Laser radar, scanning control method of laser radar and readable storage medium

Abstract

The invention provides a laser radar, a scanning control method of the laser radar and a readable storage medium, and relates to the technical field of laser radars. In the laser radar, a light emitting system is used for emitting a laser beam; the horizontal scanning device is used for controlling the emergent angle of the laser beam in the horizontal direction and the deflection angle of the echo beam; the horizontal scanning device comprises N feature surfaces used for controlling deflection angles of laser beams and echo beams, the N feature surfaces comprise M different types, the deflection angles of the different types of feature surfaces to incident beams in the same direction are different, N is greater than or equal to 3, and N is greater than or equal to M is greater than or equal to 2; and the light receiving system comprises M array receiving devices, and the M array receiving devices are respectively used for receiving the echo light beams after the deflection of the corresponding characteristic surfaces. According to the technical scheme provided by the invention, the ranging accuracy of the laser radar can be improved.

Description

Technical Field

[0001] This application relates to the technical field of lidar, and particularly to a lidar, a scanning control method of the lidar, and a readable storage medium. Background Art

[0002] A lidar can emit laser beams (hereinafter referred to as outgoing beams), and after receiving the laser beams reflected by an obstacle (hereinafter referred to as echo beams), determine relevant information such as the distance of the obstacle according to the time difference between the received echo beams and the emitted outgoing beams.

[0003] Currently, lidars usually use linear photosensitive elements such as avalanche photodiodes (APDs) and silicon photomultipliers (SiPMs) as receiving devices to receive echo beams. The linear photosensitive element includes a plurality of photosensitive units arranged in a linear array, and there is a gap GAP between adjacent two photosensitive units. Therefore, there will be a phenomenon that some echo beams fall into the GAP, so that only some echo beams are received by the photosensitive units, which in turn affects the lidar's determination of the time difference between the received echo beams and the emitted outgoing beams, thus causing inaccurate ranging of the lidar. Summary of the Invention

[0004] Embodiments of this application provide a lidar, a scanning control method of the lidar, and a readable storage medium, which are used to solve the problem in the prior art that some echo beams fall into the GAP, resulting in inaccurate ranging of the lidar.

[0005] To solve the above technical problems, the embodiments of this application provide the following technical solutions:

[0006] In a first aspect, an embodiment of this application provides a lidar, including: an optical emission system, a horizontal scanning device, and an optical reception system arranged in sequence along the optical path; the optical emission system is used to emit laser beams; the horizontal scanning device is used to control the outgoing angle of the laser beam in the horizontal direction and the deflection angle of the echo beam, and the echo beam is the beam reflected back after the laser beam encounters an obstacle; the horizontal scanning device includes N characteristic surfaces for controlling the outgoing angle of the laser beam in the horizontal direction and the deflection angle of the echo beam, and the N characteristic surfaces include M different types, where different types of characteristic surfaces have different deflection angles for the beams incident in the same direction, N≥3, N≥M≥2; the optical reception system includes M array receiving devices, and the M array receiving devices are respectively used to receive the echo beams deflected by the corresponding characteristic surfaces.

[0007] In some embodiments, the lidar further includes a reflector for deflecting the echo beam to the optical receiving system; wherein, the distances between the M array receiving devices and the reflector are different.

[0008] In some embodiments, the cross-section of the horizontal scanning device is an N-sided polygon, and the degrees of adjacent interior angles of the N-sided polygon are different.

[0009] In some embodiments, the horizontal scanning device is a triangular prism, a quadrangular prism or a hexagonal prism.

[0010] In some embodiments, the lidar further includes a vertical scanning device for controlling the emission angle of the laser beam in the vertical direction.

[0011] In some embodiments, the optical receiving system further includes at least one receiving mirror group; the receiving mirror group is disposed between the reflector and the array receiving device for focusing the echo beam onto the array receiving device.

[0012] In some embodiments, the optical emission system includes a light source assembly arranged in an array and an emission mirror group; the light source assembly is used for emitting a laser beam; the emission mirror group is disposed on the optical path for collimating the laser beam.

