An optical feedback FOV angle regulation method, system, device and medium

Abstract

The application discloses a light feedback type FOV angle regulation method, system, device and medium, the method comprises the following steps: performing structure light optical machine projection parameter initialization; in response to the completion of initialization, performing structure light projection operation; adopting a PD module to collect and feed back pulse signals of the structure light projection operation; regulating the projection amplitude of the structure light optical machine according to the pulse signals fed back by the PD module; the application can realize real-time high-precision adjustment of the FOV angle based on real-time collection and processing of pulse signals of optical signals and electrical signals, has strong real-time and concurrency, and the integrated degree of the adopted device module is high and the reliability is good, which is beneficial to improving the FOV angle control effect, is convenient to use, has low power consumption, is strong in expandability, and has better application value.

Description

Technical Field

[0001] This invention relates to the field of high-frequency pulse signal acquisition and processing technology that combines optical and electrical signals, and in particular to a method, system, device and medium for optical feedback FOV angle control. Background Technology

[0002] Currently, in 3D imaging technology, because natural light is uncertain and unstable, we need to provide known structured light to illuminate the object being imaged. In practical applications, to ensure the stability of the FOV (Field of View) of the structured light, MEMS amplitude locking is required. Specifically, MEMS amplitude locking refers to fixing the physical spatial scanning range of the MEMS to a certain area. In the MEMS, this means the scanning angle of the optomechanical system must be sufficiently precise. Theoretically, this scanning angle is controlled by the strength and frequency of the optomechanical drive signal; when the drive signal strength and frequency remain constant, there should be no jitter. However, in practical applications, factors such as temperature and optomechanical processes can affect the FOV, causing it to constantly change. Therefore, all possible variations need to be considered in the control logic.

[0003] In existing technologies, many designs employ indirect amplitude locking. Since the primary factor affecting the field of view (FOV) of a MEMS is temperature change, this method indirectly detects the temperature change of the MEMS mirror to measure the MEMS offset. In this approach, the temperature sensor is located inside the MEMS, converting the temperature signal into a digital signal and transmitting it to the FPGA. However, different MEMSs are affected by temperature differently, leading to errors if the same lookup table is used. Furthermore, the temperature sensor cannot be directly mounted on the MEMS mirror, making it unable to quickly reflect the mirror surface temperature and resulting in a lag during signal modulation. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems in the prior art by providing a light feedback FOV angle control method, system, device, and medium, thereby solving the problem of inaccurate FOV scanning angle control in the prior art.

[0005] To solve the above-mentioned technical problems, the specific technical solution of the present invention is as follows:

[0006] On one hand, the present invention provides a light feedback FOV angle adjustment method, comprising the following steps:

[0007] Initialize the structured light optomechanical projection parameters;

[0008] Upon completion of the initialization, a structured light projection operation is performed.

[0009] A PD module is used to acquire and feedback pulse signals for the structured light projection operation;

[0010] The projection amplitude of the structured light engine is adjusted according to the pulse signal fed back by the PD module.

[0011] As an improved approach, the initialization of structured light optomechanical projection parameters includes:

[0012] Adjust the fast axis frequency of the structured light optical engine until the FOV of the structured light optical engine reaches its maximum value, read the corresponding real-time phase, and write the real-time phase.

[0013] Phase-locked operation and amplitude-locked operation are performed sequentially, and the initialization completion result is generated.

[0014] As an improved solution, the phase-locked operation includes:

[0015] Turn on the phase-locked switch, and then set the light intensity parameters and alignment parameters corresponding to the output requirements;

[0016] The amplitude locking operation includes:

[0017] Turn on the amplitude lock switch and check if the amplitude lock value is stable;

[0018] In response to the stability of the lock amplitude value, the parameters set during the initialization process are stored.

[0019] As an improved solution, the structured light projection operation includes:

[0020] Power on the optomechanical driver board of the structured optomechanical system;

[0021] The optical engine driver board is invoked to control the structured light optical engine to project structured light onto the PD module.

