Laser radar and storage medium

Abstract

The application discloses a laser radar and a storage medium. The laser radar comprises a transmitting device configured to transmit a detection laser; a scanning device configured to receive the detection laser and emit the detection laser to a detection field of view; the scanning device is further configured to receive a return laser and deflect the return laser to a receiving device; and the receiving device is configured to receive the return laser; wherein the scanning device comprises a rotating mirror, and the rotating mirror comprises a plurality of scanning surfaces; and the included angles of at least two adjacent scanning surfaces corresponding to the center of the rotating mirror are different. By using the irregular multi-surface rotating mirror for scanning, the target detection field of view can be encrypted, and the requirements of meeting a large field of view and a small resolution for a near-distance object and meeting a small field of view and a high resolution for a long-distance object can be met.

Description

Technical Field

[0001] This application relates to the field of computer technology, and more particularly to a lidar and storage medium. Background Technology

[0002] LiDAR (Light Detection and Ranging) can directly perform fast and high-precision imaging in three-dimensional space, making it one of the most crucial sensors in current autonomous driving technology. LiDAR using rotating mirrors is a mainstream implementation scheme. Currently, these LiDAR systems primarily utilize multi-faceted rotating mirrors, including three-mirror, four-mirror, five-mirror, and eight-mirror systems. The rotating mirror deflects the emitted laser beam to the detection field of view to complete the scan.

[0003] However, vehicle-mounted LiDAR actually requires a small scanning range and high resolution for distant objects, which is difficult to achieve with traditional radars that use rotating mirrors for scanning. Summary of the Invention

[0004] This application provides a lidar and storage medium. By employing an irregular multi-faceted rotating mirror for scanning, the target detection field of view can be densified, achieving a large field of view and low resolution for near-range objects, and a small field of view and high resolution for far-range objects. The technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a lidar, the lidar comprising:

[0006] The transmitting device is used to emit a detection laser.

[0007] A scanning device is used to receive the detection laser and emit the detection laser into the detection field of view;

[0008] The scanning device is also used to receive the echo laser and deflect the echo laser to the receiving device;

[0009] The receiving device is used to receive the echo laser;

[0010] The scanning device includes a rotating mirror, which has multiple scanning surfaces. Among the multiple scanning surfaces, at least two adjacent scanning surfaces have unequal angles corresponding to the center of the rotating mirror.

[0011] Secondly, embodiments of this application provide a computer storage medium storing a plurality of instructions adapted for loading and executing the steps described above by a processor.

[0012] Thirdly, embodiments of this application provide a lidar, which may include: a processor and a memory; wherein the memory stores a computer program, the computer program being adapted to be loaded by the processor and to execute the steps described above.

[0013] The beneficial effects of the technical solutions provided in some embodiments of this application include at least the following:

[0014] In this embodiment, a detection laser is emitted by a transmitting device, received by a scanning device, and emitted into the detection field of view. The echo laser is received and deflected back to the receiving device; the receiving device then receives the echo laser. The scanning device includes a rotating mirror with multiple scanning surfaces, where at least two adjacent scanning surfaces have unequal angles at their corresponding mirror centers. By using an irregularly shaped multi-faceted rotating mirror for scanning, the target detection field of view can be densified, achieving a large field of view and low resolution for near-range objects, and a small field of view and high resolution for distant objects. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0016] Figure 1 This is an example schematic diagram of a uniform multi-faceted rotating mirror scanning provided in an embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application;

[0018] Figure 3 This is an example schematic diagram of a non-uniform six-sided mirror scanning provided in an embodiment of this application;

[0019] Figure 4a This is a schematic diagram of an irregular octagonal rotating mirror provided in an embodiment of this application;

[0020] Figure 4b This is a schematic diagram of a rotating mirror section provided in an embodiment of this application;

[0021] Figure 5a This is a schematic diagram of an arrangement of the same group of transmitters provided in an embodiment of this application;

[0022] Figure 5b This is a schematic diagram of another arrangement of the same group of transmitters provided in an embodiment of this application;

[0023] Figure 6 This is an example diagram illustrating how to improve point cloud density in a single-shot, multi-connection mode, as provided in an embodiment of this application.

