and the fixed SOA gain corresponding to each channel, the power consumption of the optical amplifier is high, which increases the overall power consumption of the chip.

[0055] To this end, an embodiment of the present invention provides a signal strength adaptive method, which obtains relevant information of mixing signals with excessive amplitudes in the mixing signal sequence corresponding to each mirror rotation angle in the first acquisition cycle, namely, the corresponding mirror rotation angle and channel identifier, so that in the adjacent second acquisition cycle, when the mirror angle of the laser radar is the corresponding mirror rotation angle, the SOA gain of the channel antenna corresponding to the channel identifier is adjusted to achieve adaptive adjustment of the signal strength and reduce the chip power consumption in the radar.

[0056] According to an embodiment of the present invention, a signal strength adaptation method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0057] In this embodiment, a signal strength adaptive method is provided, which can be used for the above-mentioned frequency modulated continuous wave (FMCW) laser radar. Figure 1 is a flow chart of a signal strength adaptive method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0058] Step S101, sequentially acquiring mixing signal sequences corresponding to various mirror rotation angles of the laser radar in a first acquisition period, wherein the mixing signal sequence includes mixing signals corresponding to a plurality of channel antennas respectively.

[0059] For laser radar, there are multiple channel antennas inside, which are usually arranged linearly. When the target object is scanned by laser radar to generate the corresponding point cloud image of the target object, for each frame of point cloud image, a mixing signal corresponding to the acquisition cycle is required to generate the corresponding frame of point cloud image. At the same time, there is a rotating mirror inside the laser radar, and every time the angle of the mirror changes, the direction of the channel antenna sending the signal will change.

[0060] Assuming that the frame rate of the point cloud image is 30 frames per second, the duration of the acquisition cycle corresponding to each frame is 1 / 30 second. The mirror angle will change 5 times in one acquisition cycle, that is, there are 5 mirror angles. For each mirror angle, a column of output signals will be issued (since the transmission speed of the signal is the speed of light, the corresponding return signal will also be received at the same time). The output signal and the return signal are mixed to obtain a mixed signal, and the corresponding point cloud data can be obtained by subsequent analysis of the mixed signal.

[0061] For the five mirror angles in the above example, one mirror angle corresponds to a mixing signal sequence, in which the mixing signals corresponding to each channel antenna are included, and the signals output by different mirror angles will hit different positions (adjacently arranged) of the target object (detected object). For example, assuming that the target object is a rectangular object, the signal output by the first mirror angle will hit the first column on its left, and the signal output by the first channel antenna will hit the top of the first column, and so on. After one acquisition cycle, a mixing signal representing the entire rectangular object will be obtained, that is, a mixing signal sequence corresponding to each mirror angle. In the process of changing the mirror angle, the mixing signal sequence corresponding to each mirror angle will be obtained in turn, including the mixing signals corresponding to each channel antenna at the mirror angle.

[0062] Step S102: if there is a first mixing signal in the mixing signal sequence, record a first mirror angle corresponding to the mixing signal sequence to which the first mixing signal belongs and a first channel identifier of a channel antenna corresponding to the first mixing signal, and the amplitude of the first mixing signal is outside a preset threshold range.

[0063] For the mixing signal sequence corresponding to each rotating mirror angle, it will be determined whether there is an amplitude value, that is, a mixing signal with too large intensity, that is, whether there is a mixing signal with an amplitude outside the preset threshold interval, that is, the first mixing signal. There can be multiple signals. For example, if the first mixing signal and the third mixing signal in the mixing signal sequence are both outside the preset threshold interval, then these two signals are the first mixing signals. If there is a first mixing signal, the rotating mirror angle corresponding to the mixing signal sequence to which it belongs, that is, the first rotating mirror angle, will be recorded, and the channel antenna identifier corresponding to the mixing signal, that is, the first channel identifier, will be recorded at the same time.

[0064] For example, after the current acquisition cycle ends, the signals in the multiple mixing signal sequences can be counted to determine the first mixing signal, that is, the signal with an excessively large amplitude. For each first mixing signal, the corresponding mirror angle and channel identifier are recorded, and the channel identifier is used to indicate which channel antenna the signal is sent from.

[0065] In another example, each time a mixing signal sequence is acquired, the first mixing signal therein is determined, and the corresponding channel identifier and mirror rotation angle are recorded.

