Frequency modulation sampling method for ray machine module, ray machine module and electronic equipment

Abstract

The embodiment of the invention provides a frequency modulation sampling method for an optical machine module, the optical machine module and electronic equipment, and belongs to the technical field of optical ranging. The method comprises the following steps: emitting a light beam to a target object, and obtaining initial data of the light beam reflected from the target object; a target sampling frequency is obtained, the frequency ratio k of the maximum sampling frequency to the target sampling frequency is determined, and the target sampling frequency is smaller than or equal to the maximum sampling frequency; determining a sampling period data volume T, a sampling target data volume N and a sampling interval according to the frequency ratio k; performing interval sampling from the initial data according to the sampling period data volume T, the sampling target data volume N and the sampling interval to obtain target data, so that N pieces of target data exist in each T pieces of initial data, and the interval between the adjacent target data is the sampling interval, the compatibility of optical machine modules with different sampling frequencies and transmission bandwidths can be simply and effectively improved.

Description

Technical Field

[0001] The present application relates to the field of optical ranging technology, and in particular to a frequency modulation sampling method for an optical-mechanical module, an optical-mechanical module, and an electronic device. Background Art

[0002] An optical machine module is a sensor device that uses optical technology for long-range ranging and three-dimensional spatial perception. It includes a light emitting component and a light receiving component. It obtains the distance, position and shape information of the target object by emitting a light beam to the target object and measuring the time and intensity of the light beam reflected from the target object.

[0003] In related technologies, optical-mechanical modules with different sampling frequencies are used to adapt to intelligent robots with different requirements or configurations. Optical-mechanical modules with higher sampling frequencies transmit higher data volumes, requiring intelligent robots with higher transmission bandwidths to adapt. These modules cannot be used on intelligent robots with lower transmission bandwidths. This means that it is difficult to ensure compatibility between optical-mechanical modules with different sampling frequencies and transmission bandwidths. Summary of the Invention

[0004] The main purpose of the embodiments of the present application is to propose a frequency modulation sampling method, an optical-mechanical module, and an electronic device for an optical-mechanical module, so as to simply and effectively improve the compatibility of optical-mechanical modules with different sampling frequencies and transmission bandwidths.

[0005] To achieve the above-mentioned purpose, the first aspect of an embodiment of the present application proposes a frequency modulation sampling method for an optical machine module, the method comprising: emitting a light beam to a target object, and obtaining initial data of the light beam reflected from the target object; obtaining a target sampling frequency, and determining a frequency ratio k between a maximum sampling frequency and the target sampling frequency, wherein the target sampling frequency is less than or equal to the maximum sampling frequency; determining a sampling period data volume T, a sampling target data volume N, and a sampling interval based on the frequency ratio k; performing interval sampling from the initial data based on the sampling period data volume T, the sampling target data volume N, and the sampling interval to obtain target data, so that there are N target data in every T initial data, and the intervals between adjacent target data are the sampling intervals.

[0006] In some embodiments, the sampling period data volume T, the sampling target data volume N and the sampling interval are determined based on the frequency ratio k, including: if the frequency ratio k is an integer, the sampling interval is equal to the frequency ratio k; if the frequency ratio k is not an integer, the sampling interval includes a first sampling interval after the frequency ratio k is rounded down and a second sampling interval after the frequency ratio k is rounded up; the interval between some adjacent target data is the first sampling interval, and the interval between the remaining adjacent target data is the second sampling interval.

[0007] In some embodiments, determining the sampling period data volume T, the sampling target data volume N and the sampling interval based on the frequency ratio k includes: determining, based on the frequency ratio k and the sampling target data volume threshold Nm, a combination of Ti and Ni that satisfies Ti / Ni and is closest to k, thereby determining the sampling period data volume T=Ti, and the sampling target data volume N=Ni, wherein Ni is a positive integer not greater than Nm, and Ti is a positive integer not less than Ni; or, based on the frequency ratio k and the sampling period data volume threshold Tm, determining a combination of Ti and Ni that satisfies Ti / Ni and is closest to k, thereby determining the sampling period data volume T=Ti, and the sampling target data volume N=Ni, wherein Ti is a positive integer not greater than Tm, and Ni is a positive integer less than or equal to Ti.

[0008] In some embodiments, the optical machine module is rotatably arranged; and obtaining the target sampling frequency includes: determining the target sampling frequency according to a scanning rotation speed of the optical machine module.

[0009] In some embodiments, the target sampling frequency is determined based on the scanning speed of the optical machine module, including: when the scanning speed is less than a first speed threshold, or when the duration of the scanning speed being less than the first speed threshold is greater than a first preset time, determining the target sampling frequency to be a low-frequency sampling frequency; when the scanning speed is greater than a second speed threshold, or when the duration of the scanning speed being greater than the second speed threshold is greater than a second preset time, determining the target sampling frequency to be a high-frequency sampling frequency; when the scanning speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, maintaining the current sampling frequency of the optical machine module; wherein, the first speed threshold is less than the second speed threshold, and the low-frequency sampling frequency is less than the high-frequency sampling frequency.

[0010] In some embodiments, determining the target sampling frequency based on the scanning speed of the optical engine module includes: determining the speed range interval corresponding to the scanning speed based on the scanning speed; wherein the speed range interval includes a normal speed range interval and at least two frequency modulation speed range intervals, and each frequency modulation speed range interval corresponds to a different calibrated sampling frequency; if the speed range interval corresponding to the scanning speed is the frequency modulation speed range interval, then determining the target sampling frequency as the calibrated sampling frequency corresponding to the frequency modulation speed range interval based on the frequency modulation speed range interval corresponding to the scanning speed; if the speed range interval corresponding to the scanning speed is the normal speed range interval, then maintaining the current sampling frequency of the optical engine module.

