WO2023029005A1

WO2023029005A1 - Field of view control method for detection device, detection device, and mobile platform

Info

Publication number: WO2023029005A1
Application number: PCT/CN2021/116540
Authority: WO
Inventors: 韩国庆; 熊聪; 黄淮
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-09-03
Filing date: 2021-09-03
Publication date: 2023-03-09

Abstract

A field of view control method for a detection device, comprising: obtaining a target phase difference between a first optical element and a second optical element of a scanning module in the detection device (S101); and adjusting a motion parameter of the first optical element and/or a motion parameter of the second optical element according to the target phase difference, so that the detection device scans a corresponding field of view position or field of view area in a first field of view direction (S102). The field of view control method can improve the application range of the detection device.

Description

Method for controlling field of view of detection device, detection device and movable platform

technical field

The present application relates to the field of detection devices, and in particular to a method for controlling the field of view of a detection device, a detection device and a movable platform.

Background technique

With the continuous development of detection device technology, detection devices are widely used in various fields, for example, the field of automatic driving. At present, the detection device usually has a large scanning field of view, and can scan to obtain more point cloud information. However, in some scenarios, it is only necessary to scan a certain position or a certain area, and if a large-scale scan is performed, There will be some unnecessary point clouds, which are not convenient for subsequent processing, and the user experience is not good.

Contents of the invention

Embodiments of the present application provide a method for controlling a field of view of a detection device, a detection device, and a movable platform, aiming at improving the application range and reliability of the detection device and improving user experience.

In the first aspect, the embodiment of the present application provides a method for controlling the field of view of a detection device, including:

Acquiring the target phase difference between the first optical element and the second optical element of the scanning module in the detection device;

According to the target phase difference, adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element, so that the corresponding field of view position or field of view of the detection device in the first field of view direction field area to scan.

In the second aspect, the embodiment of the present application also provides a detection device, including:

The scanning module is arranged on the optical path of the light pulse sequence emitted by the light source, the scanning module includes a first optical element and a second optical element, and the first optical element and the second optical element are used to change the The propagation direction of the light pulse sequence, so that the detection device scans according to the first field of view direction and/or the second field of view direction;

memory for storing computer programs;

One or more processors, working individually or jointly, for executing the computer program and implementing the following steps when executing the computer program:

In the third aspect, the embodiment of the present application also provides a mobile platform, including:

Platform ontology;

A power system is provided on the platform body and is used to provide moving power for the movable platform;

The detection device as described above is provided on the platform body and is used to detect external environment information.

In a fourth aspect, the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned The steps of the method for controlling the field of view of the detection device.

An embodiment of the present application provides a method for controlling the field of view of a detection device, by obtaining the target phase difference between the first optical element and the second optical element of the scanning module in the detection device, and then adjusting the first optical element according to the target phase difference The motion parameters of an optical element and/or the motion parameters of the second optical element enable the detection device to scan the corresponding field of view position or field of view area in the direction of the first field of view, so that the detection device can scan in the field of view desired by the user. Scanning the position of the field or the area of the field of view greatly improves the application range and reliability of the detection device.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

Fig. 1 is a schematic diagram of a scene implementing the field of view control method of the detection device provided by the embodiment of the present application;

Fig. 2 is a schematic flowchart of the steps of a field of view control method of a detection device provided in an embodiment of the present application;

Fig. 3 is a schematic diagram of the scanning range of the detection device in the second field of view direction in the embodiment of the present application;

Fig. 4 is a schematic flowchart of the sub-steps of the field of view control method of the detection device in Fig. 2;

Fig. 5 is a point cloud distribution diagram output by the detection device in the embodiment of the present application;

Fig. 6 is a waveform diagram in which the phase difference between the first optical element and the second optical element in the embodiment of the present application changes periodically according to the phase difference variation range;

Fig. 7 is another waveform diagram in which the phase difference between the first optical element and the second optical element in the embodiment of the present application changes periodically according to the phase difference variation range;

Fig. 8 is another point cloud distribution diagram output by the detection device in the embodiment of the present application;

Fig. 9 is another point cloud distribution diagram output by the detection device in the embodiment of the present application;

Fig. 10 is another point cloud distribution diagram output by the detection device in the embodiment of the present application;

Fig. 11 is a representation curve of the mapping relationship between the phase difference and the feedback control moment;

Fig. 12 is a schematic structural block diagram of a detection device provided by an embodiment of the present application;

Fig. 13 is a schematic block diagram of a structure of a mobile platform provided by an embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.

The inventors of the present application found that the current detection devices usually have a larger scanning field of view, and can scan to obtain more point cloud information, but in some scenarios, only a certain position or a certain area needs to be scanned, and If a large-scale scan is performed, there will be some unnecessary point clouds, which is not convenient for subsequent processing, and the detection device needs to be replaced, which is not good for the user experience.

In order to solve the above problems, the inventors of the present application improved the field of view control method of the detection device, the detection device and the movable platform, so that the detection device can scan at the position or area of the field of view desired by the user, greatly improving the The application range and reliability of the detection device are improved.

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The method for controlling the field of view of the detection device may be applied to the detection device, and may also be applied to a movable platform, which is not specifically limited in this embodiment of the present application. The detection device is used to detect external environmental information, such as distance information, orientation information, reflection intensity information, speed information, etc. of environmental targets. The detection device can be applied to space scene simulation, automatic obstacle avoidance system, 3D imaging system, 3D modeling system, Remote sensing systems, surveying and mapping systems, navigation systems, etc.

Please refer to Fig. 1. Fig. 1 is a schematic diagram of a scene implementing the field of view control method of the detection device provided by the embodiment of the present application. As shown in Figure 1, the movable platform 100 includes a platform body 110, a power system 120, a detection device 130 and a control system (not shown in Figure 1), the power system 120 and the detection device 130 are arranged on the platform body 110, and the power system 120 Used to provide moving power for the movable platform, the detection device 130 is used to detect the external environment information of the environment where the movable platform is located.

Exemplarily, the detecting device 130 may include electronic equipment such as radar and ranging equipment, such as lidar or laser ranging equipment. Wherein, the detection device 130 can detect the distance from the detection object to the detection device 130 by measuring the light propagation time between the detection device 130 and the detection object, that is, the time-of-flight (TOF). Alternatively, the detection device 130 can also detect the distance from the detection object to the detection device 130 by other technologies, such as a distance measurement method based on phase shift (phase shift) measurement, or a distance measurement method based on frequency shift (frequency shift) measurement. This is not limited.

In an embodiment, the detection device 130 includes a light source and a scanning module, the light source is used to emit a sequence of light pulses, such as a sequence of laser pulses. The scanning module is arranged on the optical path of the light pulse sequence emitted by the light source, and is used to change the propagation direction of the light pulse sequence so that the detection device 130 scans according to the first field of view direction and/or the second field of view direction.

Exemplarily, the scanning module includes a first optical element and a second optical element, and the first optical element and the second optical element are used to change the propagation direction of the light pulse sequence, so that the detection device follows the direction of the first field of view and/or Scanning is performed in the second field of view direction. Wherein, the first field of view direction and the second field of view direction of the detection device are related to the installation position of the detection device, the first field of view direction may be a vertical field of view direction, and the second field of view direction may be a horizontal field of view direction, or, The first field of view direction may be a horizontal field of view direction, and the second field of view direction may be a vertical field of view direction.

