WO2020142944A1 - 电机控制方法、激光雷达和可移动设备 - Google Patents

电机控制方法、激光雷达和可移动设备 Download PDF

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Publication number
WO2020142944A1
WO2020142944A1 PCT/CN2019/071027 CN2019071027W WO2020142944A1 WO 2020142944 A1 WO2020142944 A1 WO 2020142944A1 CN 2019071027 W CN2019071027 W CN 2019071027W WO 2020142944 A1 WO2020142944 A1 WO 2020142944A1
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WIPO (PCT)
Prior art keywords
motor
speed
lidar
target speed
time
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PCT/CN2019/071027
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English (en)
French (fr)
Inventor
李涛
Original Assignee
深圳市大疆创新科技有限公司
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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 CN201980005572.XA priority Critical patent/CN111684307B/zh
Priority to PCT/CN2019/071027 priority patent/WO2020142944A1/zh
Priority to EP19909285.9A priority patent/EP3907532A4/en
Publication of WO2020142944A1 publication Critical patent/WO2020142944A1/zh
Priority to US17/368,344 priority patent/US20210333368A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/54—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • 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
    • G01S7/497—Means for monitoring or calibrating
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/54—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors
    • H02P1/58—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors sequentially
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Definitions

  • Embodiments of the present invention relate to the technical field of lidar, and in particular, to a motor control method, lidar, and movable equipment.
  • the lidar is a device that drives the original laser to rotate through the rotation of the motor, and obtains the distance and angle information of the object relative to the lidar through the reflection and refraction of light on the object in three-dimensional space.
  • Lidar usually includes multiple motors, which work together to obtain accurate information in three-dimensional space. Therefore, the running state of the motor will directly determine the final imaging effect of the entire lidar.
  • each motor When the lidar is started, multiple motors are started at the same time, and each motor generates a large inrush current when it is started, making the total starting current of the lidar abnormally large, which in turn causes the lidar to appear abnormal.
  • Embodiments of the present invention provide a motor control method, a laser radar, and a movable device, which are used to solve the problem of abnormally large starting current when the existing laser radar is started.
  • an embodiment of the present invention provides a motor control method, which is applied to a laser radar.
  • the laser radar includes multiple motors, including:
  • the starting moments of multiple motors are partially or completely different;
  • an embodiment of the present invention provides a laser radar control method, which is applied to a system including multiple laser radars, including:
  • an embodiment of the present invention provides a laser radar, including a processor and multiple motors;
  • the processor is used for:
  • the starting moments of multiple motors are partially or completely different;
  • an embodiment of the present invention provides a lidar system including multiple lidars, each lidar including a processor;
  • the processor is used for:
  • an embodiment of the present invention provides a mobile device, including a fuselage and a lidar mounted on the fuselage;
  • Lidar includes a processor and multiple motors
  • the processor is used for:
  • the starting moments of multiple motors are partially or completely different;
  • an embodiment of the present invention provides a mobile device, including a fuselage and a lidar system mounted on the fuselage;
  • the lidar system includes multiple lidars, and each lidar includes a processor
  • the processor is used for:
  • the motor control method, lidar, and movable device provided by the embodiments of the present invention determine the start times of multiple motors, and the start times of the multiple motors are partially or completely different, and control each motor at its corresponding start time Startup reduces the number of motors that start simultaneously when the lidar starts, thereby reducing the total starting current, thereby avoiding abnormalities in the lidar due to excessive total starting current, and improving the stability of the lidar.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial system according to an embodiment of the present invention
  • FIG. 2 is a flowchart of an embodiment of a motor control method provided by the present invention.
  • FIG. 3 is a flowchart of another embodiment of a motor control method provided by the present invention.
  • FIG. 4 is a flowchart of another embodiment of a motor control method provided by the present invention.
  • FIG. 5 is a flowchart of an embodiment of a method for controlling a laser radar provided by the present invention
  • FIG. 6 is a schematic structural diagram of an embodiment of a lidar provided by the present invention.
  • FIG. 7 is a schematic structural diagram of an embodiment of a lidar system provided by the present invention.
  • FIG. 8 is a schematic structural diagram of an embodiment of a mobile device provided by the present invention.
  • FIG. 9 is a schematic structural diagram of yet another embodiment of a mobile device provided by the present invention.
  • a component when a component is said to be “fixed” to another component, it can be directly on another component or there can be a centered component. When a component is considered to be “connected” to another component, it can be directly connected to another component or there may be a centered component at the same time.
  • the embodiments of the present invention provide a motor control method, a laser radar, and a movable device.
  • the laser radar according to the embodiment of the present invention can be applied to a mobile device, and the laser radar can be installed on the device body of the mobile device.
  • the mobile device with lidar can measure the external environment, for example, measuring the distance between the mobile device and obstacles for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
  • the mobile device includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera.
  • the lidar is applied to an unmanned aerial vehicle
  • the movable device is the fuselage of the unmanned aerial vehicle.
  • the mobile device is the body of the car.
  • the car may be a self-driving car or a semi-automatic car, and no restriction is made here.
  • the movable device is the body of the remote control car.
  • the mobile device is a robot.
  • lidar is applied to a camera, the mobile device is the camera itself.
  • the drone may be, for example, a rotorcraft (rotorcraft), for example, a multi-rotor aircraft propelled by multiple propulsion devices through air, and the embodiments of the present invention are not limited thereto.
  • rotorcraft rotorcraft
  • multi-rotor aircraft propelled by multiple propulsion devices through air
  • FIG. 1 is a schematic architectural diagram of an unmanned aerial system provided by an embodiment of the present invention.
  • a rotary-wing UAV is taken as an example for description.
  • the unmanned aerial system 100 may include a drone 110, a display device 130, and a control terminal 140.
  • the UAV 110 may include a power system 150, a flight control system 160, a rack, and a gimbal 120 carried on the rack.
  • the drone 110 may wirelessly communicate with the control terminal 140 and the display device 130.
  • the rack may include a fuselage and a tripod (also called landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, the one or more arms extending radially from the center frame.
  • the tripod is connected to the fuselage and is used to support the UAV 110 when it lands.
  • the power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motor 152 is connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are disposed on the arm of the drone 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal The current is given to the motor 152 to control the rotation speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the UAV 110 to fly, which enables the UAV 110 to achieve one or more degrees of freedom of movement.
  • electric governors abbreviated as electric governors
  • drone 110 may rotate about one or more rotation axes.
  • the rotation axis may include a roll axis, a yaw axis, and a pitch axis.
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brush motor.
  • the flight control system 160 may include a flight controller 161 and a sensing system 162.
  • the sensor system 162 is used to measure the attitude information of the drone, that is, the position information and status information of the drone 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit (IMU), a visual sensor, a global navigation satellite system, and a barometer, for example.
  • the global navigation satellite system may be a global positioning system (Global Positioning System, GPS).
  • the flight controller 161 is used to control the flight of the drone 110.
  • the flight of the drone 110 can be controlled according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 may control the drone 110 according to pre-programmed program instructions, or may control the drone 110 by responding to one or more control instructions from the control terminal 140.
  • the gimbal 120 may include a motor 122.
  • the flight controller 161 can control the movement of the gimbal 120 through the motor 122.
  • the gimbal 120 may further include a controller for controlling the movement of the gimbal 120 by controlling the motor 122.
  • the gimbal 120 may be independent of the drone 110, or may be a part of the drone 110.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brush motor.
  • the gimbal can be located at the top of the drone or at the bottom of the drone.
  • the gimbal 120 may be used to carry a lidar or lidar system 123.
  • the lidar or lidar system 123 can also communicate with the flight controller 161 and work under the control of the flight controller 161 to obtain point cloud data in three-dimensional space. It can be understood that the lidar or lidar system 123 can also be directly fixed on the drone 110, so that the gimbal 120 can be omitted.
  • the display device 130 is located on the ground end of the UAV system 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. It should be understood that the display device 130 may be an independent device or may be integrated in the control terminal 140.
  • the control terminal 140 is located on the ground side of the unmanned aerial system 100, and can communicate with the drone 110 in a wireless manner for remote manipulation of the drone 110.
  • the drone 110 may also be equipped with a speaker (not shown in the figure).
  • the speaker is used to play audio files.
  • the speaker may be directly fixed on the drone 110 or may be mounted on the gimbal 120.
  • the motor control method provided in the following embodiments can be applied to a lidar or lidar system 123. It should be understood that the above naming of the components of the UAV system is for identification purposes only, and should not be construed as limiting the embodiments of the present invention.
  • FIG. 2 is a flowchart of an embodiment of a motor control method provided by the present invention.
  • the method provided in this embodiment may be applied to a lidar, and the lidar may include multiple motors. As shown in FIG. 2, the method provided in this embodiment may include:
  • S201 Determine the starting times of multiple motors, and the starting times of the multiple motors are partially or completely different.
  • the starting time of multiple motors may be determined according to the starting time of the lidar and the preset motor starting interval time.
  • the preset motor starting interval time may be determined according to the average time required for motor starting. For example, if the start time of the lidar is t and the preset motor start time interval is ⁇ t, the start time of the first motor can be t, and the start time of the second motor can be t+ ⁇ t, the third The starting time of each motor may be t+2* ⁇ t, ..., the starting time of the nth motor may be t+(n-1)* ⁇ t, where n is the number of motors included in the lidar.
  • a plurality of motors may be sorted, and the time when the last motor start is completed is taken as the current motor start time, that is, multiple motors are started in sequence.
  • the moment when the start of the motor is completed is the moment when the speed of the motor reaches the target speed of the motor, and the duration that the current in the motor is less than the preset current threshold reaches a preset duration.
  • multiple motors can be sorted according to the target speed of the motor.
  • At least two motors have different starting times.
  • the inrush current value and the duration of the inrush current generated when a motor with a high target speed is started are larger than those with a low target speed.
  • the starting time of multiple motors may be determined according to the identification information of multiple motors.
  • the identification information is used to uniquely identify the motor.
  • the time interval between the start time of the motor and the start time of the lidar may be determined according to the identification information of the motor, and then the start time of the motor may be determined.
  • each motor is controlled to start at its corresponding starting time according to the starting time of each motor.
  • the motor control method provided in this embodiment determines the starting times of multiple motors, and the starting times of the multiple motors are partially or completely different, and controls each motor to start at its corresponding starting time, which reduces the time when the lidar starts. , The number of motors started at the same time, thereby reducing the total starting current, thereby avoiding the abnormality of the lidar due to the excessively large starting current, and improving the stability of the lidar.
  • the implementation of S202 in the above embodiment will be described in detail below, that is, the startup process of a single motor will be described in detail.
  • the motor is directly turned to the specified target speed once by directly giving the motor a target speed.
  • the target speed of the motor is the speed value that needs to be reached when the motor works normally. Due to the state of the motor itself and/or environmental factors, the motor current may be abnormally large and the duration is too long during the motor start-up process, causing the motor to burn out, which in turn causes the lidar to fail to work properly.
  • the resistance to start the motor increases, or the temperature in the external environment is too low, causing the grease in the bearing to solidify, which causes the resistance to start the motor to increase. It will cause abnormally high starting current of the motor.
  • a method for controlling each motor to start at its respective starting time may be: acquiring the target speed of the motor; determining the grading speed according to the target speed, the grading speed is less than the target speed; controlling the motor to start at the grading speed at the starting time of the motor.
  • the target rotation speed of the motor may be fixed, or it may be continuously changed according to the working requirements of the lidar, which is not limited in this embodiment.
  • a grading speed less than the target speed is determined according to the target speed, and the motor is controlled to start at the grading speed at the starting time of the motor. It should be noted that when the motor's own state and external environmental factors are determined, the motor's starting current is positively related to the speed.
  • the target speed of the obtained motor is 5000 rpm
  • a current of 8 amperes may be generated, which is much larger than the current value of 0.8 amperes during normal operation of the motor, and The large current will last for a long time, such as 4 seconds, it is very easy to damage the motor.
  • the grading speed may be determined to be 2000 rpm according to the target speed of 5,000 rpm, and then the motor may be started at the grading speed of 2000 rpm. At this time, only 4 amperes of current may be generated, and Only lasts 2 seconds. It should be noted that the numerical values in this embodiment are only for illustration.
  • the motor control method provided in this embodiment determines the stepped speed less than the target speed by acquiring the target speed of the motor, and controls the motor to start at the stepped speed at the starting time of the motor , Can not only reduce the starting current value of the motor, but also shorten the duration of the large current, not only can avoid the motor from burning due to excessive starting current, but also can increase the probability of the motor starting success, thereby improving the stability of the lidar.
