CN117031438A - Power-on control method and laser radar device - Google Patents
Power-on control method and laser radar device Download PDFInfo
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- CN117031438A CN117031438A CN202310985308.5A CN202310985308A CN117031438A CN 117031438 A CN117031438 A CN 117031438A CN 202310985308 A CN202310985308 A CN 202310985308A CN 117031438 A CN117031438 A CN 117031438A
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- 238000001514 detection method Methods 0.000 claims abstract description 55
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
Abstract
The embodiment of the application provides a power-on control method and a laser radar device, and relates to the field of laser detection. The power-on control method is applied to a power-on time sequence control unit of the laser radar, and the laser radar further comprises a transmitting unit and a receiving unit, wherein the power-on time sequence control unit is respectively connected with the transmitting unit and the receiving unit; the method comprises the following steps: adjusting the power-on time sequence of the receiving unit; and adjusting the laser emission time of the emission unit according to the power-on time sequence to match the power-on time sequence of the receiving unit. According to the application, by precisely controlling the laser emission time and matching with the power-on time sequence of the detection device, the receiving gain of the detection device for receiving the pre-disturbance echo is lower, the pre-disturbance echo can be restrained, and the receiving gain of the detection device for receiving the real echo signal is higher, so that the normal detection of a near blind area and a far target is ensured; and by setting a time interval of a certain magnitude unit, the laser emission time is accurately adjusted.
Description
Technical Field
The application relates to the field of laser detection, in particular to a power-on control method and a laser radar device.
Background
In the prior art, a laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting a laser beam, and the working principle is that a detection signal is emitted to the target, then a received signal reflected from the target is compared with the emitted detection signal, and after the received signal is properly processed, the related information of the target, such as parameters of the distance, the azimuth, the altitude, the speed, the gesture, even the shape and the like of the target, can be obtained, so that the target is detected, tracked and identified.
However, the problem of inaccurate ranging, which is easily caused when a laser radar detects a close-range object, is generally called a spot, and for a close-range area with inaccurate ranging, it is generally called a blind area, and how to eliminate the laser radar ranging blind area is a difficult problem that puzzles the whole industry.
Disclosure of Invention
The application aims to eliminate a laser radar range blind area, for example, provides a power-on control method and a laser radar device, which can accurately control laser emission time and match with power-on time sequence of a detection device, so that the receiving gain of the detection device is lower when receiving a front interference echo, thereby suppressing the front interference echo, and the receiving gain is higher when receiving a real echo signal, thereby ensuring normal detection of a near blind area and a far target, and eliminating the laser radar range blind area.
Embodiments of the application may be implemented as follows:
on the one hand, the power-on control method is applied to a power-on time sequence control unit of the laser radar, and the laser radar further comprises a transmitting unit and a receiving unit, wherein the power-on time sequence control unit is respectively connected with the transmitting unit and the receiving unit; the method comprises the following steps:
adjusting the power-on time sequence of the receiving unit;
and adjusting the laser emission time of the emission unit according to the power-on time sequence to match the power-on time sequence of the receiving unit.
Optionally, the step of adjusting the laser emission time of the emission unit according to the power-on time sequence includes:
the power-on time sequence comprises a power-on time sequence slope and a power-on time;
fixing a power-on time sequence slope, and recording the flight time corresponding to the front interference echo received by the receiving unit as a first flight time under the preset laser emission time;
adjusting the power-on time and taking the adjusted power-on time as the laser emission time to be measured;
performing single-point ranging at the laser emission moment to be measured, and judging whether the flight time of the front interference echo signal received by the receiving unit under the current single-point ranging is larger than the first flight time; if not, the laser emission time to be measured is regulated according to a first preset rule, single-point ranging is conducted again according to the regulated laser emission time to be measured until the flight time of the front interference echo signal cannot be detected at the regulated laser emission time to be measured, and the regulated laser emission time to be measured is recorded as the laser emission time of the emission unit. Optionally, the step of adjusting the laser emission time to be measured according to the first preset rule includes:
and setting time intervals according to preset orders of magnitude, and gradually reducing the laser emission time to be tested.
