WO2021226763A1

WO2021226763A1 - Synchronization method and control apparatus for device, and scanning apparatus, laser radar and movable platform

Info

Publication number: WO2021226763A1
Application number: PCT/CN2020/089483
Authority: WO
Inventors: 梅雄泽; 陈亚林; 杨阳; 黄淮
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-09
Filing date: 2020-05-09
Publication date: 2021-11-18

Abstract

A synchronization method and a control apparatus for a device, and a scanning apparatus, a laser radar and a movable platform. The device comprises at least two power apparatuses, wherein each of the power apparatuses is designated to be a master power apparatus or a slave power apparatus. The method comprises: generating a feature signal on the basis of location feedback information of one master power apparatus and location feedback information of one slave power apparatus, wherein the location feedback information is used for indicating the location of each of the power apparatuses, and the feature signal is used for describing a location difference between a movement of the master power apparatus and a movement of the slave power apparatus; and generating a control signal on the basis of the feature signal, and adjusting, by using the control signal, a designated movement parameter of the slave power apparatus to be synchronized with a designated movement parameter of the master power apparatus. Therefore, a function corresponding to a synchronous movement of a master power apparatus and a slave power apparatus and the effect achieved by the synchronous movement can be realized. In addition, by means of the synchronization method, location feedback information of a master power apparatus and location feedback information of a slave power apparatus can be acquired in real time, and a designated movement parameter of the slave power apparatus can be adjusted in real time, thereby improving the synchronization precision.

Description

Equipment synchronization method, control device, scanning device, lidar and movable platform

Technical field

This application relates to the technical field of laser ranging, in particular to a device synchronization method, control device, scanning device, lidar and movable platform.

Background technique

Lidar can use different scanning patterns to scan according to different application scenarios. For example, in intelligent obstacle avoidance application scenarios, it is necessary to select non-repetitive scanning patterns with high scanning coverage to obtain better obstacle avoidance effects; while in surveying and mapping scenarios, it is necessary to select uniform repetitive scanning patterns to obtain better scanning effects. . However, the movement control of the scanning device in the lidar can also affect the formation of the scanning pattern to varying degrees.

Summary of the invention

In view of this, one of the objectives of the present invention is to provide a device synchronization method, control device, scanning device, lidar and movable platform.

According to a first aspect of the embodiments of the present application, there is provided a method for synchronizing equipment, the equipment including at least two power devices, the power devices being designated as the master power device or the slave power device, and the method includes:

A characteristic signal is generated based on a position feedback information of the master power unit and a position feedback information of the slave power unit, wherein the position feedback information is used to indicate the position of the power unit, and the characteristic signal is used to describe The position difference between the movement of the main power unit and the slave power unit;

A control signal is generated based on the characteristic signal, and the designated motion parameter of the slave power device is adjusted to be synchronized with the designated motion parameter of the master power device by using the control signal.

According to a second aspect of the embodiments of the present application, there is provided a control device for a device, the device includes at least two power devices, the power device is designated as a master power device or a slave power device, and the control device includes a memory, A processor and a computer program that is stored on a memory and can run on the processor, and the processor implements the following steps when the processor executes the program:

According to a third aspect of the embodiments of the present application, a scanning device is provided. The scanning device includes a control device, at least two power devices, and at least two scanning modules. The power device is designated as a master power device or a slave power device. , The moving speed of the power device is determined according to the scanning mode of the scanning device;

The control device is configured to generate a characteristic signal based on a position feedback information of the master power device and a position feedback information of the slave power device, wherein the position feedback information is used to indicate the position of the power device, The characteristic signal is used to describe the position difference between the movement of the master power unit and the slave power unit; and a control signal is generated based on the characteristic signal, and the control signal is used to adjust the specified movement of the slave power unit The parameters are synchronized with the designated motion parameters of the main power plant;

The power device is used to drive at least one of the scanning modules to perform scanning.

According to a fourth aspect of the embodiments of the present application, a lidar is provided, the lidar includes a distance measuring device and a scanning device;

The distance measuring device is used to emit a sequence of light pulses;

The scanning device is used to change the transmission direction of the light pulse sequence emitted by the distance measuring device and then emit it to scan the detection object;

Wherein, the scanning device includes a control device, at least two power devices and at least two scanning modules, and the power device is designated as a master power device or a slave power device;

According to a fifth aspect of the embodiments of the present application, a movable platform is provided, including a platform body and the lidar described in the fourth aspect, the lidar being provided on the platform body.

In the synchronization method, control device, scanning device and lidar of the device in the above embodiment, the main power device and the slave power device can feedback their own position information to the device during the movement process, and the device can feedback according to the position of a main power device Information and a position feedback information from the power unit to generate a characteristic signal describing the position difference between the motions of the two, and based on the characteristic signal to generate a control signal for controlling the movement of the slave power unit, so that the slave power unit moves based on the control signal , Can realize the synchronization of the designated motion parameters of the slave power device and the designated motion parameters of the master power device, so as to realize the function corresponding to the synchronous movement of the master power device and the slave power device or the effect achieved by the synchronized movement. In addition, the synchronization method can obtain position feedback information of the main power unit and the slave power unit in real time, and adjust the specified motion parameters of the slave power unit in real time, which effectively improves the synchronization accuracy of the equipment and reduces the poor control of the power unit. And cause the probability of unexpected changes in the scanning pattern.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a schematic flowchart of a device synchronization method shown in an exemplary embodiment of the present application;

Fig. 2 is a schematic flowchart of a control signal generation process shown in an exemplary embodiment of the present application;

Fig. 3 is a structural block diagram of a lidar shown in an exemplary embodiment of the present application;

Fig. 4 is a circuit diagram of a distance measuring device according to an exemplary embodiment of the present application;

Fig. 5 is a schematic structural diagram of a lidar shown in an exemplary embodiment of the application;

6a to 6c are schematic diagrams of a scanning pattern shown in an exemplary embodiment of the present application;

7a to 7c are schematic diagrams of another scanning pattern shown in an exemplary embodiment of the present application;

8a to 8c are schematic diagrams of another scanning pattern shown in an exemplary embodiment of the present application;

Fig. 9a is a schematic structural diagram of a phase synchronization control network in a one-master-multi-slave mode according to an exemplary embodiment of the present application;

Fig. 9b is a schematic structural diagram of a phase synchronization control network in a master-slave mode of a strong coupling module according to an exemplary embodiment of the present application;

FIG. 10 is a logical block diagram showing the implementation of phase synchronization control in a master-multi-slave mode according to an exemplary embodiment of the present application;

Fig. 11 is a structural block diagram of a device control device shown in an exemplary embodiment of the present application;

Fig. 12 is a structural block diagram of a scanning device shown in an exemplary embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The present application provides a method for synchronizing equipment. The equipment may include at least two power devices, and the power devices may be used to drive other devices or components of the equipment, so that the equipment realizes a specified function. For example, the device may be a scanning device in a lidar, and the scanning device is used to change the transmission direction of the light pulse sequence emitted by the distance measuring device and then exit to scan the detection object. The scanning device may include at least two power devices and at least two scanning modules, and one power device is used to drive the at least one scanning module to move to perform scanning.

The power plant can be designated as a master power plant or a slave power plant. There is a master-slave relationship between the master power plant and the slave power plant. The relationship between power plant control. The master-slave relationship may include a master-slave relationship, a master-multi-slave relationship, a multi-master-slave relationship, and a multi-master-multi-slave relationship. The corresponding master-slave relationship can be selected according to actual application requirements, which is not limited in this application. In other words, when the equipment includes two power units, one of the power units can be designated as the master power unit and the other power unit as the slave power unit. When the equipment includes more than two power units, one of the power units can be designated as the main power unit and the remaining power units as the slave power units; or more than one power unit can be designated as the main power unit and the remaining power units as the slave power units. .

Fig. 1 is a schematic flowchart of a device synchronization method shown in an exemplary embodiment of this application. As shown in Figure 1, the synchronization method of the device includes the following steps 101 to 102:

Step 101: Generate a characteristic signal based on a position feedback information of the master power device and a position feedback information of the slave power device, wherein the position feedback information is used to indicate the position of the power device, and the characteristic signal Used to describe the position difference between the movement of the main power unit and the slave power unit.

In this step, the position feedback information may be information indicating the position of the power device. During the movement of the power device, its own position can continuously change, and the power device can feedback its position change to the equipment. The power device can feed back the position feedback information in real time and continuously, or it can feed back the position feedback information periodically. The characteristic signal can be a signal that describes the position difference between a designated master power unit and a slave power unit. It should be understood that the slave power unit can follow the movement of the master power unit, and the respective motion parameters can be the same or Different, when the respective motion parameters are the same, due to differences in their respective control accuracy, there may be a position difference when the main power unit and the slave power unit are moving, and when the respective motion parameters are different, not only may the main power unit and the slave power unit be different. There are inherent position differences between power plants, and it is more likely that there will be differences in position due to differences in their respective control accuracy.

It should be noted that the power device can drive other devices or components in the equipment to move, and the position feedback information of the power device is also used to feed back the position information of other devices or components in the equipment driven by the power device. That is, there is a mapping relationship between the position information of the power unit and the position information of other devices or parts in the equipment driven by the power unit, and other devices in the equipment driven by the power unit are fed back through the information indicating the position of the power unit. Or the position information of the component can realize the adjustment of the position of other devices or components in the equipment, and then realize the designated function of the equipment.

In a possible implementation, the power device may be a rotating electric machine, or may be another device that can drive external components to move. Specifically, a suitable power device may be selected according to power requirements, which is not specifically limited in this application.

In order to more accurately describe the change of the position of the power device during the movement, in a possible implementation manner, the position of the power device may be determined according to the position of the reference feature of the power device, that is, the position of the power device may be Determined relative to the position of the reference feature. The reference feature can be a reference point, a reference scale, or a reference value. The reference feature may be a reference feature of the power plant itself, or a reference feature on an external component of the power plant, and this external component may have a certain positional relationship with the power plant.

In a possible implementation, the external component may be a component driven by a power device, that is, the power device of the device is used to drive at least one executive component of the device to move, so as to realize the corresponding function of the executive component. Then, the position of the reference feature of the power plant can be determined according to the designated position of the executive component driven by the power plant. Taking the above-mentioned laser radar scanning device as an example, the power device can be used to drive the scanning module to move to perform scanning, and the position of the reference feature of the power device can be determined according to the designated position of the corresponding driven scanning module.

Wherein, the execution component may be an optical element. In this embodiment, the optical element can perform rotational movement, and the specified position of the optical element can be the phase of the optical element. The position of the power device is determined by the phase when the optical element rotates, wherein the phase of the optical element includes But it is not limited to the thickest or thinnest position on the optical element. In the example of a scanning device, the scanning module can be a lens, a mirror, a prism, a grating, a liquid crystal, an optical phased array (Optical Phased Array) and other optical elements, which change the light pulse through the principles of refraction, reflection, and diffraction of the optical element. The emission direction of the sequence, and because the power device drives the optical element to rotate, the optical element can continuously change the emission direction of the light pulse sequence.

In another possible implementation manner, the external component may be a component dedicated to measuring the position of the power device. The power device may be equipped with an angle sensor. When the power device rotates, the angle sensor can be used to obtain the rotation of the power device. The reference feature of the power device can be the reference point of the angle sensor, and the position of the power device during rotation can be determined according to the position of the reference point. Wherein, the position of the power device can be represented by the angle of rotation during movement, the angle of rotation can be understood as the phase of the power device, and the angle sensor can detect the angle of rotation of the power device during movement.

For example, the angle sensor may be a code disc, and the reference point may be a point on the code disc. For example, the zero position of the code wheel can be used as a reference point, or it can be a point that has a certain positional relationship with the zero position. It should be understood that the angle sensor of the present application includes but is not limited to a code disc, and the type of the angle sensor is not specifically limited in the present application, and a suitable angle sensor can be selected according to actual application requirements.

Step 102: Generate a control signal based on the characteristic signal, and use the control signal to adjust the designated motion parameter of the slave power device to be synchronized with the designated motion parameter of the master power device.

In this step, according to the position difference between the master power unit and the slave power unit described by the characteristic signal, a control signal can be generated. The adjusted designated motion parameter and the designated motion parameter of the main power unit can realize a synchronized signal. It is understandable that synchronization can mean that the designated motion parameters of the master power device are the same as the designated motion parameters of the slave power device, or that the designated motion parameters between the master power device and the slave power device are in a predetermined relationship.

In a possible implementation manner, the designated motion parameter may include a target motion speed of the power device. For any two power devices, different or the same target motion speed can be set. According to the position information fed back by the power device, it can be determined whether the power device is moving at the target motion speed. Therefore, the main power device and the slave power device can be used. The position difference between the two generates a control signal to adjust the movement speed of the slave power unit so that the target movement speed of the slave power unit is synchronized with the target movement speed of the master power unit. For example, the power device may perform a rotational movement, and the movement speed of the power device may be represented by the rotation speed.

Thus, the synchronization of the designated motion parameter of the slave power device with the designated motion parameter of the master power device may mean that the target motion speed of the master power device is in a preset proportional relationship with the target motion speed of the slave power device. The main power unit and the slave power unit can maintain synchronization when they move at the target movement speed in a preset proportional relationship.

In another possible implementation manner, the power device of the equipment may perform periodic motion, for example, a rotational motion, and the specified motion parameter may be included at the starting point of the set period of the equipment, and the power The location of the device. That is, the designated motion parameter of the slave power device may be the position of the slave power device at the starting point of the set period, and the designated motion parameter of the master power device may be the position of the master power device at the start point of the set period. The starting point of the set cycle can be the initial moment of a cycle, or in other words, the initial moment of a periodic motion. The set period may be determined according to the periodic movement of the power plant, or may be determined according to the periodicity related to the function performed by the components driven by the power plant. For example, taking the above-mentioned laser radar scanning device as an example, the set period is determined according to the periodicity of the scanning pattern formed when the scanning module performs scanning.

