Detection device, control method, and related product

Abstract

A detection device, a control method, and a related product, applicable to the technical field of lidar. The detection device (30) comprises: a control module (303), a first scanning module (301), a second scanning module (302), a first position measurement module (304) and a first driving module (305). The first scanning module (301) is used for scanning in a first direction, the second scanning module (302) is used for scanning in a second direction, the first direction is different from the second direction, and the first scanning module (301) and the second scanning module (302) are jointly used for reflecting a light beam generated by a light source to an object space. The first position measurement module (304) is used for performing measurement to obtain position data of the first scanning module (301) in the first direction. The control module (303) is used for generating a synchronization control signal on the basis of the position data of the first scanning module (301) in the first direction. The first driving module (305) is used for driving, on the basis of the synchronization control signal, the second scanning module (302) to move to a target position in the second direction. The detection device can ensure the motion accuracy of the scanning modules, thereby improving the quality accuracy of point clouds obtained by detection.

Description

Detection devices, control methods and related products Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a detection device, control method and related products. Background Technology

[0002] With the development of information technology and computer vision, detection technology has advanced rapidly, and various detection devices have brought great convenience to people's lives and travel. Detection devices can be seen as the "eyes" of the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar. Among them, lidar (light detection and ranging) has the advantages of high resolution, good detection performance, and strong concealment, playing an important role in the process of equipment sensing the environment. It has been widely used, especially in the field of intelligent driving, contributing to the further development of intelligent driving technology.

[0003] Scanning lidar is a widely used type of lidar, which includes movable one-dimensional or two-dimensional scanning modules. The laser beam emitted by the laser, under the action of the scanning module, can achieve one-dimensional line scanning or two-dimensional point scanning, illuminating different areas of the field of view at different angles to detect various regions within the field of view.

[0004] However, during the continuous movement of the scanning module, external vibrations or impacts may cause errors in the movement of the scanning module, resulting in lower accuracy of the detected point cloud quality. Summary of the Invention

[0005] This application provides a detection device, control method, and related products that can ensure the motion accuracy of the scanning module, thereby improving the quality accuracy of the detected point cloud.

[0006] In a first aspect, embodiments of this application provide a detection device, which includes a control module, a first scanning module, a second scanning module, a first position measurement module, and a first driving module. The first scanning module is used to scan along a first direction, and the second scanning module is used to scan along a second direction. The first direction and the second direction are different. The first scanning module and the second scanning module are used together to reflect the light beam generated by the light source into the object space.

[0007] The first position measurement module measures the position data of the first scanning module in a first direction. The control module generates a synchronization control signal based on the position data of the first scanning module in the first direction. The first drive module drives the second scanning module to move to the target position in the second direction based on the synchronization control signal.

[0008] In this embodiment, a detection device is provided. This device generates a synchronization control signal by measuring the position data of a first scanning module in a first direction, and uses this synchronization control signal to drive a second scanning module to move to a target position in a second direction. This enables coordinated movement of the first and second scanning modules in both directions. Therefore, when subjected to external vibrations or impacts, which may cause errors in the movement of one scanning module, the other scanning module can adjust its movement in a timely manner based on the synchronization control timing mechanism. This ensures the accuracy of the coordinated movement of the first and second scanning modules, achieving a stable point cloud and thus improving detection accuracy.

[0009] Optionally, a synchronization control signal can be generated by measuring the position data of the first scanning module in the first direction, and the second scanning module can be driven to move to the target position in the second direction using the synchronization control signal. Alternatively, a synchronization control signal can be generated by measuring the position data of the second scanning module in the second direction, and the first scanning module can be driven to move to the target position in the first direction using the synchronization control signal. This application embodiment does not limit this approach.

[0010] Optionally, the first position measurement module and the control module can be integrated into one module or they can be two independent modules. This application embodiment does not impose any restrictions on this.

[0011] Optionally, measuring the position data of the first scanning module in the first direction can specifically be the motion angle of the first scanning module, and correspondingly, the first position measurement module can specifically be the angle measurement module.

[0012] In one possible implementation, the first scanning module described above includes at least a first scanning surface.

[0013] The first position measurement module measures the first position data corresponding to the first scanning module scanning from a first point to a second point along a first direction. The first point is located at a non-edge position of the first scanning surface, and the second point is located at an edge position of the first scanning surface. The control module generates a first synchronization control signal based on the first position data. The first drive module drives the second scanning module to move to the first target position in a second direction based on the first synchronization control signal.

[0014] In this embodiment, a first synchronization control signal is generated by measuring the first position data corresponding to the first scanning module scanning from the non-edge position to the edge position of the first scanning surface along the first direction. The first synchronization control signal is then used to drive the second scanning module to move to the first target position in the second direction. This can be understood as performing synchronous timing control on the coordinated movement of the first scanning module and the second scanning module when the detection device starts detection and the initial scanning position of the first scanning module is located at the non-edge position of the scanning surface. This ensures the accuracy of the movement of the first scanning module and the second scanning module and improves the accuracy of the point cloud quality obtained by detection.

[0015] In one possible implementation, the first position data mentioned above includes n pulse signals, where n is a positive integer.

[0016] In this embodiment, the number of n pulse signals can be understood as the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from the non-edge position of the first scanning surface to the edge position of the first scanning surface along the first direction, with the zero position of the first position measurement module as the counting starting point.

[0017] Optionally, the first position data may include analog signals, such as the aforementioned n pulse signals, or digital signals, such as the numerical value of a specific motion angle. This application embodiment does not limit this.

[0018] In one possible implementation, the first scanning module further includes a second scanning surface, which is adjacent to and connected to the first scanning surface along a first direction.

[0019] The first position measurement module measures the second position data corresponding to the first scanning module scanning from a third point to a fourth point along a first direction. The third point is located at the first edge of the second scanning surface, and the fourth point is located at the second edge of the second scanning surface. The first edge is adjacent to the first scanning surface, and the second edge is located on opposite sides of the first edge. The control module generates a second synchronization control signal based on the second position data. The first drive module drives the second scanning module to move to the second target position in a second direction based on the second synchronization control signal.

[0020] In this embodiment, a second synchronization control signal is generated by measuring the second position data corresponding to the second edge position of the second scanning surface scanned by the first scanning module along the first direction from the first edge position to the second edge position of the second scanning surface. The second synchronization control signal is then used to drive the second scanning module to move to the second target position in the second direction. This can be understood as performing synchronous timing control on the coordinated movement of the first scanning module and the second scanning module after the detection device has been activated for a period of time and the first scanning module has completed scanning a complete scanning surface. This ensures the accuracy of the movement of the first scanning module and the second scanning module and improves the accuracy of the point cloud quality obtained by detection.

[0021] In one possible implementation, the second position data includes m pulse signals, where m is a positive integer, and the number of pulses in the second position data is greater than the number of pulses in the first position data.

[0022] In this embodiment, the number of m pulse signals can be understood as the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction.

[0023] Optionally, the value of m is related to the central angle corresponding to the second scanning surface. The larger the central angle corresponding to the second scanning surface, the longer the process of the first scanning module scanning from the first edge position to the second edge position of the second scanning surface along the first direction takes, and the larger the pulse count value experienced by the first position measurement module, that is, the larger the value of m. Assuming that the central angles corresponding to the first and second scanning surfaces are the same size, since the number of pulses in the second position data is the pulse count value experienced by the first position measurement module when the first scanning module completes a full scanning surface scan, while the number of pulses in the first position data is the pulse count value experienced by the first position measurement module when the first scanning module completes an incomplete scanning surface scan, the number of pulses in the second position data should be greater than the number of pulses in the first position data, that is, m > n.

[0024] Optionally, the second position data may include analog signals, such as the m pulse signals mentioned above, or digital signals, such as the numerical value of a specific motion angle. This application embodiment does not limit this.

[0025] In one possible implementation, the number of pulses in the second position data is directly proportional to the central angle corresponding to the second scanning surface.

[0026] In this embodiment, the larger the central angle corresponding to the second scanning surface, the longer the process of the first scanning module scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction, the larger the pulse count value experienced by the first position measurement module, and the more pulses in the second position data, that is, the larger the value of m, satisfying the following direct proportional relationship: Where i and j represent two different scanning planes, and θ i θ represents the central angle corresponding to the scanned surface i. j m represents the central angle corresponding to scan surface j. i This represents the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from one edge position of the scanning surface i to another edge position of the scanning surface i along the first direction, m. j This represents the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from one edge position of the scanning surface j to another edge position of the scanning surface j along the first direction.

[0027] In one possible implementation, the first driving module is further configured to drive the second scanning module to scan the edge region of the target field of view at a first speed based on a first synchronization control signal. The first driving module is also configured to drive the second scanning module to scan the central region of the target field of view at a second speed based on a second synchronization control signal. The first speed is faster than the second speed.

[0028] In this embodiment, a slow scan is performed on the central region of the target field of view (FOV), and a fast scan is performed on the edge region of the target FOV. The synchronous control timing mechanism designed in this application embodiment can achieve a high point cloud density in the central region of the target FOV and a low point cloud density in the edge region, thereby realizing the region of interest (ROI) function and improving the target perception capability of the detection device.

[0029] Optionally, fast scan and slow scan are relative scan speeds and do not refer to a specific speed value.

[0030] Optionally, the target field of view is the field of view corresponding to the beam reflected by the first scanning module and the second scanning module, which can be understood as the detection field of view of the detection device.

[0031] In one possible implementation, the first driving module is further configured to drive the second scanning module to scan the target field of view at a third speed based on the first synchronization control signal and / or the second synchronization control signal.

[0032] In this embodiment, uniform scanning of the entire target field of view can achieve a uniform and stable point cloud across the entire target field of view, thereby improving the accuracy of the detected point cloud quality.

[0033] In one possible implementation, the first scanning module is a rotating mirror comprising multiple scanning surfaces, and the second scanning module comprises a swing mirror or a galvanometer.

[0034] In this embodiment, the first scanning module can be a regular polyhedral rotating mirror, that is, it contains multiple scanning surfaces and the central angles corresponding to the multiple scanning surfaces are the same size, or it can be an irregular polyhedral rotating mirror, that is, it contains multiple scanning surfaces and at least two of the multiple scanning surfaces have different central angles. This application embodiment does not limit this.

[0035] Optionally, the first scanning module and the second scanning module can be any one or more of a rotating mirror, a tilting mirror, and a galvanometer, and the embodiments of this application do not limit this.