[0066] For example, assuming that there are five mixing signal sequences corresponding to the rotation mirror angles in one acquisition cycle, and there are multiple first mixing signals outside the preset threshold range in the second mixing signal sequence and the third mixing signal sequence, then it is necessary to record the two first rotation angles, as well as the multiple first mixing signals of each rotation angle and the channel identifier of each first mixing signal.

[0067] Step S103, in a second acquisition cycle after the first acquisition cycle, when the mirror angle of the laser radar is the first mirror angle, adjust the optical amplifier (SOA) gain of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold range.

[0068] The second acquisition cycle can be understood as a new acquisition cycle after the first acquisition cycle ends. In this acquisition cycle, the working process of the rotating mirror is the same as that of the above-mentioned first acquisition cycle, that is, the rotating mirror changes an angle, sends out a series of signals, and receives the returned signals to generate a mixed signal.

[0069] However, when the rotating mirror angle is a recorded first rotating mirror angle mentioned above, the first mixing signal in the mixing signal sequence corresponding to the rotating mirror angle in the previous acquisition cycle and the corresponding channel antenna identifiers are determined according to the recorded information in the above steps.

[0070] Assuming that there are three first mixing signals in the sequence corresponding to the rotation mirror angle in the previous acquisition cycle, and the corresponding channel antenna identifiers are 006, 007, and 008, respectively, then the gain of the optical amplifier on the channel antenna represented by the corresponding channel antenna identifier is adjusted according to the relationship between the signal amplitude of each first mixing signal and the preset threshold interval. For example, when the signal amplitude is greater than the maximum value of the preset threshold interval, the gain is reduced, and when the signal amplitude is less than the minimum value of the preset threshold interval, the gain is increased; or only when the signal amplitude is greater than the maximum value of the preset threshold interval, the gain is reduced; or only when the signal amplitude is less than the minimum value of the preset threshold interval, the gain is increased.

[0071] In actual situations, there may be multiple first mirror angles recorded previously, that is, there are mixing signals outside the preset threshold range in the sequences corresponding to the multiple mirror angles. In the second cycle, when the mirror angle is another first mirror angle (that is, there is a mirror angle of the first mixing signal in the corresponding sequence), the above-mentioned related steps are also taken to perform corresponding gain adjustment, which will not be repeated here. Similarly, the corresponding mixing signal sequence acquisition will also be performed in the current cycle, and the relevant information of the first mixing signal will be recorded to facilitate the corresponding gain adjustment in the next acquisition cycle.

[0072] To facilitate understanding of the above method embodiment, an example is used to assist understanding of the above content. For example, in the first acquisition period, there are mixing signal sequences corresponding to 5 mirror rotation angles. It is assumed that there is a first mixing signal with an excessively large amplitude in the first mixing signal sequence and the second mixing signal sequence.

[0073] The mirror rotation angle corresponding to the first mixing signal sequence is 10 degrees, and the first mixing signals are mixing signals corresponding to channel antenna 2 and channel antenna 3 respectively.

[0074] The mirror rotation angle corresponding to the second mixing signal sequence is 15 degrees, and the first mixing signals therein are mixing signals corresponding to channel antenna 3 and channel antenna 4 respectively.

[0075] In the second acquisition cycle, when the mirror angle is 10 degrees, for channel antenna 2, it is assumed that in the previous acquisition cycle, the corresponding mixing signal amplitude when the mirror angle is 10 degrees is 100, and the preset threshold interval is 50-80. At this time, the gain of the optical amplifier (SOA) in channel antenna 2 will be reduced; for channel antenna 3, it is assumed that in the previous acquisition cycle, the corresponding mixing signal amplitude when the mirror angle is 10 degrees is 30, and the gain of the optical amplifier (SOA) in channel antenna 3 will be increased. When the mirror angle reaches 10 degrees, after adjusting the SOA gain of all channels corresponding to the first channel identifier, the signal is transmitted, received (wherein transmission and reception, since the signal propagates at the speed of light, can be understood as simultaneous acquisition) and mixed, and the first mixing signal (mixing signal outside the preset threshold interval) is determined for the mixed signal sequence corresponding to the angle subsequently, and the relevant information is recorded for corresponding processing in the next acquisition cycle.

[0076] Similarly, in the second acquisition cycle, when the mirror angle is 15 degrees, the gain adjustment of channel antenna 3 and channel antenna 4 is also implemented based on the above mechanism, which will not be repeated here.