[0022] As an improved solution, the step of using a PD module to collect and feedback pulse signals for the structured light projection operation includes:

[0023] The PD module is invoked to acquire the structured light corresponding to the structured light projection operation;

[0024] The PD module is invoked to output an approximate pulse signal corresponding to the acquired structured light;

[0025] The approximate pulse signal output by the PD module is amplified and fed back to the optomechanical driver board of the structured optical-optical engine.

[0026] As an improved approach, the width of the approximate pulse signal is positively correlated with the laser irradiation duration of the structured light projection operation.

[0027] As an improved solution, the step of adjusting the projection amplitude of the structured optical engine based on the pulse signal fed back by the PD module includes:

[0028] The CLK value of the amplified approximate pulse signal is statistically analyzed.

[0029] The projection amplitude correction amount of the structured optical engine is calculated based on the CLK value;

[0030] The vibration angle of the MEMS axis in the structured optical-optical mechanism is controlled according to the projection amplitude correction amount.

[0031] On the other hand, the present invention also provides an optical feedback FOV angle adjustment system, comprising: an initialization module, a structured light engine, an optical engine driver board, and a PD module; the structured light engine and the PD module are respectively connected to the optical engine driver board via FPC flexible flat cables;

[0032] The initialization module is used to initialize the structured light optomechanical projection parameters;

[0033] The optomechanical driver board and the structured light optomechanical system are used to perform structured light projection operations in response to the completion of initialization.

[0034] The PD module is used to collect and feedback pulse signals for the structured light projection operation;

[0035] The optomechanical driver board is used to adjust the projection amplitude of the structured optical engine according to the pulse signal fed back by the PD module.

[0036] On the other hand, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the optical feedback FOV angle control method.

[0037] On the other hand, the present invention also provides a computer device, the computer device including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein:

[0038] The memory is used to store computer programs;

[0039] The processor is used to execute the steps of the optical feedback FOV angle control method by running the program stored in the memory.

[0040] The beneficial effects of the technical solution of this invention are:

[0041] The optical feedback FOV angle control method described in this invention can achieve real-time high-precision adjustment of the FOV angle by real-time acquisition and processing of pulse signals based on optical and electrical signals. It has strong real-time performance and concurrency, and the equipment modules used have high integration and high reliability, which helps to improve the FOV angle control effect. It is easy to use, has low power consumption, strong scalability, and has good application value.

[0042] The optical feedback FOV angle control system described in this invention can achieve real-time acquisition and processing of pulse signals based on optical and electrical signals through the cooperation of structured optical optical engine, optical engine driver board and PD module, thereby enabling real-time high-precision adjustment of FOV angle. This system has strong real-time performance and concurrency, and the equipment modules used have high integration and high reliability, which is conducive to improving the FOV angle control effect. It is easy to use, has low power consumption, strong scalability, and has good application value.

[0043] The computer-readable storage medium of the present invention can guide the structured optical engine, the optical engine driver board and the PD module to cooperate, thereby realizing the optical feedback FOV angle control method of the present invention. Furthermore, the computer-readable storage medium of the present invention also effectively improves the operability of the optical feedback FOV angle control method.

[0044] The computer device described in this invention can store and execute the computer-readable storage medium, thereby realizing the optical feedback FOV angle control method described in this invention. Attached Figure Description

[0045] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 This is a schematic flowchart of the optical feedback FOV angle control method described in Embodiment 1 of the present invention;

[0047] Figure 2 This is a schematic diagram of the architecture of the optical feedback FOV angle adjustment system described in Embodiment 2 of the present invention;

[0048] Figure 3 This is a detailed architectural diagram of the optical feedback FOV angle adjustment system described in Embodiment 2 of the present invention;

[0049] Figure 4 This is a schematic diagram of the structure of the computer device described in Embodiment 4 of the present invention;

[0050] The markings in the attached diagram are explained as follows:

[0051] 1501. Processor; 1502. Communication interface; 1503. Memory; 1504. Communication bus. Detailed Implementation

[0052] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0053] In the description of this invention, it should be noted that the embodiments described in this invention are only some embodiments of this invention, not all embodiments; based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0054] The terms "first," "second," etc., used in this specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. Example 1

[0055] This embodiment provides a light feedback-based FOV angle adjustment method, such as... Figure 1 As shown, it includes the following steps:

[0056] In this method, to achieve real-time and high-precision control of the FOV angle of the structured optical engine, the following operations need to be performed:

[0057] In the initial stage of control, initialization operations are performed on each module. Specifically, the PD module (actually the PD feedback board) is installed diagonally in front of the structured light optomechanical unit (SEM) according to the required FOV angle. Then, the SEM is connected to the optomechanical driver board and the PD feedback board. After connection, the optomechanical driver board is connected to the PC via a serial port. Power supply connections are then established for the modules, using a +12V DC power supply in this method. The SEM can reflect the laser light emitted by the laser through MEMS mirrors to produce structured light with different fringes and phases. The optomechanical driver board has an FPGA control... The system comprises a control module, an optomechanical driver module, and a power supply module; an FPGA control module, used to provide control signals to the entire driver board and to acquire and process signals, realizing the control functions of each signal; an optomechanical driver module, used to supply current and pulses to the structured optical engine to ensure its stable output; a power supply module, providing power support to each module; and a PD module, which is a PCBA. When the laser edge scans onto the PD module, a pulse feedback signal is generated. This feedback signal is amplified and regulated by a voltage regulator circuit, becoming a digital pulse signal that can be directly acquired by the FPGA. Based on these modules, precise FOV angle control is performed as follows:

[0058] Power is supplied by the power module. At this time, each module starts to work. After the FPGA module in the optomechanical driver board is powered on, a red LED on the optomechanical driver board will be constantly lit, which means that the system has entered a normal working state.

[0059] At this point, it is necessary to open the host computer software of the structured light optical engine to set the working mode of the structured light optical engine. In this method, the fast axis frequency is adjusted to make the FOV of the structured light optical engine reach the maximum value, and the real-time phase is read and written.

[0060] Next, turn on the phase-locked switch, then adjust the required output light intensity and alignment parameters; turn on the amplitude-locking switch and wait for the amplitude-locking value to stabilize; after the amplitude-locking value stabilizes, save the set parameters, and the structured light engine can be used normally without parameter adjustments after the next power-on; based on this, the initialization operation is completed, and subsequent precise FOV angle adjustment can begin:

[0061] First, after the optical engine driver board is powered on, the structured optical engine will perform normal illumination. In this method, a PD module installed diagonally in front of the structured optical engine is used to collect and detect the edge of the optical signal.

[0062] When a laser beam shines on a PD module, the PD module will output an approximate pulse signal. The longer the laser beam shines on the module, the wider the pulse signal generated by the PD module will be.

[0063] Based on this, the pulse signal generated by the PD module is amplified and then connected to the optomechanical driver board of the structured optical-optical engine via an FPC flexible flat cable; the CLK count of this pulse signal is counted; the change in the CLK count can reflect the change in the edge of the MEMS scan.

[0064] Based on the change in the number of CLKs, the correction amount for the structured light-optical-mechanical projection amplitude can be calculated, and closed-loop control of the MEMS can be performed. The vibration angle of the MEMS axis can be controlled according to this correction amount, so as to achieve high-precision and real-time control of the FOV angle. Example 2

[0065] This embodiment is based on the same inventive concept as the optical feedback FOV angle control method described in Embodiment 1, and provides an optical feedback FOV angle control system, such as... Figure 2 and Figure 3 As shown, it includes: structured light optomechanical system, optomechanical driver board and PD module;

[0066] As one implementation of this system, the structured optical engine and PD module are respectively connected to the optical engine driver board via FPC flexible flat cables;

[0067] As one implementation of this system, the structured light-optical-mechanical system is mainly used to reflect the light emitted by the laser outward through MEMS mirrors to produce structured light with different stripes and different phases.

[0068] As one implementation of this system, the optomechanical driver board consists of an FPGA control module, an optomechanical driver module, and a power supply module. The FPGA control module primarily provides control signals to the entire driver board, as well as signal acquisition and processing. The FPGA control module can implement the control functions of each signal. As a variable implementation, the main chip of the FPGA control module is a Xilinx SPARTAN-6 chip to control and implement electrical signal control, data processing, and UART signal processing and transmission / reception.

