CN220455522U

CN220455522U - Laser radar monitoring system

Info

Publication number: CN220455522U
Application number: CN202320717916.3U
Authority: CN
Inventors: 邵佰能; 尹子桉; 秦枫; 王卫松; 匡宋杨; 向少卿
Original assignee: Hesai Technology Co Ltd
Current assignee: Hesai Technology Co Ltd
Priority date: 2023-04-03
Filing date: 2023-04-03
Publication date: 2024-02-06
Anticipated expiration: 2033-04-03

Abstract

An embodiment of the present disclosure provides a laser radar monitoring system for monitoring operation states of a plurality of laser radars to be detected, the laser radar monitoring system including: parameter adjustment module and data processing and control module, wherein: the data processing and controlling module is respectively coupled with the parameter adjusting module and each laser radar to be detected, and is suitable for outputting parameter adjusting signals to the parameter adjusting module, obtaining test data of each laser radar to be detected under corresponding working parameters, comparing the test data with preset data of each laser radar to be detected, and outputting corresponding monitoring results; the parameter adjusting module is suitable for responding to the parameter adjusting signals and outputting corresponding working parameters, so that each laser radar to be tested outputs corresponding test data under the corresponding working parameters. By adopting the scheme, the performance of a plurality of laser radars under different working parameters can be monitored simultaneously, and the monitoring efficiency is improved.

Description

Laser radar monitoring system

Technical Field

The embodiment of the specification relates to the technical field of laser radars, in particular to a laser radar monitoring system.

Background

As an active detection environment sensing sensor, the laser radar has incomparable advantages in the aspects of reliability, detection range, ranging precision and the like, and becomes the most core sensor equipment in the fields of automobile automatic driving, unmanned driving, positioning navigation, space mapping, security protection and the like. The working principle is that a detection laser beam (such as laser pulse) is emitted to a target, the detection laser beam forms an echo beam after being diffusely reflected at the target, the laser radar receives the reflected beam, and related information of the target such as the distance, the azimuth, the altitude and the like of the target can be obtained according to the Time interval (Time of Flight, toF) between the emission and the reception of the laser beam, so that the targets such as vehicles, pedestrians and the like are detected, tracked and identified.

After the laser radar is assembled, each device needs to be monitored for a long time, and when each performance parameter of the laser radar is confirmed to reach a preset performance standard, the laser radar can be formally put into use.

Currently, existing lidar performance monitoring systems typically place a lidar in an incubator for monitoring to obtain performance of the lidar under certain operating parameters. Along with the prominent demand of laser radar mass production test, the existing laser radar performance monitoring system cannot meet the monitoring requirements of a large number of laser radars, and cannot monitor the performance of the laser radars under different working parameters at the same time.

The matters in the background section are only those known to the public and do not, of course, represent prior art in the field.

Disclosure of Invention

In view of this, the embodiments of the present disclosure provide a laser radar monitoring system, which can monitor performance under different working parameters of multiple laser radars at the same time, so as to improve monitoring efficiency.

The embodiment of the specification provides a laser radar monitoring system for monitoring the operation states of a plurality of laser radars to be detected, the monitoring system comprises: parameter adjustment module and data processing and control module, wherein:

the data processing and controlling module is respectively coupled with the parameter adjusting module and each laser radar to be detected, and is suitable for outputting parameter adjusting signals to the parameter adjusting module, obtaining test data of each laser radar to be detected under corresponding working parameters, comparing the test data with preset data of each laser radar to be detected, and outputting corresponding monitoring results;

the parameter adjusting module is suitable for responding to the parameter adjusting signals and outputting corresponding working parameters, so that each laser radar to be tested outputs corresponding test data under the corresponding working parameters.

Optionally, the parameter adjustment module includes at least two of:

the voltage regulating unit is suitable for responding to the voltage regulating signal output by the data processing and control module and outputting a corresponding voltage signal to each laser radar to be tested, so that each laser radar to be tested outputs test data under a corresponding working voltage;

a temperature adjusting unit which is suitable for accommodating each laser radar to be tested and adjusting signals according to the temperature output by the data processing and control module, providing the environment temperature required by the test for each laser radar to be tested, and enabling each laser radar to be tested to output test data at the corresponding temperature;

and the synchronizing unit is suitable for responding to the synchronizing signals output by the data processing and control module and outputting corresponding synchronizing signals to each laser radar to be tested, so that each laser radar to be tested outputs test data in a synchronizing state.

Optionally, the parameter adjustment module includes:

Optionally, the lidar monitoring system further comprises: the temperature adjusting module is suitable for accommodating each laser radar to be tested, and providing the environment temperature required by the test for each laser radar to be tested, so that each laser radar to be tested outputs test data at the corresponding temperature.

Optionally, the laser radar monitoring system further comprises a switch module, which is arranged between the voltage regulating unit and each laser radar to be tested and is coupled with the data processing and control module;

the data processing and control module is also suitable for outputting a state control signal to the switch module to switch on or switch off the passage between the voltage regulating unit and each laser radar to be tested.

Optionally, the switch module comprises a plurality of switch units, and each switch unit is connected with each laser radar to be tested in a one-to-one correspondence manner;

the data processing and control module is further adapted to output corresponding state control signals to each switch unit according to a preset matching relation between the laser radar to be detected and the switch units, so as to switch on or off the corresponding switch units, and enable the voltage regulating units to output the voltage signals to the corresponding laser radars to be detected.

Optionally, the laser radar monitoring system further comprises a first temperature detection module, which is arranged inside the temperature adjustment unit and is suitable for detecting the temperature in the temperature adjustment unit and outputting a corresponding first temperature detection signal;

The data processing and control module is further adapted to control the temperature adjusting unit to stop working when the temperature in the temperature adjusting unit is determined not to be in a preset temperature interval according to the first temperature detection signal.

Optionally, the laser radar monitoring system further includes a plurality of second temperature detection modules, which are respectively disposed in the corresponding laser radars to be detected, and are adapted to detect the temperature of each laser radar to be detected, and output a plurality of corresponding second temperature detection signals;

the data processing and controlling module is further adapted to output a corresponding power-off control signal to the parameter adjusting module to control the parameter adjusting module to stop working when determining that the temperature of any one of the laser radars to be detected is higher than a preset temperature according to the plurality of second temperature detection signals.

Optionally, the laser radar monitoring system further comprises a target plate, which is arranged on each laser radar emergent light path to be tested;

the temperature adjustment unit includes:

the box body is suitable for accommodating all the laser radars to be tested;

a temperature regulator, which is arranged in the box body and is suitable for regulating signals according to the temperature, providing the environment temperature required by the test for each laser radar to be tested;

A light-transmitting window arranged on one side of the box body close to the target plate, is suitable for transmitting detection light beams output by each laser radar to be detected and transmitting echo light beams reflected from the target plate.

Optionally, the temperature adjusting unit further includes: the plurality of clapboards are arranged in the box body and are layered along the vertical direction so as to respectively place the laser radars to be tested.

