Optical module, control method thereof and related device

Abstract

This application discloses an optical module, its control method, and related equipment. The optical module includes a transmitting module, a movable structure, and a receiving module. The transmitting module includes a light source and several optical components, which are used to modulate the light emitted by the light source. The movable structure is used to move the light source and / or the optical components so that the light emitted by the light source, after passing through the optical components, generates floodlight or dot matrix light in a preset timing sequence. The receiving module is used to receive the backlight reflected by a target object from the light emitted by the transmitting module. Embodiments of this application can suppress multipath interference and improve module performance and efficiency. This application can be widely applied in the sensor field.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to an optical module, its control method, and related equipment. Background Technology

[0002] With the development of smart hardware technology, today's intelligent robots are capable of mapping, obstacle avoidance, and flexible cleaning in various home environments. The mainstream mapping and navigation sensors are basically divided into two categories: vision-based and range-finding-based. Due to the weak texture recognition and long-distance accuracy issues of pure vision-based machines, range-finding-based sensors remain the mainstream solution.

[0003] Solid-state radar utilizes Time-of-Flight (ToF) technology. Physically, this method estimates distance by calculating the travel time of light. However, when the light source surface is uniform and continuous, it is susceptible to multipath interference, introducing time errors and consequently, inaccurate ranging, ultimately resulting in data distortion. Therefore, ensuring a uniform and dense effective field of view for the ToF module while simultaneously suppressing multipath interference presents a significant technical challenge. Summary of the Invention

[0004] The main objective of this application is to propose an optical module, its control method, and related equipment, which aims to suppress multipath interference and improve module performance and efficiency.

[0005] To achieve the above objectives, one aspect of this application provides an optical module, comprising: The transmitting module includes a light source and several optical components, the optical components being used to modulate the light emitted by the light source; A movable structure is used to move the light source and / or the optical component so that the light emitted by the light source produces floodlight or dot matrix light in a preset timing sequence after passing through the optical component. The receiving module is used to receive the reflected light from the target object after the light emitted by the transmitting module is reflected.

[0006] In some embodiments, the movable structure includes a movable platform or a rotatable mechanism.

[0007] In some embodiments, the movable platform drives the light source to move between at least two optical components to switch the cooperation between the light source and different optical components; or, the movable platform drives at least two optical components to move relative to the light source to switch different optical components to cooperate with the light source; or, the movable platform drives the light source and at least one optical component to move relative to each other to switch different optical components to cooperate with the light source.

[0008] In some embodiments, the rotatable mechanism rotates to move the light source between at least two optical components to switch the cooperation between the light source and different optical components; or, the rotatable mechanism rotates to move at least two optical components relative to the light source to switch the cooperation between different optical components and the light source.

[0009] In some embodiments, the movable platform includes a magnet and electromagnets, the magnet being movably disposed between two electromagnets, the light source or the optical component being fixedly connected to the magnet, and the magnet being positioned in the direction of movement.

[0010] In some embodiments, the movable platform includes a moving track, and the light source or the optical component is fixedly connected to a preset position on the moving track.

[0011] In some embodiments, the rotatable mechanism includes a rotating shaft and a tray, the tray having a plurality of holes for mounting the optical components, and the rotating shaft being able to move the light source or the optical components.

[0012] To achieve the above objectives, another aspect of this application provides a control method for an optical module, applied to the aforementioned optical module, the control method comprising: Obtain the current operating mode and confirm the target optical component; If it is confirmed that the optical component currently used by the light source is not the target optical component, the movable mechanism is controlled to move so that the light emitted by the light source passes through the target optical component; After the light emitted by the light source passes through the target optical component, the light source is controlled to light up and the receiving module is controlled to receive the return light signal.

[0013] The light state is determined based on the test signal. If the light state is the desired target light state, there is no need to control the movement of the movable structure; if the light state is not the desired light state, the movable structure is controlled to move to obtain the desired target light state. It should be noted that the target light state is determined based on the actual application.

[0014] In some embodiments, the method further includes: Before or after controlling the movement of the movable mechanism, the light source is kept in a non-off state.

