A lidar, a method, apparatus, and medium for controlling the detection area.

Abstract

This application discloses a lidar, a method, apparatus, and medium for controlling the detection area, relating to the field of lidar technology. In this lidar, both the laser and detector are mounted on a moving module. When the moving module moves, it moves the laser and detector, causing changes in the direction of the laser's emitted light and the detector's receiving field of view. This means the detection area can be adjusted, improving the lidar's resolution when the detection area is small. Secondly, because the direction of the laser's emitted light can be moved, an area can be scanned by changing the direction of the emitted light. Therefore, fewer lasers can be used when detecting target objects, reducing costs. Furthermore, by using a collimation module to collimate the diverging light and a focusing module to focus the detection beam reflected back from the target object, detection of distant objects is achieved.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a lidar, a method, apparatus and medium for controlling the detection area. Background Technology

[0002] A lidar (Light Detection and Ranging) system is a device that detects the position, velocity, reflection intensity, and other characteristics of a target by emitting multiple laser beams. Its working principle involves first emitting a detection laser towards the target, then receiving and processing the signals reflected back from the target to obtain relevant information about the target.

[0003] Currently, lidar typically uses multiple lasers to emit multiple laser beams to achieve multi-line detection of target objects. Although the more lasers there are, the higher the vertical resolution, the positions of the lasers are fixed, which means the detection area of ​​the lidar is fixed. Since the area of ​​the detection area is much larger than the area of ​​the target object, it cannot perform fine detection of the target object. In other words, current lidar has low resolution and poor detection effect when detecting target objects.

[0004] Therefore, how to achieve adjustable detection area and thus improve the resolution of lidar is a technical problem that urgently needs to be solved by those in the field. Summary of the Invention

[0005] The purpose of this application is to provide a lidar, a method, apparatus, and medium for controlling the detection area, so as to achieve adjustable detection area and thereby improve the resolution of the lidar.

[0006] To address the aforementioned technical problems, this application provides a lidar system, comprising: a controller, a laser, and a detector, and further comprising: a motion module, a collimation module, and a focusing module;

[0007] The laser is located at the focal plane of the collimation module and is used to emit a probe beam according to the control signal of the controller.

[0008] The collimation module is used to collimate the detection beam so as to detect the target object through the detection beam;

[0009] The focusing module is used to focus the detection beam reflected back by the target object;

[0010] The detector is located at the focal plane of the focusing module and is used to receive the detection beam according to the control signal of the controller;

[0011] Both the laser and the detector are mounted on the mobile module;

[0012] The controller is electrically connected to the moving module, the laser, and the detector, respectively, and is used to move the moving module according to the control signal of the controller to adjust the position of the laser and the detector, so as to change the direction of the detection beam and adjust the detection area.

[0013] Preferably, the moving module is used to translate the laser on the focal plane of the collimating module or to translate the detector on the focal plane of the focusing module, and / or to move the laser and the detector up and down on a preset plane, and / or to move the laser and the detector back and forth along the optical axis.

[0014] Preferably, there is one laser and one detector. If the distance between the laser and the collimation module is equal to the distance between the detector and the focusing module, then there is one or two moving modules.

[0015] Conversely, there are two mobile modules.

[0016] Preferably, when the collimation module and the focusing module use lenses of the same specifications, the laser and the detector are mounted on the same moving module.

[0017] Preferably, the laser and the detector are mounted on the same circuit board.

[0018] Preferably, there are multiple lasers and multiple detectors. If the distance between the laser and the collimation module is equal to the distance between the corresponding detector and the focusing module, then there are one or more moving modules.

[0019] Conversely, there are multiple mobile modules.

[0020] Preferably, when the collimation module and the focusing module use lenses of different specifications, the laser and the detector are mounted on different moving modules. The controller controls the movement of the moving modules according to a set mathematical relationship, so that the movement of the moving modules drives the movement of the laser and the detector, thereby achieving transmit / receive matching between the laser and the detector.

[0021] Preferably, the movement of the moving module is determined based on at least one of the following:

[0022] The location of the laser, the location of the detector, and the level of precision in detecting the target object.

[0023] Preferably, it further includes: a rotating module and a base for placing the rotating module; the rotating module has a rotation angle range of 0° to 360°; the rotating module is located on the base;

[0024] The laser, the moving module, the detector, the collimating module, and the focusing module are all located on the rotating module.