[0036] In one possible implementation, the first scanning module rotates at a constant speed, while the second scanning module performs a stepping motion or a swinging motion.

[0037] In this embodiment, when the first scanning module is a rotating mirror, the first scanning module can perform a uniform rotational motion; when the second scanning module is a swing mirror or a oscillating mirror, the second scanning module can perform a stepping motion or a swinging motion.

[0038] In one possible implementation, the first position measurement module described above includes any one of the following: an optical angle encoder, a photoresistor, and a rotary transformer.

[0039] In one possible implementation, the first direction is a horizontal direction, the second direction is a vertical direction, and the first direction and the second direction are perpendicular to each other.

[0040] Secondly, embodiments of this application provide a control method applied to the detection device described in the first aspect or any possible implementation of the first aspect, the control method comprising:

[0041] Acquire the position data of the first scanning module in the detection device in the first direction;

[0042] A synchronization control signal is generated based on the position data of the first scanning module in the first direction.

[0043] Based on the synchronization control signal, the second scanning module in the detection device is controlled to move to the target position in the second direction, which is different from the first direction and the second direction.

[0044] This application provides a control method that generates a synchronization control signal by acquiring the position data of a first scanning module in a first direction in the detection device, and uses this synchronization control signal to control a second scanning module to move to a target position in the second direction. This enables coordinated movement of the first and second scanning modules in both directions. Therefore, when subjected to external vibrations or impacts, which may cause errors in the movement of one scanning module, the other scanning module can adjust its movement in a timely manner based on the synchronization control timing mechanism, ensuring the accuracy of the coordinated movement of the first and second scanning modules, achieving a stable point cloud, and thus improving detection accuracy.

[0045] Optionally, a synchronization control signal can be generated by acquiring the position data of the first scanning module in the first direction, and the second scanning module can be moved to the target position in the second direction using the synchronization control signal. Alternatively, a synchronization control signal can be generated by acquiring the position data of the second scanning module in the second direction, and the first scanning module can be moved to the target position in the first direction using the synchronization control signal. This application embodiment does not limit the scope of the method.

[0046] Optionally, obtaining the position data of the first scanning module in the first direction can specifically be the motion angle of the first scanning module.

[0047] In one possible implementation, the first scanning module includes at least a first scanning surface, and the position data of the first scanning module in the first direction includes first position data corresponding to the first scanning module scanning from a first point to a second point along the first direction, wherein the first point is located at a non-edge position of the first scanning surface, and the second point is located at an edge position of the first scanning surface.

[0048] The aforementioned synchronization control signal includes a first synchronization control signal. The generation of the synchronization control signal based on the position data of the first scanning module in the first direction can be achieved through methods including, but not limited to, the following: generating the first synchronization control signal based on the first position data.

[0049] The aforementioned target location includes the first target location. The aforementioned control of the second scanning module in the detection device to move to the target location in the second direction based on the synchronization control signal can be achieved through methods including, but not limited to, the following: controlling the second scanning module to move to the first target location in the second direction based on the first synchronization control signal.

[0050] In this embodiment, a first synchronization control signal is generated by acquiring the first position data corresponding to the first scanning module scanning from the non-edge position to the edge position of the first scanning surface along the first direction. The first synchronization control signal is then used to control the second scanning module to move to the first target position in the second direction. This can be understood as performing synchronous timing control on the coordinated movement of the first scanning module and the second scanning module when the detection device starts detection and the initial scanning position of the first scanning module is located at the non-edge position of the scanning surface. This ensures the accuracy of the movement of the first scanning module and the second scanning module and improves the accuracy of the point cloud quality obtained by detection.

[0051] In one possible implementation, the first position data mentioned above includes n pulse signals, where n is a positive integer.

[0052] In this embodiment, the number of n pulse signals can be understood as the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from the non-edge position of the first scanning surface to the edge position of the first scanning surface along the first direction, with the zero position of the first position measurement module in the detection device as the counting starting point.

[0053] Optionally, the first position data may include analog signals, such as the aforementioned n pulse signals, or digital signals, such as the numerical value of a specific motion angle. This application embodiment does not limit this.

[0054] In one possible implementation, the first scanning module further includes a second scanning surface, which is adjacent to and connected to the first scanning surface along a first direction. The position data of the first scanning module in the first direction also includes second position data corresponding to the first scanning module scanning from a third point to a fourth point along the first direction. The third point is located at a first edge position of the second scanning surface, and the fourth point is located at a second edge position of the second scanning surface. The first edge position is adjacent to and connected to the first scanning surface, and the second edge position and the first edge position are located on opposite sides of the second scanning surface.

[0055] The aforementioned synchronization control signal also includes a second synchronization control signal, and the target position further includes a second target position. The aforementioned control method may also include, but is not limited to, the following steps: generating a second synchronization control signal based on the second position data; and controlling the second scanning module to move to the second target position in a second direction based on the second synchronization control signal.

[0056] In this embodiment, a second synchronization control signal is generated by acquiring the second position data corresponding to the second edge position of the second scanning surface scanned by the first scanning module along the first direction from the first edge position to the second edge position of the second scanning surface. The second synchronization control signal is then used to control the second scanning module to move to the second target position in the second direction. This can be understood as performing synchronous timing control on the coordinated movement of the first scanning module and the second scanning module after the detection device has been activated for a period of time and the first scanning module has completed scanning a complete scanning surface. This ensures the accuracy of the movement of the first scanning module and the second scanning module and improves the accuracy of the point cloud quality obtained by detection.

[0057] In one possible implementation, the second position data includes m pulse signals, where m is a positive integer, and the number of pulses in the second position data is greater than the number of pulses in the first position data.

[0058] In this embodiment, the number of m pulse signals can be understood as the pulse count value experienced by the first position measurement module in the detection device during the process of the first scanning module scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction.

[0059] Optionally, the value of m is related to the central angle corresponding to the second scanning surface. The larger the central angle corresponding to the second scanning surface, the longer the process of the first scanning module scanning from the first edge position to the second edge position of the second scanning surface along the first direction takes, and the larger the pulse count value experienced by the first position measurement module, that is, the larger the value of m. Assuming that the central angles corresponding to the first and second scanning surfaces are the same size, since the number of pulses in the second position data is the pulse count value experienced by the first position measurement module when the first scanning module completes a full scanning surface scan, while the number of pulses in the first position data is the pulse count value experienced by the first position measurement module when the first scanning module completes an incomplete scanning surface scan, the number of pulses in the second position data should be greater than the number of pulses in the first position data, that is, m > n.

[0060] Optionally, the second position data may include analog signals, such as the m pulse signals mentioned above, or digital signals, such as the numerical value of a specific motion angle. This application embodiment does not limit this.

[0061] In one possible implementation, the number of pulses in the second position data is directly proportional to the central angle corresponding to the second scanning surface.

[0062] In this embodiment, the larger the central angle corresponding to the second scanning surface, the longer the process of the first scanning module scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction, the larger the pulse count value experienced by the first position measurement module in the detection device, and the more pulses in the second position data, that is, the larger the value of m, satisfying the following direct proportional relationship: Where i and j represent two different scanning planes, and θ i θ represents the central angle corresponding to the scanned surface i. j m represents the central angle corresponding to scan surface j. i This represents the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from one edge position of the scanning surface i to another edge position of the scanning surface i along the first direction, m. j This represents the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from one edge position of the scanning surface j to another edge position of the scanning surface j along the first direction.

[0063] In one possible implementation, the control method may further include, but is not limited to, the following steps: controlling a second scanning module to scan the edge region of the target field of view at a first speed based on a first synchronization control signal; and controlling the second scanning module to scan the central region of the target field of view at a second speed based on a second synchronization control signal. The first speed is faster than the second speed.

[0064] In this embodiment, a slow scan is performed on the central region of the target field of view (FOV), and a fast scan is performed on the edge region of the target FOV. The synchronous control timing mechanism designed in this application embodiment can achieve a high point cloud density in the central region of the target FOV and a low point cloud density in the edge region, thereby realizing the region of interest (ROI) function and improving the target perception capability of the detection device.

[0065] Optionally, fast scan and slow scan are relative scan speeds and do not refer to a specific speed value.

[0066] Optionally, the target field of view is the field of view corresponding to the beam reflected by the first scanning module and the second scanning module, which can be understood as the detection field of view of the detection device.

[0067] In one possible implementation, the above control method may also include, but is not limited to, the following steps: controlling the second scanning module to scan the target field of view at a third speed based on the first synchronization control signal and / or the second synchronization control signal.

[0068] In this embodiment, uniform scanning of the entire target field of view can achieve a uniform and stable point cloud across the entire target field of view, thereby improving the accuracy of the detected point cloud quality.

[0069] In one possible implementation, the first scanning module is a rotating mirror comprising multiple scanning surfaces, and the second scanning module comprises a swing mirror or a galvanometer.

[0070] In this embodiment, the first scanning module can be a regular polyhedral rotating mirror, that is, it contains multiple scanning surfaces and the central angles corresponding to the multiple scanning surfaces are the same size, or it can be an irregular polyhedral rotating mirror, that is, it contains multiple scanning surfaces and at least two of the multiple scanning surfaces have different central angles. This application embodiment does not limit this.

[0071] Optionally, the first scanning module and the second scanning module can be any one or more of a rotating mirror, a tilting mirror, and a galvanometer, and the embodiments of this application do not limit this.

[0072] In one possible implementation, the above control method may also include, but is not limited to, the following steps: controlling the first scanning module to perform uniform rotational motion, and controlling the second scanning module to perform stepping motion or oscillating motion.

[0073] In this embodiment, when the first scanning module is a rotating mirror, the first scanning module can be controlled to rotate at a constant speed. When the second scanning module is a swing mirror or a oscillating mirror, the second scanning module can be controlled to step or swing.

[0074] In one possible implementation, the first direction is a horizontal direction, the second direction is a vertical direction, and the first direction and the second direction are perpendicular to each other.

[0075] Thirdly, embodiments of this application provide a control device that includes units for performing the method as described in any of the second aspects.

[0076] In one possible design, the device includes:

[0077] The processing unit is used to acquire the position data of the first scanning module in the detection device in the first direction.

[0078] The processing unit is used to generate a synchronization control signal based on the position data of the first scanning module in the first direction.

