Window pollution detection method, laser sensor and computer storage medium

Abstract

The invention provides a window pollution detection method, a laser sensor and a computer readable storage medium, the window pollution detection method comprises the following steps: emitting first laser beams at intervals, and detecting a detection object outside a window of the laser sensor according to the first laser beams, the interval time period between any two adjacent first laser beams is the time period between the corresponding emission time; emitting a second laser beam in at least part of the time period, and detecting whether pollutants exist in the window or not according to the second laser beam; wherein the light intensity of the first laser beam is smaller than that of the second laser beam.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a window contamination detection method, a laser sensor and a computer storage medium. Background Art

[0002] Laser sensor is a device that uses laser beams to measure distance. It scans the surrounding environment to obtain information such as the distance, shape, and size of an object, thereby realizing the perception and positioning of the surrounding environment. It is used in automation equipment to enable the automation equipment to perceive the surrounding environment through laser sensors to avoid collisions between the automation equipment and people or other objects. For example, automation equipment can be an automated guided vehicle (AGV) and an autonomous mobile robot (AMR).

[0003] However, during use, laser sensors are easily affected by the environment, such as dust. For example, dust and other contaminants will adhere to the window used to transmit the laser beam, causing the laser sensor to be unable to measure accurately, resulting in safety issues caused by misjudgment when the automated equipment perceives the surrounding environment.

[0004] In this regard, in the prior art, laser sensors are respectively provided with pollutant detection for detecting window contamination and object detection for detecting the environment around the laser sensor. However, the two detection processes interfere with each other, resulting in loss of detection information and low detection reliability. Summary of the invention

[0005] The main technical problem solved by the present application is to provide a window contamination detection method, a laser sensor and a computer storage medium, which are used to reduce the interference between the pollution detection and environmental detection of the laser sensor to improve reliability.

[0006] In a first aspect of the present application, a window contamination detection method is provided, which is applied to a laser sensor. The window contamination detection method comprises: emitting a first laser beam at intervals, and detecting a detection object outside the window of the laser sensor based on the first laser beam, wherein the interval period between any two adjacent first laser beams is the time period between corresponding emission times; emitting a second laser beam in at least part of the time period, and detecting whether there is contaminant in the window based on the second laser beam; wherein the light intensity of the first laser beam is less than the light intensity of the second laser beam.

[0007] In some embodiments, the time period includes a first flight period of the first laser beam, a first excitation period of the first laser beam, and an idle period between the first flight period and the first excitation period, wherein emitting the second laser beam during at least part of the time period includes: emitting the second laser beam during the idle period of at least part of the time period.

[0008] In some embodiments, the idle period includes a second excitation period of the second laser beam and a second flight period of the second laser beam.

[0009] In some embodiments, the first laser beam and the second laser beam are emitted by the same laser emitter of the laser sensor.

[0010] In some embodiments, the laser sensor further includes a boost circuit, which includes an excitation subcircuit and an output circuit electrically connected to the excitation subcircuit, and the excitation subcircuit controls the output circuit to emit the first laser beam and the second laser beam through an excitation signal; wherein the ratio between the pulse width of the excitation signal of the second laser beam and the pulse width of the excitation signal of the first laser beam is 1.8-2.2, so that the ratio between the output voltage of the second laser beam and the output voltage of the first laser beam is 1.8-2.2.

[0011] In some embodiments, the voltage boost circuit includes a boost circuit, and the laser transmitter includes a pulsed laser diode.

[0012] In some embodiments, detecting whether there are contaminants in the window based on the second laser beam includes: obtaining the signal intensity of the echo signal of the second laser beam; in response to the signal intensity being greater than or equal to a preset intensity threshold, determining that there are contaminants in the window; in response to the signal intensity being less than the preset intensity threshold, determining that there are no contaminants in the window.

[0013] In some embodiments, the time period is 5 microseconds in length, the first flight period is 2 microseconds in length, the idle period is 2 microseconds in length, and the first excitation period is 1 microsecond in length.

