Emission device, control method, light detection and ranging, and terminal

Abstract

An emission device (10), a control method, light detection and ranging, and a terminal, which relate to the light detection and ranging technology, are applied to the fields of autonomous driving, intelligent driving, surveying and mapping, smart home or intelligent manufacturing, and are capable of acquiring a high-resolution point cloud under the condition that angle detection resolution is low. The emission device (10) comprises: an emitter (1); a scanner (2), which is used for reflecting a light beam to an object space so as to scan the object space; and a controller (5), wherein the controller (5) is used for controlling the emitter (1) to emit a first light beam when a rotation angle of the scanner (2) is at a preset angle value, and the controller (5) is further used for controlling the emitter (1) to emit at least one light beam after at least one preset time interval following the emission of the first light beam.

Description

Transmitting device, control method, laser radar and terminal

[0001] The present application claims priority to the Chinese patent application No. 202410494334.2, filed on April 19, 2024, and entitled “Transmitting device, control method, laser radar and terminal”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the laser radar technology, and is applied to the automatic driving, intelligent driving, surveying, smart home or intelligent manufacturing field, and in particular to a transmitting device, a control method, a laser radar, a terminal, a storage medium and a program product. BACKGROUND

[0003] The laser radar (light detection and ranging, LiDAR) can detect the object contour with high precision and obtain the depth information of the object. With the development of technology and the increasing demand, the resolution requirement of the point cloud obtained by the laser radar is higher and higher. The current laser radar transmits a light beam based on the angle detected by the angle encoder, so as to obtain the point cloud, that is, the frequency of the transmitted light beam is related to the angle detection frequency of the angle encoder. If the resolution of the point cloud needs to be improved, the resolution of the angle encoder needs to be improved, and the use of the angle encoder with higher resolution will lead to higher cost. SUMMARY

[0004] The technical scheme of the present application provides a transmitting device, a control method, a laser radar, a terminal, a storage medium and a program product, which can obtain a point cloud with higher resolution under the condition that the angle detection resolution is low.

[0005] In a first aspect, a transmitting device is provided, comprising: a transmitter; a scanner configured to reflect a light beam to an object space to realize scanning of the object space; and a controller configured to control the transmitter to transmit a first light beam when a rotation angle of the scanner is at a preset angle value, and control the transmitter to transmit at least one light beam at least one preset time interval after the first light beam is transmitted.

[0006] The controller controls the transmitter to transmit a first light beam when the rotation angle of the scanner is at a preset angle value, and controls the transmitter to transmit a light beam at least one preset time interval after the first light beam is transmitted. In this way, the light beam can be transmitted based on the preset time interval between the light beams transmitted based on the angle detection value under the condition that the resolution of the angle encoder is low, so as to realize high-resolution light beam transmission control, and thus a point cloud with higher resolution can be obtained.

[0007] In some possible implementation manners, the controller is specifically configured to control the emitter to emit the first light beam when the rotation angle of the scanner is at a preset angle value, and control the emitter to emit at least one light beam after at least one preset time interval after emitting each first light beam.

[0008] In some possible implementation manners, the emitting device further includes a counter configured to start counting based on a clock when the rotation angle is at the preset angle value, and the controller is configured to determine the preset time interval according to the counting value of the counter. By means of the counter, the preset time interval can be conveniently determined based on the first light beam.

[0009] In some possible implementation manners, the controller is further configured to adjust the rotation rate of the scanner according to the current rotation angle of the scanner. By adjusting the rotation rate of the scanner, the emitter can emit light beams more uniformly and stably, so as to improve the accuracy of the point cloud data.