Optionally, the data processing and control module is further adapted to output a corresponding monitoring result by comparing test data of each laser radar to be tested.

Optionally, the data processing and control module is further adapted to control the number of laser radars to be tested operating simultaneously, so that no interference is generated between the laser radars to be tested.

Optionally, the lidar monitoring system further comprises:

the data exchange module is respectively coupled with each laser radar to be tested, the data processing and control module and the parameter adjusting module, and is suitable for transmitting the parameter adjusting signals output by the data processing and control module to the parameter adjusting module and transmitting the test data output by each laser radar to be tested under the corresponding working parameters to the data processing and control module.

Optionally, the laser radar monitoring system further includes a cloud server coupled to the data processing and control module, and adapted to store the monitoring result obtained from the data processing and control module.

Optionally, the test data includes at least one of:

point cloud data relating to the target;

status data associated with the lidar.

Optionally, the point cloud data includes at least one of:

distance information;

reflectivity information;

dot frequency information;

noise information.

Optionally, the status data includes at least one of:

synchronizing the angle information;

rotational speed information;

starting time information;

outputting voltage information;

and outputting temperature information.

By adopting the laser radar monitoring system provided by the embodiment of the specification, the parameter adjusting module can respond to the parameter adjusting signal output by the data processing and control module to output corresponding working parameters, so that each laser radar to be detected can output corresponding test data under the corresponding working parameters, and then the data processing and control module can acquire the test data of each laser radar to be detected under the corresponding working parameters. The working parameter value output to the laser radars can be changed by changing the parameter value in the parameter adjusting signal, so that the data processing and controlling module can acquire the test data of each laser radar to be tested under different working parameters, thereby being capable of monitoring the performance of a plurality of laser radars to be tested under different working parameters, improving the monitoring efficiency, and being capable of reducing the monitoring cost by enabling each laser radar to be tested to share the data processing and controlling module and the parameter adjusting module.

Further, the parameter adjusting module comprises at least two of a voltage adjusting unit, a temperature adjusting unit and a synchronizing unit, wherein the voltage adjusting unit can respond to the voltage adjusting signal output by the data processing and controlling module and output corresponding voltage signals to each laser radar to be tested, so that each laser radar to be tested outputs test data under corresponding working voltage; the temperature regulating unit can accommodate each laser radar to be tested, and provides the environment temperature required by the test for each laser radar to be tested according to the temperature regulating signal output by the data processing and control module, so that each laser radar to be tested outputs test data at the corresponding temperature; the synchronous unit can respond to the synchronous signals output by the data processing and control module and output corresponding synchronous signals to each laser radar to be tested, so that each laser radar to be tested outputs test data in a synchronous state, and therefore, by adopting the laser radar monitoring system in the specification, the test data of each laser radar to be tested in different working voltages and different environment temperatures or the test data of each laser radar to be tested in different working voltages and corresponding synchronous states or the test data of each laser radar to be tested in different environment temperatures and corresponding synchronous states or the test data of each laser radar to be tested in different working voltages and different environment temperatures and corresponding synchronous states can be obtained, and further, the performance of a plurality of laser radars to be tested in different working parameters (at least two of working voltages, environment temperatures and synchronous states) can be monitored.

Further, the parameter adjusting module may include a voltage adjusting unit and a synchronization module, where the voltage adjusting unit may respond to the voltage adjusting signal output by the data processing and controlling module and output a corresponding voltage signal to each lidar to be tested, so that each lidar to be tested outputs test data under a corresponding working voltage; the synchronous unit can respond to the synchronous signals output by the data processing and control module and output corresponding synchronous signals to each laser radar to be tested, so that each laser radar to be tested outputs test data in a synchronous state, therefore, by adopting the laser radar monitoring system in the specification, the test data of each laser radar to be tested in different working voltages and corresponding synchronous states can be obtained, and further the performance of a plurality of laser radars to be tested in different working voltages and corresponding synchronous states can be monitored.

Further, the laser radar monitoring system in the specification can further obtain output test data of each laser radar to be tested at corresponding temperatures and monitor performance of the multiple laser radars to be tested at different temperatures, because the temperature adjusting module can provide the environment temperature required by the test for each laser radar to be tested which is accommodated in the temperature adjusting module.

Further, the laser radar monitoring system may further include a switch module disposed between the voltage adjustment unit and each laser radar to be tested and coupled to the data processing and control module. The data processing and control module can also output a state control signal to the switch module to conduct or break the passage between the voltage regulating unit and each laser radar to be tested, so that test data of a plurality of laser radars to be tested when the switch module is switched from the off state to the on state can be obtained, and further performance of each laser radar to be tested when the switch state is switched can be monitored.

Further, the switch module comprises a plurality of switch units, and each switch unit is connected with each laser radar to be tested in a one-to-one correspondence manner. Because the data processing and control module can output corresponding state control signals to each switch unit according to the preset matching relation between the laser radar to be tested and the switch units, asynchronous operation of the switch units can be realized, each switch unit has the same or different states, and then the corresponding switch units can be turned on or off, so that the voltage regulating units output the voltage signals to the corresponding laser radars to be tested, the laser radars to be tested can be started asynchronously, the polling work among the laser radars to be tested is realized, the performance of the multiple laser radars to be tested under different working parameters can be monitored in a time-sharing mode, the monitoring flexibility of each laser radar to be tested is improved, and overload caused by simultaneous starting of each laser radar to be tested can be avoided.

Further, the laser radar monitoring system may further include a first temperature detection module disposed inside the temperature adjustment unit, and because the first temperature detection module may detect a temperature in the temperature adjustment unit, the data processing and control module may control the temperature adjustment unit to stop working when determining that the temperature in the temperature adjustment unit is not in a preset temperature interval according to a first temperature detection signal corresponding to the temperature, so as to avoid excessively high or excessively low environmental temperature inside the temperature adjustment unit, reduce detection performance of each laser radar to be detected or damage the laser radar to be detected, and improve accuracy of a monitoring result.

Further, the laser radar monitoring system may further include second temperature detection modules respectively disposed on the corresponding laser radars to be tested, and since the second temperature detection modules may detect temperatures of the laser radars to be tested, the data processing and control module may detect second temperature detection signals corresponding to the temperatures of the laser radars to be tested, when determining that the temperature of any one of the laser radars to be tested is higher than a preset temperature, output corresponding power-off control signals to the parameter adjustment module, and control the parameter adjustment module to stop working, so as to reduce the temperatures of the laser radars to be tested, avoid damaging the laser radars to be tested due to the excessive internal temperature of the laser radars to be tested, and improve accuracy of the monitoring result.

Further, the laser radar monitoring system can be further arranged on the outgoing light path of each laser radar and comprises a target plate, and the light transmission window can be arranged on one side, close to the target plate, of the box body, so that detection light beams output by each laser radar to be detected can be transmitted to the target plate, echo light beams reflected by the target plate can be received conveniently, the actual working scene of each laser radar to be detected can be simulated, and the accuracy of monitoring results is improved.