[0014] In a second aspect of the present application, a laser sensor is provided, comprising: a shell provided with a window; a laser emitter disposed in the shell and used to emit a first laser beam and a second laser beam toward the window to detect a detection object outside the shell and the window; and a controller connected to the laser emitter, used to execute the window contamination detection method of the first aspect to determine whether there is contaminant on the window.

[0015] According to a third aspect of the present application, a computer-readable storage medium is provided, which stores program instructions therein, and the program instructions are executed by a processor to perform the window contamination detection method according to the first aspect.

[0016] The beneficial effects of the present application are as follows: the present application emits a first laser beam at intervals, and emits a second laser beam in at least part of the interval period, and uses the second laser beam to detect whether there are contaminants on the window of the laser sensor. Because the second laser beam used to detect window contaminants is emitted in the interval period between adjacent first laser beams emitted at intervals, it will not affect the detection of the detection object by the first laser beam, thereby improving the reliability and detection efficiency of the laser sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 It is a schematic diagram of a laser sensor detecting a detection object;

[0019] Figure 2 is a schematic diagram of a laser sensor detecting window contamination;

[0020] Figure 3 It is a flow chart of an embodiment of the window pollution detection method of the present application;

[0021] Figure 4 is a structural schematic diagram of the time period between adjacent first laser beam emission times of the present application;

[0022] Figure 5 It is a structural schematic diagram of another embodiment of the window pollution detection method of the present application;

[0023] Figure 6 It is a circuit structure diagram of an embodiment of a boost circuit of a laser sensor of the present application;

[0024] Figure 7 It is a timing diagram of an embodiment of a boost circuit of a laser sensor of the present application;

[0025] Figure 8 It is a timing diagram of another embodiment of the boost circuit of the laser sensor of the present application;

[0026] Fig. 9 Schematic diagram of the laser sensor of the present application. DETAILED DESCRIPTION

[0027] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0028] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] The terms "first", "second", "third" in this application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second", "third" can expressly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In the embodiments of this application, all directional indications (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0031] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] The laser sensor is used to periodically detect the detection object, which includes a laser transmitter and a laser receiver, and a shell that protects the core components of the laser sensor. The laser transmitter is used to emit a laser beam, and the laser receiver is used to receive the reflected beam of the laser beam from the detection object. The shell is provided with windows for transmitting the laser beam and reflecting the beam.

[0033] During the detection process, the laser sensor detects the detection object according to the set laser beam optical path period to obtain the physical information of the detection object. In short, the laser beam is emitted by the laser transmitter, passes through the window and is emitted to the outside of the laser sensor, then travels to the detection object and is reflected by the detection object, then passes through the window again and enters the laser sensor, and is received by the laser receiver to complete the detection task.

[0034] Different laser beams have different uses. Common laser beams are used to detect objects (detection objects) in the external environment of the laser sensor, such as vehicles, people, flowers, plants, and trees. Figure 1 , Figure 1 The laser beam optical path is used to detect the object (obstacle). However, the presence of contaminants in the laser optical path may cause poor accuracy in detecting the object, leading to safety hazards. Therefore, it is necessary to detect contaminants in the laser sensor itself, for example, contaminants attached to the laser sensor window, see Figure 2 , Figure 2 It is shown that in the laser beam optical path, for example, when there is contaminant attached to the window, the laser sensor detects the window contaminant (dust).

[0035] See also Figure 3 The present application provides a method for detecting window contamination. In the time dimension, the pollutant detection sequence is inserted between the detection sequence of the detection object, that is, the pollutant detection is inserted in the interval period between two adjacent detection object detections, which can reduce the interference problem between the pollutant detection and the detection object detection in the time dimension caused by the independent operation of the pollutant detection and the detection object detection, and improve the reliability of detection; secondly, by performing pollutant detection in the interval period between adjacent detection object detections, the time utilization rate of the laser sensor in performing the detection task can be improved, thereby increasing the efficiency of the laser sensor. Specifically, the window contamination detection method of this embodiment includes the following steps:

[0036] 301: emitting first laser beams at intervals, and detecting a detection object outside a window of the laser sensor according to the first laser beams, wherein an interval period between any two adjacent first laser beams is a time period between corresponding emission times.