[0010] In some possible implementation manners, the controller is specifically configured to adjust the rotation rate of the scanner according to the current rotation angle of the scanner and a corresponding reference value, and decrease the rotation rate of the scanner if the current rotation angle of the scanner is greater than the corresponding reference value, or increase the rotation rate of the scanner if the current rotation angle of the scanner is less than the corresponding reference value. If the current rotation angle is greater than the reference value, it indicates that the rotation of the scanner is too fast, and thus the rotation rate of the scanner can be decreased. If the current rotation angle is less than the reference value, it indicates that the rotation of the scanner is too slow, and thus the rotation rate of the scanner can be increased. By dynamically adjusting the rotation rate of the scanner, a relatively stable relationship can be maintained between the process of emitting light beams based on the rotation angle of the scanner and the process of emitting light beams based on the preset time interval, so as to improve the stability of the point cloud.

[0011] In some possible implementation manners, the deviation between the current rotation angle of the scanner and the corresponding reference value is positively correlated with the adjustment amount of the rotation rate of the scanner. Based on the dynamic adjustment of the deviation, the scanner can rotate more stably, so as to facilitate obtaining a point cloud that is uniformly distributed.

[0012] In some possible implementation manners, the controller is specifically configured to periodically adjust the rotation rate of the scanner according to the current rotation angle of the scanner.

[0013] In some possible implementation manners, the emitting device further includes an angle encoder configured to detect the rotation angle of the scanner.

[0014] In a second aspect, a control method is provided, including: controlling an emitter to emit a first light beam when a rotation angle of a scanner is at a preset angle value; and controlling the emitter to emit at least one light beam after at least one preset time interval after emitting the first light beam.

[0015] In some possible implementation manners, the controlling the emitter to emit the first light beam when the rotation angle of the scanner is at the preset angle value comprises:

[0016] The controlling the emitter to emit the first light beam when the rotation angle of the scanner is at the preset angle value comprises:

[0017] In some possible implementation manners, the method further comprises: adjusting the rotation rate of the scanner according to the current rotation angle of the scanner.

[0018] In some possible implementation manners, the adjusting the rotation rate of the scanner according to the current rotation angle of the scanner comprises: adjusting the rotation rate of the scanner according to the current rotation angle of the scanner and a corresponding reference value, decreasing the rotation rate of the scanner if the current rotation angle of the scanner is greater than the corresponding reference value, and increasing the rotation rate of the scanner if the current rotation angle of the scanner is less than the corresponding reference value.

[0019] In some possible implementation manners, the deviation between the current rotation angle of the scanner and the corresponding reference value is positively correlated with the adjustment of the rotation rate of the scanner.

[0020] In some possible implementation manners, the process of adjusting the rotation rate of the scanner according to the current rotation angle of the scanner is periodically performed.

[0021] In a third aspect, a laser radar is provided, comprising the emission device described above.

[0022] In a fourth aspect, a terminal is provided, comprising the emission device described above or the laser radar described above.

[0023] In a fifth aspect, a readable storage medium is provided, comprising a program or instructions, when the program or instructions are executed on an electronic device, the method described above is executed.

[0024] In a sixth aspect, a program product is provided, the program product comprises a program, when the program is executed on an electronic device, the electronic device is caused to execute the method described above. BRIEF DESCRIPTION OF DRAWINGS

[0025] FIG. 1 is a structural block diagram of a laser radar in an embodiment of the present application;

[0026] FIG. 2 is a schematic diagram of a scanner emitting a plurality of light beams in a rotation process in an embodiment of the present application;

[0027] FIG. 3 is a schematic diagram of a plurality of light beams emitted by the scanner in FIG. 2 superimposed;

[0028] FIG. 4 is a schematic diagram of a light beam emitted according to a rotation angle of a scanner and a light beam emitted according to a preset time interval in an embodiment of the present application;

[0029] FIG. 5 is a schematic diagram of a logic for controlling a light beam in an embodiment of the present application;

[0030] FIG. 6 is a schematic diagram of a timing of various signals corresponding to a light emitting device in an embodiment of the present application;

