Prism stability test method, device, storage medium and electronic equipment

Abstract

The application provides a prism stability testing method and device, a storage medium and an electronic device, and relates to the field of laser radar. Wherein, the rotation axis of the prism is uniformly provided with light reflection devices with alternating strong and weak light reflection; based on the light reflection devices, the electronic device receives strong reflection signals or weak reflection signals generated by the light reflection devices when the prism rotates; according to the strong reflection signals or the weak reflection signals, the instantaneous rotation speed of the prism is obtained; and according to the multiple instantaneous rotation speeds, the stability of the prism when rotating is determined. In this way, since the instantaneous rotation speed measured by the light reflection devices is more accurate, the stability of the prism can be obtained more truly.

Description

Technical Field

[0001] This application relates to the field of lidar, and more specifically, to a method, apparatus, storage medium, and electronic device for testing the stability of a prism. Background Technology

[0002] Current mechanical lidar systems on the market scan objects within their field of view by controlling the deflection of laser light emitted from a prism and galvanometer through the rotation of prisms and galvanometers. The prism is a key component in mechanical lidar, primarily used to control the laser's scanning within the horizontal field of view. Therefore, the stability of the prism during rotation plays a crucial role in the effectiveness of the lidar's point cloud measurement.

[0003] In mechanical lidar, the prism corresponds to a drive motor. Currently, the rotational speed of the prism is obtained by reading the encoder of the drive motor from a host computer, and then the stability of the prism during rotation is tested. However, research has found that the rotational speed measured by the encoder can only represent the stability of the drive motor during rotation, and cannot truly reflect the stability of the prism during rotation under certain conditions. Summary of the Invention

[0004] To overcome at least one deficiency in the prior art, this application provides a method, apparatus, storage medium, and electronic device for testing the stability of a prism, specifically including:

[0005] In a first aspect, this application provides a method for testing the stability of a prism, wherein a reflective device of alternating strong and weak light is uniformly arranged around the rotation axis of the prism, the method comprising:

[0006] Receive strong or weak reflection signals generated by the reflective device as it rotates with the prism;

[0007] The instantaneous rotational speed of the prism is obtained based on the strong reflection signal or the weak reflection signal;

[0008] The stability of the prism during rotation is determined based on multiple instantaneous rotational speeds.

[0009] In conjunction with an optional implementation of the first aspect, determining the stability of the prism during rotation based on multiple instantaneous rotational speeds includes:

[0010] The multiple instantaneous rotational speeds are sorted according to the order in which they were collected to obtain an instantaneous rotational speed sequence.

[0011] Multiple sequence segments are extracted from the instantaneous rotational speed sequence;

[0012] For each sequence segment, the local stability of the prism rotation during the time period corresponding to the sequence segment is obtained;

[0013] The stability of the prism during rotation is determined based on the multiple local stabilizations corresponding to the multiple sequence segments.

[0014] In conjunction with the optional implementation of the first aspect, determining the stability of the prism during rotation based on the plurality of local stabilityes corresponding to the plurality of sequence segments includes:

[0015] For each sequence segment, the maximum instantaneous rotational speed, minimum instantaneous rotational speed, and average instantaneous rotational speed in the sequence segment are obtained;

[0016] The prism jitter value during prism rotation is obtained based on the maximum instantaneous rotation speed, the minimum instantaneous rotation speed, and the average instantaneous rotation speed.

[0017] The local stability of the prism during rotation is determined by comparing the prism jitter value with the jitter threshold.

[0018] In conjunction with the optional implementation of the first aspect, the expression for obtaining the prism jitter value during prism rotation based on the maximum instantaneous rotational speed, the minimum instantaneous rotational speed, and the average instantaneous rotational speed is as follows:

[0019]

[0020] In the formula, J represents the prism jitter value, and N max N represents the maximum instantaneous rotational speed. min N represents the minimum instantaneous rotational speed. ave This represents the average instantaneous rotational speed.