[0015] In some embodiments, if the movable structure includes a magnet and electromagnets, the magnet is movably disposed between the two electromagnets, the light source or the optical component is fixedly connected to the magnet, and the magnet is positioned in the direction of movement, the movement of the movable structure is controlled by the following method: By changing the current state of the electromagnet, the movement of the magnet is controlled, thereby driving the movement of the light source and / or the optical components.

[0016] In some embodiments, if the movable structure includes a rotating shaft and a tray, the tray having a plurality of holes for mounting the optical component, and the rotating shaft capable of moving the light source or the optical component, the movement of the movable structure can be controlled by the following method: By controlling the rotation of the rotating shaft, the light source or the optical component can be moved.

[0017] To achieve the above objectives, another aspect of this application provides a lidar, including a controller and the aforementioned optical module, wherein the controller is used to execute the aforementioned control method.

[0018] To achieve the above objectives, another aspect of this application provides a control device for an optical module, applied to the aforementioned optical module, the device comprising: The first module is used to obtain the current working mode and identify the target optical component; The second module is used to control the movable mechanism to move if it is confirmed that the optical component currently used by the light source is not the target optical component, so that the light emitted by the light source passes through the target optical component. The third module is used to control the light source to light up and control the receiving module to receive the return light signal after the light emitted by the light source passes through the target optical component.

[0019] In some embodiments, the apparatus further includes: The fourth module is used to keep the light source in a non-off state before or after controlling the movement of the movable mechanism.

[0020] In some embodiments, if the movable structure includes a rotating shaft and a tray, the tray having a plurality of holes for mounting the optical component, and the rotating shaft capable of moving the light source or the optical component, the second module includes: The first unit is used to control the movement of the magnet by changing the current state of the electromagnet, so as to drive the light source or the optical component to move.

[0021] In some embodiments, if the movable structure includes a rotating shaft and a tray, the tray having a plurality of holes for mounting the optical component, and the rotating shaft capable of moving the light source or the optical component, the second module includes: The second unit is used to control the rotation of the rotating shaft to drive the light source or the optical component to move.

[0022] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the methods described above.

[0023] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described above.

[0024] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer program product, including a computer program that, when executed by a processor, implements the methods described above.

[0025] The embodiments of this application include at least the following beneficial effects: This application provides an optical module and its control method and related equipment. The optical module includes a transmitting module and a receiving module. The light emitted by the transmitting module is reflected by the target object and received by the receiving module. The transmitting module includes a light source, a movable structure, and several optical components. The light source and / or optical components are moved by the movable structure to make the transmitting module emit floodlight or dot matrix light in a preset time sequence. The floodlight can meet the fine-grained requirements for obstacle avoidance, while the dot matrix light has concentrated energy and a loose light pattern, which can suppress multipath interference. The transmitting module includes a light source, which generates relatively less heat, reduces the impact of temperature drift, and can improve the module performance. Moving the light source and / or optical components by the movable structure to make the transmitting module emit uniform light or dot matrix light in a preset time sequence does not require turning off the light source, thus improving the utilization efficiency of the light source and the data acquisition efficiency. Attached Figure Description

[0026] Figure 1 This is a schematic diagram illustrating the basic principle of time travel provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the optical module provided in the embodiments of this application; Figure 3 This is a schematic diagram of the light patterns of dot-shaped light spots and uniform light spots provided in the embodiments of this application; Figure 4 This is an optical path diagram of a different optical type provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an optical module provided in an embodiment of this application; Figure 6 This is another optical path diagram of a different optical type provided in the embodiments of this application; Figure 7 This is a schematic diagram of another optical module provided in an embodiment of this application; Figure 8This is a motion state diagram of a movable platform provided in an embodiment of this application; Figure 9 This is an optical path diagram of a floodlight type of ray provided in an embodiment of this application; Figure 10 This is a top view of an emitting module that projects floodlight-type light according to an embodiment of this application; Figure 11 This is an optical path diagram of a dot matrix light type provided in an embodiment of this application; Figure 12 This is a top view of an emitting module for projecting dot matrix light patterns provided in an embodiment of this application; Figure 13 This is a flowchart of a control method for an optical module provided in an embodiment of this application; Figure 14 This is a flowchart of a control method for a dual-source optical module provided in an embodiment of this application; Figure 15 This is a flowchart of a control method for a single-source optical module provided in an embodiment of this application; Figure 16 This is a timing diagram for switching between dual-light source and single-light source lenses provided in an embodiment of this application; Figure 17 This is a flowchart of another control method for a single-source optical module provided in an embodiment of this application; Figure 18 This is another timing diagram for switching between dual-light source and single-light source lenses provided in an embodiment of this application; Figure 19 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0028] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”