[0079] The processing unit is used to control the second scanning module in the detection device to move to the target position in a second direction based on the synchronization control signal. The first direction and the second direction are different.

[0080] In one possible implementation, the device further includes a communication unit.

[0081] The processing unit is specifically used to acquire the position data of the first scanning module in the detection device in the first direction through the communication unit.

[0082] Regarding the processing unit and communication unit described in the third aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementation in the second aspect.

[0083] For the technical effects of the third aspect and any possible implementation, please refer to the description of the technical effects corresponding to the second aspect and the corresponding implementation.

[0084] Optionally, in the control device described in the third aspect above and any possible implementation:

[0085] In one implementation, the control device is a control equipment. When the control device is a control equipment, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0086] In another implementation, the control device is a chip (system) or circuit used to control a device. When the control device is a chip (system) or circuit used to control a device, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0087] Fourthly, embodiments of this application provide a control device including a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the second aspect and any of the possible implementations. Optionally, the control device further includes a memory. Optionally, the control device further includes a communication interface, and the processor is coupled to the communication interface.

[0088] Fifthly, embodiments of this application provide a chip, including: logic circuitry and a communication interface. The communication interface is used to receive or transmit information; the logic circuitry is used to receive or transmit information through the communication interface, causing the chip to execute the methods described in the second aspect and any of the possible implementations above.

[0089] Sixthly, embodiments of this application provide a computer-readable storage medium for storing a computer program (also referred to as code or instructions); when the computer program is run on a computer, the methods described in the second aspect and any possible implementation are implemented.

[0090] In a seventh aspect, embodiments of this application provide a computer program product, the computer program product comprising: a computer program (also referred to as code or instructions); and, when the computer program is run, causing a computer to perform the methods described in the second aspect and any possible implementation thereof.

[0091] Eighthly, embodiments of this application provide a radar or radar system that includes the detection device described in the first aspect or any possible implementation of the first aspect, or includes the control device described in the third aspect, or includes the control device described in the fourth aspect, or includes the chip described in the fifth aspect.

[0092] In one possible implementation, the radar includes, but is not limited to, lidar.

[0093] In one possible implementation, there may be a smart sensor that integrates multiple sensors. When the smart sensor includes, but is not limited to, laser detection functions, the smart sensor may also be called a radar or radar system.

[0094] Ninthly, embodiments of this application provide a terminal, which includes at least one detection device as described in the first aspect, or a control device as described in the third aspect, or a control device as described in the fourth aspect, or a chip as described in the fifth aspect, or a radar or radar system as described in the eighth aspect.

[0095] Optionally, the terminal can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this.

[0096] Optionally, the terminal is used to implement the methods described in the second aspect and any possible implementation.

[0097] Furthermore, in the process of performing the methods described in the second aspect and any possible implementation described above, the processes related to sending and / or receiving information in the above methods can be understood as the process of the processor outputting information, and / or the process of the processor receiving input information. When outputting information, the processor can output the information to a transceiver (or communication interface, or transmitting module) so that the transceiver can transmit it. After the information is output by the processor, it may need to undergo other processing before reaching the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or transmitting module) receives the information and inputs it to the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before being input to the processor.

[0098] Based on the above principles, for example, the information sent mentioned in the aforementioned method can be understood as information output by the processor. Similarly, the information received can be understood as information received by the processor from input.

[0099] Optionally, unless otherwise specified, or unless they contradict their actual function or internal logic in the relevant description, the operations of the processor, such as transmitting, sending, and receiving, can be more generally understood as processor output and receiving, input, and other operations.

[0100] Optionally, in performing the methods described in the second aspect and any possible implementation above, the processor may be a processor specifically designed to perform these methods, or it may be a processor that performs these methods by executing computer instructions stored in memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as read-only memory (ROM), which may be integrated with the processor on the same chip or disposed on different chips. This application does not limit the type of memory or the arrangement of the memory and processor.

[0101] In one possible implementation, at least one of the aforementioned memories is located outside the device.

[0102] In yet another possible implementation, at least one of the aforementioned memories is located within the device.

[0103] In another possible implementation, a portion of the memory of the at least one memory is located inside the device, while another portion is located outside the device.

[0104] In this application, the processor and memory may also be integrated into a single device, that is, the processor and memory can be integrated together. Attached Figure Description

[0105] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0106] Figure 1A is a schematic diagram of an application scenario of radar provided in an embodiment of this application;

[0107] Figure 1B is a schematic diagram of an application scenario of radar provided in an embodiment of this application;

[0108] Figure 2A is a schematic diagram of the architecture of a radar provided in an embodiment of this application;

[0109] Figure 2B is a schematic diagram of the architecture of a radar provided in an embodiment of this application;

[0110] Figure 3 is a schematic diagram of the architecture of a detection device provided in an embodiment of this application;

[0111] Figure 4 is a schematic diagram of the topology of a detection device provided in an embodiment of this application;

[0112] Figure 5 is a schematic diagram of a pulse signal provided in an embodiment of this application;

[0113] Figure 6 is a connection topology diagram of a two-dimensional scanner provided in an embodiment of this application;

[0114] Figure 7 is a schematic diagram of a collaborative scanning method provided in an embodiment of this application;

[0115] Figure 8 is a point cloud diagram provided in an embodiment of this application;

[0116] Figure 9 is a schematic diagram of another collaborative scanning method provided in an embodiment of this application;

[0117] Figure 10 is a flowchart illustrating a control method provided in an embodiment of this application;

[0118] Figure 11 is a structural schematic diagram of a vehicle control device provided in an embodiment of this application;

[0119] Figure 12 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0120] Figure 13 is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0121] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0122] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. 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 includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0123] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0124] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after 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 mean: 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.

[0125] It should be noted that, in this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

[0126] In this application, the information indicated by the instruction information is called the information to be instructed. In specific implementations, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is a correlation between the other information and the information to be instructed. It can also indicate only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various information, thereby reducing instruction overhead to some extent. The information to be instructed can be sent as a whole or divided into multiple sub-information units, and the sending period and / or timing of these sub-information units can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information units can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device.

[0127] It should be noted that in this application, "send" can be understood as "output" and "receive" can be understood as "input". "Send information to A", where "to A" simply indicates the direction of information transmission, and A is the destination, does not limit "send information to A" to a direct transmission over the air interface. "Send information to A" includes sending information directly to A, as well as sending information indirectly to A through a transmitter. Therefore, "send information to A" can also be understood as "outputting information destined for A". Similarly, "receive information from A" indicates that the source of the information is A, including receiving information directly from A, as well as receiving information indirectly from A through a receiver. Therefore, "receive information from A" can also be understood as "inputting information from A".

[0128] This application provides a detection device, control method, and related products, which are applied in the field of lidar technology, such as the control method involved in the detection process of lidar.

[0129] To better understand the technical solution of this application, the relevant terms and concepts that may be involved in the embodiments of this application will be introduced below.

[0130] LiDAR, also known as optical radar, is short for light detection and ranging system. It can also be called Laser Radar or LADAR (laser detection and ranging).

[0131] LiDAR uses light as its detection medium, utilizing the emission and reception of laser light to detect targets, such as for ranging, velocity measurement, or azimuth measurement. LiDAR can measure target distance based on the laser's time-of-flight (TOF), or based on the phase difference between the transmitted and received laser signal. The greatest advantage of LiDAR lies in its ability to create clear three-dimensional (3D) images of targets using Doppler imaging technology. LiDAR collects information such as the 3D coordinates, reflectivity, and texture of numerous dense points on the target surface through laser emission and reception. Based on this information, it generates a 3D model of the target, establishes a 3D point cloud map, and creates an environmental map to achieve environmental perception. Compared to traditional passive imaging technologies such as visible light and infrared, lidar imaging technology overturns the traditional two-dimensional projection imaging mode. It can collect the depth information of the target surface, obtain relatively complete spatial information of the target, and reconstruct the three-dimensional surface of the target through data processing to obtain a three-dimensional graphic that better reflects the geometric shape of the target. At the same time, it can also obtain rich feature information such as the reflectivity of the target surface and the speed of movement, providing sufficient information support for data processing such as target detection, identification, and tracking, and reducing the difficulty of algorithms.

[0132] Please refer to Figures 1A and 1B, which are schematic diagrams of radar application scenarios provided in the embodiments of this application.

[0133] As shown in Figures 1A and 1B, this exemplary application scenario takes the installation of a lidar on a vehicle as an example.

[0134] The vehicle can be, for example, an autonomous vehicle, an intelligent vehicle, an electric vehicle, or a digital car. LiDAR can be deployed at various locations on the vehicle (see Figure 1B). For example, LiDAR can be deployed in any one or more of the four directions (front, rear, left, and right) to capture information about the vehicle's surrounding environment. Figure 1A shows an example of LiDAR deployed at the front of the vehicle. The LiDAR can sense the fan-shaped area indicated by the dashed box in Figure 1A; this fan-shaped area can be called the LiDAR's detection area (or field of view).

[0135] In one possible implementation, LiDAR can acquire the vehicle's latitude, longitude, speed, and orientation in real time or periodically, or the associated information (e.g., target distance, target speed, target attitude, or target grayscale image) of targets within a certain range (e.g., other surrounding vehicles). The LiDAR or vehicle can then determine its position and / or plan its path based on this associated information. For example, latitude and longitude can be used to determine the vehicle's position, speed and orientation can be used to determine the vehicle's future direction and destination, or the distance to surrounding objects can be used to determine the number and density of obstacles around the vehicle. Further, optionally, it can be combined with the functions of an advanced driving assistance system (ADAS) to achieve assisted driving or autonomous driving. It should be understood that the principle of LiDAR detecting target association information is as follows: the LiDAR emits detection light in a certain direction; if a target exists within the LiDAR's detection area, the target can reflect the received detection light back to the LiDAR (the reflected detection light can be called an echo signal), and the LiDAR then determines the target's association information based on the echo signal.

[0136] It should be noted that the above application scenarios are merely examples. The lidar provided in this application (including the optical waveguide component provided in this application) can also be applied to a variety of other possible scenarios, and is not limited to the scenarios exemplified above. For example, the lidar can also be installed on a drone as an airborne radar. Another example is that the lidar can be installed on a roadside unit (RSU) as a roadside traffic lidar, enabling intelligent vehicle-road cooperative communication. Yet another example is that the lidar can be installed on an automated guided vehicle (AGV), where AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, and possessing safety protection and various transfer functions. These are just a few examples. It should be understood that the application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will understand that with the emergence of new application scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0137] Based on the above, the above application scenarios can be applied to fields such as unmanned driving, autonomous driving, assisted driving, intelligent driving, connected vehicles, security monitoring, remote interaction, surveying and mapping, or artificial intelligence.

