WO2020000124A1 - 激光雷达连接状态的监测方法、激光雷达及上位机 - Google Patents

激光雷达连接状态的监测方法、激光雷达及上位机 Download PDF

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Publication number
WO2020000124A1
WO2020000124A1 PCT/CN2018/092565 CN2018092565W WO2020000124A1 WO 2020000124 A1 WO2020000124 A1 WO 2020000124A1 CN 2018092565 W CN2018092565 W CN 2018092565W WO 2020000124 A1 WO2020000124 A1 WO 2020000124A1
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WIPO (PCT)
Prior art keywords
lidar
heartbeat packet
host computer
upper computer
computer
Prior art date
Application number
PCT/CN2018/092565
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English (en)
French (fr)
Inventor
龙承辉
李涛
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880008308.7A priority Critical patent/CN110235016A/zh
Priority to PCT/CN2018/092565 priority patent/WO2020000124A1/zh
Publication of WO2020000124A1 publication Critical patent/WO2020000124A1/zh
Priority to US17/118,514 priority patent/US20210099370A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
    • H04L43/0811—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking connectivity
    • 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
    • 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
    • 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
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route

Definitions

  • the present application relates to the field of lidar technology, and in particular, to a method for monitoring a lidar connection state, a lidar, and a host computer.
  • the common communication method of lidar is Ethernet connection, and User Datagram Protocol (UDP) is used for communication.
  • UDP is an efficient but unreliable communication method. The sender of the data cannot know the data being sent. Whether it was received normally.
  • the present application provides a method for monitoring the connection status of a lidar, a lidar, and a host computer. During the data transmission process, the connection status of the lidar and the host computer is monitored.
  • an embodiment of the present application provides a method for monitoring a lidar connection state.
  • the method for monitoring a lidar connection state may include:
  • the address information and the port identifier of the host computer are sent after the host computer obtains the lidar identification code
  • connection confirmation message is used to indicate that the lidar and the host computer have successfully established a connection
  • the heartbeat packet or the heartbeat packet it is determined whether the lidar and the host computer are normally connected, so as to determine whether to continue transmitting data, so that during the data transmission process, the connection status of the lidar and the host computer is monitored.
  • an embodiment of the present application further provides a method for monitoring a lidar connection state.
  • the method for monitoring a lidar connection state may include:
  • connection confirmation message is used to indicate that the connection between the lidar and the host computer is successfully established
  • the heartbeat packet or the heartbeat packet it is determined whether the lidar and the host computer are normally connected to determine whether to continue transmitting data, so that during the data receiving process, the connection status of the lidar and the host computer is monitored.
  • an embodiment of the present application further provides a laser radar, which may include:
  • a receiver configured to receive address information and a port identifier of the host computer sent by the host computer; the address information and the port identifier of the host computer are sent after the host computer obtains a lidar identification code;
  • a sender configured to send a connection confirmation message to the host computer;
  • the connection confirmation message is used to indicate that the lidar and the host computer have successfully established a connection;
  • the transmitter is further configured to send a data packet to the upper computer according to the address information of the upper computer and the port identifier;
  • a processor configured to determine whether the lidar and the upper computer are connected normally through a heartbeat packet or a heartbeat packet to determine whether to continue transmitting data, thereby realizing the connection between the lidar and the upper computer in the data sending process Condition monitoring.
  • an embodiment of the present application further provides a host computer, and the host computer may include:
  • a receiver configured to receive a connection confirmation message sent by the lidar; the connection confirmation message is used to indicate that the connection between the lidar and the host computer is successfully established;
  • the receiver is further configured to receive a data packet sent by the lidar, where the data packet is sent by the lidar according to the address information of the upper computer and the port identifier;
  • the processor is further configured to determine, through a heartbeat packet or a heartbeat packet, whether the lidar and the host computer are normally connected to determine whether to continue to transmit data, so that during the data receiving process, the lidar and the host computer are implemented. Monitoring of connection status.
  • an embodiment of the present application further provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the laser radar shown in the first aspect is executed. Method of monitoring connection status.
  • an embodiment of the present application further provides a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by a processor, the laser radar shown in the second aspect is executed. Method of monitoring connection status.
  • a method for monitoring a lidar connection state, a lidar, and a host computer provided by the embodiments of the present invention.
  • the host computer After receiving the identification code broadcast by the lidar, the host computer sends the address information and port identifier of the host computer to the lidar; After receiving the address information and port identification of the host computer, it sends a connection confirmation message to the host computer to indicate that the connection is successfully established; after that, the lidar sends a data packet to the host computer according to the address information and port identifier of the host computer, thereby achieving Data transmission between the lidar and the host computer;
  • the lidar can also determine the lidar and the host computer through a heartbeat packet or a heartbeat return packet Whether the connection is normal; and the host computer determines whether the lidar and the host computer are connected normally through the heartbeat packet or the heartbeat packet, so as to determine whether to continue to transmit data, thereby realizing the connection status of the
  • FIG. 1 is a schematic structural diagram of a lidar provided by the prior art
  • FIG. 2 is a schematic diagram of a method for monitoring a lidar connection state according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of another method for monitoring a lidar connection state according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of determining whether a lidar and a host computer are connected normally through a heartbeat packet or a heartbeat packet according to an embodiment of the present application;
  • FIG. 5 is another schematic diagram for determining whether a lidar and a host computer are connected normally through a heartbeat packet or a heartbeat packet according to an embodiment of the present application;
  • FIG. 6 is a schematic structural diagram of a laser radar according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a host computer according to an embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a lidar provided in the prior art. Includes laser 101, lens 102, controller 103, first motor 104, second motor 105, first prism 106, second prism 107, beam splitter 108, receiver 109, and time of flight (TOF) module 110, where the receiver 109 includes a photodiode, for example, it may be an Avalanche PhotoDiode (APD).
  • APD Avalanche PhotoDiode
  • the laser of the lidar converts the electrical pulse signal into a divergent light pulse signal
  • the lens converts the divergent light pulse signal into a parallel light pulse signal
  • the controller set at (In the chip) the rotation of the first prism is controlled by the first motor
  • the rotation of the second prism is controlled by the second motor
  • the differential rotation of the first prism and the second prism is used to change the light emitted after passing through the first prism and the second prism
  • the reflected light pulse signal is split by the beam splitter and enters the receiver (including APD).
  • the receiver will The light pulse signal is converted into an electric pulse signal, and the distance between the lidar and the target is calculated by TOF (set in the chip).
  • TOF set in the chip.
  • the lidar detects the distance to the target, the lidar needs to transmit the distance data packet to PC.
  • the host computer obtains the distance information of the target. It can be seen that in the process of data packet transmission, how to monitor the connection status of the lidar and the host computer becomes particularly important.
  • FIG. 2 is a schematic diagram of a method for monitoring a lidar connection state according to an embodiment of the present application.
  • the method for monitoring a lidar connection state may include:
  • the lidar broadcasts the lidar identification code in the local area network.
  • the identification code corresponds to the laser radar one-to-one.
  • the identification code may be a serial number of the lidar, of course, it may also be a lidar identification, as long as it can be used to identify the lidar, and the identification code and the lidar are in one-to-one correspondence.
  • the lidar After the lidar is powered on, it will broadcast its own identification code to all upper computers in the local area network, so that the upper computer in the local area network receives the lidar identification code.
  • the host computer After the host computer receives the lidar identification code broadcasted by the lidar in the local area network, it executes the following S202:
  • the host computer sends the address information and port identifier of the host computer to the lidar.
  • the address information and port identification of the upper computer are sent after the upper computer obtains the identification code of the laser radar.
  • the host computer may be a terminal device with communication capabilities.
  • the host computer may be a terminal device such as a mobile phone or a tablet computer.
  • the address information can be IP address information, and the port identifier is used to identify the port on which the upper computer receives data.
  • the host computer After the host computer receives the identification code broadcasted by the lidar through S201, it returns the address information and data receiving port of the host computer to the lidar, so that the lidar executes after receiving the address information and port identification of the host computer sent by the host computer.
  • S203 After the host computer receives the identification code broadcasted by the lidar through S201, it returns the address information and data receiving port of the host computer to the lidar, so that the lidar executes after receiving the address information and port identification of the host computer sent by the host computer.
  • the lidar sends a connection confirmation message to the upper computer.
  • the connection confirmation message may be an acknowledgment (ACK), which is used to indicate that the connection between the lidar and the host computer is successfully established.
  • ACK acknowledgment
  • the lidar After receiving the address information and port identification of the host computer sent by the host computer through S202, the lidar sends a connection confirmation message to the host computer so that the host computer can determine that the connection between the lidar and the host computer is successfully established according to the connection confirmation message.
  • the lidar sends a data packet to the upper computer according to the address information and the port identifier of the upper computer.