  • one way to determine the classification rotation speed may be:
  • the classification speed is determined according to the target speed, the ambient temperature, and the correspondence between the speed and the current.
  • the classification speed can be reduced; when the ambient temperature increases, the classification speed can be appropriately increased .
  • the method provided in this embodiment may further include: if the speed of the motor reaches the stepped speed and the current in the motor is less than the preset current threshold, increase the speed of the motor until the motor Speed reaches the target speed.
  • the speed of the motor By starting the motor at a stepped speed less than the target speed, after reducing the starting current and the duration of the large current of the motor, in order to make the motor enter the normal working state as soon as possible, in this embodiment, the speed of the motor reaches the stepped speed, and the If the current is less than the preset current threshold, the speed of the motor can be gradually increased until the speed of the motor reaches the target speed, so that the motor enters a normal working state.
  • the speed of the motor can be determined by detecting the speed of the code wheel.
  • the target speed can be evenly divided into several speed levels, such as 1000 rpm, 2000 rpm, 3000 rpm, 4000 rpm, and 5000 rpm. Start with a gradation speed of 1000 rpm first. When the speed reaches 1000 rpm and the current in the motor is less than the preset current threshold, you can increase the speed to 2000 rpm, and so on, gradually increase the speed It can be as large as 5000 rpm to make the motor enter the normal working state; the target speed can also be divided into several stepped speed levels, such as 1000 rpm, 2000 rpm and 5000 rpm.
  • the speed of the motor is increased to avoid misjudgment due to current fluctuations and improve the stability of motor startup.
  • the preset current threshold in this embodiment is greater than or equal to the current when the motor runs smoothly.
  • the preset current threshold can be set to 1 ampere.
  • the speed of the motor can be increased without the current falling back to the current when the motor is running smoothly, which can ensure that the target speed is reached faster. That is to increase the speed of motor starting.
  • FIG. 3 is a flowchart of another embodiment of the motor control method provided by the present invention. As shown in FIG. 3, based on the embodiment shown in FIG. 2, the method provided in this embodiment may include:
  • the first preset current threshold is greater than or equal to the current when the motor is running smoothly.
  • the rotation speed classification strategy may be determined according to a predetermined rotation speed classification strategy, or may be determined according to the operating state of the motor and environmental factors, and the rotation speed of the motor is increased accordingly.
  • This embodiment does not limit the specific way of increasing the motor speed.
  • S306. Determine whether the rotation speed of the motor reaches the target rotation speed. If it is, it ends, that is, the motor starts successfully; if not, it continues to execute S304.
  • S307. Determine whether the current in the motor is greater than the second preset current threshold, and whether the duration is greater than the second preset duration. If yes, execute S308.
  • the second preset current threshold is greater than the first preset current threshold, and the second preset duration is greater than the first preset duration.
  • the first preset current threshold is usually set slightly larger than the current when the motor is running smoothly; and in order to avoid over-protection, the second preset current threshold for judging whether to stop the motor is usually set Is much larger than the current when the motor is running smoothly. If the current when the motor is running smoothly is 0.8 amperes, the first preset current threshold may be 1 ampere, and the second preset current threshold may be 8 amperes.
  • the first preset duration may be set to 1 second, and the second preset duration may be set to 8 seconds.
  • the motor control method provided in this embodiment controls the motor to start by using a combination of speed grading and current feedback, which reduces the starting current of the motor, shortens the duration of the starting current, and improves the stability and speed of starting the motor.
  • Lidar is often applied to moving objects, such as installing lidar on unmanned vehicles or drones, for acquiring point cloud data in 3D space, 3D reconstruction, navigation, etc.
  • lidar will follow the object
  • the translation and/or rotation movement of the motor will cause fluctuations in the motor speed. These fluctuations will make the point cloud gap of the lidar larger and smaller, resulting in a breathing effect.
  • the method provided in this embodiment may further include: determining the Speed fluctuation; according to the speed of the master motor, the speed of the slave motor is controlled.
  • the master motor is the motor with the smallest speed fluctuation, and the slave motor is other than the master motor.
  • the preset time period in this embodiment may be, for example, within 10 minutes before the current time, or may be the entire time period from the motor start time to the current time, which can be set according to actual needs.
  • the speed fluctuation of the motor describes the change of the speed of the motor within a preset time period.
  • the variance of the speed of the motor within the preset time period can be used to measure the speed fluctuation of the motor.
  • the motor with the smallest speed fluctuation is used as the main motor, and the speeds of other motors are controlled according to the speed of the main motor, which can reduce the breathing effect and improve the stability of the point cloud.
  • the speed of the main motor which can reduce the breathing effect and improve the stability of the point cloud.
  • an implementation manner for controlling the speed of the slave motor may be: according to the speed of the master motor and a preset relationship, the speed of the slave motor is controlled, the preset relationship The relationship between the speed of the master motor and the speed of the slave motor.
  • the speed that the slave motor needs to reach at the current time can be determined according to the speed of the master motor at the current time, In this way, the rotation speed of the slave motor is controlled, so that the rotation speed of the master motor and the rotation speed of the slave motor meet the preset relationship again, thereby improving the imaging effect and stability.
  • the size of the point cloud gap can be the same, which improves the stability of the corona.
  • the motor control method provided in this embodiment will be described in detail below through a specific example.
  • the speed of both motors fluctuates, which will cause the output point cloud gap to change, which will produce a breathing effect.
  • V1 and V2 satisfy the following relationship:
  • V2 -2/3 ⁇ (V1-1)+198.
  • M1 and M2 start asynchronously, that is, M1 can be turned to the target speed V1 first, and then M2 can be started to turn to the target speed V2.
  • M1 and M2 can also use a hierarchical startup method during their respective startup processes. For details, reference may be made to the foregoing embodiment, and details are not described herein again. Since the working environment of the lidar is not a steady state environment, vibration, rotation, etc. may occur, which will cause fluctuations in the speed of the two motors.
  • the speed fluctuations of M1 and M2 within a preset time period are determined respectively, and the motor with a small speed fluctuation is regarded as a master motor, and the motor with a large speed fluctuation is regarded as a slave motor. Then, according to the rotation speed of the master motor, the rotation speed of the slave motor satisfying the above-mentioned rotation speed relationship is calculated. Reset the speed of the slave motor so that the speeds of M1 and M2 always satisfy the above speed relationship during the operation of the lidar.
  • the maximum gap of the point cloud scanned by the combination of motor speeds satisfying different relationship is also different.
  • the rotation speeds of M1 and M2 satisfy the above linear relationship, the size of the point cloud gap can be made the same, and the maximum gap of the point cloud can be kept within a small range.
  • Determining the speed of another motor according to the motor speed with small fluctuations can reduce the fluctuation of the point cloud gap size, reduce the breathing effect, improve the stability of the point cloud, and increase the stability of the lidar in actual work.
  • the method provided in this embodiment may further include: acquiring the state parameters of the motor itself and the state parameters of environmental factors; according to the motor Carry out corresponding protection measures for its own state parameters and state parameters of environmental factors.
  • the motor works in a certain environment, and environmental factors will affect the operating state of the motor. For example, if the operating temperature range of the motor is [-20°C, 60°C], the motor may not work properly in an environment with a high temperature such as 100°C or a low temperature such as -40°C. Therefore, if the motor is only protected according to the working conditions of the motor itself, the desired effect cannot be obtained, that is, the motor cannot be effectively protected.
  • the protection measures in this embodiment may include reducing the rotation speed, stopping rotation, and alarming.
  • the motor control method provided in this embodiment strengthens the protection of the motor by synthesizing the state parameters of the motor and the state parameters of the environmental factors and implementing corresponding protective measures, which can effectively avoid abnormal damage of the motor and further improve the lidar Stability.
  • the state parameters of the motor itself include at least one of the following: the current of the motor, the speed of the motor, the hardware state of the motor, the communication between the ESC that controls the motor and the corresponding main control, and the input voltage of the motor Status, resistance and coil status; status parameters of environmental factors include at least one of the following: Lidar power status, Lidar communication status, ambient temperature, and Lidar laser operating status.
  • different weights can be set for different state parameters according to the degree of influence of the state parameters on motor operation.
  • it may further include: determining the operating state of the motor according to the state parameters of the motor itself and the state parameters of environmental factors, and the operating states of the motor include normal, alarm, and error.
  • Lidar includes multiple motors, and the target speed of multiple motors is usually different, so it will cause different wear levels of each motor in the lidar. It is understandable that motor bearings with larger target speeds are usually worn more seriously, which will lead to shortened service life of the lidar.
  • the motor control method provided in this embodiment may further include: controlling at least two motors each time they are turned on The target speed is exchanged. By exchanging the target speed, the wear of the motor is balanced, and the life of the motor can be improved.
  • different amounts of grease will be injected into the bearings.
  • Grease will form an oil film with different coverage in the bearing, and different oil film distribution will have different resistance to the rotation of the motor. If the motor continues to work in one direction, with the passage of time, the oil film distribution in the motor bearing will change relatively, and the resistance of the motor will gradually increase, resulting in a reduction in the life of the motor.
  • the motor can be controlled to change the direction of rotation each time it is started to reduce the change in oil film distribution, reduce the resistance of the oil film distribution to the motor, and increase the life of the motor.
  • an implementation manner of controlling the target rotation speed of each of the at least two motors each time it is turned on may be:
  • At least two higher target speeds are alternately set to the target speed of two motors.
  • At least one higher target speed and one lower target speed are alternately set as the target speed of the two motors.
  • the lidar includes a first motor, a second motor, and a third motor
  • setting at least two higher target speeds alternately to the target speed of the two motors may specifically include:
  • the target speed of the first motor and the second motor are alternately set to the highest target speed and the second highest target speed, and the target speed of the third motor is always set to the lowest target speed.
  • an implementation manner of controlling the target rotational speeds of each of the at least two motors each time it is turned on may be:
  • the target speed of the first motor is set as the first target speed
  • the target speed of the second motor is set as the second target speed
  • the target speed of the first motor is set as the second target speed, and the target speed of the second motor is set as the first target speed;
  • the count value is incremented.
  • the count value in this embodiment may be the number of starts of the lidar. When the power is turned on for the first time, the count value is set to 1, and the count value is increased by 1 after each power on.
  • the target rotational speeds of multiple motors can be determined according to the number of starts of the lidar.
  • the target speed can also be exchanged based on the operating time of the lidar. For example, if the operating time of the lidar is greater than or equal to the preset duration, such as 74 hours, the target speed can be exchanged to balance the wear of the motor, balance the distribution of grease, and increase the life of the motor.
  • the preset duration such as 74 hours
  • the motor control method provided in this embodiment may further include:
  • the technical value in this embodiment may be the number of times the lidar is started. Each time the lidar is started, the count value is increased by 1.
  • the motor control method provided in this embodiment can balance the wear of the bearings of the first motor and the second motor by exchanging the target speeds of the first motor and the second motor according to the count value, and can improve the first motor and the second motor Life.
  • multiple lidars are used.
  • multiple lidars are installed around the unmanned vehicle to form a lidar system to achieve comprehensive obstacle avoidance and improve the safety of the unmanned vehicle; multiple lidars are installed on the drone to obtain a larger field of view More data, improve the accuracy of 3D modeling, etc.
  • the total starting current may be relatively large, resulting in a problem that the electrical load of the user system is relatively large at the instant the lidar system starts, increasing the complexity of the user system.
  • Embodiments of the present invention also provide a laser radar control method, which is applied to a system including multiple laser radars.
  • FIG. 5 is a flowchart of an embodiment of a method for controlling a lidar provided by the present invention. As shown in FIG. 5, the method provided in this embodiment may include:
  • S501 Determine the start time of the corresponding lidar, and ensure that the start times of multiple lidars are partially or completely different.
  • multiple lidars may be sorted, and the time when the previous lidar is started is used as the current starting time of the lidar, that is, multiple lidars are sequentially started. Strictly control the startup sequence of each lidar by controlling the startup timing of each port. Only turn on the power of one port at a time. When the lidar starts normally, turn on the power of the next one port, and so on.
  • the starting times of multiple lidars may be determined according to the starting time of the lidar system and the preset lidar start interval time.
  • the preset lidar startup interval time may be determined according to the average time required for the lidar startup. For example, if the start time of the lidar system is T and the preset time interval of the start of the lidar is ⁇ T, the start time of the first lidar can be T, and the start time of the second lidar can be T+ ⁇ T, the start time of the third lidar can be T+2* ⁇ T, ..., the start time of the Nth lidar can be T+(N-1)* ⁇ T, where N is the laser included in the lidar system The number of radars.
