Laser emission control method, device and equipment

Abstract

The invention discloses a laser emission control method, device and equipment. The method comprises the following steps: emitting a first laser signal towards a first to-be-detected area along a first direction in a first detection time period of a laser ranging period; when a first echo signal generated based on the first laser signal is not received within the range time of the first laser signal, transmitting a second laser signal to a second to-be-detected area along the first direction in a second detection period of the same laser ranging period; and receiving a second echo signal generated based on the second laser signal, and when the second echo signal has the first signal characteristic, generating a target detection result at least according to the second echo signal. According to the invention, the emission time and the emission power of the emitted laser are modulated by setting the code distribution characteristics, so that the technical problem that the laser radar is safe to human eyes at a short distance can be effectively solved, the anti-interference capability of the laser radar is improved, the system power consumption is reduced, and the heat dissipation pressure is relieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser radar, in particular to a laser emission control method, device and equipment. BACKGROUND

[0002] Laser radar is a ranging technology based on the Time-of-Flight (ToF) principle, which calculates the delay time of the outgoing light and the reflected light to determine the distance by emitting laser pulses to the target object and receiving the reflected echo. In the ranging process, the greater the outgoing light power, the stronger the reflected light echo, and the greater the ranging accuracy and ranging range. However, high-power laser may pose a threat to eye safety when used for close-range detection.

[0003] In addition, laser radar may be disturbed by other laser devices in actual application, resulting in false echo signals and affecting the accuracy of ranging. Traditional anti-interference methods may not effectively cope with complex interference environments, resulting in increased system power consumption and burden. SUMMARY

[0004] The present application provides a laser emission control method, device and equipment, aiming to solve the technical problem of eye safety of laser radar at close range, and improve the anti-interference ability of laser radar, reduce system power consumption and relieve heat dissipation pressure.

[0005] In a first aspect, the present application provides a laser emission control method, which comprises:

[0006] emitting a first laser signal in a first direction towards a first to-be-measured region in a first detection period of a laser ranging period;

[0007] when no first echo signal based on the first laser signal is received within a range time of the first laser signal, emitting a second laser signal in the first direction towards a second to-be-measured region in a second detection period of the same laser ranging period, wherein the second detection period is after the first detection period, the distance between the second to-be-measured region and the laser emission device is greater than the distance between the first to-be-measured region and the laser emission device, and the emission power of the laser emission device emitting the second laser signal is greater than the emission power of emitting the first laser signal;

[0008] receiving a second echo signal generated by the second to-be-measured region based on the second laser signal, and generating a target detection result according to at least the second echo signal when the second echo signal has a first signal characteristic, wherein the first signal characteristic is that the second laser signal is reflected by a target detection object to form the second echo signal.

[0009] In some embodiments, the output time of the target laser signal conforms to an encoding distribution characteristic, and the target laser signal includes the first laser signal and / or the second laser signal.

[0010] generating a target detection result according to at least the second echo signal, comprising:

[0011] determining a region detection result corresponding to the to-be-detected region according to the second echo signal;

[0012] identifying the target detection result corresponding to the target detection object from the region detection result according to the coding distribution feature.

[0013] In some embodiments, the coding distribution feature comprises at least one of a first coding feature and a second coding feature;

[0014] wherein the first coding feature is an output time distribution feature of at least two target laser signals in different laser ranging periods;

[0015] The target laser signal is composed of at least two sub-laser signals with different emission times, and the second coding feature is an output time distribution feature of at least two sub-laser signals constituting the same target laser signal.

[0016] In some embodiments, the region detection result comprises a detection point cloud corresponding to each laser ranging period, and when the output times of at least two target laser signals in different laser ranging periods meet the first coding feature, the detection points generated by the same interference source are discretely distributed in the detection point clouds corresponding to different laser ranging periods.

[0017] identifying the target detection result corresponding to the target detection object from the region detection result according to the coding distribution feature, comprising:

[0018] comparing the detection point clouds corresponding to at least two different laser ranging periods to identify discrete detection points in the detection point clouds;

[0019] filtering out the discrete detection points in the detection point clouds to obtain the target detection result.