  • the lidar After the lidar is connected to the host computer, the lidar can send data packets to the host computer according to the address information and port identification of the host computer, so that the host computer can receive the data packets sent by the lidar, thereby realizing the lidar. Data transmission to and from the host computer.
  • the lidar determines whether the connection between the lidar and the host computer is normal through the heartbeat packet or the heartbeat packet.
  • the host computer determines whether the connection between the lidar and the host computer is normal through the heartbeat packet or the heartbeat packet.
  • whether the lidar and the host computer are normally connected can be determined through two possible implementation modes: a heartbeat packet or a heartbeat return packet. Specifically, when the lidar determines whether the lidar and the host computer are connected normally through the heartbeat packet, the host computer determines whether the lidar and the host computer are connected normally through the heartbeat packet; when the lidar determines the lidar and the host computer through the heartbeat packet, When the connection of the host computer is normal, correspondingly, the host computer determines whether the lidar and the host computer are connected normally through the heartbeat packet, thereby determining whether to continue transmitting data.
  • S205 and S206 there is no sequence between S205 and S206, and S205 and S206 may be executed first, and S206 and S205 may be executed first. Of course, they may also be executed simultaneously. S205 and S206.
  • the embodiment of the present application only uses S205 and S206 as an example for description, but it does not mean that the embodiment of the present application is limited to this.
  • the host computer after receiving the lidar broadcast identification code, the host computer sends the lidar address information and port identification to the lidar; so that the lidar receives the address of the host computer
  • the upper computer sends a connection confirmation message indicating that the connection is successfully established; after that, the lidar sends a data packet to the upper computer according to the address information and port identification of the upper computer, thereby realizing the lidar and the upper computer.
  • the lidar can also determine whether the lidar and the host computer are connected normally through the heartbeat packet or the heartbeat return packet; and the host computer The machine determines whether the connection between the lidar and the upper computer is normal through the heartbeat packet or the heartbeat packet, so as to determine whether to continue transmitting data, so that during the data transmission process, the connection status of the lidar and the upper computer is monitored.
  • FIG. 3 is a schematic diagram of another method for monitoring a lidar connection state according to an embodiment of the present application.
  • the method for monitoring a lidar connection state may further include:
  • the lidar After the lidar is powered on, it broadcasts its own identification code to the upper computer in the local area network. It should be noted that, in the embodiment of the present application, when the lidar broadcasts its own identification code, it is not always in the state of broadcasting the identification code, but rather According to the received host computer's address information and port identification, it is determined that the lidar and the host computer determine that the connection is successfully established, and then stop broadcasting its own identification code. This can effectively avoid data congestion caused by too much broadcast data in the local area network.
  • the method for monitoring the lidar connection status may further include:
  • the laser radar After receiving the address information and port identification of the upper computer sent by the upper computer, the laser radar can save the address information and port identification of the upper computer, so that the address information and port identification of the upper computer can be obtained directly by query later, and It is no longer necessary to obtain the address information and port identification of the upper computer by establishing a connection, so that a data packet is transmitted to the upper computer according to the address information and port identification of the upper computer.
  • S205-S206 may be replaced by S401-S407.
  • S205-S206 can be replaced by S501-S507.
  • FIG. 4 is a schematic diagram of determining whether a lidar and a host computer are normally connected through a heartbeat packet or a heartbeat packet according to an embodiment of the present application.
  • the method may include:
  • the host computer sends a heartbeat packet to the lidar.
  • the host computer can send a heartbeat packet to the lidar, so that after receiving the heartbeat packet sent by the host computer, the lidar can determine whether the connection between the lidar and the host computer is normal according to the heartbeat packet.
  • the lidar receives the next heartbeat packet within the first preset time period according to the sending time of the next heartbeat packet.
  • the sending time of the next heartbeat packet included in the heartbeat packet can be expressed in at least two ways.
  • One way is: the sending time of the next heartbeat packet is directly the time when the upper computer sends the next heartbeat packet;
  • the sending time of the next heartbeat packet is the interval between the time when the upper computer sends the next heartbeat packet and the time when the upper computer sends the current heartbeat packet, so as to send the next heartbeat packet according to the The interval between the time and the time when the host computer sends this heartbeat packet determines the sending time of the next heartbeat packet.
  • the first preset time period can be set according to the sending time of the next heartbeat packet. For example, when the sending time of the next heartbeat packet is sent by the host computer to send the next heartbeat packet and the host computer sends the heartbeat this time
  • the interval between packet times is indicated, and when the interval is 2 seconds, the first preset time period can be set to: 2.1 seconds, or 2.2 seconds, or 2.3 seconds, ..., or 4.9 seconds, or 5.0 Second, of course, the embodiment of the present application only uses this as an example for explanation.
  • the specific setting of the first preset time period is not limited in the embodiment of the present application.
  • the lidar if the lidar does not receive the next heartbeat packet within the first preset time period, it indicates that the lidar is abnormally connected to the host computer; on the contrary, if the lidar receives within the first preset time period To the next heartbeat packet, the lidar and the host computer are connected normally.
  • S403 may further include:
  • the connection between the lidar and the host computer is disconnected.
  • the lidar enters a low power consumption mode, and returns to execute the S201 lidar to broadcast the lidar identification code in the local area network. To try to re-establish the connection with the host computer.
  • the above S401-S404 describe how the lidar determines whether the lidar and the host computer are connected normally according to the heartbeat packet sent by the host computer.
  • the lidar can also send a heartbeat packet back to the host computer. So that the host computer can determine whether the connection between the lidar and the host computer is normal according to the heartbeat packet sent by the lidar.
  • the lidar sends a heartbeat packet to the host computer.
  • S402-S404 there is no sequence between S402-S404 and S405, S402-S404 can be executed first, and then S405 can be executed; S405 can be executed first, and then S402-S404 can be executed.
  • S402-S404 and S405 can be performed at the same time.
  • the embodiment of the present application only uses S402-S404 and then S405 as an example for illustration, but it does not mean that the embodiment of the present application is limited to this.
  • the lidar After receiving the heartbeat packet sent by the host computer, the lidar can send a corresponding heartbeat packet to the host computer, so that the host computer can determine the lidar and the host computer according to the heartbeat packet after receiving the heartbeat packet sent by the lidar. Whether the machine connection is normal.
  • the setting method of the second preset time period is not unique.
  • the second preset time period can be set to: 1.0 seconds, or 1.1 seconds, or 1.2 seconds, ..., or 4.9 seconds, or 5.0 seconds.
  • the embodiment of the present application only uses this as an example for explanation.
  • the specific setting of the second preset time period is not limited in the embodiment of the present application.
  • the host computer does not receive the heartbeat packet within the second preset time period, it indicates that the lidar is abnormally connected to the host computer; on the contrary, if the host computer is normal within the second preset time period When the heartbeat packet is received, the lidar and the host computer are connected normally.
  • the host computer can also determine the time of receiving the heartbeat packet and the reception time of the last heartbeat packet. The interval time determines whether there is packet loss.
  • S406 determines that the lidar is abnormally connected to the host computer, it may further include:
  • the connection between the lidar and the host computer is disconnected.
  • the lidar enters a low power consumption mode, and returns to execute the S201 lidar to broadcast the lidar identification code in the local area network.
  • the host computer will also return to execute the step of receiving the lidar identification code broadcasted by the lidar in the local area network, thereby attempting to re-establish a connection with the host computer, so that during the data transmission process, the lidar can be determined by the heartbeat packet. Whether the lidar and the host computer are connected normally, and the host computer can determine whether the lidar and the host computer are connected normally through the heartbeat packet, and the connection status of the lidar and the host computer is monitored.
  • FIG. 4 described in detail the technical solution of how the lidar determines whether the lidar and the upper computer are connected normally through the heartbeat packet, and how the upper computer determines whether the lidar and the upper computer are connected normally through the heartbeat packet.
  • the technical solution when the lidar determines whether the lidar and the upper computer are connected normally through the heartbeat packet, and the upper computer determines whether the lidar and the upper computer are connected normally through the heartbeat packet please refer to FIG. 5, which is shown in FIG. 5 Another schematic diagram provided by the embodiment of the application to determine whether the connection between the lidar and the upper computer is normal through a heartbeat packet or a heartbeat packet.
  • the method may further include:
  • the lidar sends a heartbeat packet to the host computer.
  • the lidar When determining whether the connection between the lidar and the host computer is normal, the lidar can send a heartbeat packet to the host computer, so that after receiving the heartbeat packet sent by the lidar, the host computer can determine whether the lidar and the host computer are connected normally according to the heartbeat packet.
  • the host computer receives the next heartbeat packet within the first preset time period according to the sending time of the next heartbeat packet.
  • the sending time of the next heartbeat packet included in the heartbeat packet can be expressed in at least two ways.
