Automatic control method and system based on laser radar, laser radar and electronic equipment

Abstract

The invention provides an automatic control method and system based on a laser radar, the laser radar and electronic equipment, and relates to the technical field of atmospheric laser radars, and the automatic control method comprises the steps: transmitting laser to an atmospheric stratosphere of a target area through the laser radar based on an initial working parameter, initial detection information is obtained according to a back scattering signal generated by the atmosphere; based on the initial detection information, the initial working parameters are adjusted, so that the detection result of the laser radar on the target area based on the adjusted working parameters meets the preset detection requirement; acquiring working state information of the laser radar based on the adjusted working parameters; and based on the working state information, controlling the laser radar to be adjusted to a working mode matched with the current detection environment.

Description

Technical Field

[0001] The present disclosure relates to the field of atmospheric laser radar technology, and more specifically to an automatic control method and system based on laser radar, laser radar, and electronic equipment. Background Art

[0002] Lidar has a wide range of applications in the field of atmospheric detection technology. Lidar detects the middle atmospheric environment by collecting backscattered signals from atmospheric molecules or components.

[0003] The ground-based laser radar in the related technology is far away from the target detection area during detection. It is extremely costly to solve this problem by increasing the detection range, and it is impossible to avoid the influence of the near-ground climate, which affects the detection timing. The use of floating platforms to carry laser radars in the related technology can use laser radars to increase the detection range at a low cost while not being affected by the near-ground climate. However, the laser radar is carried on a floating platform, which makes it impossible for technicians to directly contact the laser radar for debugging and control. Summary of the invention

[0004] In view of this, the present disclosure provides an automatic control method and system based on laser radar, and a laser radar, which can realize automatic debugging and control of the laser radar.

[0005] One aspect of the present disclosure provides an automatic control method based on a laser radar, the automatic control method comprising: using the laser radar to emit a laser to the atmospheric stratosphere of the target area based on initial working parameters to obtain initial detection information according to the backscattered signal generated by the atmosphere; based on the initial detection information, adjusting the initial working parameters so that the result of the laser radar detecting the target area based on the adjusted working parameters meets the predetermined detection requirements; obtaining the working status information of the laser radar based on the adjusted working parameters; based on the working status information, controlling the laser radar to adjust to a working mode that matches the current detection environment.

[0006] According to an embodiment of the present disclosure, based on the working status information, the laser radar is controlled to adjust to a working mode that matches the current detection environment, including: when the solar angle in the working status information is less than a first threshold, adjusting the solar angle until the solar angle is greater than the first threshold; wherein the solar angle represents the angle between the sun's rays and the emission direction of the laser radar; when the solar angle is greater than the first threshold, controlling the laser radar to adjust to the detection working mode; when the working status information represents that the laser radar has a fault, controlling the laser radar to adjust from the detection working mode to the emergency working mode.

[0007] According to an embodiment of the present disclosure, when the working status information indicates that the laser radar has a fault, the laser radar is controlled to adjust from the detection working mode to the emergency working mode, including: when the solar angle is less than the first threshold, the laser radar is controlled to adjust from the detection working mode to the first emergency mode; when the internal temperature in the working status information is greater than the second threshold, the laser radar is controlled to adjust from the detection working mode to the second emergency mode; when the working temperature in the working status information is greater than the third threshold, the laser radar is controlled to adjust from the detection working mode to the third emergency mode; wherein the internal temperature indicates the temperature of the internal space of the laser radar, and the working temperature indicates the device temperature of the laser radar in the detection working mode.

[0008] According to an embodiment of the present disclosure, the above-mentioned laser radar includes a power supply unit and an optical unit, and the above-mentioned optical unit includes a laser.

[0009] According to an embodiment of the present disclosure, the above-mentioned laser radar is in the above-mentioned first emergency mode, and the above-mentioned method further includes: sending a first emergency instruction to the above-mentioned laser radar, so that the above-mentioned laser radar controls the above-mentioned optical unit to turn off to stop detection based on the above-mentioned first emergency instruction.

[0010] According to an embodiment of the present disclosure, the above-mentioned laser radar is in the above-mentioned second emergency mode, and the above-mentioned method further includes: sending a second emergency instruction to the above-mentioned laser radar, so that the above-mentioned laser radar controls the above-mentioned power supply unit to shut down based on the above-mentioned second emergency instruction to stop detection.

