阅读说明：本技术 激光扫描控制方法及装置、存储介质 (Laser scanning control method and device and storage medium ) 是由 李艳滨 刘佳尧 石拓 于 2021-08-09 设计创作，主要内容包括：本申请公开了一种激光扫描控制方法及装置、存储介质,所述方法包括：获取激光扫描图像,确定所述激光扫描图像中的扫描信号分布信息；基于所述扫描信号分布信息生成激光扫描设备的驱动机构的控制信号；响应于所述控制信号,控制所述驱动机构驱动所述激光扫描设备,并生成新的激光扫描图像。本申请获取的扫描图像中的扫描信号更均匀,采集的有效回波信号更多,使基于激光扫描图像的对象识别及测距等更准确,提升了激光扫描设备的性能。(The application discloses a laser scanning control method, a laser scanning control device and a storage medium, wherein the method comprises the following steps: acquiring a laser scanning image, and determining scanning signal distribution information in the laser scanning image; generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal distribution information; and responding to the control signal, controlling the driving mechanism to drive the laser scanning device and generating a new laser scanning image. Scanning signals in the scanning image acquired by the method are more uniform, and the acquired effective echo signals are more, so that object identification, distance measurement and the like based on the laser scanning image are more accurate, and the performance of the laser scanning equipment is improved.)

1. A laser scanning control method, characterized in that the method comprises:

acquiring a laser scanning image, and determining scanning signal distribution information in the laser scanning image;

generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal distribution information;

and responding to the control signal, controlling the driving mechanism to drive the laser scanning device and generating a new laser scanning image.

2. The method of claim 1, wherein the scanning signal distribution information comprises: scanning signal density information;

the generating of the control signal of the driving mechanism of the laser scanning apparatus based on the scanning signal distribution information includes:

generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal density information, wherein the control signal indicates to adjust the slope of the input voltage of different scanning position segments of the laser scanning device.

3. The method according to claim 1 or 2, wherein the generating a control signal for a drive mechanism of a laser scanning device based on the scanning signal distribution information comprises:

determining the difference between a scanning view field and a preset scanning view field based on the scanning signal distribution information, and determining the control signal based on the difference so that the control signal drives the laser scanning equipment to adjust the scanning view field to make up the difference between the scanning view field and the preset scanning view field; or

Determining the defect position of a scanning view field based on the scanning signal distribution information, determining the control signal based on the defect position, and enabling the control signal to drive the laser scanning equipment to adjust the corresponding defect position of the scanning view field.

4. The method of claim 3, wherein said determining the control signal based on the difference or defect location comprises:

the control signal indicates a peak value of the adjustment driving voltage to drive the laser scanning device to adjust the field difference or the defect position.

5. The method of claim 4, wherein generating a control signal for a drive mechanism of a laser scanning device based on the scanning signal profile information comprises:

under the condition that the scanning visual field is determined to be narrow at the top and wide at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is gradually decreased;

under the condition that the scanning field of view is determined to be wide at the top and narrow at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is increased step by step;

under the condition that the scanning field of view is determined to be wide from top to bottom and narrow from middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually increased and then gradually decreased;

and under the condition that the scanning field of view is determined to be narrow at the top and the bottom and wide at the middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually reduced and then gradually increased.

6. A laser scanning control apparatus, characterized in that the apparatus comprises:

the device comprises a determining unit, a processing unit and a processing unit, wherein the determining unit is used for acquiring a laser scanning image and determining scanning signal distribution information in the laser scanning image;

a generating unit configured to generate a control signal of a driving mechanism of the laser scanning apparatus based on the scanning signal distribution information;

and the processing unit is used for responding to the control signal, controlling the driving mechanism to drive the laser scanning equipment to collect a laser signal and generating a new laser scanning image.

7. The apparatus of claim 6, wherein the scanning signal distribution information comprises: scanning signal density information;

the generating of the control signal of the driving mechanism of the laser scanning apparatus based on the scanning signal distribution information includes:

generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal density information, wherein the control signal indicates to adjust the slope of the input voltage of different scanning position segments of the laser scanning device.