Exemplarily, the scanning module further includes a first drive mechanism and a second drive mechanism, the first drive mechanism is connected to the first optical element for driving the first optical element to rotate, the second drive mechanism is connected to the second optical element, Used to drive the rotation of the second optical element. Wherein, the first optical element may include a prism, and the second optical element may include a reflector, and the prism is used to change the propagation direction of the light pulse sequence emitted by the light source, so that the light pulse sequence reaches the reflector, and the reflector performs the optical pulse sequence reflection, so that the detection device scans according to the direction of the first field of view and/or the direction of the second field of view.

Exemplarily, the control of the first driving mechanism and the second driving mechanism may be continuous or stepwise. For example, when the first driving mechanism drives the prism to rotate, it may rotate continuously, and may stop after each rotation of one step, and then rotate by one step, and repeat. For another example, when the second driving mechanism drives the mirror to rotate, it may rotate continuously, or it may stop after rotating one step each time, and then rotate another step. Compared with the continuous driving method, the step-size driving method is conducive to more precise control of the attitude of the optical components, which in turn helps to form a more regular and evenly arranged point cloud, but the continuous driving method is better than the step-size driving method. The driving method is more conducive to fast scanning, and is more suitable for some application scenarios that require scanning speed.

Wherein, the power system 120 may include one or more propellers 121 , one or more motors 122 corresponding to the one or more propellers, and one or more electronic governors (referred to as ESCs for short). Wherein, the motor 122 is connected between the electronic governor and the propeller 121, and the motor 122 and the propeller 121 are arranged on the platform body 110 of the movable platform 100; the electronic governor is used to receive the driving signal generated by the control system, and according to the driving signal The driving current is provided to the motor 122 to control the rotation speed of the motor 122 . The motor 122 is used to drive the propeller 121 to rotate, so as to provide power for the movement of the movable platform 100, and the power enables the movable platform 100 to realize the movement of one or more degrees of freedom. In some embodiments, the movable platform 100 is rotatable about one or more axes of rotation. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis and a pitch axis. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor.

Wherein, the control system may include a controller and a sensing system. The sensing system is used to measure the attitude information of the movable platform, that is, the position information and status information of the movable platform 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity. The sensing system may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The controller is used to control the movement of the movable platform 100, for example, the movement of the movable platform 100 may be controlled according to the attitude information measured by the sensor system. It should be understood that the controller may control the movable platform 100 according to pre-programmed instructions.

In one embodiment, the controller acquires the target phase difference between the first optical element and the second optical element of the scanning module in the detection device 130; according to the target phase difference, adjust the motion parameters of the first optical element and/or the second optical element The motion parameters of the second optical element, so that the detection device scans the corresponding field of view position or field of view area in the first field of view direction, so that the detection device can scan at the field of view position or field of view area desired by the user, very The application range and reliability of the detection device are greatly improved.

Among them, the movable platform 100 includes unmanned aerial vehicles and cloud platform vehicles. The man-machine can also be a combination of a rotary-wing drone and a fixed-wing drone, which is not limited here. It should be understood that the movable platform 100 may also include vehicles and boats that can carry people, and the detection device 130 may scan the desired field of view position or field of view area around the vehicle or boat.

Hereinafter, the method for controlling the field of view of the detection device provided by the embodiment of the present application will be described in detail in conjunction with the scene in Fig. 1 . It should be noted that the scene in Figure 1 is only used to explain the field of view control method of the detection device provided by the embodiment of the present application, but does not constitute a limitation on the application scene of the field of view control method of the detection device provided by the embodiment of the present application.

Please refer to FIG. 2 . FIG. 2 is a schematic flowchart of steps of a method for controlling a field of view of a detection device provided in an embodiment of the present application. The field of view control method of the detection device can be applied to the detection device or a movable platform to improve the application range and reliability of the detection device.

As shown in FIG. 2 , the field of view control method of the detection device includes steps S101 to S102.

Step S101, obtaining the target phase difference between the first optical element and the second optical element of the scanning module in the detection device;

Step S102 , adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element according to the target phase difference, so that the detection device scans the corresponding field of view position or field of view area in the first field of view direction.

In one embodiment, the detection device is provided with a first scanning mode and/or a second scanning mode, the first scanning mode instructs the detection device to scan at a corresponding position of the field of view in the direction of the first field of view, and the second scanning mode instructs the detection The device scans the viewing field area in the first viewing field direction, and the first scanning mode and the second scanning mode can be switched mutually.

Exemplarily, the scanning range of the detection device in the direction of the second field of view in the first scanning mode is the same as the scanning range of the detection device in the direction of the second field of view in the second scanning mode, and/or, the detection device is in the first scanning mode. The position or area of the field of view scanned in the direction of the field of view can be adjusted, and/or, the area of the field of view scanned by the detection device in the direction of the first field of view includes The field of view position to scan.

In an embodiment, according to the target phase difference, the motion parameters of the first optical element and/or the motion parameters of the second optical element are adjusted, so that the detection device is in the first scanning mode. Wherein, in the first scanning mode, the first optical element and the second optical element rotate according to the same rotational speed and direction while maintaining the target phase difference, so that the position of the field of view corresponding to the target phase difference of the detection device in the direction of the first field of view to scan. Wherein, the motion parameter includes a rotational speed and/or a rotation direction, and the rotation direction may be counterclockwise or clockwise. Through the above solution, the scanning of any position of the field of view in the first field of view direction of the detection device can be realized, which greatly improves the application range and reliability of the detection device.

It should be understood that the corresponding relationship between the target phase difference and the position of the field of view is related to the reflection angle of the second optical element, and the phase difference between the first optical element and the second optical element being zero corresponds to the field of view in the direction of the first field of view Location dependent. Taking the reflection angle of the second optical element as 45°, and the position of the field of view corresponding to zero phase difference is the upper edge of the scanning range in the direction of the first field of view (ie +22.5°) as an example, the target phase difference and the position of the field of view The correspondence between can be:

Among them, Δθ represents the target phase difference between the first optical element and the second optical element, View _position represents the field of view position corresponding to the target phase difference Δθ in the first field of view direction, and FOV _vertical represents the position of the detection device in the first field of view direction the scan range on.

Exemplarily, in a scenario where the first field of view direction is the vertical field of view direction and the second field of view direction is the horizontal field of view direction, when the first optical element and the second optical element rotate at the same speed and direction, The scanning range of the detection device in the direction of the second field of view may be as shown in FIG. 3 , that is, the detection device scans in a 360° horizontal direction.

Exemplarily, the first mode switching instruction is obtained, wherein the first mode switching instruction is used to instruct the detection device to switch the scanning mode to the first scanning mode; the phase difference in the first mode switching instruction is determined as the first optical element and The target phase difference between the second optical elements; or, when the first mode switching instruction is obtained, determining the current phase difference between the first optical element and the second optical element as the target phase difference; according to the target phase difference, The motion parameters of the first optical element and/or the motion parameters of the second optical element are adjusted so that the detection device is in the first scanning mode. Through the first mode switching instruction, the scanning mode of the detection device can be quickly switched to the first scanning mode, so that the detection device scans at the position of the field of view corresponding to the target phase difference.

For example, in the case that the rotational speed and rotation direction of the first optical element and the second optical element are the same, when the first mode switching instruction is acquired, if the first mode switching instruction does not carry phase difference information, the first The current phase difference between the optical element and the second optical element is determined as the target phase difference. At this time, it is not necessary to adjust the motion parameters of the first optical element and the motion parameters of the second optical element. The field of view position corresponding to the target phase difference in the field direction is scanned.

For another example, if the first mode switching instruction carries phase difference information, then the phase difference in the first mode switching instruction can be determined as the target phase difference between the first optical element and the second optical element. The motion parameters of the first optical element and/or the motion parameters of the second optical element can enable the detection device to scan at the position of the field of view corresponding to the target phase difference in the direction of the first field of view.