[0011] According to an embodiment of the present disclosure, the above-mentioned laser radar is in the above-mentioned third emergency mode, and the above-mentioned method further includes: sending a third emergency instruction to the above-mentioned laser radar, so that the above-mentioned laser radar controls the above-mentioned laser to turn off to stop detection based on the above-mentioned third emergency instruction.

[0012] Another aspect of the present disclosure provides an automatic control system based on laser radar, which includes: a first acquisition module, used to use the laser radar to emit laser to the atmospheric stratosphere of the target area based on initial working parameters, so as to obtain initial detection information according to the backscattered signal generated by the atmosphere; an adjustment module, used to adjust the initial working parameters based on the initial detection information, so that the result of the laser radar detecting the target area based on the adjusted working parameters meets the predetermined detection requirements; a second acquisition module, used to obtain the working status information of the laser radar based on the adjusted working parameters; and a control module, used to control the laser radar to adjust to a working mode matching the current detection environment based on the working status information.

[0013] Another aspect of the present disclosure provides a laser radar, including: a detector, used to use the above-mentioned laser radar to emit laser to the atmospheric stratosphere of the target area based on initial working parameters, so as to obtain initial detection information according to the backscattered signal generated by the atmosphere; a controller, used to adjust the above-mentioned initial working parameters based on the above-mentioned initial detection information, so that the result of the above-mentioned laser radar detecting the above-mentioned target area based on the adjusted working parameters meets the predetermined detection requirements; a monitor, used to obtain the working status information of the above-mentioned laser radar based on the adjusted working parameters; the above-mentioned controller is also used to control the above-mentioned laser radar to adjust to a working mode matching the current detection environment based on the above-mentioned working status information.

[0014] Another aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above method.

[0015] According to the embodiments of the present disclosure, an initial detection signal is obtained by conducting a trial detection of the target area, and the laser radar is adjusted based on the initial detection signal so that the laser radar can conduct a formal detection of the middle atmosphere. By monitoring the working status of the laser radar after formal detection, the working mode of the laser radar is controlled to match the current detection environment. Through the automatic control method based on the laser radar of the embodiments of the present disclosure, the automatic debugging and automatic control functions of the laser radar carried on the floating platform in the stratosphere can be realized, avoiding the inability of technical personnel to directly debug and control, and enhancing the adaptive ability of the laser radar in the stratosphere, and improving the efficiency of the automatic work of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings.

[0017] Figure 1 The operational flow chart of the automatic control method based on laser radar according to an embodiment of the present disclosure is schematically shown.

[0018] Figure 2 The schematic diagram shows the structure of an automatic control system based on laser radar according to an embodiment of the present disclosure.

[0019] Figure 3 A system diagram of a laser radar according to an embodiment of the present disclosure is schematically shown.

[0020] Figure 4 A schematic diagram schematically shows an emergency handling process of an automatic control method based on laser radar according to an embodiment of the present disclosure.

[0021] Figure 5 A block diagram of an electronic device suitable for implementing an automatic control method based on a laser radar according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0023] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0024] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0025] When using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. When using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, or C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.

[0026] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure.

[0027] Atmospheric LiDAR is the main detection method for middle-level atmospheric temperature and density detection and atmospheric dynamics research. Due to the limited detection range of ground-based atmospheric LiDAR, technicians cannot directly debug and control the atmospheric LiDAR carried by the stratospheric floating platform. In particular, the working environment of the atmospheric LiDAR in the stratosphere is also very different from that of the ground-based LiDAR.

[0028] The present disclosure provides an automatic control method and system based on laser radar, and a laser radar, in order to solve at least one of the above technical problems.

[0029] Figure 1 The operational flow chart of the automatic control method based on laser radar according to an embodiment of the present disclosure is schematically shown.

[0030] like Figure 1 As shown, the automatic control method based on laser radar includes operations S110 to S140.

[0031] In operation S110, a laser radar is used to emit a laser to the atmospheric stratosphere of the target area based on initial working parameters to obtain initial detection information according to a backscattered signal generated by the atmosphere.

