A laser radar multi-motor composite rotation angular momentum offset structure and adjustment method

Abstract

The present invention discloses a laser radar multi-motor composite rotation angular momentum offset structure and adjustment method, wherein the multi-motor composite rotation angular momentum offset structure includes a radar base, a horizontal turntable, a laser transceiver module, a rotating mirror module, a reverse rotation module and a vibration measurement and control module. The reverse rotation module includes a driven motor and a counterweight load. The rotation direction of the driven motor is opposite to that of the active motor in the rotating mirror module to compensate for the angular momentum of the active motor rotation to the horizontal turntable coordinate system. The vibration measurement and control module includes an inertial measurement unit, an embedded processor and a driven motor drive circuit. The inertial measurement unit is installed on the radar base. The embedded processor is connected to the inertial measurement unit electrical signal and drives the driven motor to reverse through the driven motor drive circuit. Through the adaptive adjustment method, the rotation speed of the driven motor is adjusted to eliminate the vibration caused by angular acceleration during the operation of the laser radar, thereby improving the stability of the radar.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a laser radar multi-motor composite rotational angular momentum compensation structure and an adjustment method. Background Art

[0002] The composite rotating mirror 3D laser radar changes the scanning angle of the laser beam by rotating the polygonal reflector to cover the required field of view. It has the advantages of large field of view, simple structure, high reliability and low cost. By adjusting the rotating mirror speed, the rotating mirror 3D laser radar can generate 3D point clouds of different densities to meet the needs of unmanned forklifts, AGVs, humanoid robots and other equipment under different working conditions, including navigation, obstacle avoidance and target recognition.

[0003] The vibration elimination of the composite rotating mirror 3D laser radar is an issue that cannot be ignored: the obvious mechanical vibration of the composite rotating mirror 3D laser radar when the rotation speed ratio of each composite axis during the rotation process will affect the scanning accuracy and stability of the laser radar and the customer experience, and may also shorten the service life of the laser radar. For example, for the laser radar that realizes 3D scanning through a horizontal turntable combined with a rotating mirror, since the motor driving the horizontal turntable and the motor driving the rotating mirror are placed perpendicular to each other, a double gyro effect will be generated, and its vibration amplitude and frequency will change with the change of the speed ratio of the two motors. How to eliminate the radar vibration has become a thorny issue.

[0004] For traditional single-axis radars, the general method to eliminate vibrations during radar operation is to adjust the mass distribution of rotating parts to reduce or even eliminate the unbalanced moment or torque generated during their rotation. Common adjustment methods include: 1. De-weighting / weighting method, which is to appropriately remove or add a portion of material on the rotating parts to change their mass distribution; 2. Automatic adjustment method, which uses sensors to monitor the imbalance of rotating parts in real time, uses micro motors or electromagnets as actuators, drives the counterweights to move, and automatically adjusts the mass distribution of rotating parts. However, the de-weighting / weighting method can only compensate for fixed-size imbalances, and is not suitable for composite-axis laser radars that introduce periodic vibrations due to the gyro effect; the automatic adjustment method using micro motors or electromagnets as actuators has a certain degree of adaptability, but the adjustment range is still small. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-motor compound rotational angular momentum cancellation structure and a corresponding adjustment method to compensate for the vibration caused by the dual-motor gyro effect when the rotating mirror speed changes, thereby ensuring the performance and life of the 3D laser radar and significantly reducing the cost of traditional 3D laser radar.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A laser radar multi-motor composite rotation angular momentum offset structure, comprising:

[0008] Radar base;

[0009] A horizontal turntable, comprising a spindle motor vertically arranged on a radar base, and a horizontal turntable coaxially connected to the spindle motor;

[0010] The laser transceiver module is installed on the horizontal turntable, and can emit laser beams in different optical paths to the rotating mirror module and recover its signals;

[0011] The rotating mirror module comprises a motor bracket, an active motor and a reflecting prism, wherein the motor bracket is fixed on the horizontal rotating platform, the active motor is arranged on the motor bracket, the reflecting prism is coaxially connected with the active motor and rotates around a horizontal axis under the driving of the active motor;

[0012] A reverse rotation module, comprising a driven motor and a counterweight load, wherein the driven motor is rotatably fixed on a motor bracket, and the counterweight load is connected to the driven motor so as to follow the rotation, the driven motor is coaxial with the driving motor, and the rotation direction of the driven motor is opposite to that of the driving motor, so as to compensate for the angular momentum of the driving motor rotation on the horizontal turntable coordinate system;

[0013] The vibration measurement and control module includes an inertial measurement unit, an embedded processor and a slave motor drive circuit. The inertial measurement unit is installed on the radar base. The embedded processor is connected to the inertial measurement unit by electrical signals, and is also connected to the slave motor by electrical signals through the slave motor drive circuit.