  • the starting moments of at least two lidars are different.
  • the start time of the corresponding laser radar can be determined according to the identification information of the corresponding laser radar.
  • each lidar is controlled to start at respective corresponding starting times.
  • the control method of the lidar provided in this embodiment determines the start-up time of multiple lidars.
  • the start-up times of the multiple lidars are partially or completely different, and each laser radar is controlled to start at the corresponding start-up time.
  • the control method of the lidar provided in this embodiment can reduce the complexity of the user system.
  • an implementation manner for determining the start time of the corresponding lidar may be:
  • the time interval between the start time of each lidar and the system start time is calculated, and the start time of each lidar is obtained according to the time interval and the system start time.
  • the time interval in this embodiment is less than or equal to a preset time interval, and the preset time interval may be determined according to the number of lidars included in the lidar system.
  • the time interval can be less than or equal to 4 seconds, that is, within 4 seconds of the start of the lidar system, all lidars are activated.
  • the identification information of the corresponding lidar calculate the time interval between the start time of the corresponding lidar and the start time of the system, and obtain the start time of the corresponding lidar according to the time interval and the start time of the system, which may specifically include:
  • T1 T0+((ID+K1)%K2)*K3;
  • T0 represents the starting time of the system
  • T1 represents the starting time of the lidar
  • ID represents the identification information of the lidar
  • % represents the remainder operation
  • K1, K2 and K3 are constants
  • the identification information of the laser radar in this embodiment may use the unique identifier of the laser radar, for example, it may be the serial number of the laser radar chip, the product code of the laser radar, or the like. It should be noted that the values of the constants K1, K2, and K3 in this embodiment are not unique. For example, the startup speed of the lidar system and the stability of the lidar system can be comprehensively considered and set.
  • the time interval between the start time of the lidar and the start time of the system is determined according to the unique identification information of the lidar, and the asynchronous start of different lidars in the same lidar system is realized through this time interval to avoid the occurrence of
  • the superposition of the peak currents of multiple lidars reduces the total starting current of the lidar system and solves the problem of large peak currents at the moment of lidar system start-up.
  • each lidar in the lidar system may include at least one motor, and the method provided in this embodiment may further include: controlling each motor to complete starting within the starting time interval of the adjacent lidars.
  • An embodiment of the present invention also provides a laser radar.
  • 6 is a schematic structural diagram of an embodiment of a laser radar provided by the present invention.
  • the laser radar 600 provided in this embodiment may include: a processor 601 and multiple motors 602.
  • the processor 601 is communicatively connected to the plurality of motors 602 through a bus.
  • the plurality of motors 602 in this embodiment may include motors 1, motor 2, motor 3,..., Motor n, etc. n motors, where n is an integer greater than or equal to 2.
  • the processor 602 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), or off-the-shelf. Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the processor 601 is used to:
  • the starting moments of multiple motors are partially or completely different;
  • the processor 601 is used to determine the starting time of multiple motors, specifically including:
  • the starting time of multiple motors is determined.
  • the processor 601 is used to control each motor to start at its corresponding start time, specifically including:
  • the classification speed is less than the target speed
  • the processor 601 is used to determine the graded speed according to the target speed, which specifically includes:
  • the classification speed is determined according to the target speed, the ambient temperature, and the correspondence between the speed and the current.
  • processor 601 is also used for:
  • processor 601 is also used for:
  • the preset current threshold is greater than or equal to the current when the motor is running smoothly.
  • processor 601 is also used for:
  • the speed of the slave motor is controlled.
  • the master motor is the motor with the smallest fluctuation in the speed
  • the slave motor is other motors except the master motor.
  • the processor 601 is used to control the speed of the slave motor according to the speed of the master motor, specifically including:
  • the speed of the slave motor is controlled according to the speed of the master motor and a preset relationship, and the preset relationship is the relationship between the speed of the master motor and the speed of the slave motor.
  • the speed of the master motor is linearly related to the speed of the slave motor.
  • processor 601 is also used for:
  • the corresponding protective measures are implemented.
  • the state parameters of the motor itself include at least one of the following: the current of the motor, the speed of the motor, the hardware state of the motor, the communication between the ESC that controls the motor and the corresponding main control, and the input voltage of the motor Condition, resistance and coil condition;
  • the state parameters of environmental factors include at least one of the following: the power state of the lidar, the communication state of the lidar, the ambient temperature, and the operating state of the lidar laser.
  • the processor 601 is further configured to determine the operating state of the motor according to the state parameters of the motor itself and the state parameters of environmental factors.
  • the operating state of the motor includes normal, alarm, and error.
  • processor 601 is also used for:
  • processor 601 is also used for:
  • Control at least two motors to exchange target speed each time they are turned on.
  • the processor 601 is used to control at least two motors to exchange target rotation speeds each time they are turned on, specifically including:
  • At least two higher target speeds are alternately set to the target speed of two motors.
  • At least one higher target speed and one lower target speed are alternately set as the target speed of the two motors.
  • the lidar includes a first motor, a second motor, and a third motor.
  • the processor 601 is configured to alternately set at least two higher target speeds to the target speeds of the two motors.
  • the target speed of the first motor and the second motor are alternately set to the highest target speed and the second highest target speed, and the target speed of the third motor is always set to the lowest target speed.
  • the processor 601 is used to control the target speed to be exchanged each time at least two motors are turned on, specifically including:
  • the target speed of the first motor is set as the first target speed
  • the target speed of the second motor is set as the second target speed
  • the target speed of the first motor is set as the second target speed, and the target speed of the second motor is set as the first target speed;
  • the count value is incremented.
  • processor 601 is also used for:
  • the target speed at which each motor is controlled to start again is set to be different from the target speed at the last start.
  • An embodiment of the present invention also provides a lidar system.
  • 7 is a schematic structural diagram of an embodiment of a lidar system provided by the present invention.
  • the lidar system 700 provided in this embodiment includes a plurality of lidars 702, and each lidar 702 includes a processor 701.
  • the processor 702 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), or off-the-shelf.
  • the general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the processor 701 is used to:
  • the corresponding lidar is the lidar where the processor 701 is located.
  • the processor 701 is used to determine the start time of the corresponding lidar, which specifically includes:
  • the identification information of the corresponding lidar determine the start time of the corresponding lidar.
  • the processor 701 is used to determine the start time of the corresponding lidar according to the identification information of the corresponding lidar, which specifically includes:
  • the time interval between the start time of the corresponding lidar and the system start time is calculated, and the start time of the corresponding lidar is obtained according to the time interval and the system start time.
  • the time interval is less than or equal to 4 seconds.
  • the processor 701 is used to calculate the time interval between the start time of the corresponding laser radar and the system start time according to the identification information of the corresponding laser radar, and obtain the start time of the corresponding laser radar according to the time interval and the system start time, This includes:
  • T1 T0+((ID+K1)%K2)*K3;
  • T0 represents the starting time of the system
  • T1 represents the starting time of the lidar
  • ID represents the identification information of the lidar
  • % represents the remainder operation
  • each lidar includes at least one motor, and control each motor to complete the startup within the startup time interval of the adjacently activated laser radars.
  • FIG. 8 is a schematic structural diagram of an embodiment of a mobile device provided by the present invention.
  • the mobile device 800 provided in this embodiment may include a body 801 and a laser radar 802 mounted on the body 801.
  • the lidar 802 may include a processor 8021 and multiple motors 8022.
  • the processor 8021 is used to:
  • the starting moments of multiple motors are partially or completely different;
  • the movable device may be an unmanned vehicle, or a drone, or an unmanned boat.
  • the processor 8021 is used to determine the starting moments of multiple motors, specifically including:
  • the starting time of multiple motors is determined.
  • the processor 8021 is used to control each motor to start at its corresponding start time, which specifically includes:
  • the classification speed is less than the target speed
  • the processor 8021 is used to determine the graded speed according to the target speed, which specifically includes:
  • the classification speed is determined according to the target speed, the ambient temperature, and the correspondence between the speed and the current.
  • processor 8021 is also used for:
  • the rotation speed of the motor reaches the classified rotation speed, and the current in the motor is less than the preset current threshold, the rotation speed of the motor is increased until the rotation speed of the motor reaches the target rotation speed.
  • processor 8021 is also used for:
  • the preset current threshold is greater than or equal to the current when the motor is running smoothly.
  • processor 8021 is also used for:
  • the speed of the slave motor is controlled.
  • the master motor is the motor with the smallest fluctuation in speed
  • the slave motor is other motors except the master motor.
  • the processor 8021 is used to control the speed of the slave motor according to the speed of the master motor, specifically including:
  • the rotation speed of the slave motor is controlled according to the rotation speed of the master motor and a preset relationship, and the preset relationship is the relationship between the rotation speed of the master motor and the rotation speed of the slave motor.
  • the speed of the master motor is linearly related to the speed of the slave motor.
  • processor 8021 is also used for:
  • the corresponding protective measures are implemented.
  • the state parameters of the motor itself include at least one of the following: the current of the motor, the speed of the motor, the hardware state of the motor, the communication between the ESC that controls the motor and the corresponding main control, and the input voltage of the motor Condition, resistance and coil condition;
  • the state parameters of environmental factors include at least one of the following: the power state of the lidar, the communication state of the lidar, the ambient temperature, and the operating state of the lidar laser.
  • the processor 8021 is also used to determine the operating state of the motor according to the state parameters of the motor itself and the state parameters of environmental factors.
  • the operating state of the motor includes normal, alarm, and error.
  • processor 8021 is also used for:
  • processor 8021 is also used for:
  • Control at least two motors to exchange target speed each time they are turned on.
  • the processor 8021 is used to control at least two motors to exchange target rotation speeds each time they are turned on, specifically including:
  • At least two higher target speeds are alternately set to the target speed of two motors.
  • At least one higher target speed and one lower target speed are alternately set as the target speed of the two motors.
  • the lidar includes a first motor, a second motor, and a third motor.
  • the processor 8021 is configured to alternately set at least two higher target speeds to the target speeds of the two motors.
  • the target speed of the first motor and the second motor are alternately set to the highest target speed and the second highest target speed, and the target speed of the third motor is always set to the lowest target speed.
  • the processor 8021 is used to control the exchange of target speeds of at least two motors each time it is turned on, specifically including:
  • the target speed of the first motor is set as the first target speed
  • the target speed of the second motor is set as the second target speed
  • the target speed of the first motor is set as the second target speed, and the target speed of the second motor is set as the first target speed;
  • the count value is incremented.
  • processor 8021 is also used for:
  • the target speed at which each motor is controlled to start again is set to be different from the target speed at the last start.
  • FIG. 9 is a schematic structural diagram of yet another embodiment of a mobile device provided by the present invention.
  • the mobile device 900 provided by this embodiment may include a body 901 and a laser radar system 902 mounted on the body 901.
  • the lidar system 902 includes multiple lidars 9022, and each lidar 9022 includes a processor 9021.
  • the processor 9021 is used to:
  • the corresponding lidar is the lidar where the processor 701 is located.
  • the processor 9021 is used to determine the start time of multiple lidars, specifically including:
  • the identification information of the corresponding lidar determine the start time of the corresponding lidar.
  • the processor 9021 is used to determine the start time of the corresponding lidar according to the identification information of the corresponding lidar, which specifically includes:
  • the time interval between the start time of the corresponding lidar and the system start time is calculated, and the start time of the corresponding lidar is obtained according to the time interval and the system start time.
  • the time interval is less than or equal to 4 seconds.
  • the processor 9021 is used to calculate the time interval between the start time of the corresponding laser radar and the system start time according to the identification information of the corresponding laser radar, and obtain the start time of the corresponding laser radar according to the time interval and the system start time, This includes:
  • T1 T0+((ID+K1)%K2)*K3;
  • T0 represents the starting time of the system
  • T1 represents the starting time of the lidar
  • ID represents the identification information of the lidar
  • % represents the remainder operation
  • each lidar includes at least one motor, and control each motor to complete startup within the startup time interval of adjacently activated laser radars.
  • An embodiment of the present invention also provides a motor control device (such as a chip, an integrated circuit, etc.), including: a memory and a processor.
  • the memory is used to store code for executing the motor control method.
  • the processor is configured to call the code stored in the memory and execute the motor control method described in any one of the foregoing method embodiments.
  • the motor control device provided by the embodiment of the present invention can be applied to a laser radar.