8. The apparatus according to claim 6 or 7, wherein the generating unit is further configured to:

determining the difference between a scanning view field and a preset scanning view field based on the scanning signal distribution information, and determining the control signal based on the difference so that the control signal drives the laser scanning equipment to adjust the scanning view field to make up the difference between the scanning view field and the preset scanning view field; or

Determining the defect position of a scanning view field based on the scanning signal distribution information, determining the control signal based on the defect position, and enabling the control signal to drive the laser scanning equipment to adjust the corresponding defect position of the scanning view field.

9. The apparatus of claim 8, wherein the control signal instructs to adjust a peak value of the driving voltage to drive the laser scanning device to adjust a field of view difference or a defect location.

10. The apparatus of claim 9, wherein the generating unit is further configured to:

under the condition that the scanning visual field is determined to be narrow at the top and wide at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is gradually decreased;

under the condition that the scanning field of view is determined to be wide at the top and narrow at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is increased step by step;

under the condition that the scanning field of view is determined to be wide from top to bottom and narrow from middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually increased and then gradually decreased;

and under the condition that the scanning field of view is determined to be narrow at the top and the bottom and wide at the middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually reduced and then gradually increased.

11. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the laser scanning control method according to any one of claims 1 to 5.

Technical Field

The present disclosure relates to laser scanning technologies, and in particular, to a method and an apparatus for controlling laser scanning, and a storage medium.

Background

With the development of industrial intelligence, the demands on 3D perception technology, especially laser radar technology, are increasing increasingly in the fields of automatic driving, robot obstacle avoidance, vehicle-road cooperation of smart cities, surveying and mapping and the like. Accordingly, the lidar technology is continuously updated in an iterative manner, the cost is gradually reduced, the production efficiency is gradually improved, and the mass production is gradually carried out. Among the numerous lidar, Micro-Electro-Mechanical systems (MEMS) lidar is popular because of its low cost and stable performance. At present, an MEMS laser radar uses an MEMS galvanometer as a laser beam scanning device, and after scanning signals are converted by a series of optical systems, the scanned laser beams actually cause problems of uneven field distribution, field offset, and the like, thereby causing situations such as reduced resolution of a part of the field, reduced range of a scanning area, and deviation of emergent rays from an effective area.

Disclosure of Invention

In view of the above, embodiments of the present application provide a laser scanning control method and apparatus, and a storage medium.

According to a first aspect of embodiments of the present application, there is provided a laser scanning control method, including:

acquiring a laser scanning image, and determining scanning signal distribution information in the laser scanning image;

generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal distribution information;

and responding to the control signal, controlling the driving mechanism to drive the laser scanning device and generating a new laser scanning image.

In one embodiment, the scan signal distribution information includes: scanning signal density information;

the generating of the control signal of the driving mechanism of the laser scanning apparatus based on the scanning signal distribution information includes:

generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal density information, wherein the control signal indicates to adjust the slope of the input voltage of different scanning position segments of the laser scanning device.

In one embodiment, the generating a control signal of a driving mechanism of a laser scanning apparatus based on the scanning signal distribution information includes:

determining the difference between a scanning view field and a preset scanning view field based on the scanning signal distribution information, and determining the control signal based on the difference so that the control signal drives the laser scanning equipment to adjust the scanning view field to make up the difference between the scanning view field and the preset scanning view field; or

Determining the defect position of a scanning view field based on the scanning signal distribution information, determining the control signal based on the defect position, and enabling the control signal to drive the laser scanning equipment to adjust the corresponding defect position of the scanning view field.

In one embodiment, said determining said control signal based on said difference or defect location comprises:

the control signal indicates a peak value of the adjustment driving voltage to drive the laser scanning device to adjust the field difference or the defect position.

