Transmitting device, control method, laser radar and terminal

Abstract

The embodiment of the invention provides a transmitting device, a control method, a laser radar and a terminal, relates to a laser radar technology, is applied to the fields of automatic driving, intelligent driving, surveying and mapping, smart home or intelligent manufacturing, and can obtain a point cloud with a relatively high resolution under the condition of a relatively low angle detection resolution. The transmitting device comprises a transmitter; the scanner is used for reflecting the light beam to an object space so as to realize scanning of the object space; the controller is used for controlling the emitter to emit the first light beam when the rotation angle of the scanner is at a preset angle value, and the controller is further used for controlling the emitter to emit at least one light beam after at least one preset time interval after the first light beam is emitted.

Description

Technical Field

[0001] This application relates to lidar technology, which is applied in the fields of autonomous driving, intelligent driving, surveying and mapping, smart home or intelligent manufacturing, and particularly to a transmitting device, control method, lidar, terminal, storage medium and program product. Background Technology

[0002] LiDAR (Light Detection and Ranging) can detect the contours of objects with high precision and acquire their depth information. With technological advancements and increasing demands, the resolution requirements for point clouds acquired by LiDAR are becoming increasingly stringent. Current LiDAR systems emit beams based on the angle detected by an angle encoder to acquire point clouds. This means the frequency of the emitted beam is related to the angle detection frequency of the angle encoder. Therefore, improving the point cloud resolution requires improving the resolution of the angle encoder, but using a higher resolution angle encoder increases costs. Summary of the Invention

[0003] This application provides a transmitting device, control method, lidar, terminal, storage medium, and program product that can acquire higher resolution point clouds even when the angle detection resolution is low.

[0004] In a first aspect, a transmitting device is provided, comprising: a transmitter; a scanner for reflecting a light beam into an object space to achieve scanning of the object space; and a controller for controlling the transmitter to emit a first light beam when the rotation angle of the scanner is at a preset angle value, and the controller is further configured to control the transmitter to emit at least one light beam after at least one preset time interval following the emission of the first light beam.

[0005] When the scanner's rotation angle is at a preset angle value, the transmitter is controlled to emit a first beam. After at least one preset time interval following the emission of the first beam, the transmitter is controlled to emit another beam. In this way, even when using an angle encoder with low resolution, beams can be emitted between beams emitted based on angle detection values ​​at preset time intervals to achieve higher resolution beam emission control, thereby obtaining higher resolution point clouds.

[0006] In some possible implementations, the controller is specifically configured to control the transmitter to emit a first beam when the scanner's rotation angle is at a plurality of preset angle values, and to control the transmitter to emit at least one beam after at least one preset time interval following the emission of each first beam.

[0007] In some possible implementations, the transmitting device further includes: a counter for starting clock-based counting at a preset angle value; and a controller for determining a preset time interval based on the counter's count value. With the assistance of the counter, the preset time interval can be conveniently determined based on the first beam.

[0008] In some possible implementations, the controller is also used to adjust the scanner's rotation rate based on the scanner's current rotation angle. By adjusting the scanner's rotation rate, the transmitter can emit the beam more uniformly and stably, thereby improving the accuracy of the point cloud data.

[0009] In some possible implementations, the controller is specifically used to adjust the scanner's rotation rate based on the scanner's current rotation angle and the corresponding reference value. If the scanner's current rotation angle is greater than the corresponding reference value, the scanner's rotation rate is reduced; if the scanner's current rotation angle is less than the corresponding reference value, the scanner's rotation rate is increased. If the current rotation angle is greater than the reference value, it indicates that the scanner is rotating too fast, so the scanner's rotation rate can be reduced. If the current rotation angle is less than the reference value, it indicates that the scanner is rotating too slowly, so the scanner's rotation rate can be increased. By dynamically adjusting the scanner's rotation rate, a relatively stable relationship can be maintained between the transmitter emitting a beam based on the scanner's rotation angle and emitting a beam based on a preset time interval, thereby improving the stability of the point cloud.

[0010] In some possible implementations, the deviation between the scanner's current rotation angle and the corresponding reference value is positively correlated with the adjustment of the scanner's rotation rate. Dynamic adjustment based on this deviation allows the scanner to rotate more stably, which is beneficial for obtaining a uniformly distributed point cloud.

[0011] In some possible implementations, the controller is specifically used to periodically adjust the scanner's rotation rate based on the scanner's current rotation angle.

[0012] In some possible implementations, the transmitting device further includes an angle encoder for detecting the rotation angle of the scanner.