[0021] In conjunction with the optional implementation of the first aspect, determining the stability of the prism during rotation based on the plurality of local stabilityes corresponding to the plurality of sequence segments includes:

[0022] Based on the multiple local stability measures, count the number of locally unstable states that the prism is in when it rotates.

[0023] Calculate the proportion of the number of the local unstable states in the plurality of local stable states;

[0024] If the percentage is greater than the percentage threshold, then the prism is determined to be in an unstable state when rotating.

[0025] If the percentage is less than or equal to the percentage threshold, then the prism is determined to be in a stable state when rotating.

[0026] In conjunction with an optional implementation of the first aspect, obtaining the instantaneous rotational speed of the prism based on the strong reflection signal or the weak reflection signal includes:

[0027] Acquire the signal duration of the strong reflection signal or the weak reflection signal;

[0028] Based on the signal duration, determine the instantaneous rotational speed corresponding to the strong reflection signal or the weak reflection signal.

[0029] In conjunction with the optional implementation of the first aspect, the expression for determining the instantaneous rotational speed corresponding to the strong reflection signal or the weak reflection signal based on the signal duration is as follows:

[0030]

[0031] In the formula, n represents the instantaneous rotational speed corresponding to the strong reflection signal or the weak reflection signal, S represents the width occupied by the reflective device corresponding to the strong reflection signal or the weak reflection signal, and t represents the signal duration of the strong reflection signal or the weak reflection signal.

[0032] Secondly, this application also provides a stability testing device for a prism, wherein alternating strong and weak reflective devices are uniformly arranged around the rotation axis of the prism, the device comprising:

[0033] The signal module is used to receive strong or weak reflection signals generated by the reflective device as it rotates with the prism.

[0034] A rotation speed module is used to obtain the instantaneous rotation speed of the prism based on the strong reflection signal or the weak reflection signal;

[0035] An evaluation module is used to determine the stability of the prism during rotation based on multiple instantaneous rotational speeds.

[0036] In conjunction with the optional implementation of the second aspect, the evaluation module is specifically used for:

[0037] The multiple instantaneous rotational speeds are sorted according to the order in which they were collected to obtain an instantaneous rotational speed sequence.

[0038] Multiple sequence segments are extracted from the instantaneous rotational speed sequence;

[0039] For each sequence segment, the local stability of the prism rotation during the time period corresponding to the sequence segment is obtained;

[0040] The stability of the prism during rotation is determined based on the multiple local stabilizations corresponding to the multiple sequence segments.

[0041] In conjunction with the optional implementation of the second aspect, the evaluation module is further specifically used for:

[0042] For each sequence segment, the maximum instantaneous rotational speed, minimum instantaneous rotational speed, and average instantaneous rotational speed in the sequence segment are obtained;

[0043] The prism jitter value during prism rotation is obtained based on the maximum instantaneous rotation speed, the minimum instantaneous rotation speed, and the average instantaneous rotation speed.

[0044] The local stability of the prism during rotation is determined by comparing the prism jitter value with the jitter threshold.

[0045] In conjunction with the optional implementation of the second aspect, the evaluation module obtains the expression for the prism jitter value during prism rotation based on the maximum instantaneous rotational speed, the minimum instantaneous rotational speed, and the average instantaneous rotational speed as follows:

[0046]

[0047] In the formula, J represents the prism jitter value, and N max N represents the maximum instantaneous rotational speed. min N represents the minimum instantaneous rotational speed. ave This represents the average instantaneous rotational speed.

[0048] In conjunction with the optional implementation of the second aspect, the evaluation module is further specifically used for:

[0049] Based on the multiple local stability measures, count the number of locally unstable states that the prism is in when it rotates.

[0050] Calculate the proportion of the number of the local unstable states in the plurality of local stable states;

[0051] If the percentage is greater than the percentage threshold, then the prism is determined to be in an unstable state when rotating.