[0077] The signal strength adaptive method provided in this embodiment is based on the relevant information of the mixing signal with excessive amplitude in the mixing signal sequence corresponding to each mirror rotation angle in the first acquisition period, that is, the corresponding mirror rotation angle and channel identifier, so that in the adjacent second acquisition period, when the mirror angle of the laser radar is the corresponding mirror angle, the SOA gain of the channel antenna corresponding to the channel identifier is adjusted to achieve adaptive adjustment of the signal strength and reduce the chip power consumption in the radar.

[0078] According to an embodiment of the present invention, another signal strength adaptive method embodiment is provided, which can be used for the above-mentioned frequency modulated continuous wave (FMCW) laser radar. Figure 2 is a flow chart of another signal strength adaptive method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0079] Step S201, sequentially obtain the mixing signal sequence corresponding to each mirror angle of the laser radar in the first acquisition cycle, the mixing signal sequence includes: mixing signals corresponding to multiple channel antennas respectively. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0080] Step S202: If there is a first mixing signal in the mixing signal sequence, record the first rotation angle of the mixing signal sequence to which the first mixing signal belongs and the first channel identifier of the channel antenna corresponding to the first mixing signal, and the amplitude of the first mixing signal is outside the preset threshold range. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0081] Specifically, the arrangement of the multiple channel antennas is perpendicular to the changing direction of the rotating mirror angle.

[0082] For example, when the channels are arranged vertically, the mirror angle changes in the horizontal direction, and the positions of the target objects hit by the mixing signals in the mixing signal sequences corresponding to different mirror angles are horizontally adjacent.

[0083] For example, please refer to Figure 3 As shown in FIG. 1 , an example diagram of the signal position for a target object according to an embodiment of the present invention is shown. In this example, the rotating mirror is a multi-faceted mirror body, which rotates one face in one acquisition cycle, and each rotation of one face can be subdivided into 128 angles. The laser radar has a total of 128 channel antennas, and the 128 channel antennas longitudinally transmit a column of signals at each rotating mirror angle, and these signals are longitudinally hit on the target object.

[0084] At each angle, the signals sent by multiple channel antennas encounter the return signal of the target object, and the return signal is mixed with the local signal. Figure 3In , the first column is the mixing signal sequence corresponding to the first rotation mirror angle, and the signal corresponding to each row is the mixing signal corresponding to a channel antenna.

[0085] The black signal in the figure is the mixing signal that exceeds the preset threshold range, that is, the first mixing signal. In the next acquisition cycle, when the rotating mirror changes to the corresponding angle, the gain of the corresponding channel antenna will be adjusted.

[0086] exist Figure 3 In the monitoring, the amplitude of the mixed signal corresponding to the 3rd to 10th rows in the 7th to 15th columns exceeds the preset threshold range. Then in the next acquisition cycle, when the mirror rotates to the 7th column, the SOA gain of the 3rd to 10th channels of the chip is reduced. The mirror continues to rotate to the 8th column angle, and the SOA gain of the 3rd to 10th channels of the chip is reduced. In this way, the emission signal of the corresponding position point of the high-reflection target object in these 9 columns × 8 rows in the figure is reduced.

[0087] Specifically, in the above step S202, the preset threshold interval is determined as follows:

[0088] Acquire the local optical power and the standard returned optical power of the laser radar, and determine the standard amplitude of the mixing signal based on the local optical power and the standard returned optical power;

[0089] Determine a maximum value of a preset threshold interval according to the first preset coefficient and the standard amplitude;

[0090] The minimum value of the preset threshold interval is determined according to the second preset coefficient and the standard assignment.

[0091] It can be understood that in the internal chip of the laser radar, the local optical power of each channel is fixed to A (set according to the actual situation of the radar), and the reference value of the return optical power is B (which can also be pre-set based on the actual situation), that is, the standard return optical power is B. The amplitude of the signal after mixing is K, where K is the standard amplitude.

[0092] The first preset coefficient is used to determine the maximum value of the preset threshold interval. For example, it can be set to The second preset coefficient is used to determine the minimum value of the preset threshold interval. For example, it can be set to The preset threshold interval is to The specific value of the preset coefficient can be set according to the actual situation and is not limited here.