Optionally, after the step of determining whether the time of flight of the pre-scrambled echo signal received by the receiving unit under the current single-point ranging is greater than the first time of flight, the method further includes:
and if the flight time of the pre-disturbance echo signal received by the receiving unit is longer than the first flight time, adjusting the laser emission time to be measured according to a second preset rule, and re-performing single-point ranging according to the adjusted laser emission time to be measured.
Optionally, the step of adjusting the laser emission time to be measured according to the second preset rule includes:
and setting time intervals according to preset orders of magnitude, and gradually increasing the laser emission time to be tested.
Optionally, the power-on time sequence control unit further includes a power-on time sequence control module and a laser emission control module, and the method further includes:
presetting a power-on time sequence slope and power-on time by using a power-on time sequence control module;
adjusting the laser emission time of the emission unit under the preset power-on time sequence slope by utilizing a laser emission control module so as to match the power-on time sequence of the receiving unit;
and adjusting the power-on time sequence slope by using the power-on time sequence control module according to the adjusted laser emission time.
Optionally, the receiving unit includes: the detection module and the ranging module are used for detecting the distance of the object; the method further comprises the steps of:
presetting a power-on time sequence of the detection module by using the power-on time sequence control unit;
adjusting the laser emission time of the emission unit according to the power-on time sequence by using a laser emission control module;
adjusting the power-on time sequence of the detection module according to the adjusted laser emission time by using the power-on time sequence control module;
transmitting a laser signal by using the transmitting unit according to the adjusted laser transmitting moment;
receiving a laser echo signal by using the detection module, and converting the laser echo signal into an electric signal; wherein, when the receiving voltage of the detection module is larger than the baseline voltage;
and measuring distance data according to the electric signals by using a distance measuring module.
Optionally, the step of adjusting the power-on time sequence of the detection module by using the power-on time sequence control module according to the adjusted laser emission time comprises:
and adjusting the slope of the power-on time sequence by using the power-on time sequence control module according to the adjusted laser emission time so as to enable the bias voltage of the detection module to exceed the avalanche voltage of the detection module.
Optionally, the receiving unit further comprises a transimpedance amplifying circuit, and the transimpedance amplifying circuit is arranged between the detection module and the ranging module; the method further comprises the steps of:
performing transimpedance amplification on the electric signal by using the transimpedance amplification circuit;
and measuring distance data according to the amplified electric signals by using the distance measuring module.
In a second aspect, a laser radar apparatus includes: the power-on time sequence control unit, the transmitting unit and the receiving unit; the power-on timing control unit includes: a power-on time sequence control module and a laser emission control module; the power-on time sequence control module is connected with the receiving unit and the laser emission control module; the laser emission control module is also connected with the emission unit; the emergent light of the transmitting unit can be received by the receiving unit after being transmitted by the object to be detected;
the power-on time sequence control unit is used for executing the power-on control method in the first aspect.
The beneficial effects of the embodiment of the application include, for example:
the power-on control method is applied to a power-on time sequence control unit of the laser radar, and the laser radar further comprises a transmitting unit and a receiving unit, wherein the power-on time sequence control unit is respectively connected with the transmitting unit and the receiving unit; the method comprises the following steps: adjusting the power-on time sequence of the receiving unit; and adjusting the laser emission time of the emission unit according to the power-on time sequence to match the power-on time sequence of the receiving unit. According to the application, by precisely controlling the laser emission time and matching with the power-on time sequence of the detection device, the receiving gain of the detection device in receiving the pre-disturbance echo is lower, so that the pre-disturbance echo is suppressed, and the receiving gain of the detection device in receiving the real echo signal is higher, thereby ensuring the normal detection of near blind areas and far targets and avoiding the interference of the pre-disturbance echo signal; and the laser emission time is adjusted by setting a time interval of a certain magnitude, so that the precise control of the laser emission time is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a coaxial lidar transceiver;
FIG. 2 is a diagram of a laser radar structure to which the power-on control method according to the embodiment of the present application is applicable;
FIG. 3 is a schematic diagram of steps of a power-on control method according to an embodiment of the present application;
FIG. 4 is a second step diagram of a power-on control method according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an adjustment of a power-on control method according to an embodiment of the present application;
FIG. 6 is a third step of a power-on control method according to an embodiment of the present application;
FIG. 7 is a fourth step schematic diagram of a power-on control method according to an embodiment of the present application;
FIG. 8 is a fifth step diagram of a power-on control method according to an embodiment of the present application;
FIG. 9 is a second adjustment diagram of a power-on control method according to an embodiment of the present application;
fig. 10 is a block diagram of a lidar device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
In the prior art, the laser radar comprises coaxial optics and paraxial optics, wherein the paraxial optics scheme adopts two sets of different receiving devices, but the cost is higher and the ranging error is easy to occur; the coaxial optics only needs one set of transceiver, the design structure is simple, and the cost is low; however, the coaxial optical scheme has a problem that the emitted light path and the received light path are as shown in fig. 1, and the emitted laser irradiates on an inner structural member (such as a reflector) or a shell (such as a window sheet) to generate stray light with strong return light, so that the intensities of the stray light and the return light of a near target object overlap, thereby causing that the near target object cannot be detected, and forming a blind area.