  • the foregoing program may be stored in a computer-readable storage medium, and when the program is executed, It includes the steps of the above method embodiments; and the foregoing storage media include: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

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Abstract

一种电机（602，8022）控制方法、激光雷达（600，702，802，9022）和可移动设备（800，900），包括：通过确定多个电机（602，8022）的启动时刻，多个电机的启动时刻部分不相同或者全部不相同(S201)；控制各个电机（602，8022）在各自相应的启动时刻启动(S202)。降低了激光雷达（600，702，802，9022）启动时，同时启动的电机（602，8022）的数量，从而降低了总的启动电流，进而避免了因总的启动电流过大而导致激光雷达（600，702，802，9022）出现异常，提高了激光雷达（600，702，802，9022）的稳定性。

Description

电机控制方法、激光雷达和可移动设备 技术领域
本发明实施例涉及激光雷达技术领域，尤其涉及一种电机控制方法、激光雷达和可移动设备。
背景技术
激光雷达是通过电机的旋转带动激光原件转动，在三维空间中通过光在物体上的反射与折射来获得物体相对于激光雷达的距离与角度信息的设备。激光雷达通常包括多个电机，由多个电机协同工作以获取三维空间中的准确信息。因此，电机的运行状态将直接决定整个激光雷达最终的成像效果。
激光雷达启动时，多个电机同时启动，各个电机在启动时均会产生较大的冲击电流，使得激光雷达总的启动电流异常大，进而导致激光雷达出现异常。
发明内容
本发明实施例提供一种电机控制方法、激光雷达和可移动设备，用于解决现有激光雷达启动时，启动电流异常大的问题。
第一方面，本发明实施例提供一种电机控制方法，应用于激光雷达，所述激光雷达包括多个电机，包括：
确定多个电机的启动时刻，多个电机的启动时刻部分不相同或者全部不相同；
控制各个电机在各自相应的启动时刻启动。
第二方面，本发明实施例提供一种激光雷达的控制方法，应用于包括多个激光雷达的***，包括：
确定对应激光雷达的启动时刻，保证多个激光雷达的启动时刻部分不相同或者全部不相同；
控制各个激光雷达在各自相应的启动时刻启动。
第三方面，本发明实施例提供一种激光雷达，包括处理器和多个电机；
所述处理器用于：
确定多个电机的启动时刻，多个电机的启动时刻部分不相同或者全部不相同；
控制各个电机在各自相应的启动时刻启动。
第四方面，本发明实施例提供一种激光雷达***，包括多个激光雷达，每个激光雷达包括处理器；
所述处理器用于：
确定所述对应激光雷达的启动时刻，保证所述多个激光雷达的启动时刻部分不相同或者全部不相同；
控制各个激光雷达在各自相应的启动时刻启动。
第五方面，本发明实施例提供一种可移动设备，包括机身和搭载于机身上的激光雷达；
激光雷达包括处理器和多个电机；
所述处理器用于：
确定多个电机的启动时刻，多个电机的启动时刻部分不相同或者全部不相同；
控制各个电机在各自相应的启动时刻启动。
第六方面，本发明实施例提供一种可移动设备，包括机身和搭载于机身上的激光雷达***；
所述激光雷达***包括多个激光雷达，每个激光雷达包括处理器；
所述处理器用于：
确定所述对应激光雷达的启动时刻，保证所述多个激光雷达的启动时刻部分不相同或者全部不相同；
控制各个激光雷达在各自相应的启动时刻启动。
本发明实施例提供的电机控制方法、激光雷达和可移动设备，通过确定多个电机的启动时刻，多个电机的启动时刻部分不相同或者全部不相同，并控制各个电机在各自相应的启动时刻启动，降低了激光雷达启动时，同时启动的电机的数量，从而降低了总的启动电流，进而避免了因总的启动电流过大而导致激光雷达出现异常，提高了激光雷达的稳定性。
附图说明
为了更清楚地说明本发明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发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明的实施例提供的无人飞行***的示意性架构图；
图2为本发明提供的电机控制方法一实施例的流程图；
图3为本发明提供的电机控制方法又一实施例的流程图；
图4为本发明提供的电机控制方法另一实施例的流程图；
图5为本发明提供的激光雷达的控制方法一实施例的流程图；
图6为本发明提供的激光雷达一实施例的结构示意图；
图7为本发明提供的激光雷达***一实施例的结构示意图；
图8为本发明提供的可移动设备一实施例的结构示意图；
图9为本发明提供的可移动设备又一实施例的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明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发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况 下，下述的实施例及实施例中的特征可以相互组合。
本发明的实施例提供了电机控制方法、激光雷达和可移动设备。本发明实施方式的激光雷达可应用于可移动设备，激光雷达可安装在可移动设备的设备本体。具有激光雷达的可移动设备可对外部环境进行测量，例如，测量可移动设备与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。可移动设备包括无人飞行器、汽车、遥控车、机器人、相机中的至少一种。当激光雷达应用于无人飞行器时，可移动设备为无人飞行器的机身。当激光雷达应用于汽车时，可移动设备为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当激光雷达应用于遥控车时，可移动设备为遥控车的车身。当激光雷达应用于机器人时，可移动设备为机器人。当激光雷达应用于相机时，可移动设备为相机本身。
其中无人机例如可以是旋翼飞行器(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼飞行器，本发明的实施例并不限于此。
图1是本发明实施例提供的无人飞行***的示意性架构图。本实施例以旋翼无人机为例进行说明。
无人飞行***100可以包括无人机110、显示设备130和控制终端140。其中，无人机110可以包括动力***150、飞行控制***160、机架和承载在机架上的云台120。无人机110可以与控制终端140和显示设备130进行无线通信。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机110着陆时起支撑作用。
动力***150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152，其中电机152连接在电子调速器151与螺旋桨153之间，电机152和螺旋桨153设置在无人机110的机臂上；电子调速器151用于接收飞行控制***160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。电机152用于驱动螺旋桨旋转，从而为无人机110的飞行提供动力，该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中，无人机110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横 滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以是有刷电机。
飞行控制***160可以包括飞行控制器161和传感***162。传感***162用于测量无人机的姿态信息，即无人机110在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感***162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit，IMU)、视觉传感器、全球导航卫星***和气压计等传感器中的至少一种。例如，全球导航卫星***可以是全球定位***(Global Positioning System，GPS)。飞行控制器161用于控制无人机110的飞行，例如，可以根据传感***162测量的姿态信息控制无人机110的飞行。应理解，飞行控制器161可以按照预先编好的程序指令对无人机110进行控制，也可以通过响应来自控制终端140的一个或多个控制指令对无人机110进行控制。
云台120可以包括电机122。飞行控制器161可以通过电机122控制云台120的运动。可选地，作为另一实施例，云台120还可以包括控制器，用于通过控制电机122来控制云台120的运动。应理解，云台120可以独立于无人机110，也可以为无人机110的一部分。应理解，电机122可以是直流电机，也可以是交流电机。另外，电机122可以是无刷电机，也可以是有刷电机。还应理解，云台可以位于无人机的顶部，也可以位于无人机的底部。
本实施例中云台120可以用于携带激光雷达或者激光雷达***123。激光雷达或者激光雷达***123也可以与飞行控制器161进行通信，在飞行控制器161的控制下进行工作，以获取三维空间的点云数据。可以理解的是，激光雷达或者激光雷达***123也可直接固定于无人机110上，从而云台120可以省略。
显示设备130位于无人飞行***100的地面端，可以通过无线方式与无人机110进行通信，并且可以用于显示无人机110的姿态信息。应理解，显示设备130可以是独立的设备，也可以集成在控制终端140中。
控制终端140位于无人飞行***100的地面端，可以通过无线方式与无人机110进行通信，用于对无人机110进行远程操纵。
另外，无人机110还可以机载有扬声器(图中未示出)，该扬声器用于播放音频文件，扬声器可直接固定于无人机110上，也可搭载在云台120上。
下面实施例提供的电机控制方法可以应用于激光雷达或者激光雷达***123中。应理解，上述对于无人飞行***各组成部分的命名仅是出于标识的目的，并不应理解为对本发明的实施例的限制。
图2为本发明提供的电机控制方法一实施例的流程图。本实施例提供的方法可以应用于激光雷达，所述激光雷达可以包括多个电机。如图2所示，本实施例提供的方法可以包括：
S201、确定多个电机的启动时刻，多个电机的启动时刻部分不相同或者全部不相同。
本实施例中例如可以根据激光雷达的启动时刻以及预设的电机启动间隔时间，确定多个电机的启动时刻。可选的，预设的电机启动间隔时间可以根据电机启动所需的平均时间确定。举例来说，若激光雷达的启动时刻为t，预设的电机启动时间间隔为Δt，则第一个电机的启动时刻可以为t，第二个电机的启动时刻可以为t+Δt，第三个电机的启动时刻可以为t+2*Δt，……，第n个电机的启动时刻可以为t+(n-1)*Δt，其中n为激光雷达包括的电机的数量。
本实施例中例如可以对多个电机进行排序，将上一电机启动完成的时刻作为当前电机的启动时刻，即依次启动多个电机。电机启动完成的时刻为电机的转速达到该电机的目标转速，且电机中的电流小于预设电流阈值的持续时间达到预设时长的时刻。可选的，可以根据电机的目标转速对多个电机进行排序。
可选的，为了降低激光雷达启动时总的启动电流，至少有两个电机的启动时刻是不相同的。
可以理解的是，目标转速高的电机启动时产生的冲击电流值以及该冲击电流的持续时间，均大于目标转速低的电机。可选的，为了进一步提高激光雷达的稳定性，可以确定目标转速高的电机启动时刻先于目标转速低的电机，即优先启动目标转速高的电机。
可选的，可以根据多个电机的标识信息，确定多个电机的启动时刻。其中，标识信息用于对电机进行唯一性标识。例如，可以根据电机的标识信息， 确定电机的启动时刻与激光雷达启动时刻之间的时间间隔，进而确定电机的启动时刻。
S202、控制各个电机在各自相应的启动时刻启动。
本实施例中在确定了各个电机的启动时刻之后，则根据各个电机的启动时刻，控制各个电机在各自相应的启动时刻启动。本实施例中对于电机启动的具体实现方式不做限制。
下面将通过具体的示例，对本实施的有益效果进行说明。以激光雷达包括3个电机M1、M2和M3为例，若M1、M2和M3启动时所产生的冲击电流的最大值分别为A1、A2和A3，且A1≥A2≥A3，则现有技术中激光雷达启动时，总的启动电流值将高达A1+A2+A3，激光雷达容易因总的启动电流过大而出现异常。当采用本实施例所述的方法时，若多个电机的启动时刻全部不相同，则激光雷达启动时的启动电流值将不会超过A1；若多个电机的启动时刻部分不相同时，则激光雷达启动时的启动电流值将不会超过A1+A2。有效降低了激光雷达启动时总的启动电流。
本实施例提供的电机控制方法，通过确定多个电机的启动时刻，多个电机的启动时刻部分不相同或者全部不相同，并控制各个电机在各自相应的启动时刻启动，降低了激光雷达启动时，同时启动的电机的数量，从而降低了总的启动电流，进而避免了因总的启动电流过大而导致激光雷达出现异常，提高了激光雷达的稳定性。