[0138] Please refer to Figure 2A, which is a schematic diagram of the architecture of a radar provided in an embodiment of this application.

[0139] As shown in Figure 2A, the lidar mainly includes a laser emitting part (or system) 100, a laser receiving part (or system) 200, and a signal processing part (or system) 300.

[0140] The laser emitting section 100 includes an excitation source (or laser driver), a laser, and an emitting optical system. The excitation source drives the laser to emit a laser beam (or laser pulse), which is then emitted outward through the emitting optical system. The laser receiving section 200 includes a receiving optical system and a detector. When the laser beam emitted from the lidar encounters a target object, it interacts with the object to form a reflected / scattered echo beam. This echo beam is collected by the receiving optical system and received by the detector, which converts the optical signal into an electrical signal. The electrical signal is then processed by an analog front-end and transmitted to the signal processing section 300. The signal processing section 300 processes the received signal to obtain information such as the target object's distance, velocity, and azimuth. Furthermore, it can acquire information such as the target's surface morphology and physical properties to build an object model. The detector is typically a photodetector, which converts the received light signal into an electrical signal. This electrical signal is usually an analog signal, while the signal processing unit 300 is typically used to process digital signals, such as a digital signal processor (DSP). Therefore, the analog electrical signal is converted into a digital signal by an analog-to-digital converter (ADC) and provided to the signal processing unit 300. Furthermore, the electrical signal can be amplified, and the amplified electrical signal is converted back to a digital signal by the ADC before being provided to the signal processing unit 300. The signal processing unit 300 includes signal processing circuitry for processing the digital signal to obtain information such as the target object's distance, velocity, and azimuth angle, and further constructs an object model. The lidar also includes control circuitry, such as a control unit for controlling the excitation source and a control unit for controlling the scanning drive circuit. These two control units can be integrated together or set up independently. Furthermore, the signal processing circuitry and the control circuitry can also be integrated together or set up independently.

[0141] In another implementation, the laser emitting section 100 may also include a laser modulator and a beam controller. The laser beam emitted by the laser passes through the beam controller, which, under the control of the laser modulator, controls the direction and number of lines of the emitted laser beam. The laser beam emitted from the beam controller is emitted outward through the emitting optical system.

[0142] In addition, the lidar may also include a scanning section (or system) 400. The laser beam emitted by the laser is scanned across a plane by the scanning section 400 to generate real-time planar image information. The scanning section 400 mainly includes a scanning mechanism and a scanning drive circuit. The scanning drive circuit drives the scanning mechanism to operate, and the laser beam, under the action of the scanning mechanism, transforms from a "line" to a "plane".

[0143] Taking the mechanical rotation scanning method as an example, please refer to Figure 2B. Figure 2B is a schematic diagram of the radar architecture provided in an embodiment of this application.

[0144] As shown in Figure 2B, the scanning drive circuit drives the scanning mechanism to rotate at a stable speed. After the laser beam enters the optical element of the emitting optical system, the scanning mechanism drives the optical element to rotate, achieving dense scanning of the laser beam on the target plane to generate planar image information. Here, the scanning mechanism is, for example, a motor, and the scanning drive circuit is a motor driver. The rotation of the motor drives the optical element in the emitting optical system to rotate, so that the laser beam incident on the optical element is reflected by the optical element, quickly and accurately realizing the change from laser "line scanning" to "area scanning".

[0145] The LiDAR scanner mainly consists of a scanning mirror and a driving device. The scanner is the core functional component of the LiDAR, enabling laser beam steering, covering the spatial field of view, and allowing the LiDAR to achieve a large field of view (FOV). The scanning mirror can be a plane mirror or a polygon composed of multiple plane mirrors, achieving light path deflection through reflection. The scanning mirror can also be a lens, or an optical module composed of multiple lenses, achieving light path deflection through refraction. Various types of driving devices are available for LiDAR scanners, such as permanent magnet synchronous motors (PMSMs), galvanometer motors, micro-electro-mechanical systems (MEMS), and voice coil motors (VCMs). The motor drives the scanning mirror to rotate or oscillate, repeatedly scanning a fixed area with one or more laser beams, thus achieving the LiDAR's coverage of the surrounding environment.

[0146] Scanning-type lidar is a widely used type of lidar, mainly comprising one-dimensional line scanning and two-dimensional point scanning architectures. The one-dimensional line scanning architecture includes a movable one-dimensional scanning module, while the two-dimensional point scanning architecture includes a movable two-dimensional scanning module. The laser beam emitted by the laser, under the action of the scanning module, can achieve one-dimensional line scanning or two-dimensional point scanning, illuminating different areas of the field of view at different angles to detect various regions within the field of view.

[0147] Compared to one-dimensional scanning modules, two-dimensional scanning modules have the advantage of higher degrees of freedom of motion. However, their drive and control solutions are more complex. During the continuous motion of the two-dimensional scanning module, external vibrations or impacts may cause errors in its motion, resulting in lower accuracy of the detected point cloud. Specifically, this can manifest as uneven point cloud lines within a frame and inconsistent pointing angles at the same position due to point cloud jitter between frames.

[0148] In view of this, this application provides a detection device and proposes a new control method based on the detection device, which is applied to the field of lidar technology, such as the control method involved in lidar detection. This method can ensure the motion accuracy of the scanning module in the detection device, thereby improving the quality accuracy of the detected point cloud.

[0149] Please refer to Figure 3, which is a schematic diagram of the architecture of a detection device provided in an embodiment of this application.

[0150] As shown in Figure 3, the detection device 30 includes, but is not limited to:

[0151] The system comprises a first scanning module 301, a second scanning module 302, a control module 303, a first position measurement module 304, and a first drive module 305.

[0152] The first scanning module 301 is used to scan along a first direction, and the second scanning module 302 is used to scan along a second direction. The first direction and the second direction are different. The first scanning module 301 and the second scanning module 302 are used together to reflect the light beam generated by the light source into the object space.

[0153] The first position measurement module 304 is used to measure and obtain the position data of the first scanning module 301 in the first direction.

[0154] The control module 303 is used to generate a synchronization control signal based on the position data of the first scanning module 301 in the first direction.

[0155] The first drive module 305 is used to drive the second scanning module 302 to move to the target position in the second direction based on the synchronous control signal.

[0156] Optionally, the detection device 30 in this application embodiment can be applied to, but is not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle, and can be replaced by a terminal device. The terminal device can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. This application embodiment does not specifically limit this.

[0157] Optionally, the first direction is a horizontal direction, the second direction is a vertical direction, and the first direction and the second direction are perpendicular to each other.

[0158] Optionally, the control module 303 may be a device equipped with a processor / chip that can execute computer-executed instructions, or it may be a processor / chip that can execute computer-executed instructions. For example, it may be a field-programmable gate array (FPGA). The embodiments of this application are mostly described using FPGA as an example, but the actual control module is not limited to this.

[0159] Optionally, the first position measurement module 304 and the control module 303 can be integrated into one module or they can be two independent modules. This application embodiment does not limit this.

[0160] Optionally, measuring the position data of the first scanning module 301 in a first direction may specifically include the motion angle of the first scanning module 301. Correspondingly, the first position measurement module 304 may specifically be an angle measurement module, such as, but not limited to, any of the following: an optical angle encoder, a photoresistor, or a rotary transformer.

[0161] Optionally, measuring the position data of the first scanning module 301 in the first direction may further include other motion information of the first scanning module 301, which is not limited in this embodiment. Correspondingly, the first position measurement module 304 may also be a module used to measure other motion information of the first scanning module 301, which is not limited in this embodiment.

[0162] Optionally, the first scanning module 301 is a rotating mirror comprising multiple scanning surfaces, and the second scanning module 302 comprises a tilting mirror or a galvanometer. It is understood that the first scanning module 301 can be a regular polyhedral rotating mirror, i.e., it comprises multiple scanning surfaces and the central angles corresponding to these multiple scanning surfaces are of the same size; it can also be an irregular polyhedral rotating mirror, i.e., it comprises multiple scanning surfaces and at least two of these scanning surfaces have different central angles. This application embodiment does not impose any limitations on this.

[0163] Optionally, the first scanning module 301 and the second scanning module 302 can be any one or more of a rotating mirror, a tilting mirror, and a galvanometer, and the embodiments of this application do not limit this.

[0164] Optionally, when the first scanning module 301 is a rotating mirror, the first scanning module 301 can perform a uniform rotational motion; when the second scanning module 302 is a swing mirror or a oscillating mirror, the second scanning module 302 can perform a stepping motion or a swinging motion.

[0165] Optionally, a synchronization control signal can be generated by measuring the position data of the first scanning module 301 in the first direction, and the second scanning module 302 can be driven to move to the target position in the second direction using this synchronization control signal. Alternatively, a synchronization control signal can be generated by measuring the position data of the second scanning module 302 in the second direction, and the first scanning module 301 can be driven to move to the target position in the first direction using this synchronization control signal. This embodiment of the application does not limit the scope of the description. To make the explanation more concise and convenient, this embodiment of the application uses the example of measuring the position data of the first scanning module 301 in the first direction to generate a synchronization control signal, and using this synchronization control signal to drive the second scanning module 302 to move to the target position in the second direction.

[0166] It is understood that the detection device 30 in this application embodiment generates a synchronization control signal by measuring the position data of the first scanning module 301 in the first direction, and uses the synchronization control signal to drive the second scanning module 302 to move to the target position in the second direction, thereby realizing the coordinated movement of the first scanning module 301 and the second scanning module 302 in the first and second directions.

[0167] Therefore, when the detection device 30 is subjected to external vibration or impact interference, it may cause errors in the movement of one of the scanning modules. The other scanning module can adjust its movement in time based on the synchronous control timing mechanism to ensure the accuracy of the coordinated movement of the first scanning module 301 and the second scanning module 302, achieve a stable point cloud, and thus improve the detection accuracy.

[0168] In one possible embodiment, the first scanning module 301 described above includes at least a first scanning surface.

