Scanning Control Method, Device, Equipment and Readable Storage Medium of LiDAR

Abstract

The present invention discloses a scanning control method for a lidar. Considering that during the rotational scanning in PPI scanning, due to weather reasons, the detection distance may be severely reduced in most azimuths. However, in addition, the detection distance in a small remaining part of the azimuths is still relatively far. Therefore, in this case, the present application can control the lidar to perform RHI scanning within a continuous azimuth angle range (where the detection distance is better). Since the scanning method of RHI scanning is to perform pitch scanning at a fixed azimuth angle, the detection distance of the lidar can be continuously maintained at a relatively far level, improving the scanning effect, thereby enabling more effective wind field information to be detected and improving the work efficiency. The present invention also discloses a scanning control device, equipment, and computer-readable storage medium for a lidar, which have the same beneficial effects as the above scanning control method for the lidar.

Description

Technical Field

[0001] The present invention relates to the field of lidar, and in particular to a scanning control method for a lidar. The present invention also relates to a scanning control device, equipment and computer-readable storage medium for a lidar. Background Art

[0002] The atmospheric wind field affects all aspects of human life and production. Monitoring the changing state of the atmospheric wind field and grasping the weather change process are of great significance for meteorological observation and forecasting, air quality monitoring and early warning, aviation flight safety guarantee, and improving the efficiency of wind power generation. A scanning lidar can emit laser beams into the air, and the laser beams interact with molecules and aerosols in the atmosphere to generate echo signals. By analyzing the echo signals, real-time information on the three-dimensional atmospheric wind field can be obtained. However, there are various scanning methods for lidar. If only a single scanning method is used, under the influence of special weather, the lidar signal will be greatly attenuated, and there may be a problem of poor scanning effect, resulting in insufficient detection of effective wind field information and reduced work efficiency.

[0003] Therefore, how to provide a solution to the above technical problems is what those skilled in the art need to solve currently. Summary of the Invention

[0004] The purpose of the present invention is to provide a scanning control method for a lidar, which can ensure that the detection distance of the lidar remains at a relatively long level, improve the scanning effect, thereby detecting more effective wind field information and improving work efficiency. Another purpose of the present invention is to provide a scanning control device, equipment and computer-readable storage medium for a lidar, which can ensure that the detection distance of the lidar remains at a relatively long level, improve the scanning effect, thereby detecting more effective wind field information and improving work efficiency.

[0005] To solve the above technical problems, the present invention provides a scanning control method for a lidar, including:

[0006] When performing a planar position indicator (PPI) scan using a lidar, determining a continuous azimuth range within a circle where the real-time detection distance during the rotational scan of the PPI scan is greater than a first preset threshold;

[0007] Judging whether the continuous azimuth range is greater than a preset angle;

[0008] If so, continue with the PPI scan;

[0009] If not, control the lidar to perform a range-height indicator (RHI) scan within the continuous azimuth range.

[0010] Preferably, when performing a planar position indication (PPI) scan using a lidar, the specific method for determining the continuous azimuth range within the circumference where the real-time detection distance during the rotational scan of the PPI scan is greater than a first preset threshold is as follows:

[0011] When performing a PPI scan using a lidar, determine whether the current scan efficiency value of the PPI scan is greater than a second preset threshold according to the ratio of the real-time detection distance to the ideal detection distance;

[0012] If not, determine the continuous azimuth range within the circumference where the real-time detection distance during the rotational scan of the PPI scan is greater than the first preset threshold.

[0013] Preferably, before determining whether the current scan efficiency value of the PPI scan is greater than the second preset threshold by the real-time detection distance when performing a PPI scan using a lidar, the scan control method further includes:

[0014] When controlling the lidar to scan in a multi-beam scan (DBS) mode, determine whether the current scan efficiency value of the DBS scan is greater than a third preset threshold according to the ratio of the real-time detection distance to the ideal detection distance;

[0015] If not, control the lidar to switch to PPI scan and execute the step of determining whether the current scan efficiency value of the PPI scan is greater than the second preset threshold by the real-time detection distance when performing a PPI scan using a lidar.