[0031] FIG. 7 is a schematic diagram of a relationship between a deviation between a current rotation angle of a scanner and a corresponding reference value and other signals in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The terms used in the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0033] As shown in FIG. 1, the embodiment of the present application relates to a laser radar, which can include a transmitting device 10, the transmitting device 10 including a transmitter 1 and a laser source 2, the laser source 2 being configured to generate a laser beam, and the transmitter 1 being configured to emit the laser beam generated by the laser source 2, the transmitter 1 and the laser source 2 can be separate devices or integrated together, that is, the transmitter 1 can have the functions of generating and emitting the laser beam; a scanner 2, the scanner 2 being configured to reflect the laser beam to an object space to realize scanning of the object space, after the laser beam irradiates a target object in the object space, the laser beam is reflected into a view window of the laser radar and received by the laser radar; the laser radar further includes a receiver 3, the receiver 3 being configured to receive the laser beam and convert the received light signal into an electrical signal, after processing of the electrical signal, point cloud data can be obtained, and the point cloud data is used to obtain a point cloud. The laser radar transmits and receives the laser beam to obtain three-dimensional coordinate position information and reflectivity of a target surface point, and an image formed by drawing is a point cloud. In the example shown in FIG. 1, in order to separate the optical path of the emitted laser beam and the optical path of the received laser beam, the laser radar can further include a lens 4, the lens 4 being configured to allow the laser beam emitted by the transmitter 1 to pass through and allow the laser beam reflected from the object space to be reflected to the receiver 3, in FIG. 1, the solid line with an arrow is the optical path of the emitted laser beam, and the dashed line with an arrow is the optical path of the received laser beam reflected from the object space. In other possible embodiments, the receiver 3 can receive the reflected laser beam from the object space through other manners, and therefore the lens 4 can not be provided. As shown in FIG. 2 and FIG. 3, FIG. 2 is a schematic diagram of corresponding states of the scanner 2 at different time points, and FIG. 3 is a schematic diagram of superposition of the states in FIG. 2, during the process of emitting the laser beam, the transmitter 1 emits the laser beam to the scanner 2 at a fixed angle, the laser beam is reflected on the surface of the scanner 2, that is, the optical path of the laser beam emitted from the transmitter 1 is deflected, and as the scanner 2 rotates, the incident angle of the laser beam on the surface of the scanner 2 is different at different time points, and therefore the exit angle of the laser beam reflected by the scanner 2 is different, and thus the exit laser beam of the laser radar can cover a larger field of view and form a large-angle point cloud image. The laser radar further includes a controller 5, as shown in FIG. 4, the controller 5 is configured to control the transmitter 1 to emit a first laser beam when the rotation angle of the scanner 2 is at a preset angle value, and the controller 5 is further configured to control the transmitter 1 to emit at least one laser beam after at least one preset time interval after emitting the first laser beam. In some embodiments, the controller 5 is specifically configured to control the transmitter 1 to emit a first laser beam when the rotation angle of the scanner 2 is at a plurality of preset angle values, and control the transmitter to emit at least one laser beam after at least one preset time interval after emitting each first laser beam.