[0014] A method for adjusting a laser radar multi-motor composite rotation angular momentum offset structure, comprising:

[0015] Step S1: Based on the dynamic model of the active motor, the reflective prism, the driven motor and the counterweight load, a composite rotation angular momentum balance equation during the operation of the 3D laser radar is established;

[0016]

[0017] In the formula, is the configuration speed of the active motor, is the moment of inertia of the active motor and the reflective prism fixed on it, is the speed of the driven motor, is the moment of inertia of the driven motor and the counterweight load fixed thereon;

[0018] Step S2: The angular acceleration of the horizontal turntable during the operation of the 3D laser radar is collected in real time by the inertial measurement unit installed on the radar base to determine whether the overall operation of the 3D laser radar is stable. If the 3D laser radar is determined to be running smoothly, there is no need to adjust the speed of the driven motor. If the 3D laser radar is determined to be running with fluctuations, the process of adjusting the speed of the driven motor is entered;

[0019] Step S3: According to the established composite rotational angular momentum balance equation, the speed of the driven motor is adjusted to offset the composite rotational angular momentum during the operation of the 3D laser radar and maintain the balance of the 3D laser radar operation.

[0020] Preferably, in step S2, the angular acceleration collected in real time by the inertial measurement unit includes the angular accelerations in two orthogonal directions of the horizontal turntable parallel to the radar base, specifically the angular acceleration in the x direction. and the angular acceleration in the y direction , the collected angular acceleration is sent to the embedded processor for status judgment. If the collected angular acceleration fluctuates slightly around zero, it is judged that the 3D laser radar is in a stable state and there is no need to adjust the angular speed of the driven motor; if there is a certain fluctuation in the angular acceleration in the x-direction and the angular acceleration in the y-direction, it is judged that there is fluctuation in the operation of the 3D laser radar. When it is judged that there is fluctuation in the operation of the 3D laser radar, the process of adjusting the speed of the driven motor is entered.

[0021] Preferably, in step S2, in order to more accurately determine whether the 3D laser radar is in a stable state, the embedded processor first calculates the real-time overall angular velocity of the 3D laser radar during operation through an overall angular velocity calculation formula, and the overall angular acceleration formula is as follows:

[0022]

[0023] In the formula, is the overall angular acceleration of the 3D lidar, is the angular acceleration in the x direction, is the angular acceleration in the y direction;

[0024] According to the angular acceleration amplitude calculation formula, the real-time overall angular acceleration amplitude of the 3D laser radar after speed adjustment is calculated;

[0025] The overall angular acceleration amplitude value formula is as follows:

[0026]

[0027] Calculate the overall amplitude value of the 3D LiDAR , the embedded processor converts the real-time amplitude value With the preset stable state threshold In contrast, When , the embedded processor confirms that the radar is in a vibration stable state, and the angular momentum of the active motor's compound rotation is offset; when When the radar is in an unstable state, the embedded processor considers that the rotation of the radar active motor is in an unstable state and enters the process of adjusting the speed of the driven motor.

[0028] Preferably, in step S3, in the speed regulation process of the driven motor speed, a driven motor speed supplement amount is introduced , in order to adapt to the aging and wear of the 3D laser radar after a period of use, the combined rotation angular momentum balance equation introduces the driven motor speed compensation Later modified to:

[0029]

[0030] In the formula, is the moment of inertia of the active motor and the reflective prism fixed on it after aging and wear, is the rotational inertia of the driven motor and the counterweight load fixed thereon after aging;

[0031] The specific speed adjustment process is as follows:

[0032] S31: Apply speed disturbance to the driven motor , the disturbance can accelerate in the positive direction or decelerate in the negative direction;

[0033] S32: Determine the angular velocity change trend through the inertia detection unit. If the angular acceleration has an increasing trend, change If the angular acceleration has a decreasing trend, the speed compensation of the driven motor in this direction will be further increased. , until the inertial measurement unit detects that the angular acceleration returns to zero;

[0034] S33: After the embedded processor determines that the angular acceleration zeroing data collected by the inertial measurement unit is received, it determines that the 3D laser radar is in a stable state in advance and the motor speed disturbance ends.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. This technical solution only adds a driven motor and its driving circuit to the original structure of the rotating mirror 3D laser radar, and maximizes the use of the original components in the rotating mirror 3D laser radar, such as the embedded processor and the inertial measurement unit, effectively solving the overall vibration problem of the 3D laser radar under this structure that is easily caused by the combined effect of the double gyroscope during operation. It not only improves the scanning effect of the 3D laser radar, but also extends the service life of the equipment, effectively saving the equipment volume and cost.

