CN113728607A

CN113728607A - Laser radar configuration method, device and storage medium

Info

Publication number: CN113728607A
Application number: CN201980095823.8A
Authority: CN
Inventors: 王涵; 李涛
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2021-11-30
Also published as: WO2021109088A1

Abstract

A configuration method, equipment and storage medium of a laser radar. The method comprises the steps that an application end sends an equipment information request instruction to a first multicast group in a network in a multicast mode to request for obtaining equipment information of at least one laser radar in the first multicast group, further, the application end determines a target laser radar from the at least one laser radar according to the equipment information and sends configuration information to the first multicast group, and when an IP address of the target laser radar is wrong, the application end can reconfigure the IP address of the target laser radar in the multicast mode so as to recover normal communication between the application end and the target laser radar. In addition, the application end can also configure other parameters of the target laser radar, so that the occurrence of an event that the target laser radar cannot be effectively controlled due to the fact that the target laser radar enters an abnormal state is avoided, and the usability of the laser radar is improved.

Description

Laser radar configuration method, device and storage medium

Technical Field

The embodiment of the application relates to the field of laser radars, in particular to a configuration method, equipment and a storage medium of a laser radar.

Background

Lidar can use in many fields among the prior art, for example, lidar can use on movable platform such as unmanned aerial vehicle, detects the barrier around unmanned aerial vehicle or the vehicle.

In the testing and debugging stage of the laser radar, the laser radar and the application end can communicate through a network, specifically, the laser radar can be configured with an Internet Protocol (IP) address, and the application end communicates with the laser radar according to the IP address of the laser radar.

However, the IP address of the lidar may be configured incorrectly, so that the application and the lidar cannot communicate normally.

Disclosure of Invention

The embodiment of the application provides a configuration method, equipment and a storage medium of a laser radar, when an IP address of the target laser radar is wrong, the application end can reconfigure the IP address of the target laser radar in a multicast mode so as to recover normal communication between the application end and the target laser radar, and the occurrence of an event that the target laser radar cannot be effectively controlled due to the fact that the target laser radar enters an abnormal state can be avoided, so that the usability of the laser radar is improved.

A first aspect of an embodiment of the present application provides a method for configuring a laser radar, including:

an application end sends a device information request instruction to a first multicast group in a network, wherein the first multicast group comprises a plurality of laser radars;

the application end receives feedback information sent by at least one laser radar in the first multicast group to a second multicast group, the application end belongs to the second multicast group, and the feedback information comprises equipment information of the at least one laser radar;

and the application end determines a target laser radar from the at least one laser radar according to the equipment information and sends configuration information to the first multicast group, wherein the configuration information is used for configuring parameters of the target laser radar.

A second aspect of the embodiments of the present application provides a method for configuring a laser radar, including:

receiving an equipment information request instruction sent by an application end to a first multicast group by a laser radar, wherein the laser radar belongs to the first multicast group;

the laser radar sends feedback information to a second multicast group, the application end belongs to the second multicast group, and the feedback information comprises equipment information of the laser radar;

and the laser radar receives configuration information sent by the application end to the first multicast group, wherein the configuration information is used for configuring parameters of target laser radars in the first multicast group.

A third aspect of embodiments of the present application provides a communication device, including: the system comprises an application terminal, a memory, a processor and a communication interface;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

sending a device information request instruction to a first multicast group in a network through the communication interface, wherein the first multicast group comprises a plurality of laser radars;

receiving feedback information sent by at least one laser radar in the first multicast group to a second multicast group through the communication interface, wherein the application end belongs to the second multicast group, and the feedback information comprises equipment information of the at least one laser radar;

and determining a target laser radar from the at least one laser radar according to the equipment information, and sending configuration information to the first multicast group through the communication interface, wherein the configuration information is used for configuring parameters of the target laser radar.

A fourth aspect of embodiments of the present application provides a laser radar, including: a memory, a processor and a communication interface;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

receiving an equipment information request instruction sent to a first multicast group by an application end through the communication interface, wherein the laser radar belongs to the first multicast group;

sending feedback information to a second multicast group through the communication interface, wherein the application end belongs to the second multicast group, and the feedback information comprises equipment information of the laser radar;

and receiving configuration information sent by the application terminal to the first multicast group through the communication interface, wherein the configuration information is used for configuring parameters of the target laser radar in the first multicast group.

A fifth aspect of embodiments of the present application is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect or the second aspect.

In the configuration method, device, and storage medium of the lidar provided in this embodiment, an application end sends a device information request instruction to a first multicast group in a network in a multicast manner to request to acquire device information of at least one lidar in the first multicast group, and further, the application end determines a target lidar from the at least one lidar according to the device information and sends configuration information to the first multicast group, where the configuration information is used to configure parameters of the target lidar, for example, when an IP address of the target lidar is wrong, the application end may reconfigure the IP address of the target lidar in the multicast manner, so as to recover normal communication between the application end and the target lidar. In addition, the application end can also configure other parameters of the target laser radar, that is, even under the condition that the IP address of the target laser radar is configured incorrectly, the application end can also configure other parameters of the target laser radar, so that the occurrence of an event that the target laser radar cannot be effectively controlled due to the fact that the target laser radar enters an abnormal state is avoided, and the usability of the laser radar is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a flowchart of a configuration method of a laser radar according to an embodiment of the present disclosure;

fig. 2 is a flowchart of another laser radar configuration method according to an embodiment of the present disclosure

Fig. 3 is a diagram illustrating a connection manner between an application and a plurality of laser radars according to an embodiment of the present disclosure;

fig. 4 is another connection manner of the application terminal and the plurality of laser radars according to the embodiment of the present disclosure;

fig. 5 is a flowchart of a configuration method of a lidar according to another embodiment of the present disclosure;

fig. 6 is a block diagram of a communication device according to an embodiment of the present application;

fig. 7 is a structural diagram of a laser radar according to an embodiment of the present application.