[0093] Step S203, performing data processing on the mixing signal sequence corresponding to each mirror rotation angle to obtain a point cloud data set corresponding to each mirror rotation angle; based on the point cloud data set corresponding to each mirror rotation angle and the arrangement sequence of the channel antenna, generating global point cloud data of the acquisition frame corresponding to the first acquisition cycle.

[0094] It can be understood that after obtaining the mixing signal sequence corresponding to each mirror angle in the first acquisition period, the mixing signals in each mixing signal sequence can be analyzed to obtain the point cloud data corresponding to each mixing signal, that is, to obtain the point cloud data set corresponding to each mirror angle. When performing radar detection, each mirror angle corresponds to a mixing signal corresponding to a column position of the target object, and each mixing signal in a mixing signal sequence corresponds to a channel antenna with a different bit sequence, that is, it is transmitted, received and mixed through the corresponding channel antenna.

[0095] For the point cloud data sets corresponding to each rotation mirror angle, the corresponding longitudinal position, that is, which row of the target object it belongs to, can be determined by combining the arrangement sequence of the channel antennas corresponding to each point cloud data; at the same time, the position information corresponding to each point cloud data can be determined according to its lateral position corresponding to its rotation mirror angle, that is, which column of the target object it belongs to, thereby generating the global point cloud data of the target object corresponding to the acquisition frame in the first acquisition cycle, that is, the point cloud data that can reflect the detection information corresponding to each position of the target object under the acquisition frame.

[0096] Step S204, in the second acquisition cycle after the first acquisition cycle, when the rotation mirror angle of the laser radar is the first rotation mirror angle, adjust the optical amplifier (SOA) gain of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold range.

[0097] Specifically, in the above step S204, adjusting the gain of the optical amplifier (SOA) of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold interval includes:

[0098] When the amplitude of the first mixed signal is greater than the maximum value of the preset threshold interval, the SOA gain of the channel antenna corresponding to the first channel identifier is reduced.

[0099] It can be understood that when the rotating mirror in the second acquisition cycle is transferred to the first rotating mirror angle recorded in the previous acquisition cycle (i.e., the first acquisition cycle) (in the previous acquisition cycle, there is a first mixing signal in the mixing signal sequence corresponding to the first rotating mirror angle), it is necessary to adjust the SOA gain of the channel antenna corresponding to the first mixing signal recorded in the previous acquisition cycle.

[0100] When making adjustments, it is necessary to decide how to adjust based on the relationship between the amplitude of the first mixing signal, that is, the signal strength, and the preset threshold interval. When the amplitude of the first mixing signal is greater than the maximum value of the preset threshold interval, it means that the SOA gain of a channel antenna in the previous acquisition cycle at the first mirror angle is too large. Therefore, at the corresponding mirror angle of the second cycle, it is necessary to reduce the SOA gain of the corresponding channel antenna, that is, the gain of the optical amplifier integrated on the chip, to reduce the energy consumption of the optical amplifier, thereby reducing the overall energy consumption of the laser radar.

[0101] Specifically, when the amplitude of the first mixed signal is greater than the maximum value of the preset threshold interval, reducing the SOA gain of the channel antenna corresponding to the first channel identifier includes:

[0102] Determine a first expected amplitude based on the first adjustment coefficient and the standard amplitude, and determine a first difference between the signal amplitude of the first mixing signal and the first expected amplitude;

[0103] Based on the size of the first difference, the SOA gain of the channel antenna corresponding to the first channel identifier is reduced.

[0104] It can be understood that when the SOA gain of the channel antenna corresponding to the first channel identifier is reduced, the first expected amplitude can be determined according to the preset adjustment coefficient, that is, the first adjustment coefficient, and the standard amplitude. For example, the preset first adjustment coefficient can be 1 or 1.2, combined with the standard amplitude K, the first expected amplitude is K or 1.2K. Then, the difference between the signal amplitude of the first mixing signal and the first expected amplitude, that is, the first difference, is determined to characterize the difference between the first mixing signal and the expected signal amplitude.

[0105] After obtaining the first difference, the specific gain adjustment value is determined in combination with the linear gain relationship inside the radar and the size of the first difference, and the SOA gain of the channel antenna corresponding to the first channel identifier is reduced so that the amplitude of the signal sent and returned next after mixing is close to the expected amplitude.

