阅读说明：本技术 测距装置及其扫描机构、控制方法、可移动平台 (Distance measuring device, scanning mechanism thereof, control method and movable platform ) 是由 龙承辉 刘万启 赵进 何欢 于 2019-01-09 设计创作，主要内容包括：一种测距装置及其扫描机构、控制方法、可移动平台,该扫描机构(3)包括：多个光学元件(31)；多个电机(32),与多个光学元件(31)相对应,电机(32)具有中空的转子,光学元件(31)安装在对应电机的转子上；和一个控制器(331),控制器(331)控制多个电机(32)；或多个控制器(331),至少一个控制器(331)控制至少两个电机(32)；当一个控制器(331)控制至少两个电机(32)时,控制器(331)基于第一同步控制策略控制至少两个电机(32)以预定角度差转动；当一个控制器(331)控制一个电机(32)时,控制器(331)基于第二同步控制策略控制电机(32)与其他至少一个电机(32)以预定角度差转动。采用不同的控制策略控制多个电机(32)以预定角度差转动,实现多个电机(32)的位置同步,减小多个光学元件(31)之间的角度差的波动。(A distance measuring device, a scanning mechanism thereof, a control method and a movable platform, wherein the scanning mechanism (3) comprises: a plurality of optical elements (31); a plurality of motors (32) corresponding to the plurality of optical elements (31), the motors (32) having hollow rotors, the optical elements (31) being mounted on the rotors of the corresponding motors; and a controller (331), the controller (331) controlling the plurality of motors (32); or a plurality of controllers (331), at least one controller (331) controlling at least two motors (32); when one controller (331) controls the at least two motors (32), the controller (331) controls the at least two motors (32) to rotate by a predetermined angular difference based on a first synchronous control strategy; when one controller (331) controls one motor (32), the controller (331) controls the motor (32) to rotate with a predetermined angular difference from the other at least one motor (32) based on the second synchronous control strategy. And controlling the motors (32) to rotate at a preset angle difference by adopting different control strategies, so that the position synchronization of the motors (32) is realized, and the fluctuation of the angle difference among the optical elements (31) is reduced.)

A scanning mechanism for a range finder apparatus, the scanning mechanism comprising:

a plurality of optical elements;

a plurality of motors corresponding to the plurality of optical elements, the motors including hollow rotors, the optical elements being mounted on the rotors of the corresponding motors; and

a controller, said controller controlling a plurality of said motors; or

A plurality of controllers, at least one controller controlling at least two of the motors;

when one controller controls at least two motors, the controller controls the at least two motors to rotate by a predetermined angle difference based on a first synchronous control strategy;

when one controller controls one motor, the controller controls the motor to rotate with the predetermined angular difference from at least one other motor based on a second synchronous control strategy.

The scanning mechanism as claimed in claim 1, wherein the first synchronization control strategy comprises: the controller can acquire the real-time rotation angle of each motor and correct the position of each motor according to the real-time rotation angle of each motor and the preset target rotation speed of each motor.

The scanning mechanism as claimed in claim 2, wherein the controller determines a target angle of each motor according to a preset target rotation speed of each motor; determining the angle error of each motor according to the real-time rotation angle of each motor and the target angle of each motor; and correcting the position of each motor according to the angle error of the motor.

The scanning mechanism as claimed in claim 3, wherein the controller corrects the position of each motor based on the first trigger condition.

The scanning mechanism as claimed in claim 4, wherein the first trigger condition includes a preset time interval over which the controller corrects the position of each motor.

The scanning mechanism as claimed in claim 4, wherein the target angle of each motor is determined according to a preset target rotation speed of the motor, the preset time interval and a real-time rotation angle of the motor at the last time of position correction.

The scanning mechanism as claimed in claim 1, wherein the second synchronization control strategy comprises:

one of the controller and the controller of at least one other motor is used as a master controller, and the other controller is used as a slave controller, and the master controller sends a trigger signal to the slave controller based on a second trigger condition to adjust the control parameter of the slave controller.