  • One way is: the sending time of the next heartbeat packet is directly the time when the next heartbeat packet is sent by the lidar;
  • Another method is: the sending time of the next heartbeat packet is the interval between the time when the lidar sends the next heartbeat packet and the time when the lidar sends the current heartbeat packet, so that the next heartbeat packet is sent according to the The interval between the time and the time when the lidar sends the current heartbeat packet to determine the sending time of the next heartbeat packet.
  • the first preset time period can be set according to the sending time of the next heartbeat packet. For example, when the sending time of the next heartbeat packet is the time when the next heartbeat packet is sent by the lidar and the current heartbeat is sent by the lidar The interval between packet times is indicated, and when the interval is 2 seconds, the first preset time period can be set to: 2.1 seconds, or 2.2 seconds, or 2.3 seconds, ..., or 4.9 seconds, or 5.0 Second, of course, the embodiment of the present application only uses this as an example for explanation. The specific setting of the first preset time period is not limited in the embodiment of the present application.
  • the host computer if the host computer does not receive the next heartbeat packet within the first preset time period, it indicates that the lidar is abnormally connected to the host computer; on the contrary, if the host computer receives the first heartbeat packet within the first preset time period, To the next heartbeat packet, the lidar and the host computer are connected normally.
  • S503 determines that the lidar is abnormally connected to the host computer, it may further include:
  • the above S501-S504 describes how the host computer determines whether the lidar and the host computer are connected normally according to the heartbeat packet sent by the lidar.
  • the host computer can also send a heartbeat packet to the lidar.
  • the lidar can determine whether the lidar and the host computer are connected normally according to the heartbeat packet sent by the host computer, please refer to the following S505-S507.
  • the host computer sends a heartbeat packet to the lidar.
  • the host computer After receiving the heartbeat packet sent by the lidar, the host computer can send a corresponding heartbeat packet to the lidar, so that after receiving the heartbeat packet sent by the host computer, the lidar can determine the lidar and the host computer according to the heartbeat packet. Whether the machine connection is normal.
  • the setting method of the second preset time period is not unique.
  • the second preset time period can be set to: 1.0 seconds, or 1.1 seconds, or 1.2 seconds, ..., or 4.9 seconds, or 5.0 seconds, of course,
  • the embodiment of the present application only uses this as an example for explanation.
  • the specific setting of the second preset time period is not limited in the embodiment of the present application.
  • the lidar if the lidar does not receive a heartbeat packet within the second preset time period, it indicates that the lidar is abnormally connected to the host computer; on the contrary, if the lidar is normal within the second preset time period When the heartbeat packet is received, the lidar and the host computer are connected normally.
  • the lidar can also calculate the reception time of the heartbeat packet and the reception of the previous heartbeat packet. The time interval determines whether there is packet loss.
  • S506 determines that the lidar is abnormally connected to the host computer, it further includes:
  • the connection between the lidar and the host computer is disconnected.
  • the lidar enters a low power consumption mode, and returns to execute the S201 lidar to broadcast the lidar identification code in the local area network.
  • the host computer will also return to the step of receiving the lidar identification code broadcasted by the lidar in the local area network, so as to try to re-establish the connection with the host computer, so that the host computer can determine through the heartbeat packet during the data transmission process. Whether the lidar and the upper computer are connected normally, and the lidar can determine whether the lidar and the upper computer are connected normally through the heartbeat packet, and the connection status of the lidar and the upper computer is monitored.
  • FIG. 6 is a schematic structural diagram of a laser radar 60 according to an embodiment of the present application.
  • the laser radar 60 may include:
  • the receiver 601 is configured to receive address information and a port identifier of the upper computer sent by the upper computer.
  • the sender 602 is configured to send a connection confirmation message to the upper computer; the connection confirmation message may be an acknowledgment (ACK) and is used to indicate that the lidar 60 and the upper computer have successfully established a connection.
  • ACK acknowledgment
  • the transmitter 602 is further configured to send a data packet to the upper computer according to the address information and the port identifier of the upper computer.
  • the processor 603 is configured to determine whether the connection between the lidar 60 and the host computer is normal through the heartbeat packet or the heartbeat packet.
  • the address information and port identification of the host computer are sent after the host computer obtains the identification code of the lidar 60; the processor 603 is also used to broadcast the identification code of the lidar 60 in the local area network; the identification code and the laser The radars 60 correspond to each other.
  • the receiver 601 is further configured to receive a heartbeat packet sent by a host computer.
  • the processor 603 is specifically configured to determine whether the laser radar 60 and the upper computer are normally connected according to the heartbeat packet sent by the upper computer.
  • the heartbeat packet includes the sending time of the next heartbeat packet; the receiver 601 is further configured to receive the next heartbeat packet within the first preset time period according to the sending time of the next heartbeat packet.
  • the processor 603 is specifically configured to determine that the lidar 60 is abnormally connected to the host computer if the next heartbeat packet is not received within the first preset time period.
  • the processor 603 is further configured to return to the step of broadcasting the identification code of the lidar 60 in the local area network.
  • the heartbeat packet includes the sending time of the next heartbeat packet; the receiver 601 is further configured to receive the next heartbeat packet within the first preset time period according to the sending time of the next heartbeat packet.
  • the processor 603 is specifically configured to determine that the laser radar 60 and the host computer are normally connected if the next heartbeat packet is received within the first preset time period.
  • the transmitter 602 is further configured to send a heartbeat packet back to the upper computer.
  • the transmitter 602 is further configured to send a heartbeat packet to an upper computer.
  • the receiver 601 is further configured to receive a heartbeat packet sent by a host computer.
  • the processor 603 is specifically configured to determine whether the laser radar 60 and the upper computer are normally connected according to the heartbeat packet sent by the upper computer.
  • the processor 603 is specifically configured to determine that the lidar 60 is abnormally connected to the host computer if the heartbeat packet is not received within the second preset time period.
  • the processor 603 is further configured to return to the step of broadcasting the identification code of the lidar 60 in the local area network.
  • the processor 603 is specifically configured to determine that the lidar 60 and the host computer are normally connected if a heartbeat packet is received within the second preset time period.
  • the processor 603 is further configured to stop broadcasting the identification code of the lidar 60.
  • the processor 603 is further configured to save address information and a port identifier of the upper computer.
  • the above-mentioned lidar 60 may correspondingly execute the technical solution of the method for monitoring the connection status of the lidar 60 on the lidar 60 side of any embodiment, and its implementation principles and technical effects are similar, and details are not described herein again.
  • FIG. 7 is a schematic structural diagram of a host computer 70 according to an embodiment of the present application.
  • the host computer 70 may include:
  • the transmitter 701 is configured to send address information and a port identifier of the host computer 70 to the laser radar.
  • the receiver 702 is configured to receive a connection confirmation message sent by the lidar; the connection confirmation message may be an acknowledgment (ACK) and is used to indicate that the connection between the lidar and the host computer 70 is successfully established.
  • ACK acknowledgment
  • the receiver 702 is further configured to receive a data packet sent by the lidar.
  • the data packet is sent by the lidar according to the address information and the port identifier of the host computer 70.
  • the processor 703 is further configured to determine whether the connection between the lidar and the host computer 70 is normal through the heartbeat packet or the heartbeat packet.
  • the address information and port identification of the host computer 70 are sent after the host computer 70 obtains the identification code of the lidar; the receiver 702 is further configured to receive the identification code of the lidar broadcast by the lidar in the local area network; The identification code corresponds one-to-one with the lidar.
  • the transmitter 701 is further configured to send a heartbeat packet to the lidar.
  • the receiver 702 is further configured to receive a heartbeat packet sent by a lidar.
  • the processor 703 is specifically configured to determine whether the connection between the laser radar and the upper computer 70 is normal according to the heartbeat packet sent by the laser radar.
  • the processor 703 is specifically configured to determine that the upper computer 70 is abnormally connected to the lidar if the heartbeat packet is not received in the second preset time period.
  • the processor 703 is further configured to return to execute the step of receiving the identification code of the lidar broadcasted by the lidar in the local area network.
  • the processor 703 is specifically configured to determine that the lidar and the host computer 70 are normally connected if the heartbeat packet is normally received in the second preset time period.
  • the receiver 702 is further configured to receive a heartbeat packet sent by a laser radar.
  • the processor 703 is specifically configured to determine whether the connection between the lidar and the host computer 70 is normal according to the heartbeat packet sent by the lidar.
  • the heartbeat packet includes the sending time of the next heartbeat packet.
  • the receiver 702 is further configured to receive a next heartbeat packet within a first preset time period according to a sending time of the next heartbeat packet.
  • the processor 703 is specifically configured to determine that the upper computer 70 is abnormally connected to the lidar if the next heartbeat packet is not received within the first preset time period.
  • the processor 703 is further configured to return to execute the step of receiving the identification code of the lidar broadcasted by the lidar in the local area network.
  • the heartbeat packet includes the sending time of the next heartbeat packet.