[0037] The first laser transmitter of the laser sensor transmits a first laser beam, and the first laser receiver of the laser sensor receives the first laser beam reflected back by the detection object, that is, a reflected beam of the first laser beam.

[0038] In some embodiments, the first laser emitter emits the first laser beams at intervals, and the interval emission means that there is a time period in which the first laser beam is not emitted between corresponding emission times of any two adjacent first laser beams.

[0039] In some embodiments, the duration of the interval emission time period is fixed, and thus, the laser sensor emits the first laser beam periodically. Further, the periodicity of the periodic emission of the first laser beam is adjustable, that is, in the periodic emission of the first laser beam, the duration of the interval emission time period is adjustable.

[0040] In some embodiments, the durations of the multiple interval emission time periods are at least partially different, and thus, the laser sensor emits the first laser beam non-periodically. Further, the non-periodicity of the non-periodic emission of the first laser beam is adjustable, that is, the duration of each interval emission time period in the non-periodic emission of the first laser beam is adjustable.

[0041] 302: Emit a second laser beam in at least a portion of the time period, and detect whether there is contaminant in the window based on the second laser beam; wherein the light intensity of the first laser beam is less than the light intensity of the second laser beam.

[0042] Since there is an interval between the two adjacent first laser beams emitted by the laser sensor, the second laser transmitter of the laser sensor can emit the second laser beam in the interval period between the two adjacent first laser beams, and the second laser receiver of the laser sensor receives the second laser beam for detecting whether there are contaminants on the window. Since the reflection intensity of the second laser beam by the window contaminants is less than the reflection intensity of the first laser beam by the detection object, the light intensity of the first laser beam is less than the light intensity of the second laser beam, that is, the light intensity of the second laser beam is greater than the light intensity of the first laser beam, which can increase the reflection intensity of the second laser beam by the window contaminants, thereby improving the reliability of window contaminant detection and reducing the power consumption of the first laser beam.

[0043] In some embodiments, the second laser emitter emits the second laser beam during all intervals during which the first laser emitter emits the first laser beam, so as to maximize the window contamination detection accuracy.

[0044] In some embodiments, the second laser emitter emits the second laser beam during a partial interval period during which the first laser emitter emits the first laser beam, so as to reduce power consumption of the second laser emitter.

[0045] In some embodiments, the first laser emitter and the second laser emitter are different laser emitters to improve the reliability of the first laser beam and the second laser beam.

[0046] In some embodiments, the first laser emitter and the second laser emitter are the same laser emitter. Further, in order to reduce the number of components of the laser sensor, thereby reducing the overall volume and weight of the laser sensor, and simplifying the structure of the laser sensor, the first laser emitter and the second laser emitter are the same laser emitter, and the first laser receiver and the second laser receiver are the same laser receiver.

[0047] In some embodiments, the first laser receiver and the second laser receiver are different laser receivers to improve the reliability of the first laser beam and the second laser beam.

[0048] See also Figure 4 , Figure 4 A schematic diagram of the time interval structure between adjacent laser beam emission times is shown, which includes a flight period, an idle period and an excitation period in sequence.

[0049] The flight period refers to the time from when the laser transmitter emits a laser beam to when the corresponding laser receiver receives the laser beam. The excitation period refers to the time it takes for the laser transmitter to store energy in order to emit a laser beam. The idle period refers to the period between the flight period and the excitation period, during which the laser transmitter is in a non-working state.

[0050] In some embodiments, when the first laser beam and the second laser beam are emitted by the same laser emitter and received by the same or different laser receivers, the excitation period and the flight period of the second laser beam are both set within the idle period of the first laser beam, that is, the idle period of the first laser beam includes the second excitation period of the second laser beam and the second flight period of the second laser beam.