The scanning mechanism as claimed in claim 7, wherein when the master controller determines that the real-time rotation angle of the motor controlled by the master controller is the first angle, a trigger signal is sent to the slave controller.

The scanning mechanism according to claim 7, wherein when the slave controller receives the trigger signal, the slave controller adjusts the control parameters of the slave controller according to the real-time angle of the motor controlled by the slave controller and a preset strategy to adjust the rotation angle of the motor controlled by the slave controller, so that the motor controlled by the slave controller and the motor controlled by the master controller rotate by the predetermined angle difference.

The scan mechanism of claim 9, wherein the slave controller adjusts the rotation angle of the motor controlled by the slave controller according to a real-time angle of the motor controlled by the slave controller, a real-time rotation angle of the motor controlled by the master controller when based on a trigger condition, and a predetermined angle difference.

A scanning mechanism according to claim 2, 8 or 9, wherein the real time rotational angle of the motor is determined based on motor control signals sent to the motor by a controller controlling the motor.

The scanning mechanism as claimed in claim 7, further comprising a clock source module, said clock source module being in communication with said master controller and said slave controller, respectively;

the clock source module generates clock signals and sends the clock signals to the master controller and the slave controller, so that the master controller and the slave controller realize time synchronization.

The scan mechanism of claim 12, wherein said clock source module comprises a crystal oscillator.

The scanning mechanism of claim 1, wherein said motor is a brushless motor.

The scanning mechanism according to claim 1, wherein when the controller includes a plurality of motors, a part of the motors are controlled by the independent controllers, and each set of motors of another part of the motors is controlled by a common controller; or

Each group of motors is controlled by a common controller;

wherein each set of motors comprises at least two motors.

A scanning mechanism according to claim 1, 14 or 15, further comprising electronic governors, the number of which is the same as the number of controllers provided on the respective electronic governors, the electronic governors being fixed to the housing of the motor controlled by the respective controller.

The scanning mechanism of claim 16, wherein the electronic governor includes a control interface, the rotor has a control end, the control interface of the electronic governor is adjacent to the control end of the rotor of the corresponding motor, and the control interface is connected to the corresponding control end by a wire.

The scanning mechanism of claim 1, wherein said optical element comprises at least one of: lens, reflector, prism, vibrating mirror, grating, liquid crystal and optical phased array.

A distance measuring device is characterized by comprising a shell, a distance measuring module, a scanning mechanism and a main control circuit, wherein the distance measuring module is used for transmitting an optical pulse sequence and receiving the optical pulse sequence reflected by a detected object; wherein the scanning mechanism comprises:

a plurality of optical elements;

a plurality of motors corresponding to the plurality of optical elements, the motors having hollow rotors, the optical elements being mounted on the rotors of the corresponding motors; and

a controller, said controller controlling a plurality of said motors; or

A plurality of controllers, at least one controller controlling at least two of the motors;

the master control circuit is used for controlling the controller to work;

when one controller controls at least two motors, the controller controls the at least two motors to rotate by a predetermined angle difference based on a first synchronous control strategy;

when one controller controls one motor, the controller controls the motor to rotate with the predetermined angular difference from at least one other motor based on a second synchronous control strategy.

The ranging apparatus as claimed in claim 19, wherein the first synchronization control strategy comprises: the controller can acquire the real-time rotation angle of each motor and correct the position of each motor according to the real-time rotation angle of each motor and the preset target rotation speed of each motor.

A ranging apparatus as claimed in claim 20 wherein the controller determines a target angle for each motor based on a predetermined target speed for each motor; determining the angle error of each motor according to the real-time rotation angle of each motor and the target angle of each motor; and correcting the position of each motor according to the angle error of the motor.

A ranging apparatus as claimed in claim 21 wherein the controller modifies the position of each motor based on the first trigger condition.

A ranging apparatus as claimed in claim 22 wherein the first trigger condition comprises a predetermined time interval over which the controller modifies the position of each motor.

The range finder device of claim 22, wherein the target angle of each motor is determined according to a preset target rotation speed of the motor, the preset time interval and a real-time rotation angle of the motor at the last position correction.