[0020] In some embodiments, the region detection result further comprises a plurality of different sub-echo signals;

[0021] identifying the target detection result corresponding to the target detection object from the region detection result according to the coding distribution feature, comprising:

[0022] determining the reception times of the plurality of sub-echo signals according to the region detection result;

[0023] comparing the reception times with the second coding feature to identify a target sub-echo signal corresponding to the target laser signal, wherein the output time distribution of the target sub-echo signal meets the second coding feature;

[0024] obtaining the target detection result according to the target sub-echo signal.

[0025] In some embodiments, in the at least two sub-laser signals constituting the same target laser signal, the power of the first sub-laser signal is greater than the power of the other sub-laser signals.

[0026] In some embodiments, in the at least two sub-laser signals constituting the same target laser signal, the power of the other sub-laser signals does not exceed half of the power of the first sub-laser signal, and the power of the other sub-laser signals is the same.

[0027] In some embodiments, when a first echo signal generated based on the first laser signal is received within the range time of the first laser signal, the first echo signal has a second signal characteristic, and the target detection result is generated according to the first echo signal, the second signal characteristic indicating that the first laser signal is reflected by the target detection object to form the first echo signal.

[0028] In a second aspect, the present application also provides a laser emitting device, which comprises:

[0029] The emitting module is configured to emit a laser signal.

[0030] The receiving module is configured to receive an echo signal generated by a to-be-detected object based on the laser signal.

[0031] The control module is electrically connected with the emitting module and the receiving module, and is configured to execute the above laser emission control method.

[0032] In a third aspect, the present application also provides a laser radar, which comprises at least one of the above laser emitting devices.

[0033] The present application discloses a laser emission control method, device and equipment, the method comprising emitting a first laser signal in a first direction towards a first to-be-detected area in a first detection period of a laser ranging period; when a first echo signal generated based on the first laser signal is not received within the range time of the first laser signal, emitting a second laser signal in the first direction towards a second to-be-detected area in a second detection period of the same laser ranging period; receiving a second echo signal generated based on the second laser signal, and generating a target detection result according to the second echo signal when the second echo signal has a first signal characteristic. The present application can effectively solve the technical problem of eye safety of the laser radar at a short distance by modulating the emission time and emission power of the emitted laser through setting the coding distribution characteristics, improve the anti-interference ability of the laser radar, reduce the system power consumption and relieve the heat dissipation pressure.

[0034] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some of the embodiments of the present application. Based on the drawings, other drawings can be obtained by those skilled in the art without any creative effort.

[0036] Figure 1 A flowchart of a laser emission control method provided by an embodiment of the present application is shown in FIG. 1.

[0037] Figure 2 A schematic diagram of laser emission and echo reception in a laser ranging period provided by an embodiment of the present application is shown in FIG. 2.

[0038] Figure 3 A schematic diagram of laser emission in different laser ranging periods provided by an embodiment of the present application is shown in FIG. 3.

[0039] Figure 4 A flowchart of a laser emission control method provided by another embodiment of the present application is shown in FIG. 4.

[0040] Figure 5 A schematic diagram of laser emission and echo reception in a laser ranging period provided by another embodiment of the present application is shown in FIG. 5.

[0041] Figure 6 A schematic diagram of a laser emission device provided by an embodiment of the present application is shown in FIG. 6.

[0042] Reference signs:

[0043] 1, laser emission device; 10, emission module; 20, reception module; 30, control module. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort belong to the scope of protection of the present application.

[0045] The flowcharts shown in the drawings are only illustrative, and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the described order. For example, some operations / steps can be decomposed, combined or partially combined, so the actual execution order can be changed according to the actual situation.

[0046] Some embodiments of the present application will be described in detail in combination with the drawings. The embodiments and features in the embodiments described below can be combined with each other without conflict.

