Rotating mirror laser radar, jitter compensation module, jitter compensation method and electronic equipment

Abstract

The present application provides a rotating mirror laser radar, including a transceiver module for transmitting and receiving light beams; a rotating mirror for deflecting the receiving and transmitting direction of the light beam to achieve scanning detection of the field of view; an auxiliary pattern for indicating the rotation angle of the rotating mirror; a camera module for collecting the detection image of the auxiliary pattern; a jitter compensation module, including a detection position determination unit, a compensation amount calculation unit and a compensation execution unit, the detection position determination unit is used to determine the current preset detection position of the transceiver module, the compensation amount calculation unit is used to calculate the detection position compensation amount corresponding to the jitter of the rotating mirror according to the position offset of the currently acquired detection image compared to the auxiliary pattern template, and the compensation execution unit is used to compensate the preset detection position corresponding to the current rotation angle of the rotating mirror according to the detection position compensation amount, so as to obtain the detection position actually corresponding to the currently detected distance information. The present application also provides a jitter compensation module, method, and electronic device.

Description

Technical Field

[0001] The present application relates to the field of laser radar, and in particular to a rotating mirror laser radar, a jitter compensation module, a jitter compensation method and an electronic device. Background Art

[0002] LiDAR is a radar system that emits a light beam to detect the position, speed and other characteristic quantities of a target. Rotating mirror LiDAR is one type of LiDAR. Rotating mirror LiDAR mainly deflects the light beam by rotating the mirror to achieve scanning sensing of the entire field of view. However, during the detection process, the mirror may vibrate due to acceleration from the external environment, causing the light beam to deviate from the originally designed optical path, resulting in a deviation between the detected point cloud data and the originally set position information. Summary of the invention

[0003] In view of this, the present application provides a rotating mirror laser radar, a jitter compensation module, a jitter compensation method and an electronic device, which can compensate for the errors in point cloud data caused by rotating mirror jitter, thereby improving the accuracy of rotating mirror laser radar detection.

[0004] In a first aspect, the present application provides a rotating mirror laser radar, which includes a transceiver module, a rotating mirror, an auxiliary pattern arranged on the rotating mirror, a camera module, and a jitter compensation module; wherein the transceiver module is used to transmit and receive light beams to detect corresponding distance information; the rotating mirror is used to deflect the receiving and transmitting direction of the light beam to achieve scanning detection of the field of view; the auxiliary pattern is used to indicate the rotation angle of the rotating mirror; the camera module is used to collect a detection image of the auxiliary pattern during the rotation of the rotating mirror; the jitter compensation module includes a detection position determination unit, a compensation amount calculation unit and The compensation execution unit is used to determine the preset detection position corresponding to the currently detected distance information according to the rotation angle of the rotating mirror indicated by the auxiliary pattern on the detection image; the compensation amount calculation unit is used to calculate the detection position compensation amount corresponding to the shaking of the rotating mirror according to the position offset of the currently acquired detection image compared with the auxiliary pattern template acquired when the rotating mirror is not shaking; the compensation execution unit is used to compensate the preset detection position corresponding to the current rotation angle of the rotating mirror according to the detection position compensation amount, so as to obtain the detection position actually corresponding to the currently detected distance information.

[0005] In a second aspect, the present application provides an electronic device, which includes a main body and a rotating mirror laser radar arranged on the main body.

[0006] In a third aspect, the present application provides a jitter compensation module, which is a jitter compensation module in a rotating mirror laser radar.

[0007] In a fourth aspect, the present application provides a jitter compensation method, comprising: acquiring a detection image of an auxiliary pattern to obtain a real-time detection image, the auxiliary pattern being arranged on a rotating mirror of the rotating mirror laser radar, and the auxiliary pattern being used to indicate the rotation angle of the rotating mirror; determining a preset detection position corresponding to the currently detected distance information according to the rotating mirror rotation angle indicated by the auxiliary pattern on the real-time detection image; calculating a detection position compensation amount corresponding to the jitter of the rotating mirror according to a position offset of the currently acquired real-time detection image compared to an auxiliary pattern template acquired when the rotating mirror is not jittering; and compensating the detection position set corresponding to the current rotation angle of the rotating mirror according to the detection position compensation amount to obtain the detection position actually corresponding to the currently detected distance information.

[0008] This application uses auxiliary patterns on the camera and the rotating mirror to detect jitter of the rotating mirror and dynamically compensate for the detection information of the rotating mirror laser radar, thereby reducing the radar system's requirements for the rotating mirror jitter and achieving high-quality point cloud output. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A schematic diagram of an electronic device provided in an embodiment of the present application.

[0010] Figure 2 A schematic diagram of the structure of a rotating mirror laser radar provided in an embodiment of the present application.

[0011] Figure 3 A schematic diagram of the structure of the transceiver module provided in an embodiment of the present application.

[0012] Figure 4 This is a schematic structural diagram of the rotating mirror provided in the first embodiment of the present application.

[0013] Figure 5 A schematic diagram of a global image of an auxiliary pattern provided in the first embodiment of the present application.

[0014] Figure 6 A schematic diagram of the shaking of the rotating mirror provided in an embodiment of the present application.

[0015] Figure 7 A schematic diagram of a detection image of a rotating mirror shaking is provided for the first embodiment of the present application.

[0016] Figure 8 A schematic diagram of the structure of a jitter compensation module provided in an embodiment of the present application.

[0017] Fig. 9 A schematic diagram of determining the rotation angle of a rotating mirror provided in an embodiment of the present application.

[0018] Fig.10 A schematic diagram of the structure of a rotating mirror provided in the second embodiment of the present application.

[0019] Fig.11 This is a schematic structural diagram of a rotating mirror provided in the third embodiment of the present application.