[0106] Adjusting the gain of an optical amplifier (SOA) of a channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and a preset threshold value interval, further comprising:

[0107] When the amplitude of the first mixing signal is less than the minimum value of the preset threshold interval, the SOA gain of the channel antenna corresponding to the first channel identifier is increased.

[0108] Similar to the above-mentioned embodiment for the case where the amplitude of the mixing signal is greater than the maximum value of the preset threshold interval, when making adjustments, it is necessary to determine how to adjust based on the relationship between the amplitude of the first mixing signal, that is, the signal strength, and the preset threshold interval. When the amplitude of the first mixing signal is less than the minimum value of the preset threshold interval, it means that the SOA gain of a channel antenna in the previous acquisition cycle at the first rotating mirror angle is too small. Therefore, at the corresponding rotating mirror angle of the second cycle, it is necessary to increase the SOA gain of the corresponding channel antenna, that is, the gain of the optical amplifier integrated on the chip, to ensure the accuracy of the received mixing signal and the accuracy of the information reflected by the subsequent point cloud data.

[0109] Specifically, when the amplitude of the first mixing signal is less than the minimum value of the preset threshold interval, increasing the SOA gain of the channel antenna corresponding to the first channel identifier includes:

[0110] Determine a second expected amplitude based on a second adjustment coefficient and a standard amplitude, and determine a second difference between the signal amplitude of the first mixing signal and the second expected amplitude;

[0111] Based on the size of the second difference, the SOA gain of the channel corresponding to the first channel identifier is increased.

[0112] Similarly, for the case where the mixing signal is too small, there is also a targeted adjustment coefficient, namely the second adjustment coefficient. The corresponding expected amplitude, namely the second expected amplitude, can be determined by the second adjustment coefficient and the standard amplitude. For example, the standard amplitude is K, the preset threshold interval is 0.5K to 1.5K, the second adjustment coefficient can be 0.6, and the second expected amplitude is 0.6K. The purpose is to make the mixing signal corresponding to the subsequently adjusted signal greater than the minimum value of the preset threshold interval (because as long as it is greater than the minimum value, relatively accurate point cloud data can be generated). The amplitude of the first mixing signal and the second expected amplitude determine the second difference to characterize the gap between the amplitude of the first mixing signal and the expected signal.

[0113] After obtaining the second difference, the specific gain adjustment value is determined in combination with the linear increase relationship inside the radar and the size of the second difference, and the SOA gain of the channel antenna corresponding to the first channel identifier is increased so that the amplitude of the signal sent and returned next after mixing is close to the expected amplitude.

[0114] Further, the optical amplifier of the channel antenna includes: a first optical amplifier and a second optical amplifier, the first optical amplifier is used to amplify the output signal, and the second optical amplifier is used to amplify the received signal;

[0115] In the above steps, adjusting the gain of the optical amplifier (SOA) of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold interval includes:

[0116] Based on the amplitude of the first mixing signal and a preset threshold interval, the SOA gains corresponding to the first optical amplifier and the second optical amplifier of the channel antenna indicated by the first channel identifier are adjusted.

[0117] It can be understood that for each channel antenna, it has two optical amplifiers, which are used to adjust the gain of the output signal and the received signal (i.e., the return signal corresponding to the output signal). For a channel antenna, when adjusting the gain of its optical amplifier, the gain of the two optical amplifiers can be adjusted separately. For example, when increasing the gain, the gain of both optical amplifiers can be increased, or the gain of one of them can be increased; when decreasing the gain, the gain of both optical amplifiers can be decreased, or the gain of one of them can be decreased, so as to ensure the flexibility of gain adjustment.

[0118] The signal strength adaptive method provided by the embodiment of the present invention realizes adaptive adjustment of the signal strength by adjusting the relevant information of the mixing signal with excessive amplitude in the mixing signal sequence corresponding to each mirror rotation angle in the first acquisition period, that is, the corresponding mirror rotation angle and channel identifier, so that in the adjacent second acquisition period, when the mirror angle of the laser radar is the corresponding mirror rotation angle, the SOA gain of the channel antenna corresponding to the channel identifier is adjusted to achieve adaptive adjustment of the signal strength and reduce the chip power consumption in the radar.