[0011] In some embodiments, obtaining the target sampling frequency includes: obtaining a frequency modulation target instruction from outside the optical engine module; and obtaining the target sampling frequency according to the frequency modulation target instruction.

[0012] To achieve the above-mentioned purpose, the second aspect of an embodiment of the present application proposes an optical machine module, comprising: a transceiver module, for emitting a light beam to a target object and obtaining initial data of the light beam reflected from the target object; a processing module, for obtaining a target sampling frequency and determining a frequency ratio k between a maximum sampling frequency and the target sampling frequency, wherein the target sampling frequency is less than or equal to the maximum sampling frequency; according to the frequency ratio k, determining a sampling period data volume T, a sampling target data volume N and a sampling interval; according to the sampling period data volume T, the sampling target data volume N and the sampling interval, performing interval sampling from the initial data to obtain target data, so that there are N target data in every T initial data, and the intervals between adjacent target data are the sampling intervals.

[0013] To achieve the above-mentioned purpose, the third aspect of the embodiments of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and the processor implements the method described in the first aspect of the embodiment when executing the computer program.

[0014] To achieve the above-mentioned purpose, the fourth aspect of the embodiment of the present application proposes a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the method described in the embodiment of the first aspect is implemented.

[0015] The frequency modulation sampling method, optical machine module and electronic device for an optical machine module proposed in the present application have the following beneficial effects: emitting a light beam to a target object and obtaining initial data reflected by the light beam from the target object; obtaining a target sampling frequency and determining a frequency ratio k between a maximum sampling frequency and a target sampling frequency, wherein the target sampling frequency is less than or equal to the maximum sampling frequency; determining a sampling period data volume T, a sampling target data volume N and a sampling interval based on the frequency ratio k; performing interval sampling from the initial data based on the sampling period data volume T, the sampling target data volume N and the sampling interval to obtain target data, so that there are N target data in every T initial data, and the intervals between adjacent target data are the sampling intervals, periodically discarding some data to achieve a reduction in the sampling frequency, and matching an intelligent robot with a lower transmission bandwidth, so that the optical machine module can be used for both intelligent robots with higher sampling frequency requirements and transmission bandwidth and intelligent robots with lower sampling frequency requirements and transmission bandwidth without changing the light beam emission frequency. At the same time, other algorithms such as noise processing related to the light beam emission parameters do not need to be modified, thereby simply and effectively improving the compatibility of optical machine modules with different sampling frequencies and transmission bandwidths.

[0016] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. The purposes and other advantages of the present application can be achieved and obtained through the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of a frequency modulation sampling method for an optical-mechanical module provided in an embodiment of the present application;

[0018] Figure 2 yes Figure 1 Flowchart of step 103;

[0019] Figure 3 This is a flow chart for determining a target sampling frequency provided by an embodiment of the present application;

[0020] Figure 4 is another flow chart for determining a target sampling frequency provided by an embodiment of the present application;

[0021] Figure 5 This is a flow chart of obtaining a target sampling frequency provided by an embodiment of the present application;

[0022] Figure 6 This is a partial structural diagram of an intelligent robot using an optical-mechanical module provided in an embodiment of the present application;

[0023] Figure 7This is another structural diagram of an intelligent robot using an optical-mechanical module according to an embodiment of the present application;

[0024] Figure 8 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0026] It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flowchart.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0028] First, let’s analyze some of the terms used in this application:

[0029] An optomechanical module is a sensor device that uses optical technology for long-range distance measurement and three-dimensional spatial perception. It consists of a light emitting component and a light receiving component. The light emitting component generates a beam of light and transmits it into the surrounding environment. The beam can be infrared, visible light, laser, or other light sources. The light receiving component receives the reflected beam pulses from the surrounding environment and detects and records the timing and intensity of the beam. Optomechanical modules can be used in autonomous vehicles, intelligent robots, environmental monitoring, geological exploration, and other fields. They provide high-precision distance measurement and high-resolution environmental information, which are crucial for real-time perception and positioning.

[0030] In the related art, optical-mechanical modules with different sampling frequencies are adapted to intelligent robots with different needs or configurations. Optical-mechanical modules with lower sampling frequencies have lower transmission data volumes and can be adapted to intelligent robots with smaller transmission bandwidths. However, optical-mechanical modules with higher sampling frequencies have higher transmission data volumes and require intelligent robots with higher transmission bandwidths to adapt. They cannot be used on intelligent robots with smaller transmission bandwidths, and it is difficult to ensure the compatibility of optical-mechanical modules with different sampling frequencies and transmission bandwidths.

[0031] Based on this, the embodiments of the present application provide a frequency modulation sampling method, an optical-mechanical module, and an electronic device for an optical-mechanical module, which simply and effectively improve the compatibility of optical-mechanical modules with different sampling frequencies and transmission bandwidths.

[0032] The frequency modulation sampling method for the optical-mechanical module, the optical-mechanical module and the electronic device provided in the embodiments of the present application are specifically illustrated through the following embodiments. First, the frequency modulation sampling method for the optical-mechanical module in the embodiments of the present application is described.