[0020] Fig.12 This is a schematic diagram of the structure of the rotating mirror provided in the fourth embodiment of the present application.

[0021] Fig.13 A schematic diagram of an auxiliary pattern provided in the fourth embodiment of the present application.

[0022] Fig.14 A schematic diagram of another auxiliary pattern provided in the fourth embodiment of the present application.

[0023] Fig.15 A flowchart of a jitter compensation method provided in an embodiment of the present application.

[0024] Fig.16 A schematic diagram showing distance information provided in an embodiment of the present application using spherical coordinates.

[0025] The numbers in the figure are as follows:

[0026] Electronic device-1; rotating mirror laser radar-10; main body-20; storage medium-30; processor-40; rotating mirror-11; transceiver module-12; camera module-13; auxiliary pattern-14; jitter compensation module-15; transmitter-120; receiver-122; processing module-124; rotating mirror body-110; rotating shaft-112; bearing-114; motor-116; top-1101; bottom-1102; side-1103; rotating hole-1104; top end of rotating shaft-1120; bottom end of rotating shaft-1122; bearing hole-1140; pointing mark-140; offset mark block-141; auxiliary pattern template-1400a; detection image-1400b; detection position determination unit-150; compensation calculation unit-151; compensation execution unit-152; auxiliary arrow-160; detection arrow-190. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] It should be noted that the descriptions involving "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0030] Please see Figure 1 The present application provides an electronic device 1, which may be, but is not limited to, a mobile phone, a car, a robot, an access control / monitoring system, a smart door lock, an unmanned vehicle, a drone, etc. The electronic device 1 includes a main body 20 and a rotating mirror laser radar 10 disposed on the main body 20. The electronic device 1 implements corresponding functions according to the three-dimensional information obtained by the rotating mirror laser radar 10.

[0031] The electronic device 1 may further include a storage medium 30, which may support the data storage needs of the electronic device 1 and / or the rotating mirror laser radar 10 during operation. The storage medium 30 may be one or more. In some embodiments, the storage medium 30 is disposed in the storage medium 30 inside the rotating mirror laser radar 10. In some embodiments, the storage medium 30 is only disposed inside the electronic device 1, and is not limited to being disposed inside the rotating mirror laser radar 10.

[0032] The electronic device 1 may further include a processor 40, which may provide support for the data processing requirements of the electronic device 1 and / or the rotating mirror laser radar 10 during operation. The processor 40 may be one or more. In some embodiments, the processor 40 may be disposed inside the electronic device 1. In some embodiments, the processor 40 may be disposed inside the electronic device 1, and is not limited to being disposed inside the rotating mirror laser radar 10.

[0033] The rotating mirror laser radar 10 is a device for sensing obstacles or a device for detecting the distance of a target object. The rotating mirror laser radar 10 can scan the surrounding environment by rapidly and repeatedly emitting light beams to obtain point cloud data reflecting the three-dimensional information of the surrounding environment. The rotating mirror laser radar 10 can also process the point cloud data through software algorithms to obtain a point cloud map. More specifically, the rotating mirror laser radar 10 can detect three-dimensional information of target objects in the field of view space. The field of view space can be defined as the three-dimensional space range in which the rotating mirror laser radar 10 can effectively detect three-dimensional information, which can also be called the field of view angle or field of view range of the rotating mirror laser radar 10.

[0034] The three-dimensional information is, for example, but not limited to, one or more of the proximity information of the target object, the depth information of the surface of the target object, the distance information of the target object, and the spatial coordinate information of the target object. The three-dimensional information can be used in 3D modeling, identity recognition, autonomous driving, machine vision, monitoring, drone control, augmented reality (AR) / virtual reality (VR), simultaneous localization and mapping (SLAM), object proximity judgment, and other fields, which are not limited in this application.

[0035] Taking a sweeping robot as an example, a rotating mirror laser radar 10 is set in the sweeping robot. The rotating mirror laser radar 10 can scan the surrounding environment by quickly and repeatedly emitting light beams to obtain point cloud data reflecting the three-dimensional information of the surrounding environment. Specifically, the rotating mirror laser radar 10 emits a light beam to the surrounding environment, and receives the echo light beam reflected by each object in the surrounding environment. By calculating the time delay (i.e., the flight time) between the emission time of the light beam and the time when the echo light beam is received and sensed, the distance / depth information of each object is determined. At the same time, the rotating mirror laser radar 10 can also determine the angle information of the light beam emitted to the field of view, and combine the distance / depth information of each object with the emission angle of the light beam corresponding to the information to generate a three-dimensional map including each object in the scanned surrounding environment, and use the three-dimensional map to guide the movement of the sweeping robot.

[0036] Optionally, in some embodiments, the rotating mirror laser radar 10 can be, for example, a dToF measurement device that performs three-dimensional information sensing based on the direct time of flight (dToF) principle. The dToF measurement device can emit a light beam in the field of view space and receive the light beam reflected back from the target object in the field of view space. The time difference between the emission time and the reception time of the reflected light beam is called the flight time t of the light beam. The three-dimensional information of the target object can be obtained by calculating half of the distance traveled by the light beam in the flight time t. , where c is the speed of light.

[0037] In some other embodiments, the rotating mirror laser radar 10 can also be an indirect time of flight (iToF) measurement device that performs three-dimensional information sensing based on the iToF measurement principle. The iToF measurement device obtains the three-dimensional information of the target object by comparing the phase difference between the light beam when it is emitted and when it is reflected back and received.

[0038] In the following embodiments of the present application, the rotating mirror laser radar 10 is mainly used as an example for description as a dToF ranging device.

