WO2023029005A1 - Procédé de commande de champ de vision pour dispositif de détection, dispositif de détection et plateforme mobile - Google Patents

Procédé de commande de champ de vision pour dispositif de détection, dispositif de détection et plateforme mobile Download PDF

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Publication number
WO2023029005A1
WO2023029005A1 PCT/CN2021/116540 CN2021116540W WO2023029005A1 WO 2023029005 A1 WO2023029005 A1 WO 2023029005A1 CN 2021116540 W CN2021116540 W CN 2021116540W WO 2023029005 A1 WO2023029005 A1 WO 2023029005A1
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WIPO (PCT)
Prior art keywords
optical element
phase difference
detection device
rotational speed
field
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Chinese (zh)
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韩国庆
熊聪
黄淮
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2021/116540 priority Critical patent/WO2023029005A1/fr
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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
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves

Definitions

  • the present application relates to the field of detection devices, and in particular to a method for controlling the field of view of a detection device, a detection device and a movable platform.
  • detection devices are widely used in various fields, for example, the field of automatic driving.
  • the detection device usually has a large scanning field of view, and can scan to obtain more point cloud information.
  • Embodiments of the present application provide a method for controlling a field of view of a detection device, a detection device, and a movable platform, aiming at improving the application range and reliability of the detection device and improving user experience.
  • the embodiment of the present application provides a method for controlling the field of view of a detection device, including:
  • the target phase difference adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element, so that the corresponding field of view position or field of view of the detection device in the first field of view direction field area to scan.
  • the embodiment of the present application also provides a detection device, including:
  • the scanning module is arranged on the optical path of the light pulse sequence emitted by the light source, the scanning module includes a first optical element and a second optical element, and the first optical element and the second optical element are used to change the The propagation direction of the light pulse sequence, so that the detection device scans according to the first field of view direction and/or the second field of view direction;
  • One or more processors working individually or jointly, for executing the computer program and implementing the following steps when executing the computer program:
  • the target phase difference adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element, so that the corresponding field of view position or field of view of the detection device in the first field of view direction field area to scan.
  • the embodiment of the present application also provides a mobile platform, including:
  • a power system is provided on the platform body and is used to provide moving power for the movable platform;
  • the detection device as described above is provided on the platform body and is used to detect external environment information.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned The steps of the method for controlling the field of view of the detection device.
  • An embodiment of the present application provides a method for controlling the field of view of a detection device, by obtaining the target phase difference between the first optical element and the second optical element of the scanning module in the detection device, and then adjusting the first optical element according to the target phase difference
  • the motion parameters of an optical element and/or the motion parameters of the second optical element enable the detection device to scan the corresponding field of view position or field of view area in the direction of the first field of view, so that the detection device can scan in the field of view desired by the user. Scanning the position of the field or the area of the field of view greatly improves the application range and reliability of the detection device.
  • Fig. 1 is a schematic diagram of a scene implementing the field of view control method of the detection device provided by the embodiment of the present application;
  • Fig. 2 is a schematic flowchart of the steps of a field of view control method of a detection device provided in an embodiment of the present application;
  • Fig. 3 is a schematic diagram of the scanning range of the detection device in the second field of view direction in the embodiment of the present application;
  • Fig. 4 is a schematic flowchart of the sub-steps of the field of view control method of the detection device in Fig. 2;
  • Fig. 5 is a point cloud distribution diagram output by the detection device in the embodiment of the present application.
  • Fig. 6 is a waveform diagram in which the phase difference between the first optical element and the second optical element in the embodiment of the present application changes periodically according to the phase difference variation range;
  • Fig. 7 is another waveform diagram in which the phase difference between the first optical element and the second optical element in the embodiment of the present application changes periodically according to the phase difference variation range;
  • Fig. 8 is another point cloud distribution diagram output by the detection device in the embodiment of the present application.
  • Fig. 9 is another point cloud distribution diagram output by the detection device in the embodiment of the present application.
  • Fig. 10 is another point cloud distribution diagram output by the detection device in the embodiment of the present application.
  • Fig. 11 is a representation curve of the mapping relationship between the phase difference and the feedback control moment
  • Fig. 12 is a schematic structural block diagram of a detection device provided by an embodiment of the present application.
  • Fig. 13 is a schematic block diagram of a structure of a mobile platform provided by an embodiment of the present application.
  • the inventors of the present application found that the current detection devices usually have a larger scanning field of view, and can scan to obtain more point cloud information, but in some scenarios, only a certain position or a certain area needs to be scanned, and If a large-scale scan is performed, there will be some unnecessary point clouds, which is not convenient for subsequent processing, and the detection device needs to be replaced, which is not good for the user experience.
  • the inventors of the present application improved the field of view control method of the detection device, the detection device and the movable platform, so that the detection device can scan at the position or area of the field of view desired by the user, greatly improving the The application range and reliability of the detection device are improved.
  • the method for controlling the field of view of the detection device may be applied to the detection device, and may also be applied to a movable platform, which is not specifically limited in this embodiment of the present application.