In one embodiment, the generating a control signal of a driving mechanism of a laser scanning apparatus based on the scanning signal distribution information includes:

under the condition that the scanning visual field is determined to be narrow at the top and wide at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is gradually decreased;

under the condition that the scanning field of view is determined to be wide at the top and narrow at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is increased step by step;

under the condition that the scanning field of view is determined to be wide from top to bottom and narrow from middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually increased and then gradually decreased;

and under the condition that the scanning field of view is determined to be narrow at the top and the bottom and wide at the middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually reduced and then gradually increased.

According to a second aspect of embodiments of the present application, there is provided a laser scanning control apparatus, including:

the device comprises a determining unit, a processing unit and a processing unit, wherein the determining unit is used for acquiring a laser scanning image and determining scanning signal distribution information in the laser scanning image;

a generating unit configured to generate a control signal of a driving mechanism of the laser scanning apparatus based on the scanning signal distribution information;

and the processing unit is used for responding to the control signal, controlling the driving mechanism to drive the laser scanning equipment to collect a laser signal and generating a new laser scanning image.

In one embodiment, the scan signal distribution information includes: scanning signal density information;

the generating of the control signal of the driving mechanism of the laser scanning apparatus based on the scanning signal distribution information includes:

generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal density information, wherein the control signal indicates to adjust the slope of the input voltage of different scanning position segments of the laser scanning device.

In one embodiment, the generating unit is further configured to:

determining the difference between a scanning view field and a preset scanning view field based on the scanning signal distribution information, and determining the control signal based on the difference so that the control signal drives the laser scanning equipment to adjust the scanning view field to make up the difference between the scanning view field and the preset scanning view field; or

Determining the defect position of a scanning view field based on the scanning signal distribution information, determining the control signal based on the defect position, and enabling the control signal to drive the laser scanning equipment to adjust the corresponding defect position of the scanning view field.

In one embodiment, the control signal instructs to adjust a peak value of a driving voltage to drive the laser scanning apparatus to adjust a field difference or a defect position.

In one embodiment, the generating unit is further configured to:

under the condition that the scanning visual field is determined to be narrow at the top and wide at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is gradually decreased;

under the condition that the scanning field of view is determined to be wide at the top and narrow at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is increased step by step;

under the condition that the scanning field of view is determined to be wide from top to bottom and narrow from middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually increased and then gradually decreased;

and under the condition that the scanning field of view is determined to be narrow at the top and the bottom and wide at the middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually reduced and then gradually increased.

According to a third aspect of embodiments of the present application, there is provided a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when being executed by a processor, the computer program implements the steps of the laser scanning control method.

In the embodiment of the application, the corresponding adjustment mode is determined according to the laser scanning image output by the laser scanning equipment, and the corresponding control signal is generated based on the adjustment mode, so that the driving mechanism of the laser scanning equipment adjusts the control voltage and the like based on the control signal, thereby improving the detection efficiency of the laser scanning equipment, namely improving the point cloud resolution and the effective distribution area, being beneficial to more accurate object identification based on the laser scanning image and improving the performance of the laser scanning equipment.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1 is a schematic flowchart of a laser scanning control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of the control voltage of the laser scanning apparatus according to the embodiment of the present application;

FIG. 3 is a schematic diagram of a laser scanning image after adjusting a scanning mode according to an embodiment of the present application;

FIG. 4 is a view of an unadjusted scan pattern;

FIG. 5 is another schematic diagram of the control voltage of the laser scanning apparatus according to the embodiment of the present application;

FIG. 6 is another schematic diagram of a laser scanning image after adjusting the scanning mode according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a laser scanning control apparatus according to an embodiment of the present application.

Detailed Description

The essence of the technical solution of the embodiments of the present application is explained in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a laser scanning control method according to an embodiment of the present application, and as shown in fig. 1, the laser scanning control method according to the embodiment of the present application includes the following steps:

step 101, acquiring a laser scanning image, and determining scanning signal distribution information in the laser scanning image.