在上述实施例的基础上，下面将针对上述实施例中S202的实现方式进行详细说明，即对单个电机的启动过程进行详细说明。现有技术中通常是通过直接给电机一个目标转速，让电机一次直接转到指定的目标转速。其中，电机的目标转速为电机正常工作时需要达到的转速值。由于电机自身的状态和/或环境因素的影响，在电机启动过程中，电机电流可能会异常大且持续时间过长，导致电机烧毁，进而导致激光雷达无法正常工作。举例来说，随着电机的使用老化，如电机轴承老化，导致电机启动的阻力增大，或者，因外界环境温度过低，导致轴承中的油脂凝固，导致电机启动的阻力增大，最终都将导致电机的启动电流异常偏高。
在上述实施例的基础上，为了降低电机的启动电流，提高电机启动成功的概率，提高激光雷达的稳定性，本实施例提供的方法中，控制各个电机在 各自相应的启动时刻启动的一种实现方式可以是：获取电机的目标转速；根据目标转速，确定分级转速，分级转速小于目标转速；控制电机在该电机的启动时刻，以分级转速启动。
本实施例中电机的目标转速可以是固定不变的，也可以是根据激光雷达的工作需求而不断变化的，本实施例对此不作限制。本实施例中在获取到电机的目标转速之后，则根据该目标转速，确定一个小于该目标转速的分级转速，控制电机在该电机的启动时刻以分级转速进行启动。需要说明的是，当电机自身状态以及外界环境因素确定时，电机的启动电流与转速正相关。
举例来说，若获取到的电机的目标转速为5000转/秒，若直接以该目标转速启动电机，可能会产生8安培的电流，远远大于该电机正常运行时的电流值0.8安培，且大电流会持续较长时间，如会持续4秒钟，极易损坏电机。采用本实施例提供的方法，例如可以根据目标转速5000转/秒确定分级转速为2000转/秒，然后以2000转/秒的分级转速启动电机，此时可能仅会产生4安培的电流，且仅持续2秒钟。需要说明的是，本实施例中的数值仅做示意。
本实施例提供的电机控制方法，在上述实施例的基础上，通过获取电机的目标转速，根据目标转速，确定小于目标转速的分级转速，并控制电机在该电机的启动时刻，以分级转速启动，不仅能够降低电机的启动电流值，而且能够缩短大电流的持续时间，不仅能够避免电机因启动电流过大而烧毁，而且能够提高电机启动成功的概率，进而提高激光雷达的稳定性。
在一些实施例中，根据目标转速，确定分级转速的一种实现方式可以是：
根据目标转速以及转速与电流的对应关系，确定分级转速；
或者，根据目标转速以及环境温度，确定分级转速；
或者，根据目标转速、环境温度以及转速与电流的对应关系，确定分级转速。
例如，当环境温度降低时，电机中油脂的粘稠度增大，电机启动的阻力会增大，因此当环境温度降低时，可以降低分级转速；当环境温度升高时，可以适当提高分级转速。
可选的，在以分级转速启动电机之后，本实施例提供的方法还可以包括：若电机的转速达到分级转速，且电机中的电流小于预设电流阈值，则增大电机的转速，直至电机的转速达到目标转速。
通过以小于目标转速的分级转速启动电机，降低了电机的启动电流和大电流的持续时间之后，为了使电机尽快进入正常工作状态，本实施例中在电机的转速达到分级转速，且电机中的电流小于预设电流阈值，则可以逐渐增大电机的转速，直至电机的转速达到目标转速，以使电机进入正常工作状态。其中，电机的转速可以通过检测码盘的速度确定。
以目标转速为5000转/秒为例，可以将目标转速均匀划分为若干个转速等级，如1000转/秒、2000转/秒、3000转/秒、4000转/秒和5000转/秒，可以先以1000转/秒的分级转速启动，待转速达到1000转/秒，且电机中的电流小于预设电流阈值时，可以将转速增大至2000转/秒，以此类推，逐渐将转速增大至5000转/秒，以使电机进入正常工作状态；也可以将目标转速划分为若干个阶梯转速等级，如1000转/秒、2000转/秒和5000转/秒。
可选的，为了避免因电流波动产生电流小于预设电流阈值的情况，而产生误判，本实施例中，当电机中的电流小于预设电流阈值，且持续预设时长时候，增大电机的转速。例如，当电机中的电流小于1安培，且持续1秒钟之后，才增大电机的转速，避免因电流波动而产生误判，提高了电机启动的稳定性。
可选的，为了提高电机启动的速度，本实施例中预设电流阈值大于或等于电机平稳运行时的电流。举例来说，若电机平稳运行时的电流值为0.8安培，则预设电流阈值可以设置为1安培。也就是说，无需电流回落到电机平稳运行时的电流即可增大电机的转速，可保证更快到达目标转速。即提高了电机启动的速度。
图3为本发明提供的电机控制方法又一实施例的流程图。如图3所示，在图2所示实施例的基础上，本实施例提供的方法可以包括：
S301、获取电机的目标转速。
S302、根据目标转速，确定分级转速，分级转速小于目标转速。
S303、控制电机在该电机的启动时刻，以分级转速启动。
S304、判断电机中的电流是否小于第一预设电流阈值，且持续时长是否大于第一预设时长。若是，则执行S305；若否，则执行S307。
所述第一预设电流阈值大于或等于电机平稳运行时的电流。
S305、增大电机的转速。
本实施例中例如可以根据预先确定的转速分级策略，也可以根据电机 的运行状态以及环境因素确定转速分级策略，据此增大电机的转速。本实施例对于增大电机转速的具体方式不做限制。
S306、判断电机的转速是否达到目标转速。若是，则结束，即电机启动成功；若否，则继续执行S304。
S307、判断电机中的电流是否大于第二预设电流阈值，且持续时长是否大于第二预设时长。若是，则执行S308。
S308、电机停转。结束。
需要说明的是，本实施例中的第二预设电流阈值大于第一预设电流阈值，第二预设时长大于第一预设时长。为了提高电机启动的速度，第一预设电流阈值通常会设置的略大于电机平稳运行时的电流；而为了避免过保护，用于判断是否进行电机停转的第二预设电流阈值通常会设置的远大于电机平稳运行时的电流。若电机平稳运行时的电流为0.8安培，第一预设电流阈值可以为1安培，第二预设电流阈值可以为8安培。第一预设时长可以设置为1秒，而第二预设时长可以设置为8秒。
本实施例提供的电机控制方法，通过采用转速分级与电流反馈相结合的方式控制电机启动，降低了电机的启动电流，缩短了启动电流的持续时间，提高了电机启动的稳定性和速度。
激光雷达经常会应用在运动的物体上，例如将激光雷达安装在无人车或者无人机上，用于获取三维空间的点云数据，进行三维重建、导航等，此时激光雷达会随着物体的运动而产生平移和/或旋转运动，导致电机转速出现波动，这些波动会使激光雷达的点云空隙时大时小，产生呼吸效应。
在上述任一实施例的基础上，为了减小呼吸效应，提高点云的稳定性，提高激光雷达的抗干扰能力，本实施例提供的方法还可以包括：确定预设时间段内各个电机的转速波动；根据主电机的转速，对从电机的转速进行控制，主电机为转速波动最小的电机，从电机为除主电机之外的其他电机。
本实施例中的预设时间段例如可以是当前时刻之前10分钟内，也可以是从电机启动时刻开始直至当前时刻的全部时间段，可以根据实际需要进行设置。电机的转速波动描述了预设时间段内电机转速的变化情况，例如可以采用预设时间段内电机的转速方差度量电机的转速波动。
转速波动小的电机运行较为稳定，因此本实施例中将转速波动最小的电 机作为主电机，并根据主电机的转速对其他电机的转速进行控制，可以减小呼吸效应，提高点云的稳定性，提高激光雷达的抗干扰能力。
在一些实施例中，根据主电机的转速，对从电机的转速进行控制的一种实现方式可以是：根据主电机的转速以及预设关系式，对从电机的转速进行控制，预设关系式为主电机的转速与从电机的转速之间的关系。
为了获得不同的成像效果，激光雷达中的电机转速之间可以满足不同的关系。本实施例中在确定了转速波动最小的主电机，以及主电机的转速与从电机的转速之间的关系之后，便可以根据当前时刻主电机的转速，确定当前时刻从电机需要达到的转速，以此对从电机的转速进行控制，使得主电机的转速与从电机的转速重新满足预设关系式，提高了成像效果与稳定性。
可选的，当主电机的转速与从电机的转速呈线性关系时，可以使得点云空隙大小相同，提高了电晕的稳定性。
下面通过一个具体的示例对本实施例提供的电机控制方法进行详细说明。以包括两个电机的机械旋转式激光雷达(双棱镜版本)为例，实际应用中两个电机的转速均存在波动，会导致输出的点云空隙产生变化，进而产生呼吸效应。
例如可以将2个电机分别标注为M1和M2，M1和M2的目标转速分别为V1和V2。其中，V1和V2满足如下关系式：
V2＝-2/3×(V1-1)+198。
本实施例中，激光雷达启动时，M1和M2进行异步启动，即可以先让M1转到目标转速V1，再让M2开始启动，转到目标转速V2。其中，M1和M2各自启动过程中还可以采用分级启动的方式，具体可以参考上述实施例，此处不再赘述。由于激光雷达工作的环境不是一个稳态的环境，可能会出现震动、旋转等，将导致2个电机的转速出现波动。
分别确定M1和M2在预设时间段内的转速波动，将转速波动小的电机作为主电机，转速波动大的电机作为从电机。然后根据主电机的转速，计算出满足上述转速关系式的从电机的转速。重新设置从电机的转速，使M1和M2的转速在激光雷达的运行过程中始终满足上述转速关系式。
需要说明的是，满足不同关系式的电机转速组合扫描出来的点云的最大空隙也不相同。当M1和M2的转速满足上述线性关系式时，可以使得点云 空隙大小相同，且点云的最大空隙保持在较小范围内。
根据波动小的电机转速确定另一电机的转速，可以减小点云空隙大小的波动，较小呼吸效应，提高点云的稳定性，增加激光雷达在实际工作中的稳定性。
在上述任一实施例的基础上，为了进一步加强对电机的保护，提高激光雷达的稳定性，本实施例提供的方法还可以包括：获取电机自身的状态参数以及环境因素的状态参数；根据电机自身的状态参数和环境因素的状态参数，执行相应的保护措施。
电机工作在一定的环境中，环境因素会影响电机的运行状态。举例来说，若电机工作的温度范围为[-20℃，60℃]，则电机在高温如100℃，或者低温如-40℃的环境下，可能无法正常工作。因此，若仅根据电机自身的工况对电机进行保护，无法取得理想效果，即无法有效对电机进行保护。
可选的，本实施例中的保护措施可以包括降低转速、停止转动、进行告警等。
本实施例提供的电机控制方法，通过综合电机自身的状态参数和环境因素的状态参数，并执行相应的保护措施，加强了对电机的保护，可以有效避免电机的异常损坏，进而提高了激光雷达的稳定性。
可选的，电机自身的状态参数至少包括以下中的一种：电机的电流、电机的转速、电机的硬件状态、控制电机的电调与对应的主控之间的通信状况、电机的输入电压状况、电阻及线圈状况；环境因素的状态参数至少包括以下中的一种：激光雷达的电源状态、激光雷达的通信状态、环境温度、以及激光雷达激光器的运行状态中。
可选的，可以根据状态参数对电机运行的影响程度，为不同的状态参数设置不同的权重。
在一些实施例中，还可以包括：根据电机自身的状态参数和环境因素的状态参数，确定电机的运行状态，电机的运行状态包括正常、告警和错误。
激光雷达包括多个电机，而多个电机的目标转速通常不同，因此便会导致激光雷达中各个电机的磨损程度不同。可以理解的是，目标转速较大的电机轴承通常磨损较为严重，进而会导致激光雷达使用寿命的缩短。在上述任一实施例的基础上，为了均衡电机的磨损，提高电机的寿命，进而提高激光 雷达的使用寿命，本实施例提供的电机控制方法还可以包括：控制至少两个电机每次开启时的目标转速进行交换。通过对目标转速进行交换，均衡了电机的磨损，可以提高电机寿命。
轴承在电机中扮演着重要的角色。通常为了电机轴承能更好的工作，会在轴承中注入不同量的油脂。油脂会在轴承中形成不同的覆盖面的油膜，不同的油膜分布会对电机的旋转运动产生不同的阻力。若电机在一个方向持续工作，随着使用时间的推移，电机轴承中的油膜分布会发生比较大的改变，电机工作的阻力将逐渐变大，导致电机寿命降低。可选的，可以控制电机在每次启动时改变转动方向，以减小油膜分布的变化，减小油膜分布对电机的阻力，提高电机寿命。
在一些实施例中，控制至少两个电机每次开启时的目标转速进行交换的一种实现方式可以是：
至少将两个较高目标转速交替设置为两个电机的目标转速；或者
至少将一个较高目标转速和一个较低目标转速交替设置为两个电机的目标转速。
可选的，若激光雷达包括第一电机、第二电机以及第三电机，至少将两个较高目标转速交替设置为两个电机的目标转速具体可以包括：
在每次启动激光雷达时，将第一电机和第二电机的目标转速交替设置为最高的目标转速和第二高的目标转速，将第三电机的目标转速始终设置为最低的目标转速。
在一些实施例中，若需要交替设置的目标转速为第一目标转速和第二目标转速，则控制至少两个电机每次开启时的目标转速进行交换的一种实现方式可以是：
每次启动激光雷达时，进行计数；
下次启动激光雷达时，获取计数值；
若计数值为奇数，则将第一电机的目标转速设为第一目标转速，将第二电机的目标转速设为第二目标转速；
若计数值为偶数，则将第一电机的目标转速设为第二目标转速，将第二电机的目标转速设为第一目标转速；
对计数值进行自增。
本实施例中的计数值可以为激光雷达的启动次数。初次上电时，将计数值置为1，以后每次上电后将计数值加1。
可选的，可以控制每个电机再次启动时的目标转速设定为与上次启动时的目标转速不相同。