  • the detection device is used to detect external environmental information, such as distance information, orientation information, reflection intensity information, speed information, etc. of environmental targets.
  • the detection device can be applied to space scene simulation, automatic obstacle avoidance system, 3D imaging system, 3D modeling system, Remote sensing systems, surveying and mapping systems, navigation systems, etc.
  • Fig. 1 is a schematic diagram of a scene implementing the field of view control method of the detection device provided by the embodiment of the present application.
  • the movable platform 100 includes a platform body 110, a power system 120, a detection device 130 and a control system (not shown in Figure 1), the power system 120 and the detection device 130 are arranged on the platform body 110, and the power system 120 Used to provide moving power for the movable platform, the detection device 130 is used to detect the external environment information of the environment where the movable platform is located.
  • the detecting device 130 may include electronic equipment such as radar and ranging equipment, such as lidar or laser ranging equipment. Wherein, the detection device 130 can detect the distance from the detection object to the detection device 130 by measuring the light propagation time between the detection device 130 and the detection object, that is, the time-of-flight (TOF). Alternatively, the detection device 130 can also detect the distance from the detection object to the detection device 130 by other technologies, such as a distance measurement method based on phase shift (phase shift) measurement, or a distance measurement method based on frequency shift (frequency shift) measurement. This is not limited.
  • TOF time-of-flight
  • the detection device 130 includes a light source and a scanning module, the light source is used to emit a sequence of light pulses, such as a sequence of laser pulses.
  • the scanning module is arranged on the optical path of the light pulse sequence emitted by the light source, and is used to change the propagation direction of the light pulse sequence so that the detection device 130 scans according to the first field of view direction and/or the second field of view direction.
  • the scanning module includes a first optical element and a second optical element, and the first optical element and the second optical element are used to change the propagation direction of the light pulse sequence, so that the detection device follows the direction of the first field of view and/or Scanning is performed in the second field of view direction.
  • the first field of view direction and the second field of view direction of the detection device are related to the installation position of the detection device, the first field of view direction may be a vertical field of view direction, and the second field of view direction may be a horizontal field of view direction, or, The first field of view direction may be a horizontal field of view direction, and the second field of view direction may be a vertical field of view direction.
  • the scanning module further includes a first drive mechanism and a second drive mechanism, the first drive mechanism is connected to the first optical element for driving the first optical element to rotate, the second drive mechanism is connected to the second optical element, Used to drive the rotation of the second optical element.
  • the first optical element may include a prism
  • the second optical element may include a reflector
  • the prism is used to change the propagation direction of the light pulse sequence emitted by the light source, so that the light pulse sequence reaches the reflector, and the reflector performs the optical pulse sequence reflection, so that the detection device scans according to the direction of the first field of view and/or the direction of the second field of view.
  • the control of the first driving mechanism and the second driving mechanism may be continuous or stepwise.
  • the first driving mechanism drives the prism to rotate, it may rotate continuously, and may stop after each rotation of one step, and then rotate by one step, and repeat.
  • the second driving mechanism drives the mirror to rotate, it may rotate continuously, or it may stop after rotating one step each time, and then rotate another step.
  • the step-size driving method is conducive to more precise control of the attitude of the optical components, which in turn helps to form a more regular and evenly arranged point cloud, but the continuous driving method is better than the step-size driving method.
  • the driving method is more conducive to fast scanning, and is more suitable for some application scenarios that require scanning speed.
  • the power system 120 may include one or more propellers 121 , one or more motors 122 corresponding to the one or more propellers, and one or more electronic governors (referred to as ESCs for short).
  • the motor 122 is connected between the electronic governor and the propeller 121, and the motor 122 and the propeller 121 are arranged on the platform body 110 of the movable platform 100; the electronic governor is used to receive the driving signal generated by the control system, and according to the driving signal The driving current is provided to the motor 122 to control the rotation speed of the motor 122 .
  • the motor 122 is used to drive the propeller 121 to rotate, so as to provide power for the movement of the movable platform 100, and the power enables the movable platform 100 to realize the movement of one or more degrees of freedom.
  • the movable platform 100 is rotatable about one or more axes of rotation.
  • the above-mentioned rotation axes may include a roll axis, a yaw axis and a pitch axis.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the control system may include a controller and a sensing system.
  • the sensing system is used to measure the attitude information of the movable platform, that is, the position information and status information of the movable platform 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity.
  • the sensing system may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be the Global Positioning System (GPS).
  • the controller is used to control the movement of the movable platform 100, for example, the movement of the movable platform 100 may be controlled according to the attitude information measured by the sensor system. It should be understood that the controller may control the movable platform 100 according to pre-programmed instructions.
  • the controller acquires the target phase difference between the first optical element and the second optical element of the scanning module in the detection device 130; according to the target phase difference, adjust the motion parameters of the first optical element and/or the second optical element The motion parameters of the second optical element, so that the detection device scans the corresponding field of view position or field of view area in the first field of view direction, so that the detection device can scan at the field of view position or field of view area desired by the user, very
  • the application range and reliability of the detection device are greatly improved.