[0029] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0031] This application provides an optical module, its control method, and related equipment. The optical module includes a transmitting module and a receiving module. The light emitted by the transmitting module is reflected by the target object and received by the receiving module. The transmitting module includes a light source, a movable structure, and several optical components. The movable structure moves the light source and / or optical components to make the transmitting module emit uniform light or dotted light in a preset time sequence. Uniform light can meet the precise requirements for obstacle avoidance, while dotted light has concentrated energy and a loose light pattern, which can suppress multipath interference. The transmitting module includes a light source, which generates relatively little heat, reduces the impact of temperature drift, and can improve the module performance. Moving the light source and / or optical components through the movable structure to make the transmitting module emit uniform light or dotted light in a preset time sequence does not require turning off the light source, thus improving the utilization efficiency of the light source and the data acquisition efficiency.

[0032] The control method for an optical module provided in this application relates to the field of information technology. The control method for an optical module provided in this application can be applied to a terminal, a server, or software running on a terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle terminal, but is not limited thereto; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application implementing the control method for the optical module, but is not limited to the above forms.

[0033] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0034] See Figure 1 , Figure 1 This diagram illustrates the basic principle of time-of-flight. The sensor transmitting module emits light, which is reflected by the target object and then received by the receiving module. A timing device records the time difference between the emission and reception of the light. The distance between the sensor and the target object is calculated based on the time difference and the speed of light propagation.

[0035] See Figure 2 This application provides an optical module, including: The transmitting module includes a light source and several optical components, which are used to modulate the light emitted by the light source; A movable structure for moving a light source and / or optical components so that the light emitted by the light source, after passing through the optical components, produces floodlight or dot matrix light in a preset sequence. The receiving module is used to receive the reflected light from the target object after the light emitted by the transmitting module is reflected back.

[0036] The light source is determined based on the actual application, and this embodiment does not impose specific limitations. For example, the light source includes, but is not limited to, lasers. For infrared applications, the wavelength is typically set above 760nm. The specific structure of the optical components is determined based on the type of emitted light. For example, if the emitted light from the emitting module is a lattice-type light, the optical components include, but are not limited to, collimating lenses and diffractive optical elements (DOEs). The number of optical components is determined based on the type of emitted light. If the emitted light from the emitting module is a floodlight-type light, the optical components include, but are not limited to, optical diffusers. The distance between the optical components and the light source is determined based on the actual application, and this embodiment does not impose specific limitations.

[0037] See Figure 3 , Figure 3 (a) shows a schematic diagram of the dot-shaped light spot pattern of the lattice rays. Figure 3 (b) shows a schematic diagram of the uniform light spot pattern of the floodlight type; the light source energy of the lattice type is concentrated and the light pattern is loose, which can suppress multipath interference and is used for long-distance ranging; the light source of the floodlight type is dense, which meets the fine requirements of obstacle avoidance; therefore, the optical module can emit two different light sources to meet the needs of both long-distance and short-distance ranging.

[0038] It should be noted that the movable structure can be connected to both the light source and the optical component simultaneously, or connected to only one of the two. When the movable structure is connected to both the light source and the optical component simultaneously, it can move both, improving movement speed and efficiency. Connecting the movable structure to only one of the two light sources or optical components, and moving that component, reduces the complexity of the module structure and lowers module costs. This embodiment uses the connection of the movable structure to only one of the two light sources or optical components as an example.

[0039] In one specific embodiment, see Figure 4 and Figure 5 , Figure 4 This shows the light propagation pattern of the transmitting module. Figure 5This diagram illustrates the structure of the optical module. A movable light source A is connected to a moving rail. When light source A is in its first position, it is aligned with the light homogenizer. The light emitted from light source A passes through the light homogenizer to form uniform rays, producing a uniform light spot. When the light source moves to its second position, it is aligned with the collimating lens and the DOE. The light emitted from light source A passes through the collimating lens and the DOE to form a dot matrix of rays, producing a dotted light spot. Both the transmitting and receiving modules include glass covers, and an anti-crosstalk isolation device is installed between them.