[0169] The first position measurement module 304 is used to measure the first position data corresponding to the first scanning module 301 scanning from a first point to a second point along a first direction. The first point is located at a non-edge position of the first scanning surface, and the second point is located at an edge position of the first scanning surface.

[0170] The control module 303 is used to generate a first synchronization control signal based on the first position data.

[0171] The first drive module 305 is used to drive the second scanning module 302 to move to the first target position in the second direction based on the first synchronization control signal.

[0172] Optionally, in the embodiments of this application, the non-edge position and the edge position of the first scanning surface are two relative positional relationships without absolute specific boundaries, which will not be elaborated further below.

[0173] It is understandable that by measuring the first position data corresponding to the first scanning module 301 scanning from the non-edge position to the edge position of the first scanning surface along the first direction to generate the first synchronization control signal, and using the first synchronization control signal to drive the second scanning module 302 to move to the first target position in the second direction, it can be understood that when the detection device 30 starts detection, and the initial scanning position of the first scanning module 301 is located at the non-edge position of the scanning surface, the coordinated movement of the first scanning module 301 and the second scanning module 302 is synchronized and timed to ensure the movement accuracy of the first scanning module 301 and the second scanning module 302, and improve the accuracy of the point cloud quality obtained by detection.

[0174] Optionally, the first position data may include n pulse signals, where n is a positive integer.

[0175] It can be understood that the number of n pulse signals can be understood as the pulse count value experienced by the first position measurement module 304 during the process of the first scanning module 301 scanning from the non-edge position of the first scanning surface to the edge position of the first scanning surface along the first direction, with the zero position of the first position measurement module 304 as the counting starting point.

[0176] Optionally, the first position data may include analog signals, such as the aforementioned n pulse signals, or digital signals, such as the value of a specific motion angle, such as 30°. This application embodiment does not limit this.

[0177] Optionally, please refer to Figure 4, which is a schematic diagram of the topology of a detection device provided in an embodiment of this application. It is understood that the detection device in the embodiment of this application can be regarded as a reasonable modification or supplement to the embodiment in Figure 3 above; or, it is understood that the detection device in the embodiment of this application can also be regarded as an embodiment that can be implemented independently, and this application does not limit it.

[0178] As shown in Figure 4, the detection device includes, but is not limited to: a pendulum mirror, a regular pentahedral rotating mirror composed of scanning surfaces AB, BC, CD, DE, and EA, an FPGA, an optical angle encoder, and a driver.

[0179] The descriptions of the following components are provided: the tilting mirror (see the description of the second scanning module 302 above), the rotating mirror (see the description of the first scanning module 301 above), the FPGA (see the description of the control module 303 above), the optical angle encoder (see the description of the first position measurement module 304 above), and the driver (see the description of the first driving module 305 above). They will not be repeated here.

[0180] An optical angle encoder is used to measure the angle data corresponding to the rotating mirror scanning from point Z to point A along the first direction, and sends the angle data to the FPGA. The FPGA is used to generate a first synchronization control signal based on the angle data, and sends the first synchronization control signal to the driver. The driver is used to drive the rotating mirror to move to the first target position in the second direction based on the first synchronization control signal.

[0181] Understandably, when the detection device starts detection and the initial scanning position of the rotating mirror is located at a non-edge position of the scanning surface EA, the synchronous control timing mechanism based on the pulse counting of the optical angle encoder can synchronously control the coordinated movement of the rotating mirror and the tilting mirror, ensuring the accuracy of the movement of the rotating mirror and the tilting mirror, and thus improving the accuracy of the point cloud quality obtained by detection.

[0182] Optionally, please refer to Figure 5, which is a schematic diagram of a pulse signal provided in an embodiment of this application. It can be understood that the pulse signal in the embodiment of this application can be regarded as a schematic diagram of the synchronous control timing of the swing mirror and the rotating mirror when the detection device shown in Figure 4 is performing detection.

[0183] As shown in Figure 5, A, B, and Z are the pulse output signals of the rotating mirror in the detection device shown in Figure 4 at different positions, and trig is the synchronization control signal of the swing mirror in the detection device shown in Figure 4.

[0184] The optical angle encoder starts counting from zero at point Z, recording the scanning position information of the rotating mirror in the first direction (e.g., the horizontal direction), as shown in the Z-phase signal in Figure 5. When it is high, it indicates that the optical angle encoder has reset to zero, meaning the rotating mirror has moved to the position where the angle is zero, which is equivalent to the rotating mirror completing one revolution. Optionally, the mirror can also be equipped with another position sensor, similar to the position sensor corresponding to the rotating mirror, which can be an optical angle encoder, photoresistor, rotary transformer, etc., to record the scanning position information of the mirror in the second direction (e.g., the vertical direction).

[0185] When the optical angle encoder corresponding to the horizontal rotating mirror counts n pulse signals, the FPGA generates a synchronization control signal trig in the vertical direction. The pulse count value n is obtained by the calibration of the optical angle encoder, and its physical meaning is the number of optical angle encoder pulses counted when the rotating mirror moves to the nearest edge of the scanning surface, starting from the zero position of the optical angle encoder.

[0186] Understandably, the driver moves the pendulum mirror to the designated target position according to the control signal trig, so that the emitted laser beam can be pointed to the preset position in sequence, thereby realizing the synchronization of the vertical and horizontal angles of the two-dimensional scan, achieving a stable point cloud and improving the detection accuracy.

[0187] In one possible embodiment, the first scanning module 301 further includes a second scanning surface, which is adjacent to and connected to the first scanning surface along a first direction.

[0188] The first position measurement module 304 is used to measure the second position data corresponding to the first scanning module 301 scanning from the third point to the fourth point along the first direction. The third point is located at the first edge of the second scanning surface, and the fourth point is located at the second edge of the second scanning surface. The first edge is adjacent to the first scanning surface, and the second edge is located on opposite sides of the first edge.

[0189] The control module 303 is used to generate a second synchronization control signal based on the second position data.

[0190] The first drive module 305 is used to drive the second scanning module 302 to move to the second target position in the second direction based on the second synchronization control signal.

[0191] It is understandable that by measuring the second position data corresponding to the second edge position of the second scanning surface from the first edge position of the second scanning surface along the first direction, a second synchronization control signal is generated, and the second scanning module 302 is driven to move to the second target position in the second direction using the second synchronization control signal. This can be understood as performing synchronous timing control on the coordinated movement of the first scanning module 301 and the second scanning module 302 after the detection device 30 has started detection for a period of time and the first scanning module 301 has completed scanning a complete scanning surface, ensuring the movement accuracy of the first scanning module 301 and the second scanning module 302 and improving the accuracy of the detected point cloud quality.

[0192] Optionally, the second position data includes m pulse signals, where m is a positive integer, and the number of pulses in the second position data is greater than the number of pulses in the first position data.

[0193] It can be understood that the number of m pulse signals can be understood as the pulse count value experienced by the first position measurement module 304 during the process of the first scanning module 301 scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction.

[0194] Optionally, the value of m is related to the central angle corresponding to the second scanning surface.

[0195] It is understandable that the larger the central angle corresponding to the second scanning surface, the longer the process of the first scanning module 301 scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction, and the larger the pulse count value experienced by the first position measurement module 304, that is, the larger the value of m.

[0196] Assuming the central angles corresponding to the first and second scanning surfaces are the same, since the number of pulses in the second position data is the pulse count value experienced by the first position measurement module 304 when the first scanning module 301 completes a full scanning surface scan, while the number of pulses in the first position data is the pulse count value experienced by the first position measurement module 304 when the first scanning module 301 completes an incomplete scanning surface scan, the number of pulses in the second position data should be greater than the number of pulses in the first position data, i.e., m > n.

[0197] Optionally, the second position data may include analog signals, such as the m pulse signals mentioned above, or digital signals, such as the value of a specific motion angle, such as 60°. This application embodiment does not limit this.

[0198] Optionally, the number of pulses in the second position data is proportional to the central angle corresponding to the second scanning surface.

[0199] It is understandable that the larger the central angle corresponding to the second scanning surface, the longer the process of the first scanning module 301 scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction, the larger the pulse count value experienced by the first position measurement module 304, and the more pulses in the second position data, that is, the larger the value of m, satisfying the following direct proportional relationship:

[0200] Where i and j represent two different scanning planes, and θ i θ represents the central angle corresponding to the scanned surface i. j m represents the central angle corresponding to scan surface j. i This represents the pulse count value experienced by the first position measurement module 304 during the process of the first scanning module 301 scanning from one edge position of the scanning surface i to another edge position of the scanning surface i along the first direction. j This represents the pulse count value experienced by the first position measurement module 304 during the process of the first scanning module 301 scanning from one edge position of the scanning surface j to another edge position of the scanning surface j along the first direction.

[0201] Optionally, as can be seen from Figure 4 above, the optical angle encoder is used to measure the angle data corresponding to the rotating mirror scanning from point A to point B along the first direction, and sends the angle data to the FPGA. The FPGA is used to generate a second synchronization control signal based on the angle data, and sends the second synchronization control signal to the driver. The driver is used to drive the swing mirror to move to the second target position in the second direction based on the second synchronization control signal.

[0202] Understandably, after the detection device has been activated for a period of time and the rotating mirror has completed a full scan of the scanning surface AB, the synchronous control timing mechanism based on the pulse counting of the optical angle encoder is used to synchronously control the coordinated movement of the rotating mirror and the tilting mirror, so as to ensure the accuracy of the movement of the rotating mirror and the tilting mirror and improve the accuracy of the point cloud quality obtained by detection.

[0203] Optionally, as shown in Figure 5 above, when the optical angle encoder corresponding to the rotating mirror in the horizontal direction adds m pulse signals, the FPGA generates a synchronization control signal `trig` in the vertical direction. The pulse count value `m` is determined by the central angle θ corresponding to the scanning surface AB of the rotating mirror. Generally, the rotating mirror can be constructed using a trihedral, tetrahedral, or pentahedral mirror. Since the central angles corresponding to each mirror surface are equal, the pulse count values ​​`m` corresponding to each mirror surface are equal, thus satisfying the aforementioned direct proportional relationship.

[0204] Understandably, as the mirror continuously scans in the horizontal direction, the FPGA generates a synchronization control signal trig in the vertical direction based on its m pulse count. The driver then drives the mirror to move to the designated target position according to the synchronization control signal trig, so that the emitted laser beam can sequentially point to the preset position. This enables the synchronization of the vertical and horizontal angles of the two-dimensional scan, achieving a stable point cloud and improving detection accuracy.