  • the movable platform 100 includes unmanned aerial vehicles and cloud platform vehicles.
  • the man-machine can also be a combination of a rotary-wing drone and a fixed-wing drone, which is not limited here.
  • the movable platform 100 may also include vehicles and boats that can carry people, and the detection device 130 may scan the desired field of view position or field of view area around the vehicle or boat.
  • FIG. 2 is a schematic flowchart of steps of a method for controlling a field of view of a detection device provided in an embodiment of the present application.
  • the field of view control method of the detection device can be applied to the detection device or a movable platform to improve the application range and reliability of the detection device.
  • the field of view control method of the detection device includes steps S101 to S102.
  • Step S101 obtaining the target phase difference between the first optical element and the second optical element of the scanning module in the detection device;
  • Step S102 adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element according to the target phase difference, so that the detection device scans the corresponding field of view position or field of view area in the first field of view direction.
  • the detection device is provided with a first scanning mode and/or a second scanning mode, the first scanning mode instructs the detection device to scan at a corresponding position of the field of view in the direction of the first field of view, and the second scanning mode instructs the detection
  • the device scans the viewing field area in the first viewing field direction, and the first scanning mode and the second scanning mode can be switched mutually.
  • the scanning range of the detection device in the direction of the second field of view in the first scanning mode is the same as the scanning range of the detection device in the direction of the second field of view in the second scanning mode, and/or, the detection device is in the first scanning mode.
  • the position or area of the field of view scanned in the direction of the field of view can be adjusted, and/or, the area of the field of view scanned by the detection device in the direction of the first field of view includes The field of view position to scan.
  • the motion parameters of the first optical element and/or the motion parameters of the second optical element are adjusted, so that the detection device is in the first scanning mode.
  • the first optical element and the second optical element rotate according to the same rotational speed and direction while maintaining the target phase difference, so that the position of the field of view corresponding to the target phase difference of the detection device in the direction of the first field of view to scan.
  • the motion parameter includes a rotational speed and/or a rotation direction, and the rotation direction may be counterclockwise or clockwise.
  • the corresponding relationship between the target phase difference and the position of the field of view is related to the reflection angle of the second optical element, and the phase difference between the first optical element and the second optical element being zero corresponds to the field of view in the direction of the first field of view Location dependent.
  • the reflection angle of the second optical element as 45°
  • the position of the field of view corresponding to zero phase difference is the upper edge of the scanning range in the direction of the first field of view (ie +22.5°) as an example
  • the target phase difference and the position of the field of view The correspondence between can be:
  • ⁇ represents the target phase difference between the first optical element and the second optical element
  • View position represents the field of view position corresponding to the target phase difference ⁇ in the first field of view direction
  • FOV vertical represents the position of the detection device in the first field of view direction the scan range on.
  • the scanning range of the detection device in the direction of the second field of view may be as shown in FIG. 3 , that is, the detection device scans in a 360° horizontal direction.
  • the first mode switching instruction is obtained, wherein the first mode switching instruction is used to instruct the detection device to switch the scanning mode to the first scanning mode; the phase difference in the first mode switching instruction is determined as the first optical element and The target phase difference between the second optical elements; or, when the first mode switching instruction is obtained, determining the current phase difference between the first optical element and the second optical element as the target phase difference; according to the target phase difference, The motion parameters of the first optical element and/or the motion parameters of the second optical element are adjusted so that the detection device is in the first scanning mode.
  • the scanning mode of the detection device can be quickly switched to the first scanning mode, so that the detection device scans at the position of the field of view corresponding to the target phase difference.
  • the first mode switching instruction when the first mode switching instruction is acquired, if the first mode switching instruction does not carry phase difference information, the first The current phase difference between the optical element and the second optical element is determined as the target phase difference. At this time, it is not necessary to adjust the motion parameters of the first optical element and the motion parameters of the second optical element.
  • the field of view position corresponding to the target phase difference in the field direction is scanned.
  • the phase difference in the first mode switching instruction can be determined as the target phase difference between the first optical element and the second optical element.
  • the motion parameters of the first optical element and/or the motion parameters of the second optical element can enable the detection device to scan at the position of the field of view corresponding to the target phase difference in the direction of the first field of view.
  • the second optical element determines whether the first mode switching command is carried phase difference information. If the first mode switching command carries phase difference information, the phase difference in the first mode switching command can be determined as the target phase difference.
  • the target phase difference between the second optical element at this time, by adjusting the motion parameters of the first optical element and/or the motion parameters of the second optical element, the target phase difference correspondence of the detection device in the first field of view direction can be realized The position of the field of view is scanned.