[0016] Preferably, when performing a PPI scan using a lidar, determining whether the current scan efficiency value of the PPI scan is greater than the second preset threshold according to the ratio of the real-time detection distance to the ideal detection distance is specifically as follows:

[0017] When performing a PPI scan using a lidar, determine whether the proportion of the detection efficiency values greater than a fourth preset threshold among the detection efficiency values of each scan cycle in the past preset time period reaches a preset proportion;

[0018] If so, determine that the current scan efficiency value of the PPI scan is greater than the second preset threshold;

[0019] Otherwise, determine that the current scan efficiency value of the PPI scan is not greater than the second preset threshold;

[0020] Among them, the calculation method of the detection efficiency value of each scan cycle is:

[0021]

[0022] efficiency_s = s / S;

[0023] Among them, efficiency_s is the detection efficiency value of a single scan cycle of the PPI scan, s is the average detection distance of a single scan cycle of the PPI scan, S is the ideal detection distance of the PPI scan, n is the total number of detection distance samples in a single scan cycle of the PPI scan, and l i is the real-time detection distance of the i-th sample in a single scan cycle of the PPI scan.

[0024] Preferably, when controlling the lidar to scan in the multi-beam scanning DBS mode, judging whether the current scan efficiency value of the DBS scan is greater than the third preset threshold according to the ratio of the real-time detection distance to the ideal detection distance is specifically:

[0025] When controlling the lidar to scan in the multi-beam scanning DBS mode, judging whether the proportion of the detection efficiency values greater than the fifth preset threshold among the detection efficiency values corresponding to multiple sampling moments in the past preset duration reaches the preset proportion;

[0026] If it reaches, it is determined that the current scan efficiency value of the DBS scan is greater than the third preset threshold;

[0027] If it does not reach, it is determined that the current scan efficiency value of the DBS scan is not greater than the third preset threshold;

[0028] Among them, the calculation method of the detection efficiency value corresponding to each sampling moment of the DBS scan mode is:

[0029] efficiency_h = h / H;

[0030] Among them, efficiency_h is the detection efficiency value corresponding to each sampling moment of the DBS scan mode, h is the real-time detection distance of each sampling moment of the DBS scan mode, and H is the ideal detection distance of the DBS scan mode.

[0031] Preferably, the scan control method of this lidar further includes:

[0032] When using the lidar to perform PPI scanning, judging whether the duration of the PPI scan reaches the preset return duration;

[0033] If so, control the lidar to switch to the DBS scan;

[0034] When performing RHI scanning, judging whether the duration of the RHI scan reaches the preset return duration;

[0035] If so, control the lidar to switch to the PPI scan.

[0036] Preferably, when performing a planar position indication (PPI) scan using a lidar, the continuous azimuth range within the circumference where the real-time detection distance during the rotational scan of the PPI scan is greater than a first preset threshold is specifically determined as follows:

[0037] When performing a PPI scan using a lidar, determine the intersection of the single-cycle continuous azimuth ranges of each scan cycle within a preset past duration, and use it as the continuous azimuth range within the circumference where the real-time detection distance during the rotational scan of the PPI scan is greater than the first preset threshold;

[0038] Wherein, the single-cycle continuous azimuth range refers to the azimuth range corresponding to the sampling points that are continuous with each other and have a real-time detection distance greater than the first preset threshold within a single scan cycle of the PPI scan. If the azimuth difference between two sampling points is not greater than a preset angle difference, they are considered continuous.