[0037] 2. The reverse angular momentum is generated by the rotation of the driven motor with the counterweight load to offset the imbalance of the rotating mirror module caused by the gyro effect. It is a targeted and efficient dual gyro effect vibration compensation solution, and the compensation process forms a closed loop, and the effect is measurable and controllable;

[0038] 3. The present invention has a large vibration compensation range, because the speed of the driven motor can adapt to the speed of the rotating mirror throughout the whole process. It also solves the vibration caused by the speed mismatch during the start and stop process of the composite shaft in long-term engineering applications. It also solves the speed mismatch caused by aging and wear in long-term engineering and then causes vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a front view of a rotating mirror 3D laser radar scanning structure in an embodiment of the present invention;

[0040] Figure 2-1 , Figure 2-2 A top view of a rotating mirror 3D laser radar scanning structure in an embodiment of the present invention;

[0041] Figure 3 The angular acceleration values ​​in the x and y directions are measured by the inertial measurement unit when the 3D laser radar is running in a stable state;

[0042] Figure 4 The angular acceleration values ​​in the x and y directions measured by the inertial measurement unit when the 3D laser radar is in a vibrating state

[0043] Figure 5 It is the flow chart of closed-loop regulation for vibration compensation;

[0044] Figure 6 This is the flow chart of the speed control of the slave motor.

[0045] Reference numerals: 1. radar base 2. horizontal turntable 21. spindle motor 22. horizontal turntable 3. reflector 4. laser transceiver module 5. rotating mirror module 51. motor bracket 52. active motor 53. reflective prism 6. driven motor 7. counterweight load 8. inertial measurement unit 9. embedded processor. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] like Figure 1 , Figure 2-1 , Figure 2-2 A laser radar multi-motor composite rotation angular momentum cancellation structure shown includes a radar base 1, on which a horizontal turntable 2 is installed. Specifically, the horizontal turntable 2 includes a spindle motor 21 fixedly installed on the radar base and arranged vertically, and a horizontal turntable 22 is coaxially installed on the output shaft of the spindle motor.

[0050] like Figure 1 As shown, a group of laser transceiver modules 4 are arranged on the upper surface of the horizontal turntable. The laser transceiver modules can emit laser beams in different optical paths outward and recover the light waves reflected back by the object.

[0051] In addition, a rotating mirror module 5 is installed on the horizontal turntable, and the rotating mirror module includes a motor bracket 51, an active motor 52 and a reflective prism 53. Specifically, the motor bracket is fixedly mounted on the upper surface of the horizontal turntable and extends vertically upward. The active motor is fixedly mounted on the upper part of the motor bracket, and its output shaft extends horizontally and is coaxially connected to the reflective prism 53. The reflective prism is located above the laser transceiver module, and is driven by the active motor to achieve rapid rotation around the horizontal axis, so that after the laser transceiver module emits the laser, the laser beam irradiated on the reflective prism can be reflected into space to achieve scanning in the vertical plane.

[0052] It should be noted that under the above structure, as the spindle motor and the active motor rotate, the gyroscopic effect generated will be compounded. This compound gyroscopic effect leads to poor adjustment effect by relying on the traditional adjustment method. The 3D laser radar will still vibrate during operation, which has a great negative impact on the scanning accuracy and stability of the 3D laser radar. In addition, the vibration will also cause the connection between the components of the 3D laser radar to become loose, affecting the service life of the equipment.

[0053] In order to eliminate the vibration caused by the above-mentioned dual gyro effect and change the situation where the traditional adjustment method has little effect, this solution also sets a set of reverse rotation modules on the motor bracket 51. Specifically, the reverse rotation module includes a driven motor 6 fixedly mounted on the upper end of the motor bracket, the driven motor is fixedly mounted on the motor bracket, and the driven motor is coaxially arranged with the driving motor. At the same time, a counterweight load 7 is coaxially connected to the rotor of the driven motor, and the counterweight load is driven by the driven motor to rotate to generate angular momentum that can compensate for the rotation of the active motor to the horizontal turntable coordinate system, so as to eliminate the vibration of the 3D laser radar and ensure the stability of the radar operation.