Further, the temperature regulating unit further comprises a plurality of clapboards arranged in the box body, and the clapboards are arranged in a layered mode along the vertical direction, so that the number of the placed laser radars to be detected can be increased, and each laser radar to be detected can be isolated through each clapboard, interference among the laser radars to be detected which work simultaneously is avoided, and the accuracy of monitoring results can be improved.

Furthermore, the data processing and control module can also output a corresponding monitoring result by comparing the test data of each laser radar to be detected, so that the operation difficulty can be reduced, and the monitoring efficiency can be improved.

Furthermore, the data processing and control module can also control the number of the laser radars to be detected which work simultaneously, so that interference among the laser radars to be detected which work simultaneously is avoided, and the accuracy of a monitoring result can be improved.

Further, the laser radar monitoring system may further include a cloud server, where the cloud server may store the monitoring result obtained from the data processing and control module, and further may perform centralized monitoring on the multiple laser radar test data to be tested, and maintain the laser radar to be tested according to the corresponding monitoring result.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present description, the drawings that are required to be used in the embodiments of the present description or the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present description, and that other 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 lidar monitoring system according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a laser radar monitoring system in a specific application scenario according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of another lidar monitoring system according to an embodiment of the present disclosure;

FIG. 4 shows one of the embodiments of the present specification schematic diagram of local structure of laser radar monitoring system;

Fig. 5 shows a schematic distribution diagram of a lidar to be tested in an embodiment of the present disclosure;

FIG. 6 shows a schematic diagram of the distribution of the lidar under test at another angle in FIG. 5;

FIG. 7 shows a schematic diagram of a laser radar monitoring system according to an embodiment of the present disclosure;

fig. 8 shows a schematic view of a point cloud distribution of a lidar.

Detailed Description

As described in the background, existing lidar performance monitoring systems typically monitor a lidar in an incubator to obtain performance of the lidar in determining operating parameters. Along with the prominent demand of laser radar mass production test, the existing laser radar performance monitoring system cannot meet the monitoring requirements of a large number of laser radars, and cannot monitor the performance of the laser radars under different working parameters at the same time.

In order to solve the technical problems, embodiments of the present disclosure provide a lidar monitoring system, which can monitor the operation states of multiple lidars to be tested at the same time. Specifically, the parameter value in the parameter adjusting signal is changed, the working parameter value output to the laser radars can be changed, and the data processing and control module can acquire test data of each laser radar to be detected under different working parameters, so that performance of a plurality of laser radars to be detected under different working parameters can be monitored, monitoring efficiency is improved, and the monitoring cost can be reduced by enabling each laser radar to be detected to share the data processing and control module and the parameter adjusting module.

In order to better understand the concepts, working principles and advantages of the embodiments of the present disclosure, the following detailed descriptions of lidar monitoring schemes in the embodiments of the present disclosure are provided.

Referring to a lidar monitoring system in the illustrated embodiment of the present disclosure shown in fig. 1, in some embodiments of the present disclosure, as shown in fig. 1, a lidar monitoring system 100 may include: a parameter adjustment module 120 and a data processing and control module 110, wherein:

the data processing and controlling module 110 is coupled with the parameter adjusting module 120 and each of the lidars L1 to Ln to be tested (where n is an integer greater than 1), and is adapted to output a parameter adjusting signal to the parameter adjusting module 120, and is adapted to obtain test data of each of the lidars L1 to Ln to be tested under corresponding working parameters, compare with pre-stored set data of each of the lidars L1 to Ln to be tested, and output a corresponding monitoring result;

the parameter adjusting module 120 is adapted to respond to the parameter adjusting signal and output corresponding working parameters, so that each of the lidars L1 to Ln to be tested outputs corresponding test data under the corresponding working parameters.

Specifically, the data processing and control module 110 may output corresponding parameter adjustment signals according to the parameter types and ranges of the lidars L1 to Ln that need to perform performance monitoring, and further the parameter adjustment module 120 may output corresponding working parameters to each lidar L1 to Ln to be tested according to the output parameter adjustment signals, so that each lidar L1 to Ln to be tested may output corresponding test data under the corresponding working parameters, and further the data processing and control module 110 may obtain the test data of each lidar L1 to Ln to be tested under the corresponding working parameters, and by comparing the test data with the pre-stored set data of each lidar L1 to Ln to be tested, a corresponding monitoring result may be output, so that the running states of the lidars L1 to Ln to be tested may be monitored according to the monitoring result.

In a specific implementation, in one test, the working parameters of each lidar to be tested may be different, and may be different types or models of lidars, by changing the parameter values in the parameter adjustment signals, the working parameter values output to the lidars L1 to Ln may be changed, and the data processing and control module 110 may obtain the test data of each lidar L1 to Ln under different working parameters, so as to monitor the performance of the multiple lidars L1 to Ln under different working parameters, improve the monitoring efficiency, and reduce the monitoring cost by making each lidar L1 to Ln under test share the data processing and control module 110 and the parameter adjustment module 120.

It should be noted that in one test, the working parameters of each lidar to be tested may be identical, and the performance of the lidar of the same type or model may be monitored at the same time, which is not limited in the embodiment of the present disclosure.

In order for those skilled in the art to better understand and practice the embodiments of the present disclosure, specific examples are given below for specific implementations of lidar monitoring systems in the embodiments of the present disclosure.

In a specific implementation, referring to fig. 1 in conjunction with fig. 2, referring to a schematic structural diagram of a lidar monitoring system in a specific application scenario in the embodiment of the present disclosure, as shown in fig. 2, the parameter adjustment module 120 may include at least two of a voltage adjustment unit 121, a temperature adjustment unit 122, and a synchronization unit 123, where:

the voltage adjusting unit 121 is adapted to respond to the voltage adjusting signal output by the data processing and control module 110, and output a corresponding voltage signal to each of the lidars L1 to Ln to be tested, so that each of the lidars L1 to Ln to be tested outputs test data under a corresponding working voltage;

the temperature adjusting unit 122 is adapted to accommodate each of the lidars L1 to Ln to be tested, and provide the ambient temperature required for the test for each of the lidars L1 to Ln to be tested according to the temperature adjusting signal output by the data processing and controlling module 110, so that each of the lidars L1 to Ln to be tested outputs test data at a corresponding temperature;

The synchronization unit 123 is adapted to respond to the synchronization signals outputted from the data processing and control module 110, to output corresponding synchronization signals to the respective lidars L1 to Ln under test, the laser radars L1 to Ln to be tested are caused to output test data in a synchronous state (for example, in a time-setting state).

Specifically, for example, the parameter adjusting module 120 may include a voltage adjusting unit 121 and a temperature adjusting unit 122, and further may provide different working voltages and ambient temperatures for each of the lidars L1 to Ln to be tested. Accordingly, the data processing and control module 110 may obtain test data of each of the lidars L1 to Ln at the corresponding operating voltage and the ambient temperature, and further may monitor performance of each of the lidars L1 to Ln at different operating voltages and the ambient temperature.