[0013] In a second aspect, a control method is provided, comprising: controlling a transmitter to emit a first beam when the rotation angle of the scanner is at a preset angle value; and controlling the transmitter to emit at least one beam after at least one preset time interval following the emission of the first beam.

[0014] In some possible implementations, controlling the transmitter to emit a first beam when the scanner's rotation angle is at a preset angle value includes:

[0015] The transmitter is controlled to emit a first beam when the scanner's rotation angle is at multiple preset angle values, and the transmitter is controlled to emit at least one beam after at least one preset time interval following the emission of each first beam.

[0016] In some possible implementations, the method further includes adjusting the rotation rate of the scanner according to the current rotation angle of the scanner.

[0017] In some possible implementations, adjusting the scanner's rotation rate based on the scanner's current rotation angle includes: adjusting the scanner's rotation rate based on the scanner's current rotation angle and a corresponding reference value; if the scanner's current rotation angle is greater than the corresponding reference value, then decreasing the scanner's rotation rate; if the scanner's current rotation angle is less than the corresponding reference value, then increasing the scanner's rotation rate.

[0018] In some possible implementations, the deviation between the scanner's current rotation angle and the corresponding reference value is positively correlated with the amount of adjustment to the scanner's rotation rate.

[0019] In some possible implementations, the process of adjusting the scanner's rotation rate based on the scanner's current rotation angle is performed periodically.

[0020] Thirdly, a lidar is provided, including the aforementioned transmitting device.

[0021] Fourthly, a terminal is provided, including the aforementioned transmitting device or the aforementioned lidar.

[0022] Fifthly, a readable storage medium is provided, including a program or instructions, wherein the above-described method is executed when the program or instructions are run on an electronic device.

[0023] Sixthly, a program product is provided, the program product containing a program that, when executed on an electronic device, causes the electronic device to perform the above-described method. Attached Figure Description

[0024] Figure 1 This is a structural block diagram of a lidar according to an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of a scanner emitting multiple light beams during rotation, as described in an embodiment of this application.

[0026] Figure 3 for Figure 2 A schematic diagram showing the superposition of multiple beams emitted by the scanner.

[0027] Figure 4 This is a schematic diagram illustrating the emission of a light beam based on the scanner's rotation angle and the emission of a light beam based on a preset time interval, as described in the embodiments of this application.

[0028] Figure 5 This is a logic diagram illustrating one method of controlling the emitted beam in an embodiment of this application;

[0029] Figure 6 This is a timing diagram of multiple signals corresponding to a transmitting device in an embodiment of this application;

[0030] Figure 7 This is a schematic diagram illustrating the relationship between the deviation between the current rotation angle of a scanner and the corresponding reference value, and other signals in an embodiment of this application. Detailed Implementation

[0031] The terminology used in the implementation section of this application is for the purpose of explaining specific embodiments of this application only, and is not intended to limit this application.

[0032] like Figure 1 As shown, this application embodiment relates to a lidar, which may include a transmitting device 10, comprising a transmitter 1 and a laser source 2. The laser source 2 generates a laser beam, and the transmitter 1 emits the laser beam generated by the laser source 2. The transmitter 1 and the laser source 2 can be discrete devices or integrated together; that is, the transmitter 1 can have the functions of generating and emitting a laser beam. A scanner 2 is used to reflect the laser beam into the object space to achieve scanning of the object space. After the laser beam illuminates the target object in the object space, it is reflected into the lidar's viewing window and received by the lidar. The lidar also includes a receiver 3, used to receive the laser beam and convert the received optical signal into an electrical signal. After processing, the electrical signal can be used to obtain point cloud data, which is used to obtain a point cloud. The lidar emits and receives laser beams to obtain three-dimensional coordinate position information, reflectivity, and other information of points on the target surface, and the resulting image is the point cloud. Figure 1 In the example shown, to separate the optical paths of the emitted beam and the received beam, the lidar may also include a lens 4 for allowing the beam emitted by the transmitter 1 to pass through, so that the beam reflected back from the object space is reflected to the receiver 3. Figure 1 The solid line with an arrowhead represents the optical path of the emitted beam, and the dashed line with an arrowhead represents the optical path of the received beam reflected back from the object space. In other possible implementations, the receiver 3 may receive the reflected beam from the object space in other ways, and the lens 4 may not be provided. For example... Figure 2 and Figure 3 As shown, Figure 2 This is a schematic diagram of the state of scanner 2 at different times. Figure 3 for Figure 2The diagram illustrates the superposition of various states. During the beam emission process, transmitter 1 emits a laser beam at a fixed angle to scanner 2, which reflects the beam onto the surface of scanner 2. Even if the beam from transmitter 1 is deflected, the incident angle of the laser beam on the surface of scanner 2 varies at different times due to the rotation of scanner 2. Therefore, the exit angle of the beam reflected by scanner 2 varies, allowing the laser radar's emitted beam to cover a large field of view, forming a large-angle point cloud image. The laser radar also includes a controller 5, such as... Figure 4 As shown, the controller 5 is used to control the transmitter 1 to emit a first beam when the rotation angle of the scanner 2 is at a preset angle value. The controller 5 is also used to control the transmitter 1 to emit at least one beam after at least one preset time interval following the emission of the first beam. In some embodiments, the controller 5 is specifically used to control the transmitter 1 to emit a first beam when the rotation angle of the scanner 2 is at multiple preset angle values, and to control the transmitter to emit at least one beam after at least one preset time interval following the emission of each first beam.