[0024] Figure 7 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0026] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0027] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0028] LiDAR (Light Detection and Ranging) can directly perform fast and high-precision imaging in three-dimensional space, making it one of the most crucial sensors in current autonomous driving technology. LiDAR using rotating mirror scanning is a mainstream implementation scheme. Currently, these LiDARs primarily use multi-faceted rotating mirrors, including three-faced, four-faced, five-faced, and eight-faced mirrors. The rotation of each face of the mirror constitutes one scan. To ensure sufficient duty cycle, the horizontal angle range involved in each scan is the same. However, for main-view LiDAR, it is generally necessary to refine the horizontal angles.

[0029] For an n-sided mirror, the ideal maximum field of view range is:

[0030]

[0031] Because the beam has a certain width, the scanning angle of the n-plane mirror will be less than θ. angle The scope of the requirement scan is defined as: θFOV For automotive LiDAR, the horizontal angle requirement is 120°. For a specific scanning mode, the effective range is defined as the duty cycle, which characterizes the proportion of the effective range during the entire scanning process. For example, for a four-mirror system, the duty cycle for automotive LiDAR is:

[0032]

[0033] For a regular rotating mirror, every face is identical, therefore the horizontal angle θ swept out by each face is... FOV It is exactly the same. In principle, it will produce a radar point cloud map that is uniformly distributed in the horizontal direction.

[0034] Figure 1 This is an example of a four-mirror scanning method. The four mirrors are labeled A, B, C, and D. With each mirror's rotation, the light beam sweeps out a set of scan lines in space, corresponding to... Figure 1 On the right are A, B, C, and D. As you can see, this method produces a scan line that is uniformly distributed horizontally.

[0035] However, vehicle-mounted LiDAR actually requires a small scanning range and high resolution for distant objects, which is difficult to achieve with traditional regular rotating mirrors.

[0036] The present application will now be described in detail with reference to specific embodiments.

[0037] The following will be combined with the appendix Figure 2 - Appendix Figure 7 This application provides a detailed description of the lidar provided in the embodiments.

[0038] Please see Figure 2 This application provides a schematic diagram of a lidar structure, including a transmitting device 10, a scanning device 20, and a receiving device 30, wherein:

[0039] Transmitting device 10 is used to emit a detection laser;

[0040] Scanning device 20 is used to receive the detection laser and emit the detection laser into the detection field of view;

[0041] The scanning device 20 is also used to receive the echo laser and deflect the echo laser to the receiving device 30;

[0042] The receiving device 30 is used to receive the echo laser;

[0043] The scanning device 20 includes a rotating mirror, which has multiple scanning surfaces. Among the multiple scanning surfaces, at least two adjacent scanning surfaces have unequal angles corresponding to the center of the rotating mirror.

[0044] It is understood that this application does not limit the number or combination of scanning elements included in the scanning device. The scanning device in this application may also include other scanning devices besides rotating mirrors, such as other rotating mirrors, one-dimensional galvanometers, or two-dimensional galvanometers. Optionally, the lidar in this application does not limit whether the lidar includes other scanning forms besides the above-mentioned scanning device; in addition to including a scanning device, it may also include a rotating platform.

[0045] Among them, it is understandable that, such as Figure 3 As shown, Figure 3 A schematic cross-section of an irregular hexahedral rotating mirror is shown, wherein the cross-section of the hexahedral mirror is a plane perpendicular to the rotation axis of the hexahedral mirror. It can be understood that the angle subtended by the scanning plane corresponding to the center of the rotating mirror is the angle subtended by the edge of the scanning plane on the cross-section of the rotating mirror corresponding to the center of the circumscribed circle of the cross-section. Among the plurality of scanning planes, at least two adjacent scanning planes have unequal angles subtended by the center of the rotating mirror, for example... Figure 3 As shown, the angles subtended by scanning plane A and scanning plane F are not equal.