Therefore, the designated motion parameters of the slave power device are synchronized with the designated motion parameters of the master power device. In a possible implementation, the synchronization may refer to the starting point of the adjacent set period, and the characteristic The position difference described by the signal is the same. That is, in two adjacent periodic movements, the difference between the positions of the slave power unit and the master power unit at the initial time of the set period is the same, or the difference between the positions remains the same.

In another possible implementation manner, the synchronization may also mean that at the starting point of the adjacent set period, the position of the main power device is the same, and the position of the slave power device is the same. That is to say, in two adjacent periodic motions, the position of the main power unit at the initial time of the set period is the same, and the position of the slave power unit at the initial time of the set period is the same, or , The main power unit and the slave power unit return to their original initial positions after each set period of movement. It can be understood that since the positions of the master power unit and the slave power unit at the initial time of each set period are respectively the same, the difference between the positions is also the same.

In the synchronization method of the device in the above embodiment, the main power device and the slave power device can feed back their own position information to the device during the movement process, and the device can feedback the position information of a master power device and the position feedback of a slave power device. The information generates a characteristic signal describing the position difference between the two movements, and based on the characteristic signal, generates a control signal for controlling the movement of the slave power device, so that when the slave power device moves based on the control signal, the specified movement of the slave power device can be realized The parameters are synchronized with the designated motion parameters of the main power unit to realize the function corresponding to the synchronous movement of the main power unit and the slave power unit or the effect achieved by the synchronous movement. In addition, the synchronization method can obtain position feedback information of the main power unit and the slave power unit in real time, and adjust the specified motion parameters of the slave power unit in real time, which effectively improves the synchronization accuracy of the equipment and reduces the poor control of the power unit. And cause the probability of unexpected changes in the scanning pattern.

It should be understood that the synchronization method of the equipment in the above embodiment can not only realize the synchronization of a master power device and a slave power device on the specified motion parameters, but also realize the movement of a master power device and multiple slave power devices in a specified motion. Synchronization on parameters. More, it is also possible to realize synchronization of multiple master power devices and respective slave power devices on the specified motion parameters.

Regarding the designation of the primary power plant and the secondary power plant, in an exemplary embodiment of the present application, any one of at least two power plants may be designated as the primary power plant, and the other power plants are designated as the secondary power plant.

In order to specify the main power unit and the slave power unit more clearly, in an exemplary embodiment of the present application, the main power unit and the slave power unit may be specified according to the movement speed of the power unit. For example, a power plant with a higher moving speed in a power plant is designated as a master power plant, and a power plant with a lower moving speed is designated as a slave power plant, that is, the moving speed of the master power plant is higher than that of the slave power plant. The speed of movement of the power unit.

In another exemplary embodiment of the present application, the master power device and the slave power device may also be designated according to different operations performed by the power device driving execution component. For example, the power plant that drives the execution member to perform a designated operation is designated as the master power plant, and the power plant that drives the execution member to perform a non-designated operation is designated as the slave power plant.

Still taking the aforementioned scanning device as an example, the execution component may be an optical element, and the designated operation may be scanning of the optical element in a designated scanning direction. The specified scanning direction can be the horizontal scanning direction or the vertical scanning direction, which can be specified according to the requirements of the application scenario, and this application does not make specific restrictions.

For example, when the lidar is installed on an unmanned vehicle, it is mainly used to detect the surrounding road conditions of the vehicle during its operation. The lidar can detect whether the environment of the vehicle has obstacles by performing a scan, and can feed back to the vehicle to make the vehicle automatic and timely Avoid obstacles on the ground. Since the main scanning range of the lidar is the area around the vehicle, the horizontal field of view of the lidar will be set larger than the vertical field of view. That is to say, in this application scenario, for the horizontal direction The detection requirements of the laser radar will be higher than the detection requirements in the vertical direction. The lidar mainly uses the horizontal scanning direction to detect whether there are obstacles. Then, you can specify a power device to drive the scanning module in the scanning device to perform horizontal scanning. Power plants, other power plants can be designated as slave power plants. The power unit of the scanning module that drives the lateral scanning is designated as the main power unit, which can improve the stability of its motion control, thereby ensuring the stability of the lateral scanning, so that the lidar can better detect obstacles in the environment where the vehicle is located.

Similarly, if the application scenario focuses on vertical scanning, then a power device used to drive the scanning module in the scanning device for vertical scanning can be designated as the main power device.

In addition to being simply designated as the main power plant and the slave power plant, the power plant can also be designated as at least two power plant groups, and at least one of the power plant groups includes a main power plant and a subordinate power plant. At least one slave power unit. For example, assign at least two power plants with a strong correlation to the same group.

It should be noted that when there are at least two power plants that have a strong correlation, they can be assigned to the same group, and in other power plants, if there is at least one power plant and any other power plant is not strong The power plant without strong correlation can be used as at least one power plant group, that is, the power plant group may only include one power plant, and the main power plant and the slave power plant may not be specified in the power plant group.

For example, the equipment includes three power devices, of which two power devices have a strong correlation, and the other power device does not have a strong correlation. In this case, the two power devices with a strong correlation can be used. Designated as one power plant group and another power plant as another power plant group, that is, these three devices are designated as two power plant groups.

Similarly, for another example, the equipment includes four power devices, of which two power devices have a strong correlation, and the other two power devices do not have a strong correlation. In this case, the two power devices can have a strong correlation. A power plant with a strong correlation is designated as a power plant group, and the other two power plants are designated as a power plant group respectively, that is, the four devices are designated as three power plant groups.

In an exemplary embodiment of the present application, it is possible to determine whether the power device has a strong correlation according to the movement speed and direction of the power device, so as to group the power devices. For example, the movement speed can be equal and the movement direction is opposite. The power plants are assigned to the same group, that is, at least two power plants have the same moving speed and opposite moving directions. It can be considered that the at least two power plants have a strong correlation, so they are assigned to the same group.

In a power unit group, the master power unit and the slave power unit can also be designated. In the example in which the power units with the same moving speed and the opposite direction are assigned to the same group, since the moving speeds of the power units are equal , You can arbitrarily designate one of the power plants as the main power plant, and the other power plants are designated as the secondary power plant. Of course, one of the power plants can also be designated as the master power plant according to the direction of movement, and the other power plants are designated as the secondary power plant.

Between each power plant group, it may also be designated as a master power plant group and a slave power plant group, that is, one of the at least two power plant groups is designated as the master power plant group, and at least two of the power plant groups Is designated as the slave power unit group, then the synchronization method of the equipment further includes: controlling the master power unit group to send inter-group control signals to the slave power unit group, so that the slave power unit group The designated motion parameters of the target power unit in the main power unit group are synchronized with the designated motion parameters of the target power unit in the main power unit group.

In this embodiment, the inter-group control signal may be an instruction to adjust the designated motion parameter of the target power unit in the slave power unit group, so that the adjusted designated motion parameter of the target power unit of the slave power unit group is the same as that of the master power unit group. The specified motion parameters of the target power plant can be synchronized with the signal.

In an exemplary embodiment of the present application, the target power device may be the master power device, that is, the control signal between groups indicates that the specified motion parameter of the master power device in the slave power device group is adjusted to make The adjusted designated motion parameters of the master power unit of the slave power unit group can be synchronized with the designated motion parameters of the master power unit of the master power unit group, thereby realizing synchronization between the slave power unit group and the master power unit group. Of course, optionally, the target power plant may also be other power plants other than the main power plant in the power plant group, which is not specifically limited here.

For example, in at least two power plant groups, including at least one power plant that drives the corresponding execution component to perform a specified operation, in order to achieve better effects of the specified operation, the drive in each power plant group can be executed correspondingly. The power unit of the component performing the specified operation is synchronized.

Take a scanning device as an example. The scanning device includes three power device groups. Each of the three power device groups includes a power device that drives the scanning module to perform lateral scanning. In order to make the scanning effect obtained in the lateral scanning direction better, The inter-group control signal may be an instruction to adjust the specified motion parameter of the power device that performs lateral scanning from the drive scanning module in the power device group, so that the specified motion parameter of the power device that is scanned laterally from the drive scanning module of the power device group is adjusted. The specified motion parameters of the power unit that performs lateral scanning with the driving scanning module of the main power unit group can be synchronized, so as to realize the synchronization between the slave power unit group and the main power unit group. It is understandable that the power device of the lateral scanning may be the main power device or the slave power device in the corresponding power device group.

It should be noted that the power plant group may include only one power plant. In this case, the target power plant of the power plant group is a power plant included in it. In a power plant group with only one power plant , Can not distinguish between the main power unit and the slave power unit.

It should be understood that the synchronization between the master power unit and the slave power unit in a power unit group still applies to the generation of characteristic signals by the position feedback information of the master power unit and the position feedback information of the slave power unit in the above-mentioned embodiment. Based on the characteristic signal, a control signal for controlling the movement of the slave power device is generated, so that when the slave power device moves based on the control signal, the designated motion parameters of the slave power device can be synchronized with the designated motion parameters of the master power device.

From this, it can be understood that the control signal is a signal used to instruct to adjust the specified motion parameters of the slave power unit in a power unit group, so as to realize the synchronization of the slave power unit and the main power unit in the group; the control signal between groups is used A signal indicating the adjustment of the specified motion parameter of the target power unit in the slave power unit group to achieve synchronization between the slave power unit group and the main power unit group.

Regarding the designation of the primary power plant group and the secondary power plant group, in an exemplary embodiment of the present application, the primary power plant group may be any one of the at least two power plant groups, and the other power plant groups Can be designated as a slave power unit group.

In order to specify the main power unit group and the slave power unit group more clearly, in another exemplary embodiment of the present application, the main power unit group and the slave power unit group may be specified according to the movement speed of the target power unit in each power unit group. Group. The target power plant may be the primary power plant in each power plant group, that is, the movement speed of the primary power plant in each power plant group is used as the designated basis for the primary power plant group and the secondary power plant group.

For example, it is possible to designate the power unit group with the higher moving speed of the main power unit among all power unit groups as the main power unit group, and designate the power unit group with the relatively low moving speed of the main power unit among all power unit groups as the slave The power unit group, that is, the movement speed of the main power unit of the main power unit group is higher than the movement speed of the main power unit of the slave power unit group.

It can be seen that, for all the power plants in the equipment, it can be designated as a main power unit and at least one slave power unit, or can be designated as a main power unit group and at least one slave power unit group, of which at least one power unit group It includes a main power unit and at least one slave power unit. The two designated methods have slightly different synchronization methods.

In an exemplary embodiment of the present application, the device may include two synchronization modes: a first synchronization mode and a second synchronization mode. Wherein, the first synchronization mode may be used to indicate that at least two of the power devices include one of the main power devices; the second synchronization mode may be used to indicate that at least two of the power devices include at least two of the main power devices. It can be understood that these two synchronization modes can correspond to the designation methods of the two power devices in the foregoing embodiment.

The first synchronization mode: When at least two power units are designated as a master power unit and at least one slave power unit, the first synchronization mode is adopted for synchronization. The first synchronization mode can also be called a master multi-slave synchronization mode. It can be understood that the first synchronization mode is based on the control of a master power unit, and the slave power unit follows the control to achieve synchronization.

Second synchronization mode: When at least two power units are designated as at least two main power units, grouping can be based on multiple main power units, that is, at least two power units are designated as at least two power unit groups Each power unit group includes at least one main power unit, and may also include at least one slave power unit. Each power plant group can also be designated as a master power plant group and at least one slave power plant group. Among them, each power unit group can include a main power unit group, the main power unit of the slave power unit group follows the main power unit of the main power unit group for synchronous control, and the slave power unit in the power unit group follows the main power unit in the group. Synchronous control.

In the above two synchronization modes, the designation of the main power unit and the subordinate power unit, the designation of the main power unit group and the subordinate power unit group can be specified according to the designation basis of the above embodiment, for example, the movement speed of the power unit. Since the designation of the power plant can be determined by the motion parameters of the power plant, before the synchronization of the equipment, the synchronization mode of the equipment can be directly determined based on the motion parameters of each power plant of the equipment, so as to determine the control signal sent Type, that is, when it is determined to adopt the first synchronization mode, it is only necessary to send a control signal to at least one slave power unit to synchronize the slave power unit with the main power unit; when it is determined to adopt the second synchronization mode, it needs to be sent to At least one slave power unit sends control signals, and sends control signals to other slave power units in at least one power unit group to synchronize the slave power unit group with the main power unit group, and the slave power unit in the power unit group and the main power unit Device synchronization. Among them, the motion parameter may include the motion speed of the power device.

As an example, when at least two power devices have the same moving speed and opposite moving directions, it can be considered that the at least two power devices have a strong coupling relationship, and at least two power devices with the same moving speed and opposite moving directions can be considered Each power plant is designated as the same group, and all power plants are grouped. Each power plant group can designate one power plant as the main power plant, that is, the second synchronization mode is applicable.

As another example, when the moving speed of each power device is different, it can be determined that the first synchronization mode is applicable, and the power device is designated as one power device and at least one slave power device.

Regarding the specific implementation of the characteristic signal generating control signal, FIG. 2 is a schematic flowchart of a control signal generating process shown in an exemplary embodiment of the application. As shown in FIG. 2, the control signal generation process may specifically include the following steps 202a to 202b:

In step 202a, a motion position compensation signal is generated based on the signal indicating the difference between the target position of the slave power device and the master power device, the signal indicating the motion speed of the master power device, and the characteristic signal.