[0052] If the percentage is less than or equal to the percentage threshold, then the prism is determined to be in a stable state when rotating.

[0053] In conjunction with the optional implementation of the second aspect, the rotation speed module is specifically used for:

[0054] Acquire the signal duration of the strong reflection signal or the weak reflection signal;

[0055] Based on the signal duration, determine the instantaneous rotational speed corresponding to the strong reflection signal or the weak reflection signal.

[0056] In conjunction with the optional implementation of the second aspect, the expression for determining the instantaneous rotational speed corresponding to the strong reflection signal or the weak reflection signal based on the signal duration by the rotational speed module is as follows:

[0057]

[0058] In the formula, n represents the instantaneous rotational speed corresponding to the strong reflection signal or the weak reflection signal, S represents the width occupied by the reflective device corresponding to the strong reflection signal or the weak reflection signal, and t represents the signal duration of the strong reflection signal or the weak reflection signal.

[0059] Thirdly, this application also provides a storage medium storing a computer program, which, when executed by a processor, implements the stability testing method for the prism.

[0060] Fourthly, this application also provides an electronic device, which includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the stability testing method for the prism.

[0061] Compared with the prior art, this application has the following beneficial effects:

[0062] This application provides a method, apparatus, storage medium, and electronic device for testing the stability of a prism. The method involves uniformly arranging alternating strong and weak reflective devices around the rotation axis of the prism. Based on these reflective devices, the electronic device receives strong or weak reflection signals generated as the prism rotates. The instantaneous rotational speed of the prism is obtained based on these strong or weak reflection signals. The stability of the prism during rotation is determined based on multiple instantaneous rotational speeds. Thus, because the instantaneous rotational speed measured by the reflective devices is more accurate, a more realistic stability of the prism can be obtained. Attached Figure Description

[0063] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 This is a schematic diagram of the lidar structure provided in an embodiment of this application;

[0065] Figure 2 This is a schematic diagram of the method flow provided in the embodiments of this application;

[0066] Figure 3 This is a schematic diagram of the adhesive position of the reflective device provided in the embodiments of this application;

[0067] Figure 4 This is one of the schematic diagrams showing the width of the reflective strip provided in the embodiments of this application;

[0068] Figure 5This is the second schematic diagram of the reflective strip width provided in the embodiments of this application;

[0069] Figure 6 This is a schematic diagram of the receiver structure provided in an embodiment of this application;

[0070] Figure 7 This is a schematic diagram of the square wave shape provided in an embodiment of this application;

[0071] Figure 8 This is one of the schematic diagrams of sequence fragment extraction methods provided in the embodiments of this application;

[0072] Figure 9 This is the second schematic diagram of the sequence fragment extraction method provided in the embodiments of this application;

[0073] Figure 10 The local stability sequence provided in the embodiments of this application;

[0074] Figure 11 This is a schematic diagram of the virtual device structure provided in the embodiments of this application;

[0075] Figure 12 This is a schematic diagram of the electronic device structure provided in an embodiment of this application.

[0076] Icons: 101-Lens; 102-Galvanometer; 103-Prism; 202-Rotation axis; 203-Cylinder; 204-Reflector; 301-Signal module; 302-Speed ​​module; 303-Evaluation module; 401-Memory; 402-Processor; 403-Communication unit; 404-System bus; 405-Peripheral interface. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0078] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0079] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0080] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "horizontal," "vertical," and "suspended," etc., do not mean that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0081] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0082] Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] Based on the above statements, and considering that this embodiment involves a mechanical lidar, the structure of the mechanical lidar will now be described by way of example to make this embodiment easier to understand. For example... Figure 1As shown, most current mechanical lidar systems employ a rotating mirror design, integrating two mirrors: a polygonal prism 103 for horizontal rotation and a galvanometer 102 for vertical rotation, enabling two-dimensional scanning of the laser emitted through the lens 101 in both horizontal and vertical directions. The larger the radius of rotation of the prism 103 or the fewer the number of facets in the prism 103, the larger the scanning range. Therefore, the structure of the prism 103 is crucial, directly affecting the laser imaging range and effect.