[0033] Specifically, for example Figure 4As shown, angles a, b, c, and d are four preset angle values ​​for the rotation angle of scanner 2. When scanner 2 rotates to these preset angle values, it controls transmitter 1 to emit the first beam, namely beam 1, beam 5, beam 9, and beam 13. In other words, transmitter 1 is controlled to emit a beam at least once within a preset interval Δt after each emission of the first beam. For example, transmitter 1 emits beam 2 one preset interval Δt after emitting beam 1, beam 3 two preset intervals Δt after emitting beam 1, beam 4 three preset intervals Δt after emitting beam 1, and after emitting beam 4, scanner 2 rotates to angle b and transmitter 1 emits beam 5, beam 6 one preset interval Δt after emitting beam 5, beam 7 two preset intervals Δt after emitting beam 5, beam 8 three preset intervals Δt after emitting beam 5, and after emitting beam 8, scanner 2 rotates to angle C and transmitter 1 emits beam 9, beam 10 one preset interval Δt after emitting beam 9, and so on. At least one beam is emitted between two adjacent emission of the first beam according to the preset intervals. Since the preset angle and the preset time interval Δt are known, even without directly detecting the rotation angle of scanner 2 corresponding to beams 2, 3, 4, etc., the point cloud data corresponding to these beams can be determined. The higher the density of the emitted beams, the higher the point cloud resolution, i.e., the higher the point cloud quality. Point cloud resolution refers to the angular interval between two adjacent points in the point cloud, and is generally divided into two dimensions: horizontal resolution and vertical resolution. The point cloud resolution involved in the embodiments of this application includes point cloud resolution in at least one dimension. Figure 4 It can be seen that if the beam emission from transmitter 1 is triggered solely based on the rotation angle of scanner 2, assuming the highest resolution of scanner 2's rotation angle detection can only reach... Figure 4 If the corresponding detected angles are a, b, c, and d, then only four beams can be emitted during this period to obtain the point cloud corresponding to these four beams. However, in this embodiment, a preset time interval Δt is added between these angle values ​​to trigger the transmitter 1 to emit beams. Therefore, while the rotation angle detection resolution of the scanner 2 remains unchanged, a denser beam is emitted, which can obtain a point cloud with higher resolution.

[0034] The transmitting device and lidar of this application embodiment control the transmitter to emit a first beam when the rotation angle of the scanner is at a preset angle value, and control the transmitter to emit a beam after at least one preset time interval after emitting the first beam. In this way, even when the resolution of the angle encoder is low, the beam can be emitted based on the preset time interval between beams emitted based on the angle detection value, so as to achieve higher resolution beam emission control and thus obtain higher resolution point cloud.

[0035] In some embodiments, the transmitting device 10 further includes: a counter 6 for starting clock-based counting at a preset angle value; and a controller for determining a preset time interval based on the count value of the counter 6.