  • adjusting the motion parameters of the first optical element and/or the motion parameters of the second optical element so that the detection device is in the first scanning mode may be as follows: adjusting the motion parameters of the first optical element And/or the motion parameter of the second optical element; when the phase difference between the first optical element and the second optical element reaches the target phase difference, control the first optical element to rotate according to the current motion parameter of the second optical element, or , controlling the second optical element to rotate according to the current motion parameters of the first optical element, so that the first optical element and the second optical element rotate according to the same rotational speed and direction.
  • the way to adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element so that the detection device is in the first scanning mode may be: control the first optical element and the second optical element The optical element stops rotating, and then adjusts the phase difference between the first optical element and the second optical element; when the phase difference between the first optical element and the second optical element reaches the target phase difference, control the first optical element and the second optical element The second optical element rotates according to a preset rotation speed and a preset direction while maintaining a target phase difference.
  • step S102 specifically includes: sub-steps S1021 to S1022.
  • Sub-step S1021 acquiring the target rotational speed difference between the first optical element and the second optical element
  • Sub-step S1022 adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element according to the target phase difference and the target rotational speed difference, so that the detection device is in the second scanning mode.
  • the phase difference between the first optical element and the second optical element changes periodically starting from the target phase difference, so that the detection device scans the field of view area in the first field of view direction .
  • the motion parameters of the first optical element and/or the motion parameters of the second optical element are adjusted according to the target phase difference; when the first optical element and the second optical element rotate at the same speed and direction, and the second optical element
  • the phase difference between the first optical element and the second optical element reaches the target phase difference, according to the target rotational speed difference, the phase difference between the first optical element and the second optical element is controlled to change periodically starting from the target phase difference,
  • the detection device is made to scan the corresponding field of view area in the first field of view direction.
  • the manner of controlling the phase difference between the first optical element and the second optical element to change periodically starting from the target phase difference may be: according to the target rotational speed difference and the target phase difference, determine the phase Difference change range, wherein, the phase difference change range starts from the target phase difference; control the motion parameters of the first optical element and/or the motion parameters of the second optical element to change periodically, so that the phase difference is carried out according to the phase difference change range Periodic changes.
  • the detection device scans in the viewing field area corresponding to the phase difference variation range in the first viewing field direction.
  • the phase difference between the two optical elements can be better and precisely controlled to change periodically starting from the target phase difference, so as to accurately realize the corresponding field of view of the detection device in the direction of the first field of view
  • the scanning of the area improves the reliability of the detection device.
  • the method of controlling the motion parameters of the first optical element and/or the motion parameters of the second optical element to change periodically so that the phase difference changes periodically according to the phase difference variation range may be as follows: obtaining a synchronous rotational speed, wherein , when the first optical element and the second optical element rotate at a synchronous rotational speed, the phase difference between the first optical element and the second optical element is the same as the target phase difference; control the rotational speed of the first optical element and/or the second optical The rotational speed of the element changes periodically around the synchronous rotational speed, so that the phase difference between the first optical element and the second optical element changes periodically according to the phase difference variation range.
  • the phase difference can be precisely controlled to change periodically according to the range of the phase difference, so that the detection device can be accurately realized at the first
  • the scanning of the corresponding field of view area in the field of view direction improves the reliability of the detection device.
  • the motion parameter includes a rotational speed
  • the waveform in which the rotational speed of the first optical element and/or the rotational speed of the second optical element changes periodically includes one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave.
  • controlling the rotational speed of the first optical element and/or the rotational speed of the second optical element to periodically change around the synchronous rotational speed may include: controlling the rotational speed of the first optical element to periodically change around the synchronous rotational speed, and Control the second optical element to rotate at a constant speed according to the rotation direction of the first optical element and the synchronous rotational speed; or control the rotational speed of the second optical element to periodically change around the synchronous rotational speed, and control the first optical element to follow the second optical
  • the rotation direction of the element and the synchronous rotational speed rotate at a constant speed, or the rotational speed of the first optical element is controlled to periodically change around the synchronous rotational speed, and the rotational speed of the second optical element is controlled to periodically vary around the synchronous rotational speed.
  • the way to determine the range of phase difference variation can be: obtain the point cloud frame rate of the detection device, and determine the duration of a cycle according to the point cloud frame rate; according to the duration and the target The rotation speed difference is to determine the first phase difference; and to determine the variation range of the phase difference according to the first phase difference and the target phase difference.
  • the first optical element and The second optical element corresponds to the upper edge of the scanning range of the detection device in the direction of the first field of view (i.e. + 22.5°) at 0 phase.
  • the detection device is at The scanning range of the field of view position corresponding to the target phase difference ⁇ in the first field of view direction is:
  • ⁇ max is the first phase difference
  • the point cloud frame rate is 10Hz
  • the first parallax direction is the vertical field of view direction
  • the second field of view direction is the horizontal field of view direction
  • the scanning range of the vertical field of view is 45 degrees
  • the target phase difference ⁇ ⁇ /2
  • the variable range of the target speed difference ⁇ V is 300rpm, and it changes sinusoidally, with a period of 0.1s as an example.
  • the point cloud distribution map output by the detection device can be shown in Figure 5.