[0032] According to an embodiment of the present disclosure, the laser radar may be a Rayleigh laser radar. Rayleigh laser radar is a laser radar that uses the Rayleigh scattering principle to detect the atmosphere. Rayleigh laser radar emits a high-energy, narrow-linewidth pulsed laser beam and receives the backscattered signal of the atmosphere. The backscattered signal is a Rayleigh scattering signal generated by the interaction between the laser and the atmospheric molecules. By analyzing the Rayleigh scattering signal, the temperature, density, wind field and other parameters of the atmosphere can be inverted.

[0033] According to the embodiments of the present disclosure, the temperature in the stratosphere increases significantly with increasing altitude, about 20 kilometers above sea level. The air in the stratosphere is mainly convective, with almost no vertical convective movement, so the mixing effect is weak, the weather is usually clear, and the transparency of the atmosphere is high. The detection direction of the laser radar is oblique upward detection. If the sunlight directly hits the laser radar, it will cause serious damage to the laser radar.

[0034] According to an embodiment of the present disclosure, the initial operating parameters include the initial optical parameters of the laser radar. The initial optical parameters may include laser parameters, deflection mirror parameters and switch parameters. The laser parameters may include laser operating state, Q-switched high voltage state, laser temperature, repetition frequency, pump current, pump pulse width and frequency doubling crystal temperature, etc. The deflection mirror parameters may include the number of deflection mirror channels, channel state, channel displacement, etc. The switch parameters may include 0 times attenuation magnification, 10 times attenuation magnification, 100 times attenuation magnification and 1000 times attenuation magnification.

[0035] In one example, adjusting the laser parameters can be used to turn the emission beam on or off. Adjusting the deflection mirror parameters can be used to adjust the direction of the emission laser beam to achieve matching with the receiving field of view and full reception of the backscattered signal. Adjusting the switch parameters can be used to adjust the intensity of the received signal to avoid damage to the laser radar due to excessive light intensity.

[0036] According to an embodiment of the present disclosure, when the laser radar is launched into the air with the floating platform, it is necessary to first perform a test detection based on initial working parameters. The initial detection information obtained may include the number of photons obtained after the laser radar detection.

[0037] In operation S120, based on the initial detection information, the initial working parameters are adjusted so that the result of the laser radar detecting the target area based on the adjusted working parameters meets the predetermined detection requirements.

[0038] According to an embodiment of the present disclosure, the initial working parameters can be adjusted by observing the number of photons in the initial detection information, and after the number of photons meets the predetermined detection requirements, formal detection is started based on the adjusted working parameters. For example, detection of other locations in the target area is started.

[0039] In operation S130, operating status information of the laser radar based on the adjusted operating parameters is obtained.

[0040] In operation S140, based on the working status information, the laser radar is controlled to adjust to a working mode that matches the current detection environment.

[0041] According to the embodiments of the present disclosure, obtaining the working state information means monitoring the working state of the laser radar, and the working state information includes the attitude information of the laser radar, the air pressure information of the working environment, the temperature information of the working environment, etc. The online real-time monitoring of the optical parameters, temperature parameters, air pressure parameters, etc. of the stratospheric laser radar can be realized by cyclically obtaining the working state information.

[0042] In one example, the attitude information of the lidar may include time, longitude, latitude, altitude, pitch angle, roll angle, azimuth angle, sun angle, etc.

[0043] According to the embodiments of the present disclosure, an initial detection signal is obtained by conducting a trial detection of the target area, and the laser radar is adjusted based on the initial detection signal so that the laser radar can conduct a formal detection of the middle atmosphere. By monitoring the working status of the laser radar after formal detection, the working mode of the laser radar is controlled to match the current detection environment. Through the automatic control method based on the laser radar of the embodiments of the present disclosure, the automatic debugging and automatic control functions of the laser radar carried on the floating platform in the stratosphere can be realized, avoiding the inability of technical personnel to directly debug and control, and enhancing the adaptive ability of the laser radar in the stratosphere, and improving the efficiency of the automatic work of the laser radar.

[0044] According to an embodiment of the present disclosure, when the solar angle in the working status information is less than a first threshold, the solar angle is adjusted until the solar angle is greater than the first threshold; wherein the solar angle represents the angle between the sunlight and the emission direction of the laser radar.