  • the receiver 702 is configured to receive a next heartbeat packet within a first preset time period according to a sending time of the next heartbeat packet.
  • the processor 703 is specifically configured to, if the next heartbeat packet is received within the first preset time period, determine that the lidar and the host computer 70 are normally connected.
  • the transmitter 701 is further configured to send a heartbeat packet to the lidar.
  • the above-mentioned host computer 70 may correspondingly execute the technical solution of the method for monitoring the lidar connection state of the host computer 70 in any embodiment, and its implementation principles and technical effects are similar, and details are not described herein again.
  • An embodiment of the present application further provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the lidar on the lidar side shown in any of the foregoing embodiments is executed. Method of monitoring connection status.
  • An embodiment of the present application further provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the lidar on the upper computer side shown in any of the foregoing embodiments is executed. Method of monitoring connection status.

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Abstract

一种激光雷达连接状态的监测方法，包括：接收上位机发送的上位机的地址信息和端口标识；上位机的地址信息和端口标识是在上位机获取到激光雷达的标识码之后发送的；向上位机发送连接确认消息；连接确认消息用于指示激光雷达和上位机连接建立成功；根据上位机的地址信息和端口标识向上位机发送数据包；通过心跳包或心跳回包确定激光雷达和上位机连接是否正常。同时还提供一种激光雷达及上位机。在数据传输过程中，实现了对激光雷达和上位机的连接状态的监测。

Description

激光雷达连接状态的监测方法、激光雷达及上位机 技术领域
本申请涉及激光雷达技术领域，尤其涉及一种激光雷达连接状态的监测方法、激光雷达及上位机。
背景技术
目前，激光雷达常用的通信方式是以太网连接，并采用用户数据报协议(User Datagram Protocol，UDP)进行通信，UDP是一种高效但不可靠通信方式，数据的发送端无法获知被发送的数据是否被正常接收。
现有技术中，激光雷达向上位机发送数据包时，是通过广播的方式向局域网内的所有上位机广播该数据包，以使上位机获取到激光雷达广播的数据包。然而，在该数据包传输过程中，对于激光雷达和上位机而言，均不会监测对端设备是否正常工作，从而无法确定设备的连接状态是否异常。
发明内容
本申请提供一种激光雷达连接状态的监测方法、激光雷达及上位机，在数据传输过程中，实现对激光雷达和上位机的连接状态的监测。
第一方面，本申请实施例提供一种激光雷达连接状态的监测方法，该激光雷达连接状态的监测方法可以包括：
接收上位机发送的所述上位机的地址信息和端口标识；所述上位机的地址信息和所述端口标识是在所述上位机获取到激光雷达的标识码之后发送的；
向所述上位机发送连接确认消息；所述连接确认消息用于指示所述激光雷达和所述上位机连接建立成功；
根据所述上位机的地址信息和所述端口标识向所述上位机发送数据包；
通过心跳包或心跳回包确定所述激光雷达和所述上位机连接是否正常，以确定是否继续传输数据，从而在数据发送过程中，实现了对激光雷达和上 位机的连接状态的监测。
第二方面，本申请实施例还提供一种激光雷达连接状态的监测方法，该激光雷达连接状态的监测方法可以包括：
向激光雷达发送上位机的地址信息和端口标识；所述上位机的地址信息和所述端口标识是在所述上位机获取到激光雷达的标识码之后发送的；
接收所述激光雷达发送的连接确认消息；所述连接确认消息用于指示所述激光雷达和所述上位机连接建立成功；
接收所述激光雷达发送的数据包，所述数据包是所述激光雷达根据所述上位机的地址信息和所述端口标识发送的；
通过心跳回包或心跳包确定所述激光雷达和所述上位机连接是否正常，以确定是否继续传输数据，从而在数据接收过程中，实现了对激光雷达和上位机的连接状态的监测。
第三方面，本申请实施例还提供一种激光雷达，该激光雷达可以包括：
接收器，用于接收上位机发送的所述上位机的地址信息和端口标识；所述上位机的地址信息和所述端口标识是在所述上位机获取到激光雷达的标识码之后发送的；
发送器，用于向所述上位机发送连接确认消息；所述连接确认消息用于指示所述激光雷达和所述上位机连接建立成功；
所述发送器，还用于根据所述上位机的地址信息和所述端口标识向所述上位机发送数据包；
处理器，用于通过心跳包或心跳回包确定所述激光雷达和所述上位机连接是否正常，以确定是否继续传输数据，从而在数据发送过程中，实现了对激光雷达和上位机的连接状态的监测。
第四方面，本申请实施例还提供一种上位机，该上位机可以包括：
发送器，用于向激光雷达发送上位机的地址信息和端口标识；所述上位机的地址信息和所述端口标识是在所述上位机获取到激光雷达的标识码之后发送的；
接收器，用于接收所述激光雷达发送的连接确认消息；所述连接确认消息用于指示所述激光雷达和所述上位机连接建立成功；
所述接收器，还用于接收所述激光雷达发送的数据包，所述数据包是所 述激光雷达根据所述上位机的地址信息和所述端口标识发送的；
处理器，还用于通过心跳回包或心跳包确定所述激光雷达和所述上位机连接是否正常，以确定是否继续传输数据，从而在数据接收过程中，实现了对激光雷达和上位机的连接状态的监测。
第五方面，本申请实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，在所述计算机程序被处理器执行时，执行上述第一方面所示的激光雷达连接状态的监测方法。
第六方面，本申请实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，在所述计算机程序被处理器执行时，执行上述第二方面所示的激光雷达连接状态的监测方法。
本发明实施例提供的激光雷达连接状态的监测方法、激光雷达及上位机，上位机在接收到激光雷达广播的标识码之后，向激光雷达发送上位机的地址信息和端口标识；使得激光雷达在接收到上位机的地址信息和端口标识之后，向上位机发送用于指示连接建立成功的连接确认消息；之后，激光雷达再根据上位机的地址信息和端口标识向上位机发送数据包，从而实现激光雷达和上位机之间的数据传输；此外，激光雷达在根据上位机的地址信息和端口标识向上位机发送数据包之后，激光雷达还可以通过心跳包或心跳回包确定激光雷达和上位机连接是否正常；且上位机通过心跳回包或心跳包确定激光雷达和上位机连接是否正常，以确定是否继续传输数据，从而在数据传输过程中，实现了对激光雷达和上位机的连接状态的监测。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为现有技术提供的一种激光雷达的结构示意图；
图2为本申请实施例提供的一种激光雷达连接状态的监测方法的示意图；
图3为本申请实施例提供的另一种激光雷达连接状态的监测方法的示意 图；
图4为本申请实施例提供的一种通过心跳包或心跳回包确定激光雷达和上位机连接是否正常的示意图；
图5为本申请实施例提供的另一种通过心跳包或心跳回包确定激光雷达和上位机连接是否正常的示意图；
图6为本申请实施例提供的一种激光雷达的结构示意图；