  • the phase difference between the first optical element and the second optical element changes periodically according to the phase difference variation range
  • the corresponding waveform may include one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave.
  • the phase difference between the first optical element and the second optical element changes periodically according to the range of the phase difference.
  • the corresponding waveform can be shown in Figure 6.
  • the waveform is a triangle wave.
  • the phase difference with the second optical element starts from the target phase difference ⁇ to the first phase difference ⁇ max , and after reaching the first phase difference ⁇ max , it then moves from the first phase difference ⁇ max to the target phase difference ⁇ Decrease until returning to the target phase difference ⁇ .
  • the manner of determining the variation range of the phase difference may be: according to the first phase difference and the target phase difference, determining the second phase difference, wherein the target phase difference is the first phase difference
  • the phase difference at the midpoint between the second phase difference and the phase difference change range is determined according to the first phase difference, the second phase difference and the target phase difference.
  • the phase difference between the first optical element and the second optical element changes periodically according to the range of the phase difference.
  • the corresponding waveform can be shown in Figure 7.
  • the waveform is a sine wave.
  • the phase difference with the second optical element starts from the target phase difference ⁇ to the first phase difference ⁇ max , and after reaching the first phase difference ⁇ max , it then moves from the first phase difference ⁇ max to the target phase difference ⁇ Decrease until it returns to the target phase difference ⁇ , then continue to decrease from the target phase difference ⁇ to the second phase difference ⁇ 1 , and then go from the second phase difference ⁇ 1 to the target phase difference after reaching the second phase difference ⁇ 1 ⁇ is increased until returning to the target phase difference ⁇ .
  • the second mode switching instruction is obtained, wherein the second mode switching instruction is used to instruct the detection device to switch the scanning mode to the second scanning mode; the rotational speed difference in the second mode switching instruction is determined as the target rotational speed difference , and determine the current phase difference between the first optical element and the second optical element as the target phase difference; according to the target rotational speed difference and the target phase difference, control the phase difference between the first optical element and the second optical element to the target The phase difference is periodically changed as the starting point.
  • the second mode switching instruction the scanning mode of the detection device can be quickly switched to the second scanning mode.
  • the distance between the first optical element and the second optical element is The current phase difference is determined as the target phase difference, and according to the target speed difference in the second mode switching command, the motion parameters of the first optical element and/or the motion parameters of the second optical element are controlled to change periodically, so that the phase difference
  • the periodic change is performed according to the change range of the phase difference, so that the detection device is in the second scanning mode.
  • the second mode switching instruction is obtained, wherein the second mode switching instruction is used to instruct the detection device to switch the scanning mode to the second scanning mode; the rotational speed difference in the second mode switching instruction is determined as the target rotational speed difference , and determine the phase difference in the second mode switching instruction as the target phase difference; according to the target phase difference and the target rotational speed difference, adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element, so that the detection device In second scan mode.
  • the scanning mode of the detection device can be quickly switched to the second scanning mode.
  • the second mode switching instruction when the second mode switching instruction is obtained, if the detection device is in the first scanning mode, and the second mode switching instruction carries phase difference information, the phase difference between the first optical element and the second optical element
  • the current phase difference is determined as the target phase difference, and according to the target rotational speed difference in the second mode switching command, the motion parameters of the first optical element and/or the motion parameters of the second optical element are controlled to change periodically, so that the phase difference follows The changing range of the phase difference changes periodically, so that the detecting device is in the second scanning mode.
  • the inventors of the present application found that there are mainly two ways to implement the current detection device.
  • the first way is that multiple sets of transmitters and receivers are rotated as a whole to realize scanning.
  • the second way is that multiple sets of transmitters and receivers are fixed and cooperate with scanning.
  • the rotation of the module realizes the scanning.
  • the number of transmitters and receivers of the former is often much larger than that of the latter, and mainstream products can reach tens or hundreds, which is expensive. Compared with the former, the production and assembly complexity of the latter is greatly reduced, and the cost advantage is obvious. Under the condition of several transmitters and receivers with scanning modules, the point cloud effect of dozens or hundreds of transmitters and receivers of the former can be realized.
  • the optical components in the scanning module need to be rotated at high speed.
  • the high-speed rotation of the optical components will cause vibration and noise, which will affect the reliability of the detection device.
  • high-speed rotation will also generate high power consumption, which will affect the use of the detection device.
  • the rotational speed of the optical element is reduced, the distribution of the point cloud collected by the detection device will be sparse in the middle and dense in the two sides, and the detection effect of the detection device will not be good.
  • the inventors of the present application provided the detection device with a third scanning mode.
  • the rotational speed of the first optical element changes periodically around the first rotational speed and/or the second optical element
  • the rotating speed of the rotating speed changes periodically around the second rotating speed as the center, and the first rotating speed and the second rotating speed are smaller than the preset rotating speed threshold, and the preset rotating speed threshold can be set based on actual conditions, and is not specifically limited here.
  • the acquisition of the detection device caused by reducing the rotational speed of the optical element can be solved.