[0045] According to an embodiment of the present disclosure, when the sun angle is greater than a first threshold, the laser radar is controlled to adjust to a detection working mode.

[0046] According to an embodiment of the present disclosure, when the working status information indicates that the laser radar has a fault, the laser radar is controlled to adjust from the detection working mode to the emergency working mode.

[0047] According to the embodiments of the present disclosure, when the laser radar is launched, it is necessary to determine whether the sun angle meets the detection conditions. When the sun angle is less than the first threshold, the sun's rays almost directly hit the inside of the laser radar, which will damage the laser radar. The laser radar can be adjusted to rotate itself, or the sun can be waited for a period of time to rise and set, so that the sun angle is greater than the first threshold.

[0048] According to an embodiment of the present disclosure, when the sun angle is less than the first threshold, the laser radar is controlled to adjust from the detection working mode to the first emergency mode. When the internal temperature in the working status information is greater than the second threshold, the laser radar is controlled to adjust from the detection working mode to the second emergency mode. When the working temperature in the working status information is greater than the third threshold, the laser radar is controlled to adjust from the detection working mode to the third emergency mode.

[0049] According to an embodiment of the present disclosure, the solar angle represents the angle between the sun's rays and the emission direction of the laser radar, the internal temperature represents the temperature of the internal space of the laser radar, and the operating temperature represents the device temperature of the laser radar in the detection working mode.

[0050] According to an embodiment of the present disclosure, the first threshold, the second threshold and the third threshold are system parameters and can be preset and adjusted.

[0051] According to the embodiments of the present disclosure, the working status information of the stratospheric lidar is monitored by cyclically reading the working status information of the lidar. By judging the working status information, the self-protection of the stratospheric lidar in an abnormal state is achieved to ensure that the lidar is not damaged. Automatic warning and automatic emergency processing of the lidar in an abnormal state can be achieved.

[0052] According to an embodiment of the present disclosure, the laser radar is in a detection working mode, and the laser radar includes a power supply unit and an optical unit, and the optical unit includes a laser, a receiver and a detection subunit.

[0053] According to an embodiment of the present disclosure, laser light is emitted by a laser; a backscatter signal is received by a receiver; the backscatter signal is counted by a detection subunit to generate a detection signal; and power is supplied to the optical unit by a power supply unit.

[0054] According to an embodiment of the present disclosure, the laser radar is in a first emergency mode, and a first emergency instruction is sent to the laser radar so that the laser radar controls the optical unit to be turned off based on the first emergency instruction to stop detection.

[0055] According to the embodiments of the present disclosure, by monitoring the solar angle and conducting emergency processing, it is possible to avoid direct sunlight hitting the internal receiving telescope of the laser radar and causing damage to subsequent optical path components.

[0056] According to an embodiment of the present disclosure, the laser radar is in a second emergency mode, and a second emergency instruction is sent to the laser radar so that the laser radar controls the power supply unit to shut down based on the second emergency instruction to stop detection.

[0057] According to the embodiments of the present disclosure, by monitoring the internal temperature and performing emergency treatment, damage to electrical components caused by excessively high internal space temperature can be avoided.

[0058] According to an embodiment of the present disclosure, the laser radar is in the third emergency mode, and a third emergency instruction is sent to the laser radar so that the laser radar controls the laser to turn off to stop detection based on the third emergency instruction.

[0059] According to the embodiments of the present disclosure, by monitoring the operating temperature and taking emergency measures, it is possible to avoid the laser being damaged due to excessive temperature.

[0060] Figure 2 The schematic diagram shows the structure of an automatic control system based on laser radar according to an embodiment of the present disclosure.

[0061] like Figure 2 As shown, the automatic control system based on laser radar includes a first acquisition module 210, an adjustment module 220, a second acquisition module 230 and a control module 240.

[0062] The first acquisition module 210 is used to use the laser radar to emit laser to the atmospheric stratosphere of the target area based on the initial working parameters to obtain initial detection information according to the backscattered signal generated by the atmosphere.

[0063] The adjustment module 220 is used to adjust the initial working parameters based on the initial detection information, so that the result of the laser radar detecting the target area based on the adjusted working parameters meets the predetermined detection requirements.