[0205] In one possible embodiment, the first driving module 305 described above can drive the second scanning module 302 to perform scanning in ways including but not limited to the following.

[0206] Method 1:

[0207] The first driving module 305 is used to drive the second scanning module 302 to scan the edge region of the target field of view at a first speed based on the first synchronization control signal mentioned above.

[0208] The first driving module 305 is used to drive the second scanning module 302 to scan the central region of the target field of view at a second speed based on the second synchronization control signal mentioned above.

[0209] The first speed is faster than the second speed.

[0210] Understandably, a slow scan is performed on the central region of the target's field of view, while a fast scan is performed on the edge region of the target's field of view.

[0211] Optionally, fast scan and slow scan are relative scan speeds and do not refer to a specific speed value.

[0212] Optionally, the target field of view is the field of view corresponding to the beam reflected by the first scanning module 301 and the second scanning module 302, which can be understood as the detection field of view of the detection device 30.

[0213] Understandably, the synchronous control timing mechanism designed by Method 1 can achieve high point cloud density in the central region of the target field of view (FOV) and low point cloud density in the edge region, thereby realizing the region of interest (ROI) function and improving the target perception capability of the detection device 30.

[0214] Optionally, as can be seen from Figure 5 above, when the mirror scanning motion is controlled by the synchronization control signal trig, the pulses corresponding to the angle count are dense for the edge region of the FOV, and sparse for the center region of the FOV.

[0215] Understandably, when the synchronization control signal `trig` is high, if the scanning position is at the edge of the field of view (FOV), the scanning speed is adjusted to "fast," meaning that the scanner's (mirror's) angle pulses are dense within the same time period. When the synchronization control signal `trig` is low, the scanning speed is maintained. When the synchronization control signal `trig` is high, if the scanning position is in the center of the FOV, the scanning speed is adjusted to "slow," meaning that the scanner's (mirror's) angle pulses are sparse within the same time period. Here, "fast" and "slow" are relative speeds and do not refer to a specific speed value.

[0216] Method 2:

[0217] The first drive module 305 is used to drive the second scanning module 302 to scan the target field of view at a third speed based on the first synchronization control signal and / or the second synchronization control signal.

[0218] It is understandable that scanning the entire target field of view at a constant speed can achieve a uniform and stable point cloud across the entire target field of view, thereby improving the quality and accuracy of the detected point cloud.

[0219] It should be understood that the above-described methods one and two are merely illustrative examples of two possible ways to drive the second scanning module 302 to scan, and should not be construed as limiting the embodiments of this application.

[0220] It should be understood that any new embodiments obtained by reasonable modifications, additions, or combinations of the above-mentioned methods one and two are all within the protection scope of the embodiments of this application.

[0221] Please refer to Figure 6, which is a connection topology diagram of a two-dimensional scanner provided in an embodiment of this application. It is understood that the connection topology of the two-dimensional scanner in the embodiment of this application can be regarded as a schematic diagram of the connection topology of the two-dimensional scanner in the detection device shown in Figures 3 and 4 above; or, it is understood that the connection topology of the two-dimensional scanner in the embodiment of this application can also be regarded as an embodiment that can be implemented independently, and this application does not limit it.

[0222] Figure 6 shows a schematic diagram of the connection topology of a rotating mirror-swinging mirror type 2D scanner. The logic control acquires the scanner position signal transmitted by the driver, calculates and generates a synchronization control signal, which is then transmitted to the rotating mirror driver and the swinging mirror driver to control the energizing current and motion torque of the rotating and swinging mirrors.

[0223] Optionally, the rotating mirror is a pentamirror mirror that rotates at a constant speed, while the tilting mirror performs a stepping motion. Optionally, the specific details of the cooperative scanning relationship between the two can be found in Figure 7, which is a schematic diagram of a cooperative scanning method provided in an embodiment of this application.

[0224] As shown in Figure 7, each time the rotating mirror rotates over a plane, the tilting mirror steps to the new angular position until the reflected beam moves from one end of the FOV to the other, at which point the tilting mirror returns to its initial scanning position. Optionally, the stepping motion of the tilting mirror is controlled by a synchronization control signal. The generation mechanism of the synchronization control signal can be found in the description above and will not be repeated here.

[0225] Under the synchronous timing control of the synchronous control signal, the angle count value of the tilting mirror is large in the edge region of the FOV and small in the center region of the FOV, which can realize the ROI of the central region of the scanned point cloud. Optionally, the specific point cloud ROI can be referred to Figure 8, which is a schematic diagram of a point cloud provided by an embodiment of this application.

[0226] As shown in Figure 8, the movement of the tilting mirror is controlled by a synchronous control signal, enabling it to move in coordination with the rotating mirror. This results in straight lines of point cloud and denser point cloud centers, leading to higher point cloud quality and accuracy.

[0227] Optionally, the rotating mirror is a pentamirror mirror that rotates at a constant speed, and the pendulum mirror swings at a constant speed. Optionally, the specific details of the cooperative scanning relationship between the two can be found in Figure 9, which is a schematic diagram of another cooperative scanning method provided in an embodiment of this application.

[0228] As shown in Figure 9, as the rotating mirror moves to the starting angle of the point cloud, a synchronization control signal is triggered (as indicated by the arrow in Figure 9), and the tilting mirror moves to the corresponding position, realizing the coordinated movement of the two scanners.

[0229] Under the synchronous timing control of the synchronous control signal, the tilting mirror swings linearly based on the rotation position of the rotating mirror, which can achieve a relatively uniform and stable point cloud, thereby improving the quality and accuracy of the detected point cloud.

[0230] Please refer to Figure 10, which is a flowchart illustrating a control method provided in an embodiment of this application. This control method is applied in the field of lidar technology, including but not limited to control methods involved in the detection process of lidar.

[0231] Specifically, this control method is applied to the detection devices in Figures 3 and 4 above, and the control method includes, but is not limited to, the following steps:

[0232] S1001: The control device acquires the position data of the first scanning module in the detection device in the first direction.

[0233] It is understood that the control device in the embodiments of this application may be a device equipped with a processor / chip that can execute computer execution instructions, or it may be a processor / chip that can execute computer execution instructions. Optionally, the control device may be an electronic device, a processor / chip within an electronic device, the control module 303 in FIG3 above, or the FPGA in FIG4 above, used to execute the control method in the embodiments of this application to ensure the motion accuracy of the scanning module in the detection device, thereby improving the accuracy of the point cloud quality detected by the detection device.

[0234] Optionally, the control device and control method in the embodiments of this application can be applied to, but are not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle and can be replaced by a terminal device. The terminal device can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. The embodiments of this application do not specifically limit this.

[0235] Optionally, the position data of the first scanning module in the detection device in the first direction can be obtained. Specifically, it may include the motion angle of the first scanning module, and may also include other motion information of the first scanning module. This application embodiment does not limit this.

[0236] S1002: The control device generates a synchronization control signal based on the position data of the first scanning module in the first direction.

[0237] S1003: The control device controls the second scanning module in the detection device to move to the target position in the second direction based on the synchronous control signal.

[0238] The first direction and the second direction are different.

[0239] Optionally, the first direction is horizontal and the second direction is vertical, with the first direction and the second direction being perpendicular to each other.

[0240] Optionally, the first scanning module is a rotating mirror comprising multiple scanning surfaces, and the second scanning module comprises a tilting mirror or a galvanometer. It is understood that the first scanning module can be a regular polyhedral rotating mirror, i.e., it comprises multiple scanning surfaces and the central angles corresponding to these multiple scanning surfaces are of the same size; it can also be an irregular polyhedral rotating mirror, i.e., it comprises multiple scanning surfaces and at least two of these scanning surfaces have different central angles. This application embodiment does not impose any limitations on this.

[0241] Optionally, the first scanning module and the second scanning module can be any one or more of a rotating mirror, a tilting mirror, and a galvanometer, and the embodiments of this application do not limit this.

[0242] Optionally, when the first scanning module is a rotating mirror, the first scanning module can be controlled to rotate at a constant speed; when the second scanning module is a swing mirror or a oscillating mirror, the second scanning module can be controlled to step or swing.

[0243] Optionally, a synchronization control signal can be generated by acquiring the position data of the first scanning module in the first direction, and the second scanning module can be controlled to move to the target position in the second direction using the synchronization control signal. Alternatively, a synchronization control signal can be generated by acquiring the position data of the second scanning module in the second direction, and the first scanning module can be controlled to move to the target position in the first direction using the synchronization control signal. This embodiment of the application does not limit the scope of the description. To make the explanation more concise and convenient, this embodiment of the application will use the example of acquiring the position data of the first scanning module in the first direction to generate a synchronization control signal, and using the synchronization control signal to control the second scanning module to move to the target position in the second direction.

[0244] It is understood that the control method in this application embodiment generates a synchronization control signal by acquiring the position data of the first scanning module in the detection device in the first direction, and uses the synchronization control signal to control the second scanning module to move to the target position in the second direction, thereby realizing the coordinated movement of the first scanning module and the second scanning module in the first and second directions.

[0245] Therefore, when the detection device is subjected to external vibration or impact interference, it may cause errors in the movement of one of the scanning modules. The other scanning module can adjust its movement in time based on the synchronous control timing mechanism to ensure the accuracy of the coordinated movement of the first and second scanning modules, achieve a stable point cloud, and thus improve the detection accuracy.

[0246] In one possible embodiment, the first scanning module includes at least a first scanning surface, and the position data of the first scanning module in the first direction includes first position data corresponding to the first scanning module scanning from a first point to a second point along the first direction, wherein the first point is located at a non-edge position of the first scanning surface, and the second point is located at an edge position of the first scanning surface.

[0247] The aforementioned synchronization control signal includes the first synchronization control signal.

[0248] In step S1002 above, the generation of a synchronization control signal based on the position data of the first scanning module in the first direction can be achieved by means including but not limited to the following: generating a first synchronization control signal based on the first position data.

[0249] The aforementioned target locations include the first target location.

[0250] In step S1003 above, the second scanning module in the detection device is controlled to move to the target position in the second direction based on the synchronization control signal. This can be achieved by means including but not limited to the following: the second scanning module is controlled to move to the first target position in the second direction based on the first synchronization control signal.