[0034] Specifically, for example as shown in FIG. 4, the angles a, b, c, d are respectively four preset angle values of the rotation angle of the scanner 2, when the scanner 2 rotates to these preset angle values, the control of the emitter 1 emits the first light beams, that is, the light beams 1, 5, 9 and 13 are the first light beams. That is, at least one preset interval time Δt after each time of emitting the first light beam, the control of the emitter 1 emits a light beam, for example, at one preset interval Δt after emitting the first light beam 1, the control of the emitter 1 emits the light beam 2, at two preset time intervals Δt after emitting the first light beam 1, the control of the emitter 1 emits the light beam 3, at three preset time intervals Δt after emitting the first light beam 1, the control of the emitter 1 emits the light beam 4, after emitting the light beam 4, the scanner 2 rotates to the angle b, the control of the emitter 1 emits the first light beam 5, at one preset interval Δt after emitting the first light beam 5, the control of the emitter 1 emits the light beam 6, at two preset intervals Δt after emitting the first light beam 5, the control of the emitter 1 emits the light beam 7, at three preset time intervals Δt after emitting the first light beam 5, the control of the emitter 1 emits the light beam 8, after emitting the light beam 8, the scanner 2 rotates to the angle C, the control of the emitter 1 emits the first light beam 9, at one preset interval Δt after emitting the first light beam 9, the control of the emitter 1 emits the light beam 10, and so on. At least one light beam is emitted according to the preset time interval between the adjacent two times of emitting the first light beam. Since the preset angle is known, the preset time interval Δt is also known, therefore, even without directly detecting the rotation angle of the scanner 2 corresponding to the light beams 2, 3, 4 and the like, the point cloud data corresponding to these light beams can be determined, the higher the density of the emitted light beams, the higher the point cloud resolution, that is, the higher the point cloud quality. The point cloud resolution refers to the angle interval of the adjacent two points of the point cloud, generally divided into two dimensional specifications of horizontal resolution and vertical resolution, the point cloud resolution involved in the embodiments of the present application includes the point cloud resolution in at least one dimension. As can be seen from FIG. 4, if the control of the emitter 1 emits the light beam is triggered only according to the rotation angle of the scanner 2, assuming that the rotation angle detection resolution of the scanner 2 can only reach the detection of the angles a, b, c, d corresponding to FIG. 4, then in this period of time, only four light beams can be emitted to obtain the point cloud corresponding to the four light beams, but in the embodiments of the present application, the control of the emitter 1 emits the light beam is triggered according to the preset time interval Δt between the angles, so that in the case that the rotation angle detection resolution of the scanner 2 remains unchanged, more intensive light beams are emitted, that is, the point cloud with higher resolution can be obtained.

[0035] The transmitting device and the laser radar of the embodiment of the present application control the transmitter to emit the first light beam when the rotation angle of the scanner is at the preset angle value, and control the transmitter to emit the light beam after at least one preset time interval after emitting the first light beam. In this way, the light beam can be emitted based on the preset time interval between the emission of the light beam based on the angle detection value in the case that the resolution of the angle encoder is low, so as to realize the light beam emission control with high resolution, and thus the point cloud with high resolution can be obtained.

[0036] In some embodiments, the transmitting device 10 further comprises a counter 6 configured to start counting based on the clock when the rotation angle is at the preset angle value, and a controller configured to determine the preset time interval according to the count value of the counter 6.

[0037] Specifically, for example, as shown in FIGS. 5 and 6, FIG. 6 shows a signal timing diagram related to the transmitting device 10. The angle pulse signal can be used to determine the time when the rotation angle of the scanner 2 is at the preset angle value, and the angle pulse signal outputs a high level pulse when the rotation angle of the scanner 2 is at the preset angle value. The clock signal is a periodic pulse signal. The clock count signal is used to represent the count value of the counter 6, and the counter 6 counts based on the clock signal. In the example shown in FIG. 6, the counter 6 outputs a high level pulse and starts counting from 0 each time the angle pulse signal is a high level pulse, and outputs a high level pulse when the count reaches, for example, six clock signal periods. The interval time between two adjacent high level pulses in the clock count signal corresponds to the preset time interval Δt. The high level in the emission light beam control signal is used to control the transmitter 1 to emit the light beam. The level of the emission light beam control signal is pulled up each time the clock count signal outputs a high level pulse, so as to control the transmitter 1 to emit the light beam. On the one hand, when the rotation angle of the scanner 2 is at the preset angle value, the angle pulse signal outputs a high level pulse, so that the counter 6 starts counting, and the clock count signal outputs a high level pulse, so that the level of the emission light beam control signal is pulled up to control the transmitter 1 to emit the first light beam. That is, the light beam can be controlled based on the angle. On the other hand, from each preset time interval Δt after emitting the first light beam, the clock count signal outputs a high level pulse due to the count value of the counter 6, so that the level of the emission light beam control signal is pulled up to control the transmitter 1 to emit the light beam, that is, the light beam can be controlled based on the time, and the corresponding point cloud can be obtained by controlling the timing of the emission of the light beam.