[0013] In a second aspect, an embodiment of the present application provides a scanning control method for a lidar, which is applied to the lidar provided in the first aspect above. The method includes: within a preset time period, respectively determining M reception information of the echo beams returned by the M feature surfaces by the optical receiving system, where the reception information includes the correspondence between the scanning angle of the laser beam and the intensity information of the corresponding echo beam; performing a fusion process on the M reception information to obtain the fused reception information; and determining the distance between the obstacle and the lidar according to the fused reception information.

[0014] In some embodiments, performing a fusion process on the M reception information to obtain the fused reception information includes: determining the maximum value among the M intensity information corresponding to the same scanning angle in the M reception information; and generating the fused reception information according to the maximum value corresponding to each scanning angle.

[0015] In some embodiments, determining the distance between the obstacle and the lidar according to the fused reception information includes: determining the time difference between the received echo beam and the emitted laser beam according to the fused reception information; and determining the distance between the obstacle and the lidar according to the time difference.

[0016] In a third aspect, an embodiment of the present application provides a scanning control device for a lidar, which is applied to the lidar provided in the first aspect above. The device includes: a first determination module, configured to determine M reception information of echo beams returned by an optical reception system for M feature surfaces within a preset time period, where the reception information includes the correspondence between the scanning angle of the lidar and the intensity information of the echo beams; a fusion module, configured to perform a fusion process on the M reception information to obtain the reception information after the fusion process; and a second determination module, configured to determine the distance between an obstacle and the lidar according to the reception information after the fusion process.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program runs on a lidar, the lidar is caused to execute the method shown in the second aspect above.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, and when the computer program product runs on a lidar, the lidar is caused to execute the steps of the method described in the second aspect above.

[0019] The lidar provided by the embodiment of the present application can deflect a laser beam through the feature surfaces of different types of horizontal scanning devices, so that the echo beam corresponding to the laser beam can return to corresponding different array reception devices, thereby reducing the influence caused by the echo beam falling into the GAP, and thus improving the ranging accuracy of the lidar. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0021] Figure 1 is a top view structural schematic diagram of a lidar provided by an embodiment of the present application;

[0022] Figure 2 is a structural schematic diagram of a horizontal scanning device provided by another embodiment of the present application;

[0023] Figure 3 is a structural schematic diagram of a horizontal scanning device provided by still another embodiment of the present application;

[0024] Figure 4 is a structural schematic diagram of a horizontal scanning device provided by still another embodiment of the present application;

[0025] Figure 5 It is a schematic structural diagram of an array receiving device provided by an embodiment of the present application;

[0026] Figure 6 It is a schematic flowchart of a scanning control method for a lidar provided by an embodiment of the present application;

[0027] Figure 7 It is a schematic diagram of an echo beam provided by an embodiment of the present application;

[0028] Figure 8 It is a schematic structural diagram of a scanning control device for a lidar provided by an embodiment of the present application;

[0029] Figure 9 It is a schematic structural diagram of a chip provided by an embodiment of the present application. Detailed implementation manners

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0031] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations. And the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms. The terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0032] A lidar, also known as an optical radar, is a product of the combination of laser technology with atmospheric optics, target and environmental characteristics, radar technology, optomechatronics, computer technology, etc. Compared with ordinary radars, lidars have advantages such as high resolution, good concealment, and strong anti-interference ability.

[0033] A lidar determines relevant information such as the distance of an obstacle by emitting a laser beam (abbreviated as an outgoing beam) and, after receiving the laser beam reflected back by the obstacle (abbreviated as an echo beam), based on the time difference between the received echo beam and the emitted outgoing beam.

[0034] At present, lidars usually use linear photosensitive elements such as avalanche photodiodes (APDs) and silicon photomultipliers (SiPMs) as receiving devices to receive echo beams. The linear photosensitive element includes a plurality of photosensitive units arranged in a linear array, and there is a gap GAP between two adjacent photosensitive units. This will cause the echo beam (also called the echo spot) to periodically fall into the GAP when scanning on the photosensitive unit, and only part of the echo beam is received by the photosensitive unit, that is, only part of the echo beam is converted into an electrical signal by the photosensitive unit, which will cause the change amount of the intensity amplitude of the echo beam to be large or small, and then affect the lidar to determine the time difference between the received echo beam and the emitted beam, resulting in inaccurate lidar ranging results. In addition, when the obstacle is far away from the lidar, the energy of the echo beam is weak, and at this time, the change amount of the intensity amplitude of the echo beam will increase significantly, which will cause a large dispersion in the lidar ranging results, and then reduce the accuracy of lidar ranging.