Reference numerals:

60: a communication device; 61: an application end; 62: a memory;

63: a processor; 64: a communication interface; 70: a laser radar;

71: a memory; 72: a processor; 73: and a communication interface.

Detailed Description

The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Generally, a movable platform, such as an unmanned aerial vehicle, a vehicle and other devices, is provided with a laser radar, and the laser radar is used for detecting obstacles around the unmanned aerial vehicle or the vehicle, so that the unmanned aerial vehicle or the vehicle can effectively avoid obstacles and detour in the moving process.

In laser radar test debugging stage, perhaps laser radar carries on in movable platform's use stage, and laser radar and application can communicate through the network, and is specific, and laser radar can dispose the IP address, and the application sends control instruction to laser radar according to laser radar's IP address, and this control instruction can be used to set up laser radar's parameter. In addition, the laser radar can also send the point cloud data obtained by detection to the application end according to the IP address. In the embodiment of the present application, the application terminal may be an application program in the terminal device, or may be an application program in the server. However, the IP address of the lidar may be configured incorrectly, in which case, the application and the lidar cannot communicate normally, and therefore, the application cannot configure the parameters of the lidar, for example, cannot configure the IP address of the lidar. If the IP address of the laser radar cannot be configured, the application end and the laser radar cannot normally communicate with each other, so that the usability of the laser radar is affected. In order to solve the problem, an embodiment of the present application provides a laser radar configuration method, and the laser radar configuration method is described below with reference to a specific embodiment.

The embodiment of the application provides a configuration method of a laser radar. Fig. 1 is a flowchart of a configuration method of a laser radar according to an embodiment of the present disclosure. As shown in fig. 1, the method in this embodiment may include:

s101, an application end sends a device information request instruction to a first multicast group in a network, wherein the first multicast group comprises a plurality of laser radars.

In this embodiment, a plurality of lidars may form a multicast group, and the multicast group is denoted as a first multicast group, and further, members of the first multicast group may not be limited to the plurality of lidars, and may include other devices. The first multicast group may correspond to a multicast address, which may be a fixed IP address.

Specifically, the application end may be regarded as an active host, the plurality of laser radars may be regarded as a plurality of target hosts, when the source host sends data to the plurality of target hosts, the source host only needs to send one copy of data to the network, and a destination IP address of the data is a multicast address of the first multicast group, so that each member in the first multicast group may receive one copy of the data sent by the source host through a multicast technology. Therefore, the multicast mode not only solves the problems of repeated copying of data and repeated occupation of transmission bandwidth in the unicast mode, but also solves the problem of bandwidth resource waste in the broadcast mode.

In this embodiment of the present application, an application may send, by using a multicast manner as described above, a device information request instruction to a first multicast group in a network, where the device information request instruction is used to request to acquire device information of multiple lidars in the first multicast group, a source IP address of the device information request instruction is an IP address of a device, such as a terminal device or a server, to which the application belongs, and a destination IP address of the device information request instruction is a multicast address of the first multicast group. Each lidar in the first multicast group can receive the device information request instruction through a multicast mode, that is, the lidars in the first multicast group can receive the device information request instruction no matter whether the IP addresses of the lidars in the first multicast group are correct or not. For example, even if the IP address of one or more of the lidars in the first multicast group is incorrect, each of the lidars in the first multicast group will not be affected from receiving the device-information-request instruction.

S102, the application end receives feedback information sent by at least one laser radar in the first multicast group to a second multicast group, the application end belongs to the second multicast group, and the feedback information comprises equipment information of the at least one laser radar.

After a plurality of laser radars in the first multicast group receive an information request instruction sent by an application end in a multicast mode, if the parameters of at least one laser radar in the plurality of laser radars can be reset, at least one laser radar in the plurality of laser radars can send feedback information to a second multicast group, wherein the application end belongs to the second multicast group. Correspondingly, the application end can receive the feedback information of at least one laser radar in the first multicast group. Wherein, the feedback information sent by each of the at least one lidar may include device information of the lidar.

It can be understood that, after the plurality of lidar in the first multicast group receive the information request instruction sent by the application terminal in the multicast mode, if there is no lidar that can be reset in the plurality of lidar, the plurality of lidar may not send the feedback information.

Optionally, the device information includes a device identifier. Wherein the device identification may be a unique identification of the lidar. Or, the device information includes information generated according to a device identifier. For example, the device information of the lidar includes a broadcast code, which is information generated from a device identification of the lidar. In addition, the device information further includes a device type.

Specifically, at least one of the plurality of laser radars sends feedback information to the application terminal in a multicast manner. For example, the device to which the application end belongs is a member in a second multicast group, and after the plurality of lidars receive the device information request instruction, if at least one of the plurality of lidars is reconfigurable, the at least one of the plurality of lidars may send feedback information to the second multicast group in a multicast manner using the multicast address of the second multicast group as a destination IP address, and accordingly, each member in the second multicast group may receive the feedback information, and for example, the device to which the application end belongs may receive the feedback information. After receiving the feedback information of at least one laser radar, the device to which the application end belongs checks the destination IP address of the feedback information to determine whether the destination IP address of the feedback information is a multicast address, if so, further checks whether the multicast address is a multicast address of a second multicast group corresponding to the device to which the application end belongs, and if so, the device to which the application end belongs may further check a port number included in the feedback information to determine an application program corresponding to the port number, and send the feedback information to the application program, for example, the application end described in this embodiment. Therefore, the application end can receive the feedback information sent by at least one laser radar in the first multicast group to the second multicast group.