[0047] Embodiments of the present application provide a laser emission control method, device and equipment, by setting the output time of the target laser signal to meet the preset coding distribution characteristics, the modulation of the laser signal is realized, the technical problem of eye safety of the laser radar in the near distance can be effectively solved, the anti-interference ability of the laser radar is improved, the system power consumption is reduced and the heat dissipation pressure is reduced.

[0048] Please refer to Figure 1 , Figure 1 The flowchart of the laser emission control method provided by the embodiments of the present application is shown.

[0049] As Figure 1 shown, the laser emission control method provided by the embodiments of the present application specifically includes steps S101-S103.

[0050] Step S101, emitting a first laser signal to a first to-be-measured region in a first detection period of a laser ranging period.

[0051] Exemplarily, the first laser signal is a low-power laser signal, the power of which meets the eye safety standard and is used for target detection in the near distance region. First, the low-power characteristic ensures that when accidentally irradiating the human eye in the near distance, it will not cause damage to the human eye; second, for the near distance detection scene, the low-power laser can provide sufficient return signal strength to realize accurate ranging.

[0052] It can be understood that the emission power of the first laser signal is less than 20W, for example, the emission power of the first laser signal is 1-20W, or the emission power of the first laser signal is 1-10W, and in specific use, appropriate power value is selected according to different functional laser emission devices.

[0053] Step S102, when no first return signal based on the first laser signal is received within the range time of the first laser signal, emitting a second laser signal along a first direction towards a second to-be-measured region in a second detection period of the same laser ranging period, wherein the second detection period is after the first detection period, the distance between the second to-be-measured region and the laser emission device is greater than the distance between the first to-be-measured region and the laser emission device, and the emission power of the laser emission device emitting the second laser signal is greater than the emission power of emitting the first laser signal;

[0054] It can be understood that the emission power of the first laser signal is greater than or equal to 20W, for example, the emission power of the second laser signal is 20-200W, or the emission power of the second laser signal is 30W-200W, and in specific use, appropriate power value is selected according to different functional laser emission devices.

[0055] Exemplarily, as Figure 2As shown, when the first to-be-measured region does not have a target detection object, the first echo signal generated based on the first laser signal cannot be received, and the second laser signal will continue to be emitted in the first direction towards the second to-be-measured region in the second detection period of the same laser ranging period, and detection at a farther distance will be performed.

[0056] In step S103, a second echo signal generated based on the second laser signal in the second to-be-measured region is received, and when the second echo signal has a first signal characteristic, a target detection result is generated according to at least the second echo signal, wherein the first signal characteristic is that the second laser signal is reflected by a target detection object to form the second echo signal.

[0057] As shown in the example, Figure 2 As shown, when the second to-be-measured region has a target detection object, after the second laser signal is emitted, the second echo signal formed by the reflection of the second laser signal by the target detection object is received, and a target detection result is generated according to the second echo signal. The target detection result can be the type of the target detection object inferred by the intensity of the second echo signal, or the distance value of the target detection object calculated according to the received second echo signal, etc.

[0058] As shown in the example, Figure 2 As shown, when the second to-be-measured region has a laser signal emitted by other external laser equipment, the laser signal emitted by the external laser equipment will also be reflected or scattered by the target detection object to form an echo signal, but such an echo signal is not generated based on the second laser signal, and such an echo signal is not received.

[0059] It should be noted that echo signals outside the second to-be-measured region are not received.

[0060] Optionally, the output time of the target laser signal conforms to a coding distribution feature, and the target laser signal includes the first laser signal and / or the second laser signal.

[0061] In some embodiments, the target detection result is generated according to at least the second echo signal, including:

[0062] The region detection result corresponding to the to-be-measured region is determined according to the second echo signal;

[0063] The target detection result corresponding to the target detection object is identified from the region detection result according to the coding distribution feature, wherein the output time of the target laser signal conforms to the coding distribution feature, and the target laser signal includes the first laser signal and / or the second laser signal.

[0064] Exemplarily, the encoding distribution feature comprises at least one of a first encoding feature and a second encoding feature; wherein the first encoding feature is an output time distribution feature of at least two target laser signals in different laser ranging periods; the target laser signal is composed of at least two sub-laser signals with different emission times, and the second encoding feature is an output time distribution feature of at least two sub-laser signals constituting the same target laser signal.