[0035] For this reason, the embodiments of the present application provide a lidar, which can reduce the influence generated by the echo beam falling into the GAP, thereby improving the ranging accuracy of the lidar.

[0036] Next, a lidar provided by the embodiments of the present application will be described by way of specific examples. It should be understood that the specific examples described herein are only used to explain the solution of the present application and are not used to limit the present application.

[0037] Figure 1 It is a schematic structural diagram of a lidar provided by an embodiment of the present application. Refer to Figure 1 As shown, the lidar includes an optical emission system 10, a vertical scanning device 20, a horizontal scanning device 30, a reflector 40, and an optical receiving system 50 that are sequentially arranged along the optical path.

[0038] The optical emission system 10 is used to emit laser beams. As Figure 1 shown, the optical emission system 10 includes a light source assembly 101 and an emission mirror group 102.

[0039] Among them, the light source components 101 can be arranged in an array for emitting laser beams. In the embodiments of the present application, the light source components 101 can include any laser that can emit laser beams. For example, the light source components 101 can include Vertical Cavity Surface Emitting Lasers (VCSELs), Edge Emitting lasers (EELs), or a combination of VCSELs and EELs, etc. The embodiments of the present application do not limit this.

[0040] The emission mirror group 102 is used to collimate the laser beams emitted by the light source components 101. It should be noted that the emission mirror group 102 can collimate the laser beams through the refraction of lenses. In the embodiments of the present application, the emission mirror group 102 can include at least one of a cylindrical lens, an aspherical mirror, or a spherical mirror. The embodiments of the present application do not limit this.

[0041] It can be understood that the emission mirror group 102 collimates the laser beams to compress the divergence angle of the laser beams, so that the energy of the laser beams is more concentrated, thereby improving the ranging accuracy of the lidar for distant obstacles.

[0042] The vertical scanning device 20 is used to deflect the emission angle of the laser beams in the vertical direction to change the scanning angle of the laser beams in the vertical direction. Specifically, the vertical scanning device 20 is usually a rectangular or square mirror, and changes the scanning angle of the laser beams in the vertical direction by rotating cyclically in the vertical direction. In the embodiments of the present application, the vertical scanning device 20 can include at least one of a galvanometer and a Micro Electro Mechanical Systems (MEMS) galvanometer. The embodiments of the present application do not limit this.

[0043] The horizontal scanning device 30 is used to deflect the emission angle of the laser beams and the deflection angle of the echo beams in the horizontal direction to change the scanning angles of the laser beams and the echo beams in the horizontal direction. Among them, the echo beam is the beam reflected back after the laser beam encounters an obstacle. Specifically, the horizontal scanning device 30 changes the scanning angle of the beam in the horizontal direction by rotating cyclically around the central axis. It can be seen from this that the coverage range of the lidar can be changed through the combination of the vertical scanning device 20 and the horizontal scanning device 30. It can be understood that the horizontal scanning device 30 includes at least one of a rotating mirror and a MEMS galvanometer. The embodiments of the present application do not limit this.

[0044] In the embodiment of the present application, the horizontal scanning device 30 is a prism with an N-sided cross-section. Correspondingly, the horizontal scanning device 30 includes N characteristic surfaces for deflecting laser beams and echo beams, namely, characteristic surface 1, characteristic surface 2, characteristic surface 3... characteristic surface N, where N≥3.

[0045] Among them, N can be set according to actual applications. For example, N is 3, 4 or 6. That is, when N is 3, the horizontal scanning device is a triangular prism; when N is 4, the horizontal scanning device is a quadrangular prism; when N is 6, the horizontal scanning device is a hexagonal prism. The embodiment of the present application does not limit this.

[0046] In the embodiment of the present application, as Figure 1 shown, when N is 4, the cross-section of the horizontal scanning device 30 is a quadrilateral, that is, the horizontal scanning device 30 includes 4 characteristic surfaces (characteristic surface 1, characteristic surface 2, characteristic surface 3 and characteristic surface 4).