[0046] It is understood that the detection field of view of a lidar includes a total detection field of view and a target detection field of view. The total detection field of view is the maximum detection field of view, and the target detection field of view is the region of interest (ROI), which generally corresponds to the field of view in the direction parallel to the driver's eyes. The target detection field of view is the area that the radar focuses on, and users can set the target detection parameters according to their needs. This application does not restrict the position of the target detection field of view within the total detection field of view. The rotating mirror includes at least one first scanning surface and at least one second scanning surface, where the angle subtended by the first scanning surface at the center of the rotating mirror is greater than the angle subtended by the second scanning surface at the center of the rotating mirror. When the target detection field of view includes only one point cloud densification factor, i.e., the lidar includes only a first-level target detection field of view, the angle subtended by the first scanning surface at the center of the rotating mirror is determined by the total detection field of view angle, and the angle subtended by the second scanning surface at the center of the rotating mirror is determined by the target detection field of view angle.

[0047] The target detection field of view may include at least one level of detection field of view. Optionally, the target detection field of view may also include multiple levels of detection field of view, such as a first-level target detection field of view, a second-level target detection field of view, a third-level target detection field of view, ..., an (n-1)th-level target detection field of view, an nth-level target detection field of view, etc., where n is an integer greater than or equal to 2. It is understood that this application generally does not limit the specific number of levels of detection field of view included in the target detection field of view. Each level of target detection field of view corresponds to a corresponding encryption multiplier. The encryption multiplier of the first-level target detection field of view ≥ the encryption multiplier of the second-level target detection field of view ≥ the encryption multiplier of the third-level target detection field of view ... ≥ the encryption multiplier of the (n-1)th-level target detection field of view ≥ the encryption multiplier of the nth-level target detection field of view. The first-level target detection field of view corresponds to the most central detection field of view, with other detection fields following in order.

[0048] It can be understood that when the rotating mirror has only a first-order target detection field of view, the angle subtended by each second scanning surface of the rotating mirror corresponding to the center of the rotating mirror, and the number of the second scanning surfaces of the rotating mirror, are determined according to the encryption factor of the target detection field of view and the field of view angle corresponding to the target detection field of view, specifically:

[0049] The number of the second scanning surfaces of the rotating mirror is the number of groups of scanning lines that make up the target detection field of view more than the total detection field of view excluding the target detection field of view.

[0050] The angle subtended by the second scanning surface of the rotating mirror corresponding to the center of the rotating mirror is the sum of half the field angle of the target detection field of view and the set second redundancy angle.

[0051] It can be understood that the encryption factor of the target detection field of view is the number of scan line groups that the target detection field of view has compared to the other fields of view in the total detection field of view. It can also be understood that the other fields of view in the total detection field of view can be referred to as the general detection field of view. Therefore, the encryption factor of the target detection field of view is the number of scan line groups that the target detection field of view has compared to the general detection field of view.

[0052] Assuming the rotating mirror includes n scanning planes, the angle subtended by each plane at the center of the rotating mirror is labeled as: θ1, θ2, ... θ n Where θ1, θ2, ... θ n Sort by size from smallest to largest. Because scanning is based on reflected light, the maximum field of view (FOV) supported for each scan are: 2θ1, 2θ2, ... 2θ n Therefore, the scan lines that can be obtained are:

[0053] For the central region, there are a total of n scan lines;

[0054] In the region greater than 2θ1, there are a total of n-1 sets of scan lines;

[0055] In the region greater than 2θ², there are a total of n-2 sets of scan lines;

[0056] In the region greater than 2θ3, there are a total of n-3 sets of scan lines;

[0057] The same principle applies to other locations, thus obtaining a scan line that encrypts the central region across the entire space.