It will be appreciated that the feedback information sent by the lidar may include not only device information, but also other information, for example, indication information of whether the lidar may be reconfigured may be included in the feedback information.

Note that the source IP address of data transmitted by multicast is not 0.

S103, the application end determines a target laser radar from the at least one laser radar according to the equipment information and sends configuration information to the first multicast group, wherein the configuration information is used for configuring parameters of the target laser radar.

After the device to which the application end belongs receives the feedback information of at least one laser radar, the destination IP address of the feedback information can be checked to determine whether the destination IP address of the feedback information is the IP address of the device to which the application end belongs or whether the destination IP address of the feedback information is the multicast address of the second multicast group corresponding to the device to which the application end belongs. If the destination IP address of the feedback information is the IP address of the device to which the application end belongs, or the destination IP address of the feedback information is the multicast address of the second multicast group corresponding to the device to which the application end belongs, the device to which the application end belongs may further check the port number included in the feedback information to determine the application program corresponding to the port number, and send the feedback information to the application program, for example, the application end described in this embodiment.

When the application receives feedback information for at least one lidar, it may be determined that the at least one lidar is a lidar whose parameters may be configured or reset. The application end can determine a target laser radar from the at least one laser radar according to the equipment information fed back by the at least one laser radar, wherein the target laser radar is the laser radar determined to be configured by the application end. Further, the application end sends configuration information to the first multicast group in the network in a multicast mode, wherein the configuration information comprises the device information and the configuration parameters of the target laser radar, and therefore the parameters of the target laser radar are configured.

Optionally, the parameters of the target lidar include at least one of: the system comprises an IP address of the target laser radar, switch parameters of an inertia measurement unit, switch parameters of a fan, a coordinate mode, a single echo and a double echo switching parameter.

For example, when the IP address of the target lidar is wrong, the application may configure a correct IP address for the target lidar in the first multicast group through the configuration information, so that the communication between the application and the target lidar returns to normal. In addition, the target laser radar can be further provided with components such as an inertia measurement unit and a fan, and the application end can also configure the switch parameters of the inertia measurement unit and/or the switch parameters of the fan of the target laser radar through the configuration information, so that the inertia measurement unit of the target laser radar is controlled to be turned on or turned off, and/or the fan of the target laser radar is controlled to be turned on or turned off. In addition, the application terminal can also configure at least one of the coordinate mode, the single echo and the double echo switching parameter of the target laser radar through the configuration information.

In this embodiment, an application end sends an equipment information request instruction to a first multicast group in a network in a multicast manner to request to acquire equipment information of at least one laser radar in the first multicast group, and further, the application end determines a target laser radar from the at least one laser radar according to the equipment information and sends configuration information to the first multicast group, where the configuration information is used to configure parameters of the target laser radar, for example, when an IP address of the target laser radar is wrong, the application end may reconfigure the IP address of the target laser radar in a multicast manner, so as to recover normal communication between the application end and the target laser radar. In addition, the application end can also configure other parameters of the target laser radar, that is, even under the condition that the IP address of the target laser radar is configured incorrectly, the application end can also configure other parameters of the target laser radar, so that the occurrence of an event that the target laser radar cannot be effectively controlled due to the fact that the target laser radar enters an abnormal state is avoided, and the usability of the laser radar is improved.

It is understood that the configuration method described in the embodiments of the present application can be used not only for configuring a laser radar, but also for configuring other devices that need to communicate through an IP address, for example, a HUB (HUB), i.e., a multi-port repeater. For example, the application needs to communicate with the HUB according to the IP address of the HUB, and when the IP address of the HUB is configured incorrectly, the application may configure parameters of the HUB by using a configuration method similar to the lidar configuration method described above, and in particular, configure the IP address of the HUB, so that the communication between the application and the HUB returns to normal. In addition, the application end may also use a configuration method similar to the lidar described above to configure other parameters of the HUB, that is, even if the IP address of the HUB is configured incorrectly, the application end may also configure other parameters of the HUB, thereby avoiding an event that the HUB cannot be effectively controlled due to entering an abnormal state.

The embodiment of the application provides a configuration method of a laser radar. On the basis of the above embodiment, after the application determines a target lidar from the at least one lidar according to the device information and sends configuration information to the first multicast group, the method further includes: and the application end receives confirmation information sent by the target laser radar to the second multicast group, wherein the confirmation information is used for indicating that the target laser radar completes parameter configuration.

For example, after the application sends the configuration information to the first multicast group in the network in a multicast manner, each of the plurality of lidar in the first multicast group may receive the configuration information, and when each of the plurality of lidar receives the configuration information, it may be checked whether the device information in the configuration information is consistent with the device information of the lidar, and if the device information in the configuration information is consistent with the device information of the lidar, the lidar is a target lidar. Further, the target lidar configures or resets relevant parameters of the target lidar according to configuration parameters in the configuration information. After the target lidar configures or resets the relevant parameters, the target lidar may also send determination information (ACK) to the application end, as shown in fig. 2. Correspondingly, the application end receives the determination information sent by the target laser radar. The determination information is used to indicate that the target lidar has completed parameter configuration.

Specifically, the target lidar transmits the confirmation information to the application terminal in a multicast mode. For example, the device to which the application end belongs is a member in a second multicast group, and after the target lidar configures or resets the relevant parameters, the multicast address of the second multicast group is used as a destination IP address, and the confirmation information is sent to the second multicast group in a multicast manner, and accordingly, each member in the second multicast group can receive the confirmation information. For example, after receiving the confirmation information, the device to which the application belongs checks a destination IP address in the confirmation information to determine whether the destination IP address of the confirmation information is a multicast address, if so, further checks whether the multicast address is a multicast address of a second multicast group corresponding to the device to which the application belongs, and if so, further checks a port number in the confirmation information to determine an application program corresponding to the port number, and sends the confirmation information to the application program, for example, the application described in this embodiment.