[0047] In another embodiment of the present application, as Figure 2 shown, when N is 6, the cross-section of the horizontal scanning device 30 is a hexagon, that is, the horizontal scanning device 30 includes 6 characteristic surfaces (characteristic surface 1, characteristic surface 2, characteristic surface 3... and characteristic surface 6).

[0048] It should be noted that the adjacent interior angles of the N-sided polygon are different. That is, when deflecting laser beams with the same exit angle in the vertical direction by two adjacent characteristic surfaces, the scanning angles of the exit laser beams in the horizontal direction are different. Therefore, in the embodiment of the present application, the N characteristic surfaces of the horizontal scanning device 30 include M different types of characteristic surfaces. Among them, different types of characteristic surfaces have different deflection angles for laser beams and echo beams incident in the same direction, where N≥M≥2.

[0049] In the embodiment of the present application, as Figure 1 shown, the cross-section of the horizontal scanning device 30 is a quadrilateral. Among the 4 interior angles of this quadrilateral, there are 2 different interior angle degrees, which are θ 1 and θ 2 , and θ 1 and θ 2 are adjacent. The 4 characteristic surfaces of the horizontal scanning device 30 include 2 different types of characteristic surfaces, namely, the first type of characteristic surface and the second type of characteristic surface.

[0050] In another embodiment of the present application, as Figure 3 shown, among the 4 interior angles of this quadrilateral, there are 4 different interior angle degrees, which are θ 1 , θ 2 , θ 3 and θ 4The four characteristic surfaces of the horizontal scanning device 30 include four different types of characteristic surfaces, namely, the first type of characteristic surface, the second type of characteristic surface, the third type of characteristic surface, and the fourth type of characteristic surface.

[0051] In another embodiment of the present application, as Figure 2 shown, among the six interior angles of the hexagon, there are three different interior angle degrees, which are θ 1 , θ 2 and θ 3 , and the adjacent interior angle degrees are all different. The six characteristic surfaces of the horizontal scanning device 30 include three different types of characteristic surfaces, namely, the first type of characteristic surface, the second type of characteristic surface, and the third type of characteristic surface.

[0052] In another embodiment of the present application, as Figure 4 shown, when among the six interior angles of the hexagon, there are six different interior angle degrees, namely θ 1 , θ 2 , θ 3 ... and θ 6 , the six characteristic surfaces of the horizontal scanning device 30 include six different types of characteristic surfaces, namely, the first type of characteristic surface, the second type of characteristic surface, the third type of characteristic surface... and the sixth type of characteristic surface.

[0053] It can be understood that in the embodiment of the present application, for the laser beams with the same scanning angle in the vertical direction after being deflected by the vertical scanning device, after being deflected by different types of characteristic surfaces, the coverage range of the lidar is different.

[0054] The mirror 40 is used to deflect the echo beam to the optical receiving system 50. In the embodiment of the present application, the mirror 40 has a fixed deflection angle and is arranged between the horizontal scanning device 30 and the receiving system.

[0055] The optical receiving system 50 includes M array receiving devices 501, which are used to receive the echo beam deflected by the characteristic surface. In the embodiment of the present application, each array receiving device 501 respectively receives the echo beam deflected by the corresponding characteristic surface, that is, the number of the arranged array receiving devices 501 is the same as the number of types of the characteristic surfaces of the horizontal scanning device 30.

[0056] For example, as Figure 1 shown, when the horizontal scanning device 30 includes two types of characteristic surfaces, two array receiving devices 501, namely the first array receiving device 5011 and the second array receiving device 5012, are arranged at this time. Among them, the first array receiving device 5011 is used to receive the echo beam deflected by the first type of characteristic surface in the horizontal scanning device 30; the second array receiving device 5012 is used to receive the echo beam deflected by the second type of characteristic surface in the horizontal scanning device 30.

[0057] In the embodiments of the present application, in order to enable the echo beams deflected by different types of feature surfaces to be received by the corresponding array receiving devices 501, the distance between the array receiving device 501 and the mirror 40 can be set according to the angular difference between adjacent interior angles of an N-sided polygon. Therefore, the distance between each array receiving device 501 and the mirror 40 is different, that is, each array receiving device 501 is not in the same horizontal direction.

[0058] For example, according to Figure 1 the angular difference between the adjacent θ 1 and θ 2 shown in the quadrilateral, the distance between the first array receiving device 5011 and the second array receiving device 5012 in the horizontal direction is set. Exemplarily, for the distance between the first array receiving device 5011 and the second array receiving device 5012 in the horizontal direction, specific reference can be made to Figure 5 shown.

[0059] It can be understood that, as Figure 5 shown, each array receiving device 501 includes a plurality of photosensitive units arranged in a linear array. In the embodiments of the present application, the photosensitive unit may include at least one of an avalanche photodiode APD and a silicon photomultiplier SiPM. The embodiments of the present application do not limit this.

[0060] In the embodiments of the present application, in order to make the energy of the echo beam more concentrated, a receiving mirror group 502 is arranged between the mirror 40 and the array receiving device 501, which is used to focus the echo beam onto the array receiving device 501, so that the array receiving device 501 receives higher energy of the echo beam, thereby improving the ranging accuracy of the lidar for obstacles. It can be understood that the receiving mirror group may include at least one of a cylindrical lens, an aspherical mirror or a spherical mirror. The embodiments of the present application do not limit this.

[0061] Next, in combination with Figure 1 the structure shown, the working process of the lidar provided in the embodiments of the present application will be specifically described.

[0062] After the lidar is powered on, the light source component 101 emits a laser beam to the transmitting mirror group 102, and the transmitting mirror group 102 collimates the laser beam. After passing through the transmitting mirror group 102, the laser beam is deflected by the vertical scanning device 20 and the horizontal scanning device 30 in sequence, and then exits to the obstacle. As Figure 1As shown, when the horizontal scanning device 30 deflects the laser beam through the first type of feature surface, after the echo beam reflected back when the laser beam encounters an obstacle passes through the deflection of the horizontal scanning device 30 and the fixed-angle mirror 40 in sequence, it will be incident on the receiving mirror group 502, and the echo beam passes through the receiving mirror group 502 and is focused on the first array receiving device 5011. It can be understood that the horizontal scanning device 30 rotates at a constant speed in a cycle during operation, as Figure 1 As shown, when the emitted laser beam is deflected through the second type of feature surface, the echo beam of the laser beam will pass through the receiving mirror group and be focused on the second array receiving device 5012. Among them, the specific execution process of the lidar is the same as the principle of the laser beam deflected through the first type of feature surface, and will not be elaborated here.

[0063] In summary, the lidar provided by the embodiment of the present application can deflect the laser beam through the feature surfaces of different types of horizontal scanning devices 30, so that the echo beam corresponding to the laser beam can return to the corresponding different array receiving devices 501, thereby reducing the influence generated by the echo beam falling into the GAP, and thus improving the ranging accuracy of the lidar.

[0064] Next, in combination with Figure 1 the structure shown and the working process of the lidar, the scanning control method of the lidar provided by the embodiment of the present application will be specifically described.

[0065] Figure 6 is a schematic flowchart of the scanning control method of the lidar provided by an embodiment of the present application. Referring to Figure 5 shown, the method includes the following steps:

[0066] S601: Within a preset time period, respectively determine M reception information of the echo beams returned by the M feature surfaces of the optical reception system. Among them, the reception information includes the correspondence between the scanning angle of the laser beam and the intensity information of the corresponding echo beam.

[0067] In the embodiment of the present application, the preset time period is the time period required for the lidar to rotate through M feature surfaces. Therefore, this time period can be set according to actual application requirements, and the present application does not limit this.

[0068] In the embodiment of the present application, as Figure 7 shown in a, it is possible to determine 2 reception information of the echo beams returned by 2 feature surfaces. Among them, the solid line represents the reception information of the echo beam returned through the first type of feature surface, and the incident angle of this echo beam is 0°; the dotted line represents the reception information of the echo beam returned through the second type of feature surface, and the incident angle of this echo beam is φ°.

[0069] S602: Perform fusion processing on M received messages to obtain the received messages after fusion processing.

[0070] Among them, performing fusion processing on M received messages to obtain the echo beam after fusion processing is specifically as follows: Among the M received messages, determine the maximum value among the M intensity information corresponding to the laser beam at the same scanning angle, and generate the received messages after fusion processing according to the maximum value corresponding to each scanning angle.

[0071] Exemplarily, as Figure 7 shown in a, according to the maximum intensity information corresponding to each scanning angle in the received messages of the echo beam returned by the first type of feature surface (i.e., the echo beam received by the first array receiving device 5011) and the received messages of the echo beam returned by the second type of feature surface (i.e., the echo beam received by the second array receiving device 5012), after generating the received messages after fusion processing, the echo beam shown in Figure 7 b is obtained. As can be seen from Figure 7 b, the change amount of the intensity amplitude of the processed echo beam is significantly reduced compared to Figure 7 the change amount of the intensity amplitude of the echo beam in a, and the consistency of the intensity amplitude is basically maintained.

[0072] S603: Determine the distance between the obstacle and the lidar according to the received messages after fusion processing.

[0073] In the embodiments of the present application, the echo beam shown in Figure 7 b can be converted into a voltage signal, and after being amplified and conditioned by one or several stages, the echo pulse corresponding to the echo signal is obtained; determine the number of counting pulses when the echo pulse arrives, and then determine the time difference between the echo pulse and the emission pulse corresponding to the laser beam according to the repetition period of the counting pulse, so as to determine the distance between the obstacle and the lidar through this time difference.

[0074] In summary, through the lidar and the scanning control method of the lidar provided by the embodiments of the present application, on the one hand, the lidar can deflect the laser beam through the feature surfaces of different types of horizontal scanning devices, so that the echo beam corresponding to the laser beam can return to the corresponding different array receiving devices; on the other hand, the scanning control method provided by the embodiments of the present application can perform fusion processing according to the maximum intensity information corresponding to each scanning angle on each array receiving device, so that the change amount of the intensity amplitude of the intensity information after fusion processing is significantly reduced, and the consistency of the intensity amplitude is basically maintained, thereby reducing the influence of the GAP existing between the photosensitive units, and improving the ranging accuracy of the lidar.

[0075] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not imply the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0076] Based on the same concept, as an implementation of the above method, an embodiment of the present application provides a scanning device for a lidar. The device embodiment corresponds to the foregoing method embodiment. For the convenience of reading, the details in the foregoing method embodiment will not be described one by one in this device embodiment. However, it should be clear that the device in this embodiment can correspondingly implement all the contents in the foregoing method embodiment.

[0077] Figure 8 FIG. 7 is a schematic structural diagram of a scanning control device for a lidar provided by an embodiment of the present application. The device includes a first determination module 801, a fusion module 802, and a second determination module 803.

[0078] The first determination module 801 is configured to respectively determine M reception information of echo beams returned by an optical reception system for M feature surfaces within a preset time period, where the reception information includes the correspondence between the scanning angle of the laser beam and the intensity information of the corresponding echo beam.

[0079] The fusion module 802 is configured to perform a fusion process on the M reception information to obtain the reception information after the fusion process.

[0080] The second determination module 803 is configured to determine the distance between the obstacle and the lidar according to the reception information after the fusion process.

[0081] Optionally, performing a fusion process on the M reception information to obtain the reception information after the fusion process includes: determining the maximum value among the M intensity information corresponding to the same scanning angle in the M reception information; and generating the reception information after the fusion process according to the maximum value corresponding to each scanning angle.

[0082] Optionally, the fusion module 802 determines the distance between the obstacle and the lidar according to the reception information after the fusion process, specifically: determining the time difference between the received echo beam and the emitted laser beam according to the reception information after the fusion process; and determining the distance between the obstacle and the lidar according to the time difference.

[0083] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, it implements the method shown in the above various embodiments.

[0084] The embodiment of the present application further provides a computer program product. A computer program is stored in the computer program product. When the computer program is run on an electronic device, the electronic device can be enabled to execute the methods shown in the above various embodiments.

[0085] The embodiment of the present application further provides a chip. Refer to Figure 9 As shown, the chip includes a processor and a memory. A computer program is stored in the memory. When the computer program is executed by the processor, the methods shown in the above various embodiments are implemented.

[0086] It should be understood that the processor mentioned in the embodiment of the present application may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0087] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0088] In the embodiments provided in the present application, the division of each framework or module is only a logical function division. In actual implementation, there may be other division methods. For example, multiple frameworks or modules may be combined or integrated into another system, or some features may be ignored or not executed.

[0089] In addition, in each embodiment of the present application, each functional module may be integrated in a processing module, or each module may exist physically alone, or two or more modules may be integrated in one module. The above integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0090] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described systems, devices, and units may refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0091] References to "one embodiment" or "some embodiments" or the like described in the specification of this application mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc., which appear in different places in this specification, do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0092] In the description of this application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "a plurality" is two or more, unless otherwise specifically and clearly defined.

[0093] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or the same part. For the same parts in the embodiments of this application, only one of the parts or components may be marked with a reference numeral in the figure. It should be understood that the reference numerals are equally applicable to other identical parts or components.

[0094] The above-described embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A lidar, characterized in that, it includes: an optical emission system, a horizontal scanning device, and an optical reception system arranged in sequence along the optical path; the optical emission system is used for emitting a laser beam; the horizontal scanning device is used for controlling the emission angle of the laser beam in the horizontal direction and the deflection angle of the echo beam, and the echo beam is the beam reflected back after the laser beam encounters an obstacle; the horizontal scanning device includes N characteristic surfaces for controlling the emission angle of the laser beam in the horizontal direction and the deflection angle of the echo beam, and the N characteristic surfaces include M different types, wherein different types of the characteristic surfaces have different deflection angles for the beam incident in the same direction, N≥3, N≥M≥2; the optical reception system includes M array reception devices, and the M array reception devices are respectively used for receiving the echo beam deflected by the corresponding characteristic surface.

2. The lidar according to claim 1, characterized in that, the lidar further includes a reflector, and the reflector is used for deflecting the echo beam to the optical reception system; wherein, the distances between the M array reception devices and the reflector are different.

3. The lidar according to claim 2, characterized in that, the cross-section of the horizontal scanning device is an N-sided polygon, and the degrees of the adjacent interior angles of the N-sided polygon are different.

4. The lidar according to claim 3, characterized in that, the horizontal scanning device is a triangular prism, a quadrangular prism or a hexagonal prism.

5. The lidar according to any one of claims 1-4, characterized in that, the lidar further includes a vertical scanning device, and the vertical scanning device is used for controlling the emission angle of the laser beam in the vertical direction.

6. The lidar according to any one of claims 1-4, characterized in that, the optical reception system further includes at least one receiving mirror group; the receiving mirror group is arranged between the reflector and the array reception device, and is used for focusing the echo beam onto the array reception device.

7. The lidar according to any one of claims 1-4, characterized in that, the optical emission system includes a light source assembly and a transmitting mirror group arranged in an array; the light source assembly is used for emitting the laser beam; the transmitting mirror group is arranged on the optical path and is used for collimating the laser beam.

8. A scanning control method for a lidar, characterized in that, applied to the lidar according to any one of claims 1-6, the method includes: within a preset time period, respectively determining M reception information of the optical reception system for the echo beam returned by the M characteristic surfaces, wherein the reception information includes the correspondence between the scanning angle of the laser beam and the intensity information of the corresponding echo beam; performing fusion processing on the M reception information to obtain the fused reception information; determining the distance between the obstacle and the lidar according to the fused reception information.

9. The method according to claim 8, characterized in that, Performing fusion processing on the M received messages to obtain the received messages after fusion processing includes: Determining the maximum value among the M intensity information corresponding to the same scanning angle in the M received messages; and Generating the received messages after fusion processing according to the maximum value corresponding to each scanning angle.

10. The method according to claim 9, wherein, Determining the distance between the obstacle and the lidar according to the received messages after fusion processing includes: Determining the time difference between receiving the echo beam and emitting the laser beam according to the received messages after fusion processing; Determining the distance between the obstacle and the lidar according to the time difference.

11. A scanning control device for a lidar, wherein, Applied to the lidar according to any one of claims 1-6, and includes: A first determination module, configured to respectively determine M received messages of the echo beams returned by the optical receiving system for M feature surfaces within a preset time period, wherein the received messages include the correspondence between the scanning angle of the laser beam and the intensity information of the corresponding echo beam; A fusion module, configured to perform fusion processing on the M received messages to obtain the received messages after fusion processing; A second determination module, configured to determine the distance between the obstacle and the lidar according to the received messages after fusion processing.

12. A computer-readable storage medium, wherein, The computer-readable storage medium stores a computer program, and when the computer program runs on the lidar, the lidar is caused to execute the method according to any one of claims 8-10.

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