WO2023184547A1 - 一种扫描系统和方法 - Google Patents

一种扫描系统和方法 Download PDF

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Publication number
WO2023184547A1
WO2023184547A1 PCT/CN2022/085133 CN2022085133W WO2023184547A1 WO 2023184547 A1 WO2023184547 A1 WO 2023184547A1 CN 2022085133 W CN2022085133 W CN 2022085133W WO 2023184547 A1 WO2023184547 A1 WO 2023184547A1
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WIPO (PCT)
Prior art keywords
swing
scanning
scanning device
area
light source
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PCT/CN2022/085133
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English (en)
French (fr)
Inventor
徐运强
杨川
陈实
周勇
陈洪福
高帅文
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华为技术有限公司
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Priority to PCT/CN2022/085133 priority Critical patent/WO2023184547A1/zh
Publication of WO2023184547A1 publication Critical patent/WO2023184547A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target

Definitions

  • the present application relates to the technical field of lidar, and in particular to a scanning system and method.
  • lidar can detect the outline of an object with high precision and obtain the depth information of the object, whether during the day or at night.
  • lidar has a shorter working band, so it can greatly improve detection resolution, detection range and other performance, which also makes lidar an indispensable technology in various fields.
  • LiDAR equipped with a Region of Interest (ROI) function will occupy a greater advantage in current market demand applications.
  • ROI Region of Interest
  • the lidar in the existing technology cannot adapt to the ROI function, for example, it cannot flexibly change the position of the ROI.
  • Embodiments of the present application provide a scanning system and method for improving the ROI function of lidar and realizing flexible configuration of the ROI, such as flexibly changing the position of the ROI.
  • a scanning system including: at least one light source for emitting a light beam; a first scanning device for reflecting the light beam emitted from the at least one light source; and at least one control device for controlling the first scanning device to Swing within the swing angle range.
  • This technical solution can realize the swing of the first scanning device to drive the light beam to scan along the field of view area.
  • the light beam can form an ROI in the field of view area
  • at least one control device can adjust the ROI position of the scanning system by controlling the swing angle range of the first scanning device, thereby meeting the requirements for improving the ROI function and flexibly configuring the ROI.
  • At least one control device is also used to control the first scanning device to swing in a first swing mode among multiple swing modes.
  • the swing starting positions of different swing modes One or more of the swing center point or the swing angle range are different.
  • the number of at least one light source is multiple; the light beam of the first light source in the at least one light source is incident on the field of view area of the scanning system, and the second light source of the at least one light source is incident on the field of view area of the scanning system.
  • the angle between the beams in is ⁇ , ⁇ >0.
  • At least one control device controls the first scanning device to swing in the first swing mode, it is specifically used to: control the first scanning device to start from the first angle, and after N rotations, reach the second angle.
  • N is a positive integer; where, the angle of each rotation of the first scanning device is ⁇ , ⁇ >0; where, ⁇ > ⁇ .
  • the scanning area corresponding to the light beam from at least one light source is the first area.
  • the first area is the final scanning area (that is, the area where the emitted beam incident into the field of view finally reaches).
  • the specific position of the first area is not only related to the scanning mode of the first scanning device, but also related to the first scanning mode. It is related to the optical system before or after the scanning device (such as various possible mirrors, lenses or other optical elements of the scanning device).
  • the multiple swing modes also include a second swing mode; through the second swing mode, the scanning area corresponding to the light beam from at least one light source is the second area, and the light spots corresponding to the first area and the second area are The energy distribution is different.
  • the spot energy distribution corresponding to the first area and the second area is different. It can be understood that the distribution position of the ROI (or high-resolution area) in the first area in the field of view is different from the distribution position of the ROI (or high-resolution area) in the second area. rate area) have different distribution positions in the field of view area.
  • the effect of adjusting the distribution position of the ROI can be achieved by adjusting the swing mode of the first scanning device.
  • the number of at least one light source is multiple; at least one control device is also used to turn off some of the multiple light sources when controlling the first scanning device to swing in the second swing manner.
  • the swing angle range corresponding to the first swing mode and the swing angle range corresponding to the second swing mode are different, wherein the swing angle range corresponding to the first swing mode and the swing angle range corresponding to the second swing mode are different from each other.
  • the difference is less than or equal to 90 degrees.
  • each swing angle range of the first scanning device can be within a reasonable range, thereby ensuring the effective reflectivity of the light beam by the first scanning device.
  • At least one control device is further configured to: control the first scanning device to swing periodically in the first swing mode; and after the first scanning device swings in the first swing mode for at least one cycle, control the first scan. The device switches to swing in the second swing mode.
  • the first scanning device can complete the switching of the scanning mode during the swing return process, and the switching time is short, which can better ensure the scanning efficiency of the scanning system.
  • the first scanning device is a one-dimensional galvanometer.
  • the scanning system further includes: a second scanning device, used to reflect the light beam emitted from at least one light source; and at least one control device, also used to control the second scanning device to rotate within the rotation range.
  • the scanning system can scan the field of view area in two directions.
  • the first scanning device drives the beam to scan in one direction
  • the second scanning device drives the beam to scan in another direction.
  • the first scanning device swings along a first direction
  • the second scanning device rotates along a second direction
  • the first direction is different from the second direction
  • the second direction is perpendicular to the first direction.
  • the first direction is the transverse field of view direction
  • the second direction is the longitudinal field of view direction
  • the second direction is the transverse field of view direction
  • the first direction is the longitudinal field of view direction.
  • At least one control device is also used to control the second scanning device to rotate within at least one rotation range; when the second scanning device rotates within the first rotation range of at least one rotation range, At least one control device is also used to control the second scanning device to rotate at a first rotational speed corresponding to the first rotation range.
  • the scanning area corresponding to the light beam from at least one light source is the third area.
  • the third area is the final scanning area (that is, the area where the emitted beam incident into the field of view finally reaches).
  • the specific position of the third area is not only related to the scanning mode of the second scanning device, but also related to the second scanning device. It is related to the optical system before or after the scanning device (such as various possible mirrors, lenses or other scanning devices, etc.).
  • At least one control device when the second scanning device rotates within a second rotation range of at least one rotation range, at least one control device is also used to: control the second scanning device to rotate at a second rotation speed corresponding to the second rotation range. Rotation is performed; wherein the first rotational speed and the second rotational speed are different.
  • the system can scan at different speeds in the second direction.
  • the scanning area corresponding to the light beam from at least one light source is the fourth area.
  • the spot energy distribution in the third area and the fourth area is different.
  • the resolution of the point cloud data detected by the system in the third area and the fourth area is different.
  • the ROI can be formed in the second direction. Furthermore, by adjusting the rotation speed (or rotation range) of the second scanning device, the ROI position in the second direction can be adjusted. Moreover, combined with the aforementioned scanning scheme of the first scanning device, two-dimensional position adjustment of the ROI (ie, the position of the ROI in the first direction and the second direction at the same time) can be realized.
  • the ratio of the second rotational speed to the first rotational speed is x, where 1 ⁇ x ⁇ 1000.
  • the proportion of the third area in the field of view area of the scanning system is ⁇ , where 0.01 ⁇ 1.
  • the deviation between the center of the third area and the center of the field of view area of the scanning system is ⁇ , where 0 ⁇ 90°.
  • the ROI's position adjustment range is too large, causing the system to perform high-resolution scanning of unnecessary areas, and it can also avoid that the ROI's adjustment range is too small, causing the solution's applicable scenario range to be limited.
  • the second scanning device is a polygonal rotating mirror.
  • the polygonal rotating mirror has F reflecting surfaces, and F is a positive integer greater than 1; the polygonal rotating mirror is used to rotate around the rotating axis; the polygonal rotating mirror is in at least one rotation range.
  • F is a positive integer greater than 1
  • the polygonal rotating mirror is used to rotate around the rotating axis; the polygonal rotating mirror is in at least one rotation range.
  • the light beam of at least one light source is reflected by one of the F reflective surfaces.
  • each of the F reflecting surfaces can correspond to at least one rotation range. In other words, the reflection effect of each reflecting surface of the polygonal rotating mirror on the light beam can be the same.
  • At least one control device is also used to: control the first scanning device to rotate once every time the second scanning device rotates at least one rotation range; or, control the first scanning device to rotate one swing angle range every time the second scanning device rotates.
  • the scanning device rotates at a preset angle, which is equal to the lateral angular resolution of the scanning system.
  • the second scanning device and the first scanning device can also perform two-dimensional scanning through other cooperation methods, which is not limited by this application.
  • At least one control device is also used to: control the first scanning device to swing in a first swing manner in a first period of time based on historical point cloud data obtained by the scanning system and/or information obtained by other sensors. /Or control the second scanning device to rotate at the first rotation speed during the second period.
  • the position of the ROI in the field of view can be adjusted flexibly and accurately.
  • the system includes at least one transmitting optical system, and at least two transmitting optical paths in the system share the same transmitting optical system; the system also includes at least one receiving optical system, and at least two receiving optical paths in the system share the same receiving optical system. system.
  • At least one transmitting optical system and at least one receiving optical system have a coaxial structure.
  • the emitting light path and the receiving light path may share the same surface of the same scanning component (such as the first scanning device, the second scanning device, etc.).
  • At least one transmitting optical system and at least one receiving optical system form a rangefinder architecture.
  • the transmitting light path and the receiving light path may use different scanning components or different surfaces of the same scanning component.
  • the system further includes a third scanning device, which is synchronized with the first scanning device, and is used to reflect the light beam returned from the field of view.
  • a scanning method including: controlling a first scanning device to swing in a first swing mode among multiple swing modes to reflect a light beam emitted from at least one light source; controlling the first scanning device to swing in a plurality of swing modes. Swing in the second swing mode to reflect the light beam emitted from at least one light source; wherein, in the multiple swing modes, one or more of the swing starting positions, swing center points or swing angle ranges of different swing modes different.
  • one or more of the swing starting position, the swing center point, or the swing angle range are different in different swing modes.
  • the number of at least one light source is multiple; the light beam of the first light source in the at least one light source is incident on the field of view area of the scanning system, and the second light source of the at least one light source is incident on the field of view area of the scanning system.
  • the angle between the beams in is ⁇ , ⁇ >0.
  • controlling the first scanning device to swing in a first swing mode among multiple swing modes includes: controlling the first scanning device to start from a first angle, rotate N times, and reach a second angle, where N is A positive integer; where the angle of each rotation of the first scanning device is ⁇ , ⁇ >0; where ⁇ > ⁇ .
  • the scanning area corresponding to the light beam from at least one light source is the first area.
  • the scanning area corresponding to the light beam from at least one light source is the second area, and the light spot energy distribution corresponding to the first area and the second area is different.
  • the number of at least one light source is multiple; the method also includes: turning off some of the multiple light sources when controlling the first scanning device to swing in the second swing manner.
  • the swing angle range corresponding to the first swing mode and the swing angle range corresponding to the second swing mode are different, wherein the swing angle range corresponding to the first swing mode and the swing angle range corresponding to the second swing mode are different from each other.
  • the difference is less than or equal to 90 degrees.
  • the method further includes: controlling the first scanning device to swing periodically in a first swinging manner; and after the first scanning device swings in the first swinging manner for at least one cycle, controlling the first scanning device to switch to the first swinging mode.
  • the second swing mode swings.
  • the first scanning device is a one-dimensional galvanometer.
  • the method further includes: controlling the second scanning device to rotate within a rotation range to reflect the light beam emitted from at least one light source.
  • controlling the second scanning device to rotate within the rotation range includes: when the second scanning device rotates within the first rotation range of at least one rotation range, controlling the second scanning device to be consistent with the first rotation range. Rotate at the corresponding first rotational speed; when the second scanning device rotates within the second rotational range of at least one rotational range, the second scanning device is controlled to rotate at the second rotational speed corresponding to the second rotational range; wherein, the first The rotational speed is different from the second rotational speed.
  • the method further includes: controlling the second scanning device to rotate within a rotation range, so that the second scanning device reflects the light beam emitted from the at least one light source.
  • the method further includes: controlling the first scanning device to swing in a first direction, and controlling the second scanning device to rotate in a second direction, and the second direction is perpendicular to the first direction.
  • the first direction is the horizontal field of view direction
  • the second direction is the longitudinal field of view direction
  • the second direction is the horizontal field of view direction
  • the first direction is the longitudinal field of view direction
  • controlling the second scanning device to rotate within the rotation range includes: controlling the second scanning device to rotate within at least one rotation range; the method further includes: controlling the second scanning device to rotate within at least one rotation range.
  • the second scanning device is controlled to rotate at a first rotation speed corresponding to the first rotation range.
  • the scanning area corresponding to the light beam from at least one light source is the third area.
  • the method further includes: when the second scanning device rotates within a second rotation range of at least one rotation range, controlling the second scanning device to rotate at a second rotational speed corresponding to the second rotation range; wherein , the first speed is different from the second speed.
  • the scanning area corresponding to the light beam from at least one light source is the fourth area, and the light spot energy distributions in the third area and the fourth area are different.
  • the ratio of the second rotational speed to the first rotational speed is x, where 1 ⁇ x ⁇ 1000.
  • the proportion of the third area in the field of view area of the scanning system is ⁇ , where 0.01 ⁇ 1.
  • the deviation between the center of the third area and the center of the field of view area of the scanning system is ⁇ , where 0 ⁇ 90°.
  • the second scanning device is a polygonal rotating mirror.
  • the polygonal rotating mirror has F reflecting surfaces, and F is a positive integer greater than 1; the polygonal rotating mirror is used to rotate around the rotating axis; the polygonal rotating mirror is in at least one rotation range. When rotating within the rotation range, the light beam of at least one light source is reflected by one of the F reflective surfaces.
  • the method further includes: controlling the first scanning device to rotate once every time the second scanning device rotates at least one rotation range; or controlling the first scanning device to rotate a predetermined angle each time the first scanning device swings.
  • Set angle, the preset angle is equal to the lateral angular resolution of the scanning system.
  • the method further includes: controlling the first scanning device to swing in a first swing manner in the first period and/or controlling the second scanning device according to historical point cloud data obtained by the scanning system and/or information obtained by other sensors.
  • the two scanning devices rotate at the first rotation speed during the second period.
  • the system includes at least one transmitting optical system, and at least two transmitting optical paths in the system share the same transmitting optical system; the system also includes at least one receiving optical system, and at least two receiving optical paths in the system share the same receiving optical system. system.
  • At least one transmitting optical system and at least one receiving optical system have a coaxial structure; or, at least one transmitting optical system and at least one receiving optical system have a paraxial structure; the system also includes a third scanning device, The third scanning device is synchronized with the first scanning device and the third scanning device is used to reflect the light beam returning from the field of view.
  • a processing device including: at least one processor and an interface circuit;
  • the interface circuit is used to receive signals from other devices outside the device and transmit them to the processor or to send signals from the processor to other devices outside the device.
  • the processor is used to implement the second step through logic circuits or execution of code instructions. The method described in any possible design of the aspect or the second aspect.
  • a computer-readable storage medium is provided.
  • the readable storage medium is used to store instructions. When the instructions are executed, the method described in the second aspect or any possible design of the second aspect is implemented. .
  • a computer program product is provided. Instructions are stored in the computer program product.
  • the computer program product When the computer program product is run on a computer, it causes the computer to execute the method described in the second aspect or any possible design of the second aspect.
  • a sixth aspect provides a terminal device, including the system described in the first aspect or any possible design of the first aspect.
  • the terminal device can be a vehicle, a drone, a helicopter, an airplane, a ship, an intelligent transportation device, or a smart home device, etc.
  • Figure 1 is a schematic diagram of the horizontal five-way splicing scanning scheme
  • Figure 2A is a schematic diagram of the small backhaul solution
  • Figure 2B is a schematic diagram of the backhaul scanning scheme
  • Figure 3 is a schematic diagram of an application scenario of a lidar provided by an embodiment of the present application.
  • FIGS. 4A and 4B are schematic diagrams of two driving scenarios provided by embodiments of the present application.
  • Figure 5 is a schematic diagram of a scanning system provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of another scanning system provided by an embodiment of the present application.