[0040] In one specific embodiment, see Figure 6 and Figure 7 , Figure 6 This shows the light propagation pattern of the transmitting module. Figure 7 This diagram illustrates the structure of the optical module. The optical components are connected to a moving rail. When the light source moves to the third position, light source A, the collimating lens, and the DOE are aligned. The light emitted from light source A passes through the collimating lens and DOE to form a dot matrix of rays, producing a dotted light spot. When the homogenizer moves to the fourth position, light source A and the homogenizer are aligned. The light emitted from light source A passes through the homogenizer to form a uniform ray, producing a uniform light spot. Both the transmitting and receiving modules include glass covers, and an anti-crosstalk isolation is installed between the transmitting and receiving modules.

[0041] In some embodiments, the movable structure includes a movable platform or a rotatable mechanism.

[0042] It should be noted that the movable structure is determined based on the actual application, and this embodiment does not impose specific limitations. For example, the movable structure is determined based on factors such as the specific structure of the optical components and their installation location. The movable structure includes, but is not limited to, a movable platform or a rotatable mechanism.

[0043] In some embodiments, the movable platform drives the light source to move between at least two optical components to switch the cooperation between the light source and different optical components; or, the movable platform drives at least two optical components to move relative to the light source to switch different optical components to cooperate with the light source; or, the movable platform drives the light source and at least one optical component to move relative to each other to switch different optical components to cooperate with the light source.

[0044] By driving the light source to move between optical components through a movable platform, or by driving the optical components to move relative to the light source through a movable platform, or by driving the optical components and the light source to move relative to each other through a movable platform, different optical components can be switched to work with the light source to form uniform light or dotted light.

[0045] In some embodiments, the rotatable mechanism rotates to move the light source between at least two optical components to switch the cooperation between the light source and different optical components; or, the rotatable mechanism rotates to move at least two optical components relative to the light source to switch the cooperation between different optical components and the light source.

[0046] The rotatable mechanism can rotate to move the light source relative to the optical components, or the rotatable mechanism can rotate to move the optical components relative to the light source. Different optical components can be switched to work with the light source to form uniform light or dot matrix light.

[0047] In some embodiments, the movable platform includes a magnet and electromagnets, the magnet being movably disposed between two electromagnets, a light source or optical component being fixedly connected to the magnet, and the magnet being positioned in the direction of movement.

[0048] In one specific embodiment, see Figure 8 The part to be moved is placed inside a magnet, which is positioned in the direction of translation, with energized solenoids at both ends serving as the magnetic attraction source for the electromagnet. For example... Figure 8 In (a), when in state 1, changing the system current state causes the upper solenoid to attract and the lower solenoid to repel; as shown in Figure (a). Figure 8 In state (b), under state 2, the system current is reversed, the upper solenoid repels, and the lower solenoid attracts. This basic mechanism enables the translational movement of the movable platform.

[0049] In some embodiments, the movable platform includes a moving track, and a light source or optical component is fixedly connected to a preset position on the moving track.

[0050] In some specific embodiments, see Figure 4 The light source is fixedly connected to a moving track. The movement of the track moves the light source A from its position with the homogenizer to its position with the collimating lens and the DOE. (See also...) Figure 6 The optical components (light homogenizer, collimating lens, DOE) are fixedly connected to the preset position of the moving track. The moving track drives the optical components to move so that the light source can cooperate with the light homogenizer, or the light source can cooperate with the collimating lens and DOE.

[0051] In some embodiments, the rotatable mechanism includes a rotating shaft and a tray, the tray having a plurality of holes for mounting optical components, and the rotating shaft driving the light source and / or optical components to move.

[0052] When the light source is fixedly connected to the rotating shaft, the rotating shaft can drive the light source to move; when the optical component is fixedly connected to the rotating shaft, the rotating shaft can drive the optical component to move.