For another example, in the case that the rotational speed and rotation direction of the first optical element and the second optical element are different, when the first mode switching command is obtained, if the first mode switching command does not carry phase difference information, the second The current phase difference between an optical element and the second optical element is determined as the target phase difference. If the first mode switching command carries phase difference information, the phase difference in the first mode switching command can be determined as the target phase difference. The target phase difference between the second optical element, at this time, by adjusting the motion parameters of the first optical element and/or the motion parameters of the second optical element, the target phase difference correspondence of the detection device in the first field of view direction can be realized The position of the field of view is scanned.

Exemplarily, according to the target phase difference, adjusting the motion parameters of the first optical element and/or the motion parameters of the second optical element so that the detection device is in the first scanning mode may be as follows: adjusting the motion parameters of the first optical element And/or the motion parameter of the second optical element; when the phase difference between the first optical element and the second optical element reaches the target phase difference, control the first optical element to rotate according to the current motion parameter of the second optical element, or , controlling the second optical element to rotate according to the current motion parameters of the first optical element, so that the first optical element and the second optical element rotate according to the same rotational speed and direction.

Exemplarily, according to the target phase difference, the way to adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element so that the detection device is in the first scanning mode may be: control the first optical element and the second optical element The optical element stops rotating, and then adjusts the phase difference between the first optical element and the second optical element; when the phase difference between the first optical element and the second optical element reaches the target phase difference, control the first optical element and the second optical element The second optical element rotates according to a preset rotation speed and a preset direction while maintaining a target phase difference.

In an embodiment, as shown in FIG. 4 , step S102 specifically includes: sub-steps S1021 to S1022.

Sub-step S1021, acquiring the target rotational speed difference between the first optical element and the second optical element;

Sub-step S1022 , adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element according to the target phase difference and the target rotational speed difference, so that the detection device is in the second scanning mode.

Wherein, in the second scanning mode, the phase difference between the first optical element and the second optical element changes periodically starting from the target phase difference, so that the detection device scans the field of view area in the first field of view direction .

In one embodiment, the motion parameters of the first optical element and/or the motion parameters of the second optical element are adjusted according to the target phase difference; when the first optical element and the second optical element rotate at the same speed and direction, and the second optical element When the phase difference between the first optical element and the second optical element reaches the target phase difference, according to the target rotational speed difference, the phase difference between the first optical element and the second optical element is controlled to change periodically starting from the target phase difference, The detection device is made to scan the corresponding field of view area in the first field of view direction. Through the above solution, the scanning of any field of view area of the detection device in the first field of view direction can be realized, which greatly improves the application range of the detection device.

Exemplarily, according to the target rotational speed difference, the manner of controlling the phase difference between the first optical element and the second optical element to change periodically starting from the target phase difference may be: according to the target rotational speed difference and the target phase difference, determine the phase Difference change range, wherein, the phase difference change range starts from the target phase difference; control the motion parameters of the first optical element and/or the motion parameters of the second optical element to change periodically, so that the phase difference is carried out according to the phase difference change range Periodic changes. Wherein, the detection device scans in the viewing field area corresponding to the phase difference variation range in the first viewing field direction. By determining the variation range of the phase difference, the phase difference between the two optical elements can be better and precisely controlled to change periodically starting from the target phase difference, so as to accurately realize the corresponding field of view of the detection device in the direction of the first field of view The scanning of the area improves the reliability of the detection device.

Exemplarily, the method of controlling the motion parameters of the first optical element and/or the motion parameters of the second optical element to change periodically so that the phase difference changes periodically according to the phase difference variation range may be as follows: obtaining a synchronous rotational speed, wherein , when the first optical element and the second optical element rotate at a synchronous rotational speed, the phase difference between the first optical element and the second optical element is the same as the target phase difference; control the rotational speed of the first optical element and/or the second optical The rotational speed of the element changes periodically around the synchronous rotational speed, so that the phase difference between the first optical element and the second optical element changes periodically according to the phase difference variation range. By controlling the rotation speed of the first optical element and/or the second optical element to change periodically around the synchronous rotation speed, the phase difference can be precisely controlled to change periodically according to the range of the phase difference, so that the detection device can be accurately realized at the first The scanning of the corresponding field of view area in the field of view direction improves the reliability of the detection device.

Wherein, the motion parameter includes a rotational speed, and the waveform in which the rotational speed of the first optical element and/or the rotational speed of the second optical element changes periodically includes one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave.

Exemplarily, controlling the rotational speed of the first optical element and/or the rotational speed of the second optical element to periodically change around the synchronous rotational speed may include: controlling the rotational speed of the first optical element to periodically change around the synchronous rotational speed, and Control the second optical element to rotate at a constant speed according to the rotation direction of the first optical element and the synchronous rotational speed; or control the rotational speed of the second optical element to periodically change around the synchronous rotational speed, and control the first optical element to follow the second optical The rotation direction of the element and the synchronous rotational speed rotate at a constant speed, or the rotational speed of the first optical element is controlled to periodically change around the synchronous rotational speed, and the rotational speed of the second optical element is controlled to periodically vary around the synchronous rotational speed.

Exemplarily, according to the target rotational speed difference and the target phase difference, the way to determine the range of phase difference variation can be: obtain the point cloud frame rate of the detection device, and determine the duration of a cycle according to the point cloud frame rate; according to the duration and the target The rotation speed difference is to determine the first phase difference; and to determine the variation range of the phase difference according to the first phase difference and the target phase difference.

Taking the scanning range of the detection device in the direction of the first field of view as FOV _vertical , the reflection angle of the second optical element as 45°, the frame rate of the point cloud of the detection device as f, and the period T as 1/f, the first optical element and The second optical element corresponds to the upper edge of the scanning range of the detection device in the direction of the first field of view (i.e. + 22.5°) at 0 phase. For example, when the target phase difference is Δθ, and the target rotational speed difference is ΔV, the detection device is at The scanning range of the field of view position corresponding to the target phase difference Δθ in the first field of view direction is:

The scanning range of the corresponding field of view area of the detection device in the first field of view direction can be:

Among them, Δθ _max is the first phase difference, and

For example, if the point cloud frame rate is 10Hz, the first parallax direction is the vertical field of view direction, the second field of view direction is the horizontal field of view direction, the scanning range of the vertical field of view is 45 degrees, and the target phase difference Δθ=π/2, The variable range of the target speed difference ΔV is 300rpm, and it changes sinusoidally, with a period of 0.1s as an example. The point cloud distribution map output by the detection device can be shown in Figure 5. The target phase difference Δθ of the detection device in the direction of the vertical field of view The position of the field of view corresponding to =π/2 is 0°, and the scanning range of the corresponding field of view area of the detection device in the direction of the vertical field of view is 18.9°.

Wherein, the phase difference between the first optical element and the second optical element changes periodically according to the phase difference variation range, and the corresponding waveform may include one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave. For example, the phase difference between the first optical element and the second optical element changes periodically according to the range of the phase difference. The corresponding waveform can be shown in Figure 6. The waveform is a triangle wave. The phase difference with the second optical element starts from the target phase difference Δθ to the first phase difference Δθ _max , and after reaching the first phase difference Δθ _max , it then moves from the first phase difference Δθ _max to the target phase difference Δθ Decrease until returning to the target phase difference Δθ.

Exemplarily, according to the first phase difference and the target phase difference, the manner of determining the variation range of the phase difference may be: according to the first phase difference and the target phase difference, determining the second phase difference, wherein the target phase difference is the first phase difference The phase difference at the midpoint between the second phase difference and the phase difference change range is determined according to the first phase difference, the second phase difference and the target phase difference.