  • Figure 7 is a schematic diagram of a scanning method provided by an embodiment of the present application.
  • Figure 8 is a schematic diagram of an ROI formed in the first direction (i.e., the first ROI) provided by an embodiment of the present application;
  • Figure 9 is a schematic diagram of the beam angles of multiple light sources provided by the embodiment of the present application.
  • Figure 10 is a schematic diagram of the scanning paths of multiple light sources provided by an embodiment of the present application.
  • FIGS 11A to 11C are schematic diagrams of several swing modes provided by embodiments of the present application.
  • Figure 12 is a schematic diagram of the scanning starting point of the first scanning device provided by the embodiment of the present application.
  • Figure 13 is a schematic diagram of changes in the scanning angle of the first scanning device provided by the embodiment of the present application.
  • Figure 14 is a schematic diagram of the incidence of light beams from multiple light sources in the field of view provided by the embodiment of the present application;
  • FIG. 15 is a schematic diagram of another scanning system provided by an embodiment of the present application.
  • Figure 16 is a schematic diagram of the effect of the beam scanning at a constant speed in the second direction according to the embodiment of the present application.
  • Figure 17 is a schematic diagram of the effect of non-uniform scanning of the light beam in the second direction according to the embodiment of the present application.
  • Figure 18 is a schematic diagram of an ROI formed in the second direction (i.e., the second ROI) provided by an embodiment of the present application;
  • Figure 19 is a schematic diagram of another ROI formed in the second direction (i.e., the second ROI) provided by the embodiment of the present application;
  • Figure 20 is a schematic diagram of another scanning system provided by an embodiment of the present application.
  • Figure 21 is a flow chart of a scanning method provided by an embodiment of the present application.
  • ROI Region of interest
  • Angular resolution The angular interval between two adjacent lidar detection points is divided into horizontal (or transverse) angular resolution and vertical (or longitudinal) angular resolution.
  • Frame rate The number of times the lidar returns the overall point cloud data per second.
  • the ordinal numbers such as "first" and “second” mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or priority of multiple objects. Importance.
  • the first priority criterion and the second priority criterion are only to distinguish different criteria, but do not indicate the difference in content, priority or importance of the two criteria.
  • lidar In the fields of artificial intelligence such as autonomous driving and robotics, compared to camera vision solutions, lidar has the advantages of all-weather operation, measurement resolution, strong anti-interference ability and strong penetration ability. It can autonomously perceive the road environment and assist vehicles in completing reservations. Target. It is foreseeable that lidar will have broad applications in the future. At the same time, there are many lidar manufacturers entering the market, technology updates are rapid, and competition is fierce. How to make a product competitive while meeting vehicle regulations and human eye safety, especially in the three key indicators of measurement distance, angular resolution and FOV, is a very challenging topic.
  • Lidar is mainly composed of three parts: a transmitting system (TX), a receiving system (RX), and a scanner.
  • TX transmitting system
  • RX receiving system
  • the TX emits a laser line with a certain power. After being diffusely reflected by the object, the signal light returns and is received by the RX.
  • the radar mainly achieves detection of different field of view areas by rotating TX and RX.
  • the lidar system can realize the ROI area. LiDAR systems equipped with ROI, especially lidar systems that can flexibly adjust ROI, will have a greater advantage in current market demand applications.
  • lidar uses a two-dimensional micro-electro-mechanical system (MEMS) galvanometer as a scanning device, and achieves a two-dimensional FOV detection field of view through the rapid scanning of MEMS.
  • MEMS micro-electro-mechanical system
  • this solution uses a horizontal five-way splicing solution to achieve a 120° horizontal FOV, as shown in Figure 1.
  • the ROI area in this solution is achieved by reducing the MEMS longitudinal scanning speed. When the system frame rate remains unchanged, reducing the scanning speed can reduce the separation angle of adjacent detection points, obtain a point cloud with overlapping areas, and then improve the resolution through the super-resolution algorithm.
  • lidar uses a one-dimensional swing mirror to increase the angular resolution to achieve the ROI area.
  • the main method is to add a small return trip or a return scan, and its schematic diagram is shown in Figure 2A and Figure 2B.
  • Figure 2A shows the small return plan.
  • a short scanning return is added to the single-frame scanning process to perform repeated scanning of a small area.
  • the second scanning position and the first angle are staggered, which can increase the ROI area angular resolution, frame to frame.
  • the large backhaul between frames is a fast backhaul process, that is, the large backhaul between frames does not participate in scanning;
  • Figure 2B shows the backhaul scanning scheme, which cancels the fast backhaul process, so that the large backhaul also participates in scanning, and the backhaul in the ROI area will
  • the scanning angle and forward scanning angle are staggered to achieve the function of increasing ROI angular resolution.
  • the small return stroke scheme increases the load of the swing mirror motor, increases the scanning complexity during the scan cycle, and puts forward higher requirements for the overall stability and power consumption of the motor; the return scan scheme directly cancels the original fast return stroke.
  • the scanning method has been changed, which greatly increases the single-cycle scanning time, which will have a great impact on the system frame rate.
  • the motor scanning speed needs to be increased. While increasing power consumption, it will also reduce the theoretical scanning angle. resolution, placing high demands on the balance of the scanning scheme.
  • these two solutions also improve the resolution by obtaining multiple point clouds with overlapping areas for super-resolution.
  • the quality and stability of the point cloud are highly dependent on the algorithm.
  • lidar improves the angular resolution of the ROI area by coordinating the speed of the scanning element and the light pulse interval.
  • multiple Txs may be used in the lidar system, and the orientation of each Tx can be adjusted, so the angle between adjacent Txs can be controlled.
  • the scanning system aims at the ROI within the FOV, multiple Tx beams are generated Dense resolution, when the scanning system is aimed at non-ROI within the FOV, multiple Tx beams produce sparse resolution, thereby adjusting the arrangement of the ROI area.
  • this solution improves the angular resolution by changing the scanning speed of the scanning element. It has higher requirements for the control, power consumption, and stability of the scanning device. It also puts forward higher requirements for back-end algorithm processing.
  • the stability of the overall system is different from Generalized adaptation is challenging.
  • This solution achieves high resolution through multi-channel Tx arrangement. It requires multiple sets of optical and mechanical components, and the orientation of the optical and mechanical components needs to be adjusted in real time. This will greatly increase the cost, control of the motor, power consumption of the whole machine, stability and Algorithm adaptability has put forward higher requirements.
  • the technical solutions provided by the embodiments of the present application can be applied to terminal equipment with detection capabilities, and are particularly suitable for terminal equipment with laser detection capabilities.
  • the terminal device may be a smart device with laser detection capabilities, including but not limited to: smart home devices, such as TVs, sweeping robots, smart desk lamps, audio systems, smart lighting systems, electrical appliance control systems, home background music, and home theater systems. , intercom systems, video surveillance, etc.; intelligent transportation equipment, such as cars, ships, drones, trains, trucks, trucks, etc.; intelligent manufacturing equipment, such as robots, industrial equipment, smart logistics, smart factories, etc.
  • the terminal device may also be a computer device with laser detection capabilities, such as a desktop computer, a personal computer, a server, etc.
  • the terminal device may also be a portable electronic device with laser detection capabilities, such as a mobile phone, a tablet computer, a handheld computer, a headset, a speaker, a wearable device (such as a smart watch), a vehicle-mounted device, a virtual reality device, or an augmented reality device.
  • portable electronic devices include but are not limited to carrying Or portable electronic devices with other operating systems.
  • the above-mentioned portable electronic device may also be a laptop computer (Laptop) with a touch-sensitive surface (such as a touch panel).
  • FIG. 3 a schematic diagram of an application scenario of a lidar is provided according to an embodiment of the present application.
  • the lidar 100 is installed on a vehicle, so it is also called a vehicle-mounted lidar.
  • lidar also includes ship-mounted lidar installed on ships, and airborne lidar installed on machines.
  • the lidar 100 can be installed at the front of the vehicle.
  • the lidar 100 can emit a detection signal (specifically, a laser signal), and the detection signal illuminates After reaching an object in front of the vehicle, it will be reflected by the object, and the reflected detection signal (also called a reflection signal or echo signal) can be received by the lidar 100 , and then the lidar 100 can determine the location of the vehicle based on the reflected detection signal.
  • a detection signal specifically, a laser signal
  • the reflected detection signal also called a reflection signal or echo signal
  • Information about obstacles ahead such as the distance, orientation, height, speed, attitude, size or shape of the obstacle, etc., in order to use the obstacle information to implement the driving function of the vehicle, such as but not limited to automatic driving or assisted driving.
  • the lidar 100 is installed at the front of the vehicle, but the actual application is not limited to this.
  • the lidar 100 can also be installed at other positions, such as the rear or the rear of the vehicle. Car roof etc.
  • the lidar 100 can adjust the ROI to different positions according to different driving scenarios.
  • Figure 4A when the vehicle is driving on a level road, the ROI is located in the center area of the field of view; when the vehicle is going uphill, the ROI moves upward to better observe the situation on the uphill slope; when the vehicle is going downhill, the ROI is downward Move to get a better view of the descent.
  • Figure 4B when the vehicle is driving on a level road, the ROI is located in the center area of the field of view; when the vehicle turns left, the ROI is adjusted to the left to better observe the situation on the left front; when the vehicle turns right, the ROI is adjusted to the right.
  • FIG. 4A and FIG. 4B are only schematic. In actual applications, the technical solutions of the embodiments of the present application can be applied to other scenarios where the ROI position needs to be adjusted (such as intersections, village roads, other irregular and other difficult-to-predict situations). road conditions and scenes, etc.).
  • the specific plan for adjusting the ROI position will be described in detail below with reference to the accompanying drawings.
  • FIG. 5 is a schematic diagram of a scanning system provided by an embodiment of the present application.
  • the system may be a terminal device with detection capabilities, such as the lidar 100 shown in FIG. 3 .
  • the system includes at least one light source 21, at least one control device 22, and a first scanning device 23.
  • At least one light source 21 is used to emit light beams.
  • the first scanning device 23 is used to reflect the light beam emitted from at least one light source 21 . It can be understood that although the first scanning device 23 reflects the light beam emitted by the at least one light source 21, a certain period of time may pass between the light beam emitted from the at least one light source 21 and before it enters the first scanning device 23. path, so during this period the light beam may be reflected or transmitted by other elements in the scanning system or undergo other processing. This does not mean that the light beam must directly enter the first scanning device 23 after being emitted from the light source 21 .
  • At least one control device 22 has control capabilities and can issue control instructions to other components and coordinate the work of other components. For example, at least one control device 22 can control the first scanning device 23 to swing within a swing angle range.
  • At least one control device 22 can be integrated in one device, or can be dispersed in multiple devices and implemented separately.
  • the device can be integrated and implemented in a device.
  • the device can be an integrated circuit chip, such as a general-purpose processor, a field programmable gate array (Field Programmable Gate Array, FPGA), or a dedicated Integrated chip (Application Specific Integrated Circuit, ASIC), system on chip (SoC), network processor (Network Processor, NP), or digital signal processing circuit (Digital Signal Processor, DSP) ), it can also be a microcontroller (Micro Controller Unit, MCU), a programmable logic device (PLD), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and others Integrated chip.
  • MCU Micro Controller Unit
  • PLD programmable logic device
  • the device can include a central processing unit (Central Processor Unit, CPU), a neural network processing unit (Neural-network Processing Unit, NPU) and a graphics processing unit (Graphics Processing Unit, GPU), and can also include an application processor (Application Processor, AP), modem processor, image signal processor (Image Signal Processor, ISP), video codec, digital signal processor (Digital Signal Processor, DSP), and/or baseband processor, etc., the details are not specified limited.
  • CPU Central Processor Unit
  • NPU Neural-network Processing Unit
  • GPU Graphics Processing Unit
  • AP Application Processor
  • modem processor image signal processor
  • ISP image Signal Processor
  • video codec Video Codec
  • DSP Digital Signal Processor
  • baseband processor Digital Signal Processor
  • At least one control device 22 can be connected to other components in the scanning system through a Controller Area Network (Controller Area Network, CAN) bus or other means, and then issue control instructions to other components. It should be noted that, in order to clearly illustrate each component in the system, the connection relationship between at least one control device 22 and other components is not shown in FIG. 5 .
  • Controller Area Network Controller Area Network, CAN
  • Figure 6 is a schematic diagram of another scanning system provided by an embodiment of the present application.
  • the scanning system may also include a spectroscope 24 and a receiver. 25.
  • the beam splitter 24 is used to transmit the beam from the light source 21 and reflect the beam returned from the field of view (specifically, the beam from the light source 21 will be transmitted through the beam splitter 24 and then reflected through the first scanning device 23; from the field of view The returned light beam will be reflected by the first scanning device 23 and then reflected by the beam splitter 24).
  • Receiver 25 is used to receive and process light beams returning from the field of view.
  • the receiver 25 can convert the optical information into electrical information (such as point cloud data), and process the electrical information to obtain relevant information of the target (such as distance, shape or speed, etc.), or the receiver 25 can submit the electrical information to the processing device , the processing device processes electrical information to obtain target-related information.
  • electrical information such as point cloud data
  • the processing device and at least one control device 22 can be integrated and implemented in one device, or they can be dispersed in multiple devices and implemented separately, which is not limited by this application.
  • the first scanning device 23 when the first scanning device 23 is located at different positions (or angles), the light beam (ie, the emitted light beam) from at least one light source 21 and reflected by the first scanning device 23 will be incident on different parts of the field of view. Location.
  • the first scanning device 23 drives the light beam to be incident on the position A in the field of view area.
  • the first scanning device 23 swings to the second position.
  • a scanning device 23 drives the light beam to be incident on position B in the field of view area. Therefore, by controlling the swing of the first scanning device 23, at least one control device 22 can realize the beam scanning the field of view area along a certain direction.
  • the swing direction of the first scanning device 23 can be any direction, such as longitudinal (or vertical direction), transverse (or horizontal direction), or other directions, which is not limited by this application.
  • At least one control device 22 can realize longitudinal scanning, transverse scanning, or scanning in other directions of the beam in the field of view area by controlling the swing of the first scanning device 23 .
  • the swing direction of the first scanning device 23 has a corresponding relationship with the scanning direction of the beam driven by the first scanning device 23.
  • the swing direction of the first scanning device 23 may be the same as the scanning direction of the beam it drives (for example, the first scanning device 23 swings laterally to drive the beam to scan horizontally), or may be different (for example, the first scanning device 23 swings laterally to drive the beam to scan longitudinally).
  • the specific correspondence between the swing direction of the first scanning device 23 and the scanning direction of the light beam is related to the design of various optical elements in the scanning system (such as various possible mirrors, lenses or other scanning devices, etc.).
  • the first scanning device 23 swings along the first direction to drive the light beam to scan along the first direction in the field of view area.
  • the first direction may be any direction, such as longitudinal, transverse, or other directions.
  • the light spot formed after the light beam (ie, the emitted light beam) emitted by the at least one light source 21 is incident on the field of view area is a non-uniform light spot, or in other words, the incident light spot is non-uniform.
  • the light density of the emitted beam into the field of view area is distributed non-uniformly in the first direction.
  • the light density at the center of the light spot is higher than the light density at the edge.
  • Figure 8 is only an example and only illustrates two different degrees of density (i.e. The central area is one type, and the two edge areas are one type). In fact, there can be more types of density.
  • high-density areas are not limited to the central area, but can also be in other locations.
  • the scanning system can obtain higher-resolution point cloud data, and corresponding to positions with lower light density, the scanning system can obtain lower-resolution point cloud data.
  • a high-resolution area ie, ROI
  • this article refers to the ROI in the first direction as the first ROI.
  • at least one control device 22 in the embodiment of the present application can adjust the position of the high-resolution area (ie, ROI) in the first direction by controlling the swing mode of the first scanning device 23, thereby improving the ROI function and Flexible configuration requirements for ROI.
  • the angle between the light beam of the first light source 21A that is incident on the field of view of the scanning system and the light beam of the second light source 21B that is incident on the field of view of the scanning system is ⁇ .
  • the second light source 21B is incident on the scanning system.