[0069] As one implementation of this system, the optomechanical driver module is mainly used to provide drive current and drive pulses for the aforementioned structured optical optomechanical system. This system controls the structured optical optomechanical system's illumination by controlling this module. If necessary, the power supply module can convert external power into the voltages required by the optomechanical driver board to power other modules, providing power support. As a variable implementation, the optomechanical driver module uses the ISL58315 chip, with 16 data bits connected in parallel to the FPGA module. According to the protocol, the communication speed can reach twice the clock frequency, thereby controlling the current required by the laser. The TLV320 chip is used to provide pulse signals to the structured optical optomechanical system, communicating with the FPGA chip via IIC and SWD to achieve FPGA control of the structured optical optomechanical system's drive pulses. In this implementation, the piezoresistive signal can reflect the oscillation of the MEMS galvanometer. The signal flow path is: output from the structured optical optomechanical system → connected to the optomechanical driver board interface via an FPC flexible cable → amplified by a differential operational amplifier → connected to an ADC → output to the FPGA chip, thereby achieving real-time detection of the piezoresistive signal.

[0070] As one implementation of this system, the power module input voltage is +12V. Its first-stage power supply is converted to 4V via a TPS54620 to power the laser. To ensure sufficient output current, two TPS54620 circuits are connected in parallel. Additionally, the input power is converted to 5V via a TPS62140ARGTR. The second-stage voltage outputs 3.3V, 1.8V, and 1.2V from the 5V via the TPS62140ARGTR, and -5V via the TPS5430. The 3.3V supplies power to the VCCIO section, EEPROM section, ISL58315 current module, and TLV320 module of the FPGA control module. The 1.8V supplies power to the DVDD of the TLV320 module; the 1.2V supplies power to the FPGA core; and the -5V supplies power to the operational amplifier and PD module, thus achieving a convenient and reliable power supply function.

[0071] As one implementation of this system, the PD module can collect the edge of the light beam and input the feedback signal into the optomechanical driver board to realize the subsequent FOV angle feedback and control function; as a variable implementation, the PD module is a PCBA, which is installed diagonally in front of the structured light optomechanical engine. The ±5V input from the optomechanical driver board powers the operational amplifier AD8001ARTZ. When the PD sensor collects the edge of the light beam, it outputs a pulse signal, which is amplified by the operational amplifier and then input into the optomechanical driver board.

[0072] In summary, the structured optical-optical-mechanical system of this system includes a laser, a MEMS galvanometer, and a shaping lens. The light emitted by the laser passes through the shaping lens and is then directed to the MEMS galvanometer. Based on the design and feedback of the PD module, the vibration frequency and angle of the MEMS galvanometer axis are controlled in a targeted manner, thereby adjusting the size of the outward angle of the light beam to precisely control the FOV angle. Example 3

[0073] This embodiment provides a computer-readable storage medium, including:

[0074] The storage medium is used to store computer software instructions for implementing the optical feedback FOV angle control method described in Embodiment 1 above. It includes a program for executing the optical feedback FOV angle control method. Specifically, the executable program can be built into the optical feedback FOV angle control system described in Embodiment 2. In this way, the optical feedback FOV angle control system can implement the optical feedback FOV angle control method described in Embodiment 1 by executing the built-in executable program.

[0075] Furthermore, the computer-readable storage medium in this embodiment can be any combination of one or more readable storage media, wherein the readable storage medium includes an electrical, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. Example 4

[0076] This embodiment provides an electronic device, such as... Figure 4 As shown, the electronic device may include: a processor 1501, a communication interface 1502, a memory 1503, and a communication bus 1504, wherein the processor 1501, the communication interface 1502, and the memory 1503 communicate with each other through the communication bus 1504.

[0077] Memory 1503 is used to store computer programs;

[0078] When the processor 1501 executes the computer program stored in the memory 1503, it implements the steps of the optical feedback FOV angle control method described in Embodiment 1 above.

[0079] As one embodiment of the present invention, the communication bus mentioned in the terminal above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0080] As one embodiment of the present invention, the communication interface is used for communication between the aforementioned terminal and other devices.