[0251] It is understandable that by acquiring the first position data corresponding to the first scanning module scanning from the non-edge position to the edge position of the first scanning surface along the first direction to generate the first synchronization control signal, and using the first synchronization control signal to control the second scanning module to move to the first target position in the second direction, it can be understood that when the detection device starts detection, and the initial scanning position of the first scanning module is located at the non-edge position of the scanning surface, the coordinated movement of the first scanning module and the second scanning module is synchronously timed to ensure the movement accuracy of the first scanning module and the second scanning module and improve the accuracy of the point cloud quality obtained by detection.

[0252] Optionally, the first position data mentioned above includes n pulse signals, where n is a positive integer.

[0253] It can be understood that the number of n pulse signals can be understood as the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from the non-edge position of the first scanning surface to the edge position of the first scanning surface along the first direction, with the zero position of the first position measurement module in the detection device as the counting starting point.

[0254] Optionally, the first position data may include analog signals, such as the aforementioned n pulse signals, or digital signals, such as the numerical value of a specific motion angle. This application embodiment does not limit this.

[0255] In one possible embodiment, the first scanning module further includes a second scanning surface, which is adjacent to and connected to the first scanning surface along a first direction. The position data of the first scanning module in the first direction also includes second position data corresponding to the first scanning module scanning from a third point to a fourth point along the first direction. The third point is located at a first edge position of the second scanning surface, and the fourth point is located at a second edge position of the second scanning surface. The first edge position is adjacent to and connected to the first scanning surface, and the second edge position and the first edge position are located on opposite sides of the second scanning surface.

[0256] The aforementioned synchronization control signal also includes a second synchronization control signal, and the target position also includes a second target position.

[0257] The above control method may also include, but is not limited to, the following steps: generating a second synchronization control signal based on the second position data; and controlling the second scanning module to move to the second target position in the second direction based on the second synchronization control signal.

[0258] It is understandable that by acquiring the second position data corresponding to the second edge position of the second scanning surface from the first edge position of the second scanning surface along the first direction, a second synchronization control signal is generated, and the second synchronization control signal is used to control the second scanning module to move to the second target position in the second direction. This can be understood as performing synchronous timing control on the coordinated movement of the first scanning module and the second scanning module after the detection device has started detection for a period of time and the first scanning module has completed scanning a complete scanning surface, ensuring the movement accuracy of the first scanning module and the second scanning module and improving the quality accuracy of the detected point cloud.

[0259] Optionally, the second position data includes m pulse signals, where m is a positive integer, and the number of pulses in the second position data is greater than the number of pulses in the first position data.

[0260] It can be understood that the number of m pulse signals can be interpreted as the pulse count value experienced by the first position measurement module in the detection device during the process of the first scanning module scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction.

[0261] Optionally, the value of m is related to the central angle corresponding to the second scanning surface.

[0262] It is understandable that the larger the central angle corresponding to the second scanning surface, the longer the process of the first scanning module scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction, and the larger the pulse count value experienced by the first position measurement module, that is, the larger the value of m.

[0263] Assuming the central angles corresponding to the first and second scanning surfaces are the same, since the number of pulses in the second position data is the pulse count value experienced by the first position measurement module when the first scanning module completes a full scanning surface scan, while the number of pulses in the first position data is the pulse count value experienced by the first position measurement module when the first scanning module completes an incomplete scanning surface scan, the number of pulses in the second position data should be greater than the number of pulses in the first position data, i.e., m > n.

[0264] Optionally, the second position data may include analog signals, such as the m pulse signals mentioned above, or digital signals, such as the numerical value of a specific motion angle. This application embodiment does not limit this.

[0265] Optionally, the number of pulses in the second position data is directly proportional to the central angle corresponding to the second scanning surface.

[0266] It is understandable that the larger the central angle corresponding to the second scanning surface, the longer the process of the first scanning module scanning from the first edge position of the second scanning surface to the second edge position of the second scanning surface along the first direction, the larger the pulse count value experienced by the first position measurement module in the detection device, and the more pulses in the second position data, that is, the larger the value of m, satisfying the following direct proportional relationship:

[0267] Where i and j represent two different scanning planes, and θ i θ represents the central angle corresponding to the scanned surface i. j m represents the central angle corresponding to scan surface j. i This represents the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from one edge position of the scanning surface i to another edge position of the scanning surface i along the first direction, m. j This represents the pulse count value experienced by the first position measurement module during the process of the first scanning module scanning from one edge position of the scanning surface j to another edge position of the scanning surface j along the first direction.

[0268] In one possible embodiment, the second scanning module can be controlled to perform scanning in step S1003 above by means including but not limited to the following methods.

[0269] Method 1:

[0270] The second scanning module is controlled by the first synchronization control signal to scan the edge region of the target field of view at a first speed.

[0271] The second scanning module is controlled by the second synchronization control signal to scan the central region of the target field of view at the second speed.

[0272] The first speed is faster than the second speed.

[0273] Understandably, a slow scan is performed on the central region of the target's field of view, while a fast scan is performed on the edge region of the target's field of view.

[0274] Optionally, fast scan and slow scan are relative scan speeds and do not refer to a specific speed value.

[0275] Optionally, the target field of view is the field of view corresponding to the beam reflected by the first scanning module and the second scanning module, which can be understood as the detection field of view of the detection device.

[0276] Understandably, the synchronous control timing mechanism designed by Method 1 can achieve high point cloud density in the central region of the target field of view (FOV) and low point cloud density in the edge region, thereby realizing the region of interest (ROI) function and improving the target perception capability of the detection device.

[0277] Method 2:

[0278] The second scanning module is controlled to scan the target field of view at a third speed based on the first synchronization control signal and / or the second synchronization control signal.

[0279] It is understandable that scanning the entire target field of view at a constant speed can achieve a uniform and stable point cloud across the entire target field of view, thereby improving the quality and accuracy of the detected point cloud.

[0280] It should be understood that the above-described methods one and two are merely illustrative examples of two possible methods for controlling the scanning of the second scanning module, and should not be construed as limiting the embodiments of this application.

[0281] It should be understood that any new embodiments obtained by reasonable modifications, additions, or combinations of the above-mentioned methods one and two are all within the protection scope of the embodiments of this application.

[0282] The methods of the embodiments of this application have been described in detail above. The following provides an apparatus for implementing any one of the methods in the embodiments of this application. For example, an apparatus is provided that includes a unit (or means) for implementing the steps performed by the device in any of the above methods.

[0283] Please refer to Figure 11, which is a schematic diagram of the structure of a control device provided in an embodiment of this application.

[0284] As shown in Figure 11, the control device 110 may include a communication unit 1101 and a processing unit 1102. The communication unit 1101 and the processing unit 1102 may be software, hardware, or a combination of software and hardware.

[0285] The communication unit 1101 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 1101 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 1101 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0286] In one possible design, the control device 110 may correspond to the control device in the method embodiment shown in FIG10 above. For example, the control device 110 may be an electronic device or a chip within an electronic device. The control device 110 may include units for performing the operations performed by the control device in the method embodiment shown in FIG10 above, and each unit in the control device 110 is for implementing the operations performed by the control device in the method embodiment shown in FIG10 above. The descriptions of each unit are as follows:

[0287] The processing unit 1102 is used to acquire the position data of the first scanning module in the detection device in the first direction.

[0288] The processing unit 1102 is used to generate a synchronization control signal based on the position data of the first scanning module in the first direction.

[0289] The processing unit 1102 is used to control the second scanning module in the detection device to move to the target position in a second direction based on the synchronization control signal. The first direction and the second direction are different.

[0290] In one possible implementation, the device further includes a communication unit 1101.

[0291] The processing unit 1102 is specifically used to acquire the position data of the first scanning module in the detection device in the first direction through the communication unit 1101.

[0292] Regarding the communication unit 1101 and processing unit 1102 described in this design, the steps they perform can be referred to the implementation method corresponding to the control device in the method embodiment shown in FIG10 above.

[0293] Regarding the technical effects of the implementation methods performed by the communication unit 1101 and processing unit 1102 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG10 above.

[0294] According to embodiments of this application, the various units in the device shown in FIG11 can be individually or entirely merged into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effect of the embodiments of this application. The above units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0295] It should be noted that the implementation of each unit can also refer to the corresponding description of the method embodiment shown in Figure 10 above.

[0296] In the control device 110 described in Figure 11, the motion accuracy of the scanning module can be ensured, thereby improving the quality accuracy of the detected point cloud.

[0297] If the control device 110 described above can be an electronic device, please refer to the structural schematic diagram of the electronic device shown in Figure 12.

[0298] It should be understood that the electronic device 120 shown in FIG12 is only an example. The electronic device in the embodiments of this application may also include other components, or include components with functions similar to the various components in FIG12, or may not be intended to include all the components in FIG12.

[0299] Electronic device 120 includes transceiver interface 1201 and at least one processor 1202.

[0300] The electronic device 120 can correspond to a control device. The transceiver interface 1201 is used to transmit and receive signals, and at least one processor 1202 executes program instructions, causing the electronic device 120 to implement the corresponding flow of the method executed by the corresponding device in the above method embodiment.

[0301] In one possible design, the electronic device 120 may correspond to the control device in the method embodiment shown in FIG10 above. For example, the electronic device 120 may be a control device or a chip within the control device. The electronic device 120 may include components for performing the operations performed by the control device in the method embodiment above, and each component in the electronic device 120 is specifically designed to implement the operations performed by the control device in the method embodiment above. Specifically, it may be as follows:

[0302] The processor 1202 is used to acquire position data of the first scanning module in the detection device in a first direction.

[0303] The processor 1202 is used to generate a synchronization control signal based on the position data of the first scanning module in a first direction.

[0304] The processor 1202 is used to control the second scanning module in the detection device to move to the target position in a second direction based on a synchronization control signal. The first direction and the second direction are different.

[0305] In one possible implementation, the device further includes a transceiver interface 1201.

[0306] The processor 1202 is specifically used to acquire position data of the first scanning module in the detection device in the first direction through the transceiver interface 1201.

[0307] Regarding the transceiver interface 1201 and at least one processor 1202 described in this design, the steps performed can be referred to the implementation corresponding to the control device in the method embodiment shown in FIG10 above.

[0308] For the technical effects of the implementation methods performed by the transceiver interface 1201 and at least one processor 1202 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG10 above.

[0309] In the electronic device 120 described in Figure 12, the motion accuracy of the scanning module can be guaranteed, thereby improving the quality accuracy of the detected point cloud.