[0025] To address the aforementioned technical problems, this application also provides a method for controlling a detection area, applied to a lidar system comprising a controller, a laser, a detector, a moving module, a collimating module, and a focusing module; the laser is located at the focal plane of the collimating module; the detector is located at the focal plane of the focusing module; the laser and the detector are both mounted on the moving module; the controller is electrically connected to the laser, the detector, and the moving module respectively; the method includes:

[0026] Controlling the detection beam emitted by the laser;

[0027] The collimation module is used to collimate the detection beam in order to detect the target object through the detection beam.

[0028] The focusing module receives and focuses the detection beam reflected back from the target object.

[0029] Control the detector to receive the detection beam;

[0030] The movement of the mobile module is controlled to move the position of the laser and the detector, thereby facilitating changes in the direction of the detection beam and adjustments to the detection area.

[0031] To address the aforementioned technical problems, this application also provides a device for controlling a detection area, applied to a lidar system comprising a controller, a laser, a detector, a moving module, a collimating module, and a focusing module; the laser is located at the focal plane of the collimating module; the detector is located at the focal plane of the focusing module; the laser and the detector are both mounted on the moving module; the controller is electrically connected to the laser, the detector, and the moving module respectively; the device includes:

[0032] The first control module is used to control the detection beam emitted by the laser;

[0033] A collimation module is used to collimate the detection beam so as to detect the target object through the detection beam.

[0034] A receiving module is used to receive and focus the detection beam reflected back from the target object through the focusing module.

[0035] The second control module is used to control the detector to receive the detection beam;

[0036] The third control module is used to control the movement of the moving module so as to move the position of the laser and the detector, thereby facilitating the change of the direction of the detection beam and the adjustment of the detection area.

[0037] To address the aforementioned technical problems, this application also provides a device for controlling a detection area, comprising:

[0038] Memory, used to store computer programs;

[0039] A processor, used to execute the computer program to implement the steps of the method for controlling the detection area described above.

[0040] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for controlling the detection area described above.

[0041] The lidar provided in this application includes: a controller, a laser, and a detector, and further includes: a moving module, a collimating module, and a focusing module; the laser is located at the focal plane of the collimating module and is used to emit a detection beam according to the control signal of the controller; the collimating module is used to collimate the detection beam to facilitate the detection of target objects through the detection beam; the focusing module is used to focus the detection beam reflected back from the target object; the detector is located at the focal plane of the focusing module and is used to receive the detection beam according to the control signal of the controller; both the laser and the detector are mounted on the moving module; the controller is electrically connected to the moving module, the laser, and the detector respectively, and is used to move the moving module according to the control signal of the controller to adjust the position of the laser and the detector, so as to change the direction of the detection beam and adjust the detection area. In the lidar provided in this application, both the laser and the detector are mounted on a moving module. When the moving module moves, it moves the laser and the detector, causing changes in the direction of the laser's emitted light and the detector's receiving field of view. This means the detection area can be adjusted, improving the lidar's resolution when the detection area is small. Secondly, compared to previous lidars that used multiple lasers to emit multiple laser beams to detect target objects, the lidar provided in this application allows the direction of the emitted laser light to be moved. Therefore, a region can be scanned by changing the direction of the emitted light, thus requiring fewer lasers to detect target objects and reducing costs. Furthermore, by using a collimation module to collimate the divergent light and a focusing module to focus the detection beam reflected back from the target object, the detection of distant objects is achieved.

[0042] In addition, this application also provides a method, apparatus, and computer-readable storage medium for controlling the detection area, which have the same or corresponding technical features as the aforementioned lidar and achieve the same effect. Attached Figure Description

[0043] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A schematic diagram of a lidar provided for an embodiment of this application;

[0045] Figure 2 A schematic diagram of a detection area provided in an embodiment of this application;

[0046] Figure 3 A schematic diagram of a laser and a detector mounted on the same circuit board is provided for an embodiment of this application;

[0047] Figure 4 A schematic diagram illustrating the position of a two-dimensional guide rail for moving a laser, provided as an embodiment of this application;

[0048] Figure 5 A schematic diagram illustrating a two-channel transmit / receive system provided in an embodiment of this application;

[0049] Figure 6 A schematic diagram of hybrid scanning provided for embodiments of this application;

[0050] Figure 7(a) is a schematic diagram of the optical path before blind spot filling provided in an embodiment of this application;

[0051] Figure 7(b) is a schematic diagram of an optical path after blind spot filling provided in an embodiment of this application;

[0052] Figure 8 A schematic diagram of ROI scanning region control results provided in an embodiment of this application;

[0053] Figure 9 A schematic diagram of another lidar provided for an embodiment of this application;

[0054] Figure 10 A schematic diagram of multiplexed transmission and reception provided for an embodiment of this application;

[0055] Figure 11 This is a structural diagram of a device for controlling the detection area provided in another embodiment of this application.