[0033] The frequency modulation sampling method for the optical machine module in the embodiment of the present application can be illustrated by the following embodiment.

[0034] Figure 1 This is an optional flow chart of a frequency modulation sampling method for an optical-mechanical module provided in an embodiment of the present application. Figure 1 The method may include but is not limited to steps 101 to 104. It is also understood that this embodiment is for Figure 1 The order of steps 101 through 104 is not specifically limited, and the order of the steps may be adjusted, or some steps may be reduced or added, based on actual needs. In some embodiments, the optical-mechanical module may be used for a lidar, where the light beam emitted by the optical-mechanical module is a laser. In other embodiments, the light beam emitted by the optical-mechanical module may not be a laser, such as infrared light or visible light.

[0035] Step 101: emit a light beam toward a target object, and obtain initial data of the light beam reflected from the target object.

[0036] In some embodiments, the target object is an object in the direction of the light beam emission, and can be any object capable of reflecting the light beam, such as a wall, surface, or the surface of an object. For example, the target object can be a static object, such as a building, obstacle, or the surrounding environment, and information such as their distance, shape, and surface characteristics can be obtained through the optical-mechanical module. It can also be a moving object, such as a pedestrian or vehicle. For moving target objects, the optical-mechanical module can provide dynamic information such as their position, speed, and motion trajectory. By emitting a light beam and measuring at least part of the information such as the landing point position, time delay, and intensity of the reflected light, the optical-mechanical module can obtain the distance to the target object and the characteristics of the target object's surface.

[0037] Exemplarily, the emission of a light beam can be achieved by using a light beam emitter or a light emitting component of an optical module. The light beam emitter emits a strongly focused light beam with a specific wavelength and power, and the emission direction of the light beam can be controlled by adjusting the position of the light beam emitter or using a beam shaper. In some embodiments, the optical module can emit a laser and be installed on a rotating platform of the laser radar. The rotating platform enables the optical module to scan the surrounding environment in all directions. By rotating the rotating platform, the optical module can emit lasers in different directions and receive reflected light, and use the TOF ranging principle or the triangulation ranging principle to construct the three-dimensional spatial information of the target object, thereby realizing the environmental perception and mapping functions of the laser radar. In other embodiments, the optical module can also be fixed in the laser radar and not rotated to achieve detection in a specific direction.

[0038] It is understood that when a beam emitter emits a light beam, and when the light beam strikes a target object, a portion of the light beam is reflected back from the target object's surface. A beam receiver receives the reflected light beam and converts it into an electrical signal. The initial data obtained from the reflected light includes at least part of the information such as the landing point, time delay, and intensity of the reflected light. By measuring the landing point or time delay from emission to reception of the light beam, the return light path or round-trip time of the light beam can be calculated. The distance between the target object and the beam emitter can then be calculated based on the geometric relationship of the light path or the flight time of the light beam. By measuring the intensity of the reflected light, the reflective properties of the target object, such as the reflectivity and color of the surface, can be understood.

[0039] Step 102: Obtain a target sampling frequency, and determine a frequency ratio k between the maximum sampling frequency and the target sampling frequency, wherein the target sampling frequency is less than or equal to the maximum sampling frequency.

[0040] In some embodiments, the target sampling frequency refers to the number of data points collected and transmitted by the optical machine module per second, and can be expressed in Hertz (Hz). For example, a target sampling frequency of 4000 Hz means that the optical machine module collects and transmits 4000 data points per second. A higher target sampling frequency can obtain more data points, thereby improving the scanning accuracy of the optical machine module. However, a higher target sampling frequency also leads to an increase in data volume and processing requirements. Therefore, the target sampling frequency needs to be adjusted based on factors such as specific application requirements, system response time, and computing resources.

[0041] It is understandable that a higher target sampling frequency will generate more data, which means that a larger transmission bandwidth is required during the data transmission process. The transmission bandwidth refers to the ability to transmit data in unit time, which can be expressed in bit rate (bits per second) or byte rate (bytes per second). If the robot's transmission bandwidth is small and cannot meet the data transmission requirements generated by the higher target sampling frequency, then the robot system may not be able to transmit all the sampled data in a timely and efficient manner, which may cause data loss, delay or transmission errors, thereby affecting the performance and function of the optical machine module.

[0042] It can be understood that the maximum sampling frequency refers to the sampling frequency at which the optical machine module can collect every data point in the initial data. The maximum sampling frequency does not mean that the system always samples at this frequency. The actual sampling frequency may be limited by factors such as system settings, data processing and transmission. Therefore, in actual applications, the maximum sampling frequency can be used as a reference indicator, but the specific target sampling frequency still needs to be adjusted and configured according to the needs of the application.

[0043] For example, assuming the maximum sampling frequency is f_max, the target sampling frequency is f_target, and the frequency ratio k is k = f_max / f_target. Based on the frequency ratio k of the maximum sampling frequency to the target sampling frequency, some data points in the initial data can be discarded. If the target sampling frequency is less than or equal to the maximum sampling frequency, that is, k is less than or equal to 1, the data volume can be reduced by discarding some data points, while retaining data points that meet the target sampling frequency requirements. This reduces the data volume and reduces the data processing and transmission load.

[0044] Step 103: Determine the sampling period data volume T, the sampling target data volume N, and the sampling interval according to the frequency ratio k.

[0045] Step 104: Based on the sampling period data volume T, the sampling target data volume N and the sampling interval, interval sampling is performed from the initial data to obtain target data, so that there are N target data in every T initial data, and the intervals between adjacent target data are all sampling intervals.