[0058] Therefore, the angle θ between the first scanning face and the center of the rotating mirror. n Determined by the total detection field of view, and the angles θ1, ... θ1 subtended by the center of the rotating mirror for each second scanning plane. n-1 Each target detection field of view is determined by its respective level. Each second scanning surface is divided into a first short surface, a second short surface, a third short surface, ..., an (n-1)th short surface, and an nth short surface. n is an integer greater than or equal to 2. Among these, at least two short surfaces in the first, second, ..., nth short surfaces have unequal angles at their corresponding mirror centers.

[0059] Understandably, when the target detection field of view includes at least two levels of target detection field of view, the detection field of view angle corresponding to the first level of target detection field of view is determined based on the angle subtended by the first short face of the rotating mirror to the center of the rotating mirror; the detection field of view angle corresponding to the second level of target detection field of view is determined based on the angle subtended by the second short face of the rotating mirror to the center of the rotating mirror; the detection field of view angle corresponding to the third level of target detection field of view is determined based on the angle subtended by the third short face of the rotating mirror to the center of the rotating mirror; the detection field of view angle corresponding to the (n-1)th level of target detection field of view is determined based on the angle subtended by the (n-1)th short face of the rotating mirror to the center of the rotating mirror; and the detection field of view angle corresponding to the nth level of target detection field of view is determined based on the angle subtended by the nth short face of the rotating mirror to the center of the rotating mirror. Here, n is an integer greater than or equal to 2.

[0060] Wherein, the angle subtended by the first scanning surface at the center of the rotating mirror is the sum of half the field of view angle of the total detection field of view and the set first redundancy angle.

[0061] Taking a target detection field of view comprising two levels as an example, the target detection field of view includes a first-level target detection field of view and a second-level target detection field of view, wherein the encryption factor of the first-level target detection field of view is greater than that of the second-level target detection field of view. The lidar includes a first scanning surface, a third scanning surface, and a fourth scanning surface, with unequal angles subtended by the first, third, and fourth scanning surfaces corresponding to the center of the rotating mirror. The angle subtended by the first scanning surface to the center of the rotating mirror is the sum of half the total detection field of view angle of the lidar and a set first redundancy angle; the angle subtended by the third scanning surface to the center of the rotating mirror is the sum of half the field of view angle of the first-level target detection field of view and a set third redundancy angle; the number of third scanning surfaces is equal to the encryption factor of the first-level target detection field of view minus the encryption factor of the second-level target detection field of view; the angle subtended by the fourth scanning surface to the center of the rotating mirror is the sum of half the field of view angle of the second-level target detection field of view and the set fourth redundancy angle; the number of fourth scanning surfaces is determined by the encryption factor of the second-level target detection field of view. The encryption factor of the second-level target detection field of view is equal to the number of scan lines that the second-level target detection field of view has compared to the general detection field of view.

[0062] For example, such as Figure 3 As shown in the figure, a cross-sectional diagram of an irregular hexahedron is presented. Surfaces A and D are the first scanning surfaces, and their corresponding angles at the center of the rotating mirror are the same. Surfaces B, C, D, and E are the second scanning surfaces, and their corresponding angles at the center of the rotating mirror are the same. Considering the beam width, a 10-degree redundancy angle is set, with 5 degrees to the left and right.

[0063] Among them, the largest detection field of view corresponding to surface A is the total detection field of view, with a field of view angle of 120 degrees. Therefore, the angle subtended by surface A at the center of the rotating mirror is determined to be 120 / 2 + 10 = 70 degrees. Here, 60 degrees of this angle is used for scanning. Similarly, the angle subtended by surface D at the center of the rotating mirror is 70 degrees.

[0064] The redundancy angle corresponding to the scanning surface is related to the size of the light spot and the proportion of the light spot to the entire scanning surface. It is understandable that a larger light spot requires a larger redundancy angle; a larger proportion of the light spot to the entire scanning surface also requires a larger redundancy angle. It is also understandable that setting a reasonable redundancy angle can better reduce stray light interference within the cavity.