[0054] In addition, it should be noted that in order to improve the accuracy of the driven motor to adjust the speed, a vibration measurement and control module is also installed. Specifically, the vibration measurement and control module includes an inertial measurement unit 8 installed on the radar base, an embedded processor 9 for determining whether the 3D laser radar is in a vibrating state, and a reverse motor drive circuit for controlling the reverse rotation of the driven motor. Among them, the reverse motor drive circuit is integrated inside the reverse motor. When the 3D laser radar is running, the inertial measurement unit 8 detects the angular acceleration in the x and y directions in the turntable coordinate system, and then the embedded processor determines the operating state of the radar through the collected angular acceleration in the x and y directions, and controls the driven motor to make corresponding speed adjustments according to the corresponding state.

[0055] It should be noted that this solution also discloses an adjustment method for the laser radar multi-motor composite rotation angular momentum cancellation structure, so as to cooperate with the above structure to eliminate the vibration of the 3D laser radar during operation and maintain the stability of the radar operation. Specifically, the adjustment method includes:

[0056] Step S1: Based on the dynamic model of the active motor, the reflective prism, the driven motor and the counterweight load, a composite rotational angular momentum balance equation is established during the operation of the 3D laser radar:

[0057]

[0058] In the formula, is the configuration speed of the active motor, is the moment of inertia of the active motor and the reflective prism fixed on it, is the speed of the driven motor, is the moment of inertia of the driven motor and the counterweight load fixed on it. It should be noted that when both sides of the balance equation are equal, the stability of the 3D laser radar operation can be ensured. From the equation, it can be seen that and When the value is determined, When changes occur, just Quick adjustments to balance can be accomplished by making adaptive changes.

[0059] However, this adjustment method is a pre-adjustment method, and the operating environment of 3D laser radar is relatively complex, so it is necessary to consider the changes in variables during operation. In the calculation formula , because the 3D laser radar is affected by the environment and causes fluctuations. To this end, this solution monitors the following The state changes caused by the fluctuations guide the driven motor in the reverse rotation module to adjust the speed accordingly. Specifically:

[0060] Step S2: The angular acceleration of the entire 3D laser radar during operation is collected by the inertial measurement unit installed on the radar base, and then the collected angular acceleration value is transmitted to the embedded processor for judgment. Specifically, if the collected angular acceleration value is close to zero, the embedded processor determines that the 3D laser radar is running smoothly and the speed of the driven motor does not need to be adjusted. If the collected angular acceleration value deviates far from zero, it is judged that there are fluctuations in the operation of the 3D laser radar, that is, there are vibrations that affect the performance when the equipment is running. At this time, it is necessary to issue instructions through the embedded processor to enter the speed regulation process of the driven motor.

[0061] It should be noted that after entering the debugging process, the motor adaptation adjustment is carried out in the following manner. Specifically:

[0062] Step S3: The speed regulation of the driven motor is based on the compound rotational angular momentum balance equation established in step S1 to adjust the speed disturbance of the driven motor. During the disturbance, the inertial measurement unit can detect the overall angular velocity change of the 3D lidar in real time. When the angular velocity is lower than the threshold or close to zero, it is considered that the speed of the driven motor is adjusted in place. At this time, the compound rotational force is offset during the operation of the 3D lidar, and the radar can maintain a stable operating state.

[0063] It should be noted that in step S2, in order to more accurately determine whether the 3D laser radar is operating stably, the real-time data collected includes the angular acceleration change values ​​in various directions during the radar operation. Specifically, the angular acceleration data collected by the inertial measurement unit includes the angular accelerations in two orthogonal directions of the horizontal turntable parallel to the radar base, that is, the two orthogonal angular accelerations in the horizontal direction, the angular acceleration in the x direction, and the angular acceleration in the y direction. and the angular acceleration in the y direction .when as well as After being collected, the inertial measurement unit transmits the above data to the embedded processor connected to the electrical signal in real time for judgment. At this time, the embedded processor judges the input value. If the input value is close to zero (such as Figure 3 ), the 3D laser radar is in a stable state, and the slave motor does not need to be adjusted. If there is a certain fluctuation in the angular acceleration in the x direction and the angular acceleration in the y direction (such as Figure 4 As shown in the figure, it is determined that there is fluctuation in the operation of the 3D laser radar. When it is determined that there is fluctuation in the operation of the 3D laser radar, the process of adjusting the speed of the driven motor is entered. It should be noted that in this solution, the angular velocities in the x-direction and the y-direction are collected separately, which can make the angular acceleration direction causing vibration during operation clearer.