[0046] In some embodiments, the sampling period data volume T refers to the number of sampled data contained in each group when the initial data is sampled and grouped, representing the size of the data group during the data processing process. Selecting an appropriate T value requires balancing factors such as data processing efficiency, data processing latency, and data accuracy, and should be adjusted according to specific application requirements. Target data refers to data sampled from the initial data for subsequent analysis and processing. The target sampling data volume N refers to the amount of target data sampled according to the sampling interval within each sampling period data volume T.

[0047] It can be understood that the optical machine module continuously obtains the initial data reflected back, determines the sampling period data volume T based on the frequency ratio k, groups the initial data with the sampling period data volume T as the period, and takes out the sampling target data volume N from the T data in each group according to the sampling interval. For example, the maximum sampling frequency is f_max=4000Hz, the target sampling frequency is f_target=2300Hz, the frequency ratio k=f_max / f_target=4000 / 2300≈1.739, the ratio k is greater than 1 and less than 2, the sampling period data volume T can be set to 40, the sampling target data volume N is 23, and the sampling interval is 1 or 2; that is, T=40 data are grouped as a group, N=23 data are selected from them, and the interval of these 23 data is 1 or 2, for example, the 1st, 3rd, 5th, 7th, 9th, 11th, 13th, 14th, 16th, 18th, 19th, 21st, 23rd, 24th, 26th, 27th, 29th, 31st, 33rd, 34th, 36th, 37th, and 39th data, to obtain the target data. It should be noted that the sampling interval between adjacent data is 1, for example, the sampling interval between the first data and the second data is 1, the sampling interval between the first data and the third data is 2, and so on.

[0048] The frequency modulation sampling method for an optical machine module provided in an embodiment of the present application includes emitting a light beam to a target object and obtaining initial data of the light beam reflected from the target object; obtaining a target sampling frequency and determining a frequency ratio k between a maximum sampling frequency and a target sampling frequency, wherein the target sampling frequency is less than or equal to the maximum sampling frequency; determining a sampling period data volume T, a sampling target data volume N, and a sampling interval based on the frequency ratio k; performing interval sampling from the initial data based on the sampling period data volume T, the sampling target data volume N, and the sampling interval to obtain target data, so that there are N target data in every T initial data, and the target data is the same as the target data. The intervals between adjacent target data are all sampling intervals. Some data are periodically discarded to reduce the sampling frequency and match the intelligent robot with a lower transmission bandwidth. This allows the optical machine module to be used for both intelligent robots with higher sampling frequency requirements and transmission bandwidth, and intelligent robots with lower sampling frequency requirements and transmission bandwidth, without changing the beam emission frequency. At the same time, this frequency modulation method, which does not require changes to parameters such as the beam emission frequency, power, and pulse width, also means that other algorithms such as noise processing related to the beam emission parameters do not need to be changed, thereby simply and effectively improving the compatibility of optical machine modules with different sampling frequencies and transmission bandwidths.

[0049] See also Figure 2 , Figure 1 Step 103 in the embodiment may include but is not limited to steps 201 to 202. Figure 2The order of step 201 to step 202 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0050] Step 201: If the frequency ratio k is an integer, the sampling interval is equal to the frequency ratio k.

[0051] Step 202: If the frequency ratio k is not an integer, the sampling interval includes a first sampling interval after the frequency ratio k is rounded down and a second sampling interval after the frequency ratio k is rounded up, wherein the interval between some adjacent target data is the first sampling interval, and the interval between the remaining adjacent target data is the second sampling interval.

[0052] It can be understood that if the frequency ratio k is an integer, the sampling interval is equal to the frequency ratio k. According to the sampling interval, the sampling target data amount N target data amounts are sampled from the sampling period data amount T, so that the sampling frequency of the optical machine module can be accurately adjusted to the target sampling frequency.

[0053] Exemplarily, when the frequency ratio is not an integer, the sampling interval includes a first sampling interval after the frequency ratio is rounded down and a second sampling interval after the frequency ratio is rounded up. For example, when the frequency ratio k=4.375, the first sampling interval N1 after rounding down is N1=4, and the second sampling interval N2 after rounding up is N2=5. For example, the first sampling interval and the second sampling interval can be used to select target data, and the required sampling target data volume N is obtained in each sampling cycle data volume T, ensuring that the sampling frequency of the optical machine module is relatively evenly adjusted to a value close to the target sampling frequency. In practical applications, it may be necessary to adjust the sampling according to the specific situation and combine appropriate interpolation or sampling techniques to select the target data.

[0054] In some embodiments, based on the frequency ratio k and the sampling target data volume threshold Nm, the combination of Ti and Ni that satisfies Ti / Ni closest to k is determined, thereby determining the sampling period data volume T=Ti and the sampling target data volume N=Ni, where Ni is a positive integer not greater than Nm, and Ti is a positive integer not less than Ni.

[0055] It can be understood that the sampling target data volume threshold Nm refers to the set upper limit threshold of the sampling target data volume. When performing data sampling, the amount of sampling target data volume can be limited to control the scale of data or reduce the consumption of computing resources.