[0065] Each first scanning surface and each second scanning surface combine to form a closed polygon. Therefore, the sum of the angles subtended by each first scanning surface corresponding to the center of the rotating mirror and the angles subtended by each second scanning surface corresponding to the center of the rotating mirror is 360 degrees.

[0066] When the target detection field of view includes only one level, the encryption factor of this target detection field of view relative to the general detection field of view is equal to the number of second scanning surfaces. Each of the second scanning surfaces has an equal angular subtended by the center of the rotating mirror. Furthermore, the encryption factor of this target detection field of view can be set according to the requirements of the lidar.

[0067] For example, when the target detection field of view only includes the first level, the encryption multiple of the central detection field of view relative to the general detection field of view is 4, then the number of second scanning surfaces is 4.

[0068] Similarly, the angle subtended by each second scanning surface at the center of the corresponding rotating mirror is the sum of half the field angle of the target detection field of view and the set second redundancy angle.

[0069] For example, such as Figure 3 As shown, the second redundancy angle is also 10 degrees, and the field of view of the target detection field of view is 90 degrees. Therefore, the angle subtended by plane B corresponding to the center of the rotating mirror is 55 degrees. Similarly, the angle subtended by planes C, E, and F corresponding to the center of the rotating mirror is 55 degrees.

[0070] At this point, the sum of the angles subtended by face A to the center of the rotating mirror, the angles subtended by face B to the center of the rotating mirror, the angles subtended by face C to the center of the rotating mirror, the angles subtended by face D to the center of the rotating mirror, the angles subtended by face E to the center of the rotating mirror, and the angles subtended by face F to the center of the rotating mirror is 360 degrees, which meets the requirements.

[0071] When the target detection field of view includes multiple levels, calculate the number of second scanning surfaces of the rotating mirror corresponding to each level of the target detection field of view and the angle subtended by the center of the rotating mirror corresponding to each second scanning surface.

[0072] For example, the target detection field of view includes a first-level target detection field of view and a second-level target detection field of view, wherein the encryption factor of the first-level target detection field of view is greater than that of the second-level target detection field of view; the lidar includes a third scanning surface and a fourth scanning surface;

[0073] The angle subtended by the third scanning surface at the center of the corresponding rotating mirror is the sum of half the field of view angle of the first-level target detection field of view and the set third redundancy angle; the number of the third scanning surfaces is equal to the encryption factor of the first-level target detection field of view minus the encryption factor of the second-level target detection field of view; the angle subtended by the fourth scanning surface at the center of the corresponding rotating mirror is the sum of half the field of view angle of the second-level target detection field of view and the set fourth redundancy angle; the number of the fourth scanning surfaces is determined by the encryption factor of the second-level target detection field of view.

[0074] The first and second scanning surfaces are arranged and combined into an irregular multi-faceted rotating mirror, and then a rotating scan is performed. This can densify the target detection field of view, achieving a large field of view and small resolution for near objects, and a small field of view and high resolution for far objects.

[0075] It is understood that, as a preferred embodiment, the rotating mirror is rotationally symmetrical about the axis of rotation.

[0076] It is understood that the rotating mirror also includes a drive mechanism located within the spatial area enclosed by multiple scanning surfaces of the rotating mirror, thereby reducing the height of the rotating mirror structure. This drive mechanism can be, for example, a rotary motor, which includes bearings that cooperate with the rotating mirror's axis of rotation, driving the rotating mirror to rotate around this axis. Additionally, the rotating mirror also includes an encoding disk, which can be, for example, a grating code disk or a vertical code disk; this application does not limit the specific form of the rotating mirror's code disk. It is understood that the code disk can measure and encode the rotation of the rotating mirror and transmit the corresponding measurement information to the lidar's control system, enabling the lidar to determine the current position and angle of the rotating mirror.