  • the angle between the light beam in the field of view area of the system and the light beam incident on the field of view area of the scanning system from the third light source 21C is ⁇ , where ⁇ >0.
  • the angle between two adjacent light beams is ⁇ , but in practical applications, the angle between two adjacent light beams can also be different.
  • the first light source 21A is incident on The angle between the light beam in the field of view area of the scanning system and the light beam incident on the field of view area of the scanning system by the second light source 21B is ⁇ 1, and the angle between the light beam incident on the field of view area of the scanning system by the second light source 21B and the third light source 21C
  • the angle between the beams incident on the field of view of the scanning system is ⁇ 2, where ⁇ 1 ⁇ 2.
  • the first scanning device 23 drives the emitted beam to scan, certain positions in the field of view area have the opportunity to be repeatedly scanned by the beams emitted by different light sources 21, thereby forming High resolution area.
  • FIG. 10 is a schematic diagram of the scanning paths of multiple light sources 21 .
  • the first scanning device 23 will drive the light beam corresponding to each light source 21 of the plurality of light sources 21 (such as the light source 21A, the light source 21B, the light source 21C) to generate multiple scanning traces.
  • the scanning traces corresponding to multiple light sources 21 form a high-resolution area (i.e., the first ROI), while in the edge area of the field of view, there are only a few or single scanning traces corresponding to the light source 21 (such as the light source 21A or the light source 21C), forming a Low resolution area.
  • the light sources 21A, 21B, and 21C in Figures 9 and 10 are only for illustration, and in fact, the number of light sources 21 can be more or less.
  • At least one control device 22 can be used to control the first scanning device 23 to start from a certain angle and reach another angle after N rotations when controlling the first scanning device 23 to swing within the angle range.
  • N is a positive integer.
  • the value of N may be related to the angular resolution of the scanning system in the first direction. For example, the higher the angular resolution in the first direction, the larger N will be, and conversely, the lower the angular resolution in the first direction. , the smaller N is.
  • FIG. 10 is a schematic diagram in angle space, and the ordinate in FIG. 10 represents the field of view angle in the first direction.
  • the first scanning device 23 can have multiple swing modes.
  • the multiple swing modes one or more of the swing starting position, the swing center point, or the swing angle range are different in different swing modes.
  • FIG. 11A two possible swing modes of the first scanning device 23 are shown:
  • At least one control device 22 is specifically used to: control the first scanning device 23 to start from the first angle ⁇ 1, and after N rotations, reach the second angle ⁇ 2, N is positive integer.
  • the scanning area corresponding to the light beam from at least one light source 21 is the first area.
  • At least one control device 22 is specifically used to: control the first scanning device 23 to start from the third angle ⁇ 3, and after M rotations, reach the fourth angle ⁇ 4, M is positive Integers, M and N can be the same or different, and are not limited in this application.
  • M is positive Integers
  • M and N can be the same or different, and are not limited in this application.
  • the scanning area corresponding to the light beam from at least one light source 21 is the second area.
  • FIG. 11A, FIG. 11B, and FIG. 11C are only examples, and the actual angle and position of the field of view area may not be accurate enough.
  • swing amplitudes corresponding to different swing modes can be the same or different, and are not limited in this application.
  • the first ROI or The distribution position of the high-resolution area in the field of view area is different from the distribution position of the first ROI (or high-resolution area) in the second area in the field of view area.
  • the first ROI in the first swing mode, the first ROI is distributed in the center of the field of view in the first direction; in the second swing mode, the first ROI deviates from the field of view in the first direction. The central location of the area.
  • the first area and the second area are the final scanning area (that is, the area where the emitted beam incident into the field of view finally reaches), and the specific positions of the first area and the second area are not only related to the first scanning device 23
  • the scanning method is related to the optical system before or after the first scanning device 23 (such as various possible optical elements such as mirrors, lenses or other scanning devices).
  • the specific position of the first ROI in the first direction is related to the value of the swing angle range and the design of other optical elements in the scanning system.
  • the corresponding relationship between the swing angle range of the first scanning device 23 and the position of the first ROI shown in FIG. 11A is only a possible example, and is not a limitation.
  • FIG. 11B shows two possible swing modes of the first scanning device 23, corresponding to two swing centers respectively.
  • the first scanning device 23 is centered on ⁇ 5
  • the first ROI deviates from the center of the field of view in the first direction
  • the first scanning device 23 swings ⁇ counterclockwise or clockwise with ⁇ 6 as the center.
  • Amplitude the first ROI is offset from the center position of the field of view area in the first direction.
  • the specific position of the first ROI in the first direction is related to the swing center position and the design of other optical elements in the scanning system.
  • the corresponding relationship between the swing center position of the first scanning device 23 and the position of the first ROI shown in FIG. 11B is only a possible example, and is not a limitation.
  • FIG. 11C shows two possible swing modes of the first scanning device 23, corresponding to two swing starting points respectively.
  • the first scanning device 23 takes ⁇ 7 as the starting point, By swinging clockwise by ⁇ ' amplitude, the first ROI deviates from the center position of the field of view in the first direction; in the second swing mode, the first scanning device 23 takes ⁇ 8 as the starting point and swings clockwise by ⁇ ' amplitude, and the first ROI Offset from the center position of the field of view area in the first direction.
  • the specific position of the first ROI in the first direction is related to the swing starting point position and the design of other optical elements in the scanning system.
  • the corresponding relationship between the swing starting point position of the first scanning device 23 and the position of the first ROI shown in FIG. 11C is only a possible example, and is not a limitation.
  • the first scanning device 23 can also have more swing modes.
  • different swing modes among the multiple swing modes correspond to the light spots in the scanning area.
  • the energy distribution is different, or the light density distribution is different, or the position of the first ROI in the field of view area is different.
  • At least one control device 22 can set one or more of the plurality of swing modes as the default swing mode.
  • the default swing mode may be the first swing mode.
  • the first swing mode may be a swing mode that realizes the first ROI corresponding to the central field of view.
  • the first swing mode is the swing mode shown in Figure 11A, that is, the first swing mode.
  • the swing angle range of the scanning device 23 is ( ⁇ 1, ⁇ 2). In this way, user experience can be improved.
  • the difference between the swing angle range corresponding to the first swing mode and the swing angle range corresponding to the second swing mode is less than or equal to 90 degrees.
  • the maximum adjustable swing angle of the first scanning device 23 is ⁇ 90 degrees.
  • the minimum value of the swing starting point of the first scanning device 23 is ⁇ a and the maximum value is ⁇ b, then ⁇ b- ⁇ a ⁇ 90°;
  • the minimum value of the swing center of the first scanning device 23 is ⁇ c, and the maximum value is ⁇ d, then ⁇ d- ⁇ c ⁇ 90°; or
  • the minimum value of the swing end point of the first scanning device 23 is ⁇ e, and the maximum value is ⁇ f, Then ⁇ f- ⁇ e ⁇ 90°, and so on.
  • the scanning starting point of the first scanning device can vary up to 90° relative to the default scanning starting point.
  • each swing angle range of the first scanning device 23 can be within a reasonable range, thereby ensuring that each swing angle range of the first scanning device 23 The effective reflectivity of the beam within the angular range.
  • control device 22 when at least one control device 22 controls the first scanning device 23 to swing in any one of a plurality of swing modes, it is specifically used to control the first scanning device 23 to swing in any one of the swing modes. perform periodic swings.
  • At least one control device 22 can control the first scanning device 23 to periodically swing in the first swing mode. For example, in each cycle, the first scanning device 23 starts from the first angle ⁇ 1 and reaches the second angle ⁇ 2 after N rotations. After reaching the second angle ⁇ 2, at least one control device 22 can control the first scanning device. 23 quickly returns to the first angle ⁇ 1 (this process is the scanning return phase), and then starts the next cycle of swing.
  • the first scanning device 23 can be scanned multiple times in the same scanning manner, so that the scanning system can obtain enough point cloud data and at the same time reduce the processing requirements of the system on the back-end algorithm.
  • At least one control device 22 can control the first scanning device 22 to switch the swing mode during the scanning return phase.
  • At least one control device 22 controls the first scanning device 23 to switch to swing in the second swing mode.
  • FIG. 13 it is a schematic diagram of the change of the scanning angle of the first scanning device 23 .
  • the first scanning device 23 first swings periodically in the first swing mode: in each cycle, the first scanning device 23 starts from the first angle ⁇ 1, rotates N times, reaches the second angle ⁇ 2, and then quickly returns to the first angle ⁇ 2. At angle ⁇ 1, the next cycle of swing begins.
  • the first scanning device 23 After at least one cycle, when the first scanning device 23 is preparing to return at the second angle ⁇ 2, it no longer returns to the first angle ⁇ 1, but directly to the third angle ⁇ 3, and then periodically swings in the second swing mode: from Starting from the third angle ⁇ 3, after M rotations, it reaches the fourth angle ⁇ 4, and then quickly returns to the third angle ⁇ 3 to start the next cycle of swing.
  • the first scanning device 23 switches the scanning mode during the return process, which can make the time difference experienced by the first scanning device 23 switching the scanning mode small and negligible, thus better ensuring the scanning efficiency of the scanning system.
  • the first scanning device may be a one-dimensional galvanometer.
  • the one-dimensional galvanometer has a reflective surface and can rotate around the axis of rotation to reflect the light beam incident on the reflective surface.
  • the one-dimensional galvanometer may be, for example, a galvanometer mechanical resonant mirror or an electrothermal microelectromechanical system (Micro Electro Mechanical System, MEMS) galvanometer, etc., which is not limited by this application. In this way, design costs can be reduced.
  • the beam can be turned off.
  • the light sources 21 entering the field of view that is, the light sources 21 corresponding to the light beams exceeding the FoV in the first direction
  • are prevented from causing interference to other effective light beams in the system such as the light beams returning from the field of view).
  • the first scanning device 23 swings in the first swing manner, all light beams of all light sources 21 (including the light source 21A, the light source 21B, and the light source 21C) can enter the field of view, and the first scanning device 23 When swinging in the second swing mode, only the light beams of part of the light sources 21 (including the light sources 21A and 21B) can enter the field of view, while the light beams of the other part of the light sources (light source 21C) cannot enter the field of view, so the light source 21C can be turned off. It should be noted that the turning on and off of the light source 21 can be controlled by at least one control device 22 or other control devices in the system, which is not limited by this application.
  • the above describes the scanning plan of the scanning system in the first direction (the position of the first ROI in the first direction is adjustable).
  • the following describes the scanning plan of the scanning system in the second direction. Wherein, the first direction and the second direction are different.
  • the system also includes a second scanning device 26 for reflecting the light beam emitted from at least one light source 21; at least one control device 22, also for controlling the second scanning device 26 within the rotation range. Internal rotation.
  • the first scanning device 23 and the second scanning device 26 respectively drive the light beam to scan in two different directions (ie, the first direction and the second direction), thereby realizing two-dimensional scanning of the field of view area by the scanning system.
  • the "light beam emitted from at least one light source 21" here does not necessarily come directly from the at least one light source 21.
  • the light beam can also pass through any element between the at least one light source 21 and the second scanning device 26.
  • the formed optical system passes through, for example, the reflective surface of the first scanning device 23 .
  • the light beam reflected by the second scanning device 26 may originate from the at least one light source 21 and be processed by other elements (including but not limited to refraction, reflection, or transmission, etc.).
  • the second scanning device 26 is located behind the first scanning device 23; for the receiving light path, the second scanning device 26 is located behind the first scanning device 23. the front.
  • the rotation direction of the second scanning device 26 has a corresponding relationship with the scanning direction of the beam driven by the second scanning device 26.
  • the rotation direction of the second scanning device 26 may be the same as the scanning direction of the beam it drives (for example, the second scanning device 26 rotates laterally to drive the beam to scan horizontally), or may be different (for example, the second scanning device 26 rotates laterally to drive the beam to scan longitudinally).
  • the specific correspondence between the rotation direction of the second scanning device 26 and the scanning direction of the light beam is related to the design of various optical elements in the scanning system (such as various possible mirrors, lenses or other scanning devices, etc.).
  • the second scanning device 26 swings along the second direction to drive the light beam to scan along the second direction in the field of view area.
  • the second direction can be any direction, such as longitudinal, transverse, or other directions, as long as it is different from the first direction.
  • the scanning system may actually include other components, such as various lenses, mirrors, etc.
  • the first direction is perpendicular to the second direction.
  • the first direction is the transverse field of view direction
  • the second direction is the longitudinal field of view direction
  • the second direction is the transverse field of view direction
  • the first direction is the longitudinal field of view direction.
  • first direction shown in the drawings given in this article all takes the longitudinal field of view direction as an example, and the second direction takes the transverse field of view direction as an example, but the practice is not limited thereto.
  • At least one control device 22 can control the second scanning device 26 to rotate at a constant speed.
  • the second scanning device 26 driven by the second scanning device 26, after the light beam from at least one light source 21 is put into the field of view, it will be scanned uniformly in the second direction.
  • the distribution of the light spots formed by the light beam in the second direction is average. For example, see Figure 16.
  • the scanning system can realize two-dimensional scanning in the first direction and the second direction, and there can be areas with different high and low resolutions in the first direction, while the resolution of each area in the second direction is the same.
  • At least one control device 22 can control the second scanning device 26 to rotate at a non-uniform speed.
  • the second scanning device 26 rotates at a low speed, the scanning speed of the beam in the second direction is correspondingly slowed down, and the resolution at the corresponding scanning position is improved, thereby forming a high-resolution area (i.e., ROI) in the second direction.
  • ROI high-resolution area
  • this article refers to the ROI in the second direction as the second ROI), as shown in Figure 17.
  • the scanning system can perform two-dimensional scanning in the first direction and the second direction, and there can be high-resolution areas (i.e., the first ROI and the second ROI) in both the first direction and the second direction. .
  • At least one rotation range can be set for the second scanning device 26, and each rotation range corresponds to a rotation speed. Wherein, if there are multiple rotation ranges at least, different rotation ranges may correspond to different rotation speeds. At least one control device 22 can control the second scanning device 26 to rotate within at least one rotation range.
  • At least one control device 22 is also used to control the second scanning device 26 to rotate at a first rotation speed corresponding to the first rotation range.
  • At least one control device 22 is also used to control the second scanning device 26 to rotate at a second rotation speed corresponding to the second rotation range.
  • the first rotation speed and the second rotation speed are different. Based on the first rotation speed, the scanning area corresponding to the light beam from the at least one light source 21 is the third area. Based on the second rotation speed, the scanning area corresponding to the light beam from the at least one light source 21 is the fourth area, and the spot energy distribution of the third area and the fourth area is different.
  • the third area and the fourth area are the final scanning area (that is, the area where the emitted beam incident into the field of view finally reaches), and the specific positions of the third area and the fourth area are not only related to the scanning of the second scanning device. It is related to the mode, and also related to the optical system before or after the second scanning device 26 (such as various possible mirrors, lenses or other scanning devices, etc.).
  • the specific position of the second ROI in the second direction is related to the position of the low-speed rotation range in at least one rotation range and the design of other optical elements in the scanning system.
  • the spot energy (or light density) of the beam in the third area is higher than the spot energy (or light density) in the fourth area.
  • the scanning system starts from the third area.
  • the resolution of point cloud data obtained from the three regions is higher than that obtained from the fourth region, so the third region can be used as the second ROI, as shown in Figure 18.
  • FIG. 18 only illustrates the scanning area formed by the second scanning device 26 rotating at two different rotation speeds.
  • the second scanning device 26 can also have more different rotation speeds, and there are also other scanning areas formed in the scanning area.
  • a third rotation range can also be set, corresponding to a third rotation speed, where the third rotation speed is different from the first rotation speed and the second rotation speed. Based on the third rotation speed, the light spot on the scanning area corresponding to the light beam from the at least one light source 21 The energy distribution is different from the spot energy distribution in the third region and the fourth region.
  • At least one control device 22 can control the distribution position of the second ROI in the second direction by adjusting the corresponding relationship between the rotation speed (or rotation range) of the second scanning device 26 and the scanning position of the beam in the field of view area.