[0051] Exemplarily, the emission interval of two adjacent first laser beams, that is, the above-mentioned time period is 5 microseconds, the duration of the first flight period of the first laser beam is 2 microseconds, the duration of the idle period of the first laser beam is 2 microseconds, the duration of the first excitation period of the first laser beam is 1 microsecond, and the emission action of the second laser beam can be set in the idle period of the first laser beam.

[0052] In some embodiments, when the first laser beam and the second laser beam are emitted by the same laser emitter, the second laser beam is emitted during idle periods of all first laser beams, that is, the second laser beam is emitted during each idle period of the emission of the first laser beam.

[0053] In some embodiments, when the first laser beam and the second laser beam are emitted by the same laser emitter, the second laser beam is emitted during a portion of the idle period of the first laser beam, that is, the second laser beam is emitted during a portion of the idle period that occurs at intervals of the first laser beam.

[0054] The present application forms a new emission time configuration of the first laser beam and the second laser beam by emitting the second laser beam at the emission interval of adjacent first laser beams, that is, within the above-mentioned time period. On the one hand, it can improve the problem of independent operation of pollutant detection and detection of detection object, which leads to interference between pollutant detection and detection object detection in the time dimension, and improve the reliability of detection. On the other hand, through the above-mentioned emission time configuration, it can also improve the time utilization rate of the laser sensor in performing detection tasks, further improving the detection efficiency of the laser sensor.

[0055] Furthermore, while taking into account reducing the mutual interference between the laser sensor's pollutant detection and environmental detection and improving the detection efficiency, the first laser beam and the second laser beam are emitted by the same laser transmitter and received by the same laser receiver, thereby reducing the number of components of the laser sensor, thereby reducing the overall volume and weight of the laser sensor, and simplifying the structure of the laser sensor.

[0056] See also Figure 5 , Figure 5 A method is shown of how a laser sensor determines contamination of a laser sensor window, wherein the laser sensor stores an adjustable preset intensity threshold value for determining the presence or absence of window contamination.

[0057] 501: Acquire the signal strength of the echo signal of the second laser beam.

[0058] After receiving the echo signal of the second laser beam, that is, the electrical signal corresponding to the reflected beam of the second laser beam, the laser sensor obtains the signal strength thereof.

[0059] 502: In response to the signal strength being greater than or equal to a preset strength threshold, determining that there is contaminant in the window.

[0060] The laser sensor determines that there is contamination on the window in response to a signal intensity greater than or equal to a preset intensity threshold.

[0061] 503: In response to the signal strength being less than a preset strength threshold, determining that the window is free of contaminants.

[0062] The laser sensor determines that there is no contaminant on the window in response to the signal intensity being less than a preset intensity threshold.

[0063] The present application also provides a laser sensor, including a boost circuit, the boost circuit including an excitation subcircuit and an output circuit, the output circuit is electrically connected to the excitation subcircuit, and the excitation subcircuit controls the output circuit to emit a first laser beam and a second laser beam through an excitation signal; wherein the pulse width of the excitation signal of the second laser beam is greater than the pulse width of the excitation signal of the first laser beam, so that the output voltage of the second laser beam is greater than the output voltage of the first laser beam.

[0064] In some embodiments, the ratio of the pulse width of the excitation signal of the second laser beam to the pulse width of the excitation signal of the first laser beam is 1.8-2.2, so that the ratio of the output voltage of the second laser beam to the output voltage of the first laser beam is 1.8-2.2.

[0065] Preferably, the pulse width of the excitation signal of the second laser beam is twice that of the excitation signal of the first laser beam, and the output voltage of the second laser beam is twice that of the output voltage of the first laser beam. In some embodiments, the above ratio can also be 1.8, 2.2, etc.

[0066] In some embodiments, the excitation signal includes an emission excitation signal for emitting a laser beam and an energy storage excitation signal for storing energy for the laser emitter to emit the laser beam.