[0077] It is understood that each scanning surface of the rotating mirror can be parallel to the rotation axis of the mirror. Optionally, each scanning surface of the rotating mirror can also be set at a preset angle to the rotation axis of the mirror, either wholly or partially. For example, an irregular octagon... Figure 4a As shown, this is a schematic diagram of a scanning surface parallel to the axis of rotation when each scanning surface of the rotating mirror is set at an angle to the axis of rotation. Figure 4b As shown. It can be understood that by setting the tilt angle of each scanning surface, the effect of encryption in the vertical direction can be further achieved.

[0078] It should be noted that the embodiments of this application are applicable to the encryption of various irregular multi-faceted rotating mirrors. The process is similar to the above, but the encryption factor is different.

[0079] Furthermore, as an optional embodiment of this application, the lidar satisfies the following by setting the divergence angle of the transmitting device:

[0080]

[0081] Where L is the light-emitting size of the light source of the emitting device, and f is the focal length of the emitting device. By reducing the divergence angle, the ranging capability can be improved while controlling the laser power.

[0082] Optionally, the laser spacing and divergence angle must be on the same order of magnitude for the scanning lines. The scanning line spacing between two adjacent sets of emitting devices satisfies:

[0083]

[0084] Among them, L LD Let f be the spacing between the lasers in the transmitting device, and let f be the focal length of the transmitting device. It can be seen that increasing the system focal length reduces the light source area L and the light source spacing L. LD It can reduce the divergence angle δθ and the scan line interval Δθ.

[0085] It is understandable that by reducing the scan line interval Δθ, the spacing between point clouds can be reduced, increasing point cloud density and frame rate, thereby improving radar detection resolution, given a fixed scanning device. Simultaneously, it is understandable that by reducing the divergence angle δθ, ranging can be further improved with a fixed point cloud density.

[0086] It is understood that the scan line interval Δθ can be achieved by setting the interval of the emitter arrangement, or by controlling the emitted laser to emit at intervals in partial or complete areas. It should be noted that the scan line interval Δθ can be achieved in ways not limited to those described above. It is understood that the same emission group can be arranged in one column or in different columns. It is understood that when the same emission group is arranged in two columns, it can be achieved as follows: Figure 5a As shown, by staggering all the transmitters in the same transmitter group, the Δθ can be reduced. Optionally, transmitters can also be staggered in certain areas to reduce the Δθ of the target area. This design allows for further improvement of the point cloud density in the target area without changing the scanning device settings. It can be understood that when transmitters in the same transmitter group are arranged in a row, the point cloud density in the target area can also be increased by setting unequal spacing between the edges and the center of the transmitters. Figure 5b As shown, the interval between edge transmitters in the same transmitter group is Δθ1, and the interval between center transmitters is Δθ2, where Δθ2≥Δθ1.

[0087] Optionally, the emitting device 12 is an edge-emitting laser or a vertical-cavity surface-emitting laser, and the power of the emitting device is greater than 1000W / mm2, thereby reducing L.

[0088] Alternatively, the transmitting device 12 may employ an array light source combining an edge-emitting laser / vertical-cavity surface-emitting laser. This array structure can reduce the physical spacing L between different lasers. LD Compress to 0.3-0.4mm.

[0089] Alternatively, the transmitting device 12 may use a long focal length optical path to increase f.