[0056] The attached diagram is labeled as follows: 1 is the controller, 2 is the laser, 3 is the detector, 4 is the moving module, 5 is the collimation module, 6 is the focusing module, 7 is the circuit board, 8 is the laser circuit board support, 9 is the rotating module, 20 is the memory, 21 is the processor, 22 is the display screen, 23 is the input / output interface, 24 is the communication interface, 25 is the power supply, 26 is the communication bus, 201 is the computer program, 202 is the operating system, and 203 is the data. Detailed Implementation

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0058] The core of this application is to provide a lidar, a method, apparatus, and medium for controlling the detection area, so as to achieve adjustable detection area and thereby improve the resolution of the lidar.

[0059] LiDAR (Light Detection and Ranging) is a device that detects the position, velocity, reflection intensity, and other characteristics of a target by emitting multiple laser beams. Its working principle involves first emitting a detection laser towards the target, then receiving and processing the signals reflected back from the target to obtain relevant information about the target. The number of lasers is crucial in determining the vertical resolution; the more lasers, the smaller the vertical resolution. However, the physical size of the lasers limits the maximum number of vertical lines, resulting in relatively low resolution currently achieved. Furthermore, lasers are expensive, and the increased number of lasers in multi-line detection increases the overall equipment cost. Additionally, the spatial arrangement of lasers affects the point cloud density at long distances and the blind zone at close range, which can be difficult to change in certain situations, impacting the acquisition of information about the region of interest. Therefore, this application utilizes a moving module to move the lasers and detectors, enabling controllable detection area for the LiDAR.

[0060] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Figure 1 A schematic diagram of a lidar provided in an embodiment of this application is shown below. Figure 1 As shown, the lidar includes: a controller 1, a laser 2, a detector 3, and also includes: a moving module 4, a collimating module 5, and a focusing module 6;

[0061] Laser 2 is located at the focal plane of collimation module 5 and is used to emit a probe beam according to the control signal of controller 1;

[0062] Collimation module 5 is used to collimate the probe beam in order to detect the target object through the probe beam;

[0063] Focusing module 6 is used to focus the detection beam reflected back from the target object;

[0064] Detector 3 is located at the focal plane of focusing module 6 and is used to receive the detection beam according to the control signal of controller 1;

[0065] Both laser 2 and detector 3 are mounted on the moving module 4;

[0066] The controller 1 is electrically connected to the moving module 4, the laser 2, and the detector 3 respectively. It is used to move the moving module 4 according to the control signal of the controller 1 to adjust the position of the laser 2 and the detector 3, so as to change the direction of the detection beam and adjust the detection area.

[0067] LiDAR (Light Detection and Ranging) detects the position, velocity, and reflection intensity of targets by emitting multiple laser beams. Laser 2 serves as the light source, emitting the detection beam. To enable the lidar to detect distant objects, the emitting surface of laser 2 is positioned near the focal point of collimation module 5. Collimation module 5 collimates the laser beam, converting the divergent beam into parallel light. Focusing module 6 focuses the echo signal, obtaining the detection signal on detector 3. Laser 2 can be a device that emits laser light, including fiber lasers, semiconductor lasers, and solid-state lasers. Detector 3 can be a device that receives the echo signal, converting the optical signal into an electrical signal, including avalanche photodiode (APD), silicon photomultiplier (SIPM), and single-photon avalanche diode (SPAD).

[0068] LiDAR typically uses multiple lasers 2 to emit multiple laser beams to achieve multi-line detection of target objects. However, the position of the lasers 2 is fixed, which means the detection area of ​​the LiDAR is fixed and cannot be adjusted, thus preventing precise detection of target objects. Therefore, in this embodiment, by setting the lasers 2 and detector 3 on a moving module 4, the detection area of ​​the LiDAR can be adjusted. It should be noted that the movement of the moving module 4 is not limited and can be determined according to the actual situation, as long as the transmit and receive matching can be guaranteed. That is, when the moving module 4 moves the lasers 2, the direction of the beam emitted by the lasers 2 changes, and correspondingly, the position of the detector 3 needs to be moved so that the detector 3 can receive the echo signal. The moving module 4 includes, but is not limited to, micro-motion structures of micro-electromechanical systems (MEMS), sliding platforms, cam structures, etc. The lasers 2 and detector 3 can be set on the same moving module 4 or on different moving modules 4. In practice, the same circuit board or different circuit boards can be used to power the lasers 2 and detector 3. In order to simplify the structure of the lidar, when the laser 2 and the detector 3 are set on the same mobile module 4, the same circuit board can be used to power the laser 2 and the detector 3.