For example, the phase difference between the first optical element and the second optical element changes periodically according to the range of the phase difference. The corresponding waveform can be shown in Figure 7. The waveform is a sine wave. The phase difference with the second optical element starts from the target phase difference Δθ to the first phase difference Δθ _max , and after reaching the first phase difference Δθ _max , it then moves from the first phase difference Δθ _max to the target phase difference Δθ Decrease until it returns to the target phase difference Δθ, then continue to decrease from the target phase difference Δθ to the second phase difference Δθ ₁ , and then go from the second phase difference Δθ ₁ to the target phase difference after reaching the second phase difference Δθ ₁ Δθ is increased until returning to the target phase difference Δθ.

In one embodiment, the second mode switching instruction is obtained, wherein the second mode switching instruction is used to instruct the detection device to switch the scanning mode to the second scanning mode; the rotational speed difference in the second mode switching instruction is determined as the target rotational speed difference , and determine the current phase difference between the first optical element and the second optical element as the target phase difference; according to the target rotational speed difference and the target phase difference, control the phase difference between the first optical element and the second optical element to the target The phase difference is periodically changed as the starting point. By acquiring the second mode switching instruction, the scanning mode of the detection device can be quickly switched to the second scanning mode.

Exemplarily, when the second mode switching command is obtained, if the detection device is in the first scanning mode and the phase difference information is not carried in the second mode switching command, the distance between the first optical element and the second optical element is The current phase difference is determined as the target phase difference, and according to the target speed difference in the second mode switching command, the motion parameters of the first optical element and/or the motion parameters of the second optical element are controlled to change periodically, so that the phase difference The periodic change is performed according to the change range of the phase difference, so that the detection device is in the second scanning mode.

In one embodiment, the second mode switching instruction is obtained, wherein the second mode switching instruction is used to instruct the detection device to switch the scanning mode to the second scanning mode; the rotational speed difference in the second mode switching instruction is determined as the target rotational speed difference , and determine the phase difference in the second mode switching instruction as the target phase difference; according to the target phase difference and the target rotational speed difference, adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element, so that the detection device In second scan mode. By acquiring the second mode switching instruction, the scanning mode of the detection device can be quickly switched to the second scanning mode.

Exemplarily, when the second mode switching instruction is obtained, if the detection device is in the first scanning mode, and the second mode switching instruction carries phase difference information, the phase difference between the first optical element and the second optical element The current phase difference is determined as the target phase difference, and according to the target rotational speed difference in the second mode switching command, the motion parameters of the first optical element and/or the motion parameters of the second optical element are controlled to change periodically, so that the phase difference follows The changing range of the phase difference changes periodically, so that the detecting device is in the second scanning mode.

The inventors of the present application found that there are mainly two ways to implement the current detection device. The first way is that multiple sets of transmitters and receivers are rotated as a whole to realize scanning. The second way is that multiple sets of transmitters and receivers are fixed and cooperate with scanning. The rotation of the module realizes the scanning. The number of transmitters and receivers of the former is often much larger than that of the latter, and mainstream products can reach tens or hundreds, which is expensive. Compared with the former, the production and assembly complexity of the latter is greatly reduced, and the cost advantage is obvious. Under the condition of several transmitters and receivers with scanning modules, the point cloud effect of dozens or hundreds of transmitters and receivers of the former can be realized. However, the optical components in the scanning module need to be rotated at high speed. The high-speed rotation of the optical components will cause vibration and noise, which will affect the reliability of the detection device. In addition, high-speed rotation will also generate high power consumption, which will affect the use of the detection device. However, if the rotational speed of the optical element is reduced, the distribution of the point cloud collected by the detection device will be sparse in the middle and dense in the two sides, and the detection effect of the detection device will not be good.

In order to solve the above problems, the inventors of the present application provided the detection device with a third scanning mode. In the third scanning mode, the rotational speed of the first optical element changes periodically around the first rotational speed and/or the second optical element The rotating speed of the rotating speed changes periodically around the second rotating speed as the center, and the first rotating speed and the second rotating speed are smaller than the preset rotating speed threshold, and the preset rotating speed threshold can be set based on actual conditions, and is not specifically limited here. By controlling the rotational speed of the first optical element to periodically change around the first rotational speed and/or the rotational speed of the second optical element to periodically change around the second rotational speed, the acquisition of the detection device caused by reducing the rotational speed of the optical element can be solved. The obtained point cloud distribution has the problem of being sparse in the middle and dense on both sides, so as to ensure the balance of point cloud distribution and point cloud density.

For example, Fig. 8 is a point cloud distribution diagram when both the first optical element and the second optical element rotate at a speed _v1 greater than or equal to 13000rpm, and the number of transmitters and receivers is 4, as shown in Fig. 8, the points The cloud distribution is relatively uniform. Figure 9 shows the point cloud distribution diagram when the first optical element and the second optical element rotate at a rotational speed of _v2 , and the number of emitters and receivers is 4, as shown in Figure 9. It shows that the point cloud distribution has a problem of being sparse in the middle and dense on both sides. Figure 10 is the point cloud effect diagram when the second optical element rotates at a constant speed of speed _v2 , the first optical element changes periodically around the speed _v3 , and the number of transmitters and receivers is 4, as shown in Figure 10 As shown, the point cloud distribution is uniform and dense, which is very similar to the point cloud distribution diagram shown in Figure 8.

In an embodiment, the third mode switching instruction is obtained, and according to the third mode switching instruction, the detection device is controlled to be in the third scanning mode. Wherein, in the third scanning mode, the rotational speed of the first optical element changes periodically around the first rotational speed and/or the rotational speed of the second optical element changes periodically around the second rotational speed, the first rotational speed and the second rotational speed The second rotational speed is less than the preset rotational speed threshold, and the preset rotational speed threshold can be set based on actual conditions, and is not specifically limited here.

Exemplarily, in the third scanning mode, the first rotation speed, the first rotation angle of the first optical element, the second rotation speed and the second rotation angle of the second optical element satisfy the preset constraint condition, and when the preset constraint condition is satisfied In the case of , the scanning patterns of the detection device in each frame are consistent, and the preset constraints can be set based on actual conditions, which are not specifically limited here. For example, the preset constraints are:

V ₁ =M ₁ *N*60

V ₂ =M ₂ *N*60

M ₁ -M ₂ =±n

θ ₁ =M ₁ *2π

θ ₂ =M ₂ *2π

Wherein, N is the frame rate of the detection device, M ₁ , M ₂ and n are integers, optional, n is 1, V ₁ is the first rotation speed, V ₂ is the second rotation speed, θ ₁ is the first rotation angle, θ ₂ is the second rotation angle.

Exemplarily, the manner of controlling the detection device to be in the third scanning mode may include: controlling the first optical element to rotate at a first rotational speed at a constant speed, and controlling the rotational speed of the second optical element to periodically change around the second rotational speed; or controlling The second optical element rotates at a constant speed at the second rotational speed, and controls the rotational speed of the first optical element to periodically change around the first rotational speed; or controls the rotational speed of the first optical element to periodically change around the first rotational speed, and The rotational speed of the second optical element is controlled to change periodically around the second rotational speed. Wherein, the waveform in which the rotating speed changes periodically may include one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave.