It can be understood that the device information request instruction and the configuration information sent by the application terminal in the multicast manner as shown in fig. 2 may include a port number corresponding to the application terminal. And when the laser radar sends feedback information according to the equipment information request instruction, carrying the port number in the feedback information. Similarly, when the laser radar sends the confirmation information to the application terminal, the confirmation information carries the port number.

In the embodiment, the feedback information and the confirmation information are sent to the application terminal by the target laser radar in a multicast mode, so that the application terminal can receive the feedback information and the confirmation information, and the reliability of communication between the application terminal and the laser radar is improved.

The embodiment of the application provides a configuration method of a laser radar. On the basis of the above embodiment, the destination IP address of the device information request instruction and the configuration information is the multicast address of the first multicast group. Optionally, the destination IP addresses of the feedback information and the acknowledgement information are multicast addresses of the second multicast group. As shown in fig. 2, the application side sends the device information request instruction and the configuration information in a multicast manner, and the destination IP address of the device information request instruction and the configuration information is the multicast address of the first multicast group, where the first multicast group includes a plurality of lidars, and the plurality of lidars includes a lidars whose parameters need to be reset. The laser radar sends feedback information and confirmation information in a multicast mode, the destination IP addresses of the feedback information and the confirmation information are multicast addresses of a second multicast group, and the device to which the application end belongs is a member of the second multicast group. Therefore, the application end and the laser radar can communicate in a multicast mode.

In addition, in the embodiment of the present application, the device information request command, the feedback information, the configuration information, and the confirmation information shown in fig. 2 may all use a preset protocol to perform encapsulation of a data packet, where the preset protocol may be, for example, a Software Development Kit (SDK) protocol, and in other embodiments, may not be limited to the SDK protocol. That is to say, application and laser radar adopt same set of preset protocol to communicate, can make application and laser radar correctly discern the information of sending each other, avoid the mistake to resolve or can't resolve, further prevent application or laser radar maloperation.

In the embodiment of the present application, the application and the plurality of laser radars in one multicast group may have the following possible connection modes:

one possible connection is: the application end is in communication connection with the plurality of laser radars; each of the plurality of laser radars stores a multicast address of a multicast group to which the laser radar belongs; or each of the plurality of laser radars stores the multicast address of the second multicast group and the multicast address of the multicast group to which the laser radar belongs.

As shown in fig. 3, the application end is directly connected with a plurality of laser radars in communication, and the communication connection includes at least one of a wired connection and a wireless connection. Specifically, if the laser radar is provided with the wireless network card, the application end and the laser radar can be in wireless connection. If the laser radar is not provided with the wireless network card, the application end and the laser radar can be connected in a wired mode. For example, the application side is wired to a plurality of lidar. The plurality of laser radars may be members of the same multicast group or may be members of different multicast groups. For example, lidar a, lidar B, lidar C may be members of a first multicast group. Or the laser radar A and the laser radar B belong to the same multicast group, and the laser radar C belongs to the other multicast group. Wherein, each laser radar in a plurality of laser radars can store the multicast address of the multicast group to which the laser radar belongs. For example, when the application side sends the device information request instruction or the configuration information in a multicast manner, each lidar may check whether a destination IP address of the device information request instruction or the configuration information is a multicast address of a multicast group to which the lidar belongs, and if so, receive the device information request instruction or the configuration information, and further process the device information request instruction or the configuration information. And if the destination IP address of the equipment information request instruction or the configuration information is not the multicast address of the multicast group to which the laser radar belongs, discarding the equipment information request instruction or the configuration information by the laser radar.

In some embodiments, each of the plurality of lidars may store a multicast address of the second multicast group in addition to the multicast address of the multicast group to which it belongs. And when the laser radar needs to send feedback information or confirmation information to the application end, taking the locally stored multicast address of the second multicast group as the destination IP address of the feedback information or confirmation information, and sending the feedback information or confirmation information to the second multicast group.

Another possible connection is: and the application end is in communication connection with the plurality of laser radars through a router.

As shown in fig. 4, the application end is communicatively connected to a plurality of laser radars through a router, wherein the application end and the router may be connected by wire or wirelessly. The router and any one of the plurality of laser radars may be connected by wire or wirelessly.

In this case, the router includes a first correspondence of a multicast address of the first multicast group and a MAC address of the plurality of lidars; the router is configured to send the device information request instruction or the configuration information to the plurality of lidar according to the first corresponding relationship.

For example, lidar a, lidar B, and lidar C shown in fig. 4 are all members of the first multicast group. The router may store a first correspondence between a multicast address of the first multicast group and Media Access Control (MAC) addresses of the plurality of lidars, where the first correspondence is specifically shown in table 1 below:

TABLE 1

Multicast address of a first multicast group	MAC Address of lidar A
Multicast address of a first multicast group	MAC Address of lidar B
Multicast address of a first multicast group	MAC Address of lidar C

When the router receives an equipment information request instruction or configuration information sent by an application terminal in a multicast mode, because the destination IP address of the equipment information request instruction or the configuration information is the multicast address of the first multicast group, the router can determine the MAC addresses corresponding to the laser radar A, the laser radar B and the laser radar C respectively according to the multicast address of the first multicast group and the corresponding relation shown in the table 1, and further send the equipment information request instruction or the configuration information to the laser radar A, the laser radar B and the laser radar C according to the MAC addresses corresponding to the laser radar A, the laser radar B and the laser radar C respectively, so that each member in the first multicast group can receive the equipment information request instruction or the configuration information.