[0039] To solve the above technical problems, the present invention also provides a scan control device for a lidar, including:

[0040] A determination module, configured to determine, when performing a PPI scan using a lidar, the continuous azimuth range within the circumference where the real-time detection distance during the rotational scan of the PPI scan is greater than a first preset threshold;

[0041] A judgment module, configured to judge whether the continuous azimuth range is greater than a preset angle. If so, trigger the first control module; if not, trigger the second control module;

[0042] The first control module is configured to continue the PPI scan;

[0043] The second control module is configured to control the lidar to perform a range-height indication (RHI) scan within the continuous azimuth range.

[0044] To solve the above technical problems, the present invention also provides a scan control device for a lidar, including:

[0045] A memory, configured to store a computer program;

[0046] A processor, configured to implement the steps of the scan control method for the lidar as described above when executing the computer program.

[0047] To solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the scanning control method of the lidar as described above are implemented.

[0048] The present invention provides a scanning control method for a lidar. Considering that during the rotational scanning in PPI scanning, due to weather reasons, the detection distance may be severely reduced in most azimuths. However, in addition, the detection distance in a small remaining part of the azimuths is still relatively far. Therefore, in this case, the present application can control the lidar to perform RHI scanning within a continuous azimuth angle range (where the detection distance is better). Since the scanning method of RHI scanning is to perform pitch scanning at a fixed azimuth angle, the detection distance of the lidar can be continuously maintained at a relatively far level, improving the scanning effect, thereby detecting more effective wind field information and improving work efficiency.

[0049] The present invention also provides a scanning control device, equipment and computer-readable storage medium for a lidar, which have the same beneficial effects as the above scanning control method of the lidar. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the prior art and the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0051] Figure 1 It is a schematic flow chart of a scanning control method for a lidar provided by the present invention;

[0052] Figure 2 It is a schematic flow chart of another scanning control method for a lidar provided by the present invention;

[0053] Figure 3 It is a schematic structural diagram of a scanning control device for a lidar provided by the present invention;

[0054] Figure 4 It is a schematic structural diagram of a scanning control device for a lidar provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] The core of the present invention is to provide a scanning control method for a lidar, which can ensure that the detection distance of the lidar remains at a relatively long level, improve the scanning effect, thereby detecting more effective wind field information and improving work efficiency. Another core of the present invention is to provide a scanning control device, equipment and computer-readable storage medium for a lidar, which can ensure that the detection distance of the lidar remains at a relatively long level, improve the scanning effect, thereby detecting more effective wind field information and improving work efficiency.

[0056] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0057] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a scanning control method for a lidar provided by the present invention. The scanning control method for the lidar includes:

[0058] S101: When performing PPI (Plan Position Indicator) scanning using a lidar, determine a continuous azimuth range within the circumference where the real-time detection distance during the rotational scanning of the PPI scanning is greater than a first preset threshold.

[0059] Specifically, considering the technical problems in the above background art and also considering that during the rotational scanning of PPI scanning, due to weather reasons, the detection distance may be severely reduced in most azimuths. However, the detection distance in a small remaining part of the azimuths is still relatively long. And the scanning method of RHI (Radar Height Indicator) scanning is to perform pitch scanning at a fixed azimuth angle. Therefore, in this case, switching to RHI scanning can ensure that the detection distance of the lidar remains at a relatively long level. The present application intends to switch to RHI scanning when the detection distance in most scanning directions during PPI scanning is poor. Therefore, in this step, when performing PPI scanning using a lidar, a continuous azimuth range within the circumference where the real-time detection distance during the rotational scanning of the PPI scanning is greater than a first preset threshold can be determined, so as to trigger the actions in the subsequent steps based on the judgment result.

[0060] Among them, PPI scanning means that the lidar is in a fixed position and rotates continuously, scanning the information around during the rotation.

[0061] Specifically, there may be more than one continuous azimuth range determined. For example, there is one in the east and one in the south, etc. It is also possible that there is only one in the east. The embodiments of the present invention do not make limitations here.