Exemplarily, the manner of controlling the rotational speed of the first optical element may include: acquiring a feedback control parameter of the rotational speed of the first optical element; performing feedback control on the rotational speed of the first optical element according to the feedback control parameter of the rotational speed of the first optical element . Wherein, the feedback control parameters of the rotational speed of the first optical element include the expected phase difference between the first optical element and the second optical element, the current rotation angle of the first optical element, the current rotational speed of the first optical element, and the the second rotation angle. By performing feedback control on the rotational speed of the first optical element through the feedback control parameter of the rotational speed of the first optical element, the rotational speed of the first optical element can be precisely controlled to change periodically around the first rotational speed.

Exemplarily, the expected phase difference between the first optical element and the second optical element, the current rotation angle of the first optical element, the current rotational speed of the first optical element, and the second rotation angle of the second optical element are acquired. Wherein, the way of acquiring the expected phase difference may include: acquiring the current feedback control moment of the first optical element in the current period; determining the first A desired phase difference between the optical element and the second optical element.

Exemplarily, the mapping relationship between the preset phase difference and the feedback control moment is based on the maximum scanning range of the detection device in the direction of the first field of view, the number of emitters, the included angle of emission, the point cloud frame rate, the first rotational speed and The second rotation speed is determined, and the mapping relationship between the phase difference and the feedback control time can be set based on actual conditions, which is not specifically limited in this embodiment. For example, the mapping relationship between the phase difference and the feedback control moment can be represented by a curve as shown in FIG. 11. The curve shown in FIG. When the scanning speed in the center of the field of view is fast, the speed is reduced, so that the uniform arrangement of the point cloud can be achieved.

Exemplarily, according to the feedback control parameters of the first optical element, the way of feedback controlling the rotational speed of the first optical element may include: determining the reference rotational speed of the first optical element according to the second rotation angle; Angle and expected phase difference, determine the reference rotation angle of the first optical element; determine the compensation reference rotation speed of the first optical element according to the current rotation angle and the reference rotation angle; according to the reference rotation speed, the compensation reference rotation speed and the current rotation speed of the first optical element , to perform feedback control on the current rotational speed of the first optical element. It should be noted that the method of determining the reference rotation speed of the first optical element according to the second rotation angle can be exemplarily given, that is, the corresponding current reference moment can be obtained according to the second rotation angle, and according to the current reference moment and the first optical element The rotational speed of the element and the time mapping relationship can determine the reference rotational speed of the first optical element.

It can be understood that, the manner of controlling the second optical element to periodically change around the second rotational speed may refer to the specific process of controlling the first optical element to periodically change around the first rotational speed, which will not be repeated here.

In an embodiment, after the detection device is started, it may enter the third scanning mode by default. For example, after the detection device is started, it automatically triggers the third mode switching instruction, and controls the detection device to enter the third scanning mode according to the third mode switching instruction. Of course, the first scanning mode or the second scanning mode may also be entered by default, which is not specifically limited in this embodiment. By entering the third scanning mode by default, the balance and point cloud density of the point cloud distribution map output by the detection device can be guaranteed, the power consumption of the detection device can also be reduced, and the service life of the detection device can be improved.

Please refer to FIG. 12 . FIG. 12 is a schematic block diagram of a detection device provided by an embodiment of the present application.

As shown in FIG. 12 , the detection device 200 includes a scanning module 210, a memory 220 and one or more processors 230, and the scanning module 210, the memory 220 and one or more processors 230 are connected through a bus 240, and the bus 240 is, for example, It is the I2C (Inter-integrated Circuit) bus.

Specifically, the scanning module 200 is arranged on the optical path of the light pulse sequence emitted by the light source, the scanning module 200 includes a first optical element and a second optical element, the first optical element and the second optical The element is used to change the propagation direction of the light pulse sequence, so that the detection device 200 scans according to the first field of view direction and/or the second field of view direction.

Specifically, the memory 220 can be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk or a mobile hard disk, etc., and the memory 220 is used to store computer programs.

Specifically, the processor 230 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

Wherein, one or more processors 230 work individually or jointly to execute the computer program and implement the following steps when executing the computer program:

Optionally, when the processor adjusts the motion parameter of the first optical element and/or the motion parameter of the second optical element according to the target phase difference, it is configured to:

adjusting a motion parameter of the first optical element and/or a motion parameter of the second optical element according to the target phase difference, so that the detection device is in a first scanning mode;

Wherein, in the first scanning mode, the first optical element and the second optical element rotate according to the same rotation speed and direction while maintaining the target phase difference, so that the detection device rotates in the direction of the first field of view The position of the field of view corresponding to the phase difference of the target is scanned.

Optionally, when obtaining the target phase difference between the first optical element and the second optical element of the scanning module in the detection device, the processor is used to:

Acquiring a first mode switching instruction, wherein the first mode switching instruction is used to instruct the detection device to switch the scanning mode to the first scanning mode;

The phase difference in the first mode switching instruction is determined as a target phase difference between the first optical element and the second optical element.

When the first mode switching instruction is acquired, the current phase difference between the first optical element and the second optical element is determined as the target phase difference, wherein the first mode switching instruction is used to indicate The detection device switches the scanning mode to the first scanning mode.

acquiring a target rotational speed difference between the first optical element and the second optical element;

adjusting a motion parameter of the first optical element and/or a motion parameter of the second optical element according to the target phase difference and the target rotational speed difference, so that the detection device is in a second scanning mode;

Wherein, in the second scanning mode, the phase difference between the first optical element and the second optical element changes periodically starting from the target phase difference, so that the detection device The field of view area in the field of view direction is scanned.

Optionally, when the processor adjusts the motion parameter of the first optical element and/or the motion parameter of the second optical element according to the target phase difference and the target rotational speed difference, it is configured to implement :

Adjusting a motion parameter of the first optical element and/or a motion parameter of the second optical element according to the target phase difference;

When the first optical element and the second optical element rotate at the same rotational speed and direction, and the phase difference between the first optical element and the second optical element reaches the target phase difference, according to the The target rotational speed difference is used to control the phase difference to periodically change with the target phase difference as a starting point.

Optionally, when the processor controls the phase difference to periodically change with the target phase difference as a starting point according to the target rotational speed difference, it is used to realize:

Determine a phase difference variation range according to the target rotational speed difference and the target phase difference, where the phase difference variation range starts from the target phase difference;

The motion parameters of the first optical element and/or the motion parameters of the second optical element are controlled to change periodically, so that the phase difference is periodically changed according to the phase difference variation range.

Optionally, the processor controls the motion parameters of the first optical element and/or the motion parameters of the second optical element to periodically change, so that the phase difference varies according to the phase difference range When performing periodic changes, it is used to achieve:

acquiring a synchronous rotational speed, wherein when the first optical element and the second optical element rotate according to the synchronous rotational speed, the phase difference is the same as the target phase difference;

The rotational speed of the first optical element and/or the rotational speed of the second optical element are controlled to periodically change around the synchronous rotational speed, so that the phase difference is periodically changed according to the phase difference variation range.

Optionally, the detection device scans in the field of view area corresponding to the phase difference variation range in the first field of view direction.

Optionally, the motion parameter includes a rotational speed, and the waveform in which the rotational speed changes periodically includes one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave.

Optionally, when the processor realizes determining the variation range of the phase difference according to the target rotational speed difference and the target phase difference, it is used to realize:

Obtain the point cloud frame rate of the detection device, and determine the duration of a cycle according to the point cloud frame rate;

determining a first phase difference according to the duration and the target speed difference;

Determine the phase difference variation range according to the first phase difference and the target phase difference.

Optionally, when the processor realizes determining the variation range of the phase difference according to the first phase difference and the target phase difference, it is configured to:

determining a second phase difference according to the first phase difference and the target phase difference, wherein the target phase difference is a phase difference at a midpoint between the first phase difference and the second phase difference ;

The phase difference variation range is determined according to the first phase difference, the second phase difference and the target phase difference.