[0119] At the same time, the arrangement direction of the channel antenna and the change direction of the mirror angle are perpendicular to each other, so that after obtaining the point cloud data set corresponding to each mirror angle, the global point cloud data of the corresponding acquisition frame is generated in combination with the arrangement sequence of the antenna, ensuring the accuracy of the global point cloud data. In addition, the local power and standard return optical power of the laser radar are used to determine the standard amplitude corresponding to the received mixing signal, thereby determining the maximum and minimum values ​​of the preset threshold range, and improving the effectiveness of the subsequent judgment of the first mixing signal.

[0120] In order to facilitate understanding of the embodiments of the present invention, a point cloud signal strength adaptive system is provided, such as Figure 4 As shown, it is an example diagram of a point cloud signal strength adaptive system architecture according to an embodiment of the present invention, the system includes: FMCW laser radar, point cloud data acquisition and processing module, signal strength monitoring module and point cloud display module.

[0121] The MCW laser radar has a 128-channel FMCW chip inside. For the target object detected by the radar, taking a rectangular high-reflectivity plate attached to the wall as an example, the 128-channel antenna transmits signals simultaneously. The mirror rotates 128 angles each time and encounters a return signal from the target object. The return signal is mixed with the local signal.

[0122] The point cloud data acquisition and processing module acquires and processes the mixed signal. The 128-channel antenna transmits vertically as one column, and the rotating mirror rotates horizontally at a total of 128 angles per side, which can obtain 128 columns of point cloud data. The acquisition card can obtain 128 columns × 128 rows of point cloud data.

[0123] The point cloud display module displays a frame of 128 columns × 128 rows of point cloud images in real time.

[0124] The signal monitoring module monitors the amplitude strength of 128×128 mixed signals in real time. The transmitting end and the return path of the FMCW chip antenna each have an SOA device, the transmitting end is SOA1, and the return end is SOA2. The local optical power of each channel of the chip is fixed to A, the reference amplitude of the returned optical power is B, and the amplitude of the mixed signal is K. Among them, the state range of the signal amplitude is judged. If the returned optical power exceeds 1.5*B, that is, the signal amplitude exceeds √1.5*K, the monitoring module sends a command to reduce the SOA2 gain of the corresponding channel of the laser radar and reduce the signal amplitude to K. Similarly, if the returned optical power is less than 0.5*B, that is, the monitored signal amplitude is less than √0.5*K, the monitoring module sends a command to increase the SOA2 gain of the corresponding channel of the laser radar and increase the signal amplitude to *K.

[0125] When the reflectivity of the target is low and the signal is very weak, adjust the SOA2 gain to the maximum. If the signal amplitude still cannot reach the range of √1.5*K to √0.5*K, further adjust the SOA1 gain to increase the antenna optical power. The adjustment method is the same as that of SOA2.

[0126] For example, Figure 3 As shown in the figure, it is an example of the signal for a target object in a certain acquisition cycle, where the mixing signal with excessive signal strength corresponds to the black point in the figure. The signal monitoring module detects that the amplitude of the 9-column × 8-row data mixing signal exceeds √1.5*K. In the acquisition cycle corresponding to the next acquisition frame number, when the rotating mirror rotates to the seventh column, the SOA gain of the chip's 3rd to 10th channels is reduced. The rotating mirror continues to rotate to the eighth column angle, and the SOA gain of the chip's 3rd to 10th channels is reduced. In this way, the emission signal of the corresponding position point of the 9-column × 8-row high-reflection target is reduced. The point cloud display module displays the 128-column × 128-row point cloud image measured after adjusting the SOA gain in the next frame.

[0127] The chip's optical power is adjusted by adjusting the SOA gain in real time. When the system detects that the reflection signal of an object is too strong, the SOA gain is reduced to reduce the optical power and reduce power consumption. Similarly, when the reflectivity of an object is detected to be weak, the SOA gain is increased to increase the optical power and improve the detection probability of the object. This method makes reasonable use of the light output and controls the overall power consumption.

[0128] In this embodiment, a signal strength adaptive device is also provided, which is used to implement the above embodiments and preferred implementation modes, and the descriptions that have been made are omitted. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0129] This embodiment provides a signal strength adaptive device, such as Figure 5 As shown, including:

[0130] The signal acquisition module 401 is used to sequentially acquire the mixing signal sequence corresponding to each mirror rotation angle of the laser radar in the first acquisition period, and the mixing signal sequence includes: mixing signals corresponding to multiple channel antennas respectively.