[0090] Optionally, the lidar operates in a mode where one transmitter corresponds to at least two receivers. The encryption multiplier includes a horizontal point cloud encryption multiplier or a vertical point cloud encryption multiplier. The scan line interval between two adjacent transmissions is the quotient of the product of the number of scan lines in each transmission group and the first product of the scan line interval in each transmission group, plus the second product of the vertical point cloud encryption multiplier and the horizontal point cloud encryption multiplier. The horizontal point cloud encryption multiplier is divisible by the product of the number of scan lines in each transmission group and the number of receivers corresponding to each transmitter. The vertical point cloud encryption multiplier is a prime number not divisible by the product of the number of scan lines in each transmission group and the number of receivers corresponding to each transmitter. As an optional embodiment, when horizontal encryption is performed using a rotating mirror, vertical encryption can be further achieved by setting one transmitter to correspond to multiple receivers. It is understood that the vertical encryption multiplier is related to the number of receivers corresponding to one transmitter. It is understood that, as an optional embodiment of this application, if horizontal encryption is implemented using a rotating mirror, then vertical encryption is related to the scan line interval and / or the correspondence between the number of transmitters and receivers. It is understood that the spacing of the scan lines can be achieved by setting the spacing of the transmitter arrangement, or by controlling the emitted laser to emit at intervals in partial or complete areas. The correspondence between the transmitter and receiver can be one-to-one (one transmitter corresponds to one receiver) or one-to-many (one transmitter corresponds to multiple receivers). It is understood that the correspondence between the same group of transmitters and receivers can be entirely the same or partially the same. It is understood that the correspondence between the transmitter and receiver can be one transmitter to one receiver at the edge of the field of view, and one transmitter to multiple receivers at the center of the field of view. This forms the detection field of view.

[0091] For example, such as Figure 6 As shown, Figure 6 In the middle (a), the scan line spacing of the transmitter is shown. Figure 6 (b) is a schematic diagram of the density of the point cloud formed by the 1-to-2 method; it can be seen that by using 1 transmitter to correspond to 2 receivers, the density of the point cloud in the entire field of view can be doubled, and the interval between the formed point clouds becomes half of the original scan line interval. Figure 6Figure (c) shows that the correspondence between transmitters and receivers is one-to-one at the edge of the field of view, and one-to-two at the center. It can be seen that this setup allows the vertical density of the point cloud in the center of the field of view to be twice that of the edge field of view, and the angular spacing of the point cloud within the vertical field of view detection range is half that of the edge field of view. By setting a partial one-to-many relationship, the number of receivers can be minimized while ensuring the point cloud density in the center field of view.

[0092] Understandably, this application is for one-to-many (denoted as n) mul The multi-connection mode is also compatible. The most typical characteristic of the one-to-many connection mode is that each scan line group has n lines. mul They are closely connected because one emitted light spot corresponds to several receivers. If the point cloud density formed in the vertical direction of the central detection field of view is... In this case, one shot is used for n. mul In the connection mode, the angular spacing of each nearest neighbor receiving channel is maintained as follows:

[0093]

[0094] By using the interpolation scanning method, the point cloud density in the vertical direction of the central detection field of view can be improved to δθ′.

[0095] In this embodiment, a detection laser is emitted by a transmitting device, received by a scanning device, and emitted into the detection field of view. The echo laser is received and deflected back to the receiving device; the receiving device then receives the echo laser. The scanning device includes a rotating mirror with multiple scanning surfaces, where at least two adjacent scanning surfaces have unequal angles at their corresponding mirror centers. By using an irregularly shaped multi-faceted rotating mirror for scanning, the target detection field of view can be densified, achieving a large field of view and low resolution for near-range objects, and a small field of view and high resolution for distant objects.

[0096] This application also provides a computer storage medium that can store multiple instructions, which are adapted to be loaded and executed by a processor as described above. Figures 2-6 The method steps of the illustrated embodiment can be found in the following documentation for detailed execution. Figures 2-6 The specific details of the illustrated embodiments will not be elaborated here.

[0097] Please see Figure 7 The diagram below provides a structural schematic of a lidar according to an embodiment of this application. Figure 7As shown, the lidar 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, and at least one communication bus 1002.

[0098] The communication bus 1002 is used to realize the connection and communication between these components.

[0099] The user interface 1003 may include a display screen and a camera. Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface.

[0100] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0101] The processor 1001 may include one or more processing cores. The processor 1001 connects to various parts within the electronic device 1000 using various interfaces and lines. It executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and by calling data stored in the memory 1005. Optionally, the processor 1001 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 1001 may integrate one or more of the following: a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the processor 1001.