[0062] S102: Determine whether the continuous azimuth range is greater than a preset angle;

[0063] Specifically, considering that if the continuous azimuth range is large, it indicates that the detection distances around during the PPI scanning are mostly relatively far, and the effect is relatively ideal. If the continuous azimuth range is small, it indicates that the detection distances around are mostly relatively small, and the detection effect is not ideal. Therefore, this step can determine whether the continuous azimuth range is greater than the preset angle, and trigger subsequent steps based on the judgment result.

[0064] Specifically, when there are multiple continuous azimuth ranges, what can be judged in this step is whether the sum of the multiple continuous azimuth ranges is greater than the preset angle.

[0065] Among them, both the preset angle and the first preset threshold can be set independently. The embodiments of the present invention do not make limitations here.

[0066] S103: If so, continue with the PPI scanning;

[0067] Specifically, when the continuous azimuth range is greater than the preset angle, it indicates that the detection effect of the PPI scanning is relatively ideal. Therefore, the PPI scanning can continue.

[0068] S104: If not, control the lidar to perform range-height-indicator (RHI) scanning within the continuous azimuth range.

[0069] Specifically, when the continuous azimuth range is not greater than the preset angle, it indicates that the detection effect of the PPI scanning is not ideal. In this case, RHI scanning can be performed within the continuous azimuth range, which can continuously perform long-distance detection to obtain a lot of information and improve the detection effect.

[0070] Among them, during the process of performing RHI scanning within the continuous azimuth range, the azimuth angle of the scanning can be switched regularly within the continuous azimuth range.

[0071] Considering that during the rotational scanning in PPI scanning, due to weather reasons, the detection range may be severely reduced in most azimuths. However, in addition, the detection range in a small remaining part of the azimuths is still relatively far. Therefore, in this case, the present application can control the lidar to perform RHI scanning within a continuous azimuth range (where the detection range is relatively good). Since the scanning method of RHI scanning is to perform pitch scanning at a fixed azimuth, the detection range of the lidar can be ensured to remain at a relatively far level continuously, improving the scanning effect, thereby enabling more effective wind field information to be detected and improving the work efficiency.

[0072] To better illustrate the embodiments of the present invention, please refer to Figure 2 , Figure 2 which is a schematic flowchart of another method for controlling the scanning of a lidar provided by the present invention. Based on the above embodiments:

[0073] As a preferred embodiment, when using a lidar for planar position indication (PPI) scanning, the specific method for determining the continuous azimuth range within the circumference where the real-time detection range during the rotational scanning of PPI scanning is greater than a first preset threshold is as follows:

[0074] S203: When using a lidar for planar position indication (PPI) scanning, according to the ratio of the real-time detection range to the ideal detection range, determine whether the current scanning efficiency value of the PPI scanning is greater than a second preset threshold;

[0075] S204: If not, determine the continuous azimuth range within the circumference where the real-time detection range during the rotational scanning of PPI scanning is greater than the first preset threshold.

[0076] Specifically, in Figure 2 , S205 is the same as S202 above, S206 is the same as S203 above, and S207 is the same as S204 above.

[0077] Specifically, considering that in the case of a relatively small continuous azimuth range, the detection efficiency (i.e., detection effect) of PPI scanning may still be within an acceptable range, and the scanning efficiency of PPI scanning is directly related to the ratio of the real-time detection range to the ideal detection range. Therefore, in the embodiments of the present invention, first, according to the ratio of the real-time detection range to the ideal detection range, determine whether the current scanning efficiency value of PPI scanning is greater than a second preset threshold. Only when it is not greater, the determination of the continuous azimuth range is carried out. Subsequently, when the continuous azimuth range is relatively small, the switching to RHI scanning is performed. This method can ensure that the switching to RHI scanning is carried out only when "the detection efficiency of PPI is poor and the area with a good detection range is small", which can further improve the detection effect of the lidar.

[0078] Specifically, the second preset threshold can be set independently, and the embodiments of the present invention do not limit this here.