[0069] Laser 2 and detector 3 are both mounted on the moving module 4. The movement of the moving module 4 moves the laser 2 and detector 3, changing the direction of the emitted light from the laser 2 and the receiving field of view of the detector 3, thus altering the size of the detection area. The laser 2 and detector 3 can be mounted on the moving module 4 by welding, bonding, or other methods. Controller 1 is electrically connected to the moving module 4, laser 2, and detector 3 respectively. When fine detection of an object is required, the controller moves the moving module 4 within a small range, thereby causing the laser 2 to scan within a smaller area, ultimately forming a smaller detection area. This results in higher resolution for the laser 2 and more precise detection of the object.

[0070] The lidar provided in this embodiment includes: a controller 1, a laser 2, and a detector 3, and further includes: a moving module 4, a collimation module 5, and a focusing module 6. The laser 2 is located at the focal plane of the collimation module 5 and is used to emit a detection beam according to the control signal of the controller 1. The collimation module 5 is used to collimate the detection beam so as to detect the target object through the detection beam. The focusing module 6 is used to focus the detection beam reflected back from the target object. The detector 3 is located at the focal plane of the focusing module 6 and is used to receive the detection beam according to the control signal of the controller 1. The laser 2 and the detector 3 are both mounted on the moving module 4. The controller 1 is electrically connected to the moving module 4, the laser 2, and the detector 3 respectively, and is used to move the moving module 4 according to the control signal of the controller 1 to adjust the position of the laser 2 and the detector 3, so as to change the direction of the detection beam and adjust the detection area. In this embodiment, both the laser 2 and the detector 3 are mounted on the moving module 4. When the moving module 4 moves, it moves the laser 2 and the detector 3, causing changes in the direction of the emitted light from the laser 2 and the receiving field of view of the detector 3. This means the detection area can be adjusted, improving the resolution of the laser radar when the detection area is small. Secondly, compared to previous laser radars that used multiple lasers 2 to emit multiple laser beams to detect target objects, the laser radar in this embodiment allows the direction of the emitted light from the laser 2 to be moved. Therefore, a region can be scanned by changing the direction of the emitted light, thus reducing the number of lasers 2 needed to detect target objects and lowering costs. In addition, the collimation module 5 collimates the divergent light, and the focusing module 6 focuses the detection beam reflected back from the target object, enabling the detection of distant objects.

[0071] In order to flexibly control the detection area, a preferred embodiment is that the moving module 4 is used to translate the laser 2 on the focal plane of the collimation module 5 or to translate the detector 3 on the focal plane of the focusing module 6, and / or to move the laser 2 and detector 3 up and down on a preset plane, and / or to move the laser 2 and detector 3 back and forth along the optical axis.

[0072] When the position of laser 2 moves, the direction of the emitted light beam after collimation by the lens also changes, and the horizontal and vertical field of view angles change simultaneously. Adjusting the trajectory of laser 2 according to the detection requirements allows for adjustment of the emitted light beam direction. The moving module 4 can move in one-dimensional vertical translation, translation along the focal plane, or forward and backward along the optical axis. Figure 2 This is a schematic diagram of a detection area provided in an embodiment of this application. Figure 2 The dashed line in the figure represents the change in the position of the laser, θ is the horizontal scanning range of the emitted light, and β is the vertical scanning range of the emitted light.

[0073] The mobile module 4 provided in this embodiment enables the laser 2 and detector 3 to move in different ways, making the transformation of the detection area more flexible and meeting the needs of object detection.

[0074] In implementation, the number of moving modules 4 is usually determined based on the number of lasers 2 and detectors 3. When only one laser 2 and one detector 3 are used, if the distance between laser 2 and collimating module 5 is equal to the distance between detector 3 and focusing module 6, then there are one or two moving modules 4.

[0075] Conversely, there are two moving modules 4.