[0064] The second acquisition module 230 is used to obtain the working status information of the laser radar based on the adjusted working parameters.

[0065] The control module 240 is used to control the laser radar to adjust to a working mode that matches the current detection environment based on the working status information.

[0066] According to an embodiment of the present disclosure, the control module 240 includes a first judgment submodule, a second judgment submodule and a third judgment submodule.

[0067] The first judgment submodule is used to adjust the solar angle until the solar angle is greater than the first threshold when the solar angle in the working status information is less than the first threshold; wherein the solar angle represents the angle between the sunlight and the emission direction of the laser radar.

[0068] The second judgment submodule is used to control the laser radar to adjust to the detection working mode when the solar angle is greater than the first threshold.

[0069] The third judgment submodule is used to control the laser radar to adjust from the detection working mode to the emergency working mode when the working status information indicates that the laser radar has a fault.

[0070] According to an embodiment of the present disclosure, the third judgment submodule includes a first judgment unit, a second judgment unit and a third judgment unit.

[0071] The first judgment unit is used to control the laser radar to adjust from the detection working mode to the first emergency mode when the sun angle in the working status information is less than the first threshold.

[0072] The second judgment unit is used to control the laser radar to adjust from the detection working mode to the second emergency mode when the internal temperature in the working status information is greater than the second threshold.

[0073] The third judgment unit is used to control the laser radar to adjust from the detection working mode to the third emergency mode when the working temperature in the working status information is greater than a third threshold.

[0074] According to an embodiment of the present disclosure, the first judgment unit includes a first sending subunit.

[0075] The first sending subunit is used to send a first emergency instruction to the laser radar, so that the laser radar controls the optical unit to turn off to stop detection based on the first emergency instruction.

[0076] According to an embodiment of the present disclosure, the second judgment unit includes a second sending subunit.

[0077] The second sending subunit is used to send a second emergency instruction to the laser radar, so that the laser radar controls the power supply unit to shut down based on the second emergency instruction to stop detection.

[0078] According to an embodiment of the present disclosure, the third judgment unit includes a third sending subunit.

[0079] The third sending subunit sends a third emergency instruction to the laser radar, so that the laser radar controls the laser to turn off based on the third emergency instruction to stop detection.

[0080] According to the embodiments of the present disclosure, through online real-time automatic monitoring, real-time automatic adjustment and real-time automatic control of the optical parameters, environmental parameters and other working status information of the stratospheric laser radar, it is possible to realize self-debugging of the laser radar in the stratosphere and emergency handling of abnormal conditions. The system parameters can also be adjusted through the direct intervention of technicians to provide double protection for emergencies. The automatic control system based on the laser radar in the embodiments of the present disclosure improves the working efficiency of the laser radar and is the core component of the laser radar.

[0081] The present disclosure also provides a laser radar, which includes: a detector, used to use the laser radar to emit laser to the atmospheric stratosphere of the target area based on initial working parameters, so as to obtain initial detection information according to the backscattered signal generated by the atmosphere; a controller, used to adjust the initial working parameters based on the initial detection information, so that the result of the laser radar detecting the target area based on the adjusted working parameters meets the predetermined detection requirements; a monitor, used to obtain the working status information of the laser radar based on the adjusted working parameters; the controller is also used to control the laser radar to adjust to a working mode matching the current detection environment based on the working status information.

[0082] The laser radar and the automatic control method and system based on the laser radar are further explained below through a specific embodiment.

[0083] Figure 3 A system diagram of a laser radar according to an embodiment of the present disclosure is schematically shown.

[0084] like Figure 3As shown, in one example, the laser radar includes a detector, a monitor, a controller and a memory. The detector includes a power supply unit, an optical unit and a signal detection unit, and the optical unit includes a laser and a receiver. The monitor includes an optical sensor and a first monitoring unit, a posture sensor and a second monitoring unit, an air pressure sensor and a third monitoring unit, an internal temperature sensor and a fourth monitoring unit, an external temperature sensor and a fifth monitoring unit, a windproof door and a sixth monitoring unit, and a liquid cooler and a seventh monitoring unit. The controller includes a processor and a control unit. The controller can interact with the detector, the monitor and the memory.