[0084] In this system, the rotation of the prism 103 in the lidar is typically driven by a motor; that is, the prism 103 is part of the motor's external rotor. Furthermore, depending on the radar's field-of-view design requirements, the prism 103 can be designed as a triangular prism, a square prism, a hexagonal prism, or other structures. Figure 1 As shown in the diagram, the stability of the prism during rotation plays a crucial role in the effectiveness of the lidar point cloud. Currently, the prism's rotational speed is obtained by reading the encoder of the drive motor from a host computer, thus testing the stability of the prism during rotation. However, research has found that the rotational speed measured by the encoder only represents the stability of the drive motor during rotation and cannot accurately reflect the stability of the prism during rotation under certain conditions. For example, when the rigidity of the connection between the prism and the motor is insufficient or the installation process causes a gap between the motor shaft and the prism, the rotational speed measured by the encoder may not be the true rotational speed of the prism.

[0085] It should be noted that the defects in the solutions in the prior art are all the results of the inventors’ practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the embodiments of this application in the following text should be the inventors’ contributions to this application in the process of invention and creation, and should not be understood as technical content known to those skilled in the art.

[0086] Therefore, this embodiment provides a method for testing the stability of a prism. In this method, alternating strong and weak reflective devices are uniformly arranged around the rotation axis of the prism. Based on these reflective devices, an electronic device receives strong or weak reflection signals generated by the reflective devices as the prism rotates. The instantaneous rotational speed of the prism is obtained based on the strong or weak reflection signals. The stability of the prism during rotation is determined based on multiple instantaneous rotational speeds. Thus, since the instantaneous rotational speed measured by the reflective devices is more accurate, a more realistic stability of the prism can be obtained.

[0087] The electronic device implementing this method may be, but is not limited to, a mobile terminal, a tablet computer, a laptop computer, a desktop computer, etc.

[0088] To make the solution provided in this embodiment clearer, the following is combined with... Figure 2Each step of the method is described in detail. However, it should be understood that the operations in the flowchart may not be implemented in sequence, and steps without logical contextual relationships may be reversed in order or implemented simultaneously. Furthermore, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowchart, or remove one or more operations from the flowchart. Figure 2 As shown, the method includes:

[0089] S101 receives strong or weak reflection signals generated by the reflector as it rotates with the prism.

[0090] In this embodiment, reflective devices of varying strengths are evenly arranged around the rotation axis of the prism. In an optional embodiment, reflective devices of equal spacing and width can be arranged around the top of the prism around its rotation axis. For example, in... Figure 3 The top view shown illustrates the rotation axis 202 of the prism 103 and a cylinder 203 having the same rotation axis 202 as the prism 103. The side surface of the cylinder 203 is used to attach a reflective device 204 with alternating strong and weak light intensity. It is assumed that the reflective device 204 includes multiple reflective strips, such as... Figure 4 As shown, the side surface of cylinder 203 can be divided into 32 equally spaced sections, and reflective strips with strong and weak reflective capabilities can be alternately pasted on them. Of course, to obtain more instantaneous rotational speeds per revolution of the prism, the reflective strips can actually be distributed more densely, i.e., 2... n Equal portions.

[0091] In another alternative embodiment, multiple highly reflective strips have the same width, and multiple weakly reflective strips also have the same width, but the strong and weak reflective strips have different widths. For example... Figure 5 As shown in the figure, there are 8 reflective strips with strong reflectivity and 8 reflective strips with weak reflectivity. The width of the reflective strips with strong reflectivity is smaller than the width of the reflective strips with weak reflectivity.

[0092] S102 obtains the instantaneous rotational speed of the prism based on the strong or weak reflection signal.