Also for example, the parameter adjustment module 120 may include a voltage adjustment unit 121 and a synchronization unit 123, and further, different working voltages and synchronous signals can be provided for the laser radars L1 to Ln to be tested. Accordingly, the data processing and control module 110 may obtain test data of each of the lidars L1 to Ln in the corresponding operating voltage and synchronization state, so as to monitor performance of each of the lidars L1 to Ln in different operating voltages and synchronization states.

For another example, the parameter adjusting module 120 may include a temperature adjusting unit 122 and a synchronizing unit 123, and further may provide different ambient temperatures and synchronizing signals for each of the lidars L1 to Ln under test. Accordingly, the data processing and control module 110 may obtain the test data of each of the lidars L1 to Ln in the corresponding environment temperature and the synchronous state, so as to monitor the performance of each of the lidars L1 to Ln in different environment temperatures and the synchronous state.

Further, the parameter adjusting module 120 may include a voltage adjusting unit 121, a temperature adjusting unit 122 and a synchronizing unit 123, and different working voltages, environment temperatures and synchronous signals can be provided for the laser radars L1 to Ln to be tested. Accordingly, the data processing and control module 110 may obtain the test data of each of the lidars L1 to Ln under the corresponding operating voltage, the ambient temperature and the synchronous state, so as to monitor the performance of each of the lidars L1 to Ln under the different operating voltage, the ambient temperature and the synchronous state.

It should be noted that "different" in this example means that, in the whole process of monitoring the lidar, at least two parameters for evaluating the performance of the lidar, which are at least two of the operating voltage, the ambient temperature, and the synchronization state obtained by the lidar, may be different by changing at least two of the voltage adjustment signal, the temperature adjustment signal, and the synchronization signal, but in one test, some parameters of the lidar to be tested may be the same.

That is, by adopting the lidar monitoring system in the embodiment of the present specification, performance of the plurality of lidars L1 to Ln under different operation parameters (at least two of an operation voltage, an ambient temperature, and a synchronization state) can be monitored.

It is understood that the working voltage output by the voltage regulating unit to the laser radar should not exceed the maximum working voltage (such as 48V, 36V, 16V, etc.) of the laser radar, and the ambient temperature provided by the temperature regulating unit may be the temperature corresponding to the actual working of the laser radar, for example, for a vehicle-scale laser radar, the ambient temperature range provided by the temperature regulating unit may be-40-125 ℃.

In a specific implementation, the voltage regulating unit may be a programmable power supply, which may provide a stable voltage or current signal for each laser radar according to the voltage regulating signal output by the data processing and control module. In other embodiments, the voltage adjusting unit may be a charge pump or other devices or apparatuses capable of outputting a corresponding voltage signal according to the voltage adjusting signal, and the specific type of the voltage adjusting unit is not limited in the embodiments of the present disclosure.

The temperature adjusting unit can comprise an incubator, the inner space of the incubator can accommodate a plurality of laser radars to be measured, and according to the temperature adjusting signals output by the data processing and control module, the temperature adjusting unit can provide continuously-changed environment temperature for each laser radar to be measured, for example, the environment temperature where each laser radar to be measured actually works can be simulated.

The synchronization unit can output test data of each laser radar to be tested in a corresponding synchronization state through an accurate time protocol (Precision Time Protocol, PTP). For example, the synchronous state may include a time-clocked state or an unclocked state, that is, the output test data of each laser radar to be tested in the time-clocked state or the unclocked state can be obtained.

For example, the clock of each laser radar to be tested can be synchronized with the external clock by the synchronization unit, each laser radar to be tested can have a corresponding time stamp, and the data processing and control module can acquire the test data of each laser radar to be tested in the current time setting state. Because the laser radar operates under the condition of time synchronization in the real vehicle environment, the time synchronization not only directly influences the time stamp of the test data of the laser radar, but also indirectly influences the state data of the laser radar, and in order to better simulate the real vehicle environment, a synchronization unit is necessary to time the laser radar.

In other embodiments, the synchronization unit may implement each lidar under test to output test data in a corresponding synchronization state through a network time protocol (Network Time Protocol, NTP) or a global positioning system (Global Positioning System, GPS).

In some embodiments of the present description, the temperature required for testing may also be provided separately for each lidar under test. In this case, the parameter adjustment module may include a voltage adjustment unit and a synchronization unit, wherein:

the synchronous unit is suitable for responding to the synchronous signals output by the data processing and control module and outputting corresponding synchronous signals to each laser radar to be tested, so that each laser radar to be tested outputs test data in a synchronous state.

That is, the lidar monitoring system in the embodiments of the present disclosure may monitor the performance of each lidar in different voltage signals and synchronization states.

Further, to monitor performance of each lidar to be tested at different temperatures, the lidar monitoring system in the embodiments of the present disclosure may further include: the temperature adjusting module is suitable for accommodating each laser radar to be tested, and providing the environment temperature required by the test for each laser radar to be tested, so that each laser radar to be tested outputs test data at the corresponding temperature.

Therefore, by adopting the laser radar monitoring system in the embodiment, each laser radar to be detected can output corresponding test data under different working parameters (including the environment temperature, the voltage signal and the synchronous state), and further the performance of the laser radars to be detected under the corresponding working parameters can be monitored.

In specific implementation, according to actual application scenes and requirements, the laser radar monitoring system in the embodiment of the specification can be further expanded to monitor more performances of each laser radar to be detected.

For example, as shown in fig. 3, the lidar monitoring system may further include: the switch module 230 may be disposed between the voltage adjusting unit 221 and each of the lidars L1 to Ln under test, and coupled with the data processing and control module 210.

Correspondingly, the data processing and control module 210 is further adapted to output a status control signal to the switch module 230 to turn on or off the paths between the voltage adjusting unit 221 and each of the lidars L1 to Ln under test.

Specifically, the data processing and control module 210 may output a voltage adjustment signal to the voltage adjustment unit 221, and thus the voltage adjustment unit 221 may output a voltage signal corresponding to the voltage adjustment signal to the switching module 230. When the switch module 230 obtains the state control signal from the data processing and control module 210, the switch module may be in an on or off state, so that the paths between the voltage adjusting unit 221 and the lidars L1 to Ln to be tested may be turned on or off, so that the test data of the lidars L1 to Ln to be tested when the switch module is switched from the off state to the on state may be obtained, and thus the performance of the lidars L1 to Ln to be tested when the switch state is switched may be monitored.

For example, by controlling the on and off of the switch module 230, the performance of each lidar L1 to Ln under hard restart and soft restart may be monitored.

The hard restart refers to a situation that the voltage adjusting unit 221 has already output a voltage signal, but the switch module 230 has not yet obtained a state control signal, and the switch module 230 is controlled to be closed, so that each lidar L1 to Ln to be tested is powered on.

Soft restart refers to a process in which the switching module 230 has been closed, the voltage adjusting unit 221 has outputted a voltage signal, and restart is performed by software inside each lidar L1 to Ln to be tested.