Step 202b, generating the control signal based on at least the motion position compensation signal and the signal indicating the motion speed of the slave power device.

In this embodiment, the signal indicating the target position difference between the slave power unit and the master power unit may include the target position difference between the slave power unit and the master power unit, and the target position difference may be the slave power unit and the master power unit. The position difference of the device to achieve synchronization, that is, when the main power unit and the slave power unit are moving at their respective designated movement speeds, the position difference between the slave power unit and the master power unit to achieve synchronization while keeping the designated movement speed unchanged . For example, when the power unit is rotating, the angle of rotation can be used to indicate the position of the power unit, and the position difference between the secondary power unit and the main power unit can also be represented by the angle of rotation. Therefore, the target position difference can be The target angle difference between the power unit and the main power unit.

It should be understood that the target position difference between different slave power devices and one master power device may be the same or different.

The signal indicating the moving speed of the main power device may include the moving speed of the main power device, for example, it may be the target rotation speed of the main power device. The characteristic signal is a signal of the position difference between the main power unit and the slave power unit obtained according to the position feedback information of the main power unit and the slave power unit, that is, the signal of the current position difference.

That is to say, through the three parameters of the movement speed of the master power unit, the target position difference between the slave power unit and the master power unit, and the current position difference between the slave power unit and the master power unit, a slave power unit can be obtained. Motion position compensation. The motion position compensation can be target position compensation or motion speed compensation. Therefore, the control signal is generated based on the motion speed and motion position compensation of the slave power device, so that the specified motion parameters of the slave power device can be adjusted. Speed movement to achieve synchronization with the main power unit; for another example, the position of the slave power unit at the starting point of the set period is adjusted so that the position of the slave power unit at the starting point of the adjacent set period is the same as the main power The position difference between the positions of the devices is the same, or at the starting point of the adjacent set period, the position of the main power device is the same, and the position of the slave power device is the same, so as to realize the synchronization of the slave power device and the main power device.

In an exemplary embodiment of the present application, the control signal is also generated based on the position feedback information of the slave power device, that is, the control signal is generated based on the position fed back from the power device in real time, the motion speed of the slave power device, and the motion position compensation. . In this way, the synchronization accuracy can be further improved.

In an exemplary embodiment of the present application, the device may include a control device, and the control device may be communicatively connected with at least two power devices to receive position feedback information fed back by the power device, the movement speed of the power device, and the communication between the power devices. The location difference, and so on. The control device can also generate a control signal according to the acquired information, and transmit it to each slave power device via the bus, and adjust the specified motion parameters of each slave power device to achieve synchronization between the slave power device and the main power device. Using the bus to transmit control signals, the bus timing is more complicated, the cost is high, and there will be transmission delays, but there is no need for each slave power device to perform complicated calculations separately. The control device can also transmit the acquired information to each slave power device through a hard wire, and each slave power device calculates and obtains the control signal separately. In this way, although the calculation is complicated, the transmission delay can be avoided, the synchronization accuracy can be improved, and the cost is relatively low. Low.

It should be understood that the generation process and transmission process of the control signal between the groups can be similar to the control signal generation process and transmission process of the above-mentioned embodiment, the difference is that the main power unit of the main power unit group and the slave power unit group are obtained. Related motion parameters to generate and transmit control signals between groups, which will not be repeated here.

The device synchronization method shown in the foregoing embodiments can be applied to various technical fields, for example, the laser ranging field, the remote sensing detection field, the mechanical field, and so on. Specific application products can be lidar, laser rangefinder, etc., can also be applied to other products based on TOF (time-of-flight, time of flight) technology, and can be applied to mobile platforms such as obstacle avoidance, surveying and mapping, In specific applications such as positioning, such as unmanned aerial vehicles, unmanned vehicles, unmanned ships, robots, etc., it can also be such as pan-tilts and cameras.

In order to understand the specific application of the above-mentioned device synchronization method more clearly, the following uses Lidar as an example for illustration.

Lidar can use the laser to detect the distance and azimuth of the detected object, and can be used in remote sensing, obstacle avoidance, surveying and mapping, modeling, navigation and other fields. Lidar is used to sense external environmental information, such as distance information, azimuth information, reflection intensity information, and speed information of environmental targets. In one implementation, the distance measuring device can detect the distance of the detected object to the lidar by measuring the time of light propagation between the lidar and the detection object, that is, the time-of-flight (TOF). Alternatively, lidar can also use other technologies to detect the distance from the detected object to the lidar, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement. Do restrictions.

Fig. 3 is a structural block diagram of a laser radar according to an exemplary embodiment of the application. As shown in FIG. 3, the lidar 30 may include a distance measuring device 310 and a scanning device 320, wherein the distance measuring device is used to emit light beams, receive the returned light, and convert the returned light into electrical signals; the scanning device is used to change The light pulse sequence emitted by the distance measuring device is emitted after the transmission direction to scan the detection object.

For ease of understanding, FIG. 4 is a circuit diagram of a distance measuring device according to an exemplary embodiment of the application. As shown in FIG. 4, the distance measuring device 40 may include a transmitting circuit 410, a receiving circuit 420, a sampling circuit 430, and an arithmetic circuit 440.

The transmitting circuit 410 may emit a light pulse sequence (for example, a laser pulse sequence). The receiving circuit 420 may receive the light pulse sequence reflected by the object to be detected, and perform photoelectric conversion on the light pulse sequence to obtain an electrical signal. After processing the electrical signal, the electrical signal can be output to the sampling circuit 430. The sampling circuit 430 may sample the electrical signal to obtain the sampling result. The arithmetic circuit 440 may determine the distance between the distance measuring device 400 and the detected object based on the sampling result of the sampling circuit 430.

Optionally, the distance measuring device 400 may further include a control circuit 450, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.

It should be understood that although the distance measuring device shown in FIG. 4 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam for detection, the embodiment of the present application is not limited to this, the transmitting circuit The number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit can also be at least two, which are used to emit at least two light beams in the same direction or in different directions; wherein, the at least two light paths can be simultaneous Shooting can also be shooting at different times. In an example, the light-emitting chips in the at least two transmitting circuits are packaged in the same module. For example, each emitting circuit includes a laser emitting chip, and the dies in the laser emitting chips in the at least two emitting circuits are packaged together and housed in the same packaging space.

The coaxial optical path can be used in the lidar, that is, the beam emitted by the lidar and the reflected beam share at least part of the optical path in the lidar. For example, after at least one laser pulse sequence emitted by the transmitting circuit is emitted by the scanning device to change the propagation direction, the laser pulse sequence reflected by the probe is incident on the receiving circuit after passing through the scanning device. Alternatively, the laser radar can also use an off-axis optical path, that is, the beam emitted by the laser radar and the reflected beam are transmitted along different optical paths in the laser radar.

For ease of understanding, FIG. 5 is a schematic structural diagram of a laser radar shown in an exemplary embodiment of the application. As shown in FIG. 5, the lidar 50 uses a coaxial optical path. The lidar 50 includes a distance measuring device 510. The distance measuring device 510 includes a transmitter 511 (which may include the transmitting circuit of FIG. 4), a collimating element 512, and a detection device. The device 513 (which may include the receiving circuit, the sampling circuit, and the arithmetic circuit of FIG. 4) and the optical path changing element 514. The distance measuring device 510 is used to emit a light beam, receive the return light, and convert the return light into an electrical signal. Among them, the transmitter 511 can be used to emit a sequence of light pulses. In one embodiment, the transmitter 511 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the transmitter 511 is a narrow-bandwidth beam with a wavelength outside the visible light range. The collimating element 512 is arranged on the exit light path of the emitter, and is used to collimate the light beam emitted from the emitter 511, and collimate the light beam emitted from the emitter 511 into parallel light and emit it to the scanning device. The collimating element 512 is also used to condense at least a part of the return light reflected by the probe. The collimating element 512 may be a collimating lens or other elements capable of collimating a light beam.

In the embodiment shown in FIG. 5, the light path changing element 514 is used to combine the transmitting light path and the receiving light path in the lidar before the collimating element 512, so that the transmitting light path and the receiving light path can share the same collimating element, making the light path more compact. In some other implementation manners, the emitter 511 and the detector 513 may use their respective collimating elements, and the optical path changing element 514 is arranged on the optical path behind the collimating element.

In the embodiment shown in FIG. 5, since the beam aperture of the light beam emitted by the transmitter 511 is relatively small, and the beam aperture of the return light received by the lidar is relatively large, the optical path changing element 514 can use a small-area mirror to remove The transmitting light path and the receiving light path are combined. In some other implementation manners, the light path changing element 514 may also use a reflector with a through hole, where the through hole is used to transmit the emitted light of the emitter 511, and the reflector is used to reflect the returned light to the detector 513. In this way, the shielding of the back light by the support of the small reflector in the case of using the small reflector can be reduced.

In the embodiment shown in FIG. 5, the optical path changing element 514 deviates from the optical axis of the collimating element 512. In some other implementation manners, the optical path changing element may also be located on the optical axis of the collimating element 512.

The lidar 50 also includes a scanning device 520. The scanning device 520 is placed on the exit light path of the distance measuring device 510, and the scanning device 520 is used to change the transmission direction of the collimated light beam emitted by the collimating element 512 and project it to the external environment, and project the return light to the collimating element 512. The returned light is collected on the detector 513 via the collimating element 512.

In an embodiment, the scanning device 520 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, or diffracting the light beam. For example, the scanning device 520 includes a lens, a mirror, a prism, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the foregoing optical elements. In an example, at least part of the optical element is moving, for example, the at least part of the optical element is driven to move by a power device, and the moving optical element can reflect, refract or diffract the light beam to different directions at different times. In some embodiments, the multiple optical elements of the scanning device 520 may rotate or vibrate around a common axis, and each rotating or vibrating optical element is used to continuously change the propagation direction of the incident light beam. In one embodiment, the multiple optical elements of the scanning device 520 may rotate at different speeds or vibrate at different speeds. In another embodiment, at least part of the optical elements of the scanning device 520 may rotate at substantially the same rotation speed. In some embodiments, the multiple optical elements of the scanning device may also rotate around different axes. In some embodiments, the multiple optical elements of the scanning device may also rotate in the same direction or in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.

In one embodiment, the scanning device 520 includes a first optical element 521 and a driver 523 connected to the first optical element 521. The driver 523 is used to drive the first optical element 521 to rotate around a rotation axis so that the first optical element 521 can change the alignment. The direction of the straight beam. The first optical element 521 projects the collimated beam to different directions. In one embodiment, the angle between the direction of the collimated light beam changed by the first optical element and the rotation axis changes with the rotation of the first optical element 521. In one embodiment, the first optical element 521 includes a pair of opposite non-parallel surfaces, and the collimated light beam passes through the pair of surfaces. In one embodiment, the first optical element 521 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the first optical element 521 includes a wedge-angle prism to collimate the beam for refracting.

In an embodiment, the scanning device 520 further includes a second optical element 522, the second optical element 522 rotates around the same rotation axis, and the rotation speed of the second optical element 522 is different from the rotation speed of the first optical element 521. The second optical element 522 is used to change the direction of the light beam projected by the first optical element 521. In one embodiment, the second optical element 522 is connected to another driver 524, and the driver 524 drives the second optical element 522 to rotate. The first optical element 521 and the second optical element 522 can be driven by the same or different drivers, so that the rotation speed and/or rotation of the first optical element 521 and the second optical element 522 are different, so that the collimated light beam is projected to the outside space differently. The direction can scan a larger space. In one embodiment, the controller 525 controls the drivers 523 and 524 to drive the first optical element 521 and the second optical element 522, respectively. The rotational speeds of the first optical element 521 and the second optical element 522 may be determined according to the expected scanning area and pattern in actual applications. The

drivers

522 and 524 may include motors or other drivers.

In one embodiment, the second optical element 522 includes a pair of opposite non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 522 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the second optical element 522 includes a wedge prism.

In an embodiment, the scanning device 520 may further include a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element includes a pair of opposite non-parallel surfaces, and the light beam passes through the pair of surfaces. In one embodiment, the third optical element includes a prism whose thickness varies in at least one radial direction. In one embodiment, the third optical element includes a wedge prism. At least two of the first, second, and third optical elements rotate at different rotation speeds and/or rotation directions.

The rotation of each optical element in the scanning device 520 can project light to different directions, so that the space around the lidar 50 is scanned. It is understandable that when the speed of the optical element in the scanning device changes, the scanning pattern will also change accordingly.

When the light projected by the scanning device 520 hits the detection object, a part of the light is reflected by the detection object to the lidar 50 in a direction opposite to the projected light. The returned light reflected by the probe passes through the scanning device 520 and then enters the collimating element 204.

The detector 513 and the emitter 511 are placed on the same side of the collimating element 512, and the detector 513 is used to convert at least part of the return light passing through the collimating element 512 into electrical signals.

In one embodiment, an anti-reflection coating is plated on each optical element. Optionally, the thickness of the antireflection coating is equal to or close to the wavelength of the light beam emitted by the emitter 511/103, which can increase the intensity of the transmitted light beam.

In one embodiment, a filter layer is plated on the surface of an element located on the beam propagation path in the laser radar, or a filter is provided on the beam propagation path for transmitting at least the wavelength band of the beam emitted by the transmitter and reflecting Other bands to reduce the noise caused by ambient light to the receiver.

In some embodiments, the transmitter 511 may include a laser diode through which nanosecond laser pulses are emitted. Further, the laser pulse receiving time can be determined, for example, the laser pulse receiving time can be determined by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the lidar 50 can calculate the TOF using the pulse receiving time information and the pulse sending time information, so as to determine the distance from the detection object to the lidar 50.