[0056] Exemplarily, the frequency ratio k=4000 / 2300 and the sampling target data volume threshold Nm is 10, that is, the sampling target data volume N is selected within the range of integers less than or equal to 10, the sampling period data volume T=round(sampling target data volume N*frequency ratio k), round means rounding off, and the combinations of Ti and Ni that satisfy Ti / Ni closest to k include Ti=14 or 7, Ni=8 or 4. When Ti / Ni=14 / 8=1.75, it is closest to k≈1.739, so the sampling period data volume T is determined to be 14 (T can also be 7, T is 14 as an example here), the sampling target data volume N is 8, and 14 data are grouped together, from which 8 data are selected as target data, and the sampling interval is 1 or 2, for example, the 1st, 3rd, 5th, 7th, 9th, 10th, 12th, and 14th data. At this time, the sampling frequency of the optical machine module obtained after frequency modulation is 4000 / 1.75≈2285.7 Hz, which is the value closest to the sampling target frequency of 2300 Hz that can be achieved based on the frequency modulation sampling method of this application.

[0057] In some embodiments, based on the frequency ratio k and the sampling period data volume threshold Tm, the combination of Ti and Ni that satisfies Ti / Ni closest to k is determined, thereby determining the sampling period data volume T=Ti and the sampling target data volume N=Ni, where Ti is a positive integer not greater than Tm, and Ni is a positive integer less than or equal to Ti.

[0058] It can be understood that the sampling period data volume threshold Tm refers to the set upper threshold of the sampling period data volume. When performing data sampling, the amount of sampling period data volume can be limited to control the scale of data or reduce the consumption of computing resources.

[0059] For example, according to the frequency ratio k=4000 / 2300 and the sampling period data volume threshold Tm is 20, that is, the sampling period data volume T is selected within the range of integers less than or equal to 20, the sampling target data volume N=round(sampling period data volume T / frequency ratio k), round means rounding, and the combination of Ti and Ni that satisfies Ti / Ni closest to k is determined to be Ti / Ni=14 / 8, then the sampling period data volume T is determined to be 14 (T can also be 7, here T is 14 as an example), the sampling target data volume N is 8, and 14 data are grouped as a group, from which 8 data are selected as target data, and the sampling interval is 1 or 2, for example, the 1st, 3rd, 5th, 7th, 9th, 10th, 12th, and 14th data. At this time, the sampling frequency of the optical engine module obtained after frequency modulation is 4000 / 1.75≈2285.7Hz, which is the value closest to the sampling target frequency of 2300Hz that can be achieved based on the frequency modulation sampling method of this application.

[0060] In some embodiments, the optical machine module is rotatable, and obtaining the target sampling frequency includes: determining the target sampling frequency according to a scanning rotation speed of the optical machine module.

[0061] For example, an optomechanical module is a rotating component used in optical devices and can be used in fields such as lidar, fiber optic communication systems, and optical scanning equipment. The scanning speed represents the number of revolutions per second of the optomechanical module, measured in Hz. The scanning speed can be adjusted by a motor without the need for communication. Under one-way communication conditions, the optomechanical module can identify the scanning speed through internal sensors or encoding detection units, and obtain the target sampling frequency based on the correspondence between different scanning speeds and different target sampling frequencies, rather than determining the target sampling frequency by obtaining external instructions. This allows the target sampling frequency to be obtained under one-way communication conditions.

[0062] It is understandable that when the communication mode of the optical-mechanical module is one-way communication, the rotatable optical-mechanical module sends the detected data through the wireless optical communication module, but the optical-mechanical module cannot receive instructions on whether the sampling frequency needs to be adjusted. By identifying the changes in the scanning speed, the target sampling frequency is determined to ensure that the optical-mechanical module has sufficient real-time and responsiveness so that it can timely identify the changes in the scanning speed and adjust the sampling frequency.

[0063] See also Figure 3 , according to the scanning speed of the optical machine module, determining the target sampling frequency may include but is not limited to steps 301 to 303. At the same time, it can be understood that this embodiment Figure 3 The order of step 301 to step 303 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0064] Step 301: When the scanning speed is less than a first speed threshold, or when the duration of the scanning speed being less than the first speed threshold is greater than a first preset time, determining that the target sampling frequency is a low-frequency sampling frequency.

[0065] Step 302: When the scanning speed is greater than a second speed threshold, or when the duration of the scanning speed being greater than the second speed threshold is greater than a second preset time, determining that the target sampling frequency is a high-frequency sampling frequency.

[0066] Step 303: When the scanning rotation speed is greater than or equal to the first rotation speed threshold and less than or equal to the second rotation speed threshold, maintain the current sampling frequency of the optical engine module.

[0067] The first speed threshold is smaller than the second speed threshold, and the low-frequency sampling frequency is smaller than the high-frequency sampling frequency.

[0068] It is understandable that the optical machine module can be implemented by rotating the light emitting component and the light receiving component when scanning. The first speed threshold and the second speed threshold are used to determine the rotation speed range when the optical machine module is normally performing the detection work. The first speed threshold is the preset lower limit value of the scanning speed when the optical machine module is normally performing the detection work, and the second speed threshold is the preset upper limit value of the scanning speed when the optical machine module is normally performing the detection work. By setting the first speed threshold and the second speed threshold, the sampling frequency can be adjusted according to the situation where the optical machine module is outside the scanning speed outside the normal detection work. The specific threshold value can be determined according to the design specifications, mechanical structure and application requirements of the optical machine module.

[0069] It is understood that the target sampling frequency includes a low-frequency target frequency and a high-frequency target frequency. The low-frequency target frequency corresponds to the low-frequency sampling mode of the optical machine module, and data acquisition will be performed at a lower sampling frequency. The high-frequency target frequency corresponds to the high-frequency sampling mode of the optical machine module, and data acquisition will be performed at a higher sampling frequency. For example, the low-frequency target frequency is 2300Hz, and the high-frequency target frequency is 4000Hz.