[0039] Please see Figure 2 , Figure 2 The structure of the rotating mirror laser radar 10 of the first embodiment is shown. The rotating mirror laser radar 10 includes a rotating mirror 11, a transceiver module 12, a camera module 13, an auxiliary pattern 14, and a jitter compensation module 15. In this embodiment, the auxiliary pattern 14 is arranged on the rotating mirror 11. The camera module 13 is arranged above the rotating mirror 11, and the field of view angle covers at least a part of the auxiliary pattern 14. The transceiver module 12 is used to transmit and receive light beams to detect distance information at a preset detection position corresponding to the transmitting and receiving directions. The rotating mirror 11 is used to deflect the transmitting and receiving direction of the light beam to realize scanning detection of the field of view range to obtain detection information of the field of view range, and the detection information includes distance information and a preset detection position corresponding to the distance information. The auxiliary pattern 14 is used to indicate the rotation angle of the rotating mirror 11. Among them, the rotating mirror laser radar 10 uses the camera module 13 to collect the auxiliary pattern 14, and the jitter compensation module 15 determines whether the rotating mirror 11 is shaking according to the collected auxiliary pattern 14, and when the rotating mirror 11 is shaking, it calculates the detection position offset caused by the shaking of the rotating mirror 11, and then compensates for the preset detection position corresponding to the currently detected distance information, so as to achieve the purpose of jitter compensation. The field of view angle is the angle formed by the two edges of the maximum field of view range that can be captured by the camera module 13 with the lens as the vertex, that is, the scene range that the camera module 13 can capture in the horizontal and vertical directions.

[0040] The following will specifically describe the composition and working principle of each component of the rotating mirror laser radar 10, as well as the collaborative work between the components, so as to describe in detail how the rotating mirror laser radar 10 specifically implements jitter compensation.

[0041] Please see Figure 3 , the transceiver module 12 is used to emit a light beam to the field of view and receive a light beam returned from the field of view. In some embodiments, the light beam can be, for example, a plurality of laser pulses emitted in sequence. Optionally, the light beam can also be visible light, infrared light, or near-infrared light, and the wavelength range is, for example, 390 nanometers (nm)-780 nm, 700 nm-1400 nm, 800 nm-1000 nm, 900 nm-1600 nm, etc. The following is an example of a plurality of laser pulses emitted in sequence. Specifically, the transceiver module 12 includes a transmitter 120, a receiver 122, and a processing module 124.

[0042] The transmitter 120 is configured to emit laser pulses (light beams) in a preset time sequence, and is configured to emit light beams to the field of view space to perform three-dimensional information detection on the target object in the field of view space, wherein part of the light beam will be reflected back by the target object to form a light beam echo.

[0043] The receiver 122 is configured to sense photons from the field of view and output corresponding light sensing signals. It should be understood that the light signals sensed by the receiver 122 may include photons reflected by the target object in the field of view (light beam echo) and photons of ambient light in the field of view.

[0044] The processing module 124 is configured to analyze and process the light sensing signal to obtain the moment when the light beam echo is sensed by the receiver 122, for example: based on the time-correlated single photon counting (TCSPC) technology, the light sensing signal is processed and analyzed to obtain the moment when the light beam echo is sensed by constructing a photon counting histogram. On this basis, the processing module 124 is also configured to obtain the distance information of the target object according to the time difference between the emission moment of the light beam and the moment when the reflection is sensed. In this embodiment, the detection information of the field of view is three-dimensional information, including distance information and detection position information corresponding to the distance information. The following is an example of expressing the detection information in spherical coordinates, such as Fig.16As shown, the distance information is the radial distance r in spherical coordinates. The preset detection position corresponding to the distance information is represented by the azimuth angle α and the polar angle θ in spherical coordinates. The radial distance r is the straight-line distance from the origin to the detection point. The azimuth angle α is the angle from the X axis to the projection of the line connecting the detection point and the origin on the XY plane; the polar angle θ is the angle from the Z axis to the line connecting the detection point and the origin. It can be understood that the jitter of the rotating mirror 11 includes translation and rotation. When the rotating mirror 11 is translated, the direction of the light beam does not change, only the translation occurs. In addition, in the design specification of the rotating mirror laser radar 10, the translation space of the rotating mirror 11 is 127 um (5 wires), which is equivalent to a translation of <127 um at the target end. Even if the rotating mirror 11 shakes and causes the rotating mirror 11 to shift in the horizontal direction, the error can be ignored; when the rotating mirror 11 rotates, due to the influence of external acceleration and other factors, the rotating mirror 11 will rotate as a whole, which will cause the light path to deflect, and the actual detection position will obviously deviate from the preset detection position. In other words, the jitter compensation in this embodiment is mainly to compensate for the detection information error caused by the static deflection of the rotating mirror 11. In the above embodiment in which the detection information is represented by spherical coordinates, the jitter compensation is to compensate for the detection position offset (i.e., polar angle θ) in the vertical direction caused by the jitter of the rotating mirror 11.

[0045] Optionally, in some other embodiments, the processing module 124 can also perform three-dimensional information sensing based on the indirect Time of Flight (iToF) measurement principle, and obtain the three-dimensional information of the target object by comparing the phase difference when the light beam is emitted and when it is reflected back and received.

[0046] Optionally, in some other embodiments, the processing module 124 can also perform three-dimensional information sensing based on the frequency modulated continuous wave (FMCW) measurement principle, by interfering the return light and the transmitted light, and using the mixing detection technology to measure the frequency difference between the sending and receiving, and then converting the three-dimensional information of the target object through the frequency difference.

[0047] The processing module 124 may be disposed on the rotating mirror laser radar 10. It should be understood that in some other embodiments, all or part of the functional units of the processing module 124 may also be disposed outside the rotating mirror laser radar 10 but located on the electronic device 1.