In addition, the router comprises a second corresponding relation between the multicast address of the second multicast group and the IP address and/or the MAC address of the device to which the application end belongs; and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.

For example, the router may further include the correspondence shown in table 2 and/or table 3 below:

TABLE 2

Multicast address of a second multicast group

IP address of device to which application terminal belongs

TABLE 3

Multicast address of a second multicast group

MAC address of device to which application terminal belongs

When the router receives feedback information or confirmation information sent by the laser radar in a multicast manner, because the destination IP address of the feedback information or confirmation information is the multicast address of the second multicast group, the router can determine the IP address and/or MAC address of the device to which the application end belongs according to the multicast address of the second multicast group and the corresponding relationship shown in table 2, and further send the feedback information or confirmation information to the device to which the application end belongs according to the IP address and/or MAC address of the device to which the application end belongs. So that the application can receive the feedback information or the confirmation information.

Optionally, the first multicast group and the second multicast group are the same. Alternatively, the first multicast group and the second multicast group are different.

When the first multicast group and the second multicast group are the same, the router may store a table including the correspondence of table 1 and table 3. When the first multicast group and the second multicast group are different, the router may store two tables, one of which is table 1 and the other of which is table 2 or table 3.

It can be understood that if the IP address of the device to which the application belongs is fixed and correct, the correspondence described in table 2 may be used. If the IP address of the device to which the application belongs is variable or possibly erroneous, the correspondence described in table 3 needs to be used.

In the embodiment, the multicast communication between the application end and the plurality of laser radars is realized through a plurality of connection modes of the application end and the plurality of laser radars, so that the flexibility of connection and communication between the application end and the plurality of laser radars is improved.

Fig. 5 is a flowchart of a configuration method of a lidar according to another embodiment of the present disclosure. As shown in fig. 5, the method in this embodiment may include:

s501, a laser radar receives an equipment information request instruction sent by an application end to a first multicast group, wherein the laser radar belongs to the first multicast group.

The application terminal may send a device information request instruction to a first multicast group in the network in a multicast manner as described above, where the device information request instruction is used to request to acquire device information of multiple lidar in the first multicast group, a source IP address of the device information request instruction is an IP address of a device to which the application terminal belongs, such as a terminal device or a server, and a destination IP address of the device information request instruction is a multicast address of the first multicast group. Each lidar in the first multicast group can receive the device information request instruction through a multicast mode, that is, the lidars in the first multicast group can receive the device information request instruction no matter whether the IP addresses of the lidars in the first multicast group are correct or not. For example, even if the IP address of one or more of the lidars in the first multicast group is incorrect, each of the lidars in the first multicast group will not be affected from receiving the device-information-request instruction.

S502, the laser radar sends feedback information to a second multicast group, the application terminal belongs to the second multicast group, and the feedback information comprises equipment information of the laser radar.

It can be understood that, after the plurality of lidar in the first multicast group receive the information request instruction sent by the application terminal in the multicast mode, if there is no lidar that can be reset in the plurality of lidar, the plurality of lidar may not send the feedback information. Optionally, the device information includes a device identifier. Wherein the device identification may be a unique identification of the lidar. Or, the device information includes information generated according to a device identifier. For example, the device information of the lidar includes a broadcast code, which is information generated from a device identification of the lidar. In addition, the device information further includes a device type.

S503, the lidar receives configuration information sent by the application end to the first multicast group, where the configuration information is used to configure parameters of a target lidar in the first multicast group.

For example, when the IP address of the target lidar is wrong, the application may configure a correct IP address for the target lidar in the first multicast group through the configuration information, so that the communication between the application and the target lidar is restored to normal. In addition, the target laser radar can be further provided with components such as an inertia measurement unit and a fan, and the application end can also configure the switch parameters of the inertia measurement unit and/or the switch parameters of the fan of the target laser radar through the configuration information, so that the inertia measurement unit of the target laser radar is controlled to be turned on or turned off, and/or the fan of the target laser radar is controlled to be turned on or turned off. In addition, the application terminal can also configure at least one of the coordinate mode, the single echo and the double echo switching parameter of the target laser radar through the configuration information.

The embodiment of the application provides a configuration method of a laser radar. On the basis of the foregoing embodiment, after the lidar receives the configuration information sent by the application end to the first multicast group, the method further includes: the laser radar determines whether the equipment information included in the configuration information is the equipment information of the laser radar; if the laser radar determines that the equipment information included in the configuration information is the equipment information of the laser radar, the laser radar performs parameter configuration according to the configuration information; and the laser radar sends confirmation information to the second multicast group, wherein the confirmation information is used for indicating that the laser radar completes parameter configuration.

It can be understood that the device information request instruction and the configuration information sent by the application end in the multicast manner as shown in fig. 2 may include a port number corresponding to the application end. And when the laser radar sends feedback information according to the equipment information request instruction, carrying the port number in the feedback information. Similarly, when the laser radar sends the confirmation information to the application terminal, the confirmation information carries the port number.

On the basis of the above embodiment, the destination IP address of the device information request instruction and the configuration information is the multicast address of the first multicast group. And the destination IP addresses of the feedback information and the confirmation information are the multicast addresses of the second multicast group. As shown in fig. 2, the application side sends the device information request instruction and the configuration information in a multicast manner, and the destination IP address of the device information request instruction and the configuration information is the multicast address of the first multicast group, where the first multicast group includes a plurality of lidars, and the plurality of lidars includes a lidars whose parameters need to be reset. The laser radar sends feedback information and confirmation information in a multicast mode, the destination IP addresses of the feedback information and the confirmation information are multicast addresses of a second multicast group, and the device to which the application end belongs is a member of the second multicast group. Therefore, the application end and the laser radar can communicate in a multicast mode.

one possible connection is: the application end is in communication connection with the laser radar; the laser radar stores the multicast address of the multicast group to which the laser radar belongs; or the laser radar stores the multicast address of the second multicast group and the multicast address of the multicast group to which the laser radar belongs.