[0064] It should also be noted that in step S2, in order to more accurately determine the state of the 3D radar, the overall angular acceleration and the angular velocity amplitude are also introduced into the judgment process, that is, the x-axis acceleration and the y-axis angular acceleration collected by the embedded processor are converted by the formula. Specifically, the overall angular acceleration formula is as follows:

[0065]

[0066] In the formula, is the overall angular acceleration of the 3D lidar, is the angular acceleration in the x direction, is the angular acceleration in the y direction;

[0067] According to the angular acceleration amplitude calculation formula, the real-time overall angular acceleration amplitude of the 3D laser radar after speed adjustment is calculated.

[0068] The overall angular acceleration amplitude value formula is as follows:

[0069]

[0070] Calculate the overall amplitude value of the 3D LiDAR , the embedded processor converts the real-time amplitude value With the preset stable state threshold In contrast, When , the embedded processor confirms that the radar is in a vibration stable state, and the angular momentum of the active motor's compound rotation is offset; when When the radar is in an unstable state, the embedded processor considers that the rotation of the radar active motor is in an unstable state and enters the process of adjusting the speed of the driven motor.

[0071] It should be noted that by setting the amplitude value, the influence of small-range fluctuations on the judgment can be filtered out, the speed of the driven motor can be stabilized, and the long-term effectiveness of the 3D lidar adjustment can be achieved.

[0072] In addition, it should be noted that the radar has aged and worn after a period of use, and the rotational inertia connected to the active motor has changed from the initial becomes The driven motor also faces this problem. The moment of inertia of the driven motor is becomes Limited by the radar function, that is, after determining the radar application environment, the active motor speed Cannot change (the set value of the active motor speed is not actively adjusted). At this time, the angular momentum offset state equation has changed, and the driven motor speed compensation needs to be introduced. To establish a new balance. Specifically, when introducing the driven motor speed compensation The combined rotational angular momentum balance equation is modified to:

[0073]

[0074] In the formula, is the moment of inertia of the active motor and the reflective prism fixed on it after aging and wear, It is the rotational inertia of the driven motor and the counterweight load fixed thereon after aging.

[0075] In addition, it should be noted that when introducing Before, the participating angular momentum L of the active motor module and the driven motor module changes from 0 to:

[0076]

[0077] From the above, it can be seen that the composite axis effect is generated, which in turn generates the angular acceleration of the vibration around the main axis. Figure 5 The process determines the new target speed of the driven motor through a closed-loop adjustment process, and finally adjusts the speed of the reverse motor through the reverse motor drive circuit, and inputs the vibration amount into the embedded processor. The embedded processor outputs a corresponding speed regulation signal according to the vibration amount, and adjusts the speed of the reverse motor through the reverse motor drive circuit.

[0078] In addition, it should be noted that when the speed of the driven motor is adjusted, Figure 6 The control process shown uses the PWM signal to adjust the motor speed through the motor control chip.

[0079] To summarize, this solution only adds a reverse motor and its driving circuit to the original structure of the rotating mirror 3D laser radar. The reverse motor can be used to offset the vibration generated by the gyroscopic effect when the rotating mirror rotates. Furthermore, the inertial measurement unit is used to perform real-time detection of the vibration. When the rotating mirror speed changes, the vibration can be eliminated more specifically and efficiently.

[0080] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A laser radar multi-motor composite rotation angular momentum compensation structure, characterized by: include Radar base; A horizontal turntable, comprising a spindle motor vertically arranged on a radar base, and a horizontal turntable coaxially connected to the spindle motor; The laser transceiver module is installed on the horizontal turntable, and can emit laser beams in different optical paths to the rotating mirror module and receive its return signal; The rotating mirror module comprises a motor bracket, an active motor and a reflecting prism, wherein the motor bracket is fixed on the horizontal rotating platform, the active motor is arranged on the motor bracket, the reflecting prism is coaxially connected with the active motor and rotates around a horizontal axis under the driving of the active motor; A reverse rotation module, comprising a driven motor and a counterweight load, wherein the driven motor is rotatably fixed on a motor bracket, and the counterweight load is connected to the driven motor so as to follow the rotation, the driven motor is coaxial with the driving motor, and the rotation direction of the driven motor is opposite to that of the driving motor, so as to compensate for the angular momentum of the driving motor rotation on the horizontal turntable coordinate system; The vibration measurement and control module includes an inertial measurement unit, an embedded processor and a slave motor drive circuit. The inertial measurement unit is installed on the radar base. The embedded processor is connected to the inertial measurement unit by electrical signals, and is also connected to the slave motor by electrical signals through the slave motor drive circuit.