In an implementation manner, the lidar of the embodiment of the present application can be applied to a mobile platform, and the lidar can be installed on the platform body of the mobile platform. The mobile platform with lidar can measure the external environment, for example, to measure the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and to conduct two-dimensional or three-dimensional mapping of the external environment. In some embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera. When the lidar is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle. When lidar is applied to a car, the platform body is the body of the car. The car can be a self-driving car or a semi-self-driving car, and there is no restriction here. When the lidar is applied to a remote control car, the platform body is the body of the remote control car. When lidar is applied to a robot, the platform body is a robot. When lidar is applied to a camera, the platform body is the camera itself.

It should be noted that, in the scanning device of the embodiment of the present application, at least one of the scanning modules is a light refraction element having a pair of relatively non-parallel surfaces; and/or, at least one of the scanning modules is a light reflecting element. The combination of light refraction elements and/or light reflection elements can determine the direction of the light pulse sequence, that is, the scanning direction. The combination of different optical elements can make the light pulse sequence different, and the scanning patterns formed by scanning can be different .

The embodiment of the application uses the superposition of different combinations of optical elements to realize the scanning function of the lidar. The scanning pattern of the lidar in the embodiment of the application is more complicated than the linear scanning pattern (repetitive scanning) of the traditional lidar. , The lidar of the embodiment of the present application uses a non-repetitive scanning scanning method, so that the scanning coverage rate is higher, and the detection accuracy is improved.

However, in actual applications, there are different requirements for the scanning method of the lidar according to the requirements of the actual application scenarios. As mentioned above, in intelligent obstacle avoidance application scenarios, it is necessary to select non-repetitive scanning patterns with high scanning coverage to obtain better obstacle avoidance effects; while in surveying and mapping scenarios, it is necessary to select uniform repeated scanning patterns to obtain Better scanning effect. For the realization of repeated scanning patterns, higher requirements are required for the motion control of the scanning device. If different lidars are used in order to adapt to the needs of different application scenarios, different hardware resources and software resources need to be configured, which not only increases the user's expenditure cost, but also the operation is cumbersome.

The device synchronization method described in the above-mentioned embodiments proposed in this application can be applied to lidars that support non-repetitive scanning (scanning trajectories do not overlap, and scanning density gradually accumulates). This type of lidar is improved to not only Supports non-repetitive scanning, and can also support repetitive scanning (scanning traces overlap back and forth) to meet different application requirements. Therefore, there is no need to change the hardware configuration or software configuration, which is beneficial to reduce the user's operation steps and improve the user experience , But also reduce the user's expenditure costs.

Here is an explanation of how the scanning device with the above structure realizes the non-repetitive scanning ranging method: during the continuous emission of the light pulse sequence from the ranging device, at least one scanning module continuously rotates to change the emission of the light pulse sequence Direction, so that the light pulse sequence is emitted to different directions in the detection environment at different times, and then the distance measuring device generates a point cloud according to the reflected light pulses. The number of point clouds collected at one time depends on the number of light beams emitted at one time and how the light beams are reflected. Since the number of point clouds collected at one time is small, the point clouds collected within a period of time are generally accumulated into one point cloud frame for output. Later, the point cloud frame can be displayed to the user, or objects in the point cloud frame can be recognized, and the recognition result can be used for subsequent judgment or control.

The scanning trajectory of the scanning device in this application is not scanning back and forth along a straight line or scanning in a circular loop. The change in the optical path of each scanning module in the scanning device to the incident beam is regarded as a vector. The scanning device of this embodiment is The optical path of the incident light pulse is changed by a complex changing vector, or by the superposition of at least two regularly changing vectors, thereby forming a more complex scanning track. Therefore, the scanning trajectory of the scanning device in this embodiment is non-repetitive within a certain period of time, so that the scanning density in the field of view of the scanning device increases as the integral field of view of the point cloud frame increases. After a sufficiently long period T has elapsed, the scanning device will form a high-density scanning pattern, and restart at the next period T. However, in most application scenarios, due to the high requirements for real-time performance, the integration time of a point cloud frame cannot reach the time length T before it is output. Instead, the time length t that is much smaller than T needs to be output for processing. Therefore, this implementation The scanning trajectories in the two adjacent point cloud frames output by the scanning device in the example are different, which is the non-repetitive scanning mentioned above.

That is to say, the lidar of the embodiment of the present application includes two scanning methods: non-repetitive scanning and repetitive scanning. Non-repetitive scanning may mean that the scanning trajectories of point clouds in adjacent point cloud frames of N frames (N is an integer greater than or equal to 2) scanned and output by the scanning device do not coincide. Repetitive scanning may mean that the scanning trajectories of the point clouds in the adjacent point cloud frames of the N frames scanned and output by the scanning device overlap completely or partially.

Due to the control accuracy, the scanning trajectories may not be accurately overlapped. Therefore, all or part of the scanning trajectories of the point cloud in the adjacent point cloud frames scanned and output by the scanning device are all or partly overlapped as repetitive scanning.

It can be understood that during the actual movement of the scanning device, due to the influence of some practical factors, such as the environmental temperature, the line loss of the transmission voltage signal, or the electromagnetic interference of the transmission line, etc., the movement control of the scanning module The accuracy is limited, that is, the scanning module cannot keep moving at the second specified speed at all times, and there may be certain fluctuations compared to the second specified speed, so that the scanning trajectory of the point cloud in the adjacent point cloud frame may not be accurate. Overlap, that is, when the scanning module in the scanning device moves at the second specified speed, some of the scanning trajectories of the point cloud in adjacent point cloud frames may not overlap, but in general, in the adjacent point cloud frames The scanning trajectories of the point cloud can still overlap most. In an embodiment, when the scanning module in the scanning device moves at the second specified speed, at least 60% of the scanning trajectories of the point cloud in the output N frames of adjacent point cloud frames overlap; or , The projected contour area of the point cloud scan trajectory in the adjacent point cloud frames of the output N frames overlaps at least 70% on the plane perpendicular to the central axis of the lidar.

Of course, when the related hardware configuration or software configuration can realize the high-precision motion control of the scanning module, the scanning trajectories of the point clouds in the adjacent point cloud frames can also be completely overlapped.

Among them, the above two scanning methods are related to the movement speed of the scanning module, or in other words, related to the movement speed of the power device driving the scanning module. Therefore, non-repetitive scanning and repetitive scanning can be realized by setting the movement speed of the power device. scanning.

When the scanning module moves at the first specified speed through the power device, the scanning trajectories of the point cloud in the adjacent point cloud frames of the N frames output by the scanning device do not overlap, so as to realize non-repetitive scanning. In non-repetitive scanning, the first specified speeds corresponding to the scanning modules do not satisfy an integer multiple relationship, and therefore, the scanning trajectories of the point clouds in the adjacent point cloud frames of the N frames output by the scanning device do not coincide. It should be understood that the scanning device includes at least two scanning modules, and one scanning module corresponds to a first designated speed.

In an exemplary embodiment of the present application, the first designated speeds corresponding to the respective scanning modules are different. It should be understood that the first designated speed includes the first designated speed value and the first designated direction. The first designated speed difference can be the case where the speed value is the same but the direction is different; it can also be the case where the speed value and direction are different .

When the scanning module moves at the second specified speed by the power device, the scanning trajectories in the adjacent point cloud frames of the N frames output by the scanning device overlap completely or partially, so as to realize repetitive scanning. In repetitive scanning, the second designated speeds corresponding to each scanning module are in an integer multiple relationship. That is, the inventor found that if the scanning trajectories of point clouds in N frames of adjacent point cloud frames are to overlap completely or partially, when the scanning device contains at least two rotating (or vibrating) scanning modules, the speed of each scanning module It needs to be an integer multiple of the scanning module with the minimum speed, so as to achieve the purpose of repetitive scanning, so that the scanning trajectory of each point cloud formed can be fully or partially overlapped. It should be understood that the scanning device includes at least two scanning modules, and one scanning module corresponds to a second designated speed.

In order to scan and output a complete scan trajectory in each point cloud frame, in an exemplary embodiment of the present application, the first designated speed and the second designated speed are not less than a predetermined speed threshold, wherein the predetermined speed The threshold is determined according to the scanning frame rate of the scanning device.

Specifically, in order to improve the scanning efficiency of the repetitive scanning mode, the embodiment of the application realizes that the scanning trajectory of the point cloud formed at any one time is closed. When the scanning device outputs the point cloud frame at the scanning frame rate, the scanning device in the scanning device The second specified speed of each scanning module is greater than or equal to an integer multiple of the specified frame rate, so that the scanning trajectory of the point cloud in one point cloud frame can be completely closed. When the scanning device includes at least two moving scanning modules, the second specified speed of each scanning module is greater than or equal to an integer multiple of the scanning frame rate. It is understandable that the specific multiple can be specifically set according to actual application scenarios, and this embodiment does not impose any limitation on this.

In one embodiment, the minimum second designated speed of the scanning module may be equal to an integer multiple of the scanning frame rate, and the movement speed of each scanning module/power device is the speed of the scanning module/power device with the smallest movement speed. Integer multiples of the movement speed. In this way, after the last scan is completed to form a closed scan trajectory of the point cloud, when the current scan is performed, since the closed scan trajectory was formed last time, the phase of each scan module in the scanning device at the end of the last time returns to the upper The phase when scanning is started once, so that there is no need to adjust the phase of each scanning module during this scanning, which is beneficial to improve the scanning efficiency of the repetitive scanning mode. The phase of the scanning module is the same as the phase of the optical element described above.

In this embodiment, the scanning frame rate of the scanning device may refer to the frequency of scanning one point cloud frame, and scanning one point cloud frame at the scanning frequency can obtain a complete scanning trajectory. The predetermined speed threshold is determined according to the scanning frame rate. When performing non-repetitive scanning or repetitive scanning, the first designated motion or second designated motion corresponding to each scanning module is not less than the predetermined speed threshold to ensure scanning output The integrity of the scan trace. Wherein, the scanning frame rate is usually a result calculated in seconds, that is, it represents the number of point cloud frames that can be integrated and output per second.

In an exemplary embodiment of the present application, the second designated speed is an integer multiple of the scanning frame rate of the scanning device. Therefore, the relationship between the second designated speed and the scanning frame rate can be expressed by the following formula:

V=n*M

Among them, V is the movement speed of the scanning module/power device; M is the scanning frame rate of the scanning device, in Hertz (Hz); n is an integer, n≠0, and the positive or negative of n is used to indicate the direction of the movement speed.

In an exemplary embodiment of the present application, V is the rotation speed of the scanning module/power device, and the unit of rotation speed can be revolutions per second (r/s, rps, revolutions per second), or revolutions per minute (r/min , Rpm, revolutions per minute). When revolutions per minute are used as the unit of rotation speed V, unit conversion is required, that is, the right side of the equation needs to be multiplied by 60. In addition, when n is a positive integer, it can indicate that the scanning module/power device rotates clockwise; when n is a negative integer, it can indicate that the scanning module/power device rotates counterclockwise.

Since V generally refers to the movement speed of each scanning module/power device, n may be different for different scanning modules/power devices, and the specific value of n can be determined according to actual application scenarios.

In an exemplary embodiment of the present application, the movement speed of each scanning module/power device is an integer multiple of the movement speed of the scanning module/power device with the smallest movement speed.

From another perspective, if you want to realize that the scanning trajectory of any point cloud formed in a point cloud frame can be completely closed, the second specified speed needs to meet: within the integration time of one point cloud frame, the The rotation angle of the scanning module is greater than or equal to an integer multiple of 2π. The reason is as follows: It is known from the above embodiment that the second specified speed of the scanning module in the scanning device needs to be greater than or equal to an integer multiple of the scanning frame rate, so that within the integration time of one point cloud frame, the point The scanning trajectory of the point cloud in the cloud frame is completely closed, which helps to improve the scanning efficiency of the repetitive scanning. The integration time of one point cloud frame can be determined based on the scanning frame rate of the point cloud frame output by the scanning module. For example, if the integration time of one point cloud frame is t and the scanning frame rate is M, then

In an embodiment, within the integration duration of one point cloud frame, the angle of rotation of the scanning module in the scanning device may be determined based on the second specified speed and the integration duration of the one point cloud frame, For example, assuming that the second designated speed is V, and the angle of rotation of the scanning module in the scanning device is θ, then θ=t*V*2π, and further,

If the second specified speed is greater than or equal to an integer multiple of the scanning frame rate, it can be determined that when the scanning module in the scanning device moves at the second specified speed, within the integration time of one point cloud frame, the The rotation angle of the scanning module is greater than or equal to an integer multiple of 2π, that is, the scanning module rotates at least one circle. When the scanning device includes at least two moving scanning modules, each scanning module rotates at an angle greater than or equal to an integer multiple of 2π within the integration time of one point cloud frame. In this way, a point cloud frame is formed The scan trace of can be completely closed.

In one embodiment, the scanning module has a minimum rotation angle of 2π within the integration time of one point cloud frame. In other words, the rotation speed of each scanning module is also the rotation speed of the scanning module with the smallest rotation angle. Integer multiples, so as to realize the repetitive scanning ranging method.

It should be understood that for the combination of the same scanning module, it can realize non-repetitive scanning or repetitive scanning.

In an exemplary embodiment of the present application, based on preset conditions or input instructions, the scanning module may be controlled to switch between the first designated speed and the second designated speed through the power device, so as to achieve non- Switch between repetitive scanning and repetitive scanning. Among them, the preset condition or input instruction may be a condition set by the user according to actual application requirements or an input instruction.

For example, the user can directly input an instruction to select repetitive scanning or non-repetitive scanning to switch between the first designated speed and the second designated speed, or the scanning device can preset to meet the repetitive scanning conditions and The condition of non-repetitive scanning is met, so that when the preset condition is met, the switch between the first designated speed and the second designated speed is triggered.