[0048] Furthermore, the specific working process of the transceiver module 12 is as follows: the light beam is emitted to the field of view range, and as the rotating mirror 11 rotates, the light beam is emitted to the field of view partitions located at different orientations within the field of view range in a time-divided manner according to a preset scanning method. Thus, the transceiver module 12 can emit multiple light beam pulses to each field of view partition respectively according to the corresponding preset time sequence through the rotating mirror 11, and analyze the time distribution of the sensed light signal to obtain the detection information of the field of view partition. This process can be regarded as a field of view partition detection period, and after scanning multiple field of view partitions one by one in sequence, it is regarded as completing a frame of data detection for the entire field of view range, and the distance information of all field of view partitions in the entire field of view range can be obtained accordingly, thereby constructing a frame of detection data for the entire field of view range. It can be understood that each frame of data includes the distance information of each position in different orientations, and the orientation is determined according to the rotation angle of the rotating mirror 11. Therefore, the position corresponding to the distance information detected by the transceiver module 12 can be determined according to the rotation angle of the rotating mirror 11 and the preset scanning method, which is hereinafter referred to as the preset detection position of the transceiver module 12.

[0049] like Figure 3 As shown, in some embodiments, the transceiver module 12 is a coaxial transceiver, that is, the optical paths of the transmitting light beam and the receiving light beam overlap. It is understandable that in some other embodiments, the transceiver module 12 is a paraxial transceiver, that is, the transmitting light path and the receiving light path are two parallel light paths and do not overlap.

[0050] Please refer to Figure 4 The rotating mirror 11 includes a rotating mirror body 110, a rotating shaft 112, a bearing 114, and a motor 116. The motor 116 is connected to the rotating shaft 112, and the rotating shaft 112 is rigidly connected to the center of the rotating mirror body 110 through the bearing 114. The motor 116 is used to drive the rotating shaft 112 to rotate and translate, so as to drive the rotating mirror 11 to rotate and translate.

[0051] In this embodiment, the rotating mirror body 110 is a polyhedron, and the rotating mirror body 110 includes a top 1101, a bottom 1102, a side 1103 located between the top 1101 and the bottom 1102, and a rotating hole 1104 passing through the top 1101 and the bottom 1102. The light beam emitted by the transceiver module 12 is reflected to the field of view through the side 1103.

[0052] The rotating shaft 112 passes through the top 1101 and the bottom 1102 of the rotating mirror body 110 and is rigidly connected to the rotating mirror body 110. The rotating shaft 112 is a cylinder, including a rotating shaft top 1120 and a rotating shaft bottom 1122 that are arranged opposite to each other. The rotating shaft top 1120 of the rotating shaft 112 is located on the same side as the top 1101 of the rotating mirror body 110, and the rotating shaft bottom 1122 is located on the same side as the bottom 1102 of the rotating mirror body 110. The rotating shaft 112 can be the output shaft of the motor 116, or it can be connected to the output shaft of the motor 116 and exist independently of the output shaft of the motor 116. The motor 116 drives the rotating mirror body 110 to rotate around the rotating shaft 112 through the rotating shaft 112.

[0053] The middle position of the top 1101 and the middle position of the bottom 1102 are respectively provided with bearings 114. The bearing 114 has a bearing hole 1140 in the middle, and the diameter of the bearing hole 1140 is larger than the diameter of the rotating shaft 112. The rotating shaft 112 passes through the rotating hole 1104 and the top 1101 and the bottom 1102 are exposed at both ends, and the two ends are fixed to the bearings 114 at the top 1101 and the bottom 1102 through the bearing holes 1140, so that the rotating shaft 112 is rigidly connected to the rotating mirror body 110, and the two ends of the rotating shaft 112 pass through the bearings 114 respectively to expose the top end 1120 and the bottom end 1122 of the rotating shaft. There is a gap between the rotating shaft 112 and the bearing 114, so when the rotating mirror 11 shakes, the rotating shaft 112 translates or rotates in the gap.

[0054] Please see Figure 5 , Figure 5 The auxiliary pattern 14 provided in the first embodiment is shown. The auxiliary pattern 14 can be set on the rotating mirror 11 by drawing, printing, etc., and the auxiliary pattern 14 is used to indicate the rotation angle of the rotating mirror 11. Among them, the auxiliary pattern 14 is relatively stationary with the rotating mirror 11. In some embodiments, the auxiliary pattern 14 is provided with a pointing mark 140 and a plurality of offset marking blocks 141. The pointing direction of the pointing mark 140 is used to indicate the rotation angle of the rotating mirror 11. Each offset marking block 141 is used to provide a reference point for calculating the position offset. According to the current pointing direction of the pointing mark 140, the current rotation angle of the rotating mirror 11 can be determined. The pointing mark 140 is, for example, an arrow with a tip pointing outward. The offset marking block 141 is used to provide a reference point for calculating the position offset. Multiple offset marking blocks 141 are arranged around the pointing mark 140, and are combined with the pointing mark 140 to jointly determine the rotation angle of the rotating mirror 11. The offset marking block 141 is an arc-shaped block with four tips. It can be understood that in some feasible embodiments, the auxiliary pattern 14 can also be provided with only the pointing mark 140 and the offset marking block 141 is omitted.

[0055] like Figure 2As shown, in this embodiment, the auxiliary pattern 14 is disposed on the surface of the rotating shaft top end 1120 of the rotating shaft 112 .

[0056] The camera module 13 is arranged above the top end 1120 of the rotating shaft to obtain a detection image 1400b of the auxiliary pattern 14 rotating with the rotating shaft 112. In this embodiment, the field of view of the camera module 13 completely covers the auxiliary pattern 14, that is, the pointing mark 140 and the plurality of offset mark blocks 141 can be captured by the camera module 13 as the detection image 1400b (e.g. Figure 5 as shown).