[0079] As a preferred embodiment, when using a lidar for planar position indication (PPI) scanning, before determining whether the current scanning efficiency value of the PPI scanning is greater than the second preset threshold by detecting the distance in real time, the scanning control method further includes:

[0080] S201: When controlling the lidar to scan in the Doppler Beam Scanning (DBS) mode, determine whether the current scanning efficiency value of the DBS scanning is greater than a third preset threshold according to the ratio of the real-time detected distance to the ideal detected distance;

[0081] S202: If it is not greater, control the lidar to switch to PPI scanning and execute the step of determining whether the current scanning efficiency value of the PPI scanning is greater than the second preset threshold by detecting the distance in real time when using the lidar for planar position indication (PPI) scanning.

[0082] Specifically, considering that in most cases, DBS (Doppler Beam Scanning) scanning is a more general scanning method and is better for long-term continuous observation of the three-dimensional physical quantity field. Therefore, in the embodiments of the present invention, DBS scanning can be applied first. DBS scanning is a scanning method that scans the upper-air wind field from bottom to top. When affected by weather such as precipitation, haze, and strong sandstorms, the detection height of DBS will drop sharply, and the effective information obtained will be greatly reduced, and a complete wind field information cannot be obtained. Therefore, in this case, it is more suitable to switch to PPI scanning that rotates within a horizontal range. Therefore, in the embodiments of the present invention, first, when controlling the lidar to scan in the DBS mode, determine whether the current scanning efficiency value of the DBS scanning is greater than the third preset threshold according to the ratio of the real-time detected distance to the ideal detected distance. Only when it is not greater will the DBS scanning be switched to PPI scanning to improve the overall scanning effect of the lidar.

[0083] Among them, the third preset threshold can be set independently, and the embodiments of the present invention do not limit this here.

[0084] As a preferred embodiment, when using a lidar for planar position indication (PPI) scanning, determining whether the current scanning efficiency value of the PPI scanning is greater than the second preset threshold according to the ratio of the real-time detected distance to the ideal detected distance specifically includes:

[0085] When using a lidar for planar position indication (PPI) scanning, determine whether the proportion of the detection efficiency values greater than the fourth preset threshold among the detection efficiency values of each scanning cycle in the past preset time period reaches a preset proportion;

[0086] If so, it is determined that the current scanning efficiency value of the PPI scan is greater than the second preset threshold;

[0087] Otherwise, it is determined that the current scanning efficiency value of the PPI scan is not greater than the second preset threshold;

[0088] Among them, the calculation method of the detection efficiency value of each scanning cycle is:

[0089]

[0090] efficiency_s = s / S;

[0091] Among them, efficiency_s is the detection efficiency value of a single scanning cycle of the PPI scan, s is the average detection distance of a single scanning cycle of the PPI scan, S is the ideal detection distance of the PPI scan, n is the total number of detection distance samples in a single scanning cycle of the PPI scan, and l i is the real-time detection distance of the i-th sample in a single scanning cycle of the PPI scan.

[0092] Specifically, the preset duration is a sliding window. Within this window period, the detection efficiency value of a single scanning cycle of the PPI can be continuously calculated. Using all the detection efficiency values within the sliding window to determine whether the current scanning efficiency value of the PPI scan is greater than the second preset threshold can improve the accuracy of the determination.

[0093] Among them, the average detection distance of a single scanning cycle is actually the average value of all detection distance sampling points in this scanning cycle.

[0094] Specifically, the fourth preset threshold, the preset ratio, and the preset duration can all be set independently. For example, the preset ratio can be two-thirds, and the preset duration can be 10 min, etc. The embodiments of the present invention do not make limitations here.