[0065] Specifically, the first encoding feature refers to a timing feature that the output time of the target laser signal changes according to a preset rule between different laser ranging periods. By adjusting the timing change between periods, the self signal and the external interference signal are distinguished, and the interference source cannot match the output timing change of multiple periods. The first encoding feature disperses the external interference signal, and realizes the filtering of multi-period interference.

[0066] Specifically, the second encoding feature refers to a timing feature that the target laser signal is composed of at least two sub-laser signals in a single laser ranging period, and the emission time of the at least two sub-laser signals changes according to a preset rule. When the number and receiving time change rule of the sub-echo signals received in a single laser ranging period are consistent with the number and output time change rule of the emitted sub-laser signals, the sub-echo signals can be identified as real echoes, and the second encoding feature is used to verify the authenticity of the echo sequence in a single period.

[0067] In some embodiments, the region detection result comprises a detection point cloud corresponding to each laser ranging period, and when the output time of at least two target laser signals in different laser ranging periods meets the first encoding feature, the detection points generated by the same interference source are dispersedly distributed in the detection point clouds corresponding to the different laser ranging periods.

[0068] Specifically, identifying the target detection result corresponding to the target detection object from the region detection result according to the encoding distribution feature comprises:

[0069] Comparing the detection point clouds corresponding to the at least two different laser ranging periods to identify the dispersed detection points in the detection point clouds; and filtering out the dispersed detection points in the detection point clouds to obtain the target detection result.

[0070] In some embodiments, the region detection result further comprises a plurality of different sub-echo signals.

[0071] Specifically, identifying the target detection result corresponding to the target detection object from the region detection result according to the encoding distribution feature further comprises:

[0072] Determining the receiving time of the plurality of sub-echo signals according to the region detection result;

[0073] The receiving time is compared with the second encoding feature to identify a target sub-echo signal corresponding to the target laser signal, wherein the output time distribution of the target sub-echo signal meets the second encoding feature; and a target detection result is obtained according to the target sub-echo signal.

[0074] It should be noted that the first encoding feature is used to filter out fixed interference between different periods, and the second encoding feature is used to filter out false echoes within a single period. By applying point cloud filtering of the first encoding feature and echo verification of the second encoding feature, the anti-interference ability and reliability of the laser emitting device are significantly improved, and the first encoding feature and the second encoding feature can be independently or combined applied to adapt to different scene requirements.

[0075] In some embodiments, in at least two sub-laser signals constituting the same target laser signal, the power of the first sub-laser signal is greater than the power of the other sub-laser signals. The power of the other sub-laser signals does not exceed half of the power of the first sub-laser signal, and the power of the other sub-laser signals is the same.

[0076] For example, as shown in FIG. 1, in different laser ranging periods, the target laser signal is composed of three sub-laser signals, wherein the emission power of the second and third sub-laser signals constituting the target laser signal does not exceed half of the emission power of the first sub-laser signal. For example, the emission power of the second and third sub-laser signals constituting the target laser signal can be adjusted to one fourth of the emission power of the first sub-laser signal, and the emission power of the second sub-laser signal is the same as that of the third sub-laser signal. Figure 3 It should be noted that the first sub-laser signal constituting the same target laser signal needs to provide sufficient power to ensure that the signal-to-noise ratio of its echo signal meets the millimeter-level ranging requirement; and the subsequent other sub-laser signals do not need to be independently ranged, and their power can be appropriately reduced to maintain the stability of the second encoding feature. By modulating the emission power of the first sub-laser signal and the emission power of the other sub-laser signals, the balance between ranging accuracy and system energy efficiency is ensured, the anti-interference ability of the laser radar is improved, the system power consumption is significantly reduced, the heat dissipation pressure is reduced, and the life of the device is prolonged.