[0038] 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 emitter 1 can emit the light beam more uniformly and stably, so as to improve the accuracy of the point cloud data. Here, the current rotation angle can be the rotation angle detected at any time, for example, the current rotation angle of the scanner 2 is obtained at a periodic preset time, and the rotation rate of the scanner 2 is adjusted according to the angle. The motion control shown in FIG. 5 is to adjust the rotation rate of the scanner 2, that is, the motion control of the scanner 2 can be based on time and angle. The change of the rotation rate of the scanner 2 can change the phase between the time-based light beam and the angle-based light beam, that is, the motion control indirectly controls the light beam.

[0039] 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.

[0040] Specifically, the rotation angle of the scanner 2 during rotation has a theoretical reference value, but the actual rotation angle can have a deviation from the reference value. Therefore, the detected current rotation angle can be compared with the corresponding reference value during the rotation of the scanner 2. If the current rotation angle is greater than the reference value, it means that the rotation of the scanner 2 is too fast, so the rotation rate of the scanner 2 can be reduced. If the current rotation angle is less than the reference value, it means that the rotation of the scanner 2 is too slow, so the rotation rate of the scanner 2 can be increased. By dynamically adjusting the rotation rate of the scanner 2, the process of emitting the light beam based on the rotation angle of the scanner 2 and the process of emitting the light beam based on the preset time interval can maintain a relatively stable relationship, so as to improve the stability of the point cloud data.

[0041] 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.

[0042] Specifically, as shown in FIG. 7, the deviation curve therein is the amplitude curve of the deviation between the current rotation angle of the scanner 2 and the corresponding reference value, the angle adjustment signal refers to the angle adjustment signal obtained according to the deviation, and the driving current signal refers to the driving current signal obtained according to the angle adjustment signal, which is used to control the torque of the scanner 2, that is, the rotation speed can be adjusted by the driving current. It can be seen that there is a positive correlation between the driving current, the angle adjustment signal and the deviation value, that is, if the deviation between the current rotation angle of the scanner 2 and the corresponding reference value is large, the adjustment amount for adjusting the rotation speed of the scanner 2 is large, and if the deviation between the current rotation angle of the scanner 2 and the corresponding reference value is small, the adjustment amount for adjusting the rotation speed of the scanner 2 is small, so as to tend to make the scanner 2 rotate more stably, so as to facilitate obtaining a point cloud with uniform distribution.

[0043] In some embodiments, the controller 6 is specifically configured to periodically adjust the rotation speed of the scanner 2 according to the current rotation angle of the scanner 2.

[0044] Specifically, as shown in FIG. 6, 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, the deviation between the current rotation angle of the scanner 2 and the corresponding reference value is obtained, and the angle adjustment signal is generated according to the deviation, the driving current signal is generated according to the angle adjustment signal, and the rotation of the scanner 2 is driven based on the driving 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 be stable.

[0045] In some embodiments, the transmitting device further comprises an angle encoder (not shown in the figure) for detecting the rotation angle of the scanner 2. The angle encoder can be an optical encoder or a magnetic encoder, which outputs an angle signal during the rotation of the scanner 2, so as to determine the pointing angle position of the light beam emitted by the laser radar. The higher the resolution of the angle encoder, the higher the cost. In the embodiments of the present application, on the one hand, the pointing angle position of the first light beam emitted by the transmitter 1 can be determined based on the fact that the angle encoder detects that the rotation angle of the scanner 2 is the preset angle value; on the other hand, if the resolution of the angle encoder is not sufficient to detect the angle between the two preset angle values, since the transmitter 1 is controlled to emit the light beam after at least one preset time interval Δt after emitting the first light beam, and the preset time interval Δt is known, therefore, the light beam which does not detect the angle position through the angle encoder can also be calculated based on the angle of the first light beam emitted last time and the number of preset time intervals Δt elapsed. Therefore, the embodiments of the present application can obtain a point cloud with higher resolution based on an angle encoder with lower resolution and timing.