[0093] In an optional implementation, the electronic device can acquire the signal duration of the strong or weak reflected signal; based on the signal duration, it can determine the instantaneous rotational speed corresponding to the strong or weak reflected signal, as expressed by:

[0094]

[0095] In the formula, n represents the instantaneous rotation speed corresponding to the strong or weak reflection signal, S represents the width occupied by the reflective device corresponding to the strong or weak reflection signal, and t represents the signal duration of the strong or weak reflection signal.

[0096] For example, reflective strips are arranged according to Figure 4 or Figure 5 After attaching it to the cylindrical surface as shown. Figure 6 As shown, when the prism rotates, a laser emits a laser beam to illuminate the reflective strip, and the electronic device receives the reflected light through a receiver. The reflected light passes through a photoelectric conversion circuit in the receiver, converting the reflected signal into a voltage signal. By analyzing and processing the voltage pulse, the instantaneous rotational speed of the prism is obtained. It should be understood that the prism, as a precision optical device in lidar, has high requirements for instantaneous jitter. However, obtaining the instantaneous rotational speed of the prism by reading the encoder of the prism drive motor from the host computer is limited by the serial communication rate or bandwidth between the encoder and the host computer, thus preventing high-frequency acquisition of the instantaneous rotational speed of the prism.

[0097] See also Figure 6 The receiver comprises an APD (Avalanche Photon Diode), a TIA (Trans-Impedance Amplifier), a VGA (Variable Gain Amplifier), and a DSP (Digital Signal Processing), all sharing a common power supply. The APD converts the optical signal into a current signal; the TIA converts the current signal into a voltage signal; the VGA amplifies the voltage signal to a voltage range that the DSP can recognize; and the DSP performs digital signal processing.

[0098] This assumes that the reflective strips have the same spacing and width, and that there are 2 of them. n , then Figure 7 As shown, the converted voltage signal should be a square wave signal. The duration of the strongly reflected signal is expressed as t. i The duration of a weakly reflected signal is expressed as t. j The instantaneous rotational speed n corresponding to the strong reflection signal i (revolutions / minute), its calculation expression is:

[0099]

[0100] Instantaneous rotational speed n corresponding to weak reflection signal j (revolutions / minute), its calculation expression is:

[0101]

[0102] Based on the above introduction to instantaneous rotational speed, please refer to... Figure 2 The method also includes:

[0103] S103 determines the stability of the prism during rotation based on multiple instantaneous rotational speeds.

[0104] In an optional implementation, the electronic device can collect multiple instantaneous rotational speeds within a preset time period, and then calculate the jitter value J of the prism within the preset time period using the following expression. The jitter value is then compared with a jitter threshold to obtain the stability of the prism during long-term rotation.

[0105]

[0106] In the formula, N max N represents the maximum instantaneous rotational speed within a preset time period. min N is the minimum instantaneous rotational speed within a preset time period. ave The average instantaneous rotational speed over a preset time period.

[0107] Studies have found that the stability measured by the above method cannot reflect the stability over a local time period during prism rotation. Since lidar, as a precision optical device, also has high requirements for short-term stability, optional implementations of step S103 may include:

[0108] S103-1, sort multiple instantaneous rotational speeds according to the order in which they were collected to obtain an instantaneous rotational speed sequence composed of multiple instantaneous rotational speeds.

[0109] S103-2, extract multiple sequence segments from the instantaneous rotational speed sequence.

[0110] In an optional implementation, the electronic device can extract multiple sequence segments from the instantaneous rotational speed sequence using a sliding window of preset length and sliding step size. For example, such as... Figure 8 In the "first" extraction shown, the preset length of the sliding window is 6 sequence lengths, and sequence segments N1 to N6 are extracted from the instantaneous rotational speed sequence. See also... Figure 8 In the "second" segmentation shown, if the sliding step size is 3 sequence lengths, the moved sliding window will extract sequence segments N4 to N9 from the instantaneous rotational speed sequence. Similarly, multiple sequence segments can be extracted from the instantaneous rotational speed sequence. This segmentation method can measure the stability of the prism during the intermediate time period during rotation. Of course, in actual implementation, the length of the sliding window can be adjusted appropriately based on the sliding step size; this embodiment does not impose specific limitations.