The ranging apparatus of claim 19, wherein the second synchronization control strategy comprises:

one of the controller and the controller of at least one other motor is used as a master controller, and the other controller is used as a slave controller, and the master controller sends a trigger signal to the slave controller based on a second trigger condition to adjust the control parameter of the slave controller.

A ranging apparatus as claimed in claim 25 wherein the master controller sends a trigger signal to the slave controller when it determines that the real time rotation angle of the motor controlled by the master controller is the first angle.

The ranging apparatus as claimed in claim 25, wherein when the slave controller receives the trigger signal, the slave controller adjusts the control parameter of the slave controller according to the real-time angle of the motor controlled by the slave controller and a preset strategy to adjust the rotation angle of the motor controlled by the slave controller, so that the motor controlled by the slave controller and the motor controlled by the master controller rotate by the predetermined angle difference.

The ranging apparatus as claimed in claim 27, wherein the slave controller adjusts the rotation angle of the motor controlled by the slave controller according to a real-time angle of the motor controlled by the slave controller, a real-time rotation angle of the motor controlled by the master controller when based on a trigger condition, and a predetermined angle difference.

A ranging apparatus as claimed in claim 20, 26 or 27 wherein the real time angle of rotation of the motor is determined based on motor control signals sent to the motor by a controller controlling the motor.

The range finder device of claim 25, wherein the scanning mechanism further comprises a clock source module, the clock source module being in communication with the master controller and the slave controller, respectively;

the clock source module generates clock signals and sends the clock signals to the master controller and the slave controller, so that the master controller and the slave controller realize time synchronization.

The range finder device of claim 30, wherein the clock source module comprises a crystal oscillator; or

The control circuit is used as the clock source module.

A ranging device as claimed in claim 19, characterized in that the motor is a brushless motor.

A ranging apparatus as claimed in claim 19 wherein when the controller comprises a plurality of the motors, part of the motors are controlled by separate controllers and each group of motors of the other part of the motors are controlled by a common controller; or

Each group of motors is controlled by a common controller;

wherein each set of motors comprises at least two motors.

A ranging apparatus as claimed in claim 19, 32 or 33 wherein the scanning mechanism further comprises electronic speed regulators the number of which is the same as the number of controllers provided on the respective electronic speed regulators, the electronic speed regulators being fixed to the housings of the motors controlled by the respective controllers.

The ranging apparatus as claimed in claim 34, wherein the electronic speed regulator comprises a control interface, the rotor is provided with a control end, the control interface of the electronic speed regulator is adjacent to the control end of the rotor of the corresponding motor, and the control interface is connected with the corresponding control end through a wire.

A ranging apparatus as claimed in claim 19 wherein the optical element comprises at least one of: lens, reflector, prism, vibrating mirror, grating, liquid crystal and optical phased array.

The ranging apparatus as claimed in claim 19, further comprising:

the position detection devices correspond to the optical elements and are respectively and directly electrically coupled with the main control circuit;

the main control circuit determines the rotating position of the corresponding optical element according to the collected data of the position detection devices; and judging the working state of the corresponding motor according to the rotating position of each optical element.

The range finder device of claim 37, wherein the main control circuit turns off the range finding module when determining that the corresponding motor is in an abnormal state according to the rotation position of the optical element.

A ranging device as claimed in claim 37 or 38 wherein the position detecting means comprises a measuring module having a code disc with an opening for fitting over a rotor of the corresponding motor and at least one light switch;

and the at least one optical switch is directly electrically coupled with the main control circuit, and is matched with the code disc and used for detecting the rotating position of the corresponding motor.

The range finder device of claim 39 wherein said code wheel is equally divided circumferentially into a plurality of successive detection groups, including a first detection group and a plurality of second detection groups, wherein the first detection group comprises a first light-transmitting region and a first non-light-transmitting region, and each of the second detection groups comprises a second light-transmitting region and a second non-light-transmitting region, and wherein the first light-transmitting region has a different width than the second light-transmitting region.

A ranging device as claimed in claim 19, characterized in that the ranging device is a radar ranging device.