[0310] If the control device 110 described above can be a chip or a chip system, please refer to the schematic diagram of the chip structure shown in Figure 13.

[0311] As shown in Figure 13, chip 130 includes processor 1301 and interface 1302. The number of processors 1301 can be one or more, and the number of interfaces 1302 can be multiple. It should be noted that the functions of processor 1301 and interface 1302 can be implemented through hardware design, software design, or a combination of both; no restrictions are placed here.

[0312] Optionally, chip 130 may also include memory 1303 for storing necessary program instructions and data.

[0313] In this application, processor 1301 can be used to call the implementation program of the control method provided in one or more embodiments of this application in the control device from memory 1303, and execute the instructions included in the program. Interface 1302 can be used to output the execution result of processor 1301. In this application, interface 1302 can be specifically used to output various messages or information of processor 1301.

[0314] The control methods provided by one or more embodiments of this application can be referred to the various embodiments shown in FIG10 above, and will not be repeated here.

[0315] The processor in this application embodiment can be a central processing unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0316] The memory in this application embodiment is used to provide storage space, in which data such as operating system and computer programs can be stored. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0317] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer-readable storage medium storing a computer program. When the computer program is run on one or more processors, it can implement the method shown in FIG10.

[0318] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer program product, which includes a computer program. When the computer program runs on a processor, it can implement the method shown in FIG10.

[0319] This application also provides a radar or radar system, which includes the detection device 30 mentioned above, or the control device 110 mentioned above, or the electronic device 120 mentioned above, or the chip 130 mentioned above.

[0320] In one possible implementation, the radar includes, but is not limited to, lidar.

[0321] In one possible implementation, there may be a smart sensor that integrates multiple sensors. When the smart sensor includes, but is not limited to, laser detection functions, the smart sensor may also be called a radar or radar system.

[0322] This application embodiment also provides a terminal, which includes at least one detection device 30, or control device 110, or electronic device 120, or chip 130, or the aforementioned radar or radar system.

[0323] Optionally, the terminal can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this.

[0324] Optionally, the terminal is used to implement the method shown in Figure 10 above.

[0325] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0326] It should be understood that the above-described processing device can be a chip. The units in the various device embodiments and the electronic devices in the method embodiments correspond completely, with corresponding modules or units executing corresponding steps. For example, the communication unit (transceiver) executes the receiving or sending steps in the method embodiments, while other steps besides sending and receiving can be executed by the processing unit (processor). The specific functions of each unit can be found in the corresponding method embodiments. There can be one or more processors.

[0327] It is understood that in the embodiments of this application, the electronic device may perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be performed in different orders as presented in the embodiments of this application, and it is not necessarily necessary to perform all the operations in the embodiments of this application.

[0328] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the 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.

[0329] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0330] In addition, 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.

[0331] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the contributing part, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0332] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A detection device, characterized in that, The system includes a control module, a first scanning module, a second scanning module, a first position measurement module, and a first drive module. The first scanning module is used for scanning along a first direction, and the second scanning module is used for scanning along a second direction. The first and second directions are different. The first and second scanning modules are used together to reflect the light beam generated by the light source into the object space. The first position measurement module is used to measure and obtain the position data of the first scanning module in the first direction; The control module is used to generate a synchronization control signal based on the position data of the first scanning module in the first direction; The first driving module is used to drive the second scanning module to move to the target position in the second direction based on the synchronization control signal.

2. The detection device according to claim 1, characterized in that, The first scanning module includes at least a first scanning surface; The first position measurement module is used to measure the first position data corresponding to the first scanning module scanning from the first point to the second point along the first direction, wherein the first point is located at a non-edge position of the first scanning surface and the second point is located at the edge position of the first scanning surface; The control module is used to generate a first synchronization control signal based on the first position data; The first driving module is used to drive the second scanning module to move to the first target position in the second direction based on the first synchronization control signal.

3. The detection device according to claim 2, characterized in that, The first position data includes n pulse signals, where n is a positive integer.

4. The detection device according to claim 2 or 3, characterized in that, The first scanning module further includes a second scanning surface, which is adjacent to and connected to the first scanning surface along the first direction; The first position measurement module is used to measure the second position data corresponding to the first scanning module scanning from the third point to the fourth point along the first direction. The third point is located at the first edge position of the second scanning surface, the fourth point is located at the second edge position of the second scanning surface, the first edge position is adjacent to the first scanning surface, and the second edge position and the first edge position are located on opposite sides of the second scanning surface. The control module is used to generate a second synchronization control signal based on the second position data; The first driving module is used to drive the second scanning module to move to the second target position in the second direction based on the second synchronization control signal.

5. The detection device according to claim 4, characterized in that, The second position data includes m pulse signals, where m is a positive integer, and the number of pulses in the second position data is greater than the number of pulses in the first position data.

6. The detection device according to claim 5, characterized in that, The number of pulses in the second position data is directly proportional to the central angle corresponding to the second scanning surface.

7. The detection device according to any one of claims 4 to 6, characterized in that, The first driving module is also used to drive the second scanning module to scan the edge region of the target field of view at a first speed based on the first synchronization control signal; The first driving module is also used to drive the second scanning module to scan the central region of the target field of view at a second speed based on the second synchronization control signal; The first speed is faster than the second speed.

8. The detection device according to any one of claims 4 to 6, characterized in that, The first driving module is also used to drive the second scanning module to scan the target field of view at a third speed based on the first synchronization control signal and / or the second synchronization control signal.

9. The detection device according to any one of claims 1 to 8, characterized in that, The first scanning module is a rotating mirror with multiple scanning surfaces, and the second scanning module includes a tilting mirror or a galvanometer.

10. The detection device according to claim 9, characterized in that, The first scanning module rotates at a constant speed, while the second scanning module moves in a stepping or oscillating motion.

11. The detection device according to any one of claims 1 to 10, characterized in that, The first position measurement module includes any one of the following: an optical angle encoder, a photoresistor, and a rotary transformer.

12. The detection device according to any one of claims 1 to 11, characterized in that, The first direction is horizontal, and the second direction is vertical, with the first direction and the second direction being perpendicular to each other.

13. A control method, characterized in that, The control method, applied to the detection device according to any one of claims 1 to 12, comprises: Acquire the position data of the first scanning module in the detection device in the first direction; Based on the position data of the first scanning module in the first direction, a synchronization control signal is generated; Based on the synchronization control signal, the second scanning module in the detection device is controlled to move to the target position in a second direction, where the first direction and the second direction are different.

14. The control method according to claim 13, characterized in that, The first scanning module includes at least a first scanning surface; the position data of the first scanning module in the first direction includes first position data corresponding to the first scanning module scanning from a first point to a second point along the first direction, wherein the first point is located at a non-edge position of the first scanning surface, and the second point is located at an edge position of the first scanning surface; The synchronization control signal includes a first synchronization control signal; generating the synchronization control signal based on the position data of the first scanning module in the first direction includes: The first synchronization control signal is generated based on the first position data; The target location includes a first target location; controlling the second scanning module in the detection device to move to the target location in a second direction based on the synchronization control signal includes: Based on the first synchronization control signal, the second scanning module is controlled to move in the second direction to the first target position.

15. The control method according to claim 14, characterized in that, The first position data includes n pulse signals, where n is a positive integer.

16. The control method according to claim 14 or 15, characterized in that, The first scanning module further includes a second scanning surface, which is adjacent to and connected to the first scanning surface along the first direction; the position data of the first scanning module in the first direction also includes second position data corresponding to the first scanning module scanning from a third point to a fourth point along the first direction, wherein the third point is located at a first edge position of the second scanning surface, the fourth point is located at a second edge position of the second scanning surface, the first edge position is adjacent to and connected to the first scanning surface, and the second edge position and the first edge position are located on opposite sides of the second scanning surface; The synchronization control signal further includes a second synchronization control signal, and the target position further includes a second target position; the control method further includes: Based on the second position data, the second synchronization control signal is generated; Based on the second synchronization control signal, the second scanning module is controlled to move in the second direction to the second target position.

17. The control method according to claim 16, characterized in that, The second position data includes m pulse signals, where m is a positive integer, and the number of pulses in the second position data is greater than the number of pulses in the first position data.

18. The control method according to claim 17, characterized in that, The number of pulses in the second position data is directly proportional to the central angle corresponding to the second scanning surface.

19. The control method according to any one of claims 16 to 18, characterized in that, The control method further includes: Based on the first synchronization control signal, the second scanning module is controlled to scan the edge region of the target field of view at a first speed; Based on the second synchronization control signal, the second scanning module is controlled to scan the central region of the target field of view at a second speed; The first speed is faster than the second speed.

20. The control method according to any one of claims 16 to 18, characterized in that, The control method further includes: Based on the first synchronization control signal and / or the second synchronization control signal, the second scanning module is controlled to scan the target field of view at a third speed.

21. The control method according to any one of claims 13 to 20, characterized in that, The first scanning module is a rotating mirror with multiple scanning surfaces, and the second scanning module includes a tilting mirror or a galvanometer.

22. The control method according to claim 21, characterized in that, The control method further includes: The first scanning module is controlled to rotate at a constant speed, and the second scanning module is controlled to perform stepping or oscillating motion.

23. The control method according to any one of claims 13 to 22, characterized in that, The first direction is horizontal, and the second direction is vertical, with the first direction and the second direction being perpendicular to each other.

24. A control device, characterized in that, Includes units for performing the method as described in any one of claims 13 to 23.

25. A control device, characterized in that, Includes a processor for performing the method as described in any one of claims 13 to 23.

26. A chip, characterized in that, It includes logic circuits and interfaces, wherein the logic circuits and the interfaces are coupled; The interface is used for inputting and / or outputting information, and the logic circuit is used for performing the method as described in any one of claims 13 to 23.

27. A radar, characterized in that, The radar includes the detection device according to any one of claims 1 to 12, or the control device according to claim 24, or the control device according to claim 25, or the chip according to claim 26.

28. A terminal, characterized in that, The device includes the detection device according to any one of claims 1 to 12, or the control device according to claim 24, or the control device according to claim 25, or the chip according to claim 26, or the radar according to claim 27.

29. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method as described in any one of claims 13 to 23.

30. A computer program product, characterized in that, The computer program product includes a computer program, which, when executed, performs the method as described in any one of claims 13 to 23.

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