[0057] Please see Figure 6 and Figure 7 , Figure 6 The relationship diagram of the rotating mirror 11 when it is not shaking and when it is shaking is shown. When the rotating mirror laser radar 10 is initialized, the camera module 13 collects the image of the auxiliary pattern 14 of the rotating mirror 11 without shaking as the auxiliary pattern template 1400a. When the rotating mirror laser radar 10 is working, the camera module 13 starts to work to collect the image of the auxiliary pattern 14 and obtain the detection image 1400b. In this embodiment, the camera module 13 is in a working state when the rotating mirror laser radar 10 is working. The camera module 13 uses a high-speed camera, which can accurately monitor and compensate the rotating mirror 11. The camera is set above the auxiliary pattern 14, which is convenient for the camera to identify and monitor the angular position of the deflection of the rotating mirror 11. The camera module 13 includes a camera, a camera, etc.

[0058] Figure 7 The diagram schematically shows the relationship between the auxiliary pattern template 1400a and the currently acquired detection image 1400b, that is, the camera module 13 collects the auxiliary pattern 14 without shaking and shaking to obtain the auxiliary pattern template 1400a and the detection image 1400b.

[0059] The following uses the static offset jitter during the rotation of the rotating mirror 11 as an example to illustrate how to use the camera and the auxiliary pattern 14 to calculate the position offset of the rotating mirror 11 in the vertical direction, and then use the position offset of the rotating mirror 11 in the vertical direction to perform jitter compensation.

[0060] When the rotating mirror 11 rotates without shaking, the position of the rotating mirror 11 is not offset. Therefore, the detection image 1400b and the auxiliary pattern template 1400a currently obtained by the camera module 13 overlap.

[0061] When the rotating mirror 11 shakes while rotating, the direction of the rotating mirror 11 in the vertical direction will deflect, and the offset angle is θ, that is, the angle between 112a and 112b in the figure. It can be understood that the light E reflected by the side 1103 also produces a deflection angle θ. In other words, the preset detection position corresponding to the distance information currently detected by the transceiver module 12 will also have the same position offset, which will cause an error in the detection position corresponding to the distance information actually detected by the transceiver module 12. Therefore, it is necessary to perform jitter compensation on the preset detection position. Correspondingly, the detection image 1400b currently obtained by the camera module 13 has a corresponding position offset relative to the auxiliary pattern template 1400a, that is, the position of the detection image 1400b and the auxiliary pattern template 1400a do not overlap, so that the position relationship between the detection image 1400b and the auxiliary pattern template 1400a can be used to perform jitter compensation on the corresponding preset detection position. The following will describe in detail how to use the positional relationship between the detection image 1400b and the auxiliary pattern template 1400a to achieve jitter compensation of the corresponding detection position.

[0062] Please refer to Figure 8 The jitter compensation module 15 is respectively connected to the camera module 13 and the transceiver module 12 for communication, and is used to obtain the currently acquired detection image 1400b and the auxiliary pattern template 1400a from the camera module 13 to compensate for the preset detection position corresponding to the current rotation angle of the rotating mirror 11. Specifically, the jitter compensation module 15 includes a detection position determination unit 150, a compensation calculation unit 151, and a compensation execution unit 152.

[0063] Please refer to Fig. 9 The detection position determination unit 150 is used to determine the preset detection position corresponding to the currently detected distance information according to the rotation angle of the rotating mirror 11 indicated by the detection image 1400b. In this embodiment, the detection position determination unit 150 pre-sets the corresponding relationship between the detection image 1400b and the rotation angle of the rotating mirror 11 in different directions of the pointing mark 140. The detection position determination unit 150 can confirm the rotation angle of the rotating mirror 11 according to the pointing mark 140 of the auxiliary pattern 14 on the detection image 1400b, and then confirm the detected distance information and the corresponding preset detection position through the rotation angle of the rotating mirror 11.

[0064] Please see again Figure 7 The compensation calculation unit 151 is used to calculate the detection position compensation amount corresponding to the shaking of the rotating mirror 11 according to the position offset between the currently acquired detection image 1400b and the auxiliary pattern template 1400a. In this embodiment, the compensation amount calculation unit 151 calculates the position offset amount according to a preset formula. The preset formula is: ,in, represents the position offset, D represents the length of the rotation axis 112, and θ represents the offset angle of the rotation axis 112 in the vertical direction. The position offset can be obtained by calculating the position difference between the multiple pairs of reference points corresponding to the pointing mark 140 and the offset mark block 141 in the detection image 1400b and the auxiliary pattern template 1400a. More specifically, the position offset is obtained by averaging the differences between the multiple pairs of reference points. . In this embodiment, a pair of reference points of the pointing marker 140 can be taken as two points formed by the tip of the pointing marker 140 in the detection image 1400b and the auxiliary pattern template 1400a. Each pair of reference points of each offset identification block 141 can be taken as two points formed by each sharp point in the detection image 1400b and the auxiliary pattern template 1400a. The rotating mirror laser radar 10 is in static deflection, that is, the angles of deviation of the emitted light beam and the received light beam of the rotating mirror 11 in one ranging cycle are the same, that is, the position offset of the rotating mirror 11 is equal to the detection position compensation, that is, the compensation is θ=0.36°.