[0095] As a preferred embodiment, when controlling the lidar to scan in the multi-beam scanning DBS scanning mode, determining whether the current scanning efficiency value of the PPI scan is greater than the third preset threshold according to the ratio of the real-time detection distance to the ideal detection distance is specifically:

[0096] When controlling the lidar to scan in the multi-beam scanning DBS scanning mode, determining whether the proportion of the detection efficiency values corresponding to multiple sampling moments in the past preset duration that are greater than the fifth preset threshold reaches the preset ratio;

[0097] If it reaches, it is determined that the current scanning efficiency value of the DBS scan is greater than the third preset threshold;

[0098] If it does not reach, it is determined that the current scanning efficiency value of the DBS scan is not greater than the third preset threshold;

[0099] Among them, the calculation method of the detection efficiency value corresponding to each sampling moment in the DBS scanning mode is as follows:

[0100] efficiency_h = h / H;

[0101] Among them, efficiency_h is the detection efficiency value corresponding to each sampling moment in the DBS scanning mode, h is the real-time detection distance at each sampling moment in the DBS scanning mode, and H is the ideal detection distance in the DBS scanning mode.

[0102] Specifically, when determining whether the current scanning efficiency value of the DBS scan is greater than the third preset threshold, it can also be determined in a sliding window period, that is, to determine whether the proportion of the detection efficiency values greater than the fifth preset threshold among the detection efficiency values corresponding to multiple sampling moments in the past preset duration reaches the preset proportion. Only when it reaches can it be determined that the current scanning efficiency value of the DBS scan is greater than the third preset threshold, and if it does not reach, it is determined that the current scanning efficiency value of the DBS scan is not greater than the third preset threshold, which can improve the accuracy of the determination.

[0103] Of course, in addition to this determination method, determining whether the current scanning efficiency value of the PPI scan is greater than the third preset threshold according to the ratio of the real-time detection distance to the ideal detection distance can also be in other forms, and the embodiments of the present invention do not limit this here.

[0104] As a preferred embodiment, the scanning control method of the lidar further includes:

[0105] When using the lidar for PPI scanning, determine whether the duration of the PPI scan reaches the preset return duration;

[0106] If so, control the lidar to switch to DBS scanning;

[0107] When performing RHI scanning, determine whether the duration of the RHI scan reaches the preset return duration;

[0108] If so, control the lidar to switch to PPI scanning.

[0109] Specifically, considering that overall, DBS is a more general scanning method for long-term continuous observation of three-dimensional physical quantity fields compared to PPI. Similarly, PPI can show the spatial distribution changes of the physical quantity field compared to RHI, while the application scenario of the RHI scanning method is smaller. Therefore, in order to make the lidar operate in a scanning method with better effects as much as possible, this application can control the lidar to switch to the upper-level scanning method with better effects after the continuous duration reaches the preset return duration in the PPI or RHI scanning method, which is beneficial to further improving the scanning effect.

[0110] Among them, the preset return duration can be set independently. For example, it can be 30 minutes, etc., and the embodiments of the present invention do not limit this here.

[0111] As a preferred embodiment, when using the lidar for planar position indication (PPI) scanning, the continuous azimuth range where the real-time detection distance within the circumference is greater than the first preset threshold during the rotational scanning of the PPI scan is determined as follows:

[0112] When using the lidar for planar position indication (PPI) scanning, the intersection of the single-cycle continuous azimuth ranges of each scanning cycle within the past preset duration is determined and used as the continuous azimuth range where the real-time detection distance within the circumference is greater than the first preset threshold during the rotational scanning of the PPI scan;

[0113] Among them, the single-cycle continuous azimuth range refers to the azimuth range corresponding to the sampling points that are continuous with each other and where the real-time detection distance is greater than the first preset threshold within a single scanning cycle of the PPI scan. If the azimuth difference between two sampling points is not greater than the preset angle difference, they are considered continuous.

[0114] Specifically, for the same reason, considering that the single-cycle continuous azimuth range may not be representative, the embodiments of the present invention determine the intersection of the single-cycle continuous azimuth ranges of each scanning cycle within the past preset duration and use it as the continuous azimuth range where the real-time detection distance within the circumference is greater than the first preset threshold during the rotational scanning of the PPI scan. This continuous azimuth range is more representative and can further improve the scanning effect of subsequent RHI scanning.