[0036] Specifically, for example, such as Figure 5 and Figure 6 As shown, Figure 6 The diagram illustrates the signal timing of the transmitting device 10. The angle pulse signal is used to determine the time when the scanner 2's rotation angle reaches a preset angle value. When the scanner 2's rotation angle reaches the preset angle value, the angle pulse signal outputs a high-level pulse. The clock signal is a periodic pulse signal. The clock counting signal is used to represent the count value of the counter 6. The counter 6 counts based on the clock signal. Figure 6 In the example shown, counter 6 outputs a high-level pulse each time the angle pulse signal is a high-level pulse and starts counting from 0. It outputs a high-level pulse every six clock signal cycles until the angle pulse signal outputs a high-level pulse, at which point the count is reset to zero and starts counting again from 0. The interval between two adjacent high-level pulses in the clock counting signal corresponds to the preset time interval Δt. The high level in the beam emission control signal is used to control transmitter 1 to emit the beam. Each time the clock counting signal outputs a high-level pulse, the level of the beam emission control signal is pulled high to control transmitter 1 to emit the beam. On the one hand, when the scanner 2 rotates at a preset angle, the angle pulse signal outputs a high-level pulse, causing the counter 6 to start counting, which in turn causes the clock counting signal to output a high-level pulse. Therefore, the level of the beam emission control signal can be raised to control the transmitter 1 to emit the first beam. In other words, the beam emission can be controlled based on the angle. On the other hand, after each preset time interval Δt following the emission of the first beam, the counter 6 will reach its count value, causing the clock counting signal to output a high-level pulse. This will raise the level of the beam emission control signal to control the transmitter 1 to emit the beam. Thus, the transmitter 1 can be controlled to emit the beam after each preset time interval Δt following the emission of the first beam. In other words, the beam emission can be controlled based on time. By controlling the timing of the beam emission, the corresponding point cloud can be obtained.

[0037] In some embodiments, the controller 6 is further configured to adjust the rotation rate of the scanner 2 according to the current rotation angle of the scanner 2. By adjusting the rotation rate of the scanner 2, the transmitter 1 can emit the beam more uniformly and stably, thereby improving the accuracy of the point cloud data. The current rotation angle here can be the rotation angle detected at any time. For example, the current rotation angle of the scanner 2 can be obtained at a periodic preset time, and the rotation rate of the scanner 2 can be adjusted according to the angle. Figure 5 The motion control shown refers to adjusting the rotation rate of the scanner 2. In other words, the scanner 2 can be motion controlled based on time and angle. Changing the rotation rate of the scanner 2 may change the phase between the time-based emission beam and the angle-based emission beam. That is, the motion control indirectly modulates the control of the emission beam.

[0038] In some embodiments, the controller 6 is specifically configured to adjust the rotation rate of the scanner 2 according to the current rotation angle of the scanner 2 and the corresponding reference value. If the current rotation angle of the scanner 2 is greater than the corresponding reference value, the rotation rate of the scanner 2 is reduced; if the current rotation angle of the scanner 2 is less than the corresponding reference value, the rotation rate of the scanner 2 is increased.

[0039] Specifically, the rotation angle of scanner 2 during its rotation process has a theoretical reference value, but the actual rotation angle may deviate from the reference value. Therefore, the detected current rotation angle can be compared with the corresponding reference value during the rotation of scanner 2. If the current rotation angle is greater than the reference value, it means that scanner 2 is rotating too fast, so the rotation rate of scanner 2 can be reduced. If the current rotation angle is less than the reference value, it means that scanner 2 is rotating too slowly, so the rotation rate of scanner 2 can be increased. By dynamically adjusting the rotation rate of scanner 2, a relatively stable relationship can be maintained between the process of transmitter 1 emitting a beam based on the rotation angle of scanner 2 and emitting a beam based on a preset time interval, thereby improving the stability of point cloud data.

[0040] In some embodiments, the deviation between the current rotation angle of the scanner 2 and the corresponding reference value is positively correlated with the adjustment amount of the rotation rate of the scanner 2.

[0041] Specifically, such as Figure 7As shown, the deviation curve represents the amplitude of the deviation between the current rotation angle of scanner 2 and the corresponding reference value. The angle adjustment signal is the angle adjustment signal obtained based on this deviation, and the drive current signal is the drive current signal obtained based on the angle adjustment signal. The drive current signal is used to control the torque of scanner 2, that is, the rotation speed can be adjusted by the drive current. It can be seen that there is a positive correlation between the drive current, the angle adjustment signal, and the deviation value. That is, if the deviation between the current rotation angle of scanner 2 and the corresponding reference value is large, the adjustment amount of the rotation speed of scanner 2 will be larger; if the deviation between the current rotation angle of scanner 2 and the corresponding reference value is small, the adjustment amount of the rotation speed of scanner 2 will be smaller, so as to make scanner 2 rotate more stably and thus obtain a uniformly distributed point cloud.

[0042] In some embodiments, the controller 6 is specifically configured to periodically adjust the rotation rate of the scanner 2 according to the current rotation angle of the scanner 2.