[0111] In other alternative implementations, the electronic device may also extract multiple sequence segments whose sequence numbers form an arithmetic progression, starting from the first instantaneous rotational speed in the instantaneous rotational speed sequence. For example, such as... Figure 9The "first time" shown is used to extract a sequence segment N1 to N6 of length 6, starting from the instantaneous rotational speed N1 at the beginning of the sequence. See also... Figure 9 In the "second" segmentation shown, starting from the instantaneous rotational speed N1 at the top, sequence segments N1 to N8 with a length of 8 are extracted. This process can be repeated to extract multiple sequence segments from the instantaneous rotational speed sequence where the number of segments forms an arithmetic progression. This segmentation method can measure the change in stability of the prism during rotation over time. Of course, in actual implementation, the difference in the number of segments between them can be appropriately adjusted; this embodiment does not impose specific limitations.

[0112] In other alternative implementations, the electronic device may also randomly extract multiple sequence segments from the instantaneous rotation sequence.

[0113] S103-3, for each sequence segment, obtain the local stability of the prism rotation during the time period corresponding to the sequence segment.

[0114] It should be understood here that for each sequence segment, there exists a maximum instantaneous rotational speed and a minimum instantaneous rotational speed within that sequence segment. Therefore, the electronic device can obtain the maximum instantaneous rotational speed, the minimum instantaneous rotational speed, and the average instantaneous rotational speed within the sequence segment; based on the maximum instantaneous rotational speed, the minimum instantaneous rotational speed, and the average instantaneous rotational speed, the prism jitter value during prism rotation is obtained; and the prism jitter value is compared with a jitter threshold to determine the local stability of the prism during rotation.

[0115] S103-4, Based on the multiple local stabilizations corresponding to multiple sequence segments, determine the stability of the prism during rotation.

[0116] In an optional implementation of this step, the electronic device counts the number of locally unstable states when the prism rotates based on multiple local stability measures; calculates the proportion of the number of locally unstable states among the multiple local stability measures; if the proportion is greater than a proportion threshold, it is determined that the prism is in an unstable state when rotating; if the proportion is less than or equal to the proportion threshold, it is determined that the prism is in a stable state when rotating.

[0117] For example, such as Figure 10As shown, assuming five sequence segments are extracted from the instantaneous rotational speed sequence, the prism jitter value of each sequence segment is compared with a jitter threshold. If it is less than the jitter threshold, it means that the prism is in a locally stable state during the rotation of the corresponding time period of the sequence segment, and it is marked as 0; otherwise, it means that the prism is in a locally unstable state during the rotation of the corresponding time period of the sequence segment, and it is marked as 1. In the figure, the number of times the prism is in a locally unstable state during rotation is 1, accounting for 20%, which is less than the proportion threshold of 30%. Therefore, it is determined that the prism is in a stable state during rotation. Of course, in actual implementation, this proportion threshold can be adjusted on a trial basis, and this embodiment does not impose specific limitations.

[0118] Based on the same inventive concept as the prism stability testing method, this embodiment also provides a prism stability testing device, wherein alternating strong and weak reflective devices are uniformly arranged around the rotation axis of the prism. This prism stability testing device includes at least one software functional module that can be stored in memory or embedded in an electronic device. A processor in the electronic device executes the executable module stored in the memory. For example, the software functional module and computer program included in the prism stability testing device, etc. Please refer to... Figure 11 Functionally, a prism stability testing device can include:

[0119] Signal module 301 is used to receive strong or weak reflection signals generated by the reflector as it rotates with the prism.