[0076] When both laser 2 and detector 3 are single units (i.e., single-channel transmission and reception), the number of moving modules 4 can be one or two. When collimation module 5 and focusing module 6 use lenses of the same specifications (at least including the same model, lens size, and lens thickness), and the distance between collimation module 5 and laser 2 is equal to the distance between focusing module 6 and detector 3, the number of moving modules 4 can also be one or two. When there are two moving modules 4, laser 2 and detector 3 are respectively mounted on different moving modules 4. However, to simplify the structure of the lidar, preferably, laser 2 and detector 3 are mounted on the same moving module 4 and installed on the same circuit board. The circuit board is mounted on the moving module 4. When laser 2 is moved to a preset position, detector 3 also moves accordingly, and the direction of the emitted light and the receiving field of view change simultaneously. This allows for the detection of objects at a specific field of view location, achieving two-dimensional detection simultaneously. Figure 3 This is a schematic diagram illustrating a laser and a detector mounted on the same circuit board, as provided in an embodiment of this application. Figure 3 As shown in the schematic diagram, the laser 2 and the detector 3 are mounted on the same circuit board 7, the collimation module 5 is mounted at a preset distance in front of the laser 2, and the focusing module 6 is mounted at a preset distance in front of the detector 3. Figure 4 This is a schematic diagram illustrating the positioning of a two-dimensional guide rail for moving a laser, as provided in an embodiment of this application. Figure 4 As shown, the moving module 4 uses a two-dimensional guide rail. The circuit board 7 is mounted on the laser circuit board bracket 8, and the laser circuit board bracket 8 is mounted on the two-dimensional guide rail. The two-dimensional guide rail is moved by a motor, and the position of the laser 2 can be moved in two dimensions, thereby controlling the position and range of the emitted light.

[0077] When collimation module 5 and focusing module 6 use lenses of different specifications, and the distance between collimation module 5 and laser 2 is equal to the distance between focusing module 6 and detector 3, laser 2 and detector 3 need to move to different positions to achieve transmit / receive matching. Therefore, laser 2 and detector 3 need to be placed on different moving modules 4. That is, laser 2 is connected to one moving module 4, and detector 3 is connected to another moving module 4. Controller 1 controls the movement of moving modules 4 according to a certain mathematical relationship, driving laser 2 and detector 3 to move, ensuring transmit / receive matching between laser 2 and detector 3. In implementation, the relative positions of laser 2 and detector 3 can be determined in advance through logical operations, and detector 3 moves accordingly when laser 2 moves.

[0078] The present embodiment provides a method for determining the number of mobile modules 4 during single-channel transmission and reception, so that the selected number of mobile modules 4 is more reasonable.

[0079] The above embodiments describe single-channel transmission and reception. In practice, multi-channel transmission and reception may occur, that is, there are multiple lasers 2 and detectors 3. If the distance between laser 2 and collimation module 5 is equal to the distance between the corresponding detector 3 and focusing module 6, then there are one or more moving modules 4.

[0080] Conversely, there are multiple mobile modules 4.

[0081] For multi-channel transmission and reception, the specific number of lasers 2 and detectors 3, the arrangement of each laser 2, and the arrangement of each detector 3 are not limited and can be determined according to the actual situation. By setting multiple lasers 2 and detectors 3 on the same or different moving modules 4, and controlling the position of each moving module 4, the position of the emitted light can be changed, enabling object detection at different field-of-view positions. Figure 5 This application provides a schematic diagram of a two-way transmit / receive system, as shown in the embodiment. Figure 5 As shown, it includes a collimation module 5, a focusing module 6, two lasers 2, and two detectors 3. After the laser beam is emitted, it is necessary to ensure that the corresponding detector can receive the signal. Figure 6 This is a schematic diagram of hybrid scanning provided in the embodiments of this application. By controlling the scanning position and scanning angle of multiple lasers respectively, different methods of splicing can be achieved, enabling close-range blind spot filling and long-range encryption. Figure 6 Four types of scanning results are listed in the figure. Scanning result (b) shows the scanning result for long-distance encryption. By reducing the movement range of the laser and detector, the scanning density will be increased accordingly. Figure 7(a) is a schematic diagram of the optical path before blind spot filling provided in an embodiment of this application. Figure 7(b) is a schematic diagram of the optical path after blind spot filling provided in an embodiment of this application. Figure 7(a) , 7(b)In the diagram, the left side represents the emission range of a single laser 2, and the right side represents the receiving field of view of a single detector 3. The overlapping triangular area of ​​these two ranges is the detectable region. When the positions of the transceiver modules are fixed, due to structural and transceiver matching limitations, laser 2 and detector 3 need to be spaced a certain distance apart, thus creating a blind zone at close range, as shown by the blank triangle in Figure 7(a). When the positions of laser 2 and detector 3 are not fixed, to reduce the blind zone, the distance between the two modules can be reduced during close-range detection, thus correspondingly reducing the blind zone, as shown by the blank triangle in Figure 7(b).