[0053] In one specific embodiment, see Figures 9-12 , Figure 9 A diagram showing the ray path of a uniform ray. Figure 10 A top view showing a light source emitting uniform light rays. Figure 11 A light path diagram representing the ray of a lattice. Figure 12 This is a top view showing the light emitted by the light source in a dotted pattern. A rotatable circular tray has several holes (four in this example) cut out, and target lens groups (represented as lens AD in the diagram) are installed inside the holes. The rotating tray has a central axis of rotation, allowing it to rotate and hover at a designated position, ensuring that the light from the light source passes precisely through one of the holes containing the lens. Since the initial position of the light source and the position of the lens within the rotating tray are fixed, as long as the structure and optical axis are aligned, the light projection effect of the light source + any lens can meet expectations, projecting the target pattern corresponding to lens AD. Furthermore, when the rotating tray hovers at multiple predetermined positions, the final projected light spot is the same as the projection result of four independent light sources + four fixed independent lenses. (See also...) Figure 9 The light emitted by the light source passes through lens A on the rotating tray and is ultimately projected to form a pattern corresponding to the uniform light source. Figure 10 This is a top view, illustrating the spatial relationship: the light source, the lens opening on the tray, and the object being projected onto are all aligned in a straight line. Similarly, see [reference needed]. Figures 11-12 A control action causes the rotating disk to rotate. When the light source is facing the lens from lens A to lens B, the light will pass through lens B and project a dot matrix light source pattern corresponding to lens B.

[0054] See Figure 13 This application provides a control method for an optical module, applied to the aforementioned optical module. The control method includes: Step S101: Obtain the current working mode and confirm the target optical component; Step S102: If it is confirmed that the optical component currently used by the light source is not the target optical component, control the movable mechanism to move so that the light emitted by the light source passes through the target optical component. Step S103: After the light emitted by the light source passes through the target optical component, control the light source to light up and control the receiving module to receive the return light signal.

[0055] After obtaining the current operating mode, the target optical component is identified based on the current operating mode. For example, if the current operating mode is long-range ranging mode, the target optical component is the one that generates dot matrix light. If the current operating mode is obstacle avoidance mode, the target optical component is the one that generates floodlight light. If it is confirmed that the optical component currently used by the light source is not the target optical component, the movable mechanism is controlled to move so that the light emitted by the light source passes through the target optical component. If it is confirmed that the optical component currently used by the light source is the target optical component, there is no need to control the movable mechanism. After the light emitted by the light source passes through the target optical component, the light source is controlled to light up and the receiving module is controlled to receive the return light signal.

[0056] In one specific embodiment, firstly, the light source is turned off, and background signals are collected through the receiving module; then, the light source is turned on, and test signals are collected through the receiving module. The light state is determined based on the test signals, and it is determined whether to control the movement of the movable structure based on the light state; then, if it is determined that the movable structure should be controlled to move, the step of turning on the light source continues until the end; if it is determined that the movement of the movable structure does not need to be controlled, the step of turning off the light source continues until the end.

[0057] It should be noted that the background signal is used for noise reduction or as a reference. See also... Figure 14 , Figure 14 This diagram illustrates the control flow when the optical module includes two light sources. The exposure sequence at the receiving end consists of three steps: first, turning off the light sources to collect background signals; then, turning on light source A and light source B in sequence to collect data under two different light patterns, collecting signals A and B.

[0058] In one specific embodiment, when the movable structure is a movable platform, see [reference]. Figure 15 , Figure 15 This describes the control method for single-light source dual-lens switching. After collecting the background signal, a signal collection round is performed first, followed by direct reading of the current light source state. The state is either A or B, and regardless of the state, it serves as supplementary information to the previous signal. Depending on the strategy, the light source can then be switched. Since there is only one light source in the single-light source design, there is no switching issue. There is no need to consider the potential coordination gaps or repeated emission issues between multiple light sources. After determining that a light source switch is needed, the moving structure can be directly triggered to perform the switch, seamlessly collecting signal information from the other state. If continuous light source switching is required, this process can be repeated; if no switching is needed, the light source switching can be stopped, a new full exposure can be initiated, and the background frame can be collected again to restart the loop. Figure 16 The diagram illustrates the timing sequence for switching between dual-light source and single-light source lenses. As can be seen from the diagram, for dual-light source lenses, there will be a time interval between signal A and signal B due to the need to consider the switching time of the light source. In contrast, in the single-light source lens switching strategy, a seamless switching operation of the light source can be adopted to reduce the time interval between signals A and B, thereby improving time efficiency.