A movable platform is characterized by comprising a platform main body and a distance measuring device arranged on the platform main body, wherein the distance measuring device comprises a shell, a distance measuring module, a scanning mechanism and a main control circuit, wherein the distance measuring module is used for transmitting an optical pulse sequence and receiving the optical pulse sequence reflected by a detected object, the scanning mechanism is used for changing the propagation direction of at least one path of optical pulse sequence emitted by a transmitting circuit and then emitting the optical pulse sequence, and the main control circuit is fixed on the shell; wherein the scanning mechanism comprises:

a plurality of optical elements;

a plurality of motors corresponding to the plurality of optical elements, the motors having hollow rotors, the optical elements being mounted on the rotors of the corresponding motors; and

a controller, said controller controlling a plurality of said motors; or

A plurality of controllers, at least one controller controlling at least two of the motors;

the master control circuit is used for controlling the controller to work;

when one controller controls at least two motors, the controller controls the at least two motors to rotate by a predetermined angle difference based on a first synchronous control strategy;

when one controller controls one motor, the controller controls the motor to rotate with the predetermined angular difference from at least one other motor based on a second synchronous control strategy.

The movable platform of claim 42, wherein the first synchronization control strategy comprises: the controller can acquire the real-time rotation angle of each motor and correct the position of each motor according to the real-time rotation angle of each motor and the preset target rotation speed of each motor.

The movable platform of claim 43, wherein the controller determines a target angle for each motor based on a preset target speed for each motor; determining the angle error of each motor according to the real-time rotation angle of each motor and the target angle of each motor; and correcting the position of each motor according to the angle error of the motor.

The movable platform of claim 44, wherein the controller corrects the position of each motor based on a first trigger condition.

The movable platform of claim 45, wherein the first trigger condition comprises a preset time interval over which the controller modifies the position of each motor.

The movable platform of claim 45, wherein the target angle of each motor is determined according to a preset target rotation speed of the motor, the preset time interval and a real-time rotation angle of the motor at the last time of position correction.

The movable platform of claim 42, wherein the second synchronization control strategy comprises:

one of the controller and the controller of at least one other motor is used as a master controller, and the other controller is used as a slave controller, and the master controller sends a trigger signal to the slave controller based on a second trigger condition to adjust the control parameter of the slave controller.

The movable platform of claim 48, wherein the master controller sends a trigger signal to the slave controller when it determines that the real-time rotation angle of the motor controlled by the master controller is a first angle.

The movable platform of claim 48, wherein when the slave controller receives the trigger signal, the slave controller adjusts control parameters of the slave controller according to a real-time angle of the motor controlled by the slave controller and a preset strategy to adjust a rotation angle of the motor controlled by the slave controller, so that the motor controlled by the slave controller and the motor controlled by the master controller rotate by the predetermined angle difference.

The movable platform of claim 50, wherein the slave controller adjusts the rotation angle of the motor controlled by the slave controller based on the real-time angle of the motor controlled by the slave controller, the real-time rotation angle of the motor controlled by the master controller based on a triggering condition, and a predetermined angular difference.

The movable platform of claim 43, 49 or 50 wherein the real-time rotational angle of the motor is determined based on motor control signals sent to the motor by a controller controlling the motor.

The movable platform of claim 48, wherein the scanning mechanism further comprises a clock source module in communication with the master controller and the slave controller, respectively;

the clock source module generates clock signals and sends the clock signals to the master controller and the slave controller, so that the master controller and the slave controller realize time synchronization.

The movable platform of claim 53, wherein the clock source module comprises a crystal oscillator; or

The control circuit is used as the clock source module.

The movable platform of claim 42, wherein the motor is a brushless motor.

The movable platform of claim 42, wherein when the controller comprises a plurality of motors, some of the motors are controlled by separate controllers and each set of motors of another portion of the motors are controlled by a common controller; or

Each group of motors is controlled by a common controller;

wherein each set of motors comprises at least two motors.