[0067] See also Figure 6 , 7 and 8, Figure 6 A schematic diagram of a rapidly adjustable boost circuit structure of a laser sensor is shown, which is used to control the same laser emitter of the laser sensor to emit a first laser beam and a second laser beam at high frequency. Figure 7 The figure shows the timing change of the PLD when it emits a complete first laser beam. Figure 8 Shown in Figure 7 Schematic diagram of the timing change of emitting the second laser beam during the timing of the PLD emitting a complete first laser beam.

[0068] The fast adjustable boost circuit is a boost circuit, which includes a power supply (DC), an inductor L, two MOS tubes (M1 and M2), a diode (D), two capacitors (C1 and C2), a pulsed laser diode (PLD), and a resistor R. The PLD is used to emit the first laser beam and the second laser beam.

[0069] Please refer to Figure 7 , the start pulse signal represents the emission status signal of the PLD emitting the first laser beam, the stop pulse signal represents the receiving status signal of the laser receiver receiving the first laser beam, pulse1 is a pulse control signal used to control the conduction of M1 in the boost circuit to achieve the storage of the energy required for the PLD to emit the first laser beam, pulse2 is a pulse control signal used to control the conduction of M2 in the boost circuit to achieve the PLD emitting the first laser beam, and the U pulse signal represents the voltage of the PLD.

[0070] It can be understood that when pulse1 is at a high level, M1 is turned on, and the inductor L is charged; when pulse1 is at a low level, M1 is turned off, and the electric energy in the inductor L is discharged through the diode D and stored in the capacitor C1. Further, when pulse2 is at a high level, M2 is turned on, and the capacitor C1 is discharged to make the PLD emit the first laser beam. When pulse2 is at a low level, M2 is turned off, and the PLD stops emitting the first laser beam. Pulse1 and pulse2 work together, pulse1 is used to control the capacitor C1 to store the energy required for the PLD to emit the first laser beam, and pulse2 is used to control the PLD to emit the first laser beam after the capacitor C1 stores the corresponding energy.

[0071] See also Figure 7 , ΔT0 represents the flight time when the laser transmitter emits the first laser beam and is in the first flight time period, ΔT2 represents the idle time when the laser transmitter is not working and is in the idle time period, ΔT3 represents the first excitation time when the laser transmitter emits the first laser beam for energy storage, wherein, by inputting the P time period of pulse1, the capacitor C1 is charged during the ΔT3 period (excitation period) to form a voltage V, and then during the subsequent ΔT0 period (first flight time period), pulse2 is input, so that during the same subsequent ΔT0 period (first flight time period), the PLD emits the first laser beam and receives the first laser beam through the laser receiver.

[0072] For further information, see Figure 8 , which is Figure 7 On this basis, by inputting the P2 period of pulse1 during the idle period, the capacitor C1 is charged during the ΔT2 period (idle period) to form a voltage V2, and then during the same ΔT2 period (idle period), pulse2 is input, so that during the same ΔT2 period (idle period), the PLD emits a second laser beam and receives the second laser beam through the laser receiver. It can be seen that the excitation duration and flight duration of the second laser beam are both set in the idle period of the first laser beam.

[0073] The present application also includes a laser sensor, including: a shell, the shell is provided with a window; a laser emitter and a controller are arranged in the shell, wherein the laser emitter is used to emit a first laser beam and a second laser beam toward the window to detect a detection object and the window outside the shell, and the controller is electrically connected to the laser emitter, and is used to enable the laser emitter to execute the window contamination detection method of the aforementioned embodiment under the control of the controller to determine whether there is contaminants in the window.

[0074] This application also includes a schematic diagram of a laser sensor, see Fig. 9The laser sensor comprises: a memory 901 and a processor 902 coupled to each other. The memory is used to store a computer program; the processor is used to execute the computer program in the memory to execute the method of the above embodiment, so that the laser transmitter of the laser sensor emits a first laser beam and a second laser beam.