[0059] In one specific embodiment, when the movable structure is a rotatable mechanism, see [reference]. Figure 17 , Figure 17This describes the control method for single-light source dual-lens switching. After collecting the background signal, a signal collection round is performed first, followed by direct reading of the current light source state. The state can be any of A / B / C / D, and regardless of the state, it serves as supplementary information to the previous signal. Based on the strategy, it's possible to switch the light source at this point. Since there's only one light source in the single-light source design, there's no switching issue. There's no need to consider potential coordination gaps or redundant emission issues between multiple light sources. After determining that a light source switch is needed, the moving structure can be directly triggered to perform the switch, seamlessly collecting signal information from other states. If continuous light source switching is required, this process can be repeated; if no switching is needed, the light source switching can be stopped, a new full exposure can begin, and the background frame can be collected again to restart the loop. Figure 18 The diagram illustrates the timing sequence for switching between dual-light source and single-light source lenses. As can be seen from the diagram, for dual-light source lenses, there will be a time interval between signal A and signal B due to the need to consider the switching time of the light source. In contrast, in the single-light source lens switching strategy, a seamless switching operation of the light source can be adopted to reduce the time interval between signals A / B / C / D, thereby improving time efficiency.

[0060] In some embodiments, determining whether to control the movement of a movable structure based on the light conditions includes: Step S201: Before or after controlling the movable mechanism to move, keep the light source in a non-off state.

[0061] Keeping the light source in an active state before or after controlling the movement of the movable mechanism can reduce the time error between the switching control signal and the actual light source during the light source's on / off process, thereby improving efficiency.

[0062] In some embodiments, if the movable structure includes a magnet and electromagnets, the magnet is movably disposed between the two electromagnets, a light source or optical component is fixedly connected to the magnet, and the magnet is positioned in the direction of movement, the movement of the movable structure is controlled by the following method: Step S301: By changing the current state of the electromagnet, the movement of the magnet is controlled to drive the light source and / or optical components to move.

[0063] The state of current includes factors such as the direction and magnitude of the current. Changing the direction of the current can change the movement of the magnet, and changing the magnitude of the current can change the speed at which the magnet moves.

[0064] In some embodiments, if the movable structure includes a rotating shaft and a tray, the tray having a plurality of holes for mounting optical components, and the rotating shaft capable of moving the light source or optical components, the movement of the movable structure can be controlled by the following method: Step S401: Control the rotation of the rotating shaft to move the light source and / or optical components.

[0065] The control factors for the rotating shaft include the direction of rotation and the angular velocity of rotation. The direction of rotation can be clockwise or counterclockwise. The linear velocity of the optical component in the tray hole is determined by the angular velocity of the rotating shaft and the distance of the hole from the center of the rotating shaft.

[0066] This application also provides a lidar, including a controller and the aforementioned optical module, wherein the controller is used to execute the aforementioned control method.

[0067] The controller is connected to the movable structure in the optical module, and the controller controls the movement of the movable structure according to the set control program.

[0068] To achieve the above objectives, another aspect of this application provides a control device for an optical module, applied to the aforementioned optical module, the device comprising: The first module is used to obtain the current working mode and identify the target optical component; The second module is used to control the movable mechanism to move if it is confirmed that the optical component currently used by the light source is not the target optical component, so that the light emitted by the light source passes through the target optical component. The third module is used to control the light source to light up and control the receiving module to receive the return light signal after the light emitted by the light source passes through the target optical component.

[0069] In some embodiments, the control device for the optical module further includes: The fourth module is used to keep the light source in a non-off state before or after controlling the movement of the movable mechanism.

[0070] In some embodiments, if the movable structure includes a rotating shaft and a tray, the tray having a plurality of holes for mounting optical components, and the rotating shaft capable of moving the light source or optical components, the second module includes: The first unit is used to control the movement of a magnet by changing the current state of an electromagnet, thereby moving a light source or optical component.

[0071] In some embodiments, if the movable structure includes a rotating shaft and a tray, the tray having a plurality of holes for mounting optical components, and the rotating shaft capable of moving the light source or optical components, the second module includes: The second unit is used to control the rotation of the rotating shaft to move the light source or optical components.