可选的，可以根据激光雷达的启动次数，确定多个电机的目标转速。
可选的，还可以根据激光雷达的运行时间，对目标转速进行交换。例如，若激光雷达的运行时间大于等于预设时长，如74小时，则可以对目标转速进行交换，以均衡电机的磨损，均衡油脂的分布，提升电机寿命。
图4为本发明提供的电机控制方法另一实施例的流程图。本实施例以对两个电机(第一电机和第二电机)的目标转速进行交换为例进行说明。如图4所示，本实施例提供的电机控制方法，在上述任一实施例的基础上，还可以包括：
S401、激光雷达启动时，获取计数值。
本实施例中的技术值可以为激光雷达的启动次数，激光雷达每启动一次，计数值加1。
S402、判断计数值是否为奇数。若是，则执行S403；若否，则执行S404。
S403、将第一电机的目标转速设为第一目标转速，将第二电机的目标转速设为第二目标转速。
S404、将第一电机的目标转速设为第二目标转速，将第二电机的目标转速设为第一目标转速。
S405、启动第一电机和第二电机。
本实施例提供的电机控制方法，通过根据计数值，对第一电机和第二电机的目标转速进行交换，可以均衡第一电机和第二电机轴承的磨损，可以提升第一电机和第二电机的寿命。
为了获得全方位多角度的数据，在实际应用过程中，通常会使用多个激光雷达。例如，在无人车四周安装多个激光雷达，形成激光雷达***，以实现全面避障，提高无人车的安全性；在无人机上安装多个激光雷达，以获取更大视场内的更多数据，提高三维建模的精度等。若激光雷达***中的多个激光雷达同时启动，可能出现总的启动电流比较大，导致用户***的电器负 载在激光雷达***启动瞬间比较大的问题，增加用户***的复杂度。
本发明实施例还提供一种激光雷达的控制方法，应用于包括多个激光雷达的***。图5为本发明提供的激光雷达的控制方法一实施例的流程图。如图5所示，本实施例提供的方法可以包括：
S501、确定对应激光雷达的启动时刻，保证多个激光雷达的启动时刻部分不相同或者全部不相同。
可选的，本实施例中例如可以对多个激光雷达进行排序，将上一激光雷达启动完成的时刻作为当前激光雷达的启动时刻，即依次启动多个激光雷达。通过控制各个端口的启动时序来严格的控制每一个激光雷达的启动顺序。一次仅启动一个端口的电源，当激光雷达启动正常以后，再开启下个一端口的电源，以此类推。
可选的，本实施例中例如可以根据激光雷达***的启动时刻以及预设的激光雷达启动间隔时间，确定多个激光雷达的启动时刻。可选的，预设的激光雷达启动间隔时间可以根据激光雷达启动所需的平均时间确定。举例来说，若激光雷达***的启动时刻为T，预设的激光雷达启动时间间隔为ΔT，则第一个激光雷达的启动时刻可以为T，第二个激光雷达的启动时刻可以为T+ΔT，第三个激光雷达的启动时刻可以为T+2*ΔT，……，第N个激光雷达的启动时刻可以为T+(N-1)*ΔT，其中N为激光雷达***所包括的激光雷达的数量。
可选的，为了降低激光雷达***启动时总的启动电流，至少有两个激光雷达的启动时刻是不相同的。
可选的，可以根据对应激光雷达的标识信息，确定对应激光雷达的启动时刻。
S502、控制各个激光雷达在各自相应的启动时刻启动。
本实施例中在确定了多个激光雷达的启动时刻之后，则控制各个激光雷达在各自相应的启动时刻启动。
本实施例提供的激光雷达的控制方法，通过确定多个激光雷达的启动时刻，多个激光雷达的启动时刻部分不相同或者全部不相同，并控制各个激光雷达在各自相应的启动时刻启动，降低了激光雷达***启动时，同时启动的激光雷达的数量，从而降低了激光雷达***总的启动电流，进而避免了因总 的启动电流过大而导致激光雷达***出现异常，提高了激光雷达***的稳定性。进一步的，对于搭载了多个激光雷达的用户***来说，采用本实施例提供的激光雷达的控制方法，可以降低用户***的复杂度。
在一些实施例中，根据对应激光雷达的标识信息，确定对应激光雷达的启动时刻的一种实现方式可以是：
根据每个激光雷达的标识信息，计算出每个激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和***启动时刻获得每个激光雷达的启动时刻。
可选的，为了提高激光雷达***的启动速度，本实施例中的时间间隔小于或等于预设时间间隔，该预设时间间隔可以根据激光雷达***所包括的激光雷达的数量确定。例如，时间间隔可以小于或等于4秒，也就是说，在激光雷达***开始启动4秒中之内，所有的激光雷达都启动了。
可选的，根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和***启动时刻获得对应激光雷达的启动时刻，具体可以包括：
根据如下公式获得每个激光雷达的启动时刻：
T1＝T0+((ID+K1)％K2)*K3；
其中，T0表示***启动时刻，T1表示激光雷达的启动时刻，ID表示激光雷达的标识信息，％表示取余运算，K1、K2和K3为常数，K1＝10，K2＝10，K3＝400。本实施例中激光雷达的标识信息可以采用激光雷达的唯一性标识符，例如可以是激光雷达芯片的序列号、激光雷达的产品代码等。需要说明的是，本实施例中常数K1、K2和K3的取值并不唯一，例如可以综合考虑激光雷达***的启动速度以及激光雷达***的稳定性，进行设置。
本实施例中根据激光雷达的唯一性标识信息，确定该激光雷达的启动时刻与***启动时刻之间的时间间隔，通过这个时间间隔实现了同一激光雷达***中不同激光雷达的异步启动，避免出现多个激光雷达的峰值电流叠加的情况，降低了激光雷达***总的启动电流，解决了激光雷达***启动瞬间电流峰值较大的问题。
可以理解的是，激光雷达***中每个激光雷达可以包括至少一个电机，本实施例提供的方法还可以包括：控制每个电机在相邻启动的激光雷达的启 动时间间隔内完成启动。
本发明实施例还提供一种激光雷达。图6为本发明提供的激光雷达一实施例的结构示意图。如图6所示，本实施例提供的激光雷达600可以包括：处理器601和多个电机602。处理器601与多个电机602通过总线通信连接。本实施例中的多个电机602可以包括电机1、电机2、电机3、……、电机n，等n个电机，n为大于等于2的整数。上述处理器602可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
处理器601用于：
确定多个电机的启动时刻，多个电机的启动时刻部分不相同或者全部不相同；
控制各个电机在各自相应的启动时刻启动。
可选的，处理器601用于确定多个电机的启动时刻，具体包括：
根据多个电机的标识信息，确定多个电机的启动时刻。
可选的，处理器601用于控制各个电机在各自相应的启动时刻启动，具体包括：
获取电机的目标转速；
根据目标转速，确定分级转速，分级转速小于目标转速；
控制电机在该电机的启动时刻，以分级转速启动。
可选的，处理器601用于根据目标转速，确定分级转速，具体包括：
根据目标转速以及转速与电流的对应关系，确定分级转速；
或者，根据目标转速以及环境温度，确定分级转速；
或者，根据目标转速、环境温度以及转速与电流的对应关系，确定分级转速。
可选的，处理器601还用于：
若电机的转速达到分级转速，且电机中的电流小于预设电流阈值，则增 大电机的转速，直至电机的转速达到目标转速。
可选的，处理器601还用于：
当电机中的电流小于预设电流阈值，且持续预设时长时候，增大电机的转速。
可选的，预设电流阈值大于或等于电机平稳运行时的电流。
可选的，处理器601还用于：
确定预设时间段内各个电机的转速波动；
根据主电机的转速，对从电机的转速进行控制，主电机为转速波动最小的电机，从电机为除主电机之外的其他电机。
可选的，处理器601用于根据主电机的转速，对从电机的转速进行控制，具体包括：
根据主电机的转速以及预设关系式，对从电机的转速进行控制，预设关系式为主电机的转速与从电机的转速之间的关系。
可选的，主电机的转速与从电机的转速呈线性关系。
可选的，处理器601还用于：
获取电机自身的状态参数以及环境因素的状态参数；
根据电机自身的状态参数和环境因素的状态参数，执行相应的保护措施。
可选的，电机自身的状态参数至少包括以下中的一种：电机的电流、电机的转速、电机的硬件状态、控制电机的电调与对应的主控之间的通信状况、电机的输入电压状况、电阻及线圈状况；
环境因素的状态参数至少包括以下中的一种：激光雷达的电源状态、激光雷达的通信状态、环境温度、以及激光雷达激光器的运行状态中。
可选的，处理器601还用于：根据电机自身的状态参数和环境因素的状态参数，确定电机的运行状态，电机的运行状态包括正常、告警和错误。
可选的，处理器601还用于：
根据激光雷达的启动次数，确定多个电机的目标转速。
可选的，处理器601还用于：
控制至少两个电机每次开启时的目标转速进行交换。
可选的，处理器601用于控制至少两个电机每次开启时的目标转速进行交换，具体包括：
至少将两个较高目标转速交替设置为两个电机的目标转速；或者
至少将一个较高目标转速和一个较低目标转速交替设置为两个电机的目标转速。
可选的，激光雷达包括第一电机、第二电机以及第三电机，处理器601用于至少将两个较高目标转速交替设置为两个电机的目标转速具体包括：
在每次启动激光雷达时，将第一电机和第二电机的目标转速交替设置为最高的目标转速和第二高的目标转速，将第三电机的目标转速始终设置为最低的目标转速。
可选的，其中需要交替设置的目标转速为第一目标转速和第二目标转速，处理器601用于控制至少两个电机每次开启时的目标转速进行交换，具体包括：
每次启动激光雷达时，进行计数；
下次启动激光雷达时，获取计数值；
若计数值为奇数，则将第一电机的目标转速设为第一目标转速，将第二电机的目标转速设为第二目标转速；
若计数值为偶数，则将第一电机的目标转速设为第二目标转速，将第二电机的目标转速设为第一目标转速；
对计数值进行自增。
可选的，处理器601还用于：
控制每个电机再次启动时的目标转速设定为与上次启动时的目标转速不相同。
本发明实施例还提供一种激光雷达***。图7为本发明提供的激光雷达***一实施例的结构示意图。如图7所示，本实施例提供的激光雷达***700包括多个激光雷达702，每个激光雷达702包括处理器701。上述处理器702可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
处理器701用于：
确定对应激光雷达的启动时刻，保证多个激光雷达的启动时刻部分不相同或者全部不相同；
控制各个激光雷达在各自相应的启动时刻启动。
具体地，所述对应激光雷达即为所述处理器701所在的激光雷达。
可选的，处理器701用于确定对应激光雷达的启动时刻，具体包括：
根据对应激光雷达的标识信息，确定对应激光雷达的启动时刻。
可选的，处理器701用于根据对应激光雷达的标识信息，确定对应激光雷达的启动时刻，具体包括：
根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和***启动时刻获得对应激光雷达的启动时刻。
可选的，时间间隔小于或等于4秒。
可选的，处理器701用于根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和***启动时刻获得对应激光雷达的启动时刻，具体包括：
根据如下公式获得每个激光雷达的启动时刻：
T1＝T0+((ID+K1)％K2)*K3；
其中，T0表示***启动时刻，T1表示激光雷达的启动时刻，ID表示激光雷达的标识信息，％表示取余运算，K1、K2和K3为常数，K1＝10，K2＝10，K3＝400。
可选的，处理器701还用于：每个激光雷达包括至少一个电机，控制每个电机在相邻启动的激光雷达的启动时间间隔内完成启动。
本发明实施例还提供一种可移动设备。图8为本发明提供的可移动设备一实施例的结构示意图。如图8所示，本实施例提供的可移动设备800可以包括：机身801和搭载于机身801上的激光雷达802。其中，激光雷达802可以包括处理器8021和多个电机8022。
处理器8021用于：
确定多个电机的启动时刻，多个电机的启动时刻部分不相同或者全部不相同；
控制各个电机在各自相应的启动时刻启动。
可选的，可移动设备可以为无人车，或者，无人机，或者无人船等。
可选的，处理器8021用于确定多个电机的启动时刻，具体包括：
根据多个电机的标识信息，确定多个电机的启动时刻。
可选的，处理器8021用于控制各个电机在各自相应的启动时刻启动，具体包括：
获取电机的目标转速；
根据目标转速，确定分级转速，分级转速小于目标转速；
控制电机在该电机的启动时刻，以分级转速启动。
可选的，处理器8021用于根据目标转速，确定分级转速，具体包括：
根据目标转速以及转速与电流的对应关系，确定分级转速；
或者，根据目标转速以及环境温度，确定分级转速；
或者，根据目标转速、环境温度以及转速与电流的对应关系，确定分级转速。
可选的，处理器8021还用于：
若电机的转速达到分级转速，且电机中的电流小于预设电流阈值，则增大电机的转速，直至电机的转速达到目标转速。
可选的，处理器8021还用于：
当电机中的电流小于预设电流阈值，且持续预设时长时候，增大电机的转速。
可选的，预设电流阈值大于或等于电机平稳运行时的电流。
可选的，处理器8021还用于：
确定预设时间段内各个电机的转速波动；
根据主电机的转速，对从电机的转速进行控制，主电机为转速波动最小的电机，从电机为除主电机之外的其他电机。