  • the obtained point cloud distribution has the problem of being sparse in the middle and dense on both sides, so as to ensure the balance of point cloud distribution and point cloud density.
  • Fig. 8 is a point cloud distribution diagram when both the first optical element and the second optical element rotate at a speed v1 greater than or equal to 13000rpm, and the number of transmitters and receivers is 4, as shown in Fig. 8, the points The cloud distribution is relatively uniform.
  • Figure 9 shows the point cloud distribution diagram when the first optical element and the second optical element rotate at a rotational speed of v2 , and the number of emitters and receivers is 4, as shown in Figure 9. It shows that the point cloud distribution has a problem of being sparse in the middle and dense on both sides.
  • Figure 10 is the point cloud effect diagram when the second optical element rotates at a constant speed of speed v2 , the first optical element changes periodically around the speed v3 , and the number of transmitters and receivers is 4, as shown in Figure 10 As shown, the point cloud distribution is uniform and dense, which is very similar to the point cloud distribution diagram shown in Figure 8.
  • the third mode switching instruction is obtained, and according to the third mode switching instruction, the detection device is controlled to be in the third scanning mode.
  • the rotational speed of the first optical element changes periodically around the first rotational speed and/or the rotational speed of the second optical element changes periodically around the second rotational speed, the first rotational speed and the second rotational speed
  • the second rotational speed is less than the preset rotational speed threshold, and the preset rotational speed threshold can be set based on actual conditions, and is not specifically limited here.
  • the first rotation speed, the first rotation angle of the first optical element, the second rotation speed and the second rotation angle of the second optical element satisfy the preset constraint condition, and when the preset constraint condition is satisfied
  • the scanning patterns of the detection device in each frame are consistent, and the preset constraints can be set based on actual conditions, which are not specifically limited here.
  • the preset constraints are:
  • V 1 M 1 *N*60
  • V 2 M 2 *N*60
  • N is the frame rate of the detection device
  • M 1 , M 2 and n are integers, optional, n is 1, V 1 is the first rotation speed, V 2 is the second rotation speed, ⁇ 1 is the first rotation angle, ⁇ 2 is the second rotation angle.
  • the manner of controlling the detection device to be in the third scanning mode may include: controlling the first optical element to rotate at a first rotational speed at a constant speed, and controlling the rotational speed of the second optical element to periodically change around the second rotational speed; or controlling The second optical element rotates at a constant speed at the second rotational speed, and controls the rotational speed of the first optical element to periodically change around the first rotational speed; or controls the rotational speed of the first optical element to periodically change around the first rotational speed, and The rotational speed of the second optical element is controlled to change periodically around the second rotational speed.
  • the waveform in which the rotating speed changes periodically may include one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave.
  • the manner of controlling the rotational speed of the first optical element may include: acquiring a feedback control parameter of the rotational speed of the first optical element; performing feedback control on the rotational speed of the first optical element according to the feedback control parameter of the rotational speed of the first optical element .
  • the feedback control parameters of the rotational speed of the first optical element include the expected phase difference between the first optical element and the second optical element, the current rotation angle of the first optical element, the current rotational speed of the first optical element, and the second rotation angle.
  • the expected phase difference between the first optical element and the second optical element, the current rotation angle of the first optical element, the current rotational speed of the first optical element, and the second rotation angle of the second optical element are acquired.
  • the way of acquiring the expected phase difference may include: acquiring the current feedback control moment of the first optical element in the current period; determining the first A desired phase difference between the optical element and the second optical element.
  • the mapping relationship between the preset phase difference and the feedback control moment is based on the maximum scanning range of the detection device in the direction of the first field of view, the number of emitters, the included angle of emission, the point cloud frame rate, the first rotational speed and The second rotation speed is determined, and the mapping relationship between the phase difference and the feedback control time can be set based on actual conditions, which is not specifically limited in this embodiment.
  • the mapping relationship between the phase difference and the feedback control moment can be represented by a curve as shown in FIG. 11. The curve shown in FIG. When the scanning speed in the center of the field of view is fast, the speed is reduced, so that the uniform arrangement of the point cloud can be achieved.
  • the way of feedback controlling the rotational speed of the first optical element may include: determining the reference rotational speed of the first optical element according to the second rotation angle; Angle and expected phase difference, determine the reference rotation angle of the first optical element; determine the compensation reference rotation speed of the first optical element according to the current rotation angle and the reference rotation angle; according to the reference rotation speed, the compensation reference rotation speed and the current rotation speed of the first optical element , to perform feedback control on the current rotational speed of the first optical element.
  • the method of determining the reference rotation speed of the first optical element according to the second rotation angle can be exemplarily given, that is, the corresponding current reference moment can be obtained according to the second rotation angle, and according to the current reference moment and the first optical element
  • the rotational speed of the element and the time mapping relationship can determine the reference rotational speed of the first optical element.
  • the manner of controlling the second optical element to periodically change around the second rotational speed may refer to the specific process of controlling the first optical element to periodically change around the first rotational speed, which will not be repeated here.