  • the second scanning device 26 is rotating at a slow speed (such as the first rotation speed), so the second ROI is in the second direction.
  • FIG. 19 illustrates that when the light beam scans the left edge area of the field of view, the second scanning device 26 rotates at a slow speed (such as a first rotation speed), so the second ROI is distributed in the left edge area of the field of view.
  • the scanning system can flexibly adjust the position of the high-resolution area (ie, the second ROI) in the second direction.
  • the first scanning device 23 two-dimensional position adjustment of the ROI of the scanning system can be achieved.
  • a single lidar can be adapted to a variety of complex road conditions.
  • the vehicle does not need to be equipped with more lidars, and is friendly to the industrial design (ID) of the vehicle.
  • the ratio of the second rotational speed to the first rotational speed is x, where 1 ⁇ x ⁇ 1000.
  • the first rotation speed may be the minimum rotation speed of the second scanning device 26
  • the second rotation speed may be the maximum rotation speed of the second scanning device 26 .
  • the proportion of the third area (i.e., the second ROI) in the field of view area of the scanning system i.e., the proportion of the slow scanning area in the total scanning area
  • ⁇ is the ratio of a to b.
  • the second ROI accounts for an excessively large proportion in the entire field of view area, thus reducing the system scanning efficiency, and at the same time, it can be avoided that the second ROI accounts for an excessively small proportion of the entire field of view area, thereby reducing the accuracy of target recognition by the system.
  • the deviation between the center of the third area (i.e., the second ROI) and the center of the field of view area of the scanning system is ⁇ (i.e., the angle at which the center point of the slow speed area deviates from the center of the field of view is ⁇ ), where 0 ⁇ 90°.
  • the second scanning device 26 is a polygonal rotating mirror.
  • the polygonal rotating mirror has F reflecting surfaces, where F is a positive integer greater than 1.
  • the polygonal rotating mirror may be in the shape of a quadrangular prism (or cube) as shown in FIG. 15 , in which all four side surfaces may be used as reflecting surfaces.
  • the shape of the polygonal rotating mirror can also be a triangular prism, a pentagonal prism, etc., which is not limited in this application.
  • the polygonal rotating mirror is used to rotate around the rotating axis, and the rotation direction can be clockwise, counterclockwise, or switched between clockwise and counterclockwise, which is not limited by this application.
  • the light beam of at least one light source 21 is reflected through one of the F reflecting surfaces.
  • each of the F reflective surfaces can correspond to at least one rotation range, and the rotation ranges corresponding to each reflective surface are the same. That is to say, each of the F reflective surfaces is in the process of reflecting the light beam.
  • the second scanning device 26 can have the same speed change process, that is, the reflection effect of each reflecting surface of the polygon mirror on the light beam can be the same.
  • the length of time that each of the F reflecting surfaces reflects the light beam is exactly equal to the length of time that the light beam completes a scan in the field of view along the second direction. In this way, the complexity of back-end algorithm processing of the scanning system can be reduced.
  • different reflective surfaces among the F reflective surfaces can also correspond to different rotation ranges.
  • the second scanning device 26 There can also be different speed change processes, that is, the reflection effect of each reflecting surface of the polygon mirror on the light beam can be different. In this way, the scanning method of the second scanning device 26 is more flexible.
  • the rotation speed of the second scanning device 26 is higher than the rotation speed of the first scanning device 23 .
  • at least one control device 22 is also used to control the first scanning device 23 to rotate once every time the second scanning device 26 rotates at least one rotation range.
  • the first direction as the longitudinal field of view direction and the second direction as the transverse field of view direction as an example
  • the second scanning device 26 rotates at least one rotation range
  • the corresponding light beam moves from left to right (or from right to right) in the transverse field of view.
  • Left) Scan once for example, the distance of the entire transverse FoV
  • the first scanning device 23 rotates once
  • the corresponding beam moves from top to bottom (or bottom to top) in the longitudinal field of view by one line (ie, the distance of one longitudinal angular resolution).
  • the rotation speed of the second scanning device 26 is lower than the rotation speed of the first scanning device 23 .
  • at least one control device 22 is also used to control the second scanning device 26 to rotate by a preset angle every time the first scanning device 23 swings within a swing angle range.
  • the preset angle may be preset, or may be dynamically configured. In one specific design, the preset angle is equal to the lateral angular resolution of the scanning system. Due to the existence of process errors, the "equal to” here can be understood as “equal to” within a certain error range.
  • the first scanning device 23 swings through a swing angle range, the corresponding light beam moves from top to bottom (or bottom to top) in the longitudinal field of view.
  • the second scanning device 26 rotates at a preset angle, and the corresponding beam moves from left to right (or from right to left) in the horizontal field of view by one column (that is, a distance of one horizontal angular resolution).
  • the second scanning device 26 and the first scanning device 23 can also perform two-dimensional scanning of the field of view area through other cooperation methods, which is not limited in this application.
  • At least one control device 22 can adjust the scanning mode of the first scanning device 23 and/or the second scanning device 26 based on historical point cloud data obtained by the scanning system and/or information obtained by other sensors, thereby Realize the high-resolution area (i.e. ROI area, specifically it can be the first ROI, or the second ROI, or the entire area composed of the first ROI and the second ROI, or the overlap of the first ROI and the second ROI area, no restrictions).
  • ROI area specifically it can be the first ROI, or the second ROI, or the entire area composed of the first ROI and the second ROI, or the overlap of the first ROI and the second ROI area, no restrictions.
  • other sensors include, but are not limited to, cameras, millimeter-wave radar, etc.
  • At least one control device 22 is also used to control the first scanning device 23 to swing in a first swing manner and/or control the second scanning device 23 in a first period of time based on historical point cloud data obtained by the scanning system and/or information obtained by other sensors.
  • the scanning device 26 rotates at the first rotation speed during the second period.
  • the position of the ROI of the scanning system in the field of view can be adjusted flexibly and accurately.
  • the scanning system may include at least one emission optical system, and at least two emission light paths in the scanning system share the same emission optical system.
  • the scanning system includes three light sources 21, each light source 21 corresponds to a transmission light path, and the three transmission light paths share the same transmission optical system (including the spectroscope 24, the first scanning device 23, and the second scanning device 26). etc.), the light beams corresponding to the three light sources 21 are reflected by the same reflective surface or transmitted by the same transmission surface before being incident into the field of view.
  • the light beams from different light sources 21 can overlap in the scanning area, thereby ensuring that a high-resolution area (ie, the first ROI) can be formed in the first direction.
  • a high-resolution area ie, the first ROI