The embodiment provides a power-on control method and a laser radar device, which can enable the time for the detection device to reach avalanche voltage to be shorter than the time interval between a front interference echo signal and a near-field echo signal to eliminate blind areas by precisely controlling the laser emission time and matching with the power-on time sequence of the detection device, so that the interference of the front interference echo signal is avoided; and the control method for the laser emission time is provided, and the laser emission time to be measured is adjusted by setting a time interval by setting a certain time order, so that the accurate control for the laser emission time is improved.
The application provides a power-on control method, which is applied to a power-on time sequence control unit of a laser radar, referring to fig. 2, wherein the laser radar also comprises a transmitting unit and a receiving unit, and the power-on time sequence control unit is respectively connected with the transmitting unit and the receiving unit; referring to fig. 3, the method includes:
s1, adjusting a power-on time sequence of a receiving unit;
s2, adjusting the laser emission time of the emission unit according to the power-on time sequence to match the power-on time sequence of the receiving unit.
In one embodiment, referring to fig. 4, the step of adjusting the laser emission time of the emission unit according to the power-on timing sequence includes:
the power-on time sequence comprises a power-on time sequence slope and a power-on time;
s201, fixing a power-on time sequence slope, and recording the flight time corresponding to the front interference echo received by a receiving unit as first flight time under the preset laser emission time;
specifically, under a preset laser emission time, the flight time tof time corresponding to the front interference rising edge in the front interference echo signal is obtained through a calibration test of the laser radar, namely the first flight time is obtained, the calibration test is that the laser radar provided with the power-on time sequence control unit passes the power-on test directly, and the flight time tof time corresponding to the front interference rising edge is obtained through an oscilloscope directly. The low threshold voltage Vt is a receiving voltage, usually a baseline voltage, which is a bottom noise voltage of the receiving unit receiving signal under the condition of no echo, and the receiving unit only detects the echo signal when the echo signal voltage, that is, the receiving unit receiving signal voltage is greater than the low threshold voltage Vt.
S202, adjusting the power-on time, and taking the adjusted power-on time as the laser emission time to be measured;
s203, single-point ranging is carried out at the laser emission moment to be measured, and whether the flight time of the front interference echo signal received by the receiving unit under the current single-point ranging is larger than the first flight time is judged;
s204, if not, adjusting the laser emission time to be measured according to a first preset rule, and re-performing single-point ranging according to the adjusted laser emission time to be measured until the flight time of the front interference echo signal is not detected at the adjusted laser emission time to be measured, and recording the adjusted laser emission time to be the laser emission time of the emission unit.
Specifically, the true power-on time sequence slope of the receiving unit is fixed during power-on, and the adjusted power-on time is taken as the laser emission time to be measured, so that the fact that the laser emission time to be measured is consistent with the power-on time can be understood, and single-point ranging is started on the basis; and judging whether the flight time of the pre-disturbance echo signal received by the receiving unit under the current single-point ranging is longer than the first flight time.