[0131] The information recording module 402 is used to record the first mirror angle corresponding to the mixing signal sequence to which the first mixing signal belongs and the first channel identifier of the channel antenna corresponding to the first mixing signal if there is a first mixing signal in the mixing signal sequence, and the amplitude of the first mixing signal is outside the preset threshold range.

[0132] The gain adjustment module 403 is used to adjust the optical amplifier (SOA) gain of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold range in the second acquisition cycle after the first acquisition cycle when the rotation mirror angle of the laser radar is the first rotation mirror angle.

[0133] In some optional implementations, the arrangement direction of the multiple channel antennas is perpendicular to the direction in which the angle of the rotating mirror changes;

[0134] The signal acquisition module 401 is further used to perform data processing on the mixed signal sequence corresponding to each rotating mirror angle to obtain a point cloud data set corresponding to each rotating mirror angle;

[0135] Based on the point cloud data sets corresponding to each rotation mirror angle and the arrangement sequence of the channel antennas, global point cloud data of the acquisition frame corresponding to the first acquisition cycle is generated.

[0136] In some optional implementations, the preset threshold interval is determined as follows:

[0137] Acquire the local optical power and the standard returned optical power of the laser radar, and determine the standard amplitude of the mixing signal based on the local optical power and the standard returned optical power;

[0138] Determine a maximum value of a preset threshold interval according to the first preset coefficient and the standard amplitude;

[0139] The minimum value of the preset threshold interval is determined according to the second preset coefficient and the standard assignment.

[0140] In some optional implementations, the gain adjustment module 403, when adjusting the gain of the optical amplifier (SOA) of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold interval, includes:

[0141] When the amplitude of the first mixed signal is greater than the maximum value of the preset threshold interval, the SOA gain of the channel antenna corresponding to the first channel identifier is reduced.

[0142] In some optional implementations, the gain adjustment module 403, when adjusting the gain of the optical amplifier (SOA) of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold interval, further includes:

[0143] When the amplitude of the first mixing signal is less than the minimum value of the preset threshold interval, the SOA gain of the channel antenna corresponding to the first channel identifier is increased.

[0144] In some optional implementations, when the amplitude of the first mixed signal is greater than the maximum value of the preset threshold interval, the gain adjustment module 403, when reducing the SOA gain of the channel antenna corresponding to the first channel identifier, includes:

[0145] Determine a first expected amplitude based on the first adjustment coefficient and the standard amplitude, and determine a first difference between the signal amplitude of the first mixing signal and the first expected amplitude;

[0146] Based on the size of the first difference, the SOA gain of the channel antenna corresponding to the first channel identifier is reduced.

[0147] When the amplitude of the first mixed signal is less than the minimum value of the preset threshold interval, the gain adjustment module 403, when increasing the SOA gain of the channel antenna corresponding to the first channel identifier, includes:

[0148] Determine a second expected amplitude based on a second adjustment coefficient and a standard amplitude, and determine a second difference between the signal amplitude of the first mixing signal and the second expected amplitude;

[0149] Based on the size of the second difference, the SOA gain of the channel antenna corresponding to the first channel identifier is increased.

[0150] In some optional embodiments, the optical amplifier of the channel antenna includes: a first optical amplifier and a second optical amplifier, the first optical amplifier is used to amplify the output signal, and the second optical amplifier is used to amplify the received signal;

[0151] The gain adjustment module 403, when adjusting the gain of the optical amplifier (SOA) of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold interval, includes:

[0152] Based on the amplitude of the first mixing signal and a preset threshold interval, the SOA gains corresponding to the first optical amplifier and the second optical amplifier of the channel antenna indicated by the first channel identifier are adjusted.

[0153] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0154] The signal strength adaptation device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0155] The embodiment of the present invention also provides a computer device having the above Figure 5 The signal strength adaptive device is shown.

[0156] See also Figure 6 , Figure 6 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 6 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0157] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0158] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0159] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0160] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0161] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0162] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0163] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0164] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A signal strength adaptive method, characterized in that: The method comprises: Sequentially acquiring a mixing signal sequence corresponding to each mirror rotation angle of the laser radar in a first acquisition cycle, wherein the mixing signal sequence includes: mixing signals corresponding to a plurality of channel antennas respectively; If there is a first mixing signal in the mixing signal sequence, record a first rotating mirror angle corresponding to the mixing signal sequence to which the first mixing signal belongs and a first channel identifier of a channel antenna corresponding to the first mixing signal, and the amplitude of the first mixing signal is outside a preset threshold range; In a second acquisition cycle after the first acquisition cycle, when the rotation mirror angle of the laser radar is the first rotation mirror angle, the optical amplifier (SOA) gain of the channel antenna indicated by the first channel identifier is adjusted based on the amplitude of the first mixing signal and the preset threshold range.