[0081] In one embodiment of the present invention, the memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0082] As one embodiment of the present invention, the processor described above may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0083] Unlike existing technologies, the optical feedback FOV angle control method, system, device and medium of this application can be used to collect and process pulse signals of optical and electrical signals in real time, thereby realizing real-time high-precision adjustment of FOV angle. It has strong real-time performance and concurrency, and the device modules used have high integration and high reliability, which is conducive to improving the FOV angle control effect. It is easy to use, has low power consumption, strong scalability and has good application value.

[0084] It should be understood that in the various embodiments of this document, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0085] It should also be understood that, in the embodiments herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following associated objects have an "or" relationship.

[0086] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this document.

[0087] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0088] In the embodiments provided herein, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, or they may be electrical, mechanical, or other forms of connection.

[0089] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments described herein, depending on actual needs.

[0090] Furthermore, the functional units in the various embodiments of this document can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0091] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this paper, in essence, or the part that contributes to the prior art, or all 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, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this paper. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0092] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A light-feedback FOV angle adjustment method, characterized in that, Includes the following steps: Initialize the structured light optomechanical projection parameters; Upon completion of the initialization, a structured light projection operation is performed. A PD module is used to acquire and feedback pulse signals for the structured light projection operation; The projection amplitude of the structured optical engine is adjusted according to the pulse signal fed back by the PD module; The initialization of structured light optomechanical projection parameters includes: Adjust the fast axis frequency of the structured light optical engine until the FOV of the structured light optical engine reaches its maximum value, read the corresponding real-time phase, and write the real-time phase. Phase-locked operation and amplitude-locked operation are performed sequentially, and the initialization completion result is generated.

2. The optical feedback FOV angle adjustment method according to claim 1, characterized in that: The phase-locked operation includes: Turn on the phase-locked switch, and then set the light intensity parameters and alignment parameters corresponding to the output requirements; The amplitude locking operation includes: Turn on the amplitude lock switch and check if the amplitude lock value is stable; In response to the stability of the lock amplitude value, the parameters set during the initialization process are stored.

3. The optical feedback FOV angle adjustment method according to claim 1, characterized in that: The structured light projection operation includes: Power on the optomechanical driver board of the structured optomechanical system; The optical engine driver board is invoked to control the structured light optical engine to project structured light onto the PD module.

4. The optical feedback FOV angle adjustment method according to claim 3, characterized in that: The step of using a PD module to acquire and feedback pulse signals for the structured light projection operation includes: The PD module is invoked to acquire the structured light corresponding to the structured light projection operation; The PD module is invoked to output an approximate pulse signal corresponding to the acquired structured light; The approximate pulse signal output by the PD module is amplified and fed back to the optomechanical driver board of the structured optical-optical engine.

5. The optical feedback FOV angle adjustment method according to claim 4, characterized in that: The width of the approximate pulse signal is positively correlated with the laser irradiation duration of the structured light projection operation.

6. The optical feedback FOV angle adjustment method according to claim 4, characterized in that: The step of adjusting the projection amplitude of the structured optical engine based on the pulse signal fed back by the PD module includes: The CLK value of the amplified approximate pulse signal is statistically analyzed. The projection amplitude correction amount of the structured optical engine is calculated based on the CLK value; The vibration angle of the MEMS axis in the structured optical-optical mechanism is controlled according to the projection amplitude correction amount.

7. A light-feedback FOV angle adjustment system, employing the method described in claim 1, characterized in that, The system includes: an initialization module, a structured light engine, an optical engine driver board, and a PD module; the structured light engine and the PD module are respectively connected to the optical engine driver board via FPC flexible flat cables; The initialization module is used to initialize the structured light optomechanical projection parameters; The optomechanical driver board and the structured light optomechanical system are used to perform structured light projection operations in response to the completion of initialization. The PD module is used to collect and feedback pulse signals for the structured light projection operation; The optomechanical driver board is used to adjust the projection amplitude of the structured optical engine according to the pulse signal fed back by the PD module.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the optical feedback FOV angle control method according to any one of claims 1 to 6.

9. A computer device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein: The memory is used to store computer programs; The processor is configured to execute the steps of the optical feedback FOV angle control method according to any one of claims 1 to 6 by running a program stored in the memory.

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