Another possible connection is: and the application end is in communication connection with the laser radar through a router.

The router comprises a first corresponding relation between a multicast address of the first multicast group and a MAC address of the laser radar; the router is configured to send the device information request instruction or the configuration information to the laser radar according to the first corresponding relationship.

For example, lidar a, lidar B, and lidar C shown in fig. 4 are all members of the first multicast group. The router may store a first correspondence between the multicast address of the first multicast group and the MAC addresses of the plurality of lidars, which is specifically shown in table 1. When the router receives an equipment information request instruction or configuration information sent by an application terminal in a multicast mode, because the destination IP address of the equipment information request instruction or the configuration information is the multicast address of the first multicast group, the router can determine the MAC addresses corresponding to the laser radar A, the laser radar B and the laser radar C respectively according to the multicast address of the first multicast group and the corresponding relation shown in the table 1, and further send the equipment information request instruction or the configuration information to the laser radar A, the laser radar B and the laser radar C according to the MAC addresses corresponding to the laser radar A, the laser radar B and the laser radar C respectively, so that each member in the first multicast group can receive the equipment information request instruction or the configuration information.

For example, the router may also include a correspondence as shown in table 2 and/or table 3. When the router receives feedback information or confirmation information sent by the laser radar in a multicast manner, because the destination IP address of the feedback information or confirmation information is the multicast address of the second multicast group, the router can determine the IP address and/or MAC address of the device to which the application end belongs according to the multicast address of the second multicast group and the corresponding relationship shown in table 2, and further send the feedback information or confirmation information to the device to which the application end belongs according to the IP address and/or MAC address of the device to which the application end belongs. So that the application can receive the feedback information or the confirmation information.

The embodiment of the application provides communication equipment. The communication device may be the device to which the application belongs, such as a terminal device or a server. Fig. 6 is a structural diagram of a communication device according to an embodiment of the present application, and as shown in fig. 6, a communication device 60 includes: an application 61, a memory 62, a processor 63 and a communication interface 64; the memory 62 is used to store program codes; a processor 63, calling the program code, for performing the following operations when the program code is executed: sending a device information request instruction to a first multicast group in the network through a communication interface 64, wherein the first multicast group comprises a plurality of laser radars; receiving feedback information sent by at least one laser radar in the first multicast group to a second multicast group through a communication interface 64, wherein the application end belongs to the second multicast group, and the feedback information comprises equipment information of the at least one laser radar; and determining a target laser radar from the at least one laser radar according to the device information, and sending configuration information to the first multicast group through a communication interface 64, wherein the configuration information is used for configuring parameters of the target laser radar.

Optionally, the configuration information includes device information and configuration parameters of the target lidar.

Optionally, the device information includes a device identifier.

Optionally, the device information includes information generated according to a device identifier.

Optionally, the device information further includes a device type.

Optionally, after determining the target lidar from the at least one lidar according to the device information and sending the configuration information to the first multicast group, the processor 63 is further configured to: and receiving confirmation information sent by the target laser radar to the second multicast group through a communication interface 64, where the confirmation information is used to indicate that the target laser radar completes parameter configuration.

Optionally, the destination IP address of the device information request instruction and the configuration information is a multicast address of the first multicast group.

Optionally, the destination IP addresses of the feedback information and the acknowledgement information are multicast addresses of the second multicast group.

Optionally, the application end is in communication connection with the plurality of laser radars; each of the plurality of laser radars stores a multicast address of a multicast group to which the laser radar belongs; or each of the plurality of laser radars stores the multicast address of the second multicast group and the multicast address of the multicast group to which the laser radar belongs.

Optionally, the application end is in communication connection with the plurality of laser radars through a router.

Optionally, the router includes a first correspondence between a multicast address of the first multicast group and MAC addresses of the plurality of lidars; the router is configured to send the device information request instruction or the configuration information to the plurality of lidar according to the first corresponding relationship.

Optionally, the router includes a second correspondence between the multicast address of the second multicast group and the IP address and/or the MAC address of the device to which the application belongs; and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.

Optionally, the first multicast group and the second multicast group are the same.

Optionally, the first multicast group and the second multicast group are different.

The specific principle and implementation of the communication device provided in the embodiment of the present application are similar to those of the above embodiments, and are not described herein again.

The embodiment of the application provides a laser radar. Fig. 7 is a structural diagram of a laser radar according to an embodiment of the present application, and as shown in fig. 7, a laser radar 70 includes: a memory 71, a processor 72, and a communication interface 73; the memory 71 is used to store program codes; a processor 72, calling the program code, for performing the following when the program code is executed: receiving an equipment information request instruction sent by an application end to a first multicast group through a communication interface 73, wherein the laser radar belongs to the first multicast group; sending feedback information to a second multicast group through a communication interface 73, wherein the application terminal belongs to the second multicast group, and the feedback information includes equipment information of the laser radar; and receiving configuration information sent by the application to the first multicast group through a communication interface 73, where the configuration information is used to configure parameters of a target lidar in the first multicast group.

Optionally, the device information includes a device identifier.

Optionally, the device information further includes a device type.

Optionally, after the processor 72 receives, through the communication interface, the configuration information sent by the application to the first multicast group, the processor 72 is further configured to: determining whether the equipment information included in the configuration information is the equipment information of the laser radar; if the equipment information included in the configuration information is the equipment information of the laser radar, performing parameter configuration according to the configuration information; and sending confirmation information to the second multicast group through a communication interface 73, wherein the confirmation information is used for indicating that the laser radar completes parameter configuration.