[0082] In this embodiment, the determination of the number of mobile modules 4 during multi-channel transmission and reception ensures that the selected number of mobile modules 4 is reasonable. Multi-channel transmission and reception can improve resolution, and simultaneous detection beam overlap can reduce blind spots and increase detection distance.

[0083] In practice, in order to achieve more accurate movement of the moving module 4, a preferred embodiment is that the movement of the moving module 4 is determined based on at least one of the following:

[0084] The position of laser 2, the position of detector 3, and the level of precision in detecting the target object.

[0085] When the movement of the moving module 4 is determined based on the level of detail of the detected target object, this is called Region of Interest (ROI) control. Figure 8 This is a schematic diagram illustrating the ROI scanning area control result provided in an embodiment of this application. The number of scanning points emitted by laser 2 per unit time is fixed, and the number of scanning points received by detector 3 is also fixed. If the scanning range is large, the point density within the scanning range will be low; if the scanning range is small, the point density will be correspondingly high. By controlling the scanning speed and position of laser 2, the scanning range and scanning direction of the emitted light can be controlled. Densification within the ROI area can achieve ROI region of interest scanning. In this embodiment, the movement of the moving module 4 is determined based on at least one of the following: the position of laser 2, the position of detector 3, and the fineness level of the detected target object. In practice, the movement of the moving module 4 can also be controlled based on other factors.

[0086] The method of determining the movement of the mobile module 4 provided in this embodiment can meet different detection needs and improve the user experience.

[0087] The above describes how the detection area is adjustable by moving the module. In practice, to further improve the resolution of the lidar and achieve detection over a larger area, a preferred embodiment is that the lidar also includes: a rotating module and a base for placing the rotating module; the rotation angle range of the rotating module is 0° to 360°; the rotating module is located on the base.

[0088] Laser 2, moving module 4, detector 3, collimating module 5, and focusing module 6 are all located on the rotating module.

[0089] Figure 9 This is a schematic diagram of another lidar system provided in an embodiment of this application. Compared to... Figure 1 The lidar shown has a newly added rotating module 9. Figure 10 This is a schematic diagram of a multi-channel transceiver provided in an embodiment of this application. A rotating module 9 is added below the transceiver module to form a 360° scanning lidar. Compared with direct scanning, this method can greatly improve the resolution while achieving 360° detection.

[0090] Based on the above embodiments, this embodiment also provides a method for controlling the detection area, applied to a lidar comprising a controller 1, a laser 2, a detector 3, a moving module 4, a collimating module 5, and a focusing module 6; the laser 2 is located at the focal plane of the collimating module 5; the detector 3 is located at the focal plane of the focusing module 6; the laser 2 and the detector 3 are both mounted on the moving module 4; the controller 1 is electrically connected to the laser 2, the detector 3, and the moving module 4 respectively; the method for controlling the detection area includes:

[0091] Control the detection beam emitted by laser 2;

[0092] The collimation module 5 collimates the probe beam to facilitate the detection of target objects using the probe beam;

[0093] The focusing module 6 receives and focuses the detection beam reflected back from the target object;

[0094] Control detector 3 to receive the detection beam;

[0095] The moving module 4 is controlled to move the position of the laser 2 and the detector 3, so as to change the direction of the detection beam and adjust the detection area.

[0096] The method for controlling the detection area provided in this embodiment has corresponding technical features to the aforementioned lidar. Since lidar has been described in detail above, the embodiment of the method for controlling the detection area will not be repeated here. Furthermore, it has the same beneficial effects as the lidar mentioned above.

[0097] In the above embodiments, the method for controlling the detection area has been described. This application also provides embodiments corresponding to the apparatus for controlling the detection area. It should be noted that this application describes the embodiments of the apparatus from two perspectives: one is based on the functional modules, and the other is based on the hardware.