图7为本申请实施例提供的一种上位机的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围，在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
本申请实施例提供的激光雷达连接状态的监测方法可以应用于激光雷达，示例的，请参见图1所示，图1为现有技术中提供的一种激光雷达的结构示意图，该激光雷达可以包括激光器101、透镜102、控制器103、第一电机104、第二电机105、第一棱镜106、第二棱镜107、分束器108、接收器109和飞行时间(Time of Flight，TOF)模块110，其中，接收器109包括光电二极管，例如，可以是雪崩光电二极管(Avalanche Photo Diode，APD)。以激光雷达探测与目标20之间的距离为例，激光雷达的激光器将电脉冲信号变成发散光脉冲信号，透镜将发散的光脉冲信号变成平行光脉冲信号发射出去，控制器(设置在芯片中)分别通过第一电机控制第一棱镜旋转，通过第二电机控制第二棱镜旋转，利用第一棱镜和第二棱镜的差速旋转，改变通过第一棱镜和第二棱镜后出射的光脉冲信号的方向，发射出去的光脉冲信号遇到目标之后，会反射回光脉冲信号，反射回来的光脉冲信号通过分束器进行分束并进入到接收器(包括APD)中，接收器将光脉冲信号转换成电脉冲信号，并通过TOF(设置在芯片中)计算激光雷达与目标之间的距离，当激光雷达探测到与目标之间的距离时，激光雷达需将距离数据包传输给上位机。 至此，上位机获得目标的距离信息。由此可见，在数据包的传输过程中，如何监测激光雷达与上位机的连接状态就显得尤为重要。
下面以具体的实施例对本发明的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程在某些实施例中不再赘述。下面将结合附图，对本发明的实施例进行描述。
图2为本申请实施例提供的一种激光雷达连接状态的监测方法的示意图，请参见图2所示，该激光雷达连接状态的监测方法可以包括：
S201、激光雷达在局域网内广播激光雷达的标识码。
其中，标识码与激光雷达一一对应。示例的，标识码可以为激光雷达的产品序列号，当然，也可以为激光雷达的标识，只要可以用于标识该激光雷达，且满足标识码与激光雷达一一对应即可。
激光雷达上电后，会向局域网内的所有上位机广播自己的标识码，以使局域网内的上位机接收该激光雷达的标识码。当上位机接收到激光雷达在局域网内广播的激光雷达的标识码之后，执行下述S202：
S202、上位机向激光雷达发送上位机的地址信息和端口标识。
其中，上位机的地址信息和端口标识是在上位机获取到激光雷达的标识码之后发送的。上位机可以为具有通信能力的终端设备，示例的，上位机可以为手机、平板电脑等终端设备。此外，地址信息可以为IP地址信息，端口标识用于标识上位机接收数据的端口。
上位机通过S201接收到激光雷达广播的标识码之后，向该激光雷达回复上位机的地址信息和数据接收端口，使得激光雷达在接收到上位机发送的上位机的地址信息和端口标识之后，执行下述S203：
S203、激光雷达向上位机发送连接确认消息。
其中，连接确认消息可以为确认字符(Acknowledgement，ACK)，用于指示激光雷达和上位机连接建立成功。
激光雷达通过S202接收到上位机发送的上位机的地址信息和端口标识之后，向上位机发送连接确认消息，以使上位机可以根据该连接确认消息确定激光雷达和上位机连接建立成功。
S204、激光雷达根据上位机的地址信息和端口标识向上位机发送数据 包。
在激光雷达和上位机建立连接之后，激光雷达就可以根据上位机发送的上位机的地址信息和端口标识向上位机发送数据包，以使上位机接收激光雷达发送的数据包，从而实现激光雷达和上位机之间的数据传输。
S205、激光雷达通过心跳包或心跳回包确定激光雷达和上位机连接是否正常。
S206、上位机通过心跳回包或心跳包确定激光雷达和上位机连接是否正常。
需要说明的是，在本申请实施例中，对于激光雷达和上位机而言，均可以通过心跳包或心跳回包这两种可能的实现方式确定激光雷达和上位机连接是否正常。具体为：当激光雷达通过心跳包确定激光雷达和上位机连接是否正常时，对应的，上位机通过心跳回包确定激光雷达和上位机连接是否正常；当激光雷达通过心跳回包确定激光雷达和上位机连接是否正常时，对应的，上位机通过心跳包确定激光雷达和上位机连接是否正常，从而确定是否继续传输数据。
此外，还需要说明的是，在本申请实施例中，S205和S206之间并无先后顺序，可以先执行S205，再执行S206，也可以先执行S206，再执行S205，当然，也可以同时执行S205和S206，在此，本申请实施例只是以先执行S205，再执行S206为例进行说明，但并不代表本申请实施例仅局限于此。
本发明实施例提供的激光雷达连接状态的监测方法，上位机在接收到激光雷达广播的标识码之后，向激光雷达发送上位机的地址信息和端口标识；使得激光雷达在接收到上位机的地址信息和端口标识之后，向上位机发送用于指示连接建立成功的连接确认消息；之后，激光雷达再根据上位机的地址信息和端口标识向上位机发送数据包，从而实现激光雷达和上位机之间的数据传输；此外，激光雷达在根据上位机的地址信息和端口标识向上位机发送数据包之后，激光雷达还可以通过心跳包或心跳回包确定激光雷达和上位机连接是否正常；且上位机通过心跳回包或心跳包确定激光雷达和上位机连接是否正常，以确定是否继续传输数据，从而在数据传输过程中，实现了对激光雷达和上位机的连接状态的监测。
可选的，在本申请实施例中，S202上位机向激光雷达发送上位机的地址信息和端口标识，使得激光雷达接收上位机发送的上位机的地址信息和端口标识之后，请参见图3所示，图3为本申请实施例提供的另一种激光雷达连接状态的监测方法的示意图，该激光雷达连接状态的监测方法还可以包括：
S301、停止广播激光雷达的标识码。
激光雷达在上电后，向局域网内的上位机广播自己的标识码，需要注意的是，本申请实施例中激光雷达在广播自己的标识码时，不是一直处于广播标识码的状态，而是根据接收到的上位机的地址信息和端口标识确定激光雷达与上位机确定连接建立成功之后，就停止广播自己的标识码，这样可以有效地避免局域网内广播数据过多而造成数据拥堵。
此外，S202上位机向激光雷达发送上位机的地址信息和端口标识，使得激光雷达接收上位机发送的上位机的地址信息和端口标识之后，该激光雷达连接状态的监测方法还可以包括：
S302、保存上位机的地址信息和端口标识。
激光雷达在接收到上位机发送的上位机的地址信息和端口标识之后，可以保存该上位机的地址信息和端口标识，以便后续可以直接通过查询获取到该上位机的地址信息和端口标识，而无需再通过建立连接获取该上位机的地址信息和端口标识，从而根据上位机的地址信息和端口标识向该上位机传输数据包。
下面，将通过下述图4和图5对应的实施例对上述S205-S206中，通过心跳包或心跳回包这两种可能的实现方式确定激光雷达和上位机连接是否正常进行详细的说明。示例的，在图4所示的实施例中，S205-S206可以通过S401-S407替换。在图5所示的实施例中，S205-S206可以通过S501-S507替换。
基于图2或3所示的实施例，对于激光雷达而言，当激光雷达通过心跳包确定激光雷达和上位机连接是否正常，且上位机通过心跳回包确定激光雷达和上位机连接是否正常时，请参见图4所示，图4为本申请实施例提供的一种通过心跳包或心跳回包确定激光雷达和上位机连接是否正常的示意图，该方法可以包括：
S401、上位机向激光雷达发送心跳包。
在确定激光雷达和上位机连接是否正常时，上位机可以向激光雷达发送心跳包，使得激光雷达在接收上位机发送的心跳包之后，可以根据该心跳包确定激光雷达和上位机连接是否正常。
S402、当心跳包中包括下一个心跳包的发送时间时，激光雷达根据下一个心跳包的发送时间，在第一预设时间段内接收下一个心跳包。
需要说明的是，心跳包中包括的下一个心跳包的发送时间可以通过至少两种方式表示，一种方式为：该下一个心跳包的发送时间直接为上位机发送下一个心跳包的时间；另一种方式为：该下一个心跳包的发送时间为上位机发送下一个心跳包的时间与上位机发送本次心跳包的时间之间的间隔时间，从而根据上位机发送下一个心跳包的时间与上位机发送本次心跳包的时间之间的间隔时间，确定下一个心跳包的发送时间。
同样需要说明的是，第一预设时间段可以根据下一个心跳包的发送时间进行设置，例如，当下一个心跳包的发送时间通过上位机发送下一个心跳包的时间与上位机发送本次心跳包的时间之间的间隔时间表示，且该间隔时间为2秒时，则第一预设时间段可以设置为：2.1秒，或2.2秒，或2.3秒，……，或4.9秒，或5.0秒，当然，本申请实施例只是以此为例进行说明，该第一预设时间段具体设置为什么，本申请实施例不做进一步的限制。
S403、若激光雷达在第一预设时间段内没有接收到下一个心跳包，则确定激光雷达与上位机连接异常。
在本申请实施例中，若激光雷达在第一预设时间段内没有接收到下一个心跳包，说明激光雷达与上位机连接异常；相反的，若激光雷达在第一预设时间段内接收到下一个心跳包，则说明激光雷达和上位机连接正常。
可选的，S403在确定激光雷达与上位机连接异常之后，还可以包括：