[0085] In one example, the optical sensor may be an optical power meter, the operating wavelength may be 532nm, the power range may be 50nW-50mW, and in conjunction with the first monitoring unit, may be used to monitor the stability of the power of the light beam emitted by the laser radar during detection. The attitude sensor may be a navigation device, which is hard-connected to the stratospheric laser radar and may be used to collect attitude data of the laser radar. The air pressure sensor may be used to collect the ambient air pressure of the laser radar. The internal temperature sensor and the fourth monitoring unit may monitor the temperature of the internal space of the laser radar. The external temperature sensor and the fifth monitoring unit may monitor the temperature of the external space of the laser radar. The windshield and the sixth monitoring unit, as well as the liquid cooler and the seventh monitoring unit, may monitor the working status of the windshield and the liquid cooler, respectively. The monitor monitors the working status of the stratospheric laser radar by cyclically reading optical and environmental parameters.

[0086] In one example, the monitor collects the working status information of the laser radar through various sensors and corresponding monitoring units, and transmits the working status information to the controller. According to the attitude information of the laser radar collected by the attitude sensor and the second monitoring unit, it is confirmed that the laser radar has the detection conditions; according to the optical parameter information of the laser radar collected by the optical sensor and the first monitoring unit, it is confirmed that the laser radar is in the best detection state; the controller controls the laser radar to start the detection working mode. When an abnormal emergency occurs during the detection process, the laser radar is controlled to start the emergency mode according to the automatic control method based on the laser radar to ensure that the laser radar is not damaged.

[0087] In one example, the processor may be a programmable gate array. The processor may also set system parameters, and the system parameters may also be adjusted by the control unit. The system parameters include a first threshold, a second threshold, and a third threshold. The system parameters may also include a laser heating threshold, a lidar internal heating threshold, a telescope temperature heating threshold, a truss temperature heating threshold, a receiving fiber heating threshold, a laser heat dissipation threshold, and a lidar internal heat dissipation threshold.

[0088] In one example, the memory may be used to store detection data of the detector and monitoring data of the monitor.

[0089] In one example, after the controller controls the laser radar to be launched, the controller determines the sun angle obtained by the monitor. When the sun angle is less than a first threshold, the controller can wait or control the laser radar to rotate to wait for the sun angle to be greater than the first threshold, and then start experimental detection. Based on the experimental detection data, the controller adjusts the optical parameters of the laser radar to meet the detection conditions, and then starts formal detection.

[0090] Figure 4 A schematic diagram schematically shows an emergency handling process of an automatic control method based on laser radar according to an embodiment of the present disclosure.

[0091] like Figure 4 As shown, in one example, in the laser radar processing detection working mode, the working status information of the laser radar is monitored in real time through the monitor, and the solar angle, internal temperature and working temperature are judged in real time through the controller. When the solar angle is less than the first threshold, the controller issues a first emergency command to control the optical module of the detector to turn off; when the internal temperature is greater than the second threshold, the controller issues a second emergency command to control the power supply module of the detector to turn off; when the working temperature is greater than the third threshold, the controller issues a third emergency command to control the laser of the detector to turn off. When the working temperature drops, the laser can be turned on again for re-detection.

[0092] Figure 5 A block diagram of an electronic device suitable for implementing an automatic control method based on a laser radar according to an embodiment of the present disclosure is schematically shown. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0093] like Figure 5 As shown, the electronic device 500 according to an embodiment of the present disclosure includes a processor 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage part 508 to a random access memory (RAM) 503. The processor 501 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), etc. The processor 501 may also include an onboard memory for caching purposes. The processor 501 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0094] In RAM 503, various programs and data required for the operation of electronic device 500 are stored. Processor 501, ROM 502 and RAM 503 are connected to each other via bus 504. Processor 501 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 502 and / or RAM 503. It should be noted that the program can also be stored in one or more memories other than ROM 502 and RAM 503. Processor 501 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0095] According to an embodiment of the present disclosure, the electronic device 500 may further include an input / output (I / O) interface 505, which is also connected to the bus 504. The electronic device 500 may further include one or more of the following components connected to the input / output (I / O) interface 505: an input portion 506 including a keyboard, a mouse, etc.; an output portion 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 508 including a hard disk, etc.; and a communication portion 509 including a network interface card such as a LAN card, a modem, etc. The communication portion 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the input / output (I / O) interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage portion 508 as needed.