[0098] Based on the above embodiments, this embodiment also provides a device for controlling the detection area, applied to a lidar comprising a controller 1, a laser 2, a detector 3, a moving module 4, a collimating module 5, and a focusing module 6; the laser 2 is located at the focal plane of the collimating module 5; the detector 3 is located at the focal plane of the focusing module 6; both the laser 2 and the detector 3 are mounted on the moving module 4, and the controller 1 is electrically connected to the laser 2, the detector 3, and the moving module 4 respectively. From the perspective of functional modules, this embodiment provides the following device for controlling the detection area:

[0099] The first control module is used to control the detection beam emitted by laser 2;

[0100] The collimation module is used to collimate the probe beam through the collimation module 5 so as to detect the target object through the probe beam;

[0101] The receiving module is used to receive and focus the detection beam reflected back from the target object through the focusing module 6;

[0102] The second control module is used to control detector 3 to receive the detection beam;

[0103] The third control module is used to control the movement of the moving module 4 so that the position of the laser 2 and the detector 3 can be moved through the moving module 4, so as to change the direction of the detection beam and adjust the detection area.

[0104] The device for controlling the detection area provided in this embodiment has the same technical features as the lidar mentioned above. The embodiments of lidar have been described in detail above, so the embodiments of the device for controlling the detection area will not be repeated here, and it has the same beneficial effects as the lidar mentioned above.

[0105] Figure 11 This is a structural diagram of a device for controlling a detection area according to another embodiment of this application. This embodiment is based on a hardware perspective, such as... Figure 11 As shown, the device for controlling the detection area includes:

[0106] Memory 20 is used to store computer programs;

[0107] The processor 21 is configured to execute a computer program to implement the steps of the method for controlling the detection area as described in the above embodiments.

[0108] The device for controlling the detection area provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0109] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0110] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the method for controlling the detection area disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the aforementioned method for controlling the detection area.

[0111] In some embodiments, the device for controlling the detection area may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0112] Those skilled in the art will understand that Figure 11 The structure shown does not constitute a limitation on the device for controlling the detection area and may include more or fewer components than shown.

[0113] The apparatus for controlling the detection area provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: the method for controlling the detection area, with the same effect as above.

[0114] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0115] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0116] The computer-readable storage medium provided in this application includes the aforementioned method for controlling the detection area, with the same effect.

[0117] The foregoing has provided a detailed description of a lidar, a method for controlling the detection area, an apparatus, and a medium provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0118] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A lidar, comprising: The controller (1), laser (2), and detector (3) are characterized by further comprising: a moving module (4), a collimating module (5), and a focusing module (6); wherein the laser (2) is a laser emitting device adapted to long-distance detection and dynamic adjustment of the detection area of ​​a lidar. The laser (2) is located at the focal plane of the collimation module (5) and is used to emit a probe beam according to the control signal of the controller (1); The collimation module (5) is used to collimate the detection beam so as to detect the target object through the detection beam; The focusing module (6) is used to focus the detection beam reflected back by the target object; The detector (3) is located at the focal plane of the focusing module (6) and is used to receive the detection beam according to the control signal of the controller (1); Both the laser (2) and the detector (3) are mounted on the mobile module (4); The controller (1) is electrically connected to the moving module (4), the laser (2), and the detector (3) respectively, and is used to move the moving module (4) according to the control signal of the controller (1) to adjust the position of the laser (2) and the detector (3), so as to change the direction of the detection beam and adjust the size of the detection area; The moving module (4) is used to translate the laser (2) on the focal plane of the collimation module (5) or to translate the detector (3) on the focal plane of the focusing module (6); In order to adjust the size of the detection area by changing the direction of the detection beam through the moving module (4) and improve the resolution of the lidar, while reducing the distance between the laser (2) and the detector (3) by reducing the relative distance between the laser (2) and the detector (3) during close-range detection, thereby reducing the blind zone of close-range detection, and maintaining the long-range detection capability based on the position constraint that the laser (2) is always located at the focal plane of the collimation module (5) and the detector (3) is always located at the focal plane of the focusing module (6).

2. The lidar according to claim 1, characterized in that, The laser (2) and the detector (3) are both one. If the distance between the laser (2) and the collimation module (5) is equal to the distance between the detector (3) and the focusing module (6), then the moving module (4) is one or two. Conversely, the mobile module (4) consists of two units.

3. The lidar according to claim 1, characterized in that, When the collimation module (5) and the focusing module (6) use lenses of the same specifications, the laser (2) and the detector (3) are mounted on the same moving module (4).

4. The lidar according to claim 3, characterized in that, The laser (2) and the detector (3) are mounted on the same circuit board (7).

5. The lidar according to claim 1, characterized in that, There are multiple lasers (2) and detectors (3). If the distance between the laser (2) and the collimation module (5) is equal to the distance between the corresponding detector (3) and the focusing module (6), then there are one or more moving modules (4). Conversely, there are multiple mobile modules (4).