In the following, several embodiments are used to illustrate that the scanning patterns formed by the combination of different scanning modules are different, and to illustrate that the combination of the same scanning module can realize non-repetitive scanning and repetitive scanning.

FIGS. 6a to 6c, FIGS. 7a to 7c, and FIGS. 8a to 8c are schematic diagrams of various scanning patterns shown in an exemplary embodiment of the application. Among them, Figures 6a to 6c are the scanning patterns outputted by the superimposed combination of two prisms; Figures 7a-7c are the scanning patterns outputted by the superimposed combination of three prisms; The scan pattern of the scan output.

As shown in Figures 6a to 6c, two prisms are used to superimpose and combine the scanned output patterns. As an example, the rotation speeds of the two prisms are 7200rpm and 600rpm, respectively, and the scanning frame rate is 10Hz. That is, the rotation speeds of the two prisms meet the relationship of integer multiples with the scanning frame rate, and the scanned output is in each adjacent point cloud frame. The scan trajectories of the point cloud overlap completely or partially (as shown in Figure 6a).

As another example, the rotation speeds of the two prisms are 7219rpm and 613rpm, respectively, and the scanning frame rate is 10Hz. That is, the rotation speeds of the two prisms do not satisfy the relationship of integer multiples with the scanning frame rate. As shown in Figure 6b, in a point cloud frame During the integration time of, the scan trajectory of the scan output cannot be completely closed, so that the scan trajectory scanned by the integration time of the next point cloud frame does not overlap (as shown in Fig. 6c).

As shown in Figures 7a to 7c, three prisms are used to superimpose and combine the scanned output patterns. As an example, the rotational speeds of the three prisms are 7200rpm, 7200rpm, and 600rpm, respectively, and the scanning frame rate is 10Hz, that is, the rotational speeds of the three prisms meet the relationship of integer multiples with the scanning frame rate, and the scanned output adjacent point clouds The scan trajectories of the point cloud in the frame overlap completely or partially (as shown in Figure 7a).

As another example, the rotational speeds of the three prisms are 7352rpm, 7352rpm, and 619rpm, respectively, and the scanning frame rate is 10Hz. That is, the rotational speeds of the three prisms do not satisfy the relationship of integer multiples with the scanning frame rate, as shown in Figure 7b. During the integration time of the cloud frame, the scan trajectory of the scan output cannot be completely closed, so that the scan trajectory scanned by the integration time of the next point cloud frame does not overlap (as shown in FIG. 7c).

As shown in Figures 8a to 8c, a prism and a mirror are used to superimpose and combine the scanned output patterns. As an example, the rotation speeds of the prism and the mirror are 600rpm and 9000rpm, respectively, and the scanning frame rate is 10Hz. That is, the rotation speeds of the prism and the mirror meet the relationship of integer multiples with the scanning frame rate, and the scanned output adjacent point clouds The scan trajectories of the point cloud within the frame overlap completely or partially (as shown in Figure 8a).

As another example, the rotation speeds of the prism and the mirror are 613rpm and 9009rpm, respectively, and the scanning frame rate is 10Hz. That is, the rotation speed of the prism and the mirror does not satisfy the relationship of integer multiples with the scanning frame rate, as shown in Figure 8b. During the integration time of the cloud frame, the scan trajectory of the scan output cannot be completely closed, so that the scan trajectory scanned and output by the integration time of the next point cloud frame does not overlap (as shown in FIG. 8c).

It can be seen from the foregoing embodiments that by keeping the movement speed of the power device in an integer multiple relationship with the scanning frame rate, repetitive scanning can be realized. In addition to maintaining the moving speed of the power device, the relative positions of the moving devices need to be kept consistent, so that the relative positions of the scanning modules driven by each power device are kept consistent. Therefore, the synchronization method of the equipment in the above embodiment can be used to obtain the position difference between the main power unit and the slave power unit according to the position feedback information of the main power unit and the slave power unit, and the position of the slave power unit can be adjusted according to the position difference. Synchronize with the position of the main power unit to achieve repetitive scanning. In the scanning device, since the power device is used to drive the scanning module to move, that is, the motion parameters of the power device correspond to the motion parameters of the scanning module. For ease of description, the following embodiments are described with the scanning module.

In an exemplary embodiment of the present application, the phase synchronization mode of the scanning device includes two types: a master-multi-slave mode, and a strong coupling module master-slave mode. It can be understood that the phase synchronization mode of the scanning device refers to the phase synchronization mode of the scanning module (optical element), which can be characterized by the master-slave relationship of the power device.

Fig. 9a is a schematic structural diagram of a phase synchronization control network in a one-master-multi-slave mode according to an exemplary embodiment of the application. As shown in Figure 9a, an active-slave mode is a network structure in which a master scan module is the main control, and the slave scan module follows the control. In actual operation, the main scanning module can move at a relatively stable rotation speed. When the slave scanning module moves, it can be controlled according to the position feedback information of the main scanning module and the movement state of the slave scanning module itself, thereby realizing phase synchronization control.

Fig. 9b is a schematic structural diagram of a phase synchronization control network in a master-slave mode of a strong coupling module according to an exemplary embodiment of the application. As shown in FIG. 9b, when the strong coupling synchronization needs to be maintained between at least two scanning modules, the at least two scanning modules can be divided into groups to form a strong coupling module group. It can be understood that the scanning modules in the group are in a strong coupling relationship, and the group is in a weak coupling relationship. Among them, each scanning module in the group can be divided into a main scanning module and a slave scanning module, and between groups can be divided into a main strong coupling module group and a slave strong coupling module group. The specific control principle is similar to the one-master-multi-slave mode. The main scanning module in each module group can move at a relatively stable speed. When the slave scanning module moves, it can be based on the position feedback information of the main scanning module and the movement of the slave scanning module itself. State control. Between groups, the main strong coupling module group can move at a relatively stable speed. When the slave strong coupling module group moves, the position feedback information of the main strong coupling module group and the movement state of the slave strong coupling module group can be used. Take control.

In an exemplary embodiment of the present application, the scanning modules with a strong coupling relationship can be synchronized by high-frequency control, and the module group and the module group can be synchronized by lower-frequency control. Taking the combination of four prisms as an example, the synchronous control of every two prisms can realize scanning in one direction. For example, the synchronous scanning of the first prism and the second prism can realize horizontal scanning, and the first prism and the second prism can be understood as having strong Therefore, the first prism and the second prism form the first strong coupling module group; the third prism and the fourth prism can be scanned synchronously to achieve longitudinal scanning, and the third prism and the fourth prism form the second strong coupling module group. Then, high frequency synchronization control can be performed between the first prism and the second prism, and between the third prism and the fourth prism, and the first scanning module group can perform low frequency synchronization control.

In an exemplary embodiment of the present application, the scanning device may further include a controller, and the controller may be used to generate control signals or inter-group control signals according to information fed back from each motor. Fig. 10 is a logical block diagram showing the implementation of phase synchronization control in a master-multi-slave mode according to an exemplary embodiment of the application. It can be understood that the control device included in the scanning device may include one or more controllers.

As shown in Figure 10, the scanning device includes N motors (N is greater than or equal to 2), where the first motor is designated as the master motor, and the other motors are designated as the slave motors. It also includes a controller for controlling each motor. exercise.

For the control of the main motor, the input of the controller includes the target speed V1 of the main motor, and the output includes the position feedback information of the main motor. The control logic is a standard motor speed closed-loop control, which controls the main motor to keep moving at the target speed V1 of the main motor. The input of the controller may also include the position feedback information of the main motor. According to the position feedback information, it is determined whether the movement speed of the main motor needs to be adjusted, so as to further ensure that the motor keeps moving at the target speed V1 of the main motor.

For the control of the slave motor, the controller's input includes: the target speed Vn of the slave motor (as the aforementioned signal indicating the movement speed of the slave power device), the target speed V1 of the master motor (as the aforementioned indicating the movement speed of the master power device) Signal), the synchronization phase angle θn-1 set between the slave motor and the master motor (as the aforementioned signal indicating the difference between the target position of the slave power unit and the master power unit), describing the phase between the master motor and the slave motor The difference (such as the aforementioned characteristic signal) can also include feedback information from the motor's own position. In the control logic of the slave motor, in addition to the feedback control of the speed of the slave motor, it also includes two links of characteristic signal identification and phase compensation control. These two links can be realized by the characteristic signal identification module and the phase compensation control module respectively.

In this embodiment, the controller includes a characteristic signal identification module and a phase compensation control module. Among them, the characteristic signal identification module can be used to identify the characteristic signal according to the position feedback information of the master motor and the slave motor to obtain the actual phase difference between the master motor and the slave motor, and the phase compensation control module can be used to combine the target speed of the master motor V1 (such as the aforementioned signal indicating the movement speed of the master power unit), the synchronization phase angle θn-1 (such as the aforementioned signal indicating the difference between the target position of the slave power unit and the master power unit) set between the slave motor and the master motor ) And the phase difference (such as the aforementioned characteristic signal) to calculate the speed compensation or phase compensation of the slave motor, so that the controller generates a control signal based on the speed compensation or phase compensation and the target speed Vn of the slave motor to adjust the speed or phase of the slave motor, In order to achieve synchronization, so as to achieve repeated scanning.

The foregoing embodiment utilizes the synchronization of designated motion parameters between the power devices of the control scanning device to achieve repeated scanning, which includes controlling the phase relationship between the power devices and controlling the movement speed of the power devices.

However, it is difficult and costly to achieve high-precision control of the motion speed of the power plant. In order to reduce the control accuracy of the motion speed of the power plant, in an exemplary embodiment of the present application, the method further includes: The ranging device sends a signal indicating the position of the power device, so that the ranging device determines the emission frequency of the light pulse sequence based on the signal indicating the position of the power device.

In this embodiment, the signal indicating the position of the power device is a signal indicating the specified position of the power device, so that the light pulse sequence is emitted when the power device moves to the specified position.

In a possible implementation, the designated positions may be equally spaced positions. For example, the power unit drives the scanning module to rotate. The scanning device can detect the phase of each power unit in real time. When the power unit rotates to each phase at equal intervals, it sends the signal indicating the position of the power unit to make the distance measuring device Upon receiving this signal, the power unit will emit a sequence of light pulses when the power unit rotates to each phase at equal intervals.

As an example, when the scanning device detects that a power device rotates every 0.015°, it sends a signal to the distance measuring device. The distance measuring device can emit a light pulse sequence at every 0.015° interval according to the signal, and the scanning device performs scanning. It can be understood that for every 360° revolution of the power device, the distance measuring device can emit 24,000 light pulse sequences.

In another possible implementation manner, the designated position may also be a position where the scanning points on the scanning track are evenly distributed. In this way, not only the scanning trajectories formed by all the point clouds in the one point cloud frame output by the scanning device can be overlapped, but also the point clouds can be evenly distributed, which has a more uniform scanning effect, and is suitable for application scenarios that require uniform scanning.

As an example, the scan track of a point cloud frame output by the scanning device can be obtained in advance. The scan track is composed of multiple scan points. The scan track can be used to determine which direction the laser can emit at each scan point, and through the laser emission direction and scanning The phase mapping relationship of the module can inversely deduce the phases corresponding to different scanning points, so as to determine the phases corresponding to the evenly distributed scanning points. When the scanning device detects that the power device rotates to the phase corresponding to the evenly distributed scanning points , Send a signal to the distance measuring device, so that the distance measuring device can emit a light pulse sequence according to the signal, and the scanning device performs scanning to obtain a scanning track with evenly distributed scanning points.

In another possible implementation manner, the designated position may also be a position where the distribution of scan points in the designated region of interest on the scan track is denser than the distribution of scan points in other regions. In the same way, the phases corresponding to the scan points of the designated area of interest and other areas can be determined by the reverse method, and the phases of more scan points in the area of interest can be obtained, and the phases of scan points in other areas with relatively few scan points can be obtained. . When the scanning device detects that the power device rotates to the phase corresponding to the determined area of interest and the scanning points in other areas, it sends a signal to the distance measuring device so that the distance measuring device can emit a sequence of light pulses according to the signal, and the scanning device performs scanning.

It is understandable that when the power device rotates to the phase corresponding to each scan point in the region of interest, the frequency of the signal sent by the scanning device will be higher than the frequency of the signal sent when the power device rotates to the phase corresponding to each scan point in the other area, so as to get The distribution of the scan points of the specified area of interest is denser than the distribution of the scan points of other areas.

As an example, when the lidar is applied to an unmanned driving application scenario, that is, the scanning device is installed on an unmanned vehicle, the area of the horizontal scanning point can be designated as the region of interest, so that the point cloud frame output by the scanning device Compared with other areas, the area of the middle horizontal scanning point has a relatively denser distribution of scanning points, which can have a better obstacle avoidance effect.

In the above three embodiments, when the power device rotates to a designated position, the ranging device is instructed to emit a light pulse sequence to perform luminous scanning to realize repeated scanning. The above-mentioned embodiment controls the frequency of the light pulse sequence emitted by the distance measuring device by using the position of the power device to realize repeated scanning, and can subdivide the cumulative error into each light pulse sequence scan, which can reduce the impact on the power device. The speed control accuracy makes up for the instability of the power plant control.

In an exemplary embodiment of the present application, if the initial position of the power device in each scanning period of the scanning device is the same, and repeated scanning is realized by synchronization between the power devices, the transmission frequency may be in accordance with a specified time interval. Sure. In this way, the scanning trajectories formed by the point clouds of each point cloud frame obtained by repeated scanning overlap, and the corresponding points on each point cloud frame can also overlap.