[0065] The compensation execution unit 152 is used to compensate the preset detection position corresponding to the current rotation angle of the rotating mirror 11 according to the detection position compensation amount, so as to obtain the detection position actually corresponding to the detected distance information. Specifically, the compensation execution unit 152 compensates the spatial coordinates of the detection position according to the detection position compensation amount. More specifically, when the detection image 1400b is an image when the rotating mirror 11 is offset in the positive direction in the vertical direction, after compensation, the polar angle of the actually corresponding detection position is the sum of the polar angle of the preset detection position and the compensation amount θ. It can be understood that when the rotating mirror 11 is offset in the negative direction in the vertical direction, after compensation, the polar angle of the actually corresponding detection position is the difference between the polar angle of the preset detection position and the compensation amount θ.

[0066] Since the detection position includes angle information for indicating the position of the distance information in the field of view. The detection position compensation amount is used to compensate for the angle information. In the present embodiment, the position of the distance information in the field of view is represented by spherical coordinates, and the corresponding angle information includes the azimuth angle and the polar angle. The detection position compensation amount is used to compensate for the angle of the polar angle of the distance information in the field of view. The detection position compensation amount is 0.72°, and then the angle compensation of the polar angle corresponding to the offset direction of the detection image 1400b relative to the auxiliary pattern template 1400a is 0.72°, thereby obtaining the detection position actually corresponding to the currently detected distance information. The above detection position is described in spherical coordinates, which is only an example and is not limited here.

[0067] Please see Fig.10 , Fig.10The schematic diagram of the rotating mirror 11a provided in the second embodiment is different from the rotating mirror 11 provided in the first embodiment in that the auxiliary pattern 14 is arranged on the top 1101 surface of the rotating mirror body 110, and the center of the auxiliary pattern 14 coincides with the center of the top 1101 surface. In addition, the camera module 13 is arranged above the top 1101 surface of the rotating mirror body 110, and is used to obtain an image of at least a portion of the angle mark on the auxiliary pattern 14 as a detection image 1400b.

[0068] Please see Fig.11 , Fig.11 Schematic diagram of the rotating mirror 11 b provided in the third embodiment. The rotating mirror 11 b provided in the third embodiment is different from the rotating mirror 11 a provided in the second embodiment in that the center of the auxiliary pattern 14 deviates from the center of the top 1101 surface.

[0069] Please see Fig.12 and Fig.13 , Fig.12 A schematic diagram of a rotating mirror 11c provided in the fourth embodiment. Fig.13 It is an enlarged view of the auxiliary pattern 14 of the rotating mirror 11c. The difference between the rotating mirror 11c and the rotating mirror 11a provided in the second embodiment is that the pattern of the auxiliary pattern 14 is different. Specifically, the pointing mark 140 in this embodiment is replaced by an angle mark. The angle marks are arranged in sequence along the periphery of the surface of the top 1101. In addition, the camera module 13 is arranged above the surface of the top 1101 of the rotating mirror body 110. In this embodiment, the angle mark is an angle scale. The camera module 13 can capture the entire or a part of the angle scale to know the current rotation angle of the rotating mirror 11c, and can also calculate the detection position compensation by comparing the offset of the angle scale. It can be understood that in this embodiment, when the compensation calculation unit 151 calculates the compensation amount, only the acquired detection image 1400b is different, more specifically, the pointing mark 140 is different, and the calculation method of the compensation calculation unit 151 is not changed. Therefore, it is not repeated here. In this embodiment, the use of angle identification can reduce the field angle requirement for the camera module 13, which is beneficial to reducing hardware costs. In addition, more accurate rotation angle information of the rotating mirror 11c can be obtained through the angle identification.

[0070] Please see Fig.14 In some feasible embodiments, the angle identifier may also be an angle code.

[0071] It can be understood that the auxiliary patterns 14 in the above embodiments are only examples, and the auxiliary patterns 14 in the embodiments can be interchanged or the elements in the auxiliary patterns 14 can be combined arbitrarily; in addition, the auxiliary patterns 14 can use more different patterns, that is, the auxiliary patterns 14 are not limited here. In addition, in the rotating mirror laser radar 10, the jitter compensation module 15 can be used as a module alone, or it can be integrated in the transceiver module 12, the camera module 13, or any module in the electronic device 1.

[0072] In the above-mentioned embodiments, jitter detection can be performed through the rotating mirror 11 and dynamic jitter compensation can be performed on the detection information of the rotating mirror laser radar 10, thereby reducing the radar system's requirements for the jitter of the rotating mirror 11 and achieving high-quality point cloud output.

[0073] Please see Fig.15 , Fig.15 The jitter compensation method provided in the first embodiment of the present application is applied to the above-mentioned rotating mirror laser radar 10. The specific structure of the rotating mirror laser radar 10 has been described above and will not be repeated here. The jitter compensation method includes steps S200 to S400.

[0074] Step S200, according to the rotation angle of the rotating mirror 11 indicated by the auxiliary pattern 14 on the real-time detection image 1400b, a preset detection position corresponding to the currently detected distance information is determined. Specifically, the corresponding relationship between the detection image 1400b and the rotation angle of the rotating mirror 11 in different directions of the pointing mark 140 is preset. The detection position determination unit 150 can confirm the rotation angle of the rotating mirror 11 according to the pointing mark 140 of the auxiliary pattern 14 on the currently acquired detection image 1400b, and then the detected distance information and the corresponding preset detection position can be confirmed by the rotation angle of the rotating mirror 11.

