Method, device, laser radar and medium for determining wedge mirror placement position

Abstract

The present application relates to the field of laser radar technology, and discloses a method, device, laser radar and medium for determining the placement position of a wedge mirror. The method comprises: when performing a coarse iteration, adjusting the deflection angle combination according to a first preset adjustment step rule until the emission angle is within the preset emission angle range, and the difference between the first deflection angle and each second deflection angle is within the preset deviation range, then performing a fine iteration; when performing a fine iteration, adjusting the deflection angle combination according to a second preset adjustment step rule until each emission angle is equal to the target angle, and the first deflection angle and each second deflection angle are equal, then the iteration is completed; the first deflection angle and the second deflection angle in the deflection angle combination when the iteration is completed are used as the setting angle of the wedge mirror. The setting angle of the wedge mirror obtained in the present application can make the light beam passing through the wedge mirror swing while not causing the light beam to diverge.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a method and device for determining the placement position of a wedge mirror, a laser radar, and a medium. Background Art

[0002] In the prior art, laser radars usually use wedge-shaped mirrors to reflect and change the direction of lasers, thereby scanning the surrounding environment. However, there is a problem with some existing designs: when the laser passes through the wedge-shaped mirror, the beam will diffuse or deform, resulting in a decrease in image quality and a smaller effective scanning angle. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a method, device, laser radar and medium for determining the placement position of a wedge mirror, which can allow a light beam passing through the wedge mirror to swing without causing the light beam to diverge.

[0004] In a first aspect, an embodiment of the present application provides a method for determining a placement position of a wedge mirror, comprising:

[0005] When performing a coarse iteration, the deflection angle combination is adjusted according to a first preset adjustment step rule until the exit angle is within a preset exit angle range, and the difference between the first deflection angle and each second deflection angle is within a preset deviation range, and then a fine iteration is performed; wherein the exit angle is the angle formed by the exit light and the calibrated exit light; the first deflection angle is the angle between the calibrated incident light and the corresponding calibrated exit light; the second deflection angle is the angle between the exit light and the corresponding incident light;

[0006] When performing fine iteration, the deflection angle combination is adjusted according to a second preset adjustment step rule until each of the exit angles is equal to the target angle, and the first deflection angle is equal to each of the second deflection angles, and the iteration is completed;

[0007] The first deflection angle and the second deflection angle in the deflection angle combination when iteration is completed are used as setting angles of the wedge mirror.

[0008] In some embodiments, the deflection angle combination is adjusted according to the first preset adjustment step rule until the emission angle is within the preset emission angle range and the difference between each second deflection angle and the first deflection angle is within the preset deviation range, and then fine iteration is performed, including:

[0009] Selecting a group of deflection angle combinations from the first deflection angle combination queue in sequence as the current deflection angle combination; wherein the deflection angle combination includes a first deflection angle between a first surface of the wedge mirror and a preset surface and a second deflection angle between a second surface of the wedge mirror and the preset surface; wherein the preset surface is a reference surface for adjusting the first deflection angle and the second deflection angle;

[0010] Based on the first deflection angle and the second deflection angle in the current deflection angle combination, combined with at least two incident light rays and an outgoing light ray corresponding to each of the incident light rays, determining whether each of the outgoing angles is within a preset outgoing angle range, and determining whether the difference between each of the second deflection angles and the first deflection angle is within a preset deviation range;

[0011] If so, the detailed iteration process is entered.

[0012] In some embodiments, the deflection angle combination is adjusted according to a second preset adjustment step rule until each of the exit angles is equal to the target angle, and the first deflection angle is equal to each of the second deflection angles, and the iteration is completed, including:

[0013] Selecting a group of deflection angle combinations from the second deflection angle combination queue in sequence as the current deflection angle combination;

[0014] Based on the first deflection angle and the second deflection angle in the current deflection angle combination, in combination with the at least two incident light rays and the outgoing light rays corresponding to each of the incident light rays, determining whether each of the outgoing angles is equal to the target angle, and determining whether the first deflection angle and each of the second deflection angles are equal;

[0015] If yes, the iteration is confirmed to be complete.

[0016] In some embodiments, the first deflection angle combination queue is obtained by arranging and combining the first deflection angle and the second deflection angle within a first deflection angle step threshold range and a second deflection angle step threshold range respectively according to a first preset adjustment step rule; wherein the first preset adjustment step rule includes a first deflection angle step and a second deflection angle step.

[0017] In some embodiments, the second deflection angle combination queue is obtained by arranging and combining the first deflection angle and the second deflection angle respectively within the third deflection angle step threshold range and the fourth deflection angle step threshold range according to a second preset adjustment step rule; wherein the second preset adjustment step rule includes a third deflection angle step and a fourth deflection angle step.

[0018] In some embodiments, the determining whether each of the exit angles is within a preset exit angle range based on the first and second deflection angles in the current deflection angle combination, in combination with at least two incident light rays and an exit light ray corresponding to each of the incident light rays, includes:

[0019] Calculate the exit angle corresponding to each incident light ray according to the first deflection angle and the second deflection angle in the current deflection angle combination, in combination with each incident light ray and the rotation angle of the wedge mirror around the optical axis;

[0020] The exit angle corresponding to each of the exit angles is calculated according to each of the exit angles and the calibrated exit angle; wherein the calibrated incident light is a beam of light among all the incident light rays; the calibrated exit angle is the exit angle corresponding to the calibrated incident light;

[0021] Determine whether each of the emission angles is within a preset emission angle range.

[0022] In some embodiments, the determining whether each of the exit angles is equal to the target angle based on the first and second angles in the current angle combination, in combination with the at least two incident light rays, and the exit light rays corresponding to each of the incident light rays, comprises:

[0023] Calculate the exit angle corresponding to each incident light ray according to the first deflection angle and the second deflection angle in the current deflection angle combination, in combination with each incident light ray and the rotation angle of the wedge mirror around the optical axis;

[0024] The exit angle corresponding to each of the exit angles is calculated according to each of the exit angles and the calibrated exit angle; wherein the calibrated incident light is a beam of light among all the incident light rays; the calibrated exit angle is the exit angle corresponding to the calibrated incident light;

[0025] Determine whether each of the exit angles is equal to the target angle.

[0026] In some embodiments, the step of calculating the exit angle corresponding to each incident light ray according to the first deflection angle and the second deflection angle in the current deflection angle combination, in combination with each incident light ray and the rotation angle of the wedge mirror around the optical axis, comprises:

[0027] Calculate a first angle according to the incident light, the first deflection angle, the second deflection angle and the optical axis in combination with a trigonometric function relationship; wherein the first angle is the angle between the refracted light and the optical axis; and