[0115] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a scanning control device for a lidar provided by the present invention. The scanning control device for the lidar includes:

[0116] A determination module 31, configured to determine, when using the lidar for planar position indication (PPI) scanning, the continuous azimuth range where the real-time detection distance within the circumference is greater than the first preset threshold during the rotational scanning of the PPI scan;

[0117] A determination module 32, configured to determine whether a continuous azimuth range is greater than a preset angle. If so, trigger a first control module 33; if not, trigger a second control module 34.

[0118] The first control module 33 is configured to continue with PPI scanning.

[0119] The second control module 34 is configured to control the lidar to perform range-height indication (RHI) scanning within the continuous azimuth range.

[0120] For the introduction of the scanning control device of the lidar provided in the embodiments of the present invention, please refer to the embodiments of the scanning control method of the lidar described above. The embodiments of the present invention will not be elaborated here.

[0121] Please refer to Figure 4 , Figure 4 FIG.

[0122] A memory 41, configured to store a computer program.

[0123] A processor 42, configured to implement the steps of the scanning control method of the lidar in the foregoing embodiments when executing the computer program.

[0124] For the introduction of the scanning control device of the lidar provided in the embodiments of the present invention, please refer to the embodiments of the scanning control method of the lidar described above. The embodiments of the present invention will not be elaborated here.

[0125] The present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the scanning control method of the lidar in the foregoing embodiments are implemented.

[0126] For the introduction of the computer-readable storage medium provided in the embodiments of the present invention, please refer to the embodiments of the scanning control method of the lidar described above. The embodiments of the present invention will not be elaborated here.

[0127] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For related parts, reference can be made to the description in the method section. It should also be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0128] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A scanning control method for a lidar, characterized in that, Including: When performing a planar position indication (PPI) scan using a lidar, determining a continuous azimuth range within a circle where the real-time detection distances during the rotational scan of the PPI scan are all greater than a first preset threshold; Judging whether the continuous azimuth range is greater than a preset angle; If so, continue with the PPI scan; If not, control the lidar to perform a range-height indication (RHI) scan within the continuous azimuth range; The step of determining, when performing a PPI scan using a lidar, a continuous azimuth range within a circle where the real-time detection distances during the rotational scan of the PPI scan are all greater than a first preset threshold is specifically: When performing a PPI scan using a lidar, judging whether the current scan efficiency value of the PPI scan is greater than a second preset threshold according to the ratio of the real-time detection distance to the ideal detection distance; If not, determining a continuous azimuth range within a circle where the real-time detection distances during the rotational scan of the PPI scan are all greater than a first preset threshold.

2. The scanning control method of the lidar according to claim 1, wherein Before judging whether the current scan efficiency value of the PPI scan is greater than a second preset threshold by the real-time detection distance when performing a PPI scan using a lidar, the scan control method further includes: When controlling the lidar to scan in a multi-beam scan (DBS) mode, judging whether the current scan efficiency value of the DBS scan is greater than a third preset threshold according to the ratio of the real-time detection distance to the ideal detection distance; If not, controlling the lidar to switch to the PPI scan and execute the step of judging whether the current scan efficiency value of the PPI scan is greater than a second preset threshold by the real-time detection distance when performing a PPI scan using a lidar.

3. The scanning control method of the lidar according to claim 2, wherein The step of judging whether the current scan efficiency value of the PPI scan is greater than a second preset threshold according to the ratio of the real-time detection distance to the ideal detection distance when performing a PPI scan using a lidar is specifically: When performing a PPI scan using a lidar, judging whether the proportion of the detection efficiency values greater than a fourth preset threshold among the detection efficiency values of each scan cycle in the past preset time period reaches a preset proportion; If so, determining that the current scan efficiency value of the PPI scan is greater than a second preset threshold; Otherwise, determining that the current scan efficiency value of the PPI scan is not greater than the second preset threshold; Wherein, the calculation method of the detection efficiency value of each scan cycle is: efficiency_s = s / S; Among them, efficiency_s is the detection efficiency value of a single scanning cycle of the PPI scan, s is the average detection distance of a single scanning cycle of the PPI scan, S is the ideal detection distance of the PPI scan, n is the total number of detection distance samplings in a single scanning cycle of the PPI scan, and l i is the real-time detection distance of the i-th sampling within a single scanning cycle of the PPI scan.