In the embodiment of the application, when the laser signal scanning is performed through the MEMS laser radar system, whether the corresponding adjustment is performed on the laser scanning device needs to be determined according to the specific situation of the collected laser scanning image, and if the adjustment is required, the scanning mode, the scanning frequency, and the like of the laser scanning device are adjusted through the driving mechanism, so that the quality of the subsequently collected laser scanning image is better.

In the embodiment of the present application, the laser scanning device may be an MEMS galvanometer, and the MEMS galvanometer may also be an MEMS scanning mirror. The MEMS galvanometer can deflect the laser beam under the action of the driving mechanism. The MEMS galvanometers can be divided into single-axis MEMS galvanometers and double-axis MEMS galvanometers according to the number of axes of the MEMS galvanometers. The driving method of the MEMS galvanometer can be classified into electrostatic driving, electromagnetic driving, electrothermal driving and piezoelectric driving.

In the embodiment of the present application, it is specifically determined whether the scanning mode, the state, and the like of the laser scanning device need to be adjusted according to the scanning signal distribution information in the laser scanning image, that is, the sparsity of point cloud data, the intervals between point cloud data, and the like.

And 102, generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal distribution information.

In the embodiment of the present application, the scanning signal distribution information includes: scanning signal density information; generating a control signal of a driving mechanism of a laser scanning apparatus based on the scanning signal distribution information, including: generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal density information, wherein the control signal indicates to adjust the slope of the input voltage of different scanning position segments of the laser scanning device. The scanning signal density information herein mainly refers to the distribution of echo signals in a receiving view in a receiving field, such as whether the distance between scanning signals of each line is consistent, whether the length of the scanning signals of each line is consistent, whether the difference of the slopes of adjacent scanning signals exceeds a threshold value, whether the point cloud data distribution is uniform, and the like.

When the laser scanning device is a single-axis MEMS galvanometer, the slope of the input voltage of the axis of different scanning position sections of the single-axis MEMS galvanometer can be adjusted.

In the embodiment of the application, when the laser scanning device is a two-axis MEMS galvanometer, the slope of the input voltage of one axis of different scanning position segments may be adjusted, or the slopes of the input voltages of two axes of different scanning position segments may be adjusted at the same time. For example, the slope of the Y-axis input voltage for different scan position segments of the laser scanning device may be adjusted; and/or

The control signal is used for adjusting the slope of the X-axis input voltage of different scanning position sections of the laser scanning equipment.

For a two-axis MEMS galvanometer, the X-axis may be the transverse (horizontal) axis of the MEMS galvanometer and the Y-axis may be the longitudinal (vertical) axis of the MEMS galvanometer. The X-axis and the Y-axis may be coordinate axes perpendicular to each other. Furthermore, since the two-axis MEMS galvanometer has two axes of rotation, there are three scanning modes: biaxial resonance, uniaxial resonance/uniaxial non-resonance, biaxial non-resonance.

Fig. 2 is a schematic diagram of control voltages of the MEMS galvanometer according to an embodiment of the present disclosure, and the example is illustrated that the X-axis of the two-axis MEMS galvanometer operates in a resonant mode and the Y-axis of the two-axis MEMS galvanometer operates in a non-resonant mode.

Of course, the two-axis MEMS galvanometer in the embodiments of the present application is not limited to operating in this mode.

As shown in fig. 2, the driving signal of the X axis is a sine wave voltage signal, and the driving signal of the Y axis is a triangular wave voltage signal, wherein the voltage rising interval is a scan interval, and the voltage falling interval is a retrace interval. The swing speed of the MEMS galvanometer can be controlled by adjusting the slopes of the Y-axis driving voltage Vy in different scanning periods. For example, the scanning signal of the laser scanning device may be finally made more uniform (as shown in fig. 3), and of course, the scanning signal may also be made dense in a specific area and sparse in other areas according to actual requirements, which is not specifically limited in this embodiment. In the embodiment of the application, the scanning speed of the laser scanning device can be changed by properly adjusting the slopes of different positions in the rising process of the Vy curve. When the slope is increased, the swing speed of the MEMS galvanometer in the Y-axis direction is increased, and scanning lines are sparser; when the slope is reduced, the swing speed in the Y-axis direction becomes slower, and the scanning lines are denser.