S404、返回执行在局域网内广播激光雷达的标识码的步骤。
当确定激光雷达与上位机连接异常时，激光雷达确定和上位机之间的连接断开，此时激光雷达进入低功耗模式，且返回执行S201激光雷达在局域网内广播激光雷达的标识码，以尝试与上位机重新建立连接。
上述S401-S404描述了激光雷达如何根据上位机发送的心跳包确定激光雷达和上位机连接是否正常，对应的，激光雷达在接收上位机发送的心跳包之后，也可以向上位机发送心跳回包，使得上位机可以根据激光雷达发送的 心跳回包确定激光雷达和上位机连接是否正常，具体请参见下述S405-S407所示。
S405、激光雷达向上位机发送心跳回包。
需要说明的是，在本申请实施例中，S402-S404和S405之间并无先后顺序，可以先执行S402-S404，再执行S405；也可以先执行S405，再执行S402-S404，当然，也可以同时执行S402-S404和S405，本申请实施例只是以先执行S402-S404，再执行S405为例进行说明，但并不代表本申请实施例仅局限于此。
激光雷达在接收到上位机发送的心跳包之后，可以向上位机发送相应的心跳回包，使得上位机在接收到激光雷达发送的心跳回包之后，可以根据该心跳回包确定激光雷达和上位机连接是否正常。
S406、若上位机在第二预设时间段内没有接收到心跳回包，则确定激光雷达与上位机连接异常。
需要说明的是，第二预设时间段的设置方式不唯一。例如，当上位机发送心跳包的时间间隔为两秒时，第二预设时间段可以设置为：1.0秒，或1.1秒，或1.2秒，……，或4.9秒，或5.0秒，当然，本申请实施例只是以此为例进行说明，该第二预设时间段具体设置为什么，本申请实施例不做进一步的限制。
在本申请实施例中，若上位机在第二预设时间段内没有接收到心跳回包，则说明激光雷达与上位机连接异常；相反的，若上位机在第二预设时间段内正常接收到心跳回包，则说明激光雷达和上位机连接正常。
此外，需要说明的是，当心跳回包中包括心跳包的接收时间和上一个心跳包的接收时间的间隔时间时，上位机还可以根据该心跳包的接收时间和上一个心跳包的接收时间的间隔时间确定是否有丢包现象。
S406确定激光雷达与上位机连接异常之后，还可以包括：
S407、返回执行接收激光雷达在局域网内广播的激光雷达的标识码的步骤。
当确定激光雷达与上位机连接异常时，说明激光雷达确定和上位机之间的连接断开，此时激光雷达进入低功耗模式，且返回执行S201激光雷达在局域网内广播激光雷达的标识码，对应的，上位机也会返回执行接收激光雷 达在局域网内广播的激光雷达的标识码的步骤，从而尝试与上位机重新建立连接，从而在数据传输过程中，使得激光雷达可以通过心跳包确定激光雷达和上位机连接是否正常，且上位机可以通过心跳回包确定激光雷达和上位机连接是否正常，实现了对激光雷达和上位机的连接状态的监测。
上述图4所示的实施例详细描述了激光雷达如何通过心跳包确定激光雷达和上位机连接是否正常，且上位机如何通过心跳回包确定激光雷达和上位机连接是否正常的技术方案，下面，将详细描述当激光雷达通过心跳回包确定激光雷达和上位机连接是否正常，且上位机通过心跳包确定激光雷达和上位机连接是否正常的技术方案，请参见图5所示，图5为本申请实施例提供的另一种通过心跳包或心跳回包确定激光雷达和上位机连接是否正常的示意图，该方法还可以包括：
S501、激光雷达向上位机发送心跳包。
在确定激光雷达和上位机连接是否正常时，激光雷达可以向上位机发送心跳包，使得上位机在接收激光雷达发送的心跳包之后，可以根据该心跳包确定激光雷达和上位机连接是否正常。
S502、当心跳包中包括下一个心跳包的发送时间时，上位机根据下一个心跳包的发送时间，在第一预设时间段内接收下一个心跳包。
需要说明的是，心跳包中包括的下一个心跳包的发送时间可以通过至少两种方式表示，一种方式为：该下一个心跳包的发送时间直接为激光雷达发送下一个心跳包的时间；另一种方式为：该下一个心跳包的发送时间为激光雷达发送下一个心跳包的时间与激光雷达发送本次心跳包的时间之间的间隔时间，从而根据激光雷达发送下一个心跳包的时间与激光雷达发送本次心跳包的时间之间的间隔时间，确定下一个心跳包的发送时间。
同样需要说明的是，第一预设时间段可以根据下一个心跳包的发送时间进行设置，例如，当下一个心跳包的发送时间通过激光雷达发送下一个心跳包的时间与激光雷达发送本次心跳包的时间之间的间隔时间表示，且该间隔时间为2秒时，则第一预设时间段可以设置为：2.1秒，或2.2秒，或2.3秒，……，或4.9秒，或5.0秒，当然，本申请实施例只是以此为例进行说明，该第一预设时间段具体设置为什么，本申请实施例不做进一步的限制。
S503、若上位机在第一预设时间段内没有接收到下一个心跳包，则确定 激光雷达与上位机连接异常。
在本申请实施例中，若上位机在第一预设时间段内没有接收到下一个心跳包，说明激光雷达与上位机连接异常；相反的，若上位机在第一预设时间段内接收到下一个心跳包，则说明激光雷达和上位机连接正常。
可选的，S503确定激光雷达与上位机连接异常之后，还可以包括：
S504、返回执行接收激光雷达在局域网内广播的激光雷达的标识码的步骤。
上述S501-S504描述了上位机如何根据激光雷达发送的心跳包确定激光雷达和上位机连接是否正常，对应的，上位机在接收激光雷达发送的心跳包之后，也可以向激光雷达发送心跳回包，使得激光雷达可以根据上位机发送的心跳回包确定激光雷达和上位机连接是否正常，请参见下述S505-S507所示。
S505、上位机向激光雷达发送心跳回包。
需要说明的是，在本申请实施例中，S502-S504和S505之间并无先后顺序，可以先执行S502-S504，再执行S505；也可以先执行S505，再执行S502-S504，当然，也可以同时执行S502-S504和S505，本申请实施例只是以先执行S502-S504，再执行S505为例进行说明，但并不代表本申请实施例仅局限于此。
上位机在接收到激光雷达发送的心跳包之后，可以向激光雷达发送相应的心跳回包，使得激光雷达在接收到上位机发送的心跳回包之后，可以根据该心跳回包确定激光雷达和上位机连接是否正常。
S506、若激光雷达在第二预设时间段内没有接收到心跳回包，则确定激光雷达与上位机连接异常。
需要说明的是，第二预设时间段的设置方式不唯一。例如，当激光雷达发送心跳包的时间间隔为两秒时，第二预设时间段可以设置为：1.0秒，或1.1秒，或1.2秒，……，或4.9秒，或5.0秒，当然，本申请实施例只是以此为例进行说明，该第二预设时间段具体设置为什么，本申请实施例不做进一步的限制。
在本申请实施例中，若激光雷达在第二预设时间段内没有接收到心跳回包，则说明激光雷达与上位机连接异常；相反的，若激光雷达在第二预设时 间段内正常接收到心跳回包，则说明激光雷达和上位机连接正常。
此外，同样需要说明的是，当心跳回包中包括心跳包的接收时间和上一个心跳包的接收时间的间隔时间时，激光雷达还可以根据该心跳包的接收时间和上一个心跳包的接收时间的间隔时间确定是否有丢包现象。
可选的，S506确定激光雷达与上位机连接异常之后，还包括：
S507、返回执行在局域网内广播激光雷达的标识码的步骤。
当确定激光雷达与上位机连接异常时，说明激光雷达确定和上位机之间的连接断开，此时激光雷达进入低功耗模式，且返回执行S201激光雷达在局域网内广播激光雷达的标识码，对应的，上位机也会返回执行接收激光雷达在局域网内广播的激光雷达的标识码的步骤，从而尝试与上位机重新建立连接，从而在数据传输过程中，使得上位机可以通过心跳包确定激光雷达和上位机连接是否正常，且激光雷达可以通过心跳回包确定激光雷达和上位机连接是否正常，实现了对激光雷达和上位机的连接状态的监测。
图6为本申请实施例提供的一种激光雷达60的结构示意图，请参见图6所示，该激光雷达60可以包括：
接收器601，用于接收上位机发送的上位机的地址信息和端口标识。
发送器602，用于向上位机发送连接确认消息；连接确认消息可以为确认字符(Acknowledgement，ACK)，用于指示激光雷达60和上位机连接建立成功。
发送器602，还用于根据上位机的地址信息和端口标识向上位机发送数据包。
处理器603，用于通过心跳包或心跳回包确定激光雷达60和上位机连接是否正常。
可选的，上位机的地址信息和端口标识是在上位机获取到激光雷达60的标识码之后发送的；处理器603，还用于在局域网内广播激光雷达60的标识码；标识码与激光雷达60一一对应。
可选的，接收器601，还用于接收上位机发送的心跳包。
处理器603，具体用于根据上位机发送的心跳包确定激光雷达60和上位机连接是否正常。
可选的，心跳包中包括下一个心跳包的发送时间；接收器601，还用于 根据下一个心跳包的发送时间，在第一预设时间段内接收下一个心跳包。
处理器603，具体用于若在第一预设时间段内没有接收到下一个心跳包，则确定激光雷达60与上位机连接异常。
可选的，处理器603，还用于返回执行在局域网内广播激光雷达60的标识码的步骤。
可选的，心跳包中包括下一个心跳包的发送时间；接收器601，还用于根据下一个心跳包的发送时间，在第一预设时间段内接收下一个心跳包。