The movable platform of claim 42, 55, or 56, wherein the scanning mechanism further comprises electronic governors, the number of electronic governors being the same as the number of controllers provided on the respective electronic governors, the electronic governors being fixed to a housing of a motor controlled by the respective controller.

The movable platform of claim 57, wherein the electronic governor includes a control interface, the rotor has a control end, the control interface of the electronic governor is adjacent to the control end of the rotor of the corresponding motor, and the control interface is connected to the corresponding control end by a wire.

The movable platform of claim 42, wherein the optical element comprises at least one of: lens, reflector, prism, vibrating mirror, grating, liquid crystal and optical phased array.

The movable platform of claim 42, wherein the ranging apparatus further comprises:

the position detection devices correspond to the optical elements and are respectively and directly electrically coupled with the main control circuit;

the main control circuit determines the rotating position of the corresponding optical element according to the collected data of the position detection devices; and judging the working state of the corresponding motor according to the rotating position of each optical element.

The movable platform of claim 60, wherein the distance measuring module is turned off when the main control circuit determines that the corresponding motor is in an abnormal state according to the rotation position of the optical element.

The movable platform of claim 60 or 61, wherein the position detection device comprises a measuring module having a code wheel with an opening for fitting over a rotor of the corresponding motor and at least one optical switch;

and the at least one optical switch is directly electrically coupled with the main control circuit, and is matched with the code disc and used for detecting the rotating position of the corresponding motor.

The movable platform of claim 62, wherein the code wheel is divided circumferentially into a plurality of successive sensing groups, including a first sensing group and a plurality of second sensing groups, wherein the first sensing group includes a first light transmissive region and a first non-light transmissive region, and each of the second sensing groups includes a second light transmissive region and a second non-light transmissive region, the first light transmissive region having a different width than the second light transmissive region.

The movable platform of claim 42, wherein the ranging device is a radar ranging device.

The control method of the distance measuring device is characterized in that the distance measuring device comprises a master controller and a slave controller, wherein the master controller and the slave controller respectively control a motor; the method comprises the following steps:

acquiring a real-time rotation angle of a motor controlled by a main controller;

and if the real-time rotation angle of the motor controlled by the master controller meets a second trigger condition, sending a trigger signal to a slave controller to adjust the control parameters of the slave controller, so that the motor controlled by the master controller and the motor controlled by the slave controller rotate at a preset angle difference.

The method of claim 65, wherein determining that the real-time rotational angle of the motor controlled by the master controller satisfies a second triggering condition comprises:

and determining the real-time rotation angle of the motor controlled by the main controller as a first angle.

The method of claim 65, wherein the real-time rotational angle of the motor controlled by the master controller is determined based on motor control signals sent by the master controller.

The method of claim 65, further comprising:

receiving a clock signal;

and carrying out time synchronization according to the clock signal.

The method of claim 68, wherein the clock signal is generated by a crystal oscillator or a master control circuit of the ranging device.

The control method of the distance measuring device is characterized in that the distance measuring device comprises a master controller and a slave controller, wherein the master controller and the slave controller respectively control a motor; the method comprises the following steps:

when a trigger signal sent by a master controller is received, acquiring a real-time angle of a motor controlled by a slave controller;

and adjusting the control parameters of the slave controller according to the real-time angle of the motor controlled by the slave controller and a preset strategy so as to adjust the rotation angle of the motor controlled by the slave controller, so that the motor controlled by the slave controller and the motor controlled by the master controller rotate at a preset angle difference.

The method of claim 70, wherein adjusting the control parameters of the slave controller according to the real-time angle of the motor controlled by the slave controller and a preset strategy comprises:

and adjusting the control parameters of the slave controller according to the real-time angle, the first angle and the target angle difference of the motor controlled by the slave controller.

The method of claim 70 wherein the real-time rotational angle of the motor controlled by the slave controller is determined based on motor control signals sent from the slave controller.

The method of claim 70, further comprising:

receiving a clock signal;

and carrying out time synchronization according to the clock signal.

The method of claim 73, wherein the clock signal is generated by a crystal oscillator or a master control circuit of the ranging device.