Optionally, the application end is in communication connection with the laser radar; the laser radar stores the multicast address of the multicast group to which the laser radar belongs; or the laser radar stores the multicast address of the second multicast group and the multicast address of the multicast group to which the laser radar belongs.

Optionally, the application end is in communication connection with the laser radar through a router.

Optionally, the router includes a first correspondence between a multicast address of the first multicast group and a MAC address of the lidar; the router is configured to send the device information request instruction or the configuration information to the laser radar according to the first corresponding relationship.

The specific principle and implementation manner of the laser radar provided by the embodiment of the present application are similar to those of the above embodiments, and are not described herein again.

In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the configuration method of the lidar according to the above-described embodiment.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

A method of configuring a lidar comprising:

an application end sends a device information request instruction to a first multicast group in a network, wherein the first multicast group comprises a plurality of laser radars;

the application end receives feedback information sent by at least one laser radar in the first multicast group to a second multicast group, the application end belongs to the second multicast group, and the feedback information comprises equipment information of the at least one laser radar;

and the application end determines a target laser radar from the at least one laser radar according to the equipment information and sends configuration information to the first multicast group, wherein the configuration information is used for configuring parameters of the target laser radar.
The method of claim 1, wherein the parameters of the target lidar comprise at least one of:

the system comprises an IP address of the target laser radar, switch parameters of an inertia measurement unit, switch parameters of a fan, a coordinate mode, a single echo and a double echo switching parameter.
The method according to claim 1 or 2, wherein the configuration information comprises device information and configuration parameters of the target lidar.
The method of claim 3, wherein the device information comprises a device identification.
The method of claim 3, wherein the device information comprises information generated based on a device identification.
The method according to claim 4 or 5, wherein the device information further comprises a device type.
The method according to any of claims 1-6, wherein after the application determines a target lidar from the at least one lidar based on the device information and sends configuration information to the first multicast group, the method further comprises:

and the application end receives confirmation information sent by the target laser radar to the second multicast group, wherein the confirmation information is used for indicating that the target laser radar completes parameter configuration.
The method of claim 7, wherein the destination IP address of the device information request instruction and the configuration information is a multicast address of the first multicast group.
The method according to claim 7 or 8, wherein the destination IP address of the feedback information and the acknowledgement information is the multicast address of the second multicast group.
The method according to any one of claims 1-9, wherein the application side is communicatively coupled to the plurality of lidar;

each of the plurality of laser radars stores a multicast address of a multicast group to which the laser radar belongs; or

Each of the plurality of laser radars stores a multicast address of the second multicast group and a multicast address of a multicast group to which the laser radar belongs.
The method of any of claims 1-9, wherein the application is communicatively coupled to the plurality of lidar via a router.
The method of claim 11, wherein the router comprises a first correspondence of multicast addresses of the first multicast group to MAC addresses of the plurality of lidars;

the router is configured to send the device information request instruction or the configuration information to the plurality of lidar according to the first corresponding relationship.
The method according to claim 11 or 12, wherein the router comprises a second correspondence between the multicast address of the second multicast group and the IP address and/or MAC address of the device to which the application belongs;

and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.
The method of any of claims 1-13, wherein the first multicast group and the second multicast group are the same.
The method of any of claims 1-13, wherein the first multicast group and the second multicast group are different.
A method of configuring a lidar comprising:

receiving an equipment information request instruction sent by an application end to a first multicast group by a laser radar, wherein the laser radar belongs to the first multicast group;

the laser radar sends feedback information to a second multicast group, the application end belongs to the second multicast group, and the feedback information comprises equipment information of the laser radar;

and the laser radar receives configuration information sent by the application end to the first multicast group, wherein the configuration information is used for configuring parameters of target laser radars in the first multicast group.
The method of claim 16, wherein the parameters of the target lidar comprise at least one of:

the system comprises an IP address of the target laser radar, switch parameters of an inertia measurement unit, switch parameters of a fan, a coordinate mode, a single echo and a double echo switching parameter.
The method according to claim 16 or 17, wherein the configuration information comprises device information and configuration parameters of the target lidar.
The method of claim 18, wherein the device information comprises a device identification.
The method of claim 18, wherein the device information comprises information generated based on a device identification.
The method according to claim 19 or 20, wherein the device information further comprises a device type.
The method according to any of claims 16-21, wherein after the lidar receives the configuration information sent by the application to the first multicast group, the method further comprises:

the laser radar determines whether the equipment information included in the configuration information is the equipment information of the laser radar;

if the laser radar determines that the equipment information included in the configuration information is the equipment information of the laser radar, the laser radar performs parameter configuration according to the configuration information;

and the laser radar sends confirmation information to the second multicast group, wherein the confirmation information is used for indicating that the laser radar completes parameter configuration.
The method of claim 22, wherein the destination IP address of the device information request command and the configuration information is a multicast address of the first multicast group.
The method according to claim 22 or 23, wherein the destination IP address of the feedback information and the acknowledgement information is the multicast address of the second multicast group.
The method according to any of claims 16-24, wherein the application side is communicatively coupled to the lidar;

the laser radar stores the multicast address of the multicast group to which the laser radar belongs; or