  • higher resolution and point rate can be achieved, which greatly reduces the specification requirements of the laser radar system for scanning devices and thus reduces design costs.
  • the scanning system further includes at least one receiving optical system, and at least two receiving optical paths in the system share the same receiving optical system.
  • the three receiving optical paths share the same receiving optical system (including the second scanning device 26, the first scanning device 23, the beam splitter 24, etc.), and the light beams on the three receiving optical paths are reflected by the same reflecting surface or The same transmission surface is transmitted and received by the receiver 25 .
  • At least one transmitting optical system and at least one receiving optical system have a coaxial structure.
  • the emitting light path and the receiving light path share the same surface of the same scanning component (such as the first scanning device 23 , the second scanning device 26 , etc.).
  • At least one transmitting optical system and at least one receiving optical system adopt a paraxial architecture, that is, the transmitting optical path and the receiving optical path may use different scanning components or different surfaces of the same scanning component.
  • the scanning system also needs to be provided with a scanning device, such as the third scanning device 27 shown in Figure 20 (the type of the third scanning device 27 is the same as that of the first scanning device).
  • the scanning devices 23 are of the same type (for example, they are all one-dimensional galvanometers)
  • at least one control device 22 is also used to control the third scanning device 27 to swing synchronously with the first scanning device 23, so that the third scanning device 27 can reflect from The light beam returns in the field of view and causes the reflected light beam to be received by the receiver 25.
  • FIG. 20 is only an illustration, and the actual situation is not limited thereto.
  • the embodiment of the present application also provides a scanning method, which can be executed by at least one control device 22 in the above-mentioned scanning system.
  • the method includes:
  • one or more of the swing starting position, the swing center point or the swing angle range are different in different swing modes.
  • the distribution position of the ROI in the first direction can be flexibly adjusted.
  • the method may also include: controlling the second scanning device 26 to rotate within the rotation range to reflect the light beam emitted from the at least one light source 21 .
  • the second scanning device 26 when the second scanning device 26 rotates in the first rotation range of at least one rotation range, the second scanning device 26 is controlled to rotate at a first rotation speed corresponding to the first rotation range; the second scanning device 26 rotates in the first rotation range.
  • the second scanning device 26 When rotating within the second rotation range of at least one rotation range, the second scanning device 26 is controlled to rotate at a second rotation speed corresponding to the second rotation range; wherein the first rotation speed is different from the second rotation speed.
  • the distribution position of the ROI in the second direction can be flexibly adjusted.
  • embodiments of the present application also provide a processing device, including: at least one processor and an interface circuit; the interface circuit is used to receive signals from other devices other than the device and transmit them to the processing device.
  • the processor or the signal from the processor is sent to other devices outside the device, and the processor is used to implement the method performed by at least one control device 22 above through logic circuits or executing code instructions.
  • embodiments of the present application also provide a terminal, including the scanning system described above.
  • the terminal can be used in intelligent transportation equipment (such as cars, ships, drones, trains, trucks, trucks, etc.), smart home equipment (such as TVs, sweeping robots, etc.), intelligent manufacturing equipment (such as robots, industrial equipment, intelligent Logistics, etc.) etc.
  • embodiments of the present application also provide a vehicle, including the scanning system described above.
  • embodiments of the present application also provide a computer-readable storage medium.
  • Computer programs or instructions are stored in the storage medium.
  • the above execution by at least one control device 22 is implemented. method.
  • embodiments of the present application also provide a computer program product.
  • the computer program product is run on a processor, the method executed by at least one control device 22 is implemented as above.
  • embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions
  • the device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
  • These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device.
  • Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

Abstract

一种扫描系统，包括至少一个光源（21）、第一扫描装置（23）以及少一个控制装置（22）；至少一个光源（21）用于发射光束；至少一个控制装置（22）用于控制第一扫描装置（23）在摆动角度范围内摆动，进而使得第一扫描装置（23）反射来自至少一个光源（21）发出的光束。至少一个控制装置（22）通过调整第一扫描装置（23）的摆动方式可以调整扫描系统的ROI位置，进而改善激光雷达（100）的ROI功能，实现对ROI的灵活配置。此外还提出了一种扫描方法、处理装置、计算机可读存储介质、计算机程序产品及终端设备。

Description

一种扫描系统和方法 技术领域
本申请涉及激光雷达技术领域，尤其涉及一种扫描系统和方法。
背景技术
激光雷达作为一种感知探测系统，无论是白天还是夜晚，都能够高精度探测物体轮廓，获取物体的深度信息。相比于毫米波雷达、超声波雷达等传统技术，激光雷达的工作波段较短，因此能够大幅提高探测分辨率、探测距离等性能，这也使得激光雷达各个领域成为了一项不可或缺的技术。配备感兴趣区域(Range of Interest，ROI)功能的激光雷达，将在当前的市场需求应用中占据较大优势。
然而，现有技术中的激光雷达对于ROI功能无法做到适配，例如无法灵活更改ROI的位置。
发明内容
本申请实施例提供一种扫描系统和方法，用于改善激光雷达的ROI功能，实现对ROI的灵活配置，如灵活更改ROI的位置。
第一方面，提供一种扫描系统，包括：至少一个光源，用于发射光束；第一扫描装置，用于反射来自至少一个光源发出的光束；至少一个控制装置，用于控制第一扫描装置在摆动角度范围内摆动。
该技术方案，可以实现第一扫描装置的摆动带动光束沿着对视场区域进行扫描。当光束可以在视场区域中形成ROI时，至少一个控制装置可以通过控制第一扫描装置的摆动角度范围来调整扫描系统的ROI位置，进而满足对ROI功能的改善以及对ROI的灵活配置需求。
一种可能的设计中，至少一个控制装置还用于控制第一扫描装置以多种摆动方式中的第一摆动方式进行摆动，在多种摆动方式中，不同的摆动方式的摆动起始位置、摆动中心点或者摆动角度范围中的一个或多个不同。
如此，可以实现控制第一扫描装置以不同的摆动方式摆动来控制ROI区域位置的效果。
一种可能的设计中，至少一个光源的数量为多个；至少一个光源中第一光源入射到扫描系统的视场区域中的光束与至少一个光源中第二光源入射到扫描系统的视场区域中的光束的夹角为α，α>0。
由于不同光源入射到视场区域中的光束存在夹角，所以当第一扫描装置带动发射光束扫描时，视场区域中某些位置有机会被不同光源发出的光束重复扫描到，进而形成ROI，改善了探测性能。
一种可能的设计中，至少一个控制装置在控制第一扫描装置以第一摆动方式进行摆动时，具体用于：控制第一扫描装置从第一角度开始，经过N次转动，到达第二角度，N为正整数；其中，第一扫描装置每次转动的角度为β，β>0；其中，α>β。
如此，可以更好地保证视场区域中某些位置能够被不同光源发出的光束扫描到，进而形成ROI，改善了探测性能。
一种可能的设计中，通过第一摆动方式，来自至少一个光源的光束对应的扫描区域为第一区域。
可以理解的，第一区域为最终的扫描区域(即入射到视场中的发射光束最终到达的区域)，第一区域的具体位置不仅与第一扫描装置的扫描方式相关，而且还与第一扫描装置之前或之后的光学系统(例如各种可能的反射镜、透镜或其它扫描装置等光学元件)有关。
一种可能的设计中，多种摆动方式中还包含第二摆动方式；通过第二摆动方式，来自至少一个光源的光束对应的扫描区域为第二区域，第一区域和第二区域对应的光斑能量分布不同。第一区域和第二区域对应的光斑能量分布不同，可以理解为，第一区域中的ROI(或高分辨率区域)在视场区域中的分布位置与第二区域中的ROI(或高分辨率区域)在视场区域中的分布位置不同。
如此，可以实现通过调整第一扫描装置的摆动方式进而调整ROI的分布位置的效果。
一种可能的设计中，至少一个光源的数量为多个；至少一个控制装置，还用于在控制第一扫描装置以第二摆动方式进行摆动时，关闭多个光源中的部分光源。
如此，可以避免混光干扰，同时节省光源能量。
一种可能的设计中，第一摆动方式对应的摆动角度范围和第二摆动方式对应的摆动角度范围不同，其中，第一摆动方式对应的摆动角度范围和第二摆动方式对应的摆动角度范围的差值小于或者等于90度。
通过该设计方式，可以使得第一扫描装置的每种摆动角度范围都在合理的范围内，进而保证第一扫描装置对光束的有效反射率。
一种可能的设计中，至少一个控制装置还用于：控制第一扫描装置以第一摆动方式进行周期性摆动；在第一扫描装置以第一摆动方式摆动至少一个周期之后，控制第一扫描装置切换至以第二摆动方式摆动。
如此，第一扫描装置可以在摆动回程过程中完成扫描方式的切换，切换耗时短，可以更好地保证扫描系统的扫描效率。
一种可能的设计中，第一扫描装置为一维振镜。
如此，可以节省设计成本。
一种可能的设计中，扫描系统还包括：第二扫描装置，用于反射来自至少一个光源发出的光束；至少一个控制装置，还用于控制第二扫描装置在转动范围内转动。
通过该设计方式，可以实现扫描系统对视场区域进行两个方向上的扫描。例如，第一扫描装置带动光束沿一个方向扫描，第二扫描装置带动光束沿另外一个方向扫描。
一种可能的设计中，第一扫描装置沿第一方向摆动，第二扫描装置沿第二方向转动，第一方向与第二方向不同。可选的，第二方向垂直于第一方向。例如，第一方向为横向视场方向，第二方向为纵向视场方向；或者，第二方向为横向视场方向，第一方向为纵向视场方向。
如此，可以实现扫描系统在第一方向和第二方向上的二维扫描。
一种可能的设计中，至少一个控制装置还用于控制第二扫描装置在至少一个转动范围中的转动范围内转动；第二扫描装置在至少一个转动范围中的第一转动范围内转动时，至少一个控制装置还用于：控制第二扫描装置以与第一转动范围对应的第一转速进行转动。
如此，可以实现通过控制第二扫描装置的转动速度控制光束在第二方向上扫描速度，进而控制系统在第二方向上的分辨率。
一种可能的设计中，基于第一转速，来自至少一个光源的光束对应的扫描区域为第三区域。
可以理解的，第三区域为最终的扫描区域(即入射到视场中的发射光束最终到达的区域)，第三区域的具体位置不仅与第二扫描装置的扫描方式相关，而且还与第二扫描装置之前或之后的光学系统(例如各种可能的反射镜、透镜或其它扫描装置等)有关。
一种可能的设计中，第二扫描装置在至少一个转动范围中的第二转动范围内转动时，至少一个控制装置还用于：控制第二扫描装置以与第二转动范围对应的第二转速进行转动；其中，第一转速与第二转速不同。
如此，可以实现系统在第二方向以不同的速度进行扫描。
一种可能的设计中，基于第二转速，来自至少一个光源的光束对应的扫描区域为第四区域。第三区域和第四区域的光斑能量分布不同，相应的，系统在第三区域和第四区域探测到点云数据的分辨率不同。
如此，可以实现在第二方向上形成ROI。进而通过调整第二扫描装置的转速(或转动范围)，可以实现调整第二方向上的ROI位置。并且，结合前述的第一扫描装置的扫描方案，可以实现ROI的二维位置调整(即同时第一方向和第二方向上的ROI位置)。
一种可能的设计中，第二转速与第一转速的比值为x，其中1＜x≤1000。
如此，可以保证第二方向上的高分辨率区域与低分辨率区域有明显差异。
一种可能的设计中，第三区域在扫描系统的视场区域中的占比为γ，其中0.01≤γ＜1。
如此，可以避免ROI在全部视场区域中的占比过大从而降低系统扫描效率，同时避免ROI在全部视场区域中的占比过小从而降低系统对目标识别的准确性。
一种可能的设计中，第三区域的中心与扫描系统的视场区域的中心的偏差为θ，其中0≤θ≤90°。