If the flight time of the pre-disturbance echo signal received by the receiving unit is longer than the first flight time, the laser emission time to be measured is adjusted through a second preset rule, and single-point ranging is conducted again according to the adjusted laser emission time to be measured.
If the flight time of the pre-disturbance echo signal received by the receiving unit is less than or equal to the first flight time, it can be understood that the flight time can be detected and is near the first flight time, then the laser emission time to be detected can be adjusted through a first preset rule, single-point ranging is started again until the flight time of the pre-disturbance echo signal cannot be detected under the adjusted laser emission time to be detected, and the adjusted laser emission time to be detected is recorded as the laser emission time of the emitting unit.
In another possible embodiment, it may be determined whether the time of flight of the pre-scrambled echo signal received by the receiving unit at the current single point ranging is present.
In one embodiment, as shown in fig. 5, the step of adjusting the laser emission time to be measured according to the first preset rule includes: and setting time intervals according to preset orders of magnitude, and gradually reducing the laser emission time to be tested.
In one embodiment, the step of adjusting the laser emission time to be measured according to the second preset rule includes: and setting time intervals according to preset orders of magnitude, and gradually increasing the laser emission time to be tested.
Specifically, in the embodiment of the present application, the first preset rule may be picoseconds (ps) decreasing the laser emission time to be measured, where the preset magnitude may be adjusted and optimized according to the actual situation, and is not limited to the picoseconds in the above embodiment.
Referring to fig. 6, in this embodiment, a control method with adjustable preset magnitude is further provided, where the method may be:
the logic layer receives the edge signal acquired by the main control chip through the register control module, then the physical layer acquires the upper trigger signal to convert the received edge signal into output pulse, the delay adjustment of the preset magnitude is performed through the delay module, and finally the delay adjustment of the preset magnitude is performed through the differential output buffer OBUF to convert the delay adjustment into differential signals to drive the laser radar device to achieve the adjustment of the preset magnitude.
In one implementation embodiment, after the step of determining whether the time of flight of the pre-scrambled echo signal received by the receiving unit under the current single point ranging is greater than the first time of flight, the method further includes:
if the flight time of the pre-disturbance echo signal received by the receiving unit is longer than the first flight time, the laser emission time to be measured is adjusted through a second preset rule, and single-point ranging is conducted again according to the adjusted laser emission time to be measured.
In an embodiment, the power-up timing control unit further includes a power-up timing control module and a laser emission control module, where the power-up timing includes a power-up timing slope and a power-up time, please refer to fig. 7, and the method further includes:
a1, presetting a power-on time sequence slope and power-on time by using a power-on time sequence control module;
a2, adjusting the laser emission time of the emission unit by using a laser emission control module under the preset power-on time sequence slope so as to match the power-on time sequence of the receiving unit;
a3, adjusting the power-on time sequence slope by using the power-on time sequence control module according to the adjusted laser emission time.
In one possible embodiment, the receiving unit comprises: the detection module and the ranging module are used for detecting the distance of the object; referring to fig. 8, the method further includes:
b1, presetting a power-on time sequence of the detection module by using a power-on time sequence control unit;
b2, adjusting the laser emission time of the emission unit according to the power-on time sequence by utilizing a laser emission control module;
b3, adjusting the power-on time sequence of the detection module according to the adjusted laser emission time by using the power-on time sequence control module;
b4, transmitting laser signals by utilizing the transmitting unit according to the adjusted laser transmitting moment;
b5, receiving the laser echo signals by using a detection module, and converting the laser echo signals into electric signals; when the receiving voltage of the detection module is larger than the baseline voltage;
and B6, measuring distance data according to the electric signals by using a distance measuring module.
In one possible embodiment, referring to fig. 9, the step of adjusting, by using the power-on timing control module, the power-on timing of the detection module according to the adjusted laser emission time includes:
and adjusting the slope of the power-on time sequence by using the power-on time sequence control module according to the adjusted laser emission time so as to enable the bias voltage of the detection module to exceed the avalanche voltage of the detection module.