In a specific implementation, since the embodiment of the present disclosure monitors performance of a plurality of lidars to be tested under different working parameters, if all the lidars to be tested are started simultaneously, a large instantaneous current may be generated, which results in an overload condition. Thus, in some embodiments of the present description, multiple lidars under test may be asynchronously activated.

Specifically, with continued reference to fig. 3, the switch module 230 includes a plurality of switch units (for example, switch units K1, K2, …, kn illustrated in fig. 3), where each switch unit is connected to each lidar to be tested in a one-to-one correspondence manner, for example, the switch unit K1 may be connected to the lidar L1 to be tested, the switch unit K2 may be connected to the lidar L2 to be tested, …, and the switch unit Kn may be connected to the lidar Ln to be tested.

Correspondingly, the data processing and control module 210 is further adapted to output corresponding state control signals to each of the switch units K1 to Kn according to a preset matching relationship between the laser radar to be tested and the switch units, so as to turn on or off the corresponding switch units, and enable the voltage regulating unit to output the voltage signals to the corresponding laser radar to be tested.

As an example, during one monitoring process, the data processing and control module 210 may output an on-state control signal to the switch units K1 and Kn to respectively turn on the path between the voltage adjusting unit 221 and the lidar L1 to be monitored and the path between the lidar Ln to be monitored, the voltage adjusting unit 221 may output voltage signals to the lidars L1 and Ln, and the data processing and control module 210 may output an off-state control signal to the switch unit K2 to disconnect the path between the voltage adjusting unit 221 and the lidar L2 to be monitored, so that performance of the lidar L1 to be monitored and the lidar Ln to be monitored under corresponding operation parameters may be monitored simultaneously.

It will be appreciated that the above examples of controlling the on or off of the switching units are merely examples, and in a specific implementation, the corresponding switching units may be selected to be turned on according to actual requirements.

In some embodiments of the present description, the switching unit may be a relay or other period having a switch and an off state, such as a triode BJT, a transistor IGBT, etc., and the embodiments of the present description are not limited to a particular type of switching unit.

Therefore, the on/off of each laser radar to be detected and the voltage regulating unit can be controlled by controlling the on/off of the switch unit, so that the laser radars to be detected can be started asynchronously, the round inspection work among the laser radars to be detected is realized, the performance of a plurality of laser radars to be detected under different working parameters can be monitored in a time-sharing manner, the monitoring flexibility of each laser radar to be detected is improved, and overload caused by the simultaneous starting of each laser radar to be detected can be avoided.

In the actual monitoring process, the inventor finds that when the environmental temperature of the laser radar to be detected is too high, the test data output to the data processing and control module and the set data have larger difference. In order to improve accuracy of the monitoring result, in some embodiments of the present disclosure, an ambient temperature provided by the temperature adjusting unit may be controlled, so as to avoid reducing detection performance of each laser radar to be detected or damaging the laser radar to be detected due to too high or too low ambient temperature, thereby improving accuracy of the monitoring result.

Based on this, with continued reference to fig. 3, the lidar monitoring system in the embodiments of the present specification may further include: the first temperature detection module TD is disposed inside the temperature adjustment unit 222, and is adapted to detect the temperature in the temperature adjustment unit 222 and output a corresponding first temperature detection signal.

Correspondingly, the data processing and control module 210 is further adapted to control the temperature adjusting unit 222 to stop working when determining that the temperature in the temperature adjusting unit 222 is not within the preset temperature range according to the first temperature detection signal.

Specifically, the data processing and control module 210 may output a temperature control signal to the temperature adjustment unit 222, and the temperature adjustment unit 222 may change the temperature inside thereof under the effect of the temperature control signal. In this process, the first temperature detection module TD may detect the temperature inside the temperature adjustment unit 222 in real time, and output a first temperature detection signal corresponding to the temperature to the data processing and control module 210. When the data processing and control module 210 determines that the temperature indicated in the first temperature detection signal is not within the preset temperature range, the temperature adjustment unit 222 may be controlled to stop working.

As a specific example, for the vehicle-gauge laser radar, the actual working temperature range is [ -40 ℃ -125 ℃ ], and the data processing and control module determines that the temperature inside the temperature adjusting unit is detected not to be [ -40 ℃ -125 ℃ ], and controls the temperature adjusting unit to stop working.

It should be noted that the shape of the first temperature detection module and its position in the temperature adjustment unit in fig. 3 are only exemplary.

It can be understood that, for the temperature adjustment module capable of independently providing the required ambient temperature for each laser radar to be tested, the first temperature detection module may also be used to detect the internal temperature value, and when it is determined that the internal temperature value is not within the preset temperature interval, the temperature adjustment module is turned off, for example, the power supply for powering the temperature adjustment module is turned off.

In a specific implementation, the lidar to be tested is usually packaged inside a housing, and the internal temperature of the lidar is different from that of the temperature adjusting unit, and the relationship between the lidar and the temperature adjusting unit can be simply understood as: the temperature adjusting unit is used for providing the laser radar to be measured with higher ambient temperature, and the laser radar to be measured is higher in internal temperature. And the laser radar to be tested can generate heat in the operation process, so that the temperature of each laser radar to be tested can be detected, the damage to the laser radar to be tested due to the overhigh internal temperature of the laser radar to be tested is avoided, and the accuracy of a monitoring result is improved.

In some embodiments of the present description, the lidar monitoring system may further comprise: the plurality of second temperature detection modules are respectively arranged in the corresponding laser radars to be detected, are suitable for detecting the temperature of each laser radar to be detected and output a plurality of corresponding second temperature detection signals.

Correspondingly, the data processing and control module is further adapted to output a corresponding power-off control signal to the parameter adjusting module to control the parameter adjusting module to stop working when determining that the temperature of any one of the laser radars to be detected is higher than a preset temperature according to the plurality of second temperature detection signals.

Specifically, a second temperature detection module is arranged in the laser radar to be detected, and in the working process of the laser radar to be detected, the second temperature detection module can detect the temperature inside the laser radar to be detected in real time and output a second temperature detection signal corresponding to the temperature to the data processing and control module. When the system comprises a plurality of laser radars to be detected, the data processing and control module can acquire a plurality of second temperature detection signals, and when the temperature of any one of the laser radars to be detected is higher than the preset temperature, the corresponding power-off control signal is output to the parameter adjusting module, the parameter adjusting module does not output voltage signals to the laser radars to be detected, and each laser radar to be detected stops working.

For example, referring to fig. 3, when the data processing and control module 210 determines that the internal temperature of the laser radar L1 to be measured is abnormal, the output of the voltage adjustment signal to the voltage adjustment unit 221 is stopped, and each of the laser radars L1 to Ln to be measured cannot acquire the voltage signal, and the operation is stopped.

From the foregoing, it can be seen that the lidar to be tested has a matching relationship with the switch unit, and the data processing and control module can respectively control the on/off of the switch unit. Therefore, in some embodiments of the present disclosure, when the data processing and control module determines that the temperature of any one of the lidars to be tested is higher than the preset temperature according to the plurality of second temperature detection signals, the data processing and control module may output a corresponding power-off control signal to the corresponding switch unit to control the lidar to be tested with abnormal internal temperature to stop working.