[0072] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0073] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0074] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0075] Please see Figure 19 , Figure 19 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 1901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1902 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1902 can store the 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 1902 and is called and executed by the processor 1901 using the methods described in the embodiments of this application. The input / output interface 1903 is used to implement information input and output; The communication interface 1904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1905 transmits information between various components of the device (e.g., processor 1901, memory 1902, input / output interface 1903, and communication interface 1904); The processor 1901, memory 1902, input / output interface 1903, and communication interface 1904 are connected to each other within the device via bus 1905.

[0076] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0077] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0078] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0079] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0080] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0081] The embodiments of this application include at least the following beneficial effects: This application provides an optical module and its control method and related equipment. The optical module includes a transmitting module and a receiving module. The light emitted by the transmitting module is reflected by the target object and received by the receiving module. The transmitting module includes a light source, a movable structure, and several optical components. The movable structure moves the light source and / or optical components to make the transmitting module emit floodlight or dot matrix light in a preset time sequence. Floodlight light can meet the precise requirements for obstacle avoidance, while dot matrix light has concentrated energy and a loose light pattern, which can suppress multipath interference. The transmitting module includes a single light source, which generates relatively less heat, reduces the impact of temperature drift, and can improve module performance. Moving the light source and / or optical components through the movable structure to make the transmitting module emit uniform light or dot matrix light in a preset time sequence eliminates the need to turn off the light source, improving the utilization efficiency of the light source and the efficiency of data acquisition.

[0082] The embodiments described in this application are for the purpose of more clearly illustrating 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. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0083] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0084] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0086] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application 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 of this application 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 non-exclusive inclusion; for example, a process, method, system, product, or apparatus 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 apparatus.

[0087] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0088] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above 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 coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0089] The units described above 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 this embodiment according to actual needs.

[0090] Furthermore, the functional units in the various embodiments of this application 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 application, 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 multiple 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 of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0092] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. An optical module, characterized in that, include: The transmitting module includes a light source and several optical components, the optical components being used to modulate the light emitted by the light source; A movable structure is used to move the light source and / or the optical component so that the light emitted by the light source produces floodlight or dot matrix light in a preset timing sequence after passing through the optical component. The receiving module is used to receive the reflected light from the target object after the light emitted by the transmitting module is reflected.

2. The optical module according to claim 1, characterized in that, The movable structure includes a movable platform or a rotatable mechanism.

3. The optical module according to claim 2, characterized in that, The movable platform drives the light source to move between at least two optical components to switch the cooperation between the light source and different optical components; or, the movable platform drives at least two optical components to move relative to the light source to switch different optical components to cooperate with the light source; or, the movable platform drives the light source and at least one optical component to move relative to each other to switch different optical components to cooperate with the light source.

4. The optical module according to claim 2, characterized in that, The rotatable mechanism rotates to move the light source between at least two optical components to switch the cooperation between the light source and different optical components; or, the rotatable mechanism rotates to move at least two optical components relative to the light source to switch the cooperation between different optical components and the light source.

5. A control method for an optical module, characterized in that, The control method, applied to the optical module according to any one of claims 1 to 4, comprises: Obtain the current operating mode and confirm the target optical component; If it is confirmed that the optical component currently used by the light source is not the target optical component, the movable mechanism is controlled to move so that the light emitted by the light source passes through the target optical component; After the light emitted by the light source passes through the target optical component, the light source is controlled to light up and the receiving module is controlled to receive the return light signal.

6. The control method according to claim 5, characterized in that, The method further includes: Before or after controlling the movement of the movable mechanism, the light source is kept in a non-off state.

7. The control method according to claim 5, characterized in that, If the movable structure includes a magnet and electromagnets, the magnet is movably disposed between the two electromagnets, the light source or the optical component is fixedly connected to the magnet, and the magnet is positioned in the direction of movement, the movement of the movable structure is controlled by the following method: By changing the current state of the electromagnet, the movement of the magnet is controlled, thereby driving the movement of the light source or the optical component.

8. The control method according to claim 5, characterized in that, If the movable structure includes a rotating shaft and a tray, and the tray has several holes for mounting the optical components, and the rotating shaft can drive the light source or the optical components to move, the movement of the movable structure can be controlled by the following method: By controlling the rotation of the rotating shaft, the light source or the optical component can be moved.

9. A lidar, characterized in that, It includes a controller and an optical module as described in any one of claims 1 to 4, wherein the controller is used to perform the control method as described in any one of claims 5 to 8.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 5 to 8.

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