阅读说明：本技术 扫描模块的电机转速控制方法、装置和测距装置 (Motor rotating speed control method and device of scanning module and distance measuring device ) 是由 陈亚林 董帅 洪小平 于 2019-08-13 设计创作，主要内容包括：一种扫描模块(202)的电机转速控制方法、装置和测距装置(200),所述扫描模块(202)包括第一光学元件(214)和与所述第一光学元件(214)连接的第一电机(216),所述第一电机(216)用于驱动所述第一光学元件(214)旋转,以及第二光学元件(215)和与所述第二光学元件(215)连接的第二电机(217),所述第二电机(217)用于驱动所述第二光学元件(215)旋转,所述控制方法包括：控制所述第一电机(216)的转速变化至第一目标速度(S301)；根据所述第一目标速度控制所述第二电机(217)的转速变化至第二目标速度(S302),其中,所述第一目标速度和所述第二目标速度之间满足预定函数关系。该方法和装置能够有效控制点云的最大空隙在较小的范围内,改善点云点的分布均匀性,从而提升对扫描视场的扫描密度。(A motor rotation speed control method, device and distance measuring device (200) of a scanning module (202), the scanning module (202) comprising a first optical element (214) and a first motor (216) connected with the first optical element (214), the first motor (216) being used for driving the first optical element (214) to rotate, and a second optical element (215) and a second motor (217) connected with the second optical element (215), the second motor (217) being used for driving the second optical element (215) to rotate, the control method comprising: controlling a rotational speed of the first motor (216) to change to a first target speed (S301); controlling the rotation speed of the second motor (217) to change to a second target speed according to the first target speed (S302), wherein the first target speed and the second target speed meet a predetermined functional relationship. The method and the device can effectively control the maximum gap of the point cloud within a small range, improve the distribution uniformity of the point cloud points and further improve the scanning density of a scanning view field.)

A motor speed control method for a scan module, the scan module including a first optical element and a first motor coupled to the first optical element, the first motor being configured to drive the first optical element to rotate, and a second optical element and a second motor coupled to the second optical element, the second motor being configured to drive the second optical element to rotate, the control method comprising:

controlling the rotating speed of the first motor to change to a first target speed;

and controlling the rotating speed of the second motor to change to a second target speed according to the first target speed, wherein the first target speed and the second target speed meet a preset functional relation.

A motor speed control method as claimed in claim 1, characterized by further comprising:

and when the first target speed fluctuates within a first target speed threshold interval, controlling the second target speed to change along with the first target speed according to the preset functional relation so as to enable the maximum gap of the point cloud pattern to be within a threshold range.

A method of controlling the speed of a motor as claimed in claim 1 or claim 2, wherein the predetermined functional relationship comprises a linear functional relationship.

A method of controlling the speed of a motor as claimed in claim 3, wherein said linear function satisfies the following relationship:

the second target speed is substantially the speed of the product of the first target speed and the scaling factor, which is then added to the constant factor.

The motor speed control method according to claim 4,

the scaling factor is negative, wherein the scaling factor comprises a negative number greater than-1, and/or,

the constant factor ranges from 180rpm to 210 rpm.

The motor speed control method of claim 4 wherein the scaling factor comprises-2/3.

The method of claim 2, wherein the scanning module is configured to sequentially change the light beams emitted from the light source to different directions of propagation for emission to form a scanning field of view, and wherein the maximum gap comprises a gap in the point cloud pattern projected on an imaging plane, and the imaging plane is perpendicular to the optical axis of the light source and spaced apart from the light source by a predetermined distance.

A motor speed control apparatus of a scan module, wherein the scan module comprises a first optical element and a first motor connected to the first optical element, the first motor being configured to drive the first optical element to rotate, and a second optical element and a second motor connected to the second optical element, the second motor being configured to drive the second optical element to rotate, the motor speed control apparatus comprising a control module configured to:

controlling the rotating speed of the first motor to change to a first target speed;

and controlling the rotating speed of the second motor to change to a second target speed according to the first target speed, wherein the first target speed and the second target speed meet a preset functional relation.

A motor speed control apparatus as claimed in claim 8, wherein the control module is further configured to:

and when the first target speed fluctuates within a first target speed threshold interval, controlling the second target speed to change along with the first target speed according to the preset functional relation so as to enable the maximum gap of the point cloud pattern to be within a threshold range.

A motor speed control apparatus as claimed in claim 8 or 9, wherein the predetermined functional relationship comprises a linear functional relationship.

A motor speed control apparatus as claimed in claim 10, wherein the linear function relationship satisfies the following relationship:

the second target speed is substantially the speed of the product of the first target speed and the scaling factor, which is then added to the constant factor.

The motor speed control apparatus according to claim 11,

the scaling factor is negative, wherein the scaling factor comprises a negative number greater than-1, and/or,

the constant factor ranges from 180rpm to 210 rpm.

A motor speed control apparatus as claimed in claim 11 wherein said scaling factor comprises-2/3.

The apparatus of claim 9, wherein the scanning module is configured to sequentially change the light beams emitted from the light source to different directions of propagation for emission to form a scanning field of view, and wherein the maximum gap comprises a gap in the point cloud pattern projected on an imaging plane, and the imaging plane is perpendicular to the optical axis of the light source and spaced apart from the light source by a predetermined distance.

A ranging apparatus, comprising:

a light source for emitting a light beam;

the scanning module is used for sequentially changing light beams emitted by the light source to different propagation directions to be emitted to form a scanning field of view, wherein the scanning module comprises a first optical element and a first motor connected with the first optical element, the first motor is used for driving the first optical element to rotate, and a second optical element and a second motor connected with the second optical element are used for driving the second optical element to rotate;

the detector is used for receiving at least part of the light beam emitted by the light source and reflected back by the object and acquiring the distance between the distance detection device and the object according to the received light beam;

a control module to:

controlling the rotating speed of the first motor to change to a first target speed;

and controlling the rotating speed of the second motor to change to a second target speed according to the first target speed, wherein the first target speed and the second target speed meet a preset functional relation.

The ranging apparatus of claim 15, wherein the control module is further configured to:

and when the first target speed fluctuates within a first target speed threshold interval, controlling the second target speed to change along with the first target speed according to the preset functional relation so as to enable the maximum gap of the point cloud pattern to be within a threshold range.

A ranging apparatus as claimed in claim 15 or 16 wherein said predetermined functional relationship comprises a linear functional relationship.

The ranging apparatus of claim 17 wherein said linear functional relationship satisfies the following relationship:

the second target speed is substantially the speed of the product of the first target speed and the scaling factor, which is then added to the constant factor.

The ranging apparatus of claim 18,

the scaling factor is negative, wherein the scaling factor comprises a negative number greater than-1, and/or,

the constant factor ranges from 180rpm to 210 rpm.

The ranging apparatus of claim 18 wherein said scaling factor comprises-2/3.

The ranging apparatus as claimed in claim 15, wherein the maximum space comprises a space in the point cloud pattern projected on an imaging plane, the imaging plane being a plane perpendicular to an optical axis of the light source and spaced apart from the light source by a predetermined distance.