For example, as a specific example, with continued reference to fig. 3, assuming that the data processing and control module 210 determines that the temperature of the lidar L1 to be measured is abnormal and the temperatures of the lidars L2 and Ln to be measured are normal, the data processing and control module 210 may output an off-state control signal to the switch unit K1 to disconnect the path between the lidar L1 to be measured and the voltage adjustment unit 221, and the lidar L1 to be measured stops working; the data processing and controlling module 210 may output on-state control signals to the switch units K2 and Kn, respectively, so as to conduct the paths between the lidars L2 and Ln to be tested and the voltage adjusting unit 221, respectively, and the lidars L2 and Ln to be tested may work normally.

In a specific application, the laser radar emits a detection laser beam (for example, a laser pulse) to a target, the detection laser beam forms an echo beam after being diffusely reflected at the target, the laser radar receives the reflected beam, and related information of the target can be obtained according to the time interval of emitting and receiving the laser beam and the light emitting angle. Therefore, in some embodiments of the present disclosure, the actual detection scenario of the lidar may be simulated to improve the accuracy of the monitoring result.

For example, referring to fig. 4 in conjunction with fig. 3, the lidar monitoring system may further include: the target board TB is disposed on the outgoing light path of each of the lidars L1 to Ln to be tested.

With continued reference to fig. 4, the temperature adjustment unit may include: a case XT, a temperature regulator TR, and a light-transmitting window W, wherein:

the box body XT is suitable for accommodating all the laser radars L1 to Ln to be tested;

the temperature regulator TR is disposed in the box XT, and is adapted to provide an environmental temperature required for testing for each of the lidars L1 to Ln to be tested according to the temperature regulating signal.

The light-transmitting window W is disposed on a side of the box body, which is close to the target board TB, and is adapted to transmit the probe beams output by the lidars L1 to Ln to be tested, and transmit the echo beams reflected from the target board TB.

Specifically, the temperature regulator TR can change the temperature in the box XT according to the temperature regulation signal output by the data processing and control module, so that each of the lidars L1 to Ln to be tested operates at different ambient temperatures. In this process, the probe beam emitted from each of the laser radars L1 to Ln to be tested may be transmitted through the light-transmitting window W and then transmitted to the target board TB, so that the target board TB may reflect the echo signal corresponding to the probe beam to the light-transmitting window W, and the echo signal is transmitted through the light-transmitting window W and then transmitted to each of the laser radars L1 to Ln to be tested, thereby obtaining the test data at the corresponding temperature.

In some embodiments of the present disclosure, in order to facilitate monitoring test data of each laser to be tested, the target board may select an object with a regular shape, for example, a square, a round or a diamond target board. Still further, a target plate with known reflectivity may be selected for performance monitoring of the lidar.

It is understood that the shape of the case, the light-transmitting window, the shape of the thermostat, and its location in the case are merely exemplary. For example, the shape of the box body can be columnar, and the light-transmitting window can be suitable for the arc shape of the box body; the temperature regulator can be positioned at any position in the box body as long as the temperature regulator can be connected with the data processing and control module; the light-transmitting window may be provided in various directions of the case as long as it can transmit the probe beam and the echo beam.

In a specific implementation, in order to increase the number of placed lidars to be tested, referring to fig. 4, referring to a schematic distribution diagram of the lidars to be tested in the embodiment of the present specification shown in fig. 5, as shown in fig. 5, the temperature adjustment unit further includes: a plurality of partitions (e.g., partitions DP1 to DPm shown in fig. 5, where m is an integer greater than 1. In a specific implementation, m may be greater than n, or may be less than or equal to n. For example, when one lidar to be tested is placed on each partition, m may be equal to n), are disposed in the case XT, and are layered in a vertical direction (as shown by an arrow in the figure) to place the lidars L1 to Ln to be tested, respectively.

And each laser radar to be detected can be isolated through each baffle, interference among the laser radars to be detected which work simultaneously is avoided, and the accuracy of a monitoring result can be improved.

In a specific implementation, when the temperature adjusting unit includes a plurality of partitions, each lidar to be measured may be placed in the box in the following manner:

1) As shown in fig. 5, the lidar is provided in a plurality of layers in a height direction along the temperature adjustment unit;

2) As shown in fig. 6, the lidars are arranged side by side in a direction perpendicular to the height direction of the temperature adjustment unit.

It will be appreciated that the manner in which the lidar to be tested is placed is merely illustrative, the present specification examples do not impose any limitation on this.

It should be noted that, in the embodiment of the present disclosure, in the case of individually providing the ambient temperature required for the test for each lidar to be tested, the temperature regulation module may include the structure shown in fig. 4. For example, the temperature conditioning module may have a housing XT, a temperature regulator TR, and a light transmissive window W. The temperature regulation unit is different from the temperature regulation unit shown in fig. 4 in that the temperature regulator TR in the temperature regulation module can be driven by a built-in program, the temperature regulation module can change the environmental temperature of each laser radar to be tested by controlling the temperature regulator TR, and the working process of the temperature regulator TR is not required to be controlled by a temperature regulation signal output by the data processing and control unit.

It should be further noted that, the arrangement manner of each laser radar to be measured in the temperature adjustment module may be the same as or different from the distribution of the laser radars to be measured shown in fig. 5 and 6, which is not limited in the embodiment of the present disclosure.

In a specific implementation, the data processing and control module is further adapted to output a corresponding monitoring result by comparing test data of each laser radar to be tested.

For example, when the laser radars to be detected are used for detecting the same target plate, the distance between each laser radar to be detected and the target plate is the same, and the detected distance value of the target plate is the same or the distance difference value is within a preset range, so that in one monitoring process, the distance values of the targets detected by each laser radar to be detected can be compared simultaneously to determine whether the laser radars to be detected are abnormal.

By adopting the mode, the operation state of the laser radar to be detected can be judged by directly comparing the test data of the laser radars to be detected without the pre-stored set data of the laser radars to be detected, so that the operation difficulty can be reduced, and the monitoring efficiency can be improved.

As mentioned above, each lidar to be tested is placed inside the box, when each lidar to be tested works simultaneously, electromagnetic interference may be generated between the lidars to be tested, and when the electromagnetic interference is too large (for example, higher than the anti-interference capability of the lidar to be tested), the accuracy of the test data of the lidar may be affected, so that the performance of the lidar to be tested under the corresponding working parameters cannot be reflected correctly.

In some embodiments of the present disclosure, the data processing and control module is further adapted to control the number of lidars under test that operate simultaneously so that no interference occurs between the lidars under test.

In the whole monitoring process, the data processing and control module needs to output various signals to corresponding units or modules, for example, the data processing and control module needs to output voltage regulation signals to the voltage regulation units, and the functions of the various signals are different, so that the signals need to be correctly transmitted to the corresponding units or modules.