[0043] Specifically, such as Figure 6 As shown, the transmitter can generate a high pulse of the synchronization signal based on a fixed preset period. When the high pulse of the synchronization signal arrives, it obtains the deviation between the current rotation angle of the scanner 2 and the corresponding reference value, and generates an angle adjustment signal based on the deviation. It then generates a drive current signal based on the angle adjustment signal and drives the scanner 2 to rotate based on the drive current signal to change the rotation speed, so that the phase relationship between the preset angle value of the scanner 2 and the preset time interval Δt tends to remain stable.

[0044] In some embodiments, the transmitting device further includes an angle encoder (not shown) for detecting the rotation angle of the scanner 2. The angle encoder can be a photoelectric encoder or a magnetic encoder. The angle encoder outputs an angle signal during the rotation of the scanning area 2 to determine the pointing angle position of the beam emitted from the lidar. The higher the resolution of the angle encoder, the higher the cost. In this embodiment, on the one hand, the pointing angle position of the first beam emitted by the transmitter 1 can be determined based on the angle encoder detecting that the rotation angle of the scanner 2 is a preset angle value; on the other hand, if the resolution of the angle encoder is insufficient to detect the angle between two preset angle values, then, since the transmitter 1 will emit the beam at least one preset time interval Δt after the first beam is emitted, and the preset time interval Δt is known, the beam whose angle position is not detected by the angle encoder can also be calculated based on the angle of the previously emitted first beam and the number of preset time intervals Δt. Therefore, this embodiment can obtain a higher resolution point cloud based on a lower resolution angle encoder in conjunction with timing.

[0045] This application does not limit the specific movement process of the scanner 2; only two movement processes are described below as examples. For instance, the scanner 2 rotates periodically in one dimension, such as from -45° to +45°, then from +45° to -45°, and so on. When the scanner 2 rotates to a preset angle, the transmitter 1 is controlled to emit a first beam. Between preset angles, the transmitter 1 is controlled to emit a beam when a preset time interval is reached based on a clock count. In this way, point clouds in one dimension can be obtained based on the scanner 2. Alternatively, the scanner 2 can also move or rotate in another dimension while rotating in one dimension. For example, the scanner 2 rotates from -45° to +45° horizontally, then from 0° to +5° vertically, then from +45° to -45° horizontally, then from 5° to +10° vertically, and so on. In this way, point clouds in two dimensions can be obtained based on the scanner 2.

[0046] This application also provides a control method, including: controlling the transmitter to emit a first beam when the rotation angle of the scanner is at a preset angle value; and controlling the transmitter to emit at least one beam after at least one preset time interval following the emission of the first beam.

[0047] The controller of the aforementioned launching device can be the subject of this control method. The specific process and principle are the same as those in the above embodiments, and will not be repeated here.

[0048] In some embodiments, controlling the transmitter to emit a first beam when the scanner's rotation angle is at a preset angle value includes: controlling the transmitter to emit a first beam when the scanner's rotation angle is at multiple preset angle values, and controlling the transmitter to emit at least one beam after at least one preset time interval following the emission of each first beam.

[0049] In some embodiments, the method further includes: adjusting the rotation rate of the scanner according to the current rotation angle of the scanner.

[0050] In some embodiments, adjusting the scanner's rotation rate according to the scanner's current rotation angle includes: adjusting the scanner's rotation rate according to the scanner's current rotation angle and a corresponding reference value; if the scanner's current rotation angle is greater than the corresponding reference value, then decreasing the scanner's rotation rate; if the scanner's current rotation angle is less than the corresponding reference value, then increasing the scanner's rotation rate.

[0051] In some embodiments, the deviation between the scanner's current rotation angle and the corresponding reference value is positively correlated with the amount of adjustment to the scanner's rotation rate.

[0052] In some embodiments, a process of adjusting the scanner's rotation rate based on the scanner's current rotation angle is performed periodically.

[0053] The controller 5 described above may include a processor and a memory, the memory being used to store at least one program that, when run by the processor, causes the controller to perform the methods of the embodiments described above. The term "processor" may include any programmable system, including systems using microprocessors / microcontrollers or nanoprocessors / nanocontrollers, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), reduced instruction set circuits (RISCs), logic circuits, and any other circuits or processors capable of performing the functions described herein.