In another exemplary implementation of the present application, if at the beginning of each emission period of the distance measuring device, the light pulse sequence is emitted every time the power device moves to a specified position, and the power device rotates to At the designated position, the distance measuring device is instructed to emit a light pulse sequence to perform luminous scanning to achieve repeated scanning, and the light pulse sequence is to be emitted at a specified time interval after a predetermined number of transmissions at the beginning of each transmission period. In this way, the scanning trajectories formed by the point clouds of each point cloud frame obtained by repeated scanning overlap, and the corresponding points on each point cloud frame can also overlap.

It should be understood that the movement speed of the power device corresponding to different scanning modules can be different, and the position change of the power device per unit time movement can also be different. The scanning device can detect the positions of the at least two power devices in real time, and send a signal indicating the positions of the at least two power devices to the distance measuring device. In order to simplify the control, in an exemplary embodiment of the present application, the signal indicating the position of the power device may be a designated power device of at least two power devices, that is, the position of a designated power device can be detected, Send a signal to the distance measuring device according to the position of the designated power device, so that the distance measuring device determines the emission frequency of the light pulse sequence based on the signal indicating the position of the designated power device.

In an exemplary embodiment of the present application, the power device with the lowest motion speed control accuracy among at least two power devices may be selected as the designated power device. For example, selecting the one with the lowest speed control accuracy in the power unit, ignoring other power units, and performing a light-emitting scan every time the power unit rotates to a specified position, so that the purpose of reducing the speed control accuracy requirements of the power unit can also be achieved.

The features of any of the foregoing embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features, but due to space limitations, they are not described one by one.

The application also provides a device control device. Fig. 11 is a structural block diagram of a device control device shown in an exemplary embodiment of the application. The equipment includes at least two power devices, the power devices are designated as the master power device or the slave power device, as shown in FIG. A computer program running on the computer, where:

The processor implements the following steps when executing the program:

In an embodiment, the designated motion parameter includes the position of the power device at the starting point of the set period of the equipment.

In an embodiment, the synchronization includes: at the start point of the adjacent set period, the position difference described by the characteristic signal is the same.

In an embodiment, the synchronization further includes: at the starting point of the adjacent set period, the positions of the master power devices are the same, and the positions of the slave power devices are the same.

In an embodiment, the position of the power device is determined according to the position of the reference feature of the power device.

In an embodiment, the position of the reference feature is determined according to the designated position of the execution component of the power device, and the power device is used to drive the execution component to move.

In an embodiment, the actuator includes an optical element, and the designated position of the optical element includes the phase of the optical element.

In an embodiment, the power plant is equipped with an angle sensor, and the reference feature includes a reference point of the angle sensor.

In an embodiment, the angle sensor includes a code disc, and the reference point is a point on the code disc.

In an embodiment, the main power plant is any one of at least two power plants.

In an embodiment, the movement speed of the main power device is higher than the movement speed of the slave power device.

In an embodiment, the main power device is a power device that drives the execution component to perform a specified operation.

In an embodiment, the execution component includes an optical element, and the designated operation includes scanning of the optical element in a designated scanning direction.

In an embodiment, at least two of the power plants are divided into at least two power plant groups, and at least one of the power plant groups includes one main power plant and at least one secondary power plant.

In an embodiment, the power devices with equal moving speeds and opposite moving directions are assigned to the same group.

In an embodiment, at least one of the two power plant groups is designated as the master power plant group, the other groups of at least two power plants are designated as the slave power plant group, and the processor executes all The program also implements the following steps: controlling the main power unit group to send inter-group control signals to the slave power unit group, so that the designated motion parameters of the target power unit in the slave power unit group and the main power unit The specified motion parameters of the target power device in the device group are synchronized.

In an embodiment, the main power plant group is any one of at least two power plant groups.

In an embodiment, the movement speed of the target power device in the main power device group is higher than the movement speed of the target power device in the slave power device group.

In an embodiment, the target power plant is the main power plant.

In an embodiment, the device includes a first synchronization mode and a second synchronization mode, the first synchronization mode is used to indicate that at least two of the power devices include one of the main power devices, and the second synchronization mode Used to indicate that at least two of the power devices include at least two of the main power devices; when the processor executes the program, the following steps are further implemented: determine the synchronization of the equipment based on the motion parameters of each of the power devices model.

In an embodiment, the designated motion parameter includes a target motion speed of the power device.

In an embodiment, the synchronization includes: the target motion speed of the master power device is in a preset proportional relationship with the target motion speed of the slave power device.

In an embodiment, the step of generating the control signal based on the characteristic signal, which is implemented when the processor executes the program, includes: indicating the difference between the target position of the slave power unit and the master power unit based on the signal The signal of the movement speed of the master power device and the characteristic signal generate a movement position compensation signal; the control signal is generated based at least on the movement position compensation signal and a signal indicating the movement speed of the slave power device.

In an embodiment, the control signal is also generated based on position feedback information of the slave power device.

In an embodiment, the control signal is transmitted through a bus or hard wire of the control device.

In an embodiment, the power plant includes a rotating electric machine.

In an embodiment, the device is a scanning device, and the scanning device is used to change the transmission direction of the light pulse sequence emitted by the distance measuring device and then emit it to scan the detection object.

In an embodiment, the scanning device further includes at least two scanning modules, and one power device is used to drive at least one scanning module to perform scanning.

In an embodiment, at least one of the scanning modules is a light refraction element having a pair of relatively non-parallel surfaces; and/or, at least one of the scanning modules is a light reflecting element.

In an embodiment, when the scanning module moves at the first specified speed through the power device, the scanning trajectories of the point clouds in the adjacent point cloud frames of the N frames output by the scanning device do not coincide; when the When the scanning module moves at the second specified speed through the power device, the scanning trajectories in the adjacent point cloud frames of the N frames output by the scanning device overlap completely or partially; wherein, the N is an integer greater than or equal to 2 .

In an embodiment, the first designated speed and the second designated speed are not less than a predetermined speed threshold, and the predetermined speed threshold is determined according to the scanning frame rate of the scanning device.

In an embodiment, when the scanning module moves at the second designated speed through the power device, the second designated speeds corresponding to any two scanning modules form an integer multiple relationship.

In an embodiment, the scanning device is arranged on an unmanned vehicle, and the main power device is a power device that drives a scanning module for lateral scanning.

In an embodiment, the processor further implements the following step when executing the program: sending a signal indicating the position of the power device to the distance measuring device, so that the distance measuring device indicates the position of the power device based on The signal determines the emission frequency of the sequence of light pulses.

In an embodiment, the signal indicating the position of the power device is a signal indicating a designated position of the power device, so that the light pulse sequence is emitted when the power device moves to the designated position.

In an embodiment, the designated positions are equally spaced positions.

In an embodiment, the designated position is a position where the scanning points on the scanning track are evenly distributed.

In an embodiment, the designated position is a position where the distribution of scan points in the designated region of interest on the scan track is denser than the distribution of scan points in other regions.

In an embodiment, the scanning device is installed on an unmanned vehicle, and the region of interest is an area of horizontal scanning points.

In an embodiment, if the initial position of the power device in each scanning period of the scanning device is the same, the transmission frequency is determined according to a specified time interval.

In an embodiment, if at the beginning of each emission period of the ranging device, the light pulse sequence is emitted every time the power device moves to a specified position, then the light pulse sequence is After the predetermined number of transmissions at the beginning of the transmission period, the transmission is performed at a specified time interval.

In an embodiment, the signal indicating the position of the power plant is a designated power plant among at least two power plants.

In an embodiment, the designated power device is the power device with the lowest motion speed control accuracy among the at least two power devices.

In an embodiment, the processor further implements the following steps when executing the program: based on preset conditions or input instructions, control the scanning module to operate at the first designated speed and the second designated speed through the power device. Switch between specified speeds.

The application also provides a scanning device. Fig. 12 is a structural block diagram of a scanning device according to an exemplary embodiment of the application. As shown in FIG. 12, the scanning device 120 includes a control device 1210, at least two power devices 1220, and at least two scanning modules 1230. The power device is designated as a master power device 1221 or a slave power device 1222. The moving speed of is determined according to the scanning mode of the scanning device, where:

The control device 1210 is configured to generate a characteristic signal based on a position feedback information of the master power device and a position feedback information of the slave power device, wherein the position feedback information is used to indicate the position of the power device , The characteristic signal is used to describe the position difference between the movement of the main power unit and the slave power unit;

Generating a control signal based on the characteristic signal, and using the control signal to adjust the designated motion parameter of the slave power device to be synchronized with the designated motion parameter of the master power device;

The power device 1220 is used to drive at least one of the scanning modules 1230 to perform scanning.

Wherein, the scanning mode of the scanning device may include the repetitive scanning and the non-repetitive scanning described above, and the rotation speed of at least one power device during the repetitive scanning is different from the non-repetitive scanning.

In an embodiment, the position of the reference feature is determined according to the designated position of the scanning module.

In an embodiment, the scanning module includes an optical element, and the designated position of the optical element includes the phase of the optical element.

In an embodiment, the main power plant is any one of at least two power plants.

In an embodiment, the main power device is a power device that drives the scanning module to perform a specified operation.

In an embodiment, the scanning module includes an optical element, and the specified operation includes scanning of the optical element in a specified scanning direction.

In one embodiment, at least two of the power plants are divided into at least two power plant groups, and at least one of the power plant groups includes one main power plant and at least one secondary power plant.

In an embodiment, at least one of the two power plant groups is designated as the master power plant group, and the other groups of at least two power plants are designated as the secondary power plant group; the control device, further It is used to control the main power unit group to send an inter-group control signal to the slave power unit group, so that the specified motion parameters of the target power unit in the slave power unit group are the same as the target power in the main power unit group. The specified motion parameters of the device are synchronized.

In an embodiment, the target power plant is the main power plant.

In an embodiment, the scanning device includes a first synchronization mode and a second synchronization mode, the first synchronization mode is used to indicate that at least two of the power devices include one of the main power devices, and the second synchronization mode The mode is used to indicate that at least two of the power devices include at least two of the main power devices; the control device is also used to determine the synchronization mode of the scanning device based on the motion parameters of each of the power devices.

In an embodiment, the control device is specifically configured to: generate motion based on a signal indicating a target position difference between the slave power device and the master power device, a signal indicating the movement speed of the master power device, and the characteristic signal. Position compensation signal; generating the control signal based at least on the motion position compensation signal and a signal indicating the motion speed of the slave power device.

In an embodiment, the control signal is transmitted via a bus or hard wire.

In an embodiment, the power plant includes a rotating electric machine.

In an embodiment, the control device is further configured to send a signal indicating the position of the power device to the distance measuring device, so that the distance measuring device determines the light based on the signal indicating the position of the power device. The transmit frequency of the pulse train.

In an embodiment, the designated positions are equally spaced positions.

In an embodiment, the control device is further configured to control the scanning module to switch between the first designated speed and the second designated speed through the power device based on preset conditions or input instructions.

The application also provides a laser radar. For the specific structure of the lidar of the present application, please refer to FIG. 3. As shown in FIG. 3, the lidar 30 includes a distance measuring device 310 and a scanning device 320, wherein:

The distance measuring device 310 is used to emit a sequence of light pulses;

The scanning device 320 is used to change the transmission direction of the light pulse sequence emitted by the distance measuring device and then emit it to scan the detection object.

The scanning device may be the scanning device of the embodiment shown in FIG. 12, including a control device, at least two power devices, and at least two scanning modules. The power device is designated as a master power device or a slave power device, wherein:

In an embodiment, the synchronization includes: at the start point of the adjacent set period

In an embodiment, the main power plant is any one of at least two power plants.

In an embodiment, the target power plant is the main power plant.

In an embodiment, the control signal is transmitted via a bus or hard wire.

In an embodiment, the power plant includes a rotating electric machine.

In an embodiment, the lidar is installed on an unmanned vehicle, and the main power device is a power device that drives a scanning module for lateral scanning.

In an embodiment, the designated positions are equally spaced positions.

In an embodiment, the lidar is installed on an unmanned vehicle, and the region of interest is an area of horizontal scanning points.

The present application also provides a computer-readable storage medium, including instructions, which when run on the device, cause the device to perform the following operations:

A characteristic signal is generated based on the position feedback information of a main power unit and a position feedback information of a slave power unit, wherein the position feedback information is used to indicate the position of the power unit, and the characteristic signal is used to describe the main power The position difference between the device and the movement of the slave power device;

Wherein, the equipment includes at least two power devices, and the power devices are designated as the master power device or the slave power device.

It can be understood that, when the computer-readable storage medium runs on the device, it can also cause the device to execute the device synchronization method described in any of the foregoing embodiments.

The embodiments of the present application may adopt the form of a computer program product implemented on one or more readable media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes. Computer-usable readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer readable media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only Memory (ROM), erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.

In addition, the present application also provides a movable platform, including a platform body and the aforementioned lidar, and the lidar is provided on the platform body. For the movable platform, please refer to the foregoing description, which will not be repeated here.

For the device embodiment, since it basically corresponds to the method embodiment, the relevant part can refer to the part of the description of the method embodiment. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement without creative work.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The methods and devices provided by the embodiments of the present invention are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. Core idea; At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a limitation of the present invention .