6. The lidar according to claim 1, characterized in that, When the collimation module (5) and the focusing module (6) use lenses of different specifications, the laser (2) and the detector (3) are set on different moving modules (4). The controller (1) controls the moving module (4) to move according to the set mathematical relationship so that the laser (2) and the detector (3) can be moved by the movement of the moving module (4) to achieve the transmission and reception matching of the laser (2) and the detector (3).

7. The lidar according to any one of claims 1 to 6, characterized in that, The movement of the moving module (4) is determined based on at least one of the following: The position of the laser (2), the position of the detector (3), and the level of precision in detecting the target object.

8. The lidar according to claim 7, characterized in that, Also includes: A rotating module (9) and a base for placing the rotating module (9); the rotating module (9) has a rotation angle range of 0° to 360°; the rotating module (9) is located on the base; The laser (2), the moving module (4), the detector (3), the collimating module (5), and the focusing module (6) are all located on the rotating module (9).

9. A method for controlling a detection area, characterized in that, This invention relates to a lidar system comprising a controller (1), a laser (2), a detector (3), a moving module (4), a collimating module (5), and a focusing module (6); the laser (2) is located at the focal plane of the collimating module (5); the detector (3) is located at the focal plane of the focusing module (6); the laser (2) and the detector (3) are both mounted on the moving module (4); the controller (1) is electrically connected to the laser (2), the detector (3), and the moving module (4); the moving module (4) is used to translate the laser (2) on the focal plane of the collimating module (5) or to translate the detector (3) on the focal plane of the focusing module (6); the laser (2) is a laser emitting device adapted for long-range detection and dynamic adjustment of the detection area in lidar systems. The method includes: Control the detection beam emitted by the laser (2); The collimation module (5) is used to collimate the detection beam so as to detect the target object through the detection beam; The focusing module (6) receives and focuses the detection beam reflected back from the target object; Control the detector (3) to receive the detection beam; The moving module (4) is controlled to move the position of the laser (2) and the detector (3) so as to change the direction of the detection beam and adjust the size of the detection area. In order to change the direction of the detection beam and adjust the size of the detection area by the moving module (4), the resolution of the lidar is improved. At the same time, the distance between the emission optical axis of the laser (2) and the receiving optical axis of the detector (3) can be reduced by reducing the relative distance between the laser (2) and the detector (3) during close-range detection, thereby reducing the blind zone of close-range detection. Based on the position constraint that the laser (2) is always located at the focal plane of the collimation module (5) and the detector (3) is always located at the focal plane of the focusing module (6), the long-range detection capability is maintained.

10. A device for controlling a detection area, characterized in that, This invention relates to a lidar system comprising a controller (1), a laser (2), a detector (3), a moving module (4), a collimating module (5), and a focusing module (6); the laser (2) is located at the focal plane of the collimating module (5); the detector (3) is located at the focal plane of the focusing module (6); the laser (2) and the detector (3) are both mounted on the moving module (4); the controller (1) is electrically connected to the laser (2), the detector (3), and the moving module (4); the moving module (4) is used to translate the laser (2) on the focal plane of the collimating module (5) or to translate the detector (3) on the focal plane of the focusing module (6); the laser (2) is a laser emitting device adapted for long-range detection and dynamic adjustment of the detection area in lidar systems. The device includes: The first control module is used to control the detection beam emitted by the laser (2); A collimation module is used to collimate the detection beam through the collimation module (5) so as to detect the target object through the detection beam; The receiving module is used to receive and focus the detection beam reflected back by the target object through the focusing module (6); The second control module is used to control the detector (3) to receive the detection beam; The third control module is used to control the movement of the moving module (4) so ​​as to move the position of the laser (2) and the detector (3) through the moving module (4), so as to change the direction of the detection beam and adjust the size of the detection area; so as to change the direction of the detection beam through the moving module (4) to adjust the size of the detection area, improve the resolution of the lidar, and at the same time, reduce the distance between the laser (2) emission optical axis and the detector (3) receiving optical axis by reducing the relative distance between the laser (2) and the detector (3) during close-range detection, thereby reducing the close-range detection blind zone, and based on the position constraint that the laser (2) is always located at the focal plane of the collimation module (5) and the detector (3) is always located at the focal plane of the focusing module (6), maintain the long-range detection capability.

11. A device for controlling a detection area, characterized in that, include: Memory (20) is used to store computer programs; The processor (21) is configured to implement the steps of the method for controlling the detection area as described in claim 9 when executing the computer program.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method for controlling the detection area as described in claim 9.

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