[0102] The memory 1005 may include random access memory (RAM) or read-only memory. Optionally, the memory 1005 may include a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 1005 may also be at least one storage device located remotely from the aforementioned processor 1001. Figure 7 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and application programs.

[0103] exist Figure 7 In the lidar 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 1001 can be used to call the application program stored in the memory 1005 to perform the above operations.

[0104] In this embodiment, a detection laser is emitted by a transmitting device, received by a scanning device, and then emitted into the detection field of view. The echo laser is received and deflected back to the receiving device; the receiving device then receives the echo laser. The scanning device includes a rotating mirror with multiple scanning surfaces, where at least two adjacent scanning surfaces have unequal angles at their corresponding mirror centers. By using an irregularly shaped multi-faceted rotating mirror for scanning, the target detection field of view can be densified, achieving a large field of view and low resolution for near-range objects, and a small field of view and high resolution for distant objects. Simultaneously, it is compatible with a one-to-many transmission mode, has a wide range of applications, and is convenient for large-scale commercial use.

[0105] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory, or random access memory, etc. The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, equivalent variations made according to the claims of this application are still within the scope of this application.

Claims

1. A lidar, characterized in that, The lidar includes: The transmitting device is used to emit a detection laser. A scanning device is used to receive the detection laser and emit the detection laser into the detection field of view; The scanning device is also used to receive the echo laser and deflect the echo laser to the receiving device; The receiving device is used to receive the echo laser; The scanning device includes a rotating mirror, which includes multiple scanning surfaces. Among the multiple scanning surfaces, at least two adjacent scanning surfaces have unequal angles corresponding to the center of the rotating mirror, and the at least two adjacent scanning surfaces correspond to different detection fields. The rotating mirror includes an adjacent first scanning surface and a second scanning surface, wherein the angle subtended by the first scanning surface at the center of the rotating mirror is greater than the angle subtended by the second scanning surface at the center of the rotating mirror; the lidar includes a total detection field of view and a target detection field of view. The angle subtended by the first scanning surface to the center of the rotating mirror is determined based on the total detection field of view; the angle subtended by the second scanning surface to the center of the rotating mirror is determined based on the target detection field of view; The target detection field of view includes a first-level target detection field of view and a second-level target detection field of view, wherein the encryption factor of the first-level target detection field of view is greater than that of the second-level target detection field of view; the lidar includes a third scanning surface and a fourth scanning surface; The number of third scanning surfaces is equal to the encryption factor of the first-level target detection field of view minus the encryption factor of the second-level target detection field of view; the number of fourth scanning surfaces is determined by the encryption factor of the second-level target detection field of view.

2. The lidar according to claim 1, characterized in that, The number of second scanning surfaces corresponding to the target detection field of view is determined by the encryption factor of the target detection field of view.

3. The lidar according to claim 2, characterized in that, The number of the second scanning surfaces is the number of groups of scanning lines that make up the target detection field of view more than the total detection field of view excluding the target detection field of view.

4. The lidar according to claim 1, characterized in that, The laser radar has a one-to-one correspondence between the laser emitter and the receiver at the edge of the field of view, and a one-to-many correspondence between the laser emitter and the receiver at the center of the field of view.

5. The lidar according to claim 2, characterized in that, The encryption factor includes a horizontal encryption factor and a vertical encryption factor. If horizontal encryption is achieved by rotating a mirror, the number of the second scanning surfaces corresponding to the target detection field of view is determined by the horizontal encryption factor of the target detection field of view.

6. The lidar according to claim 5, characterized in that, The vertical encryption factor is related to the scan line interval of the transmitting device and / or the correspondence between the number of transmitting lasers and the number of receivers; the scan line interval can be achieved by setting the interval of the transmitting lasers, or by controlling the transmitting lasers to emit in part or all areas at intervals.

7. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions, which are adapted to be loaded by a processor and executed as described in any one of claims 1-6.

8. A lidar, characterized in that, include: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of any one of claims 1-6.

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