Similarly, the scanning speed of the MEMS galvanometer in the X-axis direction can be changed by adjusting the slope of the X-axis driving voltage Vx in different scanning periods, so that the density of the scanning lines in the X-axis direction can be changed. And will not be described in detail herein.

Of course, the slopes of the driving voltages of the X-axis and the Y-axis in different scanning periods can be adjusted simultaneously, and the scanning rates of the MEMS galvanometers in the X-axis and the Y-axis directions can be changed, so as to change the density of the scanning lines.

In the embodiment of the application, the effective scanning duration of the laser scanning equipment can be improved, the scanning duration of the scanning area is increased, the retrace duration is shortened, the laser scanning equipment scans to form more scanning points in one scanning period, and the detection efficiency is improved.

In the embodiment of the application, the control signal is a related control instruction executed by the MEMS, and the scanning mode of the laser scanning device is controlled by adjusting the operation mode of the MEMS.

In this embodiment of the application, a difference between a scanning view field and a preset scanning view field may be determined based on the scanning signal distribution information, and the control signal is determined based on the difference, so that the control signal drives the laser scanning device to adjust the scanning view field to compensate for the difference with the preset scanning view field; alternatively, as an implementation manner, the defect position of the scanning field of view may be determined based on the scanning signal distribution information, the control signal may be determined based on the defect position, and the control signal may drive the laser scanning device to adjust the corresponding defect position of the scanning field of view.

In the embodiment of the present application, the X-axis operation in the resonant mode and the Y-axis operation in the non-resonant mode in the two-axis MEMS galvanometer are still taken as an example for explanation. FIG. 4 is a schematic view of the scan field of view using a standard sine wave as the X-axis drive voltage and a triangular wave as the Y-axis drive voltage. As shown in fig. 4, after the scanning beam is transformed by the optical series, the widths of the upper and lower parts are different, so that gaps occur between adjacent fields.

In the embodiment of the present application, determining the control signal based on the difference or the defect position includes: the control signal indicates the peak value of the adjustment driving voltage to drive the laser scanning device to adjust the visual field difference or the defect position.

In the embodiment of the present application, the difference between the scan field of view of fig. 4 and the preset scan field of view (e.g., the regular field of view) can be adjusted by the driving voltage shown in fig. 5. As shown in fig. 5, by adjusting the peak power of the operating voltage of the X-axis of the MEMS galvanometer, the voltage range of the effective operating voltage is larger for the bottom scanning field of view, and the voltage range of the effective operating voltage is smaller toward the upper portion of the scanning area, thereby obtaining the field of view adjusted as shown in fig. 6. The scan field of view shown in fig. 6 is significantly modified from that shown in fig. 4, resulting in an adjusted scan field of view having a larger coverage area.

In a specific implementation process, when it is determined that a scanning field of view is narrow at the top and wide at the bottom based on the scanning signal distribution information, only the driving voltage of the horizontal direction adjusting shaft may be adjusted, that is, the control signal is to gradually decrease the peak voltage of the input voltage of the X axis for driving the laser scanning device from top to bottom; under the condition that the scanning field of view is determined to be wide at the top and narrow at the bottom based on the scanning signal distribution information, the control signal is used for driving the laser scanning device to gradually increase the peak voltage of the input voltage of the X axis from top to bottom; under the condition that the scanning field of view is determined to be wide from top to bottom and narrow from middle based on the scanning signal distribution information, the control signal is that the peak voltage of the input voltage of the X axis for driving the laser scanning equipment from top to bottom is gradually increased and then gradually decreased; and under the condition that the scanning field of view is narrow at the top and the bottom and wide at the middle based on the scanning signal distribution information, the control signal is that the peak voltage of the input voltage of the X axis for driving the laser scanning equipment from top to bottom is gradually reduced and then gradually increased.