[0070] Exemplarily, the first speed range is a preset speed range that is less than the first speed threshold, and the first preset time refers to the preset time for continuous operation within the first speed range, which serves as a reference condition for adjusting the sampling mode of the optical machine module. When it is identified that the scanning speed is less than the first speed threshold, the target sampling frequency is immediately determined to be a low-frequency sampling frequency; or, when the duration of the scanning speed being less than the first speed threshold is greater than the first preset time, the target sampling frequency is determined to be a low-frequency sampling frequency. For example, the first speed threshold is 3Hz, and the preset first speed range is 1.5Hz to 2.5Hz. When the scanning speed is between 1.5Hz and 2.5Hz, it is considered to be within the first speed range. The first preset time is 1s±100ms. When the duration of the scanning speed being within the first preset speed range exceeds the first preset time, the low-frequency target frequency is determined to be the target sampling frequency, and the sampling frequency is reduced so that the optical machine module operates in a low-frequency sampling mode.

[0071] Exemplarily, the second speed range is a preset speed range that is less than the second speed threshold, and the second preset time refers to the preset time for continuous operation within the second speed range, which serves as a reference condition for adjusting the sampling mode of the optical machine module. When it is identified that the scanning speed is greater than the second speed threshold, the target sampling frequency is immediately determined to be a high-frequency sampling frequency; or, when the duration of the scanning speed greater than the second speed threshold is greater than the second preset time, the target sampling frequency is determined to be a high-frequency sampling frequency. For example, the second speed threshold is 7Hz, the preset second speed range is 7.5Hz to 8.5Hz, and the second preset time is 1s±100ms. When the duration of the scanning speed within the second preset speed range exceeds the second preset time, the high-frequency target frequency is determined to be the target sampling frequency, so that the optical machine module operates in a high-frequency sampling mode.

[0072] Exemplarily, when the scanning rotation speed is less than or equal to the first rotation speed threshold and less than or equal to the second rotation speed threshold, it can be considered that the optical machine module is in a state of performing detection work normally, and the current sampling frequency of the optical machine module is maintained unchanged.

[0073] See also Figure 4 , according to the scanning speed of the optical machine module, determining the target sampling frequency may include but is not limited to steps 401 to 403. At the same time, it can be understood that this embodiment Figure 4 The order of step 401 to step 403 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0074] Step 401: Determine a speed range interval corresponding to the scanning speed according to the scanning speed; wherein the speed range interval includes a normal speed range interval and at least two frequency modulation speed range intervals, and each frequency modulation speed range interval corresponds to a different calibration sampling frequency.

[0075] Step 402: If the speed range corresponding to the scanning speed is the frequency modulation speed range, then according to the frequency modulation speed range corresponding to the scanning speed, determine the target sampling frequency as the calibration sampling frequency corresponding to the frequency modulation speed range.

[0076] Step 403: If the rotation speed range corresponding to the scanning rotation speed is within the normal rotation speed range, the current sampling frequency of the optical engine module is maintained.

[0077] Exemplarily, the scanning speed is the number of revolutions of the optical machine module per second, and the speed range interval can be defined as a normal speed range interval and at least two frequency modulation speed range intervals based on the minimum scanning speed and maximum scanning speed of the optical machine module, wherein the normal speed range interval and the at least two frequency modulation speed range intervals are both subsets of the range between the minimum scanning speed and the maximum scanning speed, and the intersection between the normal speed range interval and the at least two frequency modulation speed range intervals is an empty set, and there must be at least two selectable target sampling frequencies, so at least two frequency modulation speed range intervals are required, each frequency modulation speed range interval corresponds to a different calibration sampling frequency, so that the frequency modulation sampling method provided in the embodiment of the present application can achieve the adjustment of two or more target sampling frequencies.

[0078] It's understood that the normal speed range refers to the range within which the optical engine module's scanning speed falls within its normal operating range, representing the device's preset standard speed range. The calibrated sampling frequency refers to the corresponding sampling frequency pre-set within the frequency modulation speed range to match the requirements of a specific application scenario.

[0079] In other embodiments, see Figure 5 , obtaining the target sampling frequency may include but is not limited to steps 501 to 502. At the same time, it can be understood that this embodiment is for Figure 5 The order of step 501 to step 502 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0080] Step 501: Obtain the frequency modulation target instruction from outside the optical machine module.

[0081] Step 502: Obtain a target sampling frequency according to the frequency modulation target instruction.

[0082] It is understood that the optical-mechanical module can obtain a frequency modulation target instruction from outside the optical-mechanical module in a bidirectional communication mode. The instruction can be sent to the optical-mechanical module via an external control system or communication interface via a wired or wireless method to specify the desired frequency modulation mode and target sampling frequency. Based on the obtained frequency modulation target instruction, the received frequency modulation target instruction is parsed according to a predefined instruction format. Based on the frequency modulation target instruction, the target sampling frequency value is extracted from the parsed instruction to obtain the target sampling frequency.

[0083] It is understandable that the outside of the optical machine module can send frequency modulation target commands according to the working scenario or requirements to control the target sampling frequency of the current module for dynamic adjustment to meet different application needs, thereby increasing the flexibility and adaptability of the system.