2. The method according to claim 1, characterized in that The arrangement direction of the multiple channel antennas is perpendicular to the changing direction of the rotating mirror angle; The method further comprises: Performing data processing on the mixed signal sequence corresponding to each rotating mirror angle to obtain a point cloud data set corresponding to each rotating mirror angle; Based on the point cloud data sets corresponding to each rotation mirror angle and the arrangement sequence of the channel antennas, global point cloud data of the acquisition frame corresponding to the first acquisition cycle is generated.

3. The method according to claim 1, characterized in that The preset threshold interval is determined as follows: Acquire the local optical power and the standard return optical power of the laser radar, and determine the standard amplitude of the mixing signal based on the local optical power and the standard return optical power; Determine a maximum value of a preset threshold interval according to the first preset coefficient and the standard amplitude; The minimum value of the preset threshold interval is determined according to the second preset coefficient and the standard assignment.

4. The method according to claim 3, characterized in that The adjusting, based on the amplitude of the first mixing signal and the preset threshold interval, the gain of the optical amplifier (SOA) of the channel antenna indicated by the first channel identifier includes: When the amplitude of the first mixing signal is greater than the maximum value of the preset threshold interval, the SOA gain of the channel antenna corresponding to the first channel identifier is reduced.

5. The method according to claim 3, characterized in that: The adjusting the optical amplifier (SOA) gain of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold interval also includes: When the amplitude of the first mixing signal is smaller than the minimum value of the preset threshold interval, the SOA gain of the channel antenna corresponding to the first channel identifier is increased.

6. The method according to any one of claims 4 or 5, characterized in that: When the amplitude of the first mixing signal is greater than the maximum value of the preset threshold interval, reducing the SOA gain of the channel antenna corresponding to the first channel identifier, including: Determine a first expected amplitude based on a first adjustment coefficient and a standard amplitude, and determine a first difference between the signal amplitude of the first mixing signal and the first expected amplitude; Based on the size of the first difference, reducing the SOA gain of the channel antenna corresponding to the first channel identifier; When the amplitude of the first mixing signal is less than the minimum value of the preset threshold interval, increasing the SOA gain of the channel antenna corresponding to the first channel identifier includes: Determine a second expected amplitude based on a second adjustment coefficient and a standard amplitude, and determine a second difference between the signal amplitude of the first mixing signal and the second expected amplitude; Based on the size of the second difference, the SOA gain of the channel antenna corresponding to the first channel identifier is increased.

7. The method according to claim 1, characterized in that The optical amplifier of the channel antenna comprises: a first optical amplifier and a second optical amplifier, the first optical amplifier is used to amplify the output signal, and the second optical amplifier is used to amplify the received signal; The adjusting, based on the amplitude of the first mixing signal and the preset threshold interval, the gain of the optical amplifier (SOA) of the channel antenna indicated by the first channel identifier includes: Based on the amplitude of the first mixing signal and the preset threshold interval, the SOA gains corresponding to the first optical amplifier and the second optical amplifier of the channel antenna indicated by the first channel identifier are adjusted.

8. A signal strength adaptive device, characterized in that: The device comprises: A signal acquisition module is used to sequentially acquire a mixing signal sequence corresponding to each mirror rotation angle of the laser radar in a first acquisition period, wherein the mixing signal sequence includes: mixing signals corresponding to a plurality of channel antennas respectively; an information recording module, configured to record, if there is a first mixing signal in the mixing signal sequence, a first rotating mirror angle corresponding to the mixing signal sequence to which the first mixing signal belongs and a first channel identifier of a channel antenna corresponding to the first mixing signal, and the amplitude of the first mixing signal is outside a preset threshold range; A gain adjustment module is used to adjust the optical amplifier (SOA) gain of the channel antenna indicated by the first channel identifier based on the amplitude of the first mixing signal and the preset threshold range in a second acquisition cycle after the first acquisition cycle when the rotation mirror angle of the laser radar is the first rotation mirror angle.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the signal strength adaptation method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the signal strength adaptation method according to any one of claims 1 to 7.

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