4. The scanning control method of the lidar according to claim 3, characterized in that, The step of judging whether the current scan efficiency value of the DBS scan is greater than a third preset threshold according to the ratio of the real-time detection distance to the ideal detection distance when controlling the lidar to scan in a multi-beam scan (DBS) mode is specifically: When controlling the lidar to scan in a multi-beam scan (DBS) mode, judging whether the proportion of the detection efficiency values greater than a fifth preset threshold among the detection efficiency values corresponding to multiple sampling moments in the past preset time period reaches a preset proportion; If it is reached, it is determined that the current scanning efficiency value of the DBS scan is greater than a third preset threshold; If it is not reached, it is determined that the current scanning efficiency value of the DBS scan is not greater than the third preset threshold; Wherein, the calculation method of the detection efficiency value corresponding to each sampling moment of the DBS scanning method is: efficiency_h = h / H; Wherein, efficiency_h is the detection efficiency value corresponding to each sampling moment of the DBS scanning method, h is the real-time detection distance at each sampling moment of the DBS scanning method, and H is the ideal detection distance of the DBS scanning method.

5. The scanning control method of the lidar according to claim 4, wherein The scanning control method of the lidar further includes: When performing a PPI scan using the lidar, determining whether the duration of the PPI scan reaches a preset return duration; If so, controlling the lidar to switch to the DBS scan; When performing an RHI scan, determining whether the duration of the RHI scan reaches the preset return duration; If so, controlling the lidar to switch to the PPI scan.

6. The scanning control method of the lidar according to any one of claims 1 to 5, characterized in that, When performing a planar position indicator (PPI) scan using the lidar, the continuous azimuth range in the circle where the real-time detection distance during the rotational scan is greater than a first preset threshold is specifically: When performing a planar position indicator (PPI) scan using the lidar, determining the intersection of the single-cycle continuous azimuth ranges of each scan cycle in the past preset duration, and using it as the continuous azimuth range in the circle where the real-time detection distance during the rotational scan is greater than the first preset threshold; Wherein, the single-cycle continuous azimuth range refers to the azimuth range corresponding to the sampling points that are continuous with each other and the real-time detection distance is greater than the first preset threshold within a single scan cycle of the PPI scan. The azimuth difference between two sampling points not greater than a preset angular difference is considered continuous.

7. A scanning control device for a lidar, characterized in that, Includes: A determination module, configured to determine, when performing a planar position indicator (PPI) scan using the lidar, the continuous azimuth range in the circle where the real-time detection distance during the rotational scan is greater than a first preset threshold; A judgment module, configured to judge whether the continuous azimuth range is greater than a preset angle. If so, trigger the first control module; if not, trigger the second control module; The first control module is configured to continue the PPI scan; The second control module is configured to control the lidar to perform a range-height indicator (RHI) scan within the continuous azimuth range; The determination module is specifically configured to: When performing a planar position indicator (PPI) scan using the lidar, judge whether the current scanning efficiency value of the PPI scan is greater than a second preset threshold according to the ratio of the real-time detection distance to the ideal detection distance; If not, determine the continuous azimuth range in the circle where the real-time detection distance during the rotational scan of the PPI scan is greater than the first preset threshold.

8. A scanning control device for a lidar, characterized in that, Includes: A memory, configured to store a computer program; A processor, configured to implement the steps of the scanning control method of the lidar according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the scanning control method of the lidar according to any one of claims 1 to 6 are implemented.

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