[0054] The aforementioned transmitting device can be installed in lidar or other devices, such as terminal devices or network devices. Network devices include access network devices, such as base stations. Alternatively, the transmitting device can be a standalone device. It can be installed in motor vehicles, drones, railcars, bicycles, traffic lights, speed measuring devices, or network devices (such as base stations and terminal devices in various systems). The point cloud in this embodiment is used for the detection of target objects or environmental space. For example, the transmitting device can be installed on intelligent transportation equipment, smart home devices, robots, and other intelligent terminals. This embodiment does not limit the type of terminal device on which the transmitting device is installed, its installation location, or its function.

[0055] This application also provides a terminal, including the aforementioned transmitting device or lidar. The terminal can be a vehicle, drone, roadside unit, intersection radar, robot, or other transportation vehicle or intelligent terminal.

[0056] This application also provides a readable storage medium, including a program or instructions, wherein the above-described method is executed when the program or instructions are run on an electronic device.

[0057] This application also provides a program product containing a program that, when executed on an electronic device, causes the electronic device to perform the above-described method.

[0058] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive).

[0059] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0060] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A launching device, characterized in that, include: Transmitter; A scanner is used to reflect a light beam into the object space in order to scan the object space; The controller is configured to control the transmitter to emit a first beam when the rotation angle of the scanner is at a preset angle value, and the controller is also configured to control the transmitter to emit at least one beam after at least a preset time interval following the emission of the first beam.

2. The apparatus according to claim 1, characterized in that, The controller is specifically configured to control the transmitter to emit a first beam when the scanner's rotation angle is at multiple preset angle values, and to control the transmitter to emit at least one beam after at least one preset time interval following the emission of each first beam.

3. The apparatus according to claim 2, characterized in that, Also includes: A counter is used to start clock-based counting at the preset angle value; The controller is used to determine the preset time interval based on the count value of the counter.

4. The apparatus according to claim 1, characterized in that, The controller is also configured to adjust the rotation rate of the scanner according to the current rotation angle of the scanner.

5. The apparatus according to claim 4, characterized in that, The controller is specifically used to adjust the rotation rate of the scanner according to the current rotation angle of the scanner and the corresponding reference value. If the current rotation angle of the scanner is greater than the corresponding reference value, the rotation rate of the scanner is reduced; if the current rotation angle of the scanner is less than the corresponding reference value, the rotation rate of the scanner is increased.

6. The apparatus according to claim 4, characterized in that, The deviation between the current rotation angle of the scanner and the corresponding reference value is positively correlated with the adjustment amount of the scanner's rotation rate.

7. The apparatus according to claim 4, characterized in that, The controller is specifically used to periodically adjust the rotation rate of the scanner according to the current rotation angle of the scanner.

8. The apparatus according to claim 1, characterized in that, Also includes: An angle encoder is used to detect the rotation angle of the scanner.

9. A control method, characterized in that, include: When the scanner's rotation angle is within a preset angle value, the transmitter is controlled to emit the first beam. The transmitter is controlled to emit at least one beam after at least one preset time interval following the emission of the first beam.

10. The method according to claim 9, characterized in that, The step of controlling the transmitter to emit the first beam when the scanner's rotation angle is within a preset angle value includes: The transmitter is controlled to emit a first beam when the scanner's rotation angle is at multiple preset angle values, and the transmitter is controlled to emit at least one beam after at least one preset time interval following the emission of each first beam.

11. The method according to claim 9, characterized in that, Also includes: The scanner's rotation rate is adjusted according to the scanner's current rotation angle.

12. The method according to claim 11, characterized in that, The step of adjusting the rotation rate of the scanner according to the current rotation angle of the scanner includes: The scanner's rotation rate is adjusted based on the scanner's current rotation angle and the corresponding reference value. If the scanner's current rotation angle is greater than the corresponding reference value, the scanner's rotation rate is reduced; if the scanner's current rotation angle is less than the corresponding reference value, the scanner's rotation rate is increased.

13. The method according to claim 11 or 12, characterized in that, The deviation between the current rotation angle of the scanner and the corresponding reference value is positively correlated with the adjustment amount of the scanner's rotation rate.

14. The method according to claim 11 or 12, characterized in that, The process of periodically adjusting the rotation rate of the scanner based on the current rotation angle of the scanner is performed.

15. A lidar, characterized in that, Includes the launching device as described in any one of claims 1 to 8.

16. A terminal, characterized in that, It includes the transmitting device as described in any one of claims 1 to 8 or the lidar as described in claim 15.

17. A readable storage medium, characterized in that, Includes a program or instructions that, when run on an electronic device, execute the method as described in any one of claims 9 to 14.

18. A program product, characterized in that, The program product includes a program that, when executed on an electronic device, causes the electronic device to perform the method of any one of claims 9 to 14.

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