[0046] The embodiments of the present application do not limit the specific motion process of the scanner 2, and the following will be described by taking two motion processes as examples. For example, the scanner 2 rotates periodically in one dimension direction, such as from -45° to +45°, and then from +45° to -45°, and so on. The emitter 1 is controlled to emit the first light beam when the scanner 2 rotates to a preset angle, and the emitter 1 is controlled to emit the light beam when the clock counts to a preset time interval between the preset angles. In this way, the point cloud in one dimension direction can be obtained based on the scanner 2. In addition, the scanner 2 can also move or rotate in another dimension direction on the basis of rotating in one dimension direction. For example, the scanner 2 rotates from -45° to +45° in the lateral direction, and then rotates from 0° to +5° in the longitudinal direction, and then rotates from +45° to -45° in the lateral direction, and then rotates from 5° to +10° in the longitudinal direction, and so on. In this way, the point cloud in two dimension directions can be obtained based on the scanner 2.

[0047] The embodiments of the present application also provide a control method, which comprises: controlling the emitter to emit the first light beam when the rotation angle of the scanner is at a preset angle value; and controlling the emitter to emit at least one light beam after at least one preset time interval after emitting the first light beam.

[0048] The execution subject of the control method can be the controller of the above-described emitting device, and the specific process and principle are the same as those of the above-described embodiments, which will not be described here again.

[0049] In some embodiments, the step of controlling the emitter to emit the first light beam when the rotation angle of the scanner is at a preset angle value comprises: controlling the emitter to emit the first light beam when the rotation angle of the scanner is at a plurality of preset angle values, and controlling the emitter to emit at least one light beam after at least one preset time interval after emitting each first light beam.

[0050] In some embodiments, the method further comprises: adjusting the rotation rate of the scanner according to the current rotation angle of the scanner.

[0051] In some embodiments, the step of adjusting the rotation rate of the scanner according to the current rotation angle of the scanner comprises: adjusting the rotation rate of the scanner according to the current rotation angle of the scanner and a corresponding reference value, decreasing the rotation rate of the scanner if the current rotation angle of the scanner is greater than the corresponding reference value, and increasing the rotation rate of the scanner if the current rotation angle of the scanner is less than the corresponding reference value.

[0052] In some embodiments, the deviation amount between the current rotation angle of the scanner and the corresponding reference value is positively correlated with the adjustment amount of the rotation rate of the scanner.

[0053] In some embodiments, the process of adjusting the rotation rate of the scanner according to the current rotation angle of the scanner is periodically performed.

[0054] The controller 5 can include a processor and a memory for storing at least one program that, when executed by the processor, causes the controller to perform the method of the above embodiments. The term "processor" can include any programmable system, including a system using microprocessors / microcontrollers or nano processors / nano controllers, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), reduced instruction set circuits (RISC), logic circuits, and any other circuit or processor capable of executing the functions described herein.

[0055] The above transmitting device can be provided in a laser radar, or in other devices, such as terminal devices or network devices, for example, access network devices, such as base stations, and the like. In addition, the transmitting device can also be a standalone device. The transmitting device can be installed in a motor vehicle, a drone, a rail vehicle, a bicycle, a signal light, a speed measurement device, or a network device (such as a base station in various systems, a terminal device), and the like. The point cloud in the embodiments of the present application is used for detection of target objects or environmental space. For example, the transmitting device can be installed on a smart terminal, such as a smart transportation device, a smart home device, a robot, and the like. The embodiments of the present application do not limit the type of terminal device on which the transmitting device is installed, the installation position of the transmitting device, and the function of the transmitting device, and the like.

[0056] The embodiments of the present application also provide a terminal including the above transmitting device or laser radar. The terminal can be a vehicle, a drone, a roadside unit, an intersection radar, a robot, or the like.

[0057] The embodiments of the present application also provide a readable storage medium including a program or instructions, when the program or instructions are executed on an electronic device, the above method is executed.

[0058] The embodiments of the present application also provide a program product including a program, when the program is executed on an electronic device, the electronic device executes the above method.