Optionally, the processor is also used to implement the following steps:

Obtaining a second mode switching instruction, wherein the second mode switching instruction is used to instruct the detection device to switch the scanning mode to the second scanning mode;

The rotational speed difference in the second mode switching command is determined as the target rotational speed difference.

Optionally, the processor is also used to implement the following steps:

determining the phase difference in the second mode switching command as the target phase difference.

Optionally, the detection device is provided with a first scanning mode and/or a second scanning mode, the first scanning mode instructs the detection device to scan at a corresponding field of view position in the direction of the first field of view, the The second scanning mode instructs the detecting device to scan the field of view area in the first field of view direction.

Optionally, the scanning range of the detection device in the second field of view direction in the first scanning mode is the same as the scanning range of the detection device in the second field of view direction in the second scanning mode; and /or,

The position or area of the field of view that the detection device scans in the first field of view direction can be adjusted; and/or,

The field of view area includes the field of view position.

Optionally, the processor is also used to implement the following steps:

Acquiring a third mode switching instruction, and controlling the detection device to be in a third scanning mode according to the third mode switching instruction;

Wherein, in the third scanning mode, the rotational speed of the first optical element changes periodically around the first rotational speed and/or the rotational speed of the second optical element changes periodically around the second rotational speed.

Optionally, in the third scanning mode, the first rotational speed, the first rotational angle of the first optical element, the second rotational speed, and the second rotational angle of the second optical element satisfy a predetermined Set constraints.

Optionally, when the processor realizes controlling the detection device to be in the third scanning mode, it is used to realize:

controlling the first optical element to rotate at a constant speed at the first rotational speed, and controlling the rotational speed of the second optical element to periodically change around the second rotational speed; or

controlling the second optical element to rotate at a constant speed at the second rotational speed, and controlling the rotational speed of the first optical element to periodically change around the first rotational speed; or

The rotational speed of the first optical element is controlled to periodically change around the first rotational speed, and the rotational speed of the second optical element is controlled to be periodically varied around the second rotational speed.

Optionally, when the processor realizes controlling the rotational speed of the first optical element, it is configured to realize:

Acquiring a feedback control parameter of the rotational speed of the first optical element;

Feedback control is performed on the rotational speed of the first optical element according to the feedback control parameter.

Optionally, when the processor obtains the feedback control parameter of the rotational speed of the first optical element, it is configured to:

Obtaining the expected phase difference between the first optical element and the second optical element, the current rotation angle of the first optical element, the current rotational speed of the first optical element, and the first rotation angle of the second optical element Two rotation angles.

Optionally, when the processor performs feedback control on the rotational speed of the first optical element according to the feedback control parameter, it is configured to:

determining a reference rotation speed of the first optical element according to the second rotation angle;

determining a reference rotation angle of the first optical element according to the second rotation angle and the expected phase difference;

determining a compensation reference rotation speed of the first optical element according to the current rotation angle and the reference rotation angle;

Feedback control is performed on the current rotational speed of the first optical element according to the reference rotational speed, the compensation reference rotational speed and the current rotational speed.

Optionally, when the processor obtains the desired phase difference between the first optical element and the second optical element, it is configured to:

Acquiring the current feedback control moment of the first optical element in the current period;

An expected phase difference between the first optical element and the second optical element is determined according to the current feedback control time and a preset mapping relationship between the phase difference and the feedback control time.

Optionally, the mapping relationship is based on the maximum scanning range of the detection device in the direction of the first field of view, the number of emitters, the included angle of emission, the point cloud frame rate, the first rotational speed and the second Speed is determined.

Optionally, the first optical element includes a prism, and the second optical element includes a mirror.

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the detection device described above can refer to the corresponding process in the embodiment of the field of view control method of the detection device described above, I won't repeat them here.

Please refer to FIG. 13 . FIG. 13 is a schematic structural block diagram of a mobile platform provided by an embodiment of the present application.

As shown in FIG. 13 , the movable platform 300 includes a platform body 310 , a power system 320 and a detection device 330 . Among them, the power system 320 is set on the platform body 310 and is used to provide mobile power for the movable platform 300, and the detection device 330 is set on the platform body 310 and is used to detect the external environment information of the environment where the movable platform 300 is located. . The detection device 330 may be the detection device 200 in FIG. 12 .

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the movable platform described above can refer to the corresponding process in the embodiment of the field of view control method of the detection device , which will not be repeated here.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the above-mentioned embodiment. The steps of the method for controlling the field of view of the detecting device.

Wherein, the computer-readable storage medium may be an internal storage unit of the detection device or the movable platform described in any of the foregoing embodiments, such as a hard disk or a memory of the detection device or the movable platform. The computer-readable storage medium can also be an external storage device of the detection device or the removable platform, such as a plug-in hard disk equipped on the detection device or the removable platform, a smart memory card (Smart Media Card, SMC) , Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

It should be understood that the terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit the application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A method for controlling a field of view of a detection device, comprising:

Acquiring the target phase difference between the first optical element and the second optical element of the scanning module in the detection device;

According to the target phase difference, adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element, so that the corresponding field of view position or field of view of the detection device in the first field of view direction field area to scan.
The field of view control method according to claim 1, wherein the adjusting the motion parameters of the first optical element and/or the motion parameters of the second optical element according to the target phase difference comprises:

adjusting a motion parameter of the first optical element and/or a motion parameter of the second optical element according to the target phase difference, so that the detection device is in a first scanning mode;

Wherein, in the first scanning mode, the first optical element and the second optical element rotate according to the same rotation speed and direction while maintaining the target phase difference, so that the detection device rotates in the direction of the first field of view The position of the field of view corresponding to the phase difference of the target is scanned.
The field of view control method according to claim 2, wherein the acquiring the target phase difference between the first optical element and the second optical element of the scanning module in the detection device comprises:

Acquiring a first mode switching instruction, wherein the first mode switching instruction is used to instruct the detection device to switch the scanning mode to the first scanning mode;

The phase difference in the first mode switching instruction is determined as a target phase difference between the first optical element and the second optical element.
The field of view control method according to claim 2, wherein the acquiring the target phase difference between the first optical element and the second optical element of the scanning module in the detection device comprises:

When the first mode switching instruction is acquired, the current phase difference between the first optical element and the second optical element is determined as the target phase difference, wherein the first mode switching instruction is used to indicate The detection device switches the scanning mode to the first scanning mode.
The field of view control method according to any one of claims 1 to 4, characterized in that, according to the target phase difference, adjusting the motion parameters of the first optical element and/or the second optical element motion parameters, including:

acquiring a target rotational speed difference between the first optical element and the second optical element;

According to the target phase difference and the target rotational speed difference, adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element, so that the detection device is in the second scanning mode;

Wherein, in the second scanning mode, the phase difference between the first optical element and the second optical element changes periodically starting from the target phase difference, so that the detection device The field of view area in the field of view direction is scanned.
The field of view control method according to claim 5, characterized in that, according to the target phase difference and the target rotational speed difference, adjusting the motion parameters of the first optical element and/or the second optical element motion parameters, including:

adjusting a motion parameter of the first optical element and/or a motion parameter of the second optical element according to the target phase difference;

When the first optical element and the second optical element rotate at the same rotational speed and direction, and the phase difference between the first optical element and the second optical element reaches the target phase difference, according to the The target rotational speed difference is used to control the phase difference to periodically change with the target phase difference as a starting point.
The field of view control method according to claim 6, wherein, according to the target rotational speed difference, controlling the phase difference to periodically change with the target phase difference as a starting point includes:

Determine a phase difference variation range according to the target rotational speed difference and the target phase difference, where the phase difference variation range starts from the target phase difference;

The motion parameters of the first optical element and/or the motion parameters of the second optical element are controlled to change periodically, so that the phase difference is periodically changed according to the phase difference variation range.
The field of view control method according to claim 7, characterized in that the control of the motion parameters of the first optical element and/or the motion parameters of the second optical element is periodically changed so that the phase The difference changes periodically according to the phase difference variation range, including:

acquiring a synchronous rotational speed, wherein when the first optical element and the second optical element rotate according to the synchronous rotational speed, the phase difference is the same as the target phase difference;

The rotational speed of the first optical element and/or the rotational speed of the second optical element are controlled to periodically change around the synchronous rotational speed, so that the phase difference is periodically changed according to the phase difference variation range.
The field of view control method according to claim 7, wherein the detection device scans the field of view area corresponding to the phase difference variation range in the first field of view direction.
The field of view control method according to claim 7, wherein the motion parameter includes a rotational speed, and the waveform in which the rotational speed changes periodically includes one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave.
The field of view control method according to claim 7, wherein said determining the phase difference variation range according to said target rotational speed difference and target phase difference comprises:

Obtain the point cloud frame rate of the detection device, and determine the duration of a cycle according to the point cloud frame rate;

determining a first phase difference according to the duration and the target speed difference;

Determine the phase difference variation range according to the first phase difference and the target phase difference.
The field of view control method according to claim 11, wherein the determining the phase difference variation range according to the first phase difference and the target phase difference comprises:

determining a second phase difference according to the first phase difference and the target phase difference, wherein the target phase difference is a phase difference at a midpoint between the first phase difference and the second phase difference ;

The phase difference variation range is determined according to the first phase difference, the second phase difference and the target phase difference.
The field of view control method according to claim 5, further comprising:

Obtaining a second mode switching instruction, wherein the second mode switching instruction is used to instruct the detection device to switch the scanning mode to the second scanning mode;

The rotational speed difference in the second mode switching command is determined as the target rotational speed difference.
The field of view control method according to claim 13, further comprising:

determining the phase difference in the second mode switching command as the target phase difference.
The field of view control method according to claim 1, wherein the detection device is provided with a first scanning mode and/or a second scanning mode, and the first scanning mode indicates that the detection device is in the first field of view The corresponding viewing field position in the direction is scanned, and the second scanning mode instructs the detection device to scan the viewing field area in the first viewing field direction.
The field of view control method according to claim 15, characterized in that, the scanning range of the detection device in the second field of view direction in the first scanning mode is the same as that of the detection device in the second scanning mode. The same scan range in the direction of the second field of view; and/or,

The position or area of the field of view that the detection device scans in the first field of view direction can be adjusted; and/or,

The field of view area includes the field of view position.
The field of view control method according to any one of claims 1 to 16, wherein the method further comprises:

Acquiring a third mode switching instruction, and controlling the detection device to be in a third scanning mode according to the third mode switching instruction;

Wherein, in the third scanning mode, the rotational speed of the first optical element changes periodically around the first rotational speed and/or the rotational speed of the second optical element changes periodically around the second rotational speed.
The field of view control method according to claim 17, wherein, in the third scanning mode, the first rotation speed, the first rotation angle of the first optical element, the second rotation speed and the The second rotation angle of the second optical element satisfies a preset constraint condition.
The field of view control method according to claim 17, wherein the controlling the detection device to be in the third scanning mode comprises:

controlling the first optical element to rotate at a constant speed at the first rotational speed, and controlling the rotational speed of the second optical element to periodically change around the second rotational speed; or

controlling the second optical element to rotate at a constant speed at the second rotational speed, and controlling the rotational speed of the first optical element to periodically change around the first rotational speed; or

The rotation speed of the first optical element is controlled to change periodically around the first rotation speed, and the rotation speed of the second optical element is controlled to change periodically around the second rotation speed.
The field of view control method according to claim 19, wherein the controlling the rotation speed of the first optical element comprises:

Acquiring a feedback control parameter of the rotational speed of the first optical element;

Feedback control is performed on the rotational speed of the first optical element according to the feedback control parameter.
The field of view control method according to claim 20, wherein said acquiring the feedback control parameters of the rotational speed of the first optical element comprises:

Obtaining the expected phase difference between the first optical element and the second optical element, the current rotation angle of the first optical element, the current rotational speed of the first optical element, and the first rotation angle of the second optical element Two rotation angles.
The field of view control method according to claim 21, wherein the feedback control of the rotational speed of the first optical element according to the feedback control parameters comprises:

determining a reference rotation speed of the first optical element according to the second rotation angle;

determining a reference rotation angle of the first optical element according to the second rotation angle and the expected phase difference;

determining a compensation reference rotation speed of the first optical element according to the current rotation angle and the reference rotation angle;

Feedback control is performed on the current rotational speed of the first optical element according to the reference rotational speed, the compensation reference rotational speed and the current rotational speed.
The field of view control method according to claim 21, wherein the acquiring the expected phase difference between the first optical element and the second optical element comprises:

Acquiring the current feedback control moment of the first optical element in the current cycle;

An expected phase difference between the first optical element and the second optical element is determined according to the current feedback control time and a preset mapping relationship between the phase difference and the feedback control time.
The field of view control method according to claim 23, wherein the mapping relationship is based on the maximum scanning range of the detection device in the direction of the first field of view, the number of emitters, the included angle of emission, and the point cloud frame rate, the first speed and the second speed are determined.
The field of view control method according to any one of claims 1 to 16, wherein the first optical element includes a prism, and the second optical element includes a mirror.
A detection device, characterized in that it comprises:

The scanning module is arranged on the optical path of the light pulse sequence emitted by the light source, the scanning module includes a first optical element and a second optical element, and the first optical element and the second optical element are used to change the The propagation direction of the light pulse sequence, so that the detection device scans according to the first field of view direction and/or the second field of view direction;

memory for storing computer programs;

One or more processors, working individually or jointly, for executing the computer program and implementing the following steps when executing the computer program:

Acquiring the target phase difference between the first optical element and the second optical element of the scanning module in the detection device;

According to the target phase difference, adjust the motion parameters of the first optical element and/or the motion parameters of the second optical element, so that the corresponding field of view position or field of view of the detection device in the first field of view direction field area to scan.
The detection device according to claim 26, wherein when the processor adjusts the motion parameters of the first optical element and/or the motion parameters of the second optical element according to the target phase difference , used to implement:

adjusting a motion parameter of the first optical element and/or a motion parameter of the second optical element according to the target phase difference, so that the detection device is in a first scanning mode;

Wherein, in the first scanning mode, the first optical element and the second optical element rotate according to the same rotation speed and direction while maintaining the target phase difference, so that the detection device rotates in the direction of the first field of view The position of the field of view corresponding to the phase difference of the target is scanned.
The detection device according to claim 27, wherein the processor is configured to realize the target phase difference between the first optical element and the second optical element of the scanning module in the detection device when obtaining :

Acquiring a first mode switching instruction, wherein the first mode switching instruction is used to instruct the detection device to switch the scanning mode to the first scanning mode;

The phase difference in the first mode switching instruction is determined as a target phase difference between the first optical element and the second optical element.
The detection device according to claim 27, wherein the processor is configured to realize the target phase difference between the first optical element and the second optical element of the scanning module in the detection device when obtaining :