如此，可以避免ROI的位置调整范围过大导致系统对非必要区域进行高分辨率扫描，同时避免ROI的调整范围过小导致方案适用场景范围受限。
一种可能的设计中，第二扫描装置为多面转镜，多面转镜具有F个反射面，F为大于1的正整数；多面转镜用于绕转轴转动；多面转镜在至少一个转动范围中的转动范围内转动时，至少一个光源的光束经由F个反射面中的一反射面反射。进一步的，F个反射面中的每个反射面都可以对应至少一个转动范围，换而言之，多面转镜的每个反射面对光束的反射效果可以是相同的。
如此，可以节省设计成本，同时降低扫描系统后端算法处理的复杂度。
一种可能的设计中，至少一个控制装置还用于：控制第二扫描装置每转动至少一个转动范围，第一扫描装置转动一次；或者，控制第一扫描装置每摆动一个摆动角度范围，第二扫描装置转动预设角度，预设角度等于扫描系统的横向角分辨率。
当然，除了以上两种配合方式之外，第二扫描装置和第一扫描装置还可以通过其它配合方式进行二维扫描，本申请不做限制。
一种可能的设计中，至少一个控制装置还用于：根据扫描系统获得的历史点云数据和/或其它传感器获得的信息，控制第一扫描装置在第一时段以第一摆动方式进行摆动和/或控制第二扫描装置在第二时段以第一转速转动。
如此，可以实现灵活、精准地调整ROI在视场中的位置。
一种可能的设计中，系统包括至少一个发射光学系统，系统中至少两个发射光路共用 同一个发射光学系统；系统还包括至少一个接收光学系统，系统中至少两个接收光路共用同一个接收光学系统。
如此，可以保证来自不同光源的光束可以在扫描区域上交叠，进而保证第一方向上可以形成高分辨率区域。
一种可能的设计中，至少一个发射光学系统与至少一个接收光学系统呈同轴架构。
例如，发射光路与接收光路可以共用相同的扫描组件(如第一扫描装置、第二扫描装置等)的相同表面。
一种可能的设计中，至少一个发射光学系统与至少一个接收光学系统呈旁轴架构。
例如，发射光路与接收光路可以使用不同的扫描组件或者相同扫描组件的不同表面。具体例如，系统还包括第三扫描装置，第三扫描装置与第一扫描装置同步，第三扫描装置用于反射从视场中返回的光束。
第二方面，提供一种扫描方法，包括：控制第一扫描装置以多种摆动方式中的第一摆动方式摆动，以反射来自至少一个光源发出的光束；控制第一扫描装置以多种摆动方式中的第二摆动方式摆动，以反射来自至少一个光源发出的光束；其中，在多种摆动方式中，不同的摆动方式的摆动起始位置、摆动中心点或者摆动角度范围中的一个或多个不同。
一种可能的设计中，在多种摆动方式中，不同的摆动方式的摆动起始位置、摆动中心点或者摆动角度范围中的一个或多个不同。
一种可能的设计中，至少一个光源的数量为多个；至少一个光源中第一光源入射到扫描系统的视场区域中的光束与至少一个光源中第二光源入射到扫描系统的视场区域中的光束的夹角为α，α>0。
一种可能的设计中，控制第一扫描装置以多种摆动方式中的第一摆动方式摆动，包括：控制第一扫描装置从第一角度开始，经过N次转动，到达第二角度，N为正整数；其中，第一扫描装置每次转动的角度为β，β>0；其中，α>β。
一种可能的设计中，通过第一摆动方式，来自至少一个光源的光束对应的扫描区域为第一区域。
一种可能的设计中，通过第二摆动方式，来自至少一个光源的光束对应的扫描区域为第二区域，第一区域和第二区域对应的光斑能量分布不同。
一种可能的设计中，至少一个光源的数量为多个；方法还包括：在控制第一扫描装置以第二摆动方式进行摆动时，关闭多个光源中的部分光源。
一种可能的设计中，第一摆动方式对应的摆动角度范围和第二摆动方式对应的摆动角度范围不同，其中，第一摆动方式对应的摆动角度范围和第二摆动方式对应的摆动角度范围的差值小于或者等于90度。
一种可能的设计中，方法还包括：控制第一扫描装置以第一摆动方式进行周期性摆动；在第一扫描装置以第一摆动方式摆动至少一个周期之后，控制第一扫描装置切换至以第二摆动方式摆动。
一种可能的设计中，第一扫描装置为一维振镜。
一种可能的设计中，方法还包括：控制第二扫描装置在转动范围内转动，以反射来自至少一个光源发出的光束。
一种可能的设计中，控制第二扫描装置在转动范围内转动，包括：第二扫描装置在至少一个转动范围中的第一转动范围内转动时，控制第二扫描装置以与第一转动范围对应的 第一转速进行转动；第二扫描装置在至少一个转动范围中的第二转动范围内转动时，控制第二扫描装置以与第二转动范围对应的第二转速进行转动；其中，第一转速与第二转速不同。
一种可能的设计中，方法还包括：控制第二扫描装置在转动范围内转动，以使第二扫描装置反射来自至少一个光源发出的光束。
一种可能的设计中，方法还包括：控制第一扫描装置沿第一方向摆动，控制第二扫描装置沿第二方向转动，第二方向垂直于第一方向。
一种可能的设计中，第一方向为横向视场方向，第二方向为纵向视场方向；或者，第二方向为横向视场方向，第一方向为纵向视场方向。
一种可能的设计中，控制第二扫描装置在转动范围内转动，包括：控制第二扫描装置在至少一个转动范围中的转动范围内转动；方法还包括：第二扫描装置在至少一个转动范围中的第一转动范围内转动时，控制第二扫描装置以与第一转动范围对应的第一转速进行转动。
一种可能的设计中，基于第一转速，来自至少一个光源的光束对应的扫描区域为第三区域。
一种可能的设计中，方法还包括：第二扫描装置在至少一个转动范围中的第二转动范围内转动时，控制第二扫描装置以与第二转动范围对应的第二转速进行转动；其中，第一转速与第二转速不同。
一种可能的设计中，基于第二转速，来自至少一个光源的光束对应的扫描区域为第四区域，第三区域和第四区域的光斑能量分布不同。
一种可能的设计中，第二转速与第一转速的比值为x，其中1＜x≤1000。
一种可能的设计中，第三区域在扫描系统的视场区域中的占比为γ，其中0.01≤γ＜1。
一种可能的设计中，第三区域的中心与扫描系统的视场区域的中心的偏差为θ，其中0≤θ≤90°。
一种可能的设计中，第二扫描装置为多面转镜，多面转镜具有F个反射面，F为大于1的正整数；多面转镜用于绕转轴转动；多面转镜在至少一个转动范围中的转动范围内转动时，至少一个光源的光束经由F个反射面中的一反射面反射。
一种可能的设计中，方法还包括：控制第二扫描装置每转动至少一个转动范围，第一扫描装置转动一次；或者，控制第一扫描装置每摆动一个摆动角度范围，第二扫描装置转动预设角度，预设角度等于扫描系统的横向角分辨率。
一种可能的设计中，方法还包括：根据扫描系统获得的历史点云数据和/或其它传感器获得的信息，控制第一扫描装置在第一时段以第一摆动方式进行摆动和/或控制第二扫描装置在第二时段以第一转速转动。
一种可能的设计中，系统包括至少一个发射光学系统，系统中至少两个发射光路共用同一个发射光学系统；系统还包括至少一个接收光学系统，系统中至少两个接收光路共用同一个接收光学系统。
一种可能的设计中，至少一个发射光学系统与至少一个接收光学系统呈同轴架构；或者，至少一个发射光学系统与至少一个接收光学系统呈旁轴架构；系统还包括第三扫描装置，第三扫描装置与第一扫描装置同步，第三扫描装置用于反射从视场中返回的光束。
第三方面，提供一种处理装置，包括：至少一个处理器和接口电路；
接口电路用于接收来自装置之外的其它装置的信号并传输至处理器或将来自处理器的信号发送给装置之外的其它装置，处理器通过逻辑电路或执行代码指令用于实现如第二方面或第二方面任一种可能的设计中所述的方法。
第四方面，提供一种计算机可读存储介质，可读存储介质用于存储指令，当指令被执行时，使如第二方面或第二方面任一种可能的设计中所述的方法被实现。
第五方面，提供一种计算机程序产品，计算机程序产品中存储有指令，当其在计算机上运行时，使得计算机执行如第二方面或第二方面任一种可能的设计中所述的方法。
第六方面，提供一种终端设备，包括如第一方面或第一方面任一种可能的设计中所述的系统。
可选的，该终端设备可以为车辆、无人机、直升机、飞机、轮船、智能运输设备、或智能家居设备等。
上述第二方面至第六方面的技术效果，具体请参照上述第一方面中相应设计可以达到的技术效果，这里不再重复赘述。
附图说明
图1为通过横向五路拼接扫描方案的示意图；
图2A为小回程方案的示意图；
图2B为回程扫描方案的示意图；
图3为本申请实施例提供的一种激光雷达的应用场景示意图；
图4A、图4B为本申请实施例提供的两种驾驶场景示意图；
图5为本申请实施例提供的一种扫描系统的示意图；
图6为本申请实施例提供的另一种扫描系统的示意图；
图7为本申请实施例提供的一种扫描方式示意图；
图8为本申请实施例提供的在第一方向上形成的ROI(即第一ROI)的示意图；
图9为本申请实施例提供的多个光源的光束夹角示意图；
图10为本申请实施例提供的多个光源的扫描路径的示意图；
图11A～图11C为本申请实施例提供的几种摆动方式示意图；
图12为本申请实施例提供的第一扫描装置的扫描起始点示意图；
图13为本申请实施例提供的第一扫描装置的扫描角度变化示意图；
图14本申请实施例提供的多个光源的光束在视场中的入射情况示意图；
图15为本申请实施例提供的另一种扫描系统的示意图；
图16为本申请实施例提供的光束在第二方向匀速扫描的效果示意图；
图17为本申请实施例提供的光束在第二方向非匀速扫描的效果示意图；
图18为本申请实施例提供的一种在第二方向上形成的ROI(即第二ROI)的示意图；
图19为本申请实施例提供的另一种在第二方向上形成的ROI(即第二ROI)的示意图；
图20为本申请实施例提供的另一种扫描系统的示意图；
图21为本申请实施例提供的一种扫描方法的流程图。
具体实施方式
为了便于理解本申请技术方案，以下先对与本申请实施例涉及的部分术语进行解释：
1)、感兴趣区域(ROI)：视场区域中角分辨率较高的区域，激光雷达可以在该区域中探测到更为精细的物体信息。
2)、视场角(Field of View，FOV)：激光雷达接收系统的接收视场角。
3)角分辨率：激光雷达相邻两个探测点之间的角度间隔，分为水平(或者说横向)角分辨率和垂直(或者说纵向)角分辨率。
4)帧率：激光雷达每秒返回整体点云数据的次数。
5)本申请实施例中的术语“系统”和“网络”可被互换使用。“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合，例如a、b或c中的至少一项(个)，可以表示：a，或b，或c，或a和b，或b和c，或a和c，或a和b和c。
以及，除非有相反的说明，本申请实施例提及“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度。例如，第一优先级准则和第二优先级准则，只是为了区分不同的准则，而并不是表示这两种准则的内容、优先级或者重要程度等的不同。
此外，本申请实施例和权利要求书及附图中的术语“包括”和“具有”不是排他的。例如，包括了一系列步骤或模块的过程、方法、系统、产品或设备，不限定于已列出的步骤或模块，还可以包括没有列出的步骤或模块。
在无人驾驶、机器人等人工智能领域，相比于摄像头视觉方案，激光雷达具备全天候工作、测量分辨率、抗干扰能力强及穿透能力强等优势，能够自主感知道路环境，辅助车辆完成预定目标。可以预见，激光雷达在未来将具备广阔的应用。与此同时，激光雷达入局厂商繁多，技术更新迭代很快，竞争也是非常激烈。如何在满足车规和人眼安全的前提下，做出有竞争力，特别是在测量距离、角分辨率和FOV这三个关键指标上做出竞争力是一件非常有挑战的课题。
自动及辅助驾驶领域，考虑到整车成本、自动驾驶需求等因素，整车配备一个激光雷达是当前以及未来几年的主流方案。因此，如何在保证激光雷达低成本、小体积的基础上，通过单一激光雷达尽量实现全视场高分辨率的效果，以适应更多的路况与场景，成为主要问题。
激光雷达主要由发射系统(TX)、接收系统(RX)、扫描器三部分组成，TX以一定功率发射激光线，经过物体漫反射后信号光返回，从而被RX接收，在扫描过程中，激光雷达主要通过转动TX和RX来实现不同视场区域的探测。通过Tx与Rx的特殊排布以及扫描器的扫描方式调整，激光雷达系统可以实现ROI区域。配备ROI，特别是可灵活调整ROI的激光雷达系统，将在当前的市场需求应用中占据较大优势。
一种可能的方案中，激光雷达采用二维微机电系统(Micro-Electro-Mechanical System，MEMS)振镜作为扫描器件，通过MEMS的快速扫描实现二维FOV的探测视场。受限于MEMS的扫描角度较小，该方案使用了横向五路拼接实现120°横向FOV的方案，如图1所示。该方案中的ROI区域，是通过降低MEMS纵向扫描速度实现。在系统帧率不变的情况下，降低扫描速度可以使得相邻探测点的间隔角度减小，得到具有重叠区域的点云， 进而通过超分算法提升分辨率。
然而，由于该方案中的横向视场采取多路拼接，故无法实现横向视场的ROI区域分辨率提升与调整；同时该方案通过改变扫描速度提升分辨率，对于扫描器件的控制、功耗、稳定性等要求较高，对于后端算法处理也提出了较高需求，整体系统的稳定性与广义适配均具有挑战。并且，ROI是通过点云重叠进行超分计算提升分辨率，其点云质量及稳定性也对系统和算法提出了较高需求。
另一种可能的方案中，激光雷达使用一维摆镜的增加角分辨率以实现ROI区域。其主要方法是通过添加小回程或回程扫描两种方式实现，其原理图如图2A和图2B所示。其中，图2A展示了小回程方案，在单帧扫描流程内添加短小的扫描回程，进行小区域的重复扫描，且二次扫描位置和首次角度错开，可增加ROI区域角分辨率，帧与帧之间的大回程为快速回程过程，即帧与帧之间的大回程不参与扫描；图2B展示了回程扫描方案，取消了快速回程过程，使得大回程也参与扫描，并在ROI区域回程将扫描角度和去程扫描角度错开，实现增加ROI角分辨率的功能。
然而，小回程方案增加了摆镜马达的负载，增加了扫描周期内的扫描复杂度，对电机马达整体稳定性以及功耗提出了更高要求；回程扫描方案因为取消了原来的快速回程，直接变更了扫描方式，大幅增加了单周期扫描时间，对系统帧率会有较大影响，若为了保证帧率，则需要加大电机扫描速度，在增加功耗的同时，也会降低理论扫描角分辨率，对于扫描方案的平衡提出了很高要求。同时，这两种方案也是通过获取多个具有重叠区域的点云进行超分辨以提升分辨率，点云质量以及稳定性对于算法的依赖程度较高。
另一种可能的方案中，激光雷达通过协调扫描元件的速度与光脉冲间隔，提升ROI区域角分辨率。同时，激光雷达系统中可能采用多路Tx，且每个Tx的朝向是能够调整的，因此可以控制相邻的Tx之间的角度，当扫描系统瞄准FOV内的ROI时，多个Tx光束产生密集分辨率，当扫描系统瞄准FOV内的非ROI时，多个Tx光束产生稀疏分辨率，进而调整ROI区域的排布。
然而，该方案通过变更扫描元件的扫描速度提升角分辨率，对于扫描器件的控制、功耗、稳定性等要求较高，对于后端算法处理也提出了较高需求，整体系统的稳定性与广义适配均具有挑战。该方案通过多路Tx排布以实现高分辨率，需要多组光机组件、且光机组件朝向需要实时调整，这将极大提升成本，对马达的控制、整机功耗、稳定性及算法适配性均提出了较高需求。
为解决上述一个过多个技术问题，提供本申请实施例的技术方案。
本申请实施例提供的技术方案可以应用于具有探测能力的终端设备，尤其适用于具有激光探测能力的终端设备。其中，终端设备可以是具有激光探测能力的智能设备，包括但不限于：智能家居设备，诸如电视、扫地机器人、智能台灯、音响系统、智能照明系统、电器控制系统、家庭背景音乐、家庭影院系统、对讲系统、视频监控等；智能运输设备，诸如汽车、轮船、无人机、火车、货车、卡车等；智能制造设备，诸如机器人、工业设备、智能物流、智能工厂等。或者，终端设备也可以是具有激光探测能力的计算机设备，例如台式机、个人计算机、服务器等。还应当理解的是，终端设备也可以是具有激光探测能力的便携式电子设备，诸如手机、平板电脑、掌上电脑、耳机、音响、穿戴设备(如智能手表)、车载设备、虚拟现实设备、增强现实设备等。便携式电子设备的示例包括但不限于搭载
Figure PCTCN2022085133-appb-000001
或者其它操作系统的便携式电子设备。上 述便携式电子设备也可以是诸如具有触敏表面(例如触控面板)的膝上型计算机(Laptop)等。
一种具体的场景示例中，本申请实施例提供的技术方案可以应用于激光雷达。参见图3，为本申请实施例提供的一种激光雷达的应用场景示意图，该示例中，激光雷达100安装在车辆上，因此也称为车载激光雷达。除车载激光雷达外，激光雷达还包含安装在船上的船载激光雷达，以及安装在机器上的机载激光雷达等。一种可能的示例中，如图3所示，激光雷达100具体可安装在车辆的车头位置，在车辆的行驶过程中，激光雷达100可发出探测信号(具体为激光信号)，该探测信号照射到车辆前方的物体后会被物体所反射，而反射回来的探测信号(又称为反射信号或回波信号)可被激光雷达100接收，进而激光雷达100可以基于反射回来的探测信号确定到车辆前方的障碍物的信息，诸如障碍物的距离、方位、高度、速度、姿态、大小或形状等，以便利用该障碍物信息实现车辆的驾驶功能，诸如包括但不限于自动驾驶或辅助驾驶等。
需要指出的是，在图3所给的示例中，激光雷达100是以安装在车辆的车头位置为例，但实际应用中不限于此，激光雷达100还可以安装在其它位置，例如车尾或车顶等。
在本申请实施例提供的技术方案中，激光雷达100可以根据不同的行驶场景将ROI调整至不同的位置。例如，参见图4A，车辆在水平路面上行驶时，ROI位于视场的中心区域；车辆上坡时，ROI向上移动，进而更好地观察上坡道的情况；车辆下坡时，ROI向下移动，进而更好地观察下坡道的情况。参见图4B，车辆在水平路面上行驶时，ROI位于视场的中心区域；车辆左转弯时，ROI向左调整，进而更好地观察左前方的情况；车辆右转弯时，ROI向右调整，进而更好地观察右前方的情况。可以理解的，图4A和图4B仅为示意，在实际应用中，本申请实施例技术方案可以应用于其它需要调整ROI位置的场景(例如十字路口、村镇道路等无规则、其它难预估的路况与场景等)。关于调整ROI位置的具体方案，下面将结合附图进行详细描述。
参见图5，为本申请实施例提供的一种扫描系统的示意图。该系统可以具有探测能力的终端设备，例如应用于图3所示的激光雷达100。系统包括至少一个光源21，至少一个控制装置22，以及第一扫描装置23。
其中，至少一个光源21用于发射光束。
第一扫描装置23，用于反射来自至少一个光源21发出的光束。可以理解的是，虽然第一扫描装置23反射的是至少一个光源21发出的光束，但是光束从至少一个光源21发出的光束发出后、入射到第一扫描装置23之前，这期间可以是经过一定路径的，所以这期间光束还可能被扫描系统中的其它元件反射或透射或者经过其它处理，不代表光束从光源21发出后一定直接入射到第一扫描装置23。
至少一个控制装置22具有控制能力，可以向其它部件发出控制指令，协调其它部件的工作，例如，至少一个控制装置22可以控制第一扫描装置23在摆动角度范围内摆动。
在具体实现时，至少一个控制装置22可以集成在一个器件中实现，也可以分散在多个器件中单独实现。示例性地，可以集成在一个器件中实现，该器件具体可以是一种集成电路芯片，例如可以是通用处理器，可以是现场可编程门阵列(Field Programmable Gate Array，FPGA)，还可以是专用集成芯片(Application Specific Integrated Circuit，ASIC)，还可以是系统芯片(System on Chip，SoC)，还可以是网络处理器(Network Processor，NP)， 还可以是数字信号处理电路(Digital Signal Processor，DSP)，还可以是微控制器(Micro Controller Unit，MCU)，还可以是可编程控制器(Programmable Logic Device，PLD)，或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件及其他集成芯片。其中，该器件可以包括中央处理单元(Central Processor Unit，CPU)、神经网络处理单元(Neural-network Processing Unit，NPU)和图形处理单元(Graphics Processing Unit，GPU)，还可以包括应用处理器(Application Processor，AP)，调制解调处理器，图像信号处理器(Image Signal Processor，ISP)，视频编解码器，数字信号处理器(Digital Signal Processor，DSP)，和/或基带处理器等，具体不作限定。