[0075] Step S300, based on the position offset of the currently acquired real-time detection image 1400b compared to the position offset of the auxiliary pattern template 1400a acquired when the rotating mirror 11 is not shaking, calculate the detection position compensation amount corresponding to the shaking of the rotating mirror. In this embodiment, the compensation amount calculation unit 151 calculates the detection position compensation amount according to a preset formula. The preset formula is: ,in, represents the position offset, D represents the length of the rotation axis 112, and θ represents the offset angle of the rotation axis 112 in the vertical direction. The position offset can be obtained by calculating the position difference between the multiple pairs of reference points corresponding to the pointing mark 140 and the offset mark block 141 in the detection image 1400b and the auxiliary pattern template 1400a. More specifically, the position offset is obtained by averaging the differences between the multiple pairs of reference points. . In this embodiment, a pair of reference points of the pointing mark 140 can be taken as two points formed by the tip of the pointing mark 140 in the detection image 1400b and the auxiliary pattern template 1400a. Each pair of reference points of each offset identification block 141 can be taken as two points formed by each sharp point in the detection image 1400b and the auxiliary pattern template 1400a. In other words, the detection position compensation amount is the offset angle of the rotation axis 112 in the vertical direction. For example, the distance between the top of the current auxiliary arrow 160 and the top of the detection arrow 190 is 127um, and the direction in which the top of the real-time detection arrow 190 points to the top of the auxiliary arrow 160 is counterclockwise, that is, the position offset of the real-time detection image 1400b relative to the auxiliary pattern template 1400a The length D of the rotating shaft 112 is 40 mm, and the deflection angle =0.36°. The rotating mirror laser radar 10 is in static deflection, that is, the angles of the emitted light beam and the received light beam of the rotating mirror 11 are the same in one ranging cycle, that is, the position offset of the rotating mirror 11 is equal to the detection position compensation, that is, the compensation is θ=0.36°.

[0076] Step S400, compensating the currently measured detection position according to the compensation amount to obtain the current actual detection position of the transceiver module 12. Specifically, step S400 compensates the vertical angle in the detection position according to the compensation amount. More specifically, when the detection image 1400b is an image when the rotating mirror 11 is offset in the positive direction of the vertical direction, after compensation, the polar angle of the detection position actually corresponding to the detection position is the sum of the polar angle of the preset detection position and the compensation amount θ. It can be understood that when the rotating mirror 11 is offset in the negative direction of the vertical direction, after compensation, the polar angle of the detection position actually corresponding to the detection position is the difference between the polar angle of the preset detection position and the compensation amount θ. Since the detection position includes angle information for indicating the position of the distance information in the field of view. The detection position compensation amount is used to compensate for the angle information. In this embodiment, the position of the distance information in the field of view is represented by spherical coordinates, and the corresponding angle information includes azimuth and polar angle. The detection position compensation amount is used to compensate for the angle of the polar angle of the position of the distance information in the field of view. The detection position compensation amount is 0.72°, and then 0.72° is compensated according to the polar angle corresponding to the offset direction of the detection image 1400b relative to the auxiliary pattern template 1400a, so as to obtain the detection position actually corresponding to the currently detected distance information. The above detection position is described in spherical coordinates, which is only an example and is not limited here. Through the back-end jitter detection and dynamic compensation, the radar system's requirements for the jitter of the rotating mirror 11 are reduced, and high-quality point cloud output is achieved. The above detection position is described in spherical coordinates, which is only an example and is not limited here.

[0077] The above-mentioned jitter compensation method can perform jitter detection on the rotating mirror 11 and dynamic jitter compensation on the detection information of the rotating mirror laser radar 10, thereby reducing the radar system's requirements for the jitter of the rotating mirror 11 and achieving high-quality point cloud output.

[0078] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0079] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, a process or function according to an embodiment of the present application is generated in whole or in part. The computer device may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instruction may be stored in a computer-readable storage medium 30, or transmitted from a computer-readable storage medium 30 to another computer-readable storage medium 30, for example, the computer instruction may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium 30 may be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0080] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0081] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the unit is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0082] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0083] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can exist separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0084] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium 30. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium 30, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium 30 includes: U disk, mobile hard disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0085] It should be noted that the serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. And the terms "including", "comprising" or any other variants thereof herein are intended to cover non-exclusive inclusion, so that the process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, device, article or method including the element.

[0086] Obviously, a person skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations.

[0087] The above are only preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the protection scope of the present application.

Claims

1. A rotating mirror laser radar, characterized in that: include: A transceiver module, used for transmitting and receiving light beams to detect corresponding distance information; A rotating mirror, used for deflecting the sending and receiving direction of the light beam to achieve scanning detection of the field of view; An auxiliary pattern is arranged on the rotating mirror; the auxiliary pattern is used to indicate the rotation angle of the rotating mirror; A camera module, used for collecting a detection image of the auxiliary pattern during the rotation of the rotating mirror; A jitter compensation module, comprising a detection position determination unit, a compensation amount calculation unit and a compensation execution unit; the detection position determination unit is used to determine a preset detection position corresponding to the currently detected distance information according to the rotation angle of the rotating mirror indicated by the auxiliary pattern on the detection image; The compensation amount calculation unit is used to calculate the detection position compensation amount corresponding to the shaking of the rotating mirror according to the position offset of the currently acquired detection image compared to the position of the auxiliary pattern template acquired when the rotating mirror is not shaking, and the compensation execution unit is used to compensate the preset detection position corresponding to the current rotation angle of the rotating mirror according to the detection position compensation amount, so as to obtain the detection position actually corresponding to the currently detected distance information; The detection position includes angle information for indicating the position of the distance information in the field of view, and the detection position compensation amount is used to compensate for the angle information.

2. The rotating mirror laser radar according to claim 1, characterized in that: The position of the distance information in the field of view is represented by spherical coordinates, and the corresponding angle information includes an azimuth angle and a polar angle. The detection position compensation amount is used to compensate for the polar angle of the position of the distance information in the field of view.