2. A method for adjusting a laser radar multi-motor composite rotation angular momentum compensation structure, characterized in that: include Step S1: Based on the dynamic model of the active motor, the reflective prism, the driven motor and the counterweight load, a composite rotation angular momentum balance equation during the operation of the 3D laser radar is established; ； In the formula, is the configuration speed of the active motor, is the moment of inertia of the active motor and the reflective prism fixed on it, is the speed of the driven motor, is the moment of inertia of the driven motor and the counterweight load fixed thereon; Step S2: The angular acceleration of the horizontal turntable during the operation of the 3D laser radar is collected in real time by the inertial measurement unit installed on the radar base to determine whether the overall operation of the 3D laser radar is stable. If the 3D laser radar is determined to be running smoothly, there is no need to adjust the speed of the driven motor. If the 3D laser radar is determined to be running with fluctuations, the process of adjusting the speed of the driven motor is entered; Step S3: According to the established composite rotational angular momentum balance equation, the speed of the driven motor is adjusted to offset the composite rotational angular momentum during the operation of the 3D laser radar and maintain the balance of the 3D laser radar operation.

3. The method for adjusting the laser radar multi-motor composite rotational angular momentum cancellation structure as claimed in claim 2, characterized in that: In step S2, the angular acceleration collected in real time by the inertial measurement unit includes the angular accelerations in two orthogonal directions of the horizontal turntable parallel to the radar base, specifically the angular acceleration in the x direction and the angular acceleration in the y direction , the collected angular acceleration is sent to the embedded processor for status judgment. If the collected angular acceleration fluctuates slightly around zero, it is judged that the 3D laser radar is in a stable state and there is no need to adjust the angular speed of the driven motor; if there is a certain fluctuation in the angular acceleration in the x-direction and the angular acceleration in the y-direction, it is judged that there is fluctuation in the operation of the 3D laser radar. When it is judged that there is fluctuation in the operation of the 3D laser radar, the process of adjusting the speed of the driven motor is entered.

4. The method for adjusting the laser radar multi-motor composite rotational angular momentum cancellation structure as claimed in claim 3, characterized in that: In step S2, in order to more accurately determine whether the 3D laser radar is in a stable state, the embedded processor first calculates the real-time overall angular velocity of the 3D laser radar during operation through the overall angular velocity calculation formula. The overall angular acceleration formula is as follows: ； In the formula, is the overall angular acceleration of the 3D lidar, is the angular acceleration in the x direction, is the angular acceleration in the y direction; According to the angular acceleration amplitude calculation formula, the real-time overall angular acceleration amplitude of the 3D laser radar after speed adjustment is calculated; The overall angular acceleration amplitude value formula is as follows: ； Calculate the overall amplitude value of the 3D LiDAR , the embedded processor converts the real-time amplitude value With the preset stable state threshold In contrast, When , the embedded processor confirms that the radar is in a vibration stable state, and the angular momentum of the active motor's compound rotation is offset; when When the radar is in an unstable state, the embedded processor considers that the rotation of the radar active motor is in an unstable state and enters the process of adjusting the speed of the driven motor.

5. The method for adjusting the laser radar multi-motor composite rotation angular momentum cancellation structure as claimed in claim 4, characterized in that: In step S3, during the speed regulation process of the driven motor speed, a driven motor speed supplement amount is introduced. , in order to adapt to the aging and wear of the 3D laser radar after a period of use, the combined rotation angular momentum balance equation introduces the driven motor speed compensation Later modified to: ； In the formula, is the moment of inertia of the active motor and the reflective prism fixed on it after aging and wear, is the rotational inertia of the driven motor and the counterweight load fixed thereon after aging; The specific speed adjustment process is as follows: S31: Apply speed disturbance to the driven motor , the disturbance can accelerate in the positive direction or decelerate in the negative direction; S32: Determine the angular velocity change trend through the inertia detection unit. If the angular acceleration has an increasing trend, change If the angular acceleration has a decreasing trend, the speed compensation of the driven motor in this direction will be further increased. , until the inertial measurement unit detects that the angular acceleration returns to zero; S33: After the embedded processor determines that the angular acceleration zeroing data collected by the inertial measurement unit is received, it determines that the 3D laser radar is in a stable state in advance and the motor speed disturbance ends.

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