可选的，处理器8021用于根据主电机的转速，对从电机的转速进行控制，具体包括：
根据主电机的转速以及预设关系式，对从电机的转速进行控制，预设关系式为主电机的转速与从电机的转速之间的关系。
可选的，主电机的转速与从电机的转速呈线性关系。
可选的，处理器8021还用于：
获取电机自身的状态参数以及环境因素的状态参数；
根据电机自身的状态参数和环境因素的状态参数，执行相应的保护措施。
可选的，电机自身的状态参数至少包括以下中的一种：电机的电流、电机的转速、电机的硬件状态、控制电机的电调与对应的主控之间的通信状况、电机的输入电压状况、电阻及线圈状况；
环境因素的状态参数至少包括以下中的一种：激光雷达的电源状态、激光雷达的通信状态、环境温度、以及激光雷达激光器的运行状态中。
可选的，处理器8021还用于：根据电机自身的状态参数和环境因素的状态参数，确定电机的运行状态，电机的运行状态包括正常、告警和错误。
可选的，处理器8021还用于：
根据激光雷达的启动次数，确定多个电机的目标转速。
可选的，处理器8021还用于：
控制至少两个电机每次开启时的目标转速进行交换。
可选的，处理器8021用于控制至少两个电机每次开启时的目标转速进行交换，具体包括：
至少将两个较高目标转速交替设置为两个电机的目标转速；或者
至少将一个较高目标转速和一个较低目标转速交替设置为两个电机的目标转速。
可选的，激光雷达包括第一电机、第二电机以及第三电机，处理器8021用于至少将两个较高目标转速交替设置为两个电机的目标转速具体包括：
在每次启动激光雷达时，将第一电机和第二电机的目标转速交替设置为最高的目标转速和第二高的目标转速，将第三电机的目标转速始终设置为最低的目标转速。
可选的，其中需要交替设置的目标转速为第一目标转速和第二目标转速，处理器8021用于控制至少两个电机每次开启时的目标转速进行交换，具体包括：
每次启动激光雷达时，进行计数；
下次启动激光雷达时，获取计数值；
若计数值为奇数，则将第一电机的目标转速设为第一目标转速，将第二 电机的目标转速设为第二目标转速；
若计数值为偶数，则将第一电机的目标转速设为第二目标转速，将第二电机的目标转速设为第一目标转速；
对计数值进行自增。
可选的，处理器8021还用于：
控制每个电机再次启动时的目标转速设定为与上次启动时的目标转速不相同。
本发明实施例还提供一种可移动设备。图9为本发明提供的可移动设备又一实施例的结构示意图。如图9所示，本实施例提供的可移动设备900可以包括：机身901和搭载于机身901上的激光雷达***902。其中，激光雷达***902包括多个激光雷达9022，每个激光雷达9022包括处理器9021。
处理器9021用于：
确定对应激光雷达的启动时刻，保证多个激光雷达的启动时刻部分不相同或者全部不相同；
控制各个激光雷达在各自相应的启动时刻启动。
具体地，所述对应激光雷达即为所述处理器701所在的激光雷达。
可选的，处理器9021用于确定多个激光雷达的启动时刻，具体包括：
根据对应激光雷达的标识信息，确定对应激光雷达的启动时刻。
可选的，处理器9021用于根据对应激光雷达的标识信息，确定对应激光雷达的启动时刻，具体包括：
根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和***启动时刻获得对应激光雷达的启动时刻。
可选的，时间间隔小于或等于4秒。
可选的，处理器9021用于根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和***启动时刻获得对应激光雷达的启动时刻，具体包括：
根据如下公式获得每个激光雷达的启动时刻：
T1＝T0+((ID+K1)％K2)*K3；
其中，T0表示***启动时刻，T1表示激光雷达的启动时刻，ID表示激光 雷达的标识信息，％表示取余运算，K1、K2和K3为常数，K1＝10，K2＝10，K3＝400。
可选的，处理器9021还用于：每个激光雷达包括至少一个电机，控制每个电机在相邻启动的激光雷达的启动时间间隔内完成启动。
本发明实施例还提供一种电机控制装置(例如芯片、集成电路等)，包括：存储器和处理器。所述存储器，用于存储执行电机控制方法的代码。所述处理器，用于调用所述存储器中存储的所述代码，执行如上述任一方法实施例所述的电机控制方法。本发明实施例提供的电机控制装置可以应用于激光雷达中。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，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发明各实施例技术方案的范围。

Claims (75)

  1. 一种电机控制方法，应用于激光雷达，所述激光雷达包括多个电机，其特征在于，包括：
    确定所述多个电机的启动时刻，所述多个电机的启动时刻部分不相同或者全部不相同；
    控制各个电机在各自相应的启动时刻启动。
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述多个电机的启动时刻，包括：
    根据所述多个电机的标识信息，确定所述多个电机的启动时刻。
  3. 根据权利要求1所述的方法，其特征在于，所述控制各个电机在各自相应的启动时刻启动，包括：
    获取所述电机的目标转速；
    根据所述目标转速，确定分级转速，所述分级转速小于所述目标转速；
    控制所述电机在该电机的启动时刻，以所述分级转速启动。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述目标转速，确定分级转速，包括：
    根据所述目标转速以及转速与电流的对应关系，确定所述分级转速；
    或者，根据所述目标转速以及环境温度，确定所述分级转速；
    或者，根据所述目标转速、环境温度以及转速与电流的对应关系，确定所述分级转速。
  5. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    若所述电机的转速达到所述分级转速，且所述电机中的电流小于预设电流阈值，则增大所述电机的转速，直至所述电机的转速达到所述目标转速。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    当所述电机中的电流小于预设电流阈值，且持续预设时长时候，增大所述电机的转速。
  7. 根据权利要求5所述的方法，其特征在于，所述预设电流阈值大于或等于所述电机平稳运行时的电流。
  8. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    确定预设时间段内各个电机的转速波动；
    根据主电机的转速，对从电机的转速进行控制，所述主电机为转速波动最小的电机，所述从电机为除所述主电机之外的其他电机。
  9. 根据权利要求8所述的方法，其特征在于，所述根据主电机的转速，对从电机的转速进行控制，包括：
    根据所述主电机的转速以及预设关系式，对所述从电机的转速进行控制，所述预设关系式为所述主电机的转速与所述从电机的转速之间的关系。
  10. 根据权利要求9所述的方法，其特征在于，所述主电机的转速与所述从电机的转速呈线性关系。
  11. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取所述电机自身的状态参数以及环境因素的状态参数；
    根据所述电机自身的状态参数和环境因素的状态参数，执行相应的保护措施。
  12. 根据权利要求11所述的方法，其特征在于，所述电机自身的状态参数至少包括以下中的一种：所述电机的电流、所述电机的转速、所述电机的硬件状态、控制所述电机的电调与对应的主控之间的通信状况、所述电机的输入电压状况、电阻及线圈状况；
    所述环境因素的状态参数至少包括以下中的一种：所述激光雷达的电源状态、所述激光雷达的通信状态、环境温度、以及所述激光雷达激光器的运行状态中。
  13. 根据权利要求11或12所述的方法，其特征在于，所述方法还包括：
    根据所述电机自身的状态参数和环境因素的状态参数，确定所述电机的运行状态，所述电机的运行状态包括正常、告警和错误。
  14. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    根据所述激光雷达的启动次数，确定所述多个电机的目标转速。
  15. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    控制至少两个电机每次开启时的目标转速进行交换。
  16. 根据权利要求15所述的方法，其特征在于，所述控制至少两个电机每次开启时的目标转速进行交换，包括：
    至少将两个较高目标转速交替设置为两个电机的目标转速；或者
    至少将一个较高目标转速和一个较低目标转速交替设置为两个电机的目 标转速。
  17. 根据权利要求16所述的方法，其特征在于，所述激光雷达包括第一电机、第二电机以及第三电机，所述至少将两个较高目标转速交替设置为两个电机的目标转速具体包括：
    在每次启动所述激光雷达时，将所述第一电机和所述第二电机的目标转速交替设置为最高的目标转速和第二高的目标转速，将所述第三电机的目标转速始终设置为最低的目标转速。
  18. 根据权利要求16所述的方法，其特征在于，其中需要交替设置的目标转速为第一目标转速和第二目标转速，所述控制至少两个电机每次开启时的目标转速进行交换，具体包括：
    每次启动所述激光雷达时，进行计数；
    下次启动所述激光雷达时，获取计数值；
    若所述计数值为奇数，则将第一电机的目标转速设为第一目标转速，将第二电机的目标转速设为第二目标转速；
    若所述计数值为偶数，则将第一电机的目标转速设为第二目标转速，将第二电机的目标转速设为第一目标转速；
    对所述计数值进行自增。
  19. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    控制每个电机再次启动时的目标转速设定为与上次启动时的目标转速不相同。
  20. 一种激光雷达的控制方法，应用于包括多个激光雷达的***，其特征在于，包括：
    确定所述对应激光雷达的启动时刻，保证所述多个激光雷达的启动时刻部分不相同或者全部不相同；
    控制各个激光雷达在各自相应的启动时刻启动。
  21. 根据权利要求20所述的方法，其特征在于，所述确定所述对应激光雷达的启动时刻，包括：
    根据所述对应激光雷达的标识信息，确定所述对应激光雷达的启动时刻。
  22. 根据权利要求21所述的方法，其特征在于，所述根据所述对应激光雷达的标识信息，确定所述对应激光雷达的启动时刻，具体包括：
    根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和所述***启动时刻获得对应激光雷达的启动时刻。
  23. 根据权利要求22所述的方法，其特征在于，
    所述时间间隔小于或等于4秒。
  24. 根据权利要求22所述的方法，其特征在于，所述根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和所述***启动时刻获得对应激光雷达的启动时刻，具体包括：
    根据如下公式获得每个激光雷达的启动时刻：
    T1＝T0+((ID+K1)％K2)*K3；
    其中，T0表示***启动时刻，T1表示所述激光雷达的启动时刻，ID表示所述激光雷达的标识信息，％表示取余运算，K1、K2和K3为常数，K1＝10，K2＝10，K3＝400。
  25. 根据权利要求20-22任一项所述的方法，其特征在于，所述方法还包括：所述每个激光雷达包括至少一个电机，控制所述每个电机在相邻启动的激光雷达的启动时间间隔内完成启动。
  26. 一种激光雷达，其特征在于，包括处理器和多个电机；
    所述处理器用于：
    确定所述多个电机的启动时刻，所述多个电机的启动时刻部分不相同或者全部不相同；
    控制各个电机在各自相应的启动时刻启动。
  27. 根据权利要求26所述的激光雷达，其特征在于，所述处理器用于确定所述多个电机的启动时刻，具体包括：
    根据所述多个电机的标识信息，确定所述多个电机的启动时刻。
  28. 根据权利要求26所述的激光雷达，其特征在于，所述处理器用于控制各个电机在各自相应的启动时刻启动，具体包括：
    获取所述电机的目标转速；
    根据所述目标转速，确定分级转速，所述分级转速小于所述目标转速；
    控制所述电机在该电机的启动时刻，以所述分级转速启动。
  29. 根据权利要求28所述的激光雷达，其特征在于，所述处理器用于根据所述目标转速，确定分级转速，具体包括：
    根据所述目标转速以及转速与电流的对应关系，确定所述分级转速；
    或者，根据所述目标转速以及环境温度，确定所述分级转速；
    或者，根据所述目标转速、环境温度以及转速与电流的对应关系，确定所述分级转速。
  30. 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：