[0120] In this embodiment, the signal module 301 is used to implement Figure 2 For a detailed description of the signal module 301, please refer to the detailed introduction of step S101.

[0121] The rotation speed module 302 is used to obtain the instantaneous rotation speed of the prism based on strong or weak reflection signals.

[0122] In this embodiment, the rotation speed module 302 is used to implement Figure 2 For a detailed description of the speed module 302, please refer to the detailed introduction of step S102.

[0123] Evaluation module 303 is used to determine the stability of the prism during rotation based on multiple instantaneous rotational speeds.

[0124] In this embodiment, the evaluation module 303 is used to implement Figure 2 For a detailed description of the evaluation module 303, see the detailed introduction of step S103.

[0125] It is also worth noting that, since it shares the same inventive concept as the stability test method for prisms, the signal module 301, rotation speed module 302, and evaluation module 303 can also be used to implement other steps or sub-steps of the method. This embodiment does not specifically limit this.

[0126] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0127] It should also be understood that if the above embodiments are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0128] Therefore, this embodiment also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the prism stability testing method provided in this embodiment. The computer-readable storage medium can be any medium capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0129] Please refer to Figure 11 , Figure 11 This is a schematic diagram of the hardware structure of an electronic device provided in this embodiment. The electronic device may include a processor 402 and a memory 401. The memory 401 stores a computer program, and the processor implements the prism stability testing method provided in this embodiment by reading and executing the computer program corresponding to the above-described embodiments in the memory 401.

[0130] See also Figure 12 The electronic device also includes a communication unit 403 and a peripheral interface 405. The memory 401, processor 402, peripheral interface 405 and communication unit 403 are electrically connected to each other directly or indirectly through system bus 404 to realize data transmission or interaction.

[0131] The memory 401 can be an information recording device based on any electronic, magnetic, optical, or other physical principles, used to record execution instructions, data, etc. In some embodiments, the memory 401 can be, but is not limited to, volatile memory, non-volatile memory, memory drive, etc.

[0132] In some embodiments, the volatile memory may be random access memory (RAM); in some embodiments, the non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, etc.; in some embodiments, the storage drive may be a disk drive, solid-state drive, any type of storage disk (such as optical disc, DVD, etc.), or similar storage media, or a combination thereof.

[0133] The peripheral interface 405 couples various input / output devices to the processor 402 and memory 401, such as USB (Universal Serial Bus), serial ports, and UART (Universal Asynchronous Receiver-Transmitter). In some embodiments, the peripheral interface 405 and the processor 402 can be implemented in a single chip. In other instances, they can be implemented by separate chips.

[0134] The communication unit 403 is used to send and receive data over a network. In some embodiments, the network may include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the Internet, a local area network (LAN), a wide area network (WAN), a wireless local area network (WLAN), a metropolitan area network (MAN), a public switched telephone network (PSTN), a Bluetooth network, a ZigBee network, or a near field communication (NFC) network, or any combination thereof. In some embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and / or network switching nodes, through which one or more components of the service request processing system can connect to the network to exchange data and / or information.

[0135] The processor 402 may be an integrated circuit chip with signal processing capabilities, and the processor may include one or more processing cores (e.g., a single-core processor or a multi-core processor). By way of example only, the processor described above may include a Central Processing Unit (CPU), an Application-Specific Integrated Circuit (ASIC), an Application-Specific Instruction-set Processor (ASIP), a Graphics Processing Unit (GPU), a Physics Processing Unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a microcontroller unit, a Reduced Instruction Set Computing (RISC) computer, or a microprocessor, or any combination thereof.