[0084] The embodiment of the present application also provides an optical-mechanical module that can implement the above-mentioned frequency modulation sampling method for the optical-mechanical module, including: a transceiver module for emitting a light beam to a target object and obtaining initial data reflected by the light beam from the target object; a processing module for obtaining a target sampling frequency and determining a frequency ratio k between a maximum sampling frequency and a target sampling frequency, wherein the target sampling frequency is less than or equal to the maximum sampling frequency; determining a sampling period data volume T, a sampling target data volume N, and a sampling interval based on the frequency ratio k; performing interval sampling from the initial data based on the sampling period data volume T, the sampling target data volume N, and the sampling interval to obtain target data, so that there are N target data in every T initial data, and the intervals between adjacent target data are all sampling intervals. The transceiver module includes an optical transmitting component and an optical receiving component.

[0085] The specific implementation of the optical-mechanical module is substantially the same as the specific embodiment of the frequency modulation sampling method for the optical-mechanical module described above, and will not be repeated here. On the premise of meeting the requirements of the embodiment of the present application, the optical-mechanical module may also be provided with other functional modules to implement the frequency modulation sampling method for the optical-mechanical module described above.

[0086] See Figure 6 In a specific embodiment, the optical-mechanical module is used in an intelligent robot, which includes an optical-mechanical module 610, a motor 620, a speed measurement component 630, and a communication component 640. The optical-mechanical module 610 is mounted on a rotating platform 611, which includes a rotating PCB board 612.

[0087] The motor 620 can be arranged coaxially with the rotating platform 611 , the rotor 621 of the motor 620 is fixedly arranged on the rotating platform 611 , and the stator 622 of the motor 620 is fixedly arranged on the fixed base 623 , and the fixed base 623 includes a fixed PCB board 624 .

[0088] The speed measuring component 630 includes an encoding unit 631 and a detection unit 632 . The encoding unit 631 is disposed on the fixed base 623 , and the detection unit 632 is disposed on the rotating platform 611 .

[0089] The communication component 640 includes a rotating communication unit 641 and a fixed communication unit 642 . The rotating communication unit 641 is disposed on the optical-mechanical module 610 , and the fixed communication unit 642 is disposed on the fixed PCB board 624 .

[0090] In some embodiments, the optical machine module 610 can adopt the TOF ranging principle or the triangulation ranging principle, including a light emitting component and a light receiving component. The light emitting component emits a light beam, and the light beam is reflected by an external object and received by the light receiving component according to a certain sampling frequency to obtain multiple detection data, thereby measuring the distance between the external object and the optical machine module.

[0091] It can be understood that when the intelligent robot is performing scanning and ranging, the optical machine module 610 emits a light beam to the target object and obtains the initial data of the light beam reflected from the target object; obtains the target sampling frequency, and determines the frequency ratio k of the maximum sampling frequency to the target sampling frequency, wherein the target sampling frequency is less than or equal to the maximum sampling frequency; determines the sampling period data volume T, the sampling target data volume N and the sampling interval based on the frequency ratio k; performs interval sampling from the initial data based on the sampling period data volume T, the sampling target data volume N and the sampling interval to obtain the target data, so that there are N target data in every T initial data, and the intervals between adjacent target data are the sampling intervals.

[0092] In some embodiments, wireless communication is carried out between the rotating communication unit 641 and the fixed communication unit 642 via optical signals, which can be one-way communication (the rotating communication unit 641 transmits the detection results to the fixed communication unit 642) or two-way communication. In one-way communication, the change in scanning speed is detected by the optical machine module 610, and the instruction to change the sampling frequency is identified. In two-way communication, two-way data transmission can be carried out between the rotating communication unit 641 and the fixed communication unit 642. In addition to the rotating communication unit 641 transmitting data to the fixed communication unit 642, the fixed communication unit 642 can also send commands, control signals or other data to the rotating communication unit 641, which can support two-way interaction and real-time control, and is suitable for applications that require two-way data exchange and interaction, such as remote control, real-time monitoring or remote control.

[0093] It is understandable that the motor 620 can also be arranged to be coaxial with the rotating platform 611 and connected to the rotating platform 611 through a transmission mechanism, see Figure 7 For example, the transmission mechanism is a belt transmission mechanism, the motor 620 is fixed on the fixed base 623, a driving pulley 710 is set on the output shaft of the motor 620, a driven pulley 720 is set on the rotating platform 611, and a belt 730 is set between the driving pulley 710 and the driven pulley 720 to realize the transmission connection; the motor 620 can drive the rotating platform 611 and the optical machine module 610 to rotate, thereby realizing the distance detection of objects in the surrounding environment of the intelligent robot.

[0094] The present application also provides an electronic device comprising a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned frequency modulation sampling method for an optical-mechanical module. The electronic device can be any smart terminal, such as a tablet computer or an in-vehicle computer.

[0095] See also Figure 8 , Figure 8The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0096] The processor 801 may be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0097] The memory 802 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 802 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 802 and is called by the processor 801 to execute the frequency modulation sampling method for the optical engine module in the embodiments of this application.

[0098] Input / output interface 803, used to implement information input and output;

[0099] Communication interface 804, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, Wi-Fi, Bluetooth, etc.);

[0100] Bus 805 , which transmits information between various components of the device (e.g., processor 801 , memory 802 , input / output interface 803 , and communication interface 804 );

[0101] The processor 801 , the memory 802 , the input / output interface 803 and the communication interface 804 are connected to each other in communication within the device via a bus 805 .