The laser radar stores the multicast address of the second multicast group and the multicast address of the multicast group to which the laser radar belongs.
The method according to any of claims 16-24, wherein the application is communicatively coupled to the lidar via a router.
The method of claim 26, wherein the router comprises a first correspondence of a multicast address of the first multicast group to a MAC address of the lidar;

the router is configured to send the device information request instruction or the configuration information to the laser radar according to the first corresponding relationship.
The method according to claim 26 or 27, wherein the router comprises a second correspondence between the multicast address of the second multicast group and the IP address and/or MAC address of the device to which the application belongs;

and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.
The method of any of claims 16-28, wherein the first multicast group and the second multicast group are the same.
The method of any of claims 16-28, wherein the first multicast group and the second multicast group are different.
A communication device, comprising an application, a memory, a processor, and a communication interface;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

sending a device information request instruction to a first multicast group in a network through the communication interface, wherein the first multicast group comprises a plurality of laser radars;

receiving feedback information sent by at least one laser radar in the first multicast group to a second multicast group through the communication interface, wherein the application end belongs to the second multicast group, and the feedback information comprises equipment information of the at least one laser radar;

and determining a target laser radar from the at least one laser radar according to the equipment information, and sending configuration information to the first multicast group through the communication interface, wherein the configuration information is used for configuring parameters of the target laser radar.
The communication device of claim 31, wherein the parameters of the target lidar comprise at least one of:

the system comprises an IP address of the target laser radar, switch parameters of an inertia measurement unit, switch parameters of a fan, a coordinate mode, a single echo and a double echo switching parameter.
The communication device according to claim 31 or 32, wherein the configuration information comprises device information and configuration parameters of the target lidar.
The communications device of claim 33, wherein said device information includes a device identification.
The communications device of claim 33, wherein the device information comprises information generated based on a device identification.
The communication device of claim 34 or 35, wherein the device information further comprises a device type.
The communications device of any one of claims 31-36, wherein the processor, after determining a target lidar from the at least one lidar and sending configuration information to the first multicast group based on the device information, is further configured to:

and receiving confirmation information sent by the target laser radar to the second multicast group through the communication interface, wherein the confirmation information is used for indicating that the target laser radar completes parameter configuration.
The communications device of claim 37, wherein the destination IP address of the device information request instruction and the configuration information is a multicast address of the first multicast group.
The communication device according to claim 37 or 38, wherein the destination IP address of the feedback information and the acknowledgement information is a multicast address of the second multicast group.
The communication device of any of claims 31-39, wherein the application terminal is communicatively coupled to the plurality of lidar terminals;

each of the plurality of laser radars stores a multicast address of a multicast group to which the laser radar belongs; or

Each of the plurality of laser radars stores a multicast address of the second multicast group and a multicast address of a multicast group to which the laser radar belongs.
The communications device of any one of claims 31-39, wherein the application is communicatively coupled to the plurality of lidar means via a router.
The communications device of claim 41, wherein the router comprises a first correspondence of multicast addresses of the first multicast group to MAC addresses of the plurality of lidar;

the router is configured to send the device information request instruction or the configuration information to the plurality of lidar according to the first corresponding relationship.
The communication device according to claim 41 or 42, wherein the router comprises a second correspondence between the multicast address of the second multicast group and the IP address and/or MAC address of the device to which the application belongs;

and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.
The communications device of any one of claims 31-43, wherein the first multicast group and the second multicast group are the same.
The communications device of any one of claims 31-43, wherein the first multicast group and the second multicast group are different.
A lidar, comprising: a memory, a processor and a communication interface;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

receiving an equipment information request instruction sent to a first multicast group by an application end through the communication interface, wherein the laser radar belongs to the first multicast group;

sending feedback information to a second multicast group through the communication interface, wherein the application end belongs to the second multicast group, and the feedback information comprises equipment information of the laser radar;

and receiving configuration information sent by the application terminal to the first multicast group through the communication interface, wherein the configuration information is used for configuring parameters of the target laser radar in the first multicast group.
The lidar of claim 46, wherein the parameters of the target lidar comprise at least one of:

the system comprises an IP address of the target laser radar, switch parameters of an inertia measurement unit, switch parameters of a fan, a coordinate mode, a single echo and a double echo switching parameter.
The lidar of claim 46 or 47, wherein the configuration information comprises device information and configuration parameters of the target lidar.
The lidar of claim 48, wherein the device information comprises a device identification.
The lidar of claim 48, wherein the device information comprises information generated based on a device identification.
Lidar according to claim 49 or 50, wherein the device information further comprises a device type.
The lidar of any of claims 46-51, wherein after the processor receives configuration information sent by the application to the first multicast group via the communication interface, the processor is further configured to:

determining whether the equipment information included in the configuration information is the equipment information of the laser radar;

if the equipment information included in the configuration information is the equipment information of the laser radar, performing parameter configuration according to the configuration information;

and sending confirmation information to the second multicast group through the communication interface, wherein the confirmation information is used for indicating that the laser radar completes parameter configuration.
The lidar of claim 52, wherein a destination IP address of the device information request instruction and the configuration information is a multicast address of the first multicast group.
The lidar of claim 52 or 53, wherein a destination IP address of the feedback information and the acknowledgement information is a multicast address of the second multicast group.
The lidar of any of claims 46-54, wherein said application terminal is communicatively coupled to said lidar;

the laser radar stores the multicast address of the multicast group to which the laser radar belongs; or

The laser radar stores the multicast address of the second multicast group and the multicast address of the multicast group to which the laser radar belongs.
The lidar according to any of claims 46 to 54, wherein said application terminal is communicatively coupled to said lidar via a router.
The lidar of claim 56, wherein the router comprises a first correspondence of a multicast address of the first multicast group to a MAC address of the lidar;

the router is configured to send the device information request instruction or the configuration information to the laser radar according to the first corresponding relationship.
The lidar according to claim 56 or 57, wherein the router comprises a second correspondence between the multicast address of the second multicast group and the IP address and/or MAC address of the device to which the application belongs;

and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.
The lidar of any of claims 46-58, wherein the first multicast group and the second multicast group are the same.
The lidar of any of claims 46-58, wherein the first multicast group and the second multicast group are different.
A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-30.