[0077]

[0078] The flowchart of the laser emission control method provided by another embodiment of the present application is shown in FIG. 2, which specifically includes the following steps: Figure 4 Step S201 is consistent with step S101, which will not be repeated here.

[0079]

[0080] ​In step S202, when a first echo signal based on the first laser signal is received within a range time of the first laser signal, the first echo signal has a second signal characteristic, and a target detection result is generated according to the first echo signal, where the second signal characteristic indicates that the first laser signal is reflected by a target detection object to form the first echo signal.

[0081] As shown in the example of FIG. 2, when the first to-be-measured region has a target detection object, after the first laser signal is emitted, a first echo signal based on the first laser signal reflected by the target detection object is received, and then the emission of the second laser signal is skipped, and a target detection result is directly generated based on the first echo signal, for example, the type of the target detection object is inferred through the intensity of the first echo signal, and the distance value of the target detection object is calculated according to the received first echo signal. Figure 5 As shown in the example of FIG. 2, when the first to-be-measured region has a target detection object, after the first laser signal is emitted, a first echo signal based on the first laser signal reflected by the target detection object is received, and then the emission of the second laser signal is skipped, and a target detection result is directly generated based on the first echo signal, for example, the type of the target detection object is inferred through the intensity of the first echo signal, and the distance value of the target detection object is calculated according to the received first echo signal.

[0082] Figure 5 As shown in the example of FIG. 2, when the first to-be-measured region has a target detection object, after the first laser signal is emitted, a first echo signal based on the first laser signal reflected by the target detection object is received, and then the emission of the second laser signal is skipped, and a target detection result is directly generated based on the first echo signal, for example, the type of the target detection object is inferred through the intensity of the first echo signal, and the distance value of the target detection object is calculated according to the received first echo signal.

[0083] It should be noted that echo signals outside the first to-be-measured region are not received.

[0084] It can be understood that when the first to-be-measured region has a target detection object, the second detection period does not need to be waited for, the response time of the system can be shortened, the overall work efficiency is improved, and the use of invalid high-power laser is reduced, and the power consumption of the system is significantly reduced.

[0085] The embodiment of the present application also provides a laser emitting device 1, please refer to Figure 6 Figure 6 The structure diagram of the laser emitting device 1 provided by the embodiment of the present application.

[0086] Specifically, the laser emitting device 1 further comprises a transmitting module 10, a receiving module 20 and a control module 30.

[0087] In some embodiments, the transmitting module 10 is configured to emit a laser signal; the receiving module 20 is configured to receive an echo signal generated by a to-be-measured object based on the laser signal; and the control module 30 is electrically connected with the transmitting module and the receiving module, and is configured to execute the above laser emission control method.

[0088] The embodiment also provides a laser radar, which at least comprises the above-mentioned laser emitting device 1. The specific working steps of the laser emitting device 1 include the specific steps in the above laser emission control method. ​​

[0089] To sum up, the application provides a laser emission control method, device and equipment. The method comprises: emitting a first laser signal towards a first to-be-measured area along a first direction in a first detection period of a laser ranging period; emitting a second laser signal towards a second to-be-measured area along the first direction in a second detection period of the same laser ranging period when no first echo signal based on the first laser signal is received within a range time of the first laser signal; receiving a second echo signal based on the second laser signal, and generating a target detection result according to at least the second echo signal when the second echo signal has a first signal characteristic. The application can effectively solve the technical problem of eye safety of the laser radar at a short distance by modulating the emission time and emission power of the emitted laser through setting the coding distribution characteristics, improve the anti-interference capability of the laser radar, reduce the system power consumption and relieve the heat dissipation pressure.

[0090] It should be understood that the module structure diagram shown in the drawings is only an example and does not necessarily include all structures and connection relationships between structures. In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", and "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, and can be internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0091] It should also be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include plural forms.

[0092] It should also be understood that the term "and / or" used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0093] It should also be understood that, in the specification and the appended claims of this application, the term "and / or" is intended to mean an inclusive "or", such that "A and / or B" means one or more of the items complementary items A and B are present with or without the other. Furthermore, such terminology as "includes", "has", "possesses", and the like are to be interpreted as specifying the presence of the stated item, but not precluding the presence of additional items. It is further noted that the claims can be drafted to exclude any elements claimed in any specific embodiment of the application.