Claims

A method for synchronizing equipment, characterized in that the equipment includes at least two power devices, and the power devices are designated as the master power device or the slave power device, and the method includes:

A characteristic signal is generated based on a position feedback information of the master power unit and a position feedback information of the slave power unit, wherein the position feedback information is used to indicate the position of the power unit, and the characteristic signal is used to describe The position difference between the movement of the main power unit and the slave power unit;

A control signal is generated based on the characteristic signal, and the designated motion parameter of the slave power device is adjusted to be synchronized with the designated motion parameter of the master power device by using the control signal.
The method according to claim 1, wherein the designated motion parameter includes the position of the power device at the starting point of the set period of the equipment.
The method according to claim 2, wherein the synchronization comprises:

At the starting point of the adjacent set period, the position difference described by the characteristic signal is the same.
The method according to claim 2, wherein the synchronization further comprises:

At the starting point of the adjacent set period, the position of the main power device is the same, and the position of the slave power device is the same.
The method according to claim 1, wherein the position of the power device is determined according to the position of the reference feature of the power device.
The method according to claim 5, wherein the position of the reference feature is determined according to a designated position of an execution component of the power device, and the power device is used to drive the execution component to move.
The method according to claim 6, wherein the execution part comprises an optical element, and the designated position of the optical element includes the phase of the optical element.
The method according to claim 5, wherein the power device is equipped with an angle sensor, and the reference feature includes a reference point of the angle sensor.
The method according to claim 8, wherein the angle sensor comprises a code disc, and the reference point is a point on the code disc.
The method according to claim 1, wherein the main power device is any one of at least two power devices.
The method according to claim 10, wherein the movement speed of the main power device is higher than the movement speed of the slave power device.
The method according to claim 10, wherein the main power device is a power device that drives an execution component to perform a specified operation.
The method according to claim 12, wherein the execution component comprises an optical element, and the designated operation comprises scanning of the optical element in a designated scanning direction.
The method according to claim 1, wherein at least two of the power plants are divided into at least two power plant groups, and at least one of the power plant groups includes one main power plant and at least one power plant. Described from the power plant.
The method according to claim 14, wherein said power devices with equal moving speeds and opposite moving directions are assigned to the same group.
The method according to claim 15, wherein one group of at least two power plants is designated as a main power plant group, and the other group of at least two power plants is designated as a secondary power plant group. , The method further includes:

Control the main power unit group to send inter-group control signals to the slave power unit group, so that the specified motion parameters of the target power unit in the slave power unit group and the target power unit in the main power unit group Specify motion parameter synchronization.
The method according to claim 16, wherein the main power plant group is any one of at least two power plant groups.
The method according to claim 16, wherein the movement speed of the target power device in the main power device group is higher than the movement speed of the target power device in the slave power device group.
The method according to claim 16 or 18, wherein the target power device is the main power device.
The method according to claim 1, wherein the device includes a first synchronization mode and a second synchronization mode, and the first synchronization mode is used to indicate that at least two of the power devices include one of the main power devices , The second synchronization mode is used to indicate that at least two of the power plants include at least two of the main power plants, and the method further includes:

Based on the motion parameters of each of the power devices, the synchronization mode of the equipment is determined.
The method according to claim 1, wherein the designated motion parameter includes a target motion speed of the power device.
The method of claim 21, wherein the synchronization comprises:

The target motion speed of the main power device is in a preset proportional relationship with the target motion speed of the slave power device.
The method according to claim 1, wherein the step of generating a control signal based on the characteristic signal comprises:

Generating a motion position compensation signal based on a signal indicating a target position difference between the slave power device and the master power device, a signal indicating a motion speed of the master power device, and the characteristic signal;

The control signal is generated based on at least the motion position compensation signal and a signal indicating the motion speed of the slave power device.
The method according to claim 23, wherein the control signal is also generated based on position feedback information of the slave power device.
The method according to claim 1, wherein the control signal is transmitted via a bus or hard wire.
The method according to claim 1, wherein the power device includes a rotating electric machine.
The method according to claim 1, wherein the device is a scanning device, and the scanning device is used to change the transmission direction of the light pulse sequence emitted by the distance measuring device and then exit to scan the detection object.
The method according to claim 27, wherein the scanning device further comprises at least two scanning modules, and one of the power devices is used to drive at least one of the scanning modules to perform scanning.
The method according to claim 28, wherein at least one of the scanning modules is a light refraction element having a pair of relatively non-parallel surfaces; and/or,

At least one of the scanning modules is a light reflecting element.
The method according to claim 28, wherein when the scanning module moves at a first specified speed through the power device, the scanning of the point cloud within the N frames of adjacent point cloud frames output by the scanning device The trajectory does not overlap;

When the scanning module moves at a second specified speed through the power device, the scanning trajectories in the adjacent point cloud frames of the N frames output by the scanning device overlap completely or partially;

Wherein, the N is an integer greater than or equal to 2.
The method according to claim 30, wherein the first designated speed and the second designated speed are not less than a predetermined speed threshold, and the predetermined speed threshold is determined according to the scanning frame rate of the scanning device.
The method according to claim 31, wherein when the scanning module moves at the second designated speed through the power device, the second designated speeds corresponding to any two scanning modules form an integer. Times relationship.
The method according to claim 30, wherein the scanning device is installed on an unmanned vehicle, and the main power device is a power device that drives a scanning module for lateral scanning.
The method according to claim 30, wherein the method further comprises:

A signal indicating the position of the power device is sent to the distance measuring device, so that the distance measuring device determines the emission frequency of the light pulse sequence based on the signal indicating the position of the power device.
The method according to claim 34, wherein the signal indicating the position of the power device is a signal indicating the designated position of the power device, so that the light pulse sequence is moved to the position of the power device. Emitted when the designated location.
The method according to claim 35, wherein the designated positions are equally spaced positions.
The method according to claim 35, wherein the designated position is a position where the scanning points on the scanning track are evenly distributed.
The method according to claim 35, wherein the designated position is a position where the distribution of scan points of the designated region of interest on the scan track is denser than the distribution of scan points in other regions.
The method according to claim 38, wherein the scanning device is installed on an unmanned vehicle, and the region of interest is an area of horizontal scanning points.
The method according to claim 34, wherein if the initial position of the power device in each scanning period of the scanning device is the same, the transmission frequency is determined according to a specified time interval.
The method according to claim 34, wherein if at the beginning of each emission period of the distance measuring device, the light pulse sequence is emitted every time the power device moves to a specified position, then The light pulse sequence is transmitted at a specified time interval after a predetermined number of transmissions at the beginning of each transmission period.
The method according to any one of claims 34 to 41, wherein the signal indicating the position of the power device is a designated power device of at least two power devices.
The method according to claim 42, wherein the designated power device is the power device with the lowest motion speed control accuracy among the at least two power devices.
The method according to claim 30, wherein the method further comprises:

Based on a preset condition or an input instruction, the scanning module is controlled to switch between the first designated speed and the second designated speed through the power device.
A control device for equipment, characterized in that the equipment includes at least two power devices, the power devices are designated as the master power device or the slave power device, and the control device includes a memory, a processor, and a storage device. A computer program that can run on a processor, and the processor implements the following steps when the processor executes the program:

A characteristic signal is generated based on a position feedback information of the master power unit and a position feedback information of the slave power unit, wherein the position feedback information is used to indicate the position of the power unit, and the characteristic signal is used to describe The position difference between the movement of the main power unit and the slave power unit;

A control signal is generated based on the characteristic signal, and the designated motion parameter of the slave power device is adjusted to be synchronized with the designated motion parameter of the master power device by using the control signal.
The control device according to claim 45, wherein the designated motion parameter includes the position of the power device at the starting point of the set period of the equipment.
The control device according to claim 46, wherein the synchronization comprises:

At the starting point of the adjacent set period, the position difference described by the characteristic signal is the same.
The control device according to claim 46, wherein the synchronization further comprises:

At the starting point of the adjacent set period, the position of the main power device is the same, and the position of the slave power device is the same.
The control device according to claim 45, wherein the position of the power device is determined according to the position of the reference feature of the power device.
The control device according to claim 49, wherein the position of the reference feature is determined according to a designated position of an execution part of the power device, and the power device is used to drive the execution part to move.
The control device according to claim 50, wherein the execution part includes an optical element, and the designated position of the optical element includes the phase of the optical element.
The control device according to claim 49, wherein the power device is equipped with an angle sensor, and the reference feature includes a reference point of the angle sensor.
The control device according to claim 52, wherein the angle sensor comprises a code disc, and the reference point is a point on the code disc.
The control device according to claim 45, wherein the main power device is any one of at least two power devices.
The control device according to claim 54, wherein the movement speed of the main power device is higher than the movement speed of the slave power device.
The control device according to claim 54, wherein the main power device is a power device that drives the execution member to perform a specified operation.
The control device according to claim 56, wherein the execution component comprises an optical element, and the designated operation comprises scanning of the optical element in a designated scanning direction.
The control device according to claim 45, wherein at least two of the power devices are divided into at least two power device groups, and at least one of the power device groups includes one main power device and at least one power device group. The slave power unit.
The control device according to claim 58, wherein said power devices with equal moving speeds and opposite moving directions are assigned to the same group.
The control device according to claim 59, wherein one group of at least two of the power plants is designated as the main power plant group, and the other group of the at least two power plants is designated as the secondary power plant group. Group, the processor further implements the following steps when executing the program:

Control the main power unit group to send inter-group control signals to the slave power unit group, so that the specified motion parameters of the target power unit in the slave power unit group and the target power unit in the main power unit group Specify motion parameter synchronization.
The control device according to claim 60, wherein the main power plant group is any one of at least two power plant groups.
The control device according to claim 60, wherein the movement speed of the target power device in the main power device group is higher than the movement speed of the target power device in the slave power device group.
The control device according to claim 60 or 62, wherein the target power device is the main power device.
The control device according to claim 45, wherein the device includes a first synchronization mode and a second synchronization mode, and the first synchronization mode is used to indicate that at least two of the power devices include one of the main power Device, the second synchronization mode is used to indicate that at least two of the power devices include at least two of the main power devices;

The processor also implements the following steps when executing the program:

Based on the motion parameters of each of the power devices, the synchronization mode of the equipment is determined.
The control device according to claim 45, wherein the designated motion parameter includes a target motion speed of the power device.
The control device according to claim 65, wherein the synchronization comprises:

The target motion speed of the main power device is in a preset proportional relationship with the target motion speed of the slave power device.
The control device according to claim 45, wherein the step of generating the control signal based on the characteristic signal implemented when the processor executes the program comprises:

Generating a motion position compensation signal based on a signal indicating a target position difference between the slave power device and the master power device, a signal indicating a motion speed of the master power device, and the characteristic signal;

The control signal is generated based on at least the motion position compensation signal and a signal indicating the motion speed of the slave power device.
The control device according to claim 67, wherein the control signal is also generated based on position feedback information of the slave power device.
The control device according to claim 45, wherein the control signal is transmitted via a bus or hard wire.
The control device according to claim 45, wherein the power device includes a rotating electric machine.
The control device according to claim 45, wherein the device is a scanning device, and the scanning device is used to change the transmission direction of the light pulse sequence emitted by the distance measuring device and then exit to scan the detection object.
The control device according to claim 71, wherein the scanning device further comprises at least two scanning modules, and one of the power devices is used to drive at least one of the scanning modules to perform scanning.
The control device according to claim 72, wherein at least one of the scanning modules is a light refraction element having a pair of relatively non-parallel surfaces; and/or,

At least one of the scanning modules is a light reflecting element.
The control device according to claim 72, wherein when the scanning module moves at a first specified speed through the power device, the point cloud within the N frames of adjacent point cloud frames output by the scanning device Scanning tracks do not overlap;

When the scanning module moves at a second specified speed through the power device, the scanning trajectories in the adjacent point cloud frames of the N frames output by the scanning device overlap completely or partially;

Wherein, the N is an integer greater than or equal to 2.
The control device according to claim 74, wherein the first designated speed and the second designated speed are not less than a predetermined speed threshold, and the predetermined speed threshold is determined according to the scanning frame rate of the scanning device .
The control device according to claim 75, wherein when the scanning module moves at the second designated speed through the power device, the second designated speed corresponding to any two scanning modules becomes Integer relationship.
The control device according to claim 74, wherein the scanning device is installed on an unmanned vehicle, and the main power device is a power device that drives a scanning module for lateral scanning.
The control device according to claim 77, wherein the processor further implements the following steps when executing the program:

A signal indicating the position of the power device is sent to the distance measuring device, so that the distance measuring device determines the emission frequency of the light pulse sequence based on the signal indicating the position of the power device.
The control device according to claim 78, wherein the signal indicating the position of the power device is a signal indicating the designated position of the power device, so that the light pulse sequence moves in the power device Emitted when the designated location is reached.
The control device according to claim 79, wherein the designated positions are equally spaced positions.
The control device according to claim 79, wherein the designated position is a position where the scanning points on the scanning trajectory are uniformly distributed.
The control device according to claim 79, wherein the designated position is a position where the distribution of scan points of the designated region of interest on the scan trajectory is denser than the distribution of scan points in other regions.
The control device according to claim 82, wherein the scanning device is installed on an unmanned vehicle, and the area of interest is a horizontal scanning point area.
The control device according to claim 78, wherein if the initial position of the power device in each scanning period of the scanning device is the same, the transmission frequency is determined according to a specified time interval.
The control device according to claim 78, wherein if at the beginning of each emission period of the distance measuring device, the light pulse sequence is emitted every time the power device moves to a specified position, then The light pulse sequence is transmitted at a specified time interval after a predetermined number of transmissions at the beginning of each transmission period.
The control device according to any one of claims 78 to 85, wherein the signal indicating the position of the power device is a designated power device of at least two power devices.
The control device according to claim 86, wherein the designated power device is the power device with the lowest motion speed control accuracy among the at least two power devices.
The control device according to claim 75, wherein the processor further implements the following steps when executing the program:

Based on a preset condition or an input instruction, the scanning module is controlled to switch between the first designated speed and the second designated speed through the power device.
A scanning device, characterized in that the scanning device includes a control device, at least two power devices and at least two scanning modules, the power device is designated as a master power device or a slave power device, and the movement of the power device The speed is determined according to the scanning mode of the scanning device;

The control device is configured to generate a characteristic signal based on a position feedback information of the master power device and a position feedback information of the slave power device, wherein the position feedback information is used to indicate the position of the power device, The characteristic signal is used to describe the position difference between the movement of the master power unit and the slave power unit; and a control signal is generated based on the characteristic signal, and the control signal is used to adjust the specified movement of the slave power unit The parameters are synchronized with the designated motion parameters of the main power plant;

The power device is used to drive at least one of the scanning modules to perform scanning.
The scanning device according to claim 89, wherein the designated motion parameter includes the position of the power device at the starting point of the set period of the equipment.
The scanning device of claim 90, wherein the synchronization comprises:

At the starting point of the adjacent set period, the position difference described by the characteristic signal is the same.
The scanning device according to claim 90, wherein the synchronization further comprises:

At the starting point of the adjacent set period, the position of the main power device is the same, and the position of the slave power device is the same.
The scanning device according to claim 89, wherein the position of the power device is determined according to the position of the reference feature of the power device.
The scanning device according to claim 93, wherein the position of the reference feature is determined according to a designated position of the scanning module.
The scanning device according to claim 94, wherein the scanning module includes an optical element, and the designated position of the optical element includes the phase of the optical element.
The scanning device of claim 93, wherein the power device is equipped with an angle sensor, and the reference feature includes a reference point of the angle sensor.
The scanning device according to claim 96, wherein the angle sensor comprises a code disc, and the reference point is a point on the code disc.
The scanning device according to claim 89, wherein the main power device is any one of at least two power devices.
The scanning device according to claim 98, wherein the movement speed of the main power device is higher than the movement speed of the slave power device.
The scanning device according to claim 98, wherein the main power device is a power device that drives the scanning module to perform a specified operation.
The scanning device according to claim 100, wherein the scanning module comprises an optical element, and the specified operation comprises scanning of the optical element in a specified scanning direction.
The scanning device according to claim 89, wherein at least two of the power devices are divided into at least two power device groups, and at least one of the power device groups includes one main power device and at least one power device group. The slave power unit.
The scanning device according to claim 102, wherein said power devices with equal moving speeds and opposite moving directions are assigned to the same group.
The scanning device according to claim 103, wherein one group of at least two power devices is designated as a main power device group, and the other group of at least two power devices is designated as a slave power device. Group;

The control device is also used to control the main power unit group to send an inter-group control signal to the slave power unit group, so that the designated motion parameters of the target power unit in the slave power unit group and the main power unit The specified motion parameters of the target power device in the device group are synchronized.
The scanning device according to claim 104, wherein the main power device group is any one of at least two power device groups.
The scanning device according to claim 104, wherein the movement speed of the target power device in the main power device group is higher than the movement speed of the target power device in the slave power device group.
The scanning device according to claim 104 or 106, wherein the target power device is the main power device.
The scanning device according to claim 89, wherein the scanning device includes a first synchronization mode and a second synchronization mode, and the first synchronization mode is used to indicate that at least two of the power devices include one of the main Power plant, the second synchronization mode is used to indicate that at least two power plants include at least two main power plants;

The control device is further configured to determine the synchronization mode of the scanning device based on the motion parameters of each of the power devices.
The scanning device of claim 89, wherein the specified motion parameter includes a target motion speed of the power device.
The scanning device according to claim 109, wherein the synchronization comprises:

The target motion speed of the main power device is in a preset proportional relationship with the target motion speed of the slave power device.
The scanning device according to claim 89, wherein the control device is specifically configured to:

Generating a motion position compensation signal based on a signal indicating a target position difference between the slave power device and the master power device, a signal indicating a motion speed of the master power device, and the characteristic signal;

The control signal is generated based on at least the motion position compensation signal and a signal indicating the motion speed of the slave power device.
The scanning device according to claim 111, wherein the control signal is also generated based on position feedback information of the slave power device.
The scanning device according to claim 89, wherein the control signal is transmitted through a bus or a hard wire.
The scanning device according to claim 89, wherein the power device comprises a rotating electric machine.
The scanning device according to claim 89, wherein at least one of the scanning modules is a light refraction element having a pair of relatively non-parallel surfaces; and/or,

At least one of the scanning modules is a light reflecting element.
The scanning device according to claim 89, wherein when the scanning module moves at the first specified speed through the power device, the point cloud within the N frames of adjacent point cloud frames output by the scanning device Scanning tracks do not overlap;

When the scanning module moves at a second specified speed through the power device, the scanning trajectories in the adjacent point cloud frames of the N frames output by the scanning device overlap completely or partially;

Wherein, the N is an integer greater than or equal to 2.
The scanning device according to claim 116, wherein the first designated speed and the second designated speed are not less than a predetermined speed threshold, and the predetermined speed threshold is determined according to the scanning frame rate of the scanning device .
The scanning device according to claim 117, wherein when the scanning module is moved at the second designated speed by the power device, the second designated speed corresponding to any two scanning modules becomes equal to Integer relationship.
The scanning device according to claim 89, wherein the scanning device is installed on an unmanned vehicle, and the main power device is a power device that drives a scanning module for lateral scanning.
The scanning device according to claim 89, wherein:

The control device is further configured to send a signal indicating the position of the power device to a distance measuring device, so that the distance measuring device determines the emission frequency of the light pulse sequence based on the signal indicating the position of the power device.
The scanning device according to claim 120, wherein the signal indicating the position of the power device is a signal indicating the designated position of the power device, so that the light pulse sequence moves in the power device Emitted when the designated location is reached.
The scanning device according to claim 121, wherein the designated positions are equally spaced positions.
The scanning device according to claim 121, wherein the designated position is a position where the scanning points on the scanning track are evenly distributed.
The scanning device according to claim 121, wherein the designated position is a position where the distribution of scanning points of the designated region of interest on the scanning trajectory is denser than the distribution of scanning points of other regions.
The scanning device according to claim 124, wherein the scanning device is installed on an unmanned vehicle, and the region of interest is an area of horizontal scanning points.
The scanning device according to claim 120, wherein if the initial position of the power device in each scanning period of the scanning device is the same, the transmission frequency is determined according to a specified time interval.
The scanning device according to claim 120, wherein if at the beginning of each emission period of the distance measuring device, the light pulse sequence is emitted every time the power device moves to a specified position, then The light pulse sequence is transmitted at a specified time interval after a predetermined number of transmissions at the beginning of each transmission period.
The scanning device according to any one of claims 120 to 127, wherein the signal indicating the position of the power device is a designated power device among at least two power devices.
The scanning device according to claim 128, wherein the designated power device is the power device with the lowest motion speed control accuracy among the at least two power devices.
The scanning device according to claim 116, wherein:

The control device is further configured to control the scanning module to switch between the first designated speed and the second designated speed through the power device based on preset conditions or input instructions.
A lidar, characterized in that the lidar includes a distance measuring device and a scanning device;

The distance measuring device is used to emit a sequence of light pulses;

The scanning device is used to change the transmission direction of the light pulse sequence emitted by the distance measuring device and then emit it to scan the detection object;

Wherein, the scanning device includes a control device, at least two power devices and at least two scanning modules, and the power device is designated as a master power device or a slave power device;

The control device is configured to generate a characteristic signal based on a position feedback information of the master power device and a position feedback information of the slave power device, wherein the position feedback information is used to indicate the position of the power device, The characteristic signal is used to describe the position difference between the movement of the master power unit and the slave power unit; and a control signal is generated based on the characteristic signal, and the control signal is used to adjust the specified movement of the slave power unit The parameters are synchronized with the designated motion parameters of the main power plant;

The power device is used to drive at least one of the scanning modules to perform scanning.
The lidar according to claim 131, wherein the specified motion parameter includes the position of the power device at the starting point of the set period of the equipment.
The lidar of claim 132, wherein the synchronization comprises:

At the starting point of the adjacent set period, the position difference described by the characteristic signal is the same.
The lidar of claim 132, wherein the synchronization further comprises:

At the starting point of the adjacent set period, the position of the main power device is the same, and the position of the slave power device is the same.
The lidar according to claim 131, wherein the position of the power device is determined according to the position of the reference feature of the power device.
The lidar of claim 132, wherein the position of the reference feature is determined according to a designated position of the scanning module.
The lidar of claim 136, wherein the scanning module includes an optical element, and the specified position of the optical element includes the phase of the optical element.
The lidar of claim 136, wherein the power device is equipped with an angle sensor, and the reference feature includes a reference point of the angle sensor.
The lidar according to claim 138, wherein the angle sensor comprises a code disc, and the reference point is a point on the code disc.
The lidar according to claim 131, wherein the main power device is any one of at least two power devices.
The lidar according to claim 140, wherein the movement speed of the main power device is higher than the movement speed of the slave power device.
The lidar according to claim 140, wherein the main power device is a power device that drives the scanning module to perform a specified operation.
The lidar according to claim 142, wherein the scanning module comprises an optical element, and the specified operation comprises scanning of the optical element in a specified scanning direction.
The lidar according to claim 131, wherein at least two of the power devices are divided into at least two power device groups, and at least one of the power device groups includes one main power device and at least one power device group. The slave power unit.
The lidar according to claim 144, wherein said power devices with equal moving speeds and opposite moving directions are assigned to the same group.
The lidar according to claim 145, wherein one group of at least two of the power devices is designated as the main power device group, and the other group of the at least two power devices is designated as the slave power device. Group;

The control device is also used to control the main power unit group to send an inter-group control signal to the slave power unit group, so that the designated motion parameters of the target power unit in the slave power unit group and the main power unit The specified motion parameters of the target power device in the device group are synchronized.
The lidar according to claim 146, wherein the main power unit group is any one of at least two power unit groups.
The lidar according to claim 146, wherein the movement speed of the target power device in the main power device group is higher than the movement speed of the target power device in the slave power device group.
The lidar according to claim 146 or 148, wherein the target power device is the main power device.
The lidar according to claim 131, wherein the scanning device includes a first synchronization mode and a second synchronization mode, and the first synchronization mode is used to indicate that at least two of the power devices include one of the main Power plant, the second synchronization mode is used to indicate that at least two power plants include at least two main power plants;

The control device is further configured to determine the synchronization mode of the scanning device based on the motion parameters of each of the power devices.
The lidar according to claim 131, wherein the specified motion parameter includes a target motion speed of the power device.
The lidar of claim 151, wherein the synchronization comprises:

The target motion speed of the main power device is in a preset proportional relationship with the target motion speed of the slave power device.
The lidar according to claim 131, wherein the control device is specifically configured to:

Generating a motion position compensation signal based on a signal indicating a target position difference between the slave power device and the master power device, a signal indicating a motion speed of the master power device, and the characteristic signal;

The control signal is generated based on at least the motion position compensation signal and a signal indicating the motion speed of the slave power device.
The lidar of claim 153, wherein the control signal is also generated based on position feedback information of the slave power device.
The lidar of claim 131, wherein the control signal is transmitted via a bus or hard wire.
The lidar according to claim 131, wherein the power device comprises a rotating electric machine.
The lidar according to claim 131, wherein at least one of the scanning modules is a light refraction element having a pair of relatively non-parallel surfaces; and/or,

At least one of the scanning modules is a light reflecting element.
The lidar according to claim 131, wherein when the scanning module moves at a first specified speed through the power device, the point cloud within the N frames of adjacent point cloud frames output by the scanning device Scanning tracks do not overlap;

When the scanning module moves at a second specified speed through the power device, the scanning trajectories in the adjacent point cloud frames of the N frames output by the scanning device overlap completely or partially;

Wherein, the N is an integer greater than or equal to 2.
The lidar according to claim 158, wherein the first designated speed and the second designated speed are not less than a predetermined speed threshold, and the predetermined speed threshold is determined according to the scanning frame rate of the scanning device .
The lidar according to claim 159, wherein when the scanning module moves at the second designated speed through the power device, the second designated speed corresponding to any two scanning modules becomes Integer relationship.
The lidar according to claim 131, wherein the lidar is installed on an unmanned vehicle, and the main power device is a power device that drives a scanning module for lateral scanning.
The lidar of claim 158, wherein:

The control device is further configured to send a signal indicating the position of the power device to the ranging device, so that the ranging device determines the emission frequency of the light pulse sequence based on the signal indicating the position of the power device.
The lidar according to claim 162, wherein the signal indicating the position of the power device is a signal indicating the designated position of the power device, so that the light pulse sequence moves on the power device Emitted when the designated location is reached.
The lidar according to claim 163, wherein the designated positions are equally spaced positions.
The lidar according to claim 163, wherein the designated position is a position where the scanning points on the scanning track are evenly distributed.
The lidar according to claim 163, wherein the designated position is a position where the distribution of scan points of the designated region of interest on the scan track is denser than the distribution of scan points in other regions.
The lidar according to claim 166, wherein the lidar is installed on an unmanned vehicle, and the area of interest is a horizontal scanning point area.
The lidar according to claim 163, wherein if the initial position of the power device in each scanning period of the scanning device is the same, the emission frequency is determined according to a specified time interval.
The lidar according to claim 163, wherein if at the beginning of each emission period of the ranging device, the light pulse sequence is emitted every time the power device moves to a specified position, then The light pulse sequence is transmitted at a specified time interval after a predetermined number of transmissions at the beginning of each transmission period.
The lidar according to any one of claims 163 to 169, wherein the signal indicating the position of the power device is a designated power device among at least two power devices.
The lidar according to claim 170, wherein the designated power device is the power device with the lowest motion speed control accuracy among the at least two power devices.
The lidar according to claim 158, wherein the control device is further configured to control the scanning module to pass the power device at the first specified speed and the Switch between the second designated speed.
A movable platform, characterized in that it comprises a platform body and the lidar according to claims 131 to 172, and the lidar is arranged on the platform body.