  • the detection device after the detection device is started, it may enter the third scanning mode by default. For example, after the detection device is started, it automatically triggers the third mode switching instruction, and controls the detection device to enter the third scanning mode according to the third mode switching instruction.
  • the first scanning mode or the second scanning mode may also be entered by default, which is not specifically limited in this embodiment.
  • FIG. 12 is a schematic block diagram of a detection device provided by an embodiment of the present application.
  • the detection device 200 includes a scanning module 210, a memory 220 and one or more processors 230, and the scanning module 210, the memory 220 and one or more processors 230 are connected through a bus 240, and the bus 240 is, for example, It is the I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the scanning module 200 is arranged on the optical path of the light pulse sequence emitted by the light source, the scanning module 200 includes a first optical element and a second optical element, the first optical element and the second optical The element is used to change the propagation direction of the light pulse sequence, so that the detection device 200 scans according to the first field of view direction and/or the second field of view direction.
  • the memory 220 can be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk or a mobile hard disk, etc., and the memory 220 is used to store computer programs.
  • ROM Read-Only Memory
  • the memory 220 is used to store computer programs.
  • the processor 230 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • processors 230 work individually or jointly to execute the computer program and implement the following steps when executing the computer program:
  • the target phase difference adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element, so that the corresponding field of view position or field of view of the detection device in the first field of view direction field area to scan.
  • the processor adjusts the motion parameter of the first optical element and/or the motion parameter of the second optical element according to the target phase difference, it is configured to:
  • the first optical element and the second optical element rotate according to the same rotation speed and direction while maintaining the target phase difference, so that the detection device rotates in the direction of the first field of view
  • the position of the field of view corresponding to the phase difference of the target is scanned.
  • the processor when obtaining the target phase difference between the first optical element and the second optical element of the scanning module in the detection device, the processor is used to:
  • the phase difference in the first mode switching instruction is determined as a target phase difference between the first optical element and the second optical element.
  • the processor when obtaining the target phase difference between the first optical element and the second optical element of the scanning module in the detection device, the processor is used to:
  • the current phase difference between the first optical element and the second optical element is determined as the target phase difference, wherein the first mode switching instruction is used to indicate The detection device switches the scanning mode to the first scanning mode.
  • the processor adjusts the motion parameter of the first optical element and/or the motion parameter of the second optical element according to the target phase difference, it is configured to:
  • the phase difference between the first optical element and the second optical element changes periodically starting from the target phase difference, so that the detection device The field of view area in the field of view direction is scanned.
  • the processor when the processor adjusts the motion parameter of the first optical element and/or the motion parameter of the second optical element according to the target phase difference and the target rotational speed difference, it is configured to implement :
  • the target rotational speed difference is used to control the phase difference to periodically change with the target phase difference as a starting point.
  • the processor controls the phase difference to periodically change with the target phase difference as a starting point according to the target rotational speed difference, it is used to realize:
  • the motion parameters of the first optical element and/or the motion parameters of the second optical element are controlled to change periodically, so that the phase difference is periodically changed according to the phase difference variation range.
  • the processor controls the motion parameters of the first optical element and/or the motion parameters of the second optical element to periodically change, so that the phase difference varies according to the phase difference range
  • the processor controls the motion parameters of the first optical element and/or the motion parameters of the second optical element to periodically change, so that the phase difference varies according to the phase difference range
  • the rotational speed of the first optical element and/or the rotational speed of the second optical element are controlled to periodically change around the synchronous rotational speed, so that the phase difference is periodically changed according to the phase difference variation range.
  • the detection device scans in the field of view area corresponding to the phase difference variation range in the first field of view direction.
  • the motion parameter includes a rotational speed
  • the waveform in which the rotational speed changes periodically includes one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave.
  • the processor when the processor realizes determining the variation range of the phase difference according to the target rotational speed difference and the target phase difference, it is used to realize:
  • the processor when the processor realizes determining the variation range of the phase difference according to the first phase difference and the target phase difference, it is configured to:
  • the target phase difference is a phase difference at a midpoint between the first phase difference and the second phase difference ;
  • the phase difference variation range is determined according to the first phase difference, the second phase difference and the target phase difference.
  • processor is also used to implement the following steps:
  • the rotational speed difference in the second mode switching command is determined as the target rotational speed difference.
  • processor is also used to implement the following steps:
  • the detection device is provided with a first scanning mode and/or a second scanning mode, the first scanning mode instructs the detection device to scan at a corresponding field of view position in the direction of the first field of view, the The second scanning mode instructs the detecting device to scan the field of view area in the first field of view direction.
  • the scanning range of the detection device in the second field of view direction in the first scanning mode is the same as the scanning range of the detection device in the second field of view direction in the second scanning mode; and /or,
  • the position or area of the field of view that the detection device scans in the first field of view direction can be adjusted; and/or,
  • the field of view area includes the field of view position.