处理器603，具体用于若在第一预设时间段内接收到下一个心跳包，则确定激光雷达60和上位机连接正常。
可选的，发送器602，还用于向上位机发送心跳回包。
可选的，发送器602，还用于向上位机发送心跳包。
接收器601，还用于接收上位机发送的心跳回包。
处理器603，具体用于根据上位机发送的心跳回包确定激光雷达60和上位机连接是否正常。
可选的，处理器603，具体用于若在第二预设时间段内没有接收到心跳回包，则确定激光雷达60与上位机连接异常。
可选的，处理器603，还用于返回执行在局域网内广播激光雷达60的标识码的步骤。
可选的，处理器603，具体用于若在第二预设时间段内接收到心跳回包，则确定激光雷达60和上位机连接正常。
可选的，处理器603，还用于停止广播激光雷达60的标识码。
可选的，处理器603，还用于保存上位机的地址信息和端口标识。
上述激光雷达60，对应地可执行任一实施例激光雷达60侧的激光雷达60连接状态的监测方法的技术方案，其实现原理和技术效果类似，在此不再赘述。
图7为本申请实施例提供的一种上位机70的结构示意图，请参见图7所示，该上位机70可以包括：
发送器701，用于向激光雷达发送上位机70的地址信息和端口标识。
接收器702，用于接收激光雷达发送的连接确认消息；连接确认消息可以为确认字符(Acknowledgement，ACK)，用于指示激光雷达和上位机70 连接建立成功。
接收器702，还用于接收激光雷达发送的数据包，数据包是激光雷达根据上位机70的地址信息和端口标识发送的。
处理器703，还用于通过心跳回包或心跳包确定激光雷达和上位机70连接是否正常。
可选的，上位机70的地址信息和端口标识是在上位机70获取到激光雷达的标识码之后发送的；接收器702，还用于接收激光雷达在局域网内广播的激光雷达的标识码；标识码与激光雷达一一对应。
可选的，发送器701，还用于向激光雷达发送心跳包。
接收器702，还用于接收激光雷达发送的心跳回包。
处理器703，具体用于根据激光雷达发送的心跳回包确定激光雷达和上位机70连接是否正常。
可选的，处理器703，具体用于若在第二预设时间段没有接收到心跳回包，则确定上位机70与激光雷达连接异常。
可选的，处理器703，还用于返回执行接收激光雷达在局域网内广播的激光雷达的标识码的步骤。
可选的，处理器703，具体用于若在第二预设时间段正常接收到心跳回包，则确定激光雷达和上位机70连接正常。
可选的，接收器702，还用于接收激光雷达发送的心跳包。
处理器703，具体用于根据激光雷达发送的心跳包确定激光雷达和上位机70连接是否正常。
可选的，心跳包中包括下一个心跳包的发送时间。
接收器702，还用于根据下一个心跳包的发送时间，在第一预设时间段内接收下一个心跳包。
处理器703，具体用于若在第一预设时间段内没有接收到下一个心跳包，则确定上位机70与激光雷达连接异常。
可选的，处理器703，还用于返回执行接收激光雷达在局域网内广播的激光雷达的标识码的步骤。
可选的，心跳包中包括下一个心跳包的发送时间。
接收器702，用于根据下一个心跳包的发送时间，在第一预设时间段内 接收下一个心跳包。
处理器703，具体用于若在第一预设时间段内接收到下一个心跳包，则确定激光雷达和上位机70连接正常。
可选的，发送器701，还用于向激光雷达发送心跳回包。
上述上位机70，对应地可执行任一实施例上位机70侧的激光雷达连接状态的监测方法的技术方案，其实现原理和技术效果类似，在此不再赘述。
本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，在计算机程序被处理器执行时，执行上述任一实施例所示的激光雷达侧的激光雷达连接状态的监测方法。
本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，在计算机程序被处理器执行时，执行上述任一实施例所示的上位机侧的激光雷达连接状态的监测方法。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (50)

  1. 一种激光雷达连接状态的监测方法，其特征在于，包括：
    接收上位机发送的所述上位机的地址信息和端口标识；向所述上位机发送连接确认消息；所述连接确认消息用于指示所述激光雷达和所述上位机连接建立成功；
    根据所述上位机的地址信息和所述端口标识向所述上位机发送数据包；
    通过心跳包或心跳回包确定所述激光雷达和所述上位机连接是否正常。
  2. 根据权利要求1所述的方法，其特征在于，所述上位机的地址信息和所述端口标识是在所述上位机获取到激光雷达的标识码之后发送的，所述接收上位机发送的所述上位机的地址信息和端口标识之前，还包括：
    在局域网内广播所述激光雷达的标识码；所述标识码与所述激光雷达一一对应。
  3. 根据权利要求1或2所述的方法，其特征在于，通过心跳包确定所述激光雷达和所述上位机连接是否正常，包括：
    接收所述上位机发送的心跳包；
    根据所述上位机发送的心跳包确定所述激光雷达和所述上位机连接是否正常。
  4. 根据权利要求3所述的方法，其特征在于，所述心跳包中包括下一个心跳包的发送时间，所述根据所述上位机发送的心跳包确定所述激光雷达和所述上位机连接是否正常，包括：
    根据所述下一个心跳包的发送时间，在第一预设时间段内接收所述下一个心跳包；
    若在第一预设时间段内没有接收到所述下一个心跳包，则确定所述激光雷达与所述上位机连接异常。
  5. 根据权利要求4所述的方法，其特征在于，所述确定所述激光雷达与所述上位机连接异常之后，还包括：
    返回执行在局域网内广播所述激光雷达的标识码的步骤。
  6. 根据权利要求3所述的方法，其特征在于，所述心跳包中包括下一个心跳包的发送时间，所述根据所述上位机发送的心跳包确定所述激光雷达和所述上位机连接是否正常，包括：
    根据所述下一个心跳包的发送时间，在第一预设时间段内接收所述下一个心跳包；
    若在第一预设时间段内接收到所述下一个心跳包，则确定所述激光雷达和所述上位机连接正常。
  7. 根据权利要求3-6任一项所述的方法，其特征在于，所述接收所述上位机发送的心跳包之后，还包括：
    向所述上位机发送心跳回包。
  8. 根据权利要求1或2所述的方法，其特征在于，通过心跳回包确定所述激光雷达和所述上位机连接是否正常，包括：
    向所述上位机发送心跳包；
    接收所述上位机发送的心跳回包；
    根据所述上位机发送的心跳回包确定所述激光雷达和所述上位机连接是否正常。
  9. 根据权利要求8所述的方法，其特征在于，根据所述上位机发送的心跳回包确定所述激光雷达和所述上位机连接是否正常，包括：
    若在第二预设时间段内没有接收到所述心跳回包，则确定所述激光雷达与所述上位机连接异常。
  10. 根据权利要求9所述的方法，其特征在于，所述确定所述激光雷达与所述上位机连接异常之后，还包括：
    返回执行在局域网内广播所述激光雷达的标识码的步骤。
  11. 根据权利要求8所述的方法，其特征在于，根据所述上位机发送的心跳回包确定所述激光雷达和所述上位机连接是否正常，包括：
    若在第二预设时间段内接收到所述心跳回包，则确定所述激光雷达和所述上位机连接正常。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述接收上位机发送的所述上位机的地址信息和端口标识之后，还包括：
    停止广播所述激光雷达的标识码。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述接收上位机发送的所述上位机的地址信息和端口标识之后，还包括：
    保存所述上位机的地址信息和所述端口标识。
  14. 一种激光雷达连接状态的监测方法，其特征在于，包括：
    向激光雷达发送上位机的地址信息和端口标识；
    接收所述激光雷达发送的连接确认消息；所述连接确认消息用于指示所述激光雷达和所述上位机连接建立成功；
    接收所述激光雷达发送的数据包，所述数据包是所述激光雷达根据所述上位机的地址信息和所述端口标识发送的；
    通过心跳回包或心跳包确定所述激光雷达和所述上位机连接是否正常。
  15. 根据权利要求14所述的方法，其特征在于，所述上位机的地址信息和所述端口标识是在所述上位机获取到激光雷达的标识码之后发送的，所述向激光雷达发送上位机的地址信息和端口标识之前，还包括：
    接收所述激光雷达在局域网内广播的所述激光雷达的标识码；所述标识码与所述激光雷达一一对应。
  16. 根据权利要求14或15所述的方法，其特征在于，通过心跳回包确定所述激光雷达和所述上位机连接是否正常，包括：
    向所述激光雷达发送心跳包；
    接收所述激光雷达发送的心跳回包；
    根据所述激光雷达发送的心跳回包确定所述激光雷达和所述上位机连接是否正常。
  17. 根据权利要求16所述的方法，其特征在于，所述根据所述激光雷达发送的心跳回包确定所述激光雷达和所述上位机连接是否正常，包括：