[0096] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the processor 501, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, module, unit, etc. described above can be implemented by a computer program module.

[0097] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. An automatic control method based on laser radar, characterized in that: The automatic control method comprises: Using the laser radar to emit laser light to the atmospheric stratosphere of the target area based on initial working parameters to obtain initial detection information according to backscattered signals generated by the atmosphere; Based on the initial detection information, adjusting the initial working parameters so that the result of the laser radar detecting the target area based on the adjusted working parameters meets the predetermined detection requirements; Obtaining working status information of the laser radar based on the adjusted working parameters; Based on the working status information, the laser radar is controlled to adjust to a working mode that matches the current detection environment.

2. The automatic control method according to claim 1, characterized in that: The step of controlling the laser radar to adjust to a working mode matching the current detection environment based on the working state information includes: When the sun angle in the working status information is less than a first threshold, adjusting the sun angle until the sun angle is greater than the first threshold; wherein the sun angle represents the angle between the sun's rays and the emission direction of the laser radar; When the sun angle is greater than the first threshold, controlling the laser radar to adjust to a detection working mode; When the working status information indicates that the laser radar is faulty, the laser radar is controlled to adjust from the detection working mode to the emergency working mode.

3. The automatic control method according to claim 2, characterized in that: When the working state information indicates that the laser radar is faulty, controlling the laser radar to adjust from the detection working mode to the emergency working mode includes: When the sun angle is less than the first threshold, controlling the laser radar to adjust from the detection working mode to the first emergency mode; When the internal temperature in the working state information is greater than a second threshold, controlling the laser radar to adjust from the detection working mode to a second emergency mode; When the operating temperature in the operating status information is greater than a third threshold, controlling the laser radar to adjust from the detection operating mode to a third emergency mode; Among them, the internal temperature represents the temperature of the internal space of the laser radar, and the operating temperature represents the device temperature of the laser radar in the detection working mode.

4. The automatic control method according to claim 3, characterized in that: The laser radar includes a power supply unit and an optical unit, and the optical unit includes a laser.

5. The automatic control method according to claim 4, characterized in that: The laser radar is in the first emergency mode, and the method further includes: A first emergency instruction is sent to the laser radar, so that the laser radar controls the optical unit to be turned off to stop detection based on the first emergency instruction.

6. The automatic control method according to claim 4, characterized in that: The laser radar is in the second emergency mode, and the method further includes: A second emergency instruction is sent to the laser radar, so that the laser radar controls the power supply unit to be turned off based on the second emergency instruction to stop detection.

7. The automatic control method according to claim 4, characterized in that: The laser radar is in the third emergency mode, and the method further includes: A third emergency instruction is sent to the laser radar, so that the laser radar controls the laser to be turned off to stop detection based on the third emergency instruction.

8. An automatic control system based on laser radar, characterized in that: The automatic control system comprises: A first acquisition module is used to use the laser radar to emit laser to the atmospheric stratosphere of the target area based on the initial working parameters to obtain initial detection information according to the backscattered signal generated by the atmosphere; An adjustment module, configured to adjust the initial working parameters based on the initial detection information, so that a result of the laser radar detecting the target area based on the adjusted working parameters meets a predetermined detection requirement; A second acquisition module is used to obtain the working state information of the laser radar based on the adjusted working parameters; The control module is used to control the laser radar to adjust to a working mode matching the current detection environment based on the working status information.

9. A laser radar, characterized in that: include: A detector, used to emit laser light to the atmospheric stratosphere of the target area based on the initial working parameters using the laser radar, so as to obtain initial detection information according to the backscattered signal generated by the atmosphere; A controller, configured to adjust the initial working parameters based on the initial detection information, so that a result of the laser radar detecting the target area based on the adjusted working parameters meets a predetermined detection requirement; A monitor, used to obtain working status information of the laser radar based on the adjusted working parameters; The controller is also used to control the laser radar to adjust to a working mode that matches the current detection environment based on the working status information.

10. An electronic device, comprising: one or more processors; a memory for storing one or more programs, It is characterized in that when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

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