[0094] The above-mentioned embodiment serial numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A laser emission control method, applied to a laser emitting device, characterized in that, The method includes: During the first detection period of the laser ranging cycle, a first laser signal is emitted in the first direction toward the first area to be measured. If no first echo signal generated based on the first laser signal is received within the range of the first laser signal, a second laser signal is emitted towards the second test area along the first direction during the second detection period of the same laser ranging cycle. The second detection period is after the first detection period, the distance between the second test area and the laser emitting device is greater than the distance between the first test area and the laser emitting device, and the emission power of the laser emitting device emitting the second laser signal is greater than the emission power of the laser emitting device emitting the first laser signal. The second echo signal generated by the second test area based on the second laser signal is received. When the second echo signal has a first signal feature, a target detection result is generated at least based on the second echo signal. The first signal feature is that the second laser signal is reflected by the target detection object to form the second echo signal.

2. The method according to claim 1, characterized in that, The output time of the target laser signal conforms to the coding distribution characteristics, and the target laser signal includes the first laser signal and / or the second laser signal; The step of generating target detection results based at least on the second echo signal includes: The region detection result corresponding to the region to be tested is determined based on the second echo signal; Based on the coding distribution features, the target detection result corresponding to the target object is identified from the region detection results.

3. The method according to claim 2, characterized in that, The coding distribution feature includes at least one of the first coding feature and the second coding feature; Wherein, the first encoding feature is the output time distribution feature of at least two target laser signals in different laser ranging cycles; The target laser signal is composed of at least two sub-laser signals with different emission times, and the second encoding feature is the output time distribution feature of the at least two sub-laser signals that make up the same target laser signal.

4. The method according to claim 3, characterized in that, The area detection results include the detection point cloud corresponding to each laser ranging cycle, and when the output time of at least two target laser signals in different laser ranging cycles conforms to the first coding feature, the detection points generated by the same interference source are discretely distributed in the detection point cloud corresponding to different laser ranging cycles. The step of identifying the target detection result corresponding to the target object from the region detection result based on the encoded distribution features includes: The detection point clouds corresponding to at least two different laser ranging cycles are compared to identify discrete detection points in the detection point clouds. The discrete detection points in the detection point cloud are filtered out to obtain the target detection result.

5. The method according to claim 3, characterized in that, The regional detection results also include multiple different sub-echo signals; The step of identifying the target detection result corresponding to the target object from the region detection result based on the encoded distribution features includes: The reception time of multiple sub-echo signals is determined based on the regional detection results; The receiving time is compared with the second coding feature to identify the target sub-echo signal corresponding to the target laser signal, wherein the output time distribution of the target sub-echo signal conforms to the second coding feature; The target detection result is obtained based on the target sub-echo signal.

6. The method according to claim 3, characterized in that, In at least two sub-laser signals that make up the same target laser signal, the power of the first sub-laser signal is greater than the power of the other sub-laser signals.

7. The method according to claim 6, characterized in that, In at least two sub-laser signals that constitute the same target laser signal, the power of the other sub-laser signals does not exceed half the power of the first sub-laser signal, and the power of the other sub-laser signals is the same.

8. The method according to claim 1, characterized in that, The method further includes: When a first echo signal generated based on the first laser signal is received within the range time of the first laser signal, the first echo signal has a second signal characteristic. The target detection result is generated based on the first echo signal. The second signal characteristic indicates that the first laser signal is reflected by the target detection object to form the first echo signal.

9. A laser emitting device, characterized in that, The device includes: The transmitting module is used to transmit laser signals; The receiving module is used to receive the echo signal generated by the object under test based on the laser signal; A control module, electrically connected to the transmitting module and the receiving module, is used to execute the laser emission control method as described in any one of claims 1-8.

10. A lidar, characterized in that, The lidar includes at least one laser emitting device as described in claim 9.

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