进一步的，在具体实现时，至少一个控制装置22可以通过控制器局域网(Controller Area Network，CAN)总线或其它方式连接扫描系统中的其它部件，进而向其它部件发出控制指令。需要说明的是，为了便于清楚地示出系统中的各部件，图5中未画出至少一个控制装置22与其它部件的连接关系。
可以理解的是，在图5中仅示意了扫描系统中部分元件，扫描系统实际还可以包括其它元件。
例如图6所示，为本申请实施例提供的另一种扫描系统的示意图，除了光源21、至少一个控制装置22以及第一扫描装置23之外，扫描系统还可以包括分光镜24和接收器25。其中，分光镜24用于透射来自光源21的光束和反射从视场中返回的光束(具体的，来自光源21的光束会经由分光镜24透射，再经由第一扫描装置23反射；从视场中返回的光束会经由第一扫描装置23反射，再经由分光镜24反射)。接收器25用于接收并处理从视场中返回的光束。接收器25可以将光信息转换为电信息(如点云数据)，并对电信息进行处理获得目标的相关信息(如距离、形状或速度等)，或者接收器25将电信息递交给处理装置，处理装置处理电信息进而获得目标的相关信息。可以理解的，处理装置和至少一个控制装置22可以集成在一个器件中实现，也可以分散在多个器件中单独实现，本申请不做限制。
在本申请实施例中，第一扫描装置23位于不同位置(或者说角度)时，来自至少一个光源21且经由第一扫描装置23反射的光束(即发射光束)会入射到视场中的不同位置。示例性的，参见图7，第一扫描装置23摆动至第一位置时，第一扫描装置23带动光束入射到视场区域中的位置A，第一扫描装置23摆动至第二位置时，第一扫描装置23带动光束入射到视场区域中的位置B。因此，至少一个控制装置22通过控制第一扫描装置23的摆动，可以实现光束沿着某个方向对视场区域进行扫描。
在本申请实施例中，第一扫描装置23的摆动方向可以是任意方向，例如纵向(或者说垂直方向)，或者横向(或者说水平方向)，或者其它方向，本申请不做限制。至少一个控制装置22通过控制第一扫描装置23的摆动，可以实现光束在视场区域中的纵向扫描，或者横向扫描，或者其它方向上的扫描。
可以理解的，第一扫描装置23的摆动方向与第一扫描装置23所带动的光束扫描方向具有对应关系，第一扫描装置23的摆动方向变化，其带动的光束扫描方向也发生变化。第一扫描装置23的摆动方向与其带动的光束扫描方向可以相同(例如第一扫描装置23横向摆动，带动光束横向扫描)，也可以不相同(例如第一扫描装置23横向摆动，带动光束纵向扫描)。第一扫描装置23的摆动方向与光束的扫描方向的具体对应关系，与扫描系统中的各类光学元件(如各种可能的反射镜、透镜或其它扫描装置等)的设计方式相关。
为了便于描述，在下文中，以第一扫描装置23沿第一方向摆动进而带动光束在视场区域中沿第一方向扫描为例。其中，第一方向可以是任意方向，例如纵向，或者横向，或者其它方向。
在本申请实施例中，第一扫描装置23在摆动角度范围内摆动时，至少一个光源21发出的光束(即发射光束)入射到视场区域后形成的光斑为非均匀光斑，或者说，入射到视场区域中的发射光束的光线密度在第一方向上的分布是非均匀的。
例如，图8所示，在第一方向上，光斑中心位置的光线密度高于边缘位置的光线密度，应理解，图8仅为一种示例，仅示意了两种不同的疏密程度(即中心区域为一种，两个边缘区域为一种)，实际上还可以有更多类型的疏密程度，另外高密度的区域也不限于是在中心区域，还可以在其它位置。
相应的，对应光线密度较高的位置，扫描系统可以获得较高分辨的点云数据，而对应光线密度较低的位置，扫描系统可以获得较低分辨率的点云数据。
可见，来自至少一个光源21的光束投入到视场中后，可以在第一方向上自然形成一高分辨率区域(即ROI，为了便于描述，本文将第一方向上的ROI称为第一ROI)。因此，本申请实施例中的至少一个控制装置22通过控制第一扫描装置23的摆动方式，可以调整高分辨率区域(即ROI)在第一方向上的位置，进而满足对ROI功能的改善以及对ROI的灵活配置需求。
一种可能的设计中，至少一个光源21的数量为多个，且至少一个光源21至少两个光源入射到视场区域中的光束存在夹角。例如，参见图9，第一光源21A入射到扫描系统的视场区域中的光束与第二光源21B入射到扫描系统的视场区域中的光束的夹角为α，第二光源21B入射到扫描系统的视场区域中的光束与第三光源21C入射到扫描系统的视场区域中的光束的夹角为α，其中α>0。需要说明的是，图9是以相邻两个光束的夹角均为α为例，但在实际应用中，不同的相邻两个光束的夹角也可以不同，例如第一光源21A入射到扫描系统的视场区域中的光束与第二光源21B入射到扫描系统的视场区域中的光束的夹角为α1，第二光源21B入射到扫描系统的视场区域中的光束与第三光源21C入射到扫描系统的视场区域中的光束的夹角为α2，其中α1≠α2。
由于不同光源入射到视场区域中的光束存在夹角，所以当第一扫描装置23带动发射光束扫描时，视场区域中某些位置有机会被不同光源21发出的光束重复扫描到，进而形成高分辨率区域。
例如，参见图10，为光源多个光源21的扫描路径的示意图。第一扫描装置23在摆动过程中，会带动多个光源21中每个光源21(如光源21A、光源21B、光源21C)对应的光束产生多条扫描痕迹，在视场的中心位置处，具有多个光源21对应的扫描痕迹，形成高分辨率区域(即第一ROI)，而在视场的边缘区域，仅存在少量或单个光源21(如光源21A或光源21C)对应的扫描痕迹，形成低分辨率区域。
可以理解的，图9和图10中的光源21A、光源21B、光源21C仅为示意，实际上光源21的数量还可以更多或更少。
一种可能的设计中，至少一个控制装置22在控制第一扫描装置23角度范围内摆动时，可以用于控制第一扫描装置23从某个角度开始，经过N次转动，到达另一个角度，N为正整数。其中N的取值可以与扫描系统的在第一方向上的角分辨率相关，例如：第一方向上的角分辨率越高，N越大，反之，第一方向上的角分辨率越低，N越小。
设第一扫描装置23每次转动的角度为β，β>0，则有：
α>β，即：至少两个光源21入射到视场中的光束的夹角大于第一扫描装置23每次转动的夹角，其中α和β的分布关系如图10所示。可以理解的，图10为角度空间上的示意图，图10中的纵坐标表示第一方向上的视场角。
如此，可以保证视场区域中部分位置能够被不同光源21发出的光束扫描到，进而形成高分辨率区域，改善了探测性能。
一种可能的设计中，第一扫描装置23可以有多种摆动方式。其中，在多种摆动方式中，不同的摆动方式的摆动起始位置、摆动中心点或者摆动角度范围中的一个或多个不同。
一个具体的示例中，参见图11A，示出了第一扫描装置23的两种可能的摆动方式：
第一扫描装置23以第一摆动方式进行摆动时，至少一个控制装置22具体用于：控制第一扫描装置23从第一角度φ1开始，经过N次转动，到达第二角度φ2，N为正整数。其中，通过第一摆动方式，来自至少一个光源21的光束对应的扫描区域为第一区域。
第一扫描装置23以第二摆动方式进行摆动时，至少一个控制装置22具体用于：控制第一扫描装置23从第三角度φ3开始，经过M次转动，到达第四角度φ4，M为正整数，M与N可以相同或不同，本申请不做限制。其中，通过第二摆动方式，来自至少一个光源21的光束对应的扫描区域为第二区域。应理解，图11A、图11B、图11C、仅仅是一种示例，实际的角度以及视场区域位置可能不够精准。
可以理解的，不同的摆动方式对应的摆动幅度(如|φ1-φ2|、|φ3-φ4|)，可以相同，也可以不同，本申请不做限制。
由于第一摆动方式对应的角度摆动范围和第二摆动方式对应的角度摆动范围不同，导致第一区域和第二区域对应的光斑能量分布不同，或者说，第一区域中的第一ROI(或高分辨率区域)在视场区域中的分布位置与第二区域中的第一ROI(或高分辨率区域)在视场区域中的分布位置不同。例如，图11A所给的示例中，第一摆动方式下，第一ROI在第一方向上分布在视场区域的中心位置；第二摆动方式下，第一ROI在第一方向上偏离视场区域的中心位置。
可以理解的，第一区域、第二区域为最终的扫描区域(即入射到视场中的发射光束最终到达的区域)，第一区域、第二区域的具体位置不仅与第一扫描装置23的扫描方式相关，而且还与第一扫描装置23之前或之后的光学系统(例如各种可能的反射镜、透镜或其它扫描装置等光学元件)有关。相应的，第一ROI在第一方向上的具体位置与摆动角度范围的取值以及扫描系统中其它光学元件的设计相关。图11A所给的第一扫描装置23的摆动角度范围与第一ROI的位置的对应关系仅为一种可能示例，而非限定。
另一个具体的示例中，参见图11B，示出了第一扫描装置23的两种可能的摆动方式，分别对应两种摆动中心，第一摆动方式中，第一扫描装置23以φ5为中心，逆时针或顺时针摆动±Δφ幅度，第一ROI在第一方向上偏离视场区域的中心位置；第二摆动方式中，第一扫描装置23以φ6为中心，逆时针或顺时针摆动±Δφ幅度，第一ROI在第一方向上偏离视场区域的中心位置。类似的，第一ROI在第一方向上的具体位置与摆动中心位置以及扫描系统中其它光学元件的设计相关。图11B所给的第一扫描装置23的摆动中心位置与第一ROI的位置的对应关系仅为一种可能示例，而非限定。
另一个具体的示例中，参见图11C，示出了第一扫描装置23的两种可能的摆动方式，分别对应两种摆动起点，第一摆动方式中，第一扫描装置23以φ7为起点，顺时针摆动Δ φ’幅度，第一ROI在第一方向上偏离视场区域的中心位置；第二摆动方式中，第一扫描装置23以φ8为起点，顺时针摆动Δφ’幅度，第一ROI在第一方向上偏离视场区域的中心位置。类似的，第一ROI在第一方向上的具体位置与摆动起点位置以及扫描系统中其它光学元件的设计相关。图11C所给的第一扫描装置23的摆动起点位置与第一ROI的位置的对应关系仅为一种可能示例，而非限定。
可以理解的，以上均是以两种摆动方式举例，实际应用中，第一扫描装置23还可以有更多的摆动方式，相应的，多种摆动方式中不同的摆动方式对应的扫描区域的光斑能量分布不同，或者说光线密度分布不同，或者说第一ROI在视场区域中的位置不同。
此外，实际应用中，不同的摆动方式除了通过摆动起始位置、摆动中心点或者摆动角度范围区分之外，还可以采其它特征来区分，本申请不做限制。
如此，可以实现通过控制第一扫描装置23以不同摆动方式摆动来控制第一ROI在第一方向上的分布位置的效果。
一种可能的设计中，至少一个控制装置22可以将多个摆动方式中的某一个或多个摆动方式设置为默认摆动方式。例如，扫描系统(或者说扫描系统所在的设备，如激光雷达100)开机后，第一扫描装置23以默认摆动方式摆动，或者在设定场景下，第一扫描装置23以默认摆动方式摆动。可选的，默认摆动方式可以是第一摆动方式，第一摆动方式具体可以是实现第一ROI对应在中心视场的摆动方式，例如第一摆动方式图11A所示的摆动方式，即第一扫描装置23的摆动角度范围为(φ1，φ2)。如此，可以提高用户体验。
一种可能的设计中，第一摆动方式对应的摆动角度范围和第二摆动方式对应的摆动角度范围的差值小于或者等于90度。
换而言之，第一扫描装置23的摆动角度的最大可调整±90度，比如，第一扫描装置23的摆动起点的最小值为φa，最大值为φb，则φb-φa≥90°；或者，第一扫描装置23的摆动中心的最小值为φc，最大值为φd，则φd-φc≥90°；或者，第一扫描装置23的摆动终点的最小值为φe，最大值为φf，则φf-φe≥90°，等等。
一个具体的示例中，参见图12，第一扫描装置的扫描起始点相对于默认的扫描起始点最大可变动90°。
一般而言，激光雷达的FoV一般在180°左右，因此通过该设计方式，可以使得第一扫描装置23的每种摆动角度范围都在合理的范围内，进而保证第一扫描装置23每种摆动角度范围内对光束的有效反射率。
一种可能的设计中，至少一个控制装置22在控制第一扫描装置23以多种摆动方式中的任意一种摆动方式摆动时，具体用于控制第一扫描装置23以该任意一种摆动方式进行周期性摆动。
以第一摆动方式为例，至少一个控制装置22可以控制第一扫描装置23以第一摆动方式进行周期性摆动。例如，在每个周期内，第一扫描装置23从第一角度φ1开始，经过N次转动，到达第二角度φ2，在到达第二角度φ2之后，至少一个控制装置22可以控制第一扫描装置23迅速回到第一角度φ1(此过程为扫描回程阶段)，进而开始下一个周期的摆动。
如此，可以使得第一扫描装置23以同一扫描方式扫描多次，使得扫描系统可以获得足够多的点云数据，同时降低系统对后端算法的处理要求。
一种可能的设计中，至少一个控制装置22可以控制第一扫描装置22在扫描回程阶段 切换摆动方式。
示例性的，在第一扫描装置23以第一摆动方式摆动至少一个周期之后，至少一个控制装置22控制第一扫描装置23切换至以第二摆动方式进行摆动。
一个具体的示例中，如图13所示，为第一扫描装置23的扫描角度变化示意图。第一扫描装置23先周期性地以第一摆动方式摆动：每个周期内，第一扫描装置23从第一角度φ1开始，经过N次转动，到达第二角度φ2，然后迅速回到第一角度φ1，开始下个周期的摆动。经过至少一个周期之后，第一扫描装置23在第二角度φ2准备回程时，不再回到第一角度φ1，而是直接到第三角度φ3，然后周期性地以第二摆动方式摆动：从第三角度φ3开始，经过M次转动，到达第四角度φ4，然后迅速回到第三角度φ3，开始下个周期的摆动。
如此，第一扫描装置23在回程过程中切换扫描方式，可以使得第一扫描装置23切换扫描方式所经历的时间差较小，可忽略不计，更好地保证扫描系统的扫描效率。
一种可能的设计中，第一扫描装置可以为一维振镜。一维振镜具有反射面，且可以绕转轴转动，进而将入射到反射面的光束进行反射。在具体实现时，一维振镜例如可以是电流计机械谐振镜或电热微机电系统(Micro Electro Mechanical System，MEMS)振镜等，本申请不做限制。如此，可以降低设计成本。
一种可能的设计中，至少一个光源21的数量为多个时，如果第一扫描装置23在以某种摆动方式进行摆动时，只有部分光源21的光束能够进入视场，则可以关闭光束不能进入视场的光源21(即超出第一方向上的FoV的光束所对应的光源21)，避免这些光源21产生的光束对系统中其它有效光束(如从视场中返回的光束)造成干扰。
例如，参见图14，第一扫描装置23以第一摆动方式进行摆动时，所有光源21(包括光源21A、光源21B、光源21C、)的所有光束均能进入视场，而第一扫描装置23以第二摆动方式进行摆动时，只有部分光源21(包括光源21A、光源21B)的光束能进入视场，而另一部分光源(光源21C)的光束不能进入视场，因此可以关闭光源21C。需要说明的是，光源21的开启和关闭可以由至少一个控制装置22控制，也可以有系统中的其它控制器件控制，本申请不做限制。
如此，可以排除混光干扰，保证点云数据的准确率，进而提高目标识别的准确性；另外，还可以节省光源21的能量。
以上介绍了扫描系统在第一方向上的扫描方案(第一ROI在第一方向上的位置可调整)，以下介绍扫描系统在第二方向上的扫描方案。其中，第一方向与第二方向不同。
一种可能的设计中，参见图15，系统还包括第二扫描装置26，用于反射来自至少一个光源21发出的光束；至少一个控制装置22，还用于控制第二扫描装置26在转动范围内转动。第一扫描装置23和第二扫描装置26分别带动光束沿两个不同的方向扫描(即第一方向和第二方向)，从而实现扫描系统对视场区域的二维扫描。需要说明的是，这里的“来自至少一个光源21发出的光束”不是必须直接来自所述至少一个光源21的光束，在至少一个光源21至第二扫描装置26之间，光束还可以经过任意元件组成的光学系统，例如经过第一扫描装置23的反射面。也就是说，第二扫描装置26反射的光束可以是源自所述至少一个光源21且经过了其它元件的处理(包含但不限于折射、反射、或透射等)。一种具体的设计中，例如图15所示，对于发射光路来说，第二扫描装置26位于第一扫描装置23的后方；对于接收光路来说，第二扫描装置26位于第一扫描装置23的前方。
可以理解的是，第二扫描装置26的转动方向与第二扫描装置26所带动的光束扫描方向具有对应关系，第二扫描装置26的转动方向变化，其带动的光束扫描方向也发生变化。第二扫描装置26的转动方向与其带动的光束扫描方向可以相同(例如第二扫描装置26横向转动，带动光束横向扫描)，也可以不相同(例如第二扫描装置26横向转动，带动光束纵向扫描)。第二扫描装置26的转动方向与光束的扫描方向的具体对应关系，与扫描系统中的各类光学元件(如各种可能的反射镜、透镜或其它扫描装置等)的设计方式相关。
为了便于描述，在下文中，以第二扫描装置26沿第二方向摆动进而带动光束在视场区域中沿第二方向扫描为例。
其中，第二方向可以是任意方向，例如纵向，或者横向，或者其它方向，只要与第一方向不同即可。
可以理解的，在图15中仅示意了扫描系统中部分元件，扫描系统实际还可以包括其它元件，例如各种透镜、反射镜等。
一种可能的设计中，第一方向与第二方向垂直。例如，第一方向为横向视场方向，第二方向为纵向视场方向；或者，第二方向为横向视场方向，第一方向为纵向视场方向。如此，可以对视场区域实现较高效率的二维扫描。
为了便于理解，本文所给的附图中所体现出的第一方向均是以纵向视场方向为例，第二方向均是以横向视场方向为例，但实际不限于此。
一种可能的设计中，至少一个控制装置22可以控制第二扫描装置26进行匀速转动。相应的，在第二扫描装置26的带动下，来自至少一个光源21的光束投入到视场中后，会在第二方向上进行均匀的扫描，光束形成的光斑在第二方向上的分布是均匀的。例如，图16所示。
通过该设计方式，可以实现扫描系统在第一方向和第二方向上的二维扫描，并且第一方向上可以有高低不同的分辨率区域，而第二方向上各区域的分辨率相同。
另一种可能的设计中，至少一个控制装置22可以控制第二扫描装置26非匀速转动。其中，第二扫描装置26低速转动时，光束在第二方向上扫描速度相应变慢，相应扫描位置上的分辨率提高，进而形成在第二方向上地高分辨率区域(即ROI，为了便于描述，本文将第二方向上的ROI称为第二ROI)，如图17所示。
通过该设计方式，可以实现扫描系统在第一方向和第二方向上进行二维扫描，并且在第一方向和第二方向上均可以有高分辨率区域(即第一ROI和第二ROI)。
一种可能的设计中，可以为第二扫描装置26设置至少一个转动范围，且每个转动范围对应一个转动速度。其中，若至少一个转动范围的数量有多个，则不同的转动范围可以对应不同的转动速度。至少一个控制装置22可以控制第二扫描装置26在至少一个转动范围中的转动范围内转动。
以两个转动范围为例：
当第二扫描装置26在至少一个转动范围中的第一转动范围内转动时，至少一个控制装置22还用于控制第二扫描装置26以与第一转动范围对应的第一转速进行转动。
当第二扫描装置26在至少一个转动范围中的第二转动范围内转动时，至少一个控制装置22还用于控制第二扫描装置26以与第二转动范围对应的第二转速进行转动。
其中，第一转速与第二转速不同。基于第一转速，来自至少一个光源21的光束对应的扫描区域为第三区域。基于第二转速，来自至少一个光源21的光束对应的扫描区域为 第四区域，第三区域和第四区域的光斑能量分布不同。