[0075] In some embodiments, the memory 901 and the processor 902 may be connected via, but not limited to, a bus system to enable the memory and the processor to communicate.

[0076] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0077] In some embodiments, the memory 901 may be an internal storage unit of the cloud device, for example, a hard disk or memory of the cloud device. In other embodiments, the memory 901 may also be an external storage device of the cloud device, for example, a plug-in hard disk equipped on the cloud device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory may also include both an internal storage unit of the cloud device and an external storage device. The memory is used to store an operating system, an application, a boot loader (BootLoader), data, and other programs, such as program code of a computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.

[0078] The present application also includes a computer-readable storage medium, including instructions, which, when executed on a computer, enable the computer to execute the method of the above embodiment.

[0079] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0080] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0081] Each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0082] 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 when the computer program is executed by a processor, the steps of each of the above-mentioned method embodiments can be implemented.

[0083] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer readable media may include at least: any entity or device capable of carrying computer program code to a camera / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a 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.

[0084] The above are only implementation methods of the present application, and are not intended to limit the patent protection scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A window contamination detection method, applied to a laser sensor, characterized in that: The window pollution detection method comprises: emitting a first laser beam at intervals, and detecting a detection object outside the window of the laser sensor according to the first laser beam, wherein the interval period between any two adjacent first laser beams is the time period between the corresponding emission times; emitting a second laser beam during at least part of the time period, and detecting whether the window is contaminated based on the second laser beam; The light intensity of the first laser beam is smaller than the light intensity of the second laser beam.

2. The window contamination detection method according to claim 1, characterized in that: The time period includes a first flight period of the first laser beam, a first excitation period of the first laser beam, and an idle period between the first flight period and the first excitation period. Wherein, emitting a second laser beam during at least part of the time period comprises: The second laser beam is emitted during the idle period of at least a portion of the time period.

3. The window contamination detection method according to claim 2, characterized in that: The idle period includes a second excitation period of the second laser beam and a second flight period of the second laser beam.

4. The window contamination detection method according to any one of claims 1 to 3, characterized in that: The first laser beam and the second laser beam are emitted by a same laser emitter of the laser sensor.

5. The window contamination detection method according to claim 4, characterized in that: The laser sensor further includes a boost circuit, the boost circuit includes an excitation subcircuit and an output circuit electrically connected to the excitation subcircuit, the excitation subcircuit controls the output circuit to emit the first laser beam and the second laser beam through an excitation signal; The ratio of the pulse width of the excitation signal of the second laser beam to the pulse width of the excitation signal of the first laser beam is 1.8-2.2, so that the ratio of the output voltage of the second laser beam to the output voltage of the first laser beam is 1.8-2.

2.

6. The window contamination detection method according to claim 5, characterized in that: The voltage boosting circuit includes a boost circuit, and the laser transmitter includes a pulse laser diode.

7. The window contamination detection method according to any one of claims 1 to 3, characterized in that: The detecting whether the window contains contaminants according to the second laser beam comprises: Acquiring the signal strength of the echo signal of the second laser beam; In response to the signal intensity being greater than or equal to a preset intensity threshold, determining that contaminants exist in the window; In response to the signal strength being less than the preset strength threshold, it is determined that the window is free of contaminants.

8. The window contamination detection method according to claim 2 or 3, characterized in that: The duration of the time period is 5 microseconds, the duration of the first flight period is 2 microseconds, the duration of the idle period is 2 microseconds, and the duration of the first excitation period is 1 microsecond.

9. A laser sensor, characterized in that: include: A housing having a viewing window; a laser emitter, disposed in the housing and used to emit a first laser beam and a second laser beam toward the window to detect a detection object outside the housing and the window; A controller is connected to the laser emitter and is used to control the operation of the laser emitter by using the window contamination detection method according to any one of claims 1 to 8, and to determine whether there is contaminant on the window.

10. A computer-readable storage medium, characterized in that: Program instructions are stored therein, and the program instructions are executed by a processor to implement the window contamination detection method according to any one of claims 1 to 8.

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