Specifically, after the laser emission time is obtained, the power-on slope of the receiving unit needs to be further adjusted, so that the bias voltage of the detection module exceeds the avalanche voltage of the detection module, namely, the gain of the power-on time sequence is quickly adjusted, the time for reaching the avalanche voltage Vbr at the power-on time is shortened, and the situation that although the front interference echo is eliminated completely, the near real echo is undetected is avoided after the matching of the laser emission time;
the specific method can be understood as follows: because the pre-disturbance echo returns to the receiver earlier than the real echo, the receiving time of the pre-disturbance echo is set as the laser emission time point, and meanwhile, the detector is electrified, and the voltage of the detector is lower at the moment, so that the pre-disturbance echo is not received; when the voltage of the detector is increased, the front interference echo disappears, and the real echo is received at the moment; because the time interval between the front interference echo and the near real echo is short, the voltage of the detector needs to be quickly increased to the avalanche voltage Vbr in a short time to sense the real echo signal, so that the power-on slope can be increased, and the time from power-on to the avalanche voltage Vbr is shortened to receive the real echo;
by precisely controlling the laser emission time and matching with the power-on time sequence of the detection device, the receiving gain of the detection device for receiving the pre-disturbance echo is lower, the pre-disturbance echo can be restrained, and the receiving gain of the detection device for receiving the real echo signal is higher, so that the normal detection of a near blind area and a far target is ensured; and by setting a time interval of a certain magnitude unit, the laser emission time is accurately adjusted.
In one implementation embodiment, the receiving unit further includes a transimpedance amplifying circuit, and the transimpedance amplifying circuit is disposed between the detection module and the ranging module; the method further comprises the steps of:
performing transimpedance amplification on the electric signal by using a transimpedance amplification circuit;
and measuring distance data according to the amplified electric signals by using a distance measuring module.
In summary, the embodiment of the application precisely controls the laser emission time and cooperates with the power-on time sequence of the receiving unit, and ensures that when the receiving unit receives the front interference echo, the receiving gain is lower, the front interference echo can not be detected, and when the receiving unit receives the real echo, the receiving gain is higher, and the real echo can be detected, thereby ensuring the normal detection of the near blind area and the far target.
In a second aspect, referring to fig. 10, an embodiment of the present application further provides a laser radar apparatus, including: the power-on time sequence control unit, the transmitting unit and the receiving unit; the power-on timing control unit includes: a power-on time sequence control module and a laser emission control module; the power-on time sequence control module is connected with the receiving unit and the laser emission control module; the laser emission control module is also connected with the emission unit; the emergent light of the transmitting unit can be received by the receiving unit after being transmitted by the object to be detected;
the power-on time sequence control unit is used for executing the power-on control method of the first aspect.
In summary, the embodiment of the application provides a power-on control method and a laser radar device, wherein the power-on control method is applied to a power-on time sequence control unit of the laser radar, the laser radar further comprises a transmitting unit and a receiving unit, and the power-on time sequence control unit is respectively connected with the transmitting unit and the receiving unit; the method comprises the following steps: adjusting the power-on time sequence of the receiving unit; and adjusting the laser emission time of the emission unit according to the power-on time sequence to match the power-on time sequence of the receiving unit. According to the application, by precisely controlling the laser emission time and matching with the power-on time sequence of the detection device, the receiving gain of the detection device in receiving the pre-disturbance echo is lower, so that the pre-disturbance echo is suppressed, and the receiving gain of the detection device in receiving the real echo signal is higher, thereby ensuring the normal detection of near blind areas and far targets and avoiding the interference of the pre-disturbance echo signal; and the laser emission time is adjusted by setting a time interval of a certain magnitude, so that the precise control of the laser emission time is improved.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The power-on control method is applied to a power-on time sequence control unit of the laser radar, and the laser radar further comprises a transmitting unit and a receiving unit, wherein the power-on time sequence control unit is respectively connected with the transmitting unit and the receiving unit; characterized in that the method comprises:
adjusting the power-on time sequence of the receiving unit;
and adjusting the laser emission time of the emission unit according to the power-on time sequence to match the power-on time sequence of the receiving unit.