    若所述电机的转速达到所述分级转速，且所述电机中的电流小于预设电流阈值，则增大所述电机的转速，直至所述电机的转速达到所述目标转速。
  31. 根据权利要求30所述的激光雷达，其特征在于，所述处理器还用于：
    当所述电机中的电流小于预设电流阈值，且持续预设时长时候，增大所述电机的转速。
  32. 根据权利要求30所述的激光雷达，其特征在于，所述预设电流阈值大于或等于所述电机平稳运行时的电流。
  33. 根据权利要求26所述的激光雷达，其特征在于，所述处理器还用于：
    确定预设时间段内各个电机的转速波动；
    根据主电机的转速，对从电机的转速进行控制，所述主电机为转速波动最小的电机，所述从电机为除所述主电机之外的其他电机。
  34. 根据权利要求33所述的激光雷达，其特征在于，所述处理器用于根据主电机的转速，对从电机的转速进行控制，具体包括：
    根据所述主电机的转速以及预设关系式，对所述从电机的转速进行控制，所述预设关系式为所述主电机的转速与所述从电机的转速之间的关系。
  35. 根据权利要求34所述的激光雷达，其特征在于，所述主电机的转速与所述从电机的转速呈线性关系。
  36. 根据权利要求26所述的激光雷达，其特征在于，所述处理器还用于：
    获取所述电机自身的状态参数以及环境因素的状态参数；
    根据所述电机自身的状态参数和环境因素的状态参数，执行相应的保护措施。
  37. 根据权利要求36所述的激光雷达，其特征在于，所述电机自身的状态参数至少包括以下中的一种：所述电机的电流、所述电机的转速、所述电 机的硬件状态、控制所述电机的电调与对应的主控之间的通信状况、所述电机的输入电压状况、电阻及线圈状况；
    所述环境因素的状态参数至少包括以下中的一种：所述激光雷达的电源状态、所述激光雷达的通信状态、环境温度、以及所述激光雷达激光器的运行状态中。
  38. 根据权利要求36或37所述的激光雷达，其特征在于，所述处理器还用于：根据所述电机自身的状态参数和环境因素的状态参数，确定所述电机的运行状态，所述电机的运行状态包括正常、告警和错误。
  39. 根据权利要求26所述的激光雷达，其特征在于，所述处理器还用于：
    根据所述激光雷达的启动次数，确定所述多个电机的目标转速。
  40. 根据权利要求26所述的激光雷达，其特征在于，所述处理器还用于：
    控制至少两个电机每次开启时的目标转速进行交换。
  41. 根据权利要求40所述的激光雷达，其特征在于，所述处理器用于控制至少两个电机每次开启时的目标转速进行交换，具体包括：
    至少将两个较高目标转速交替设置为两个电机的目标转速；或者
    至少将一个较高目标转速和一个较低目标转速交替设置为两个电机的目标转速。
  42. 根据权利要求41所述的激光雷达，其特征在于，所述激光雷达包括第一电机、第二电机以及第三电机，所述处理器用于至少将两个较高目标转速交替设置为两个电机的目标转速具体包括：
    在每次启动所述激光雷达时，将所述第一电机和所述第二电机的目标转速交替设置为最高的目标转速和第二高的目标转速，将所述第三电机的目标转速始终设置为最低的目标转速。
  43. 根据权利要求41所述的激光雷达，其特征在于，其中需要交替设置的目标转速为第一目标转速和第二目标转速，所述处理器用于控制至少两个电机每次开启时的目标转速进行交换，具体包括：
    每次启动所述激光雷达时，进行计数；
    下次启动所述激光雷达时，获取计数值；
    若所述计数值为奇数，则将第一电机的目标转速设为第一目标转速，将第二电机的目标转速设为第二目标转速；
    若所述计数值为偶数，则将第一电机的目标转速设为第二目标转速，将第二电机的目标转速设为第一目标转速；
    对所述计数值进行自增。
  44. 根据权利要求26所述的激光雷达，其特征在于，所述处理器还用于：
    控制每个电机再次启动时的目标转速设定为与上次启动时的目标转速不相同。
  45. 一种激光雷达***，其特征在于，包括多个激光雷达，每个激光雷达包括处理器；
    所述处理器用于：
    确定所述对应激光雷达的启动时刻，保证所述多个激光雷达的启动时刻部分不相同或者全部不相同；
    控制各个激光雷达在各自相应的启动时刻启动。
  46. 根据权利要求45所述的***，其特征在于，所述处理器用于确定所述对应激光雷达的启动时刻，具体包括：
    根据所述对应激光雷达的标识信息，确定所述对应激光雷达的启动时刻。
  47. 根据权利要求46所述的***，其特征在于，所述处理器用于根据所述对应激光雷达的标识信息，确定所述对应激光雷达的启动时刻，具体包括：
    根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和所述***启动时刻获得对应激光雷达的启动时刻。
  48. 根据权利要求47所述的***，其特征在于，
    所述时间间隔小于或等于4秒。
  49. 根据权利要求47所述的***，其特征在于，所述处理器用于根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和所述***启动时刻获得对应激光雷达的启动时刻，具体包括：
    根据如下公式获得每个激光雷达的启动时刻：
    T1＝T0+((ID+K1)％K2)*K3；
    其中，T0表示***启动时刻，T1表示所述激光雷达的启动时刻，ID表示所述激光雷达的标识信息，％表示取余运算，K1、K2和K3为常数，K1＝10， K2＝10，K3＝400。
  50. 根据权利要求45-47任一项所述的***，其特征在于，所述处理器还用于：所述每个激光雷达包括至少一个电机，控制所述每个电机在相邻启动的激光雷达的启动时间间隔内完成启动。
  51. 一种可移动设备，其特征在于，包括机身和搭载于所述机身上的激光雷达；
    所述激光雷达包括处理器和多个电机；
    所述处理器用于：
    确定所述多个电机的启动时刻，所述多个电机的启动时刻部分不相同或者全部不相同；
    控制各个电机在各自相应的启动时刻启动。
  52. 根据权利要求51所述的设备，其特征在于，所述处理器用于确定所述多个电机的启动时刻，具体包括：
    根据所述多个电机的标识信息，确定所述多个电机的启动时刻。
  53. 根据权利要求52所述的设备，其特征在于，所述处理器用于控制各个电机在各自相应的启动时刻启动，具体包括：
    获取所述电机的目标转速；
    根据所述目标转速，确定分级转速，所述分级转速小于所述目标转速；
    控制所述电机在该电机的启动时刻，以所述分级转速启动。
  54. 根据权利要求53所述的设备，其特征在于，所述处理器用于根据所述目标转速，确定分级转速，具体包括：
    根据所述目标转速以及转速与电流的对应关系，确定所述分级转速；
    或者，根据所述目标转速以及环境温度，确定所述分级转速；
    或者，根据所述目标转速、环境温度以及转速与电流的对应关系，确定所述分级转速。
  55. 根据权利要求53所述的设备，其特征在于，所述处理器还用于：
    若所述电机的转速达到所述分级转速，且所述电机中的电流小于预设电流阈值，则增大所述电机的转速，直至所述电机的转速达到所述目标转速。
  56. 根据权利要求55所述的设备，其特征在于，所述处理器还用于：
    当所述电机中的电流小于预设电流阈值，且持续预设时长时候，增大所 述电机的转速。
  57. 根据权利要求55所述的设备，其特征在于，所述预设电流阈值大于或等于所述电机平稳运行时的电流。
  58. 根据权利要求51所述的设备，其特征在于，所述处理器还用于：
    确定预设时间段内各个电机的转速波动；
    根据主电机的转速，对从电机的转速进行控制，所述主电机为转速波动最小的电机，所述从电机为除所述主电机之外的其他电机。
  59. 根据权利要求58所述的设备，其特征在于，所述处理器用于根据主电机的转速，对从电机的转速进行控制，具体包括：
    根据所述主电机的转速以及预设关系式，对所述从电机的转速进行控制，所述预设关系式为所述主电机的转速与所述从电机的转速之间的关系。
  60. 根据权利要求59所述的设备，其特征在于，所述主电机的转速与所述从电机的转速呈线性关系。
  61. 根据权利要求51所述的设备，其特征在于，所述处理器还用于：
    获取所述电机自身的状态参数以及环境因素的状态参数；
    根据所述电机自身的状态参数和环境因素的状态参数，执行相应的保护措施。
  62. 根据权利要求61所述的设备，其特征在于，所述电机自身的状态参数至少包括以下中的一种：所述电机的电流、所述电机的转速、所述电机的硬件状态、控制所述电机的电调与对应的主控之间的通信状况、所述电机的输入电压状况、电阻及线圈状况；
    所述环境因素的状态参数至少包括以下中的一种：所述激光雷达的电源状态、所述激光雷达的通信状态、环境温度、以及所述激光雷达激光器的运行状态中。
  63. 根据权利要求61或62所述的设备，其特征在于，所述处理器还用于：根据所述电机自身的状态参数和环境因素的状态参数，确定所述电机的运行状态，所述电机的运行状态包括正常、告警和错误。
  64. 根据权利要求51所述的设备，其特征在于，所述处理器还用于：
    根据所述激光雷达的启动次数，确定所述多个电机的目标转速。
  65. 根据权利要求51所述的设备，其特征在于，所述处理器还用于：
    控制至少两个电机每次开启时的目标转速进行交换。
  66. 根据权利要求65所述的设备，其特征在于，所述处理器用于控制至少两个电机每次开启时的目标转速进行交换，具体包括：
    至少将两个较高目标转速交替设置为两个电机的目标转速；或者
    至少将一个较高目标转速和一个较低目标转速交替设置为两个电机的目标转速。
  67. 根据权利要求66所述的设备，其特征在于，所述激光雷达包括第一电机、第二电机以及第三电机，所述处理器用于至少将两个较高目标转速交替设置为两个电机的目标转速具体包括：
    在每次启动所述激光雷达时，将所述第一电机和所述第二电机的目标转速交替设置为最高的目标转速和第二高的目标转速，将所述第三电机的目标转速始终设置为最低的目标转速。
  68. 根据权利要求66所述的设备，其特征在于，其中需要交替设置的目标转速为第一目标转速和第二目标转速，所述处理器用于控制至少两个电机每次开启时的目标转速进行交换，具体包括：
    每次启动所述激光雷达时，进行计数；
    下次启动所述激光雷达时，获取计数值；
    若所述计数值为奇数，则将第一电机的目标转速设为第一目标转速，将第二电机的目标转速设为第二目标转速；
    若所述计数值为偶数，则将第一电机的目标转速设为第二目标转速，将第二电机的目标转速设为第一目标转速；
    对所述计数值进行自增。
  69. 根据权利要求51所述的设备，其特征在于，所述处理器还用于：
    控制每个电机再次启动时的目标转速设定为与上次启动时的目标转速不相同。
  70. 一种可移动设备，其特征在于，包括机身和搭载于所述机身上的激光雷达***；
    所述激光雷达***包括多个激光雷达，每个激光雷达包括处理器；
    所述处理器用于：
    确定所述对应激光雷达的启动时刻，保证所述多个激光雷达的启动时刻 部分不相同或者全部不相同；
    控制各个激光雷达在各自相应的启动时刻启动。
  71. 根据权利要求70所述的设备，其特征在于，所述处理器用于确定所述对应激光雷达的启动时刻，具体包括：
    根据所述对应激光雷达的标识信息，确定所述对应激光雷达的启动时刻。
  72. 根据权利要求71所述的设备，其特征在于，所述处理器用于根据所述对应激光雷达的标识信息，确定所述对应激光雷达的启动时刻，具体包括：
    根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和所述***启动时刻获得对应激光雷达的启动时刻。
  73. 根据权利要求72所述的设备，其特征在于，
    所述时间间隔小于或等于4秒。
  74. 根据权利要求72所述的设备，其特征在于，所述处理器用于根据对应激光雷达的标识信息，计算出对应激光雷达的启动时刻与***启动时刻的时间间隔，并根据该时间间隔和所述***启动时刻获得对应激光雷达的启动时刻，具体包括：
    根据如下公式获得每个激光雷达的启动时刻：
    T1＝T0+((ID+K1)％K2)*K3；
    其中，T0表示***启动时刻，T1表示所述激光雷达的启动时刻，ID表示所述激光雷达的标识信息，％表示取余运算，K1、K2和K3为常数，K1＝10，K2＝10，K3＝400。
  75. 根据权利要求70-72任一项所述的设备，其特征在于，所述处理器还用于：所述每个激光雷达包括至少一个电机，控制所述每个电机在相邻启动的激光雷达的启动时间间隔内完成启动。
PCT/CN2019/071027 2019-01-09 2019-01-09 电机控制方法、激光雷达和可移动设备 WO2020142944A1 (zh)

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