    若在第二预设时间段内没有接收到所述心跳回包，则确定所述激光雷达与所述上位机连接异常。
  18. 根据权利要求17所述的方法，其特征在于，所述确定所述激光雷达与所述上位机连接异常之后，还包括：
    返回执行接收所述激光雷达在局域网内广播的所述激光雷达的标识码的步骤。
  19. 根据权利要求16所述的方法，其特征在于，所述根据所述激光雷达发送的心跳回包确定所述激光雷达和所述上位机连接是否正常，包括：
    若在第二预设时间段内正常接收到所述心跳回包，则确定所述激光雷达和所述上位机连接正常。
  20. 根据权利要求14或15所述的方法，其特征在于，通过心跳包确定所述激光雷达和所述上位机连接是否正常，包括：
    接收所述激光雷达发送的心跳包；
    根据所述激光雷达发送的心跳包确定所述激光雷达和所述上位机连接是否正常。
  21. 根据权利要求20所述的方法，其特征在于，所述心跳包中包括下一个心跳包的发送时间，所述根据所述激光雷达发送的心跳包确定所述激光雷达和所述上位机连接是否正常，包括：
    根据所述下一个心跳包的发送时间，在第一预设时间段内接收所述下一个心跳包；
    若在第一预设时间段内没有接收到所述下一个心跳包，则确定所述激光雷达与所述上位机连接异常。
  22. 根据权利要求21所述的方法，其特征在于，所述确定所述激光雷达与所述上位机连接异常之后，还包括：
    返回执行接收所述激光雷达在局域网内广播的所述激光雷达的标识码的步骤。
  23. 根据权利要求20所述的方法，其特征在于，所述心跳包中包括下一个心跳包的发送时间，所述根据所述激光雷达发送的心跳包确定所述激光雷达和所述上位机连接是否正常，包括：
    根据所述下一个心跳包的发送时间，在第一预设时间段内接收所述下一个心跳包；
    若在第一预设时间段内接收到所述下一个心跳包，则确定所述激光雷达和所述上位机连接正常。
  24. 根据权利要求20-23任一项所述的方法，其特征在于，所述接收所述激光雷达发送的心跳包之后，还包括：
    向所述激光雷达发送心跳回包。
  25. 一种激光雷达，其特征在于，包括：
    接收器，用于接收上位机发送的所述上位机的地址信息和端口标识；
    发送器，用于向所述上位机发送连接确认消息；所述连接确认消息用于指示所述激光雷达和所述上位机连接建立成功；
    所述发送器，还用于根据所述上位机的地址信息和所述端口标识向所述上位机发送数据包；
    处理器，用于通过心跳包或心跳回包确定所述激光雷达和所述上位机连接是否正常。
  26. 根据权利要求25所述的激光雷达，其特征在于，所述上位机的地址信息和所述端口标识是在所述上位机获取到激光雷达的标识码之后发送的；所述处理器，还用于在局域网内广播所述激光雷达的标识码；所述标识码与所述激光雷达一一对应。
  27. 根据权利要求25或26所述的激光雷达，其特征在于，
    所述接收器，还用于接收所述上位机发送的心跳包；
    所述处理器，具体用于根据所述上位机发送的心跳包确定所述激光雷达和所述上位机连接是否正常。
  28. 根据权利要求27所述的激光雷达，其特征在于，所述心跳包中包括下一个心跳包的发送时间；
    所述接收器，还用于根据所述下一个心跳包的发送时间，在第一预设时间段内接收所述下一个心跳包；
    所述处理器，具体用于若在第一预设时间段内没有接收到所述下一个心跳包，则确定所述激光雷达与所述上位机连接异常。
  29. 根据权利要求28所述的激光雷达，其特征在于，
    所述处理器，还用于返回执行在局域网内广播所述激光雷达的标识码的步骤。
  30. 根据权利要求27所述的激光雷达，其特征在于，所述心跳包中包括下一个心跳包的发送时间；
    所述接收器，还用于根据所述下一个心跳包的发送时间，在第一预设时间段内接收所述下一个心跳包；
    所述处理器，具体用于若在第一预设时间段内接收到所述下一个心跳包，则确定所述激光雷达和所述上位机连接正常。
  31. 根据权利要求27-30任一项所述的激光雷达，其特征在于，
    所述发送器，还用于向所述上位机发送心跳回包。
  32. 根据权利要求25或26所述的激光雷达，其特征在于，
    所述发送器，还用于向所述上位机发送心跳包；
    所述接收器，还用于接收所述上位机发送的心跳回包；
    所述处理器，具体用于根据所述上位机发送的心跳回包确定所述激光雷达和所述上位机连接是否正常。
  33. 根据权利要求32所述的激光雷达，其特征在于，
    所述处理器，具体用于若在第二预设时间段内没有接收到所述心跳回包，则确定所述激光雷达与所述上位机连接异常。
  34. 根据权利要求33所述的激光雷达，其特征在于，
    所述处理器，还用于返回执行在局域网内广播所述激光雷达的标识码的步骤。
  35. 根据权利要求32所述的激光雷达，其特征在于，
    所述处理器，具体用于若在第二预设时间段内接收到所述心跳回包，则确定所述激光雷达和所述上位机连接正常。
  36. 根据权利要求25-35任一项所述的激光雷达，其特征在于，
    所述处理器，还用于停止广播所述激光雷达的标识码。
  37. 根据权利要求25-36任一项所述的激光雷达，其特征在于，
    所述处理器，还用于保存所述上位机的地址信息和所述端口标识。
  38. 一种上位机，其特征在于，包括：
    发送器，用于向激光雷达发送上位机的地址信息和端口标识；
    接收器，用于接收所述激光雷达发送的连接确认消息；所述连接确认消息用于指示所述激光雷达和所述上位机连接建立成功；
    所述接收器，还用于接收所述激光雷达发送的数据包，所述数据包是所述激光雷达根据所述上位机的地址信息和所述端口标识发送的；
    处理器，还用于通过心跳回包或心跳包确定所述激光雷达和所述上位机连接是否正常。
  39. 根据权利要求38所述的上位机，其特征在于，所述上位机的地址信息和所述端口标识是在所述上位机获取到激光雷达的标识码之后发送的；所述接收器，还用于接收所述激光雷达在局域网内广播的所述激光雷达的标识码；所述标识码与所述激光雷达一一对应。
  40. 根据权利要求38或39所述的上位机，其特征在于，
    所述发送器，还用于向所述激光雷达发送心跳包；
    所述接收器，还用于接收所述激光雷达发送的心跳回包；
    所述处理器，具体用于根据所述激光雷达发送的心跳回包确定所述激光雷达和所述上位机连接是否正常。
  41. 根据权利要求40所述的上位机，其特征在于，
    所述处理器，具体用于若在第二预设时间段内没有接收到所述心跳回包，则确定所述激光雷达与所述上位机连接异常。
  42. 根据权利要求41所述的上位机，其特征在于，
    所述处理器，还用于返回执行接收所述激光雷达在局域网内广播的所述激光雷达的标识码的步骤。
  43. 根据权利要求40所述的上位机，其特征在于，
    所述处理器，具体用于若在第二预设时间段内正常接收到所述心跳回包，则确定所述激光雷达和所述上位机连接正常。
  44. 根据权利要求38或39所述的上位机，其特征在于，
    所述接收器，还用于接收所述激光雷达发送的心跳包；
    所述处理器，具体用于根据所述激光雷达发送的心跳包确定所述激光雷达和所述上位机连接是否正常。
  45. 根据权利要求44所述的上位机，其特征在于，所述心跳包中包括下一个心跳包的发送时间；
    所述接收器，还用于根据所述下一个心跳包的发送时间，在第一预设时间段内接收所述下一个心跳包；
    所述处理器，具体用于若在第一预设时间段内没有接收到所述下一个心跳包，则确定所述激光雷达与所述上位机连接异常。
  46. 根据权利要求45所述的上位机，其特征在于，
    所述处理器，还用于返回执行接收所述激光雷达在局域网内广播的所述激光雷达的标识码的步骤。
  47. 根据权利要求44所述的上位机，其特征在于，所述心跳包中包括下一个心跳包的发送时间；
    所述接收器，用于根据所述下一个心跳包的发送时间，在第一预设时间段内接收所述下一个心跳包；
    所述处理器，具体用于若在第一预设时间段内接收到所述下一个心跳包，则确定所述激光雷达和所述上位机连接正常。
  48. 根据权利要求44-47任一项所述的上位机，其特征在于，
    所述发送器，还用于向所述激光雷达发送心跳回包。
  49. 一种计算机可读存储介质，其特征在于，
    计算机可读存储介质上存储有计算机程序，在所述计算机程序被处理器执行时，执行权利要求1-13任一项所述的激光雷达连接状态的监测方法。
  50. 一种计算机可读存储介质，其特征在于，
    计算机可读存储介质上存储有计算机程序，在所述计算机程序被处理器执行时，执行权利要求14-24任一项所述的激光雷达连接状态的监测方法。
PCT/CN2018/092565 2018-06-25 2018-06-25 激光雷达连接状态的监测方法、激光雷达及上位机 WO2020000124A1 (zh)

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