可以理解的，第三区域、第四区域为最终的扫描区域(即入射到视场中的发射光束最终到达的区域)，第三区域、第四区域的具体位置不仅与第二扫描装置的扫描方式相关，而且还与第二扫描装置26之前或之后的光学系统(例如各种可能的反射镜、透镜或其它扫描装置等)有关。相应的，第二ROI在第二方向上的具体位置与低速转动的范围在至少一个转动范围中的位置以及扫描系统中其它光学元件的设计相关。
以第一转速小于第二转速为例，则光束在第三区域上的光斑能量(或者说光线密度)高于第四区域上的光斑能量(或者说光线密度)，相应的，扫描系统从第三区域获得点云数据分辨率高于从第四区域获得点云数据分辨率，因此第三区域可以作为第二ROI，如图18所示。
可以理解的，图18仅示意了第二扫描装置26以两种不同转动速度转动所形成的扫描区域，实际上第二扫描装置26还可以有更多不同的转动速度，形成的扫描区域中还可以有更多类型的光斑能量分布。例如，还可以设置第三转动范围，对应第三转速，其中第三转速与第一转速和第二转速均不同，则基于第三转速，来自至少一个光源21的光束对应的扫描区域上的光斑能量分布与第三区域和第四区域的光斑能光分布均不同。
进一步的，至少一个控制装置22通过调整第二扫描装置26的转动速度(或者说转动范围)与光束在视场区域中扫描位置的对应关系，可以控制第二ROI在第二方向上的分布位置。例如，图17和图18中，示意的是光束在第二方向上扫描视场中心区域时，第二扫描装置26在以慢速(如第一转速)转动为例，所以第二ROI在第二方向上分布在视场中心区域。图19示意了光束扫描视场左边缘区域时，第二扫描装置26在以慢速(如第一转速)转动为例，所以第二ROI分布在视场左边缘区域。
通过该设计方式，可以实现扫描系统灵活调整第二方向上高分辨率区域(即第二ROI)的位置。结合第一扫描装置23，可以实现扫描系统ROI的二维位置调整。应用到驾驶场景中时，可以使得单一激光雷达可适应多种复杂路况，整车无需配备更多的激光雷达，对于整车工业设计(Industrial Design，ID)友好。
一种可能的设计中，第二转速与第一转速的比值为x，其中1＜x≤1000。可选的，第一转速可以为第二扫描装置26的最小转速，第二转速可以是第二扫描装置26的最大转速。
如此，可以保证第二方向上的高分辨率区域与低分辨率区域有明显差异。
一种可能的设计中，第三区域(即第二ROI)在扫描系统的视场区域中的占比(即慢速扫描区域在全部扫描区域中的占比)为γ，其中0.01≤γ＜1。如图19所示，其中，γ为a与b的比值。
如此，可以避免第二ROI在全部视场区域中的占比过大从而降低系统扫描效率，同时避免第二ROI在全部视场区域中的占比过小从而降低系统对目标识别的准确性。
一种可能的设计中，第三区域(即第二ROI)的中心与扫描系统的视场区域的中心的偏差为θ(即慢速区域的中心点偏离视场中心的角度为θ)，其中0≤θ≤90°。
如此，可以避免第二ROI的位置调整范围过大导致系统对非必要区域进行高分辨率扫描，同时避免第二ROI的调整范围过小导致方案适用场景范围受限。
一种可能的设计中，第二扫描装置26为多面转镜，多面转镜具有F个反射面，F为大于1的正整数。例如，多面转镜的形状可以是图15所示的四棱柱(或者说立方体)的形状，其中四个侧面均可以作为反射面。当然，多面转镜的形状还可以是三棱柱、五棱柱等 等，本申请不做限制。
多面转镜用于绕转轴转动，其中转动方向可以是顺时针方向，也可以是逆时针方向，或者在顺时针方向和逆时针方向之间切换，本申请不做限制。
当多面转镜在至少一个转动范围中的转动范围内转动时，至少一个光源21的光束经由F个反射面中的一反射面反射。
进一步的，F个反射面中的每个反射面可以对应至少一个转动范围，且各个反射面对应的转动范围相同，也就是说，F个反射面中的每个反射面在反射光束的过程中，第二扫描装置26可以有相同的速度变化过程，也即多面转镜的每个反射面对光束的反射效果可以是相同的。一种可能设计中，多面转镜在转动时，F个反射面中的每个反射面对光束反射的时长，刚好等于光束沿着第二方向在视场区域中完成一次扫描的时长。如此，可以降低扫描系统后端算法处理的复杂度。
当然，在实际应用中，F个反射面中的不同反射面也可以分别对应不同的转动范围，换而言之，F个反射面中的不同反射面在反射光束的过程中，第二扫描装置26也可以有不同的速度变化过程，也即多面转镜的每个反射面对光束的反射效果可以不同。这样，第二扫描装置26的扫描方式更加灵活。
一种可能的设计中，第二扫描装置26的转动速度高于第一扫描装置23的转动速度。例如，至少一个控制装置22还用于：控制第二扫描装置26每转动至少一个转动范围，第一扫描装置23转动一次。
以第一方向为纵向视场方向、第二方向为横向视场方向为例，则第二扫描装置26每转动至少一个转动范围，对应光束在横向视场上从左到右(或从右到左)扫描一次(例如整个横向FoV的距离)，第一扫描装置23转动一次，对应光束在纵向视场上从上至下(或下至上)移动一行(即一个纵向角分辨率的距离)。
另一种可能的设计中，第二扫描装置26的转动速度低于第一扫描装置23的转动速度。例如，至少一个控制装置22还用于：控制第一扫描装置23每摆动一个摆动角度范围，第二扫描装置26转动预设角度。该预设角度可以是预先设定好的，或者可以是动态配置的。一种具体的设计中，预设角度等于扫描系统的横向角分辨率。由于工艺误差的存在，这里的“等于”可以理解为一定误差范围内的“等于”。
以第一方向为纵向视场方向、第二方向为横向视场方向为例，则第一扫描装置23每摆动一个摆动角度范围，对应光束在纵向视场上从上至下(或下至上)扫描一次(例如整个纵向FoV的距离)，第二扫描装置26转动预设角度，对应光束在横向视场上从左到右(或从右到左)移动一列(即一个横向角分辨率的距离)。
当然，除了以上两种设计方式之外，第二扫描装置26和第一扫描装置23还可以通过其它配合方式对视场区域进行二维扫描，本申请不做限制。
一种可能的设计中，至少一个控制装置22可以根据扫描系统获得的历史点云数据和/或其它传感器获得的信息，调整第一扫描装置23和/或第二扫描装置26的扫描方式，进而实现对高分辨率区域(即ROI区域，具体可以是第一ROI，或者是第二ROI，或者是第一ROI和第二ROI组成的整体区域，或者是第一ROI和第二ROI的交叠区域，不做限制)的调整。其中，其它传感器例如包括但不限于是相机、毫米波雷达等。
例如，至少一个控制装置22还用于根据扫描系统获得的历史点云数据和/或其它传感器获得的信息控制第一扫描装置23在第一时段以第一摆动方式进行摆动和/或控制第二扫 描装置26在第二时段以第一转速转动。
如此，可以实现灵活、精准地调整扫描系统的ROI在视场中的位置。
一种可能的设计中，扫描系统可以包括至少一个发射光学系统，扫描系统中至少两个发射光路共用同一个发射光学系统。
以图15为例，扫描系统包括三个光源21，每个光源21对应一个发射光路，三个发射光路共用同一个发射光学系统(包括分光镜24、第一扫描装置23、第二扫描装置26等)，三个光源21对应的光束经由相同的反射面反射或相同透射面透射后入射到视场中。
如此，可以保证来自不同光源21的光束可以在扫描区域上交叠，进而保证第一方向上可以形成高分辨率区域(即第一ROI)。可以在较低的扫描速率的基础上，实现较高分辨率及点率，大大降低激光雷达系统对扫描器件的规格需求，接人降低设计成本。
一种可能的设计中，扫描系统还包括至少一个接收光学系统，系统中至少两个接收光路共用同一个接收光学系统。
以图15为例，三个接收光路共用同一个接收光学系统(包括第二扫描装置26、第一扫描装置23、分光镜24等)，三个接收光路上的光束经由相同的反射面反射或相同透射面透射后被接收器25接收。
如此，可以保证视场中返回到扫描系统的光束可以被接收器25充分接收到，进而保证系统可以获得较多的点云数据。
一种可能的设计中，至少一个发射光学系统与至少一个接收光学系统呈同轴架构。例如，图15所示的，即发射光路与接收光路共用相同的扫描组件(如第一扫描装置23、第二扫描装置26等)的相同表面。
另一种可能的设计中，至少一个发射光学系统与至少一个接收光学系统呈旁轴架构，即发射光路与接收光路可以使用不同的扫描组件或者相同扫描组件的不同表面。
示例性的，在发射光路与接收光路可以使用不同的扫描组件情况下，扫描系统还需要设置一个扫描装置，例如图20所示的第三扫描装置27(第三扫描装置27的类型与第一扫描装置23的类型的相同，例如均为一维振镜)，至少一个控制装置22还用于控制第三扫描装置27与第一扫描装置23同步摆动，进而使得第三扫描装置27可以反射从视场中返回的光束，并使得反射光束被接收器25接收。可以理解的是，图20仅为一种示意，实际不限于此。
应理解，上述各设计方式可以相互结合以实现不同的技术效果。
可以理解的，以上附图中各部件的形状和大小不反应真实比例，目的只是示意说明本申请内容。
并且，以上仅仅是本申请的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据上述附图获得其他的附图。
基于同一技术构思，如图21所示，本申请实施例还提供一种扫描方法，该方法可以由上述扫描系统中的至少一个控制装置22执行，方法包括：
S301、控制第一扫描装置23以多种摆动方式中的第一摆动方式摆动，以反射来自至少一个光源21发出的光束；
S302、控制第一扫描装置23以多种摆动方式中的第二摆动方式摆动，以反射来自至少一个光源发出的光束；
其中，在多种摆动方式中，不同的摆动方式的摆动起始位置、摆动中心点或者摆动角 度范围中的一个或多个不同。
如此，可以实现灵活调整ROI在第一方向上的分布位置。
可选的，方法还可以包括：控制第二扫描装置26在转动范围内转动，以反射来自至少一个光源21发出的光束。
示例性的，第二扫描装置26在至少一个转动范围中的第一转动范围内转动时，控制第二扫描装置26以与第一转动范围对应的第一转速进行转动；第二扫描装置26在至少一个转动范围中的第二转动范围内转动时，控制第二扫描装置26以与第二转动范围对应的第二转速进行转动；其中，第一转速与第二转速不同。
如此，可以实现灵活调整ROI在第二方向上的分布位置。
应理解，上述装置(或系统)实施例涉及的所有相关内容均可以援引到对应方法步骤的描述，在此不再赘述。
基于同一技术构思，本申请实施例还提供一种处理装置，包括：至少一个处理器和接口电路；所述接口电路用于接收来自所述装置之外的其它装置的信号并传输至所述处理器或将来自所述处理器的信号发送给所述装置之外的其它装置，所述处理器通过逻辑电路或执行代码指令用于实现上文中至少一个控制装置22所执行的方法。
基于同一技术构思，本申请实施例还提供一种终端，包括上文中所述的扫描系统。其中该终端可以应用于智能运输设备(如汽车、轮船、无人机、火车、货车、卡车等)、智能家居设备(如电视、扫地机器人等)、智能制造设备(如机器人、工业设备、智能物流等)等。
基于同一技术构思，本申请实施例还提供一种车辆，包括上文中所述的扫描系统。
基于同一技术构思，本申请实施例还提供一种计算机可读存储介质，存储介质中存储有计算机程序或指令，当计算机程序或指令被通信装置执行时，实现如上文中至少一个控制装置22所执行方法。
基于同一技术构思，本申请实施例还提供一种计算机程序产品，当计算机程序产品在处理器上运行时，实现如上文中至少一个控制装置22所执行方法。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的保护范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (32)

  1. 一种扫描系统，其特征在于，包括：
    至少一个光源，用于发射光束；
    第一扫描装置，用于反射来自所述至少一个光源发出的光束；
    至少一个控制装置，用于控制所述第一扫描装置在摆动角度范围内摆动。
  2. 如权利要求1所述的系统，其特征在于，所述至少一个控制装置还用于控制所述第一扫描装置以多种摆动方式中的第一摆动方式进行摆动，在所述多种摆动方式中，不同的摆动方式的摆动起始位置、摆动中心点或者摆动角度范围中的一个或多个不同。
  3. 如权利要求2所述的系统，其特征在于，所述至少一个光源的数量为多个；所述至少一个光源中第一光源入射到所述扫描系统的视场区域中的光束与所述至少一个光源中第二光源入射到所述扫描系统的视场区域中的光束的夹角为α，α>0。
  4. 如权利要求2所述的系统，其特征在于，
    所述至少一个控制装置在控制所述第一扫描装置以所述第一摆动方式进行摆动时，具体用于：控制所述第一扫描装置从第一角度开始，经过N次转动，到达第二角度，所述N为正整数；其中，所述第一扫描装置每次转动的角度为β，β>0；
    其中，α>β。
  5. 如权利要求2-4任一项所述的系统，其特征在于，通过所述第一摆动方式，来自所述至少一个光源的光束对应的扫描区域为第一区域。
  6. 如权利要求5所述的系统，其特征在于，所述多种摆动方式中还包含第二摆动方式；通过所述第二摆动方式，来自所述至少一个光源的光束对应的扫描区域为第二区域，所述第一区域和所述第二区域对应的光斑能量分布不同。
  7. 如权利要求6所述的系统，其特征在于，所述至少一个光源的数量为多个；
    所述至少一个控制装置，还用于在控制所述第一扫描装置以所述第二摆动方式进行摆动时，关闭所述多个光源中的部分光源。
  8. 如权利要求6或7所述的系统，其特征在于，所述第一摆动方式对应的摆动角度范围和所述第二摆动方式对应的摆动角度范围不同，其中，所述第一摆动方式对应的摆动角度范围和所述第二摆动方式对应的摆动角度范围的差值小于或者等于90度。
  9. 如权利要求6-8任一项所述的系统，其特征在于，所述至少一个控制装置还用于：
    控制所述第一扫描装置以所述第一摆动方式进行周期性摆动；
    在所述第一扫描装置以所述第一摆动方式摆动至少一个周期之后，控制所述第一扫描装置切换至以所述第二摆动方式摆动。
  10. 如权利要求1-9任一项所述的系统，其特征在于，所述第一扫描装置为一维振镜。
  11. 如权利要求1-10任一项所述的系统，其特征在于，所述扫描系统还包括：
    第二扫描装置，用于反射来自所述至少一个光源发出的光束；
    所述至少一个控制装置，还用于控制所述第二扫描装置在转动范围内转动。
  12. 如权利要求11所述的系统，其特征在于，所述第一扫描装置沿第一方向摆动，所述第二扫描装置沿第二方向转动，所述第二方向垂直于所述第一方向。
  13. 如权利要求12所述的系统，其特征在于，所述第一方向为横向视场方向，所述第 二方向为纵向视场方向；或者，所述第二方向为横向视场方向，所述第一方向为纵向视场方向。
  14. 如权利要求11-13任一项所述的系统，其特征在于，所述至少一个控制装置还用于控制所述第二扫描装置在至少一个转动范围中的转动范围内转动；
    所述第二扫描装置在所述至少一个转动范围中的第一转动范围内转动时，所述至少一个控制装置还用于：控制所述第二扫描装置以与所述第一转动范围对应的第一转速进行转动。
  15. 如权利要求14所述的系统，其特征在于，基于所述第一转速，来自所述至少一个光源的光束对应的扫描区域为第三区域。
  16. 如权利要求14或15所述的系统，其特征在于，所述第二扫描装置在所述至少一个转动范围中的第二转动范围内转动时，所述至少一个控制装置还用于：控制所述第二扫描装置以与所述第二转动范围对应的第二转速进行转动；
    其中，所述第一转速与所述第二转速不同。
  17. 如权利要求16所述的系统，其特征在于，基于所述第二转速，来自所述至少一个光源的光束对应的扫描区域为第四区域，所述第三区域和所述第四区域的光斑能量分布不同。
  18. 如权利要求16或17所述的系统，其特征在于，所述第二转速与所述第一转速的比值为x，其中1＜x≤1000。
  19. 如权利要求15-18任一项所述的系统，其特征在于，所述第三区域在所述扫描系统的视场区域中的占比为γ，其中0.01≤γ＜1。
  20. 如权利要求15-19任一项所述的系统，其特征在于，所述第三区域的中心与所述扫描系统的视场区域的中心的偏差为θ，其中0≤θ≤90°。
  21. 如权利要求14-20任一项所述的系统，其特征在于，所述第二扫描装置为多面转镜，所述多面转镜具有F个反射面，F为大于1的正整数；所述多面转镜用于绕转轴转动；所述多面转镜在所述至少一个转动范围中的转动范围内转动时，所述至少一个光源的光束经由所述F个反射面中的一反射面反射。
  22. 如权利要求14-21任一项所述的系统，其特征在于，所述至少一个控制装置还用于：
    控制所述第二扫描装置每转动所述至少一个转动范围，所述第一扫描装置转动一次；或者，
    控制所述第一扫描装置每摆动一个所述摆动角度范围，所述第二扫描装置转动预设角度，所述预设角度等于所述扫描系统的横向角分辨率。
  23. 如权利要求14-22任一项所述的系统，其特征在于，所述至少一个控制装置还用于：
    根据所述扫描系统获得的历史点云数据和/或其它传感器获得的信息，控制所述第一扫描装置在第一时段以所述第一摆动方式进行摆动和/或控制所述第二扫描装置在第二时段以所述第一转速转动。
  24. 如权利要求1-23任一项所述的系统，其特征在于，所述系统包括至少一个发射光学系统，所述系统中至少两个发射光路共用同一个发射光学系统；
    所述系统还包括至少一个接收光学系统，所述系统中至少两个接收光路共用同一个接收光学系统。
  25. 如权利要求24所述的系统，其特征在于，
    所述至少一个发射光学系统与所述至少一个接收光学系统呈同轴架构；或者，
    所述至少一个发射光学系统与所述至少一个接收光学系统呈旁轴架构；所述系统还包括第三扫描装置，所述第三扫描装置与所述第一扫描装置同步，所述第三扫描装置用于反射从视场中返回的光束。
  26. 一种扫描方法，其特征在于，包括：
    控制第一扫描装置以多种摆动方式中的第一摆动方式摆动，以反射来自所述至少一个光源发出的光束；
    控制所述第一扫描装置以所述多种摆动方式中的第二摆动方式摆动，以反射来自所述至少一个光源发出的光束；
    其中，在所述多种摆动方式中，不同的摆动方式的摆动起始位置、摆动中心点或者摆动角度范围中的一个或多个不同。
  27. 如权利要求26所述的方法，其特征在于，所述方法还包括：
    控制第二扫描装置在转动范围内转动，以反射来自所述至少一个光源发出的光束。
  28. 如权利要求27所述的方法，其特征在于，所述控制第二扫描装置在转动范围内转动，包括：
    所述第二扫描装置在至少一个转动范围中的第一转动范围内转动时，控制所述第二扫描装置以与所述第一转动范围对应的第一转速进行转动；
    所述第二扫描装置在所述至少一个转动范围中的第二转动范围内转动时，控制所述第二扫描装置以与所述第二转动范围对应的第二转速进行转动；
    其中，所述第一转速与所述第二转速不同。
  29. 一种处理装置，其特征在于，包括：至少一个处理器和接口电路；
    所述接口电路用于接收来自所述装置之外的其它装置的信号并传输至所述处理器或将来自所述处理器的信号发送给所述装置之外的其它装置，所述处理器通过逻辑电路或执行代码指令用于实现如权利要求26-28中任一项所述的方法。
  30. 一种计算机可读存储介质，其特征在于，所述可读存储介质用于存储指令，当所述指令被执行时，使如权利要求26-28中任一项所述的方法被实现。
  31. 一种计算机程序产品，其特征在于，所述计算机程序产品中存储有指令，当其在计算机上运行时，使得计算机执行如权利要求26-28中任一项所述的方法。
  32. 一种终端设备，其特征在于，包括如权利要求1-25中任一项所述的系统。
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