[0136] It should be understood that the apparatus and methods disclosed in the above embodiments can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0137] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for testing the stability of a prism, characterized in that, The method includes: A series of reflective devices with alternating strong and weak light-reflecting properties are uniformly arranged around the rotation axis of the prism. Receive strong or weak reflection signals generated by the reflective device as it rotates with the prism; The instantaneous rotational speed of the prism is obtained based on the strong reflection signal or the weak reflection signal; The multiple instantaneous rotational speeds are sorted according to the order in which they were collected to obtain an instantaneous rotational speed sequence. Multiple sequence segments are extracted from the instantaneous rotational speed sequence; For each sequence segment, the local stability of the prism rotation during the time period corresponding to the sequence segment is obtained; The stability of the prism during rotation is determined based on the multiple local stabilizations corresponding to the multiple sequence segments.

2. The method for testing the stability of a prism according to claim 1, characterized in that, The step of obtaining the local stability of the prism rotation during the time period corresponding to each sequence segment includes: For each sequence segment, the maximum instantaneous rotational speed, minimum instantaneous rotational speed, and average instantaneous rotational speed in the sequence segment are obtained; The prism jitter value during prism rotation is obtained based on the maximum instantaneous rotation speed, the minimum instantaneous rotation speed, and the average instantaneous rotation speed. The local stability of the prism during rotation is determined by comparing the prism jitter value with the jitter threshold.

3. The method for testing the stability of a prism according to claim 2, characterized in that, The expression for obtaining the prism jitter value during prism rotation based on the maximum instantaneous rotation speed, the minimum instantaneous rotation speed, and the average instantaneous rotation speed is as follows: ； In the formula, This indicates the prism jitter value. This indicates the maximum instantaneous rotational speed. This represents the minimum instantaneous rotational speed. This represents the average instantaneous rotational speed.

4. The method for testing the stability of a prism according to claim 1, characterized in that, The step of determining the stability of the prism during rotation based on the multiple local stability corresponding to the multiple sequence segments includes: Based on the multiple local stability measures, count the number of locally unstable states that the prism is in when it rotates. Calculate the proportion of the number of the local unstable states in the plurality of local stable states; If the percentage is greater than the percentage threshold, then the prism is determined to be in an unstable state when rotating. If the percentage is less than or equal to the percentage threshold, then the prism is determined to be in a stable state when rotating.

5. The method for testing the stability of a prism according to claim 1, characterized in that, The step of obtaining the instantaneous rotational speed of the prism based on the strong reflection signal or the weak reflection signal includes: Acquire the signal duration of the strong reflection signal or the weak reflection signal; Based on the signal duration, determine the instantaneous rotational speed corresponding to the strong reflection signal or the weak reflection signal.

6. The method for testing the stability of a prism according to claim 5, characterized in that, The expression for determining the instantaneous rotational speed corresponding to the strong reflection signal or the weak reflection signal based on the signal duration is as follows: ； In the formula, This indicates the instantaneous rotational speed corresponding to the strong reflection signal or the weak reflection signal. This indicates the width occupied by the reflective device corresponding to the strong or weak reflection signal; The duration of the strong reflection signal or the weak reflection signal is indicated.

7. A stability testing device for a prism, characterized in that, A reflective device with alternating strong and weak light intensity is uniformly arranged around the rotation axis of the prism, the device comprising: The signal module is used to receive strong or weak reflection signals generated by the reflective device as it rotates with the prism. A rotation speed module is used to obtain the instantaneous rotation speed of the prism based on the strong reflection signal or the weak reflection signal; The evaluation module is used to sort multiple instantaneous rotational speeds according to the order in which they were collected, and obtain an instantaneous rotational speed sequence composed of the multiple instantaneous rotational speeds; Multiple sequence segments are extracted from the instantaneous rotational speed sequence; For each sequence segment, the local stability of the prism rotation during the time period corresponding to the sequence segment is obtained; The stability of the prism during rotation is determined based on the multiple local stabilizations corresponding to the multiple sequence segments.

8. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the stability testing method for the prism according to any one of claims 1-6.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing a computer program, which, when executed by the processor, implements the stability testing method for the prism according to any one of claims 1-6.

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