2. The power-on control method according to claim 1, wherein the step of adjusting the laser emission timing of the emission unit according to the power-on timing comprises:
the power-on time sequence comprises a power-on time sequence slope and a power-on time;
fixing a power-on time sequence slope, and recording the flight time corresponding to the front interference echo received by the receiving unit as a first flight time under the preset laser emission time;
adjusting the power-on time and taking the adjusted power-on time as the laser emission time to be measured;
performing single-point ranging at the laser emission moment to be measured, and judging whether the flight time of the front interference echo signal received by the receiving unit under the current single-point ranging is larger than the first flight time; if not, the laser emission time to be measured is regulated according to a first preset rule, single-point ranging is conducted again according to the regulated laser emission time to be measured until the flight time of the front interference echo signal cannot be detected at the regulated laser emission time to be measured, and the regulated laser emission time to be measured is recorded as the laser emission time of the emission unit.
3. The method for controlling power up according to claim 2, wherein the step of adjusting the laser emission time to be measured by a first preset rule comprises:
and setting time intervals according to preset orders of magnitude, and gradually reducing the laser emission time to be tested.
4. The power-on control method according to claim 3, further comprising, after the step of determining whether a time of flight of a pre-scrambled echo signal received by the receiving unit at the current single point ranging is greater than the first time of flight:
and if the flight time of the pre-disturbance echo signal received by the receiving unit is longer than the first flight time, adjusting the laser emission time to be measured according to a second preset rule, and re-performing single-point ranging according to the adjusted laser emission time to be measured.
5. The method for controlling power up according to claim 4, wherein the step of adjusting the laser emission time to be measured by a second preset rule comprises:
and setting time intervals according to preset orders of magnitude, and gradually increasing the laser emission time to be tested.
6. The power-up control method according to claim 1, wherein the power-up timing control unit further comprises a power-up timing control module and a laser emission control module, wherein the power-up timing comprises a power-up timing slope and a power-up time, the method further comprising:
presetting a power-on time sequence slope and power-on time by using a power-on time sequence control module;
adjusting the laser emission time of the emission unit under the preset power-on time sequence slope by utilizing a laser emission control module so as to match the power-on time sequence of the receiving unit;
and adjusting the power-on time sequence slope by using the power-on time sequence control module according to the adjusted laser emission time.
7. The power-on control method according to claim 6, wherein the receiving unit includes: the detection module and the ranging module are used for detecting the distance of the object; the method further comprises the steps of:
presetting a power-on time sequence of the detection module by using the power-on time sequence control unit;
adjusting the laser emission time of the emission unit according to the power-on time sequence by using a laser emission control module;
adjusting the power-on time sequence of the detection module according to the adjusted laser emission time by using the power-on time sequence control module;
transmitting a laser signal by using the transmitting unit according to the adjusted laser transmitting moment;
receiving a laser echo signal by using the detection module, and converting the laser echo signal into an electric signal; wherein, when the receiving voltage of the detection module is larger than the baseline voltage;
and measuring distance data according to the electric signals by using a distance measuring module.
8. The power-on control method according to claim 7, wherein the step of adjusting the power-on timing of the detection module according to the adjusted laser emission timing using the power-on timing control module includes:
and adjusting the slope of the power-on time sequence by using the power-on time sequence control module according to the adjusted laser emission time so as to enable the bias voltage of the detection module to exceed the avalanche voltage of the detection module.
9. The power-on control method according to claim 7, wherein the receiving unit further includes a transimpedance amplification circuit provided between the detection module and the ranging module; the method further comprises the steps of:
performing transimpedance amplification on the electric signal by using the transimpedance amplification circuit;
and measuring distance data according to the amplified electric signals by using the distance measuring module.
10. A lidar device, comprising: the power-on time sequence control unit, the transmitting unit and the receiving unit; the power-on timing control unit includes: a power-on time sequence control module and a laser emission control module; the power-on time sequence control module is connected with the receiving unit and the laser emission control module; the laser emission control module is also connected with the emission unit; the emergent light of the transmitting unit can be received by the receiving unit after being transmitted by the object to be detected;
wherein the power-on timing control unit is configured to perform the power-on control method of claims 1 to 9.
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