In some embodiments of the present disclosure, referring to fig. 1 and 3, referring to a schematic structural diagram of a lidar monitoring system in the embodiment of the present disclosure shown in fig. 7, as illustrated in fig. 7, the lidar monitoring system may further include: the data exchange module 240 is coupled to each of the lidars L1 to Ln to be tested, the data processing and control module 210, and the parameter adjustment module, and is adapted to transmit the parameter adjustment signal output by the data processing and control module 210 to the parameter adjustment module, and transmit the test data output by each of the lidars to be tested under the corresponding working parameters to the data processing and control module.

More specifically, as shown in fig. 7, the data exchange module 240 may be coupled to the voltage adjusting unit 221, the temperature adjusting unit 222, the synchronization unit 223, the switch module 230, and the data processing and controlling module 210, respectively, so as to output the voltage adjusting signal, the status control signal, the temperature adjusting signal, and the synchronization signal provided by the data processing and controlling module 210 to the voltage adjusting unit 221, the switch module 230, the temperature adjusting unit 222, and the synchronization unit 223, respectively, and output the first temperature detecting signal, the plurality of second temperature detecting signals, and the test data of each lidar under test to the data processing and controlling module 210, respectively, so as to achieve accurate transmission of the signals.

In some embodiments of the present disclosure, the data exchange module may be a switch, through which a correspondence between the interface and the parameter adjustment module can be established, so that the voltage adjustment signal, the state control signal, the temperature adjustment signal, and the synchronization signal can be correctly output to the voltage adjustment module, the switch module, the temperature adjustment module, and the synchronization unit, respectively.

Therefore, by adopting the laser radar monitoring system in the embodiment, signals can be correctly transmitted to the corresponding modules or units, and then each laser radar to be detected can be started asynchronously by controlling the on or off of the switch unit, the performance of each laser radar to be detected under the corresponding working parameters can be monitored in a time-sharing manner, and the accuracy of the monitoring result can be improved by enabling the laser radars to be detected which work simultaneously not to generate interference.

In some embodiments of the present description, the test data for each lidar output includes at least one of:

point cloud data relating to the target; status data associated with the lidar.

More specifically, the point cloud data includes at least one of: distance information; reflectivity information; dot frequency information; noise information.

The status data includes at least one of: synchronizing the angle information; rotational speed information; starting time information; outputting voltage information; and outputting temperature information.

In order to facilitate understanding and implementation of the process of monitoring each lidar to be tested by the lidar monitoring system in the above embodiments, the following detailed description will be given by way of specific examples.

Example 1: for any laser radar to be tested, when the laser radar detects the same target plate (assuming that the target plate is a diffuse reflection plate) in different working parameters (including at least two of voltage signals, ambient temperature and synchronous state), corresponding distance information and reflectivity information can be output to the data processing and control module. The data processing and controlling module can respectively compare the distance information and the reflectivity information with preset distance information and preset reflectivity information, and when the distance information and the preset distance information are the same or the difference value of the distance information and the preset distance information is within a preset distance difference value range, or the reflectivity information and the preset reflectivity information are the same or the difference value of the reflectivity information and the preset reflectivity information is within a preset reflectivity difference value range, the laser radar to be tested is determined to be capable of working normally under corresponding working parameters; when the distance information is determined to be different from the set distance information and the difference value of the distance information and the set distance information is not in the preset distance difference value range, or the reflectivity information is determined to be different from the set reflectivity information and the difference value of the distance information and the set reflectivity information is not in the preset reflectivity difference value range, the problem that the reflectivity of the laser radar to be detected is abnormal (including the detected reflectivity is inaccurate or the reflectivity of the target object cannot be detected) and/or the problem that the ranging accuracy is abnormal (including the detected distance value is inaccurate or the distance of the target object cannot be detected) are determined under corresponding working parameters.

Example 2: for any laser radar to be detected, when the laser radar detects the same target plate at different working parameters, point frequency information corresponding to a laser radar detection channel can be output to the data processing and control module. The data processing and control module can compare the point frequency information with the pre-stored point frequency information, and when the point frequency information is identical to the set point frequency information, the detection channels of the laser radar to be detected can be determined to work normally under the corresponding working parameters, so that the point loss problem is avoided; or when the point frequency information is different from the point frequency information, determining that the laser radar has the point loss problem, and simultaneously, when the point cloud data does not exist at a vertical view field angle, and determining that the corresponding detection channel of the laser radar to be detected fails under the corresponding working parameters, namely that the laser radar to be detected has a blind line problem.

For example, as shown in fig. 8, the sub-graph (a) is a schematic diagram of point cloud distribution when each detection channel of the laser radar to be detected works normally, and as can be seen from the sub-graph (a), each detection channel can output point frequency information. As can be seen from comparison of the sub-graphs (a) and (b), a certain detection channel (such as detection channel X in the graph) of the laser radar to be detected cannot output point frequency information, so that the problem of line-out of the detection channel X of the laser radar to be detected under corresponding working parameters can be judged.

Example 3: for any laser radar to be tested, when the laser radar detects the same target plate at different working parameters, corresponding test data can be output to the data processing and control module. When the data processing and control module determines that the test data of the laser radar to be tested has data completely different from the set test data (for example, the test data comprises other data irrelevant to the target board), the noise problem of the laser radar to be tested under the corresponding working parameters is determined.

Example 4: for each laser radar to be tested, when the laser radar to be tested works under different working parameters, the set rotation angle value of the laser radar to be tested at the time t1 is assumed to be A, and the actual angle value output to the data processing and control module at the time t1 is assumed to be A1', so that the synchronous angle deviation degree of the laser radar to be tested can be determined, the value of the synchronous angle deviation degree is delta A=A1' -A1, and further the synchronous angle value of the corresponding laser radar to be tested can be compensated according to delta A.

Example 5: for each laser radar to be tested, when the laser radar to be tested works under different working parameters, each laser radar to be tested is assumed to output corresponding rotating speed information (including the highest rotating speed, the lowest rotating speed and the average rotating speed) to the data processing and control module in a certain period, and when the data processing and control module determines that the highest rotating speed of the laser radar to be tested is higher than the preset upper limit rotating speed or the lowest rotating speed of the laser radar to be tested is higher than the first preset lower limit rotating speed, the rotating speed of the laser radar to be tested is determined to be abnormal under the current working parameters, and then the corresponding laser radar to be tested can be overhauled.

Example 6: for each lidar to be tested, the start time is determined by monitoring the test data output by the lidar according to different start modes (hard start, soft start as described above). For example, for a hard start mode, it is assumed that the time for acquiring the operating voltage output by the voltage regulation module is t _get The time for outputting the test data to the data processing and control module is t _on The start time Δt of each lidar to be tested can be considered ₁ ＝t _on -t _get If the data processing and control module determines the start time deltat ₁ Significantly longer than the set start-up time t _ref1 And determining the starting abnormality of the corresponding laser radar to be detected, and checking software/hardware related to the starting time of the laser radar to be detected.