[0059] In the above embodiments, all or part can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part can be implemented in the form of 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 the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, Solid State Disk) and the like.

[0060] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the cases of A alone, A and B together, and B alone. Wherein A, B can be singular or plural. The character " / " generally represents that the associated objects before and after are in an "or" relationship. "At least one of the following" and the like means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b and c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple.

[0061] The above is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A transmitting device, characterized by The device comprises: a transmitter; a scanner configured to reflect a light beam to an object space to realize scanning of the object space; a controller configured to control the transmitter to emit a first light beam when a rotation angle of the scanner reaches a preset angle value, and configured to control the transmitter to emit at least one light beam after at least one preset time interval after emitting the first light beam.

2. The device of claim 1, wherein: the controller is specifically configured to control the transmitter to emit a first light beam when the rotation angle of the scanner reaches a plurality of preset angle values, and control the transmitter to emit at least one light beam after at least one preset time interval after emitting each of the first light beams.

3. The apparatus of claim 2, wherein, The device further comprises: a counter configured to start counting based on a clock when the preset angle value is reached; the controller is configured to determine the preset time interval according to a count value of the counter.

4. The device of claim 1, wherein: the controller is further configured to adjust a rotation rate of the scanner according to a current rotation angle of the scanner.

5. The device of claim 4, wherein: the controller is specifically configured to adjust the rotation rate of the scanner according to the current rotation angle of the scanner and a corresponding reference value, and decrease the rotation rate of the scanner if the current rotation angle of the scanner is greater than the corresponding reference value, or increase the rotation rate of the scanner if the current rotation angle of the scanner is less than the corresponding reference value.

6. The device of claim 4, wherein: a deviation amount between the current rotation angle of the scanner and the corresponding reference value is positively correlated with an adjustment amount of the rotation rate of the scanner.

7. The device of claim 4, wherein: the controller is specifically configured to periodically adjust the rotation rate of the scanner according to the current rotation angle of the scanner.

8. The apparatus of claim 1, wherein, The device further comprises: an angle encoder configured to detect the rotation angle of the scanner.

9. A control method characterized by, The method comprises: controlling the transmitter to emit a first light beam when a rotation angle of the scanner reaches a preset angle value; controlling the transmitter to emit at least one light beam after at least one preset time interval after emitting the first light beam.

10. The method of claim 9, wherein: the step of controlling the transmitter to emit a first light beam when a rotation angle of the scanner reaches a preset angle value comprises: controlling the transmitter to emit a first light beam when a rotation angle of the scanner reaches a plurality of preset angle values, and controlling the transmitter to emit at least one light beam after at least one preset time interval after emitting each of the first light beams.

11. The method of claim 9, wherein, The method further comprises: adjusting a rotation rate of the scanner according to a current rotation angle of the scanner.

12. The method of claim 11, wherein: the step of adjusting the rotation rate of the scanner according to the current rotation angle of the scanner comprises: The rotation speed of the scanner is adjusted according to the current rotation angle of the scanner and a corresponding reference value, and if the current rotation angle of the scanner is greater than the corresponding reference value, the rotation speed of the scanner is decreased, and if the current rotation angle of the scanner is less than the corresponding reference value, the rotation speed of the scanner is increased.

13. The method of claim 11 or 12, wherein, The amount of deviation between the current rotation angle of the scanner and the corresponding reference value is positively correlated with the amount of adjustment of the rotation speed of the scanner.

14. The method of claim 11 or 12, wherein, The process of adjusting the rotation speed of the scanner according to the current rotation angle of the scanner is periodically performed.

15. A lidar, comprising: A transmitting device as claimed in any one of claims 1 to 8.

16. A terminal, characterized by A transmitting device as claimed in any one of claims 1 to 8 or a lidar as claimed in claim 15.

17. A readable storage medium, characterized by, A program or instructions, when executed on an electronic device, cause the electronic device to perform the method of any one of claims 9 to 14.

18. A program product, characterized by The program product comprises 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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