In the embodiment of the application, the adjustment time interval of the peak voltage of the X-axis input voltage strictly corresponds to the defect existing in the laser scanning image or the position to be adjusted, so that a better field correction effect is achieved.

And 103, responding to the control signal, controlling the driving mechanism to drive the laser scanning device to generate a new laser scanning image.

In the embodiment of the application, the driving mechanism outputs corresponding control voltage and the like based on the control signal to intervene in the scanning mode of the MEMS galvanometer, so that a scanned image formed after passing through the MEMS scanning mirror is more ideal, for example, the scanned image is more uniform, the field distribution is more regular and the like, and the application of object identification, distance measurement and the like based on point cloud data in the scanned image is facilitated.

The adjustment mode of the scanning mode of the MEMS scanning mirror in the embodiment of the application can be mixed for use or can be used independently, and is specifically selected according to the requirement.

Fig. 7 is a schematic structural diagram of a laser scanning control apparatus according to an embodiment of the present application, and as shown in fig. 7, the laser scanning control apparatus according to the embodiment of the present application includes:

a determining unit 40, configured to acquire a laser scanning image and determine scanning signal distribution information in the laser scanning image;

a generating unit 41 for generating a control signal of a driving mechanism of the laser scanning apparatus based on the scanning signal distribution information;

and the processing unit 42 is used for responding to the control signal, controlling the driving mechanism to drive the laser scanning equipment to collect a laser signal and generating a new laser scanning image.

As one implementation, the scanning signal distribution information includes: scanning signal density information;

the generating of the control signal of the driving mechanism of the laser scanning apparatus based on the scanning signal distribution information includes: generating a control signal of a driving mechanism of the laser scanning device based on the scanning signal density information, wherein the control signal indicates to adjust the slope of the input voltage of different scanning position segments of the laser scanning device.

As an implementation manner, the generating unit 41 is further configured to:

determining the difference between a scanning view field and a preset scanning view field based on the scanning signal distribution information, and determining the control signal based on the difference so that the control signal drives the laser scanning equipment to adjust the scanning view field to make up the difference between the scanning view field and the preset scanning view field; or

Determining the defect position of a scanning view field based on the scanning signal distribution information, determining the control signal based on the defect position, and enabling the control signal to drive the laser scanning equipment to adjust the corresponding defect position of the scanning view field.

In one implementation, the control signal instructs to adjust a peak value of the driving voltage, and the laser scanning device is driven to adjust the field difference or the defect position.

As an implementation manner, the generating unit 41 is further configured to:

under the condition that the scanning visual field is determined to be narrow at the top and wide at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is gradually decreased;

under the condition that the scanning field of view is determined to be wide at the top and narrow at the bottom based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning device from top to bottom is increased step by step;

under the condition that the scanning field of view is determined to be wide from top to bottom and narrow from middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually increased and then gradually decreased;

and under the condition that the scanning field of view is determined to be narrow at the top and the bottom and wide at the middle based on the scanning signal distribution information, the control signal indicates that the peak voltage of the input voltage of the horizontal adjusting shaft for driving the laser scanning equipment from top to bottom is gradually reduced and then gradually increased.

In an exemplary embodiment, the determining Unit 40, the generating Unit 41, the Processing Unit 42, and the like may be implemented by one or more Central Processing Units (CPUs), Graphics Processing Units (GPUs), Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic elements.

In the embodiment of the present application, the specific manner in which each unit in the laser scanning control apparatus shown in fig. 7 performs operations has been described in detail in the embodiment related to the method, and will not be described in detail here.

An embodiment of the present application further describes an electronic device, which includes: a processor and a memory for storing processor executable instructions, wherein the processor is configured to be able to perform the steps of the laser scanning control method of the embodiment when the executable instructions in the memory are called.

The embodiment of the present application further describes a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the laser scanning control method.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present invention, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are only illustrative, for example, the division of the unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not present.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.