[0102] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned frequency modulation sampling method for the optical machine module.

[0103] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0104] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0105] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0106] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0107] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0108] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0109] It should be understood that in this application, "at least one (item)" and "several" refer to one or more, and "plurality" refers to two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0111] The units described above as separate components may or may not be physically separate, and 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 these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0112] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0113] If the integrated unit is implemented in the form of 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 the present application is essentially 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, and the computer software product is stored in a storage medium, including multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store programs.

[0114] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A frequency modulation sampling method for an optical machine module, characterized in that: include: emitting a light beam toward a target object and acquiring initial data of the light beam reflected from the target object; Obtaining a target sampling frequency, and determining a frequency ratio k of a maximum sampling frequency to the target sampling frequency, wherein the target sampling frequency is less than or equal to the maximum sampling frequency; Determine the sampling period data volume T, the sampling target data volume N and the sampling interval according to the frequency ratio k; According to the sampling period data volume T, the sampling target data volume N and the sampling interval, interval sampling is performed from the initial data to obtain target data, so that there are N target data in every T initial data, and the intervals between adjacent target data are the sampling intervals.

2. The frequency modulation sampling method for an optical machine module according to claim 1, characterized in that: The step of determining the sampling period data volume T, the sampling target data volume N, and the sampling interval according to the frequency ratio k includes: If the frequency ratio k is an integer, the sampling interval is equal to the frequency ratio k; If the frequency ratio k is not an integer, the sampling interval includes a first sampling interval after the frequency ratio k is rounded down and a second sampling interval after the frequency ratio k is rounded up; wherein, the interval between some adjacent target data is the first sampling interval, and the interval between the remaining adjacent target data is the second sampling interval.

3. The frequency modulation sampling method for an optical-mechanical module according to claim 1, wherein: The step of determining the sampling period data volume T, the sampling target data volume N, and the sampling interval according to the frequency ratio k includes: According to the frequency ratio k and the sampling target data volume threshold Nm, a combination of Ti and Ni that satisfies Ti / Ni closest to k is determined, thereby determining the sampling period data volume T=Ti and the sampling target data volume N=Ni, where Ni is a positive integer not greater than Nm and Ti is a positive integer not less than Ni; Alternatively, based on the frequency ratio k and the sampling period data volume threshold Tm, the combination of Ti and Ni that satisfies Ti / Ni closest to k is determined, thereby determining the sampling period data volume T=Ti and the sampling target data volume N=Ni, where Ti is a positive integer not greater than Tm, and Ni is a positive integer less than or equal to Ti.

4. The frequency modulation sampling method for an optical-mechanical module according to claim 1, wherein: The optical machine module is rotatably arranged; The obtaining of the target sampling frequency includes: The target sampling frequency is determined according to the scanning rotation speed of the optical machine module.

5. The frequency modulation sampling method for an optical-mechanical module according to claim 4, characterized in that: The step of determining the target sampling frequency according to the scanning rotation speed of the optical engine module includes: When the scanning speed is less than a first speed threshold, or when the duration of the scanning speed being less than the first speed threshold is greater than a first preset time, determining that the target sampling frequency is a low-frequency sampling frequency; When the scanning speed is greater than a second speed threshold, or when the duration of the scanning speed being greater than the second speed threshold is greater than a second preset time, determining that the target sampling frequency is a high-frequency sampling frequency; When the scanning speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, maintaining the current sampling frequency of the optical engine module; The first speed threshold is smaller than the second speed threshold, and the low-frequency sampling frequency is smaller than the high-frequency sampling frequency.

6. The frequency modulation sampling method for an optical-mechanical module according to claim 4, characterized in that: The step of determining the target sampling frequency according to the scanning rotation speed of the optical engine module includes: Determine, based on the scanning speed, a speed range interval corresponding to the scanning speed; wherein the speed range interval includes a normal speed range interval and at least two frequency-modulated speed range intervals, each of the frequency-modulated speed range intervals corresponding to a different calibration sampling frequency; If the speed range interval corresponding to the scanning speed is the frequency modulation speed range interval, then according to the frequency modulation speed range interval corresponding to the scanning speed, determining the target sampling frequency to be the calibration sampling frequency corresponding to the frequency modulation speed range interval; If the rotation speed range corresponding to the scanning rotation speed is the normal rotation speed range, the current sampling frequency of the optical engine module is maintained.

7. The frequency modulation sampling method for an optical-mechanical module according to claim 4, wherein: The obtaining of the target sampling frequency includes: Obtaining a frequency modulation target instruction from outside the optical machine module; According to the frequency modulation target instruction, a target sampling frequency is obtained.

8. An optical machine module, characterized in that: include: a transceiver module, configured to transmit a light beam toward a target object and obtain initial data of the light beam reflected from the target object; A processing module is used to obtain a target sampling frequency and determine a frequency ratio k between a maximum sampling frequency and the target sampling frequency, wherein the target sampling frequency is less than or equal to the maximum sampling frequency; determine a sampling period data volume T, a sampling target data volume N, and a sampling interval based on the frequency ratio k; and perform interval sampling from the initial data based on the sampling period data volume T, the sampling target data volume N, and the sampling interval to obtain target data, so that there are N target data in every T initial data, and the intervals between adjacent target data are the sampling intervals.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the frequency modulation sampling method for the optical machine module according to any one of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the frequency modulation sampling method for an optical machine module according to any one of claims 1 to 6 is implemented.

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