In addition, the switching time of the working modes of the laser radar can be determined, and the specific laser radar can be provided with various working modes, such as a high-performance working mode and a low-performance working mode, wherein the high-performance working mode has higher resolution and rotating speed, and further has high point frequency; the low performance mode of operation has a lower resolution and/or rotational speed and thus a lower dot frequency. The laser radar can be internally provided with a program to switch the working modes, and the working mode switching time is determined by monitoring the test data output by the laser radar. If the data processing and control module determines the working mode switching time t ₂ Is obviously longer than the set working mode switching time t _ref2 And determining the abnormal switching of the working modes of the corresponding laser radar to be detected, and checking software/hardware related to the switching time of the working modes of the laser radar to be detected.

Example 7: for each laser radar to be tested, a voltage signal is input to the laser radar to be tested, a voltage value corresponding to the laser radar can be passively output (after a request is sent to the radar), and when the data processing and control module determines that the output voltage information (including information such as voltage, frequency and the like) of the laser radar to be tested deviates obviously from the voltage information corresponding to the voltage regulation signal, the corresponding laser radar to be tested is determined to be abnormal.

Example 8: for each laser radar to be tested, different environmental temperatures are provided for the laser radar to be tested, temperature information corresponding to the laser radar can be passively output (after a request is sent to the radar), and when the data processing and control module determines that the output temperature information (including a temperature value) of the laser radar to be tested deviates obviously from the temperature information corresponding to the voltage regulation signal, the corresponding laser radar to be tested is determined to be abnormal.

It should be noted that examples 1 to 8 only illustrate some of the performance monitoring items of the lidar monitoring system. In a specific embodiment, the performance monitoring items described above may be extended according to actual requirements, for example, the output power of the lidar to be tested may also be monitored. Based on this, the specific performance of the lidar to be tested can be selectively monitored, which is not limited in the embodiments of the present specification.

In a specific implementation, to realize continuous monitoring of the detection performance of each lidar to be detected, as shown in fig. 7, the lidar monitoring system may further include: the cloud server 250, coupled to the data processing and control module 210, is adapted to store the monitoring result obtained from the data processing and control module 210.

Specifically, the data processing and control module 210 can output and store the test data of each lidar to be tested to the cloud server 250, and can perform centralized monitoring on a plurality of lidar test data to be tested, and maintain the lidar to be tested according to the corresponding monitoring result.

In a specific implementation, in order to realize the uploading of the test data, wireless communication units such as bluetooth, wireless network (WiFi), near field communication (Near Filed Communication, NFC), zigBee (ZigBee), wireless local area network (Wireless Local Area Network, WLAN) and the like may be disposed on the data processing and control module, and the wireless communication units may perform wireless communication with the cloud server through the wireless communication units, so that the test data of each laser radar to be tested under the corresponding working parameters is uploaded to the cloud server.

It can be understood that the data processing and control module and the cloud server can adopt a wired communication mode to upload test data of each laser radar to be tested under corresponding working parameters to the cloud server.

In the actual monitoring process, in order to facilitate the experimenter to more intuitively obtain the operation state of each laser radar to be tested under the current working parameters, with continued reference to fig. 7, the laser radar monitoring system may further include: a data display module 260, coupled to the data processing and control module 210, is adapted to display the monitoring results obtained from the data processing and control module 210.

As a specific example, the data display module may be an upper computer. In other embodiments, the data display module may be a display screen or other display device capable of displaying images and/or text.

Although the embodiments of the present specification are disclosed above, however, the present utility model is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the utility model, and the scope of the utility model should be assessed accordingly to that of the appended claims.

Claims

1. A lidar monitoring system for monitoring the operational status of a plurality of lidars to be tested, the monitoring system comprising: a parameter adjusting module and a data processing and controlling module, wherein:

The parameters are the adjusting module is used for adjusting the adjusting module, comprising the following steps: and at least two of the voltage regulating unit, the temperature regulating unit and the synchronizing unit are suitable for responding to the parameter regulating signals and outputting corresponding working parameters, so that each laser radar to be tested outputs corresponding test data under the corresponding working parameters.

2. The monitoring system according to claim 1, wherein the voltage adjusting unit is adapted to output a corresponding voltage signal to each lidar to be tested in response to the voltage adjusting signal output by the data processing and controlling module, so that each lidar to be tested outputs test data at a corresponding operating voltage;

the temperature adjusting unit is suitable for accommodating each laser radar to be tested, and provides the environment temperature required by the test for each laser radar to be tested according to the temperature adjusting signal output by the data processing and control module, so that each laser radar to be tested outputs test data at the corresponding temperature;

3. The monitoring system of claim 1, wherein the parameter adjustment module comprises:

4. A monitoring system according to claim 3, further comprising:

the temperature adjusting module is suitable for accommodating each laser radar to be tested, and providing the environment temperature required by the test for each laser radar to be tested, so that each laser radar to be tested outputs test data at the corresponding temperature.

5. The monitoring system of any one of claims 2 to 4, further comprising: the switch module is arranged between the voltage regulating unit and each laser radar to be tested and is coupled with the data processing and control module;

6. The monitoring system according to claim 5, wherein the switch module comprises a plurality of switch units, each switch unit is connected with each laser radar to be tested in a one-to-one correspondence;

7. The monitoring system of claim 2, further comprising:

the first temperature detection module is arranged inside the temperature regulation unit, is suitable for detecting the temperature in the temperature regulation unit and outputting a corresponding first temperature detection signal;

8. The monitoring system of claim 2, further comprising:

the second temperature detection modules are respectively arranged in the corresponding laser radars to be detected, are suitable for detecting the temperature of each laser radar to be detected and output a plurality of corresponding second temperature detection signals;

9. The monitoring system of claim 2, further comprising:

the target plates are arranged on the emergent light paths of the laser radars to be tested;

the temperature adjustment unit includes:

the box body is suitable for accommodating all the laser radars to be tested;

the temperature regulator is arranged in the box body and is suitable for providing the environment temperature required by the test for each laser radar to be tested according to the temperature regulating signal;

the light transmission window is arranged on one side of the box body, which is close to the target plate, and is suitable for transmitting detection light beams output by each laser radar to be detected and transmitting echo light beams reflected from the target plate.

10. The monitoring system of claim 9, wherein the temperature adjustment unit further comprises: the plurality of clapboards are arranged in the box body and are layered along the vertical direction so as to respectively place the laser radars to be tested.

11. The system of claim 1, wherein the data processing and control module is further adapted to output a corresponding monitoring result by comparing test data of each lidar under test.

12. The monitoring system of claim 1, wherein the data processing and control module is further adapted to control the number of lidars under test operating simultaneously so that no interference occurs between each lidar under test.

13. The monitoring system of claim 1, further comprising:

14. The radar monitoring system of claim 1, further comprising:

and the cloud server is coupled with the data processing and control module and is suitable for storing the monitoring result obtained from the data processing and control module.

15. The monitoring system of claim 1, wherein the test data comprises at least one of: