Echo waveform acquisition method and device, terminal equipment and storage medium

Abstract

The invention is suitable for the technical field of radars, and provides an echo waveform acquisition method and device, terminal equipment and a storage medium, and the method comprises the steps: controlling a radar to transmit a detection signal based on a preset scanning mode, so as to enable a light spot of the detection signal to uniformly move on a target plate, and to traverse the target plate; wherein different areas on the target plate correspond to different reflectivity; the preset scanning mode is to control the radar to cyclically scan for multiple times at equal angles, and the initial scanning angle corresponding to each equal-angle scanning cycle is deviated; and receiving an echo signal reflected by the target plate, forming an echo waveform corresponding to the echo signal, controlling the radar to circularly execute multiple times of equal-angle scanning on the target plate with a plurality of reflectivity areas, and adjusting the initial scanning angle of each equal-angle scanning cycle, so that the target plate with multiple reflectivity areas is obtained. Therefore, the initial angle of each equal-angle scanning cycle is deviated, so that the comprehensiveness of echo waveform acquisition corresponding to objects with different reflectivity is improved.

Description

Technical Field

[0001] This application belongs to the technical field of radar, and particularly relates to a method, device, terminal device and storage medium for collecting echo waveforms. Background Art

[0002] Due to reasons such as the receiving device, hardware circuit, and measurement strategy of lidar, for objects with different distances and different reflectivities, the echo waveforms finally obtained by lidar will be different. Since there are differences in the received echo waveforms, the parameters such as the distance obtained by analysis will also have errors. In order to reduce the influence of reflectivity differences on the echo waveforms, it is necessary to determine the correlation between the differences in echo waveforms and ranging differences under different reflectivities, so as to correct the ranging results using this correlation.

[0003] However, when actually collecting echo waveforms corresponding to objects with different reflectivities, since all objects with different reflectivities cannot be provided completely during the actual operation process, usually, the echo waveforms corresponding to several objects with different reflectivities are collected, and the echo waveforms of objects with different reflectivities are fitted to determine the echo waveforms corresponding to other objects with different reflectivities. However, the fitting results may have errors.

[0004] In summary, there is a problem of incomplete collection in the current collection of echo waveforms with different reflectivities. Summary of the Invention

[0005] Embodiments of this application provide a method, device, terminal device and storage medium for collecting echo waveforms, which can improve the comprehensiveness of collecting echo waveforms corresponding to objects with different reflectivities.

[0006] In a first aspect, an embodiment of this application provides a method for collecting echo waveforms, including:

[0007] Controlling a radar to emit a detection signal based on a preset scanning method, so that the spot of the detection signal moves uniformly on a target target board and traverses the target target board; wherein, the reflectivities corresponding to different regions on the target target board are different; the preset scanning method is to control the radar to perform multiple equal-angle scans in a loop, and there is an offset in the starting scanning angle corresponding to each equal-angle scan loop;

[0008] Receiving the echo signal reflected by the target target board and forming an echo waveform corresponding to the echo signal.

[0009] In one implementation manner of the first aspect, the preset scanning method is specifically to control the radar to perform multiple equal-angle scans in a loop, and adjust the starting scanning angle of each equal-angle scan loop according to an angle increment parameter.

[0010] In one implementation of the first aspect, the above-mentioned preset scanning method is specifically to control the radar to perform equal-angle scanning in multiple cycles, and adjust the starting scanning angle corresponding to each equal-angle scanning cycle according to the angle decreasing parameter.

[0011] In one implementation of the first aspect, the above-mentioned preset scanning method is specifically to control the radar to perform equal-angle scanning in multiple cycles, and randomly adjust the starting scanning angle of each equal-angle scanning cycle, so that there is an offset in the starting scanning angle of each equal-angle scanning cycle.

[0012] In one implementation of the first aspect, controlling the radar to emit detection signals based on the preset scanning method, so that the spot of the detection signal moves uniformly on the target target board and traverses the target target board, includes:

[0013] Obtain the starting scanning angle and the angle change parameter of the first equal-angle scanning cycle;

[0014] Determine the starting scanning angle of each equal-angle scanning cycle according to the starting scanning angle and the angle change parameter of the first equal-angle scanning cycle;

[0015] Control the radar to perform equal-angle scanning based on the starting scanning angle of each equal-angle scanning cycle.

[0016] In one implementation of the first aspect, the above-mentioned echo waveform acquisition method further includes setting the angle change parameter according to the acquisition accuracy.

[0017] In one implementation of the first aspect, controlling the radar to perform equal-angle scanning based on the starting scanning angle of each equal-angle scanning cycle includes:

[0018] Control the radar to start emitting detection signals at the starting scanning angle and perform equal-angle scanning, so that the spot corresponding to the emitted detection signal moves from not on the target target board to the target target board and moves on the target target board until it moves outside the target target board.

[0019] In a second aspect, an embodiment of the present application provides an echo waveform acquisition device, including:

[0020] A control unit, configured to control the radar to emit detection signals based on a preset scanning method, so that the spot of the detection signal moves uniformly on the target target board and traverses the target target board; wherein, the reflectivities corresponding to different regions on the target target board are different; the preset scanning method is to control the radar to perform equal-angle scanning in multiple cycles, and there is an offset in the starting scanning angle corresponding to each equal-angle scanning cycle;

[0021] An acquisition unit, configured to receive the echo signal reflected by the target target board and form an echo waveform corresponding to the echo signal.

[0022] In a third aspect, an embodiment of the present application provides a terminal device. The terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method as described in the first aspect or any optional implementation manner of the first aspect is implemented.

[0023] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the method as described in the first aspect or any optional implementation manner of the first aspect is implemented.

[0024] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device is caused to execute the method as described in the first aspect or any optional implementation manner of the first aspect.

[0025] The beneficial effects of the embodiments of the present application compared with the prior art are as follows:

[0026] A method, device, terminal device, and computer-readable storage medium for collecting echo waveforms provided by the embodiments of the present application can control a radar to perform multiple equal-angle scans in a loop on a target target board with multiple reflectivity regions, and adjust the starting scan angle of each equal-angle scan loop, so that there is an offset in the starting angle of each equal-angle scan loop, so that the spot corresponding to the detection signal can traverse the target target board, thereby collecting more echo waveforms and improving the comprehensiveness of collecting echo waveforms corresponding to objects with different reflectivities. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 is a schematic structural diagram of a lidar in an embodiment of the present application;

[0029] Figure 2 is a schematic diagram of echo waveforms of objects with different reflectivities and different distances;

[0030] Figure 3 is a schematic flowchart of the implementation of a method for collecting echo waveforms provided by an embodiment of the present application;

[0031] Figure 4 is a schematic diagram of the target target board provided by an embodiment of the present application;

[0032] Figure 5 Schematic diagram of the trajectory of the light spot corresponding to the detection signal moving on the target plate in the echo waveform acquisition method provided by the embodiment of the present application;

[0033] Figure 6 Schematic diagram of the implementation process of S11 in the echo waveform acquisition method provided by the embodiment of the present application;

[0034] Figure 7 Schematic diagram of the structure of an echo waveform acquisition device provided by the embodiment of the present application;

[0035] Figure 8 Schematic diagram of the structure of a terminal device provided by the embodiment of the present application;

[0036] Figure 9 Schematic diagram of the structure of a terminal device provided by the embodiment of the present application. Specific embodiments

[0037] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0038] It should be understood that the term "and / or" used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations. In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0039] It should also be understood that the reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of the present application. Thus, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0040] LiDAR is a radar system that detects information such as the position and speed of a target by emitting laser beams. In addition to being able to detect the distance of an object, it can also detect the reflectivity of the object for target recognition. The specific working principle of LiDAR is to emit a detection signal towards the target. After the detection signal reaches the target, it will be reflected by the target object, thus forming an echo signal. LiDAR determines relevant information about the target by receiving the signal reflected by the target (echo signal), such as target distance, position, height, speed, attitude, shape, reflectivity, etc., so as to achieve target detection, target tracking, and target recognition. Among them, the reflectivity of an object refers to the percentage of the radiant energy reflected by the object to the total radiant energy of the incident signal. The reflectivities of different objects are different, and the reflectivity of an object is mainly determined by factors such as the surface properties of the object, the wavelength of the incident signal, and the incident angle.

[0041] In specific applications, classified by the ranging method, LiDAR can be divided into time of flight (ToF) ranging method, frequency modulated continuous wave (FMCW) ranging method, and triangulation ranging method. Among them, the ToF ranging method and the FMCW ranging method can detect targets at relatively far positions under outdoor sunlight, and are the preferred solutions for vehicle-mounted LiDAR. Classified by the scanning method, LiDAR can be divided into mechanical LiDAR with overall rotation, semi-solid-state LiDAR with stationary transceiver modules, and solid-state LiDAR.

[0042] Exemplarily, please refer to Figure 1 , Figure 1 which shows a schematic structural diagram of a LiDAR. As Figure 1 shown, the LiDAR 10 generally includes a transmitting module 11, a scanning system 12, a receiving module 13, and a data processing module 14. The above-mentioned transmitting module 11 may include a light source system 111.

[0043] Among them, the light source system 111 is used to generate the laser beam required for the detection of the lidar 10. Specifically, the light source system 111 may include optical devices such as a laser and a transmitting lens group. The scanning system 12 is used to perform point-by-point scanning on the laser beam generated by the light source system 111, so that the laser beam can hit different positions at different times. The scanning system 12 can be a mechanical scanning system, a semi-solid scanning system, or a solid scanning system. The scanning system 12 can control the lidar 10 to perform equal-angle scanning or control the lidar 10 to perform equal-time-interval scanning. The receiving module 13 is used to receive the echo signals reflected from different positions of the object at different times, and can perform operations such as photoelectric conversion to form corresponding echo waveforms. The data processing module 14 can process, calculate, and complete three-dimensional image reconstruction on the echo signals received and processed by the receiving module 13, and obtain information such as the distance, spatial angle, speed, and reflectivity of the target.

[0044] Due to reasons such as the receiving device, hardware circuit, and measurement strategy of the lidar, for objects with different distances and different reflectivities, the echo waveforms finally obtained by the lidar will be different. Exemplarily, please refer to Figure 2 , Figure 2 which respectively show the echo waveforms received by the lidar under different reflectivities and the echo waveforms received by the lidar under different distances. Among them, L1 represents the echo waveform of the object with a reflectivity of R1 received by the lidar at a fixed distance D0; L2 represents the echo waveform of the object with a reflectivity of R2 received by the lidar at a fixed distance D0; L3 represents the echo waveform of the object with a reflectivity of R3 received by the lidar at a fixed distance D0; L4 represents the echo waveform of the object with a reflectivity of R0 received by the lidar at a distance D1; L5 represents the echo waveform of the object with a reflectivity of R0 received by the lidar at a distance D2; L6 represents the echo waveform of the object with a reflectivity of R0 received by the lidar at a distance D3. Among them, R1 < R2 < R3 and D1 < D2 < D3.

[0045] Due to the differences in the received echo waveforms, there will also be errors in the analyzed parameters such as distance. To reduce the influence of reflectivity differences on the echo waveforms, it is necessary to determine the correlation between the differences in echo waveforms and ranging differences under different reflectivities, so as to correct the ranging results using this correlation. However, when actually collecting the echo waveforms corresponding to objects with different reflectivities, since all objects with different reflectivities cannot be fully provided during the actual operation process, usually the echo waveforms corresponding to several objects with different reflectivities are collected. For example, by moving the reflectivity target plate P1 with reflectivity R1, the radar can collect the echo waveforms reflected by the reflectivity target plate P1 at different distances; by moving the reflectivity target plate P2 with reflectivity R2, the radar can collect the echo waveforms reflected by the reflectivity target plate P2 at different distances; by moving the reflectivity target plate P3 with reflectivity R3, the radar can collect the echo waveforms reflected by the reflectivity target plate P3 at different distances. Then, based on the echo waveforms reflected by the reflectivity target plate P1, the echo waveforms reflected by the reflectivity target plate P2, and the echo waveforms reflected by the reflectivity target plate P3, fitting is performed to fit the echo waveforms corresponding to other objects with different reflectivities. However, there may be errors in the fitting results. Therefore, there is currently a problem of incomplete collection in the collection of echo waveforms with different reflectivities.

[0046] Based on the above problems, the embodiment of the present application provides an echo waveform collection method. By controlling the radar to perform multiple equal-angle scans in a cycle on a target plate with multiple reflectivity regions and adjusting the starting scan angle of each equal-angle scan cycle, so that there is an offset in the starting angle of each equal-angle scan cycle, so that the light spot corresponding to the detection signal can traverse the target plate, thereby collecting more echo waveforms and improving the comprehensiveness of the collection of echo waveforms corresponding to objects with different reflectivities.

[0047] The echo waveform collection method provided by the embodiment of the present application will be described in detail below:

[0048] Please refer to Figure 3 , Figure 3 which shows the implementation process of an echo waveform collection method provided by the embodiment of the present application. As Figure 3 shown, the above echo waveform collection method may specifically include S11 to S12.

[0049] It should be noted that the execution subject of the echo waveform acquisition method provided in the embodiments of the present application can be the above-mentioned lidar 10, specifically the scanning system and the receiving module in the lidar 10. Of course, the execution subject of the above echo waveform acquisition method can also be a terminal device communicatively connected to the lidar 10. The above terminal device can be a mobile phone, a desktop computer, a laptop computer, a tablet computer, or a wearable device, etc., or can also be devices such as a cloud server or a radar auxiliary computer in various application scenarios. The present application does not make specific limitations in this regard. The following will be described by taking the execution subject as the lidar 10 as an example:

[0050] In S11, the radar is controlled to emit a detection signal based on a preset scanning method, so that the spot of the detection signal moves uniformly on the target target board and traverses the target target board.

[0051] In a specific application, the above preset scanning method is to control the radar to perform equal-angle scanning in multiple cycles, and there is an offset in the starting scanning angle corresponding to each equal-angle scanning cycle.

[0052] In a specific application, the reflectivities of different regions on the above target target board are different.

[0053] In some embodiments of the present application, the above target target board can be obtained by splicing multiple reflectivity target boards with different reflectivities in a preset order.

[0054] In some other embodiments, the above target target board can also be obtained by setting different reflectivity materials in different regions of a target board.

[0055] It can be understood that the above preset order can be an ascending order, a descending order, or a random order.

[0056] Exemplarily, as Figure 4 shown, the target target board is obtained by arranging N reflectivity target boards with different reflectivities in ascending order. That is, the reflectivity of the first reflectivity target board P1 is less than the reflectivity of the second reflectivity target board P2, the reflectivity of the second reflectivity target board P2 is less than the reflectivity of the third reflectivity target board P3, and so on. The reflectivity of the (N - 1)th reflectivity target board is less than the reflectivity of the Nth reflectivity target board. It should be noted that N is an integer greater than or equal to 2.

[0057] In specific applications, equal-angle scanning means that the angular resolution of the radar's scanning system is equal, that is, in an equal-angle scanning cycle, the angular resolution corresponding to each emitted detection signal is equal. In this way, the light spot corresponding to the detection signal can move uniformly on the target board. By adjusting the starting scanning angle corresponding to each equal-angle scanning cycle, there is an offset in the starting scanning angle corresponding to each equal-angle scanning cycle. In this way, after the radar performs equal-angle scanning multiple times in a cycle, the entire target board can be traversed, and thus the echo waveforms corresponding to continuous target boards with different reflectivities can be collected.

[0058] In some embodiments, the above preset scanning method may specifically be to control the radar to perform equal-angle scanning multiple times in a cycle, and adjust the starting scanning angle corresponding to each equal-angle scanning cycle according to the angle increment parameter.

[0059] In specific applications, at the start of the first equal-angle scanning cycle, the radar obtains the starting scanning angle θ1 corresponding to the first equal-angle scanning cycle, and then controls the scanning system of the radar to start equal-angle scanning with the starting scanning angle θ1 to complete the first equal-angle scanning cycle. After completing the first equal-angle scanning cycle, the radar determines the starting scanning angle θ2 corresponding to the second equal-angle scanning cycle according to the angle increment parameter ΔE and the starting scanning angle θ1 corresponding to the first equal-angle scanning cycle, and then controls the scanning system of the radar to start equal-angle scanning with the starting scanning angle θ2 to complete the second equal-angle scanning cycle. And so on until the target cycle number M is reached. Among them, θ2 = θ1 + ΔE, that is, the starting scanning angle corresponding to each equal-angle scanning cycle is adjusted in an angle-increasing manner. Where M is a positive integer greater than or equal to 2.

[0060] It should be noted that the angle increment parameter and the target cycle number can be set according to the acquisition accuracy. For example, the higher the acquisition accuracy, the smaller the angle increment parameter can be set, and the larger the target cycle number can be set. In this way, the distribution of the light spots corresponding to the detection signals emitted by the radar on the target board will be denser, and the collected echo waveforms will be more comprehensive. The starting scanning angle of the first equal-angle scanning cycle can be determined randomly or set according to user experience.

[0061] Exemplarily, please refer to Figure 5 , Figure 5 which is a schematic diagram of the movement trajectory of the light spot corresponding to the detection signal in the echo waveform acquisition method provided by the embodiment of the present application on the target board. As Figure 5As shown, where O1 represents the light spot generated by the first equal-angle scanning cycle, O2 represents the light spot generated by the second equal-angle scanning cycle, and represents the light spot generated by the Mth equal-angle scanning cycle. At the beginning of the first equal-angle scanning cycle, based on the equal-angle scanning control, the light spot corresponding to the detection signal emitted by the radar can gradually move from not on the target target board to the target target board, and move on the above target target board until it moves outside the target target board. At the beginning of the second equal-angle scanning cycle, the radar can determine the starting scanning angle of the second equal-angle scanning cycle according to the angle increment parameter and the starting scanning angle corresponding to the first equal-angle scanning cycle, and then based on the equal-angle scanning control, the light spot corresponding to the detection signal emitted by the radar also gradually moves from not on the target target board to the target target board, and moves on the above target target board until it moves outside the target target board, that is, traverses the target target board. Since there is an offset between the starting scanning angle of the first equal-angle scanning cycle and the starting scanning angle of the second equal-angle scanning cycle (the offset amount is the above angle increment parameter), the light spots generated by the two equal-angle scanning cycles will not completely overlap. By controlling the radar to adjust the starting scanning angle of each equal-angle scanning cycle in the way of increasing the starting scanning angle, the target target board can be traversed, and the light spot will also transition from one reflectivity partition to another reflectivity partition. In this way, as many echo waveforms corresponding to different reflectivity objects can be collected as possible, improving the comprehensiveness of the echo waveform collection corresponding to different reflectivity objects.

[0062] In some other embodiments, the above preset scanning method may specifically be to control the radar to perform equal-angle scanning in multiple cycles and adjust the starting scanning angle corresponding to each equal-angle scanning cycle according to the angle decrement parameter.

[0063] In a specific application, at the beginning of the first equal-angle scanning cycle, the radar obtains the starting scanning angle θ1 corresponding to the first equal-angle scanning cycle, and then controls the scanning system of the radar to start equal-angle scanning with the starting scanning angle θ1 to complete the first equal-angle scanning cycle. After completing the first equal-angle scanning cycle, the radar determines the starting scanning angle θ2 corresponding to the second equal-angle scanning cycle according to the angle decrement parameter ΔF and the starting scanning angle θ1 corresponding to the first equal-angle scanning cycle, and then controls the scanning system of the radar to start equal-angle scanning with the starting scanning angle θ2 to complete the second equal-angle scanning cycle. And so on until the target cycle number is reached. Wherein, θ2 = θ1 - ΔF, that is, the starting scanning angle corresponding to each equal-angle scanning cycle is adjusted in a way of decreasing the angle.

[0064] It should be noted that the above-mentioned angle decreasing parameter can also be set according to the acquisition accuracy. For example, the higher the acquisition accuracy, the smaller the angle decreasing parameter can be set, and the larger the set target number of cycles is. In this way, the distribution of the light spots corresponding to the detection signals emitted by the radar on the target plate will be denser, and the collected echo waveforms will be more comprehensive.

[0065] At the beginning of the first equal-angle scanning cycle, the light spot corresponding to the detection signal emitted by the radar based on the equal-angle scanning can be controlled to gradually move from not on the target plate to the target plate and move on the above target plate until it moves outside the target plate. At the beginning of the second equal-angle scanning cycle, the radar can determine the starting scanning angle of the second equal-angle scanning cycle according to the angle decreasing parameter and the starting scanning angle corresponding to the first equal-angle scanning cycle, and then based on the equal-angle scanning, control the light spot corresponding to the detection signal emitted by the radar to also gradually move from not on the target plate to the target plate and move on the above target plate until it moves outside the target plate. Since there is an offset between the starting scanning angle of the first equal-angle scanning cycle and the starting scanning angle of the second equal-angle scanning cycle (the offset amount is the above-mentioned angle increasing parameter), the light spots generated by the two equal-angle scanning cycles will not completely overlap. By controlling the radar to adjust the starting scanning angle of each equal-angle scanning cycle in the way of decreasing the starting scanning angle, the target plate can be traversed, and the light spot will also transition from one reflectivity zone to another reflectivity zone. In this way, as many echo waveforms corresponding to different reflectivity objects as possible can be collected, improving the comprehensiveness of the collection of echo waveforms corresponding to different reflectivity objects.

[0066] In some other embodiments, the above-mentioned preset scanning method can specifically be to control the radar to perform multiple equal-angle scans in a loop and randomly adjust the starting scanning angle of each equal-angle scanning cycle to make the starting scanning angles of each equal-angle scanning cycle have an offset.

[0067] In specific applications, the radar can randomly determine the starting scanning angle of each equal-angle scanning cycle, so that the starting scanning angles of each equal-angle scanning cycle are different. At the beginning of each equal-angle scanning cycle, the radar can obtain the starting scanning angle corresponding to the current equal-angle scanning cycle based on a random algorithm (randomly determined and different each time), and then perform equal-angle scanning based on the obtained angle to complete the current equal-angle scanning cycle. Since the starting scanning angles corresponding to each equal-angle scanning cycle are different, the light spots generated by each equal-angle scanning cycle will not completely overlap. Randomly changing the starting scanning angle enables the light spot corresponding to the detection signal to traverse the target plate and transition from one reflectivity zone to another reflectivity zone. In this way, as many echo waveforms corresponding to different reflectivity objects as possible can be collected, improving the comprehensiveness of the collection of echo waveforms corresponding to different reflectivity objects.

[0068] In S12, the echo signal reflected by the above target target board is received, and an echo waveform corresponding to the echo signal is formed.

[0069] In a specific application, the receiving module of the radar can receive the echo signal reflected by the target target board, and based on the echo signal, the corresponding echo waveform can be determined, so as to obtain the echo waveforms corresponding to objects with different reflectivities, thereby improving the comprehensiveness of the acquisition of the echo waveforms corresponding to objects with different reflectivities.

[0070] As can be seen from the above, in the method for collecting echo waveforms provided by the embodiments of the present application, by controlling the radar to perform multiple equal-angle scans in a loop on a target target board with multiple reflectivity regions and adjusting the starting scan angle of each equal-angle scan loop, the starting angle of each equal-angle scan loop has an offset, so that the light spot corresponding to the detection signal can traverse the target target board, thereby collecting more echo waveforms and improving the comprehensiveness of the acquisition of the echo waveforms corresponding to objects with different reflectivities.

[0071] In an embodiment of the present application, please refer to Figure 6 , Figure 6 is a schematic flowchart of the implementation of S11 of a method for collecting echo waveforms provided by the embodiments of the present application. As Figure 6 shown, the above S11 may specifically include the following steps:

[0072] S111. Obtain the starting scan angle and the angle change parameter of the first equal-angle scan loop.

[0073] S112. Determine the starting scan angle of each equal-angle scan loop according to the starting scan angle and the angle change parameter of the first equal-angle scan loop.

[0074] S113. Control the above radar to perform equal-angle scanning based on the starting scan angle of each equal-angle scan loop.

[0075] In a specific application, the above angle change parameter is used to characterize the change rule of the starting scan angle of the above equal-angle scan loop. The above angle change parameter may include the above angle increment parameter and the above angle decrement parameter.

[0076] When the above angle change parameter is the above angle increment parameter, it means that the change rule of the starting scan angle of the above equal-angle scan loop is that the starting scan angle of the current equal-angle scan loop is increased by the angle value corresponding to the above angle increment parameter compared with the starting scan angle of the previous equal-angle scan loop.

[0077] When the above-mentioned angle change parameter is the above-mentioned angle decreasing parameter, it means that the variation law of the starting scanning angle of the above-mentioned equal-angle scanning cycle is that the starting scanning angle of the current equal-angle scanning cycle is reduced by the angle value corresponding to the above-mentioned angle decreasing parameter compared to the starting scanning angle of the previous equal-angle scanning cycle.

[0078] It can be understood that the above-mentioned angle change parameter can also include other parameters. For example, the variation law of the starting scanning angle of a certain number of equal-angle scanning cycles is an increase of 0.001 degrees, and the variation law of the starting scanning angle of a certain number of equal-angle scanning cycles is a decrease of 0.002 degrees, etc.

[0079] In a specific application, the above-mentioned angle change parameter can be set according to the acquisition accuracy.

[0080] In the embodiments of the present application, by using the angle change parameter to determine the variation law of the starting scanning angle of each equal-angle scanning cycle, the starting scanning angle of each equal-angle scanning cycle can be determined. Thus, the starting scanning angle of each equal-angle scanning cycle can be adjusted according to the requirements of the acquisition accuracy, realizing the controllable operation of the echo waveform acquisition.

[0081] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order 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.

[0082] Based on the echo waveform acquisition method provided in the above embodiments, the embodiments of the present invention further provide an embodiment of an echo waveform acquisition device for implementing the above method embodiments.

[0083] Please refer to Figure 7 , Figure 7 which is a schematic structural diagram of an echo waveform acquisition device provided by the embodiments of the present application. In the embodiments of the present application, each unit included in the echo waveform acquisition device is used to execute Figure 3 the corresponding steps in the corresponding embodiments. Specifically, please refer to Figure 3 and Figure 3 the relevant descriptions in the corresponding embodiments. For the sake of convenience of description, only the parts related to this embodiment are shown. As Figure 7 shown, the above-mentioned echo waveform acquisition device 70 may include a control unit 701 and an acquisition unit 702, where:

[0084] The control unit 701 is used to control the radar to emit a detection signal based on a preset scanning method, so that the light spot of the above-mentioned detection signal moves uniformly on the target target board and traverses the above-mentioned target target board; wherein, the reflectivities of different regions on the above-mentioned target target board are different; the above-mentioned preset scanning method is to control the radar to perform equal-angle scanning in multiple cycles, and there is an offset in the starting scanning angle corresponding to each equal-angle scanning cycle.

[0085] The acquisition unit 702 is configured to receive the echo signal reflected by the above-mentioned target target board and form an echo waveform corresponding to the above-mentioned echo signal.

[0086] In some implementation manners, the above-mentioned preset scanning manner is specifically to control the radar to perform equal-angle scanning in multiple cycles, and adjust the starting scanning angle of each equal-angle scanning cycle according to the angle increment parameter.

[0087] In some implementation manners, the above-mentioned preset scanning manner is specifically to control the radar to perform equal-angle scanning in multiple cycles, and adjust the starting scanning angle corresponding to each equal-angle scanning cycle according to the angle decrement parameter.

[0088] In some implementation manners, the above-mentioned preset scanning manner is specifically to control the radar to perform equal-angle scanning in multiple cycles, and randomly adjust the starting scanning angle of each equal-angle scanning cycle, so that there is an offset in the starting scanning angle of each equal-angle scanning cycle.

[0089] In some implementation manners, the above-mentioned control unit 701 may include an acquisition unit, a starting scanning angle determination unit, and an equal-angle scanning control unit. Among them:

[0090] The above-mentioned acquisition unit is configured to acquire the starting scanning angle and the angle change parameter of the first equal-angle scanning cycle.

[0091] The above-mentioned starting scanning angle determination unit determines the starting scanning angle of each equal-angle scanning cycle according to the starting scanning angle and the angle change parameter of the first equal-angle scanning cycle.

[0092] The above-mentioned equal-angle scanning control unit is configured to control the above-mentioned radar to perform equal-angle scanning based on the starting scanning angle of each equal-angle scanning cycle.

[0093] In some embodiments, the above-mentioned echo waveform acquisition device may further include a setting unit, and the setting unit is configured to set the angle change parameter according to the acquisition accuracy.

[0094] In some embodiments, the above-mentioned equal-angle scanning control unit is specifically configured to control the radar to start transmitting a detection signal at the starting scanning angle and perform equal-angle scanning, so that the light spot corresponding to the transmitted detection signal moves from not on the above-mentioned target target board to the above-mentioned target target board and moves on the above-mentioned target target board until it moves outside the target target board.

[0095] It should be noted that for the information interaction, execution process, etc. between the above-mentioned various units, since they are based on the same concept as the method embodiment of the present application, their specific functions and the technical effects brought are specifically referable to the method embodiment part, and will not be elaborated here.

[0096] Figure 8 It is a schematic structural diagram of a terminal device provided by another embodiment of the present application. As Figure 8 shown, the terminal device 8 provided in this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80, such as an image segmentation program. When the processor 80 executes the computer program 82, the steps in the embodiments of the above-mentioned various echo waveform acquisition methods are implemented, such as Figure 3 the S11 - S12 shown. Alternatively, when the processor 80 executes the computer program 82, the functions of each module / unit in the above-mentioned embodiments of each terminal device are implemented, such as Figure 7 the functions of the units 701 - 702 shown.

[0097] Exemplarily, the computer program 82 can be divided into one or more modules / units. The one or more modules / units are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing specific functions, and these instruction segments are used to describe the execution process of the computer program 82 in the terminal device 8. For example, the computer program 82 can be divided into an acquisition unit, a determination unit, and a calculation unit. For the specific functions of each unit, please refer to Figure 7 the relevant descriptions in the corresponding embodiments, which will not be elaborated here.

[0098] The above terminal device may include but is not limited to a processor 80 and a memory 81. Those skilled in the art can understand that Figure 8 this is only an example of the terminal device 8 and does not constitute a limitation on the terminal device 8. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the above terminal device may further include an input / output device, a network access device, a bus, etc.

[0099] The so-called processor 80 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.

[0100] The above-mentioned memory 81 may be an internal storage unit of the above-mentioned terminal device 8, such as the hard disk or memory of the terminal device 8. The above-mentioned memory 81 may also be an external storage device of the above-mentioned terminal device 8, such as a plug-in hard disk equipped on the above-mentioned terminal device 8, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the above-mentioned memory 81 may also include both the internal storage unit of the above-mentioned terminal device 8 and the external storage device. The above-mentioned memory 81 is used to store the above-mentioned computer program and other programs and data required by the above-mentioned terminal device. The above-mentioned memory 81 may also be used to temporarily store data that has been output or will be output.

[0101] The embodiment of the present application also provides a computer-readable storage medium. Please refer to Figure 9 , Figure 9 which is a schematic structural diagram of a computer-readable storage medium provided by the embodiment of the present application. As Figure 9 shown, a computer program 82 is stored in the computer-readable storage medium 90. When the computer program 82 is executed by a processor, the above-mentioned echo waveform acquisition method can be implemented.

[0102] The embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the above-mentioned echo waveform acquisition method when executed.

[0103] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the above-mentioned terminal device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0104] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0105] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0106] The above embodiments are only used to illustrate the technical solutions of this application, rather than 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 recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. A method for collecting echo waveforms, characterized in that, Including: Controlling a radar to emit detection signals based on a preset scanning method, so that the light spot of the detection signal moves uniformly on a target target board and traverses the target target board; wherein, the reflectivities corresponding to different regions on the target target board are different; the preset scanning method is to control the radar to perform equal-angle scanning in multiple cycles, and there is an offset in the starting scanning angle corresponding to each equal-angle scanning cycle; Receiving the echo signals reflected by the target target board and forming an echo waveform corresponding to the echo signals.

2. The echo waveform acquisition method according to claim 1, characterized in that The preset scanning method specifically is to control the radar to perform equal-angle scanning in multiple cycles, and adjust the starting scanning angle of each equal-angle scanning cycle according to an angle increasing parameter.

3. The echo waveform acquisition method according to claim 1, characterized in that The preset scanning method specifically is to control the radar to perform equal-angle scanning in multiple cycles, and adjust the starting scanning angle corresponding to each equal-angle scanning cycle according to an angle decreasing parameter.

4. The echo waveform acquisition method according to claim 1, characterized in that The preset scanning method specifically is to control the radar to perform equal-angle scanning in multiple cycles, and randomly adjust the starting scanning angle of each equal-angle scanning cycle, so that there is an offset in the starting scanning angle of each equal-angle scanning cycle.

5. The echo waveform acquisition method according to claim 1, wherein, The controlling the radar to emit detection signals based on the preset scanning method, so that the light spot of the detection signal moves uniformly on the target target board and traverses the target target board includes: Obtaining the starting scanning angle and the angle change parameter of the first equal-angle scanning cycle; Determining the starting scanning angle of each equal-angle scanning cycle according to the starting scanning angle and the angle change parameter of the first equal-angle scanning cycle; Controlling the radar to perform equal-angle scanning based on the starting scanning angle of each equal-angle scanning cycle.

6. The echo waveform acquisition method according to claim 5, wherein, Also including: Setting the angle change parameter according to the acquisition accuracy.

7. The echo waveform acquisition method according to claim 5 or 6, characterized in that, The controlling the radar to perform equal-angle scanning based on the starting scanning angle of each equal-angle scanning cycle includes: Controlling the radar to start emitting detection signals at the starting scanning angle and perform equal-angle scanning, so that the light spot corresponding to the emitted detection signal moves from not on the target target board to the target target board and moves on the target target board until it moves outside the target target board.

8. An echo waveform acquisition device, characterized in that Including: A control unit, configured to control a radar to emit detection signals based on a preset scanning method, so that the light spot of the detection signal moves uniformly on a target target board and traverses the target target board; wherein, the reflectivities corresponding to different regions on the target target board are different; the preset scanning method is to control the radar to perform equal-angle scanning in multiple cycles, and there is an offset in the starting scanning angle corresponding to each equal-angle scanning cycle; An acquisition unit, configured to receive the echo signals reflected by the target target board and form an echo waveform corresponding to the echo signals.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the readable instructions of the computer program, the echo waveform acquisition method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that, When the readable instructions of the computer program are executed by the processor, the echo waveform acquisition method according to any one of claims 1 to 7 is implemented.

Images