3. The rotating mirror laser radar according to any one of claims 1 to 2, characterized in that: The rotating mirror includes a rotating mirror body and a rotating shaft rigidly connected to the rotating mirror body; the rotating mirror laser radar drives the rotating mirror to rotate by driving the rotating shaft, and the detection position compensation amount is related to the offset angle of the rotating shaft caused by shaking.

4. The rotating mirror laser radar according to claim 3, characterized in that: The compensation amount calculation unit calculates the detection position compensation amount according to a preset formula, and the preset formula is: ,in, represents the position offset, D represents the length of the rotation axis, and θ represents the offset angle of the rotation axis.

5. The rotating mirror laser radar according to claim 1, characterized in that: The auxiliary pattern is provided with a pointing mark, the direction of the pointing mark is used to indicate the rotation angle of the rotating mirror, and the detection position determination unit determines the rotation angle of the rotating mirror according to the direction of the pointing mark.

6. The rotating mirror laser radar according to claim 5, characterized in that: The rotating mirror includes a rotating mirror body and a rotating axis. The rotating mirror body includes a top, a bottom, and a side surface between the top and the bottom. The light beam emitted by the transceiver module is reflected from the side surface to the field of view. The rotating axis passes through the top and the bottom and is rigidly connected to the rotating mirror body. The rotating axis includes a top and a bottom end that are relatively arranged. The top end of the rotating axis is located on the same side as the top of the rotating mirror body, and the bottom end of the rotating axis is located on the same side as the bottom of the rotating mirror body. The auxiliary pattern is arranged on the surface of the top end of the rotating axis. The camera module is arranged above the top end of the rotating axis to obtain a detection image of the auxiliary pattern rotating with the rotating axis.

7. The rotating mirror laser radar according to claim 5, characterized in that: The rotating mirror includes a rotating mirror body and a rotating axis. The rotating mirror body includes a top, a bottom, and a side surface located between the top and the bottom. The rotating axis passes through the top and the bottom of the rotating mirror body to drive the rotating mirror body to rotate. The light beam emitted by the transceiver module is reflected from the side to the field of view. The auxiliary pattern is arranged on the top surface of the rotating mirror body. The center of the auxiliary pattern coincides with the center of the top surface of the rotating mirror body. The rotating axis passes through the pointing mark. The camera module is arranged above the rotating mirror body to obtain the overall image of the auxiliary drawing as the rotating mirror body rotates as the detection image.

8. The rotating mirror laser radar according to claim 5, characterized in that: The rotating mirror includes a rotating mirror body and a rotating axis. The rotating mirror body includes a top, a bottom, and a side surface located between the top and the bottom. The rotating axis passes through the top and the bottom of the rotating mirror body to drive the rotating mirror body to rotate. The light beam emitted by the transceiver module is reflected from the side to the field of view. The auxiliary pattern is arranged on the top surface of the rotating mirror body, and the center of the auxiliary pattern deviates from the center of the top surface of the rotating mirror body. The camera module is arranged above the rotating mirror body to obtain the overall image of the auxiliary pattern rotating with the rotating mirror body as a detection image.

9. The rotating mirror laser radar according to claim 5, characterized in that: The auxiliary pattern further includes a plurality of offset identification blocks, which are arranged around the pointing identification and are used to provide reference points for calculating the position offset.

10. The rotating mirror laser radar according to claim 1, characterized in that: The rotating mirror includes a rotating mirror body and a rotating axis, the rotating mirror body includes a top, a bottom, and a side surface located between the top and the bottom, the rotating axis passes through the top and the bottom of the rotating mirror body to drive the rotating mirror body to rotate, the light beam emitted by the transceiver module is reflected from the side to the field of view, the auxiliary pattern is arranged on the top surface of the rotating mirror body, the center of the auxiliary pattern coincides with the center of the top surface, the auxiliary pattern includes angle marks arranged in sequence along the periphery of the top surface, and the angle mark is used to indicate the rotation angle of the rotating mirror; the camera module is arranged above the top surface of the rotating mirror body, and is used to obtain an image of at least a part of the angle mark on the auxiliary pattern as the detection image.

11. The rotating mirror laser radar according to claim 10, characterized in that: The angle identifier is an angle scale or an angle code.

12. An electronic device, characterized in that: The electronic device includes a main body, and a rotating mirror laser radar as described in any one of claims 1 to 11 arranged on the main body.

13. A jitter compensation module, characterized in that: The jitter compensation module is a jitter compensation module in a rotating mirror laser radar as described in any one of claims 1 to 11.

14. A jitter compensation method applied to the jitter compensation module according to claim 13, characterized in that: The rotating mirror laser radar deflects the light beams emitted and received by the transceiver module through the rotating mirror to scan and detect the distance information of the field of view. The jitter compensation method includes the following steps: Collecting a detection image of an auxiliary pattern to obtain a real-time detection image, wherein the auxiliary pattern is arranged on a rotating mirror of the rotating mirror laser radar, and the auxiliary pattern is used to indicate a rotation angle of the rotating mirror; Determine a preset detection position corresponding to the currently detected distance information according to the rotation angle of the rotating mirror indicated by the auxiliary pattern on the real-time detection image; Calculate the detection position compensation amount corresponding to the shaking of the rotating mirror according to the position offset of the current real-time detection image compared with the position offset of the auxiliary pattern template obtained when the rotating mirror is not shaking; The preset detection position corresponding to the current rotation angle of the rotating mirror is compensated according to the detection position compensation amount to obtain the detection position actually corresponding to the currently detected distance information.

15. The jitter compensation method according to claim 14, wherein: The compensation amount calculation unit calculates the detection position compensation amount according to a preset formula, and the preset formula is: ,in, represents the position offset, D represents the length of the rotation axis, Indicates the offset angle of the rotation axis.

Images