  • processor is also used to implement the following steps:
  • the rotational speed of the first optical element changes periodically around the first rotational speed and/or the rotational speed of the second optical element changes periodically around the second rotational speed.
  • the first rotational speed, the first rotational angle of the first optical element, the second rotational speed, and the second rotational angle of the second optical element satisfy a predetermined Set constraints.
  • the processor realizes controlling the detection device to be in the third scanning mode, it is used to realize:
  • the rotational speed of the first optical element is controlled to periodically change around the first rotational speed
  • the rotational speed of the second optical element is controlled to be periodically varied around the second rotational speed
  • the processor when the processor realizes controlling the rotational speed of the first optical element, it is configured to realize:
  • Feedback control is performed on the rotational speed of the first optical element according to the feedback control parameter.
  • the processor obtains the feedback control parameter of the rotational speed of the first optical element, it is configured to:
  • the processor when the processor performs feedback control on the rotational speed of the first optical element according to the feedback control parameter, it is configured to:
  • Feedback control is performed on the current rotational speed of the first optical element according to the reference rotational speed, the compensation reference rotational speed and the current rotational speed.
  • the processor when the processor obtains the desired phase difference between the first optical element and the second optical element, it is configured to:
  • An expected phase difference between the first optical element and the second optical element is determined according to the current feedback control time and a preset mapping relationship between the phase difference and the feedback control time.
  • the mapping relationship is based on the maximum scanning range of the detection device in the direction of the first field of view, the number of emitters, the included angle of emission, the point cloud frame rate, the first rotational speed and the second Speed is determined.
  • the first optical element includes a prism
  • the second optical element includes a mirror
  • FIG. 13 is a schematic structural block diagram of a mobile platform provided by an embodiment of the present application.
  • the movable platform 300 includes a platform body 310 , a power system 320 and a detection device 330 .
  • the power system 320 is set on the platform body 310 and is used to provide mobile power for the movable platform 300
  • the detection device 330 is set on the platform body 310 and is used to detect the external environment information of the environment where the movable platform 300 is located.
  • the detection device 330 may be the detection device 200 in FIG. 12 .
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the above-mentioned embodiment.
  • the computer-readable storage medium may be an internal storage unit of the detection device or the movable platform described in any of the foregoing embodiments, such as a hard disk or a memory of the detection device or the movable platform.
  • the computer-readable storage medium can also be an external storage device of the detection device or the removable platform, such as a plug-in hard disk equipped on the detection device or the removable platform, a smart memory card (Smart Media Card, SMC) , Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

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  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

Un procédé de commande de champ de vision pour un dispositif de détection, comprenant : l'obtention d'une différence de phase cible entre un premier élément optique et un second élément optique d'un module de balayage dans le dispositif de détection (S101) ; et l'ajustement d'un paramètre de déplacement du premier élément optique et/ou d'un paramètre de déplacement du second élément optique en fonction de la différence de phase cible, de sorte que le dispositif de détection balaye une position de champ de vision ou zone de champ de vision correspondante dans une première direction de champ de vision (S102). Le procédé de commande de champ de vision peut améliorer la plage d'application du dispositif de détection.
PCT/CN2021/116540 2021-09-03 2021-09-03 Procédé de commande de champ de vision pour dispositif de détection, dispositif de détection et plateforme mobile Ceased WO2023029005A1 (fr)

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US5434486A (en) * 1992-06-22 1995-07-18 Fuji Electric Co., Ltd. Synchronous operation system
CN103490678A (zh) * 2013-10-17 2014-01-01 双峰格雷斯海姆医药玻璃（丹阳）有限公司 主从机同步控制方法及系统
CN108712115A (zh) * 2018-05-21 2018-10-26 南京航空航天大学 一种双电机位置同步控制策略研究设计
CN110198148A (zh) * 2019-04-09 2019-09-03 深圳鳍源科技有限公司 一种多电机控制方法、装置、设备及存储介质
CN110235025A (zh) * 2018-04-28 2019-09-13 深圳市大疆创新科技有限公司 距离探测装置
CN111868551A (zh) * 2019-01-09 2020-10-30 深圳市大疆创新科技有限公司 测距装置及其扫描机构、控制方法、可移动平台
CN112955783A (zh) * 2019-09-27 2021-06-11 深圳市大疆创新科技有限公司 电机模组、扫描模块、测距装置及控制方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5434486A (en) * 1992-06-22 1995-07-18 Fuji Electric Co., Ltd. Synchronous operation system
CN103490678A (zh) * 2013-10-17 2014-01-01 双峰格雷斯海姆医药玻璃（丹阳）有限公司 主从机同步控制方法及系统
CN110235025A (zh) * 2018-04-28 2019-09-13 深圳市大疆创新科技有限公司 距离探测装置
CN108712115A (zh) * 2018-05-21 2018-10-26 南京航空航天大学 一种双电机位置同步控制策略研究设计
CN111868551A (zh) * 2019-01-09 2020-10-30 深圳市大疆创新科技有限公司 测距装置及其扫描机构、控制方法、可移动平台
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