When the first mode switching instruction is acquired, the current phase difference between the first optical element and the second optical element is determined as the target phase difference, wherein the first mode switching instruction is used to indicate The detection device switches the scanning mode to the first scanning mode.
The detection device according to any one of claims 26 to 29, wherein the processor adjusts the motion parameters of the first optical element and/or the second optical element according to the target phase difference. When the motion parameters of optical components are used to achieve:

acquiring a target rotational speed difference between the first optical element and the second optical element;

adjusting a motion parameter of the first optical element and/or a motion parameter of the second optical element according to the target phase difference and the target rotational speed difference, so that the detection device is in a second scanning mode;

Wherein, in the second scanning mode, the phase difference between the first optical element and the second optical element changes periodically starting from the target phase difference, so that the detection device The field of view area in the field of view direction is scanned.
The detection device according to claim 30, wherein the processor adjusts the motion parameters of the first optical element and/or the second optical element according to the target phase difference and the target rotation speed difference. When the motion parameters of optical components are used to achieve:

adjusting a motion parameter of the first optical element and/or a motion parameter of the second optical element according to the target phase difference;

When the first optical element and the second optical element rotate at the same rotational speed and direction, and the phase difference between the first optical element and the second optical element reaches the target phase difference, according to the The target rotational speed difference is used to control the phase difference to periodically change with the target phase difference as a starting point.
The detection device according to claim 31, characterized in that, when the processor controls the phase difference to periodically change with the target phase difference as a starting point according to the target rotational speed difference, it is used to realize:

Determine a phase difference variation range according to the target rotational speed difference and the target phase difference, where the phase difference variation range starts from the target phase difference;

The motion parameters of the first optical element and/or the motion parameters of the second optical element are controlled to change periodically, so that the phase difference is periodically changed according to the phase difference variation range.
The detection device according to claim 32, wherein the processor controls the motion parameters of the first optical element and/or the motion parameters of the second optical element to change periodically, so that the When the phase difference changes periodically according to the phase difference variation range, it is used to realize:

acquiring a synchronous rotational speed, wherein when the first optical element and the second optical element rotate according to the synchronous rotational speed, the phase difference is the same as the target phase difference;

The rotational speed of the first optical element and/or the rotational speed of the second optical element are controlled to periodically change around the synchronous rotational speed, so that the phase difference is periodically changed according to the phase difference variation range.
The detecting device according to claim 32, characterized in that, the detecting device scans in the viewing field area corresponding to the phase difference variation range in the first viewing field direction.
The detecting device according to claim 32, wherein the motion parameter includes a rotational speed, and the waveform of the rotational speed periodically changing includes one of the following: sine wave, cosine wave, trapezoidal wave, and triangular wave.
The detection device according to claim 32, characterized in that, when the processor realizes determining the variation range of the phase difference according to the target rotational speed difference and the target phase difference, it is used to realize:

Obtain the point cloud frame rate of the detection device, and determine the duration of a cycle according to the point cloud frame rate;

determining a first phase difference according to the duration and the target speed difference;

Determine the phase difference variation range according to the first phase difference and the target phase difference.
The detection device according to claim 36, characterized in that, when the processor determines the variation range of the phase difference according to the first phase difference and the target phase difference, it is used to realize:

determining a second phase difference according to the first phase difference and the target phase difference, wherein the target phase difference is a phase difference at a midpoint between the first phase difference and the second phase difference ;

The phase difference variation range is determined according to the first phase difference, the second phase difference and the target phase difference.
The detection device according to claim 30, wherein the processor is further configured to implement the following steps:

Obtaining a second mode switching instruction, wherein the second mode switching instruction is used to instruct the detection device to switch the scanning mode to the second scanning mode;

The rotational speed difference in the second mode switching instruction is determined as the target rotational speed difference.
The detection device according to claim 38, wherein the processor is further configured to implement the following steps:

determining the phase difference in the second mode switching instruction as the target phase difference.
The detecting device according to claim 26, wherein the detecting device is provided with a first scanning mode and/or a second scanning mode, and the first scanning mode indicates that the detecting device is in the direction of the first field of view The corresponding viewing field position is scanned, and the second scanning mode instructs the detection device to scan the viewing field area in the first viewing field direction.
The detecting device according to claim 40, characterized in that, the scanning range of the detecting device in the second field of view direction in the first scanning mode is the same as that in the second scanning mode of the detecting device in the second scanning mode. same scanning range in the field of view direction; and/or,

The position or area of the field of view that the detection device scans in the first field of view direction can be adjusted; and/or,

The field of view area includes the field of view position.
The detection device according to any one of claims 26 to 41, wherein the processor is further configured to implement the following steps:

Acquiring a third mode switching instruction, and controlling the detection device to be in a third scanning mode according to the third mode switching instruction;

Wherein, in the third scanning mode, the rotational speed of the first optical element changes periodically around the first rotational speed and/or the rotational speed of the second optical element changes periodically around the second rotational speed.
The detecting device according to claim 42, characterized in that, in the third scanning mode, the first rotation speed, the first rotation angle of the first optical element, the second rotation speed and the first The second rotation angle of the two optical elements satisfies a preset constraint condition.
The detection device according to claim 42, wherein the processor is configured to realize: when controlling the detection device to be in the third scanning mode:

controlling the first optical element to rotate at a constant speed at the first rotational speed, and controlling the rotational speed of the second optical element to periodically change around the second rotational speed; or

controlling the second optical element to rotate at a constant speed at the second rotational speed, and controlling the rotational speed of the first optical element to periodically change around the first rotational speed; or

The rotation speed of the first optical element is controlled to change periodically around the first rotation speed, and the rotation speed of the second optical element is controlled to change periodically around the second rotation speed.
The detection device according to claim 44, wherein, when the processor realizes controlling the rotational speed of the first optical element, it is used to realize:

Acquiring a feedback control parameter of the rotational speed of the first optical element;

Feedback control is performed on the rotational speed of the first optical element according to the feedback control parameter.
The detection device according to claim 45, characterized in that, when the processor obtains the feedback control parameters of the rotation speed of the first optical element, it is used to realize:

Obtaining the expected phase difference between the first optical element and the second optical element, the current rotation angle of the first optical element, the current rotational speed of the first optical element, and the first rotation angle of the second optical element Two rotation angles.
The detection device according to claim 46, characterized in that, when the processor performs feedback control on the rotational speed of the first optical element according to the feedback control parameter, it is used to realize:

determining a reference rotation speed of the first optical element according to the second rotation angle;

determining a reference rotation angle of the first optical element according to the second rotation angle and the expected phase difference;

determining a compensation reference rotation speed of the first optical element according to the current rotation angle and the reference rotation angle;

Feedback control is performed on the current rotational speed of the first optical element according to the reference rotational speed, the compensation reference rotational speed and the current rotational speed.
The detection device according to claim 46, wherein the processor is configured to realize: when obtaining the expected phase difference between the first optical element and the second optical element:

Acquiring the current feedback control moment of the first optical element in the current period;

An expected phase difference between the first optical element and the second optical element is determined according to the current feedback control time and a preset mapping relationship between the phase difference and the feedback control time.
The detection device according to claim 48, wherein the mapping relationship is based on the maximum scanning range of the detection device in the direction of the first field of view, the number of emitters, the included angle of emission, the point cloud frame rate, The first rotational speed and the second rotational speed are determined.
The detection device according to any one of claims 26 to 41, wherein the first optical element comprises a prism, and the second optical element comprises a mirror.
A mobile platform, characterized in that it comprises:

platform body;

A power system is provided on the platform body and is used to provide moving power for the movable platform;

The detecting device according to any one of claims 26 to 50, which is arranged on the platform body and is used for detecting external environment information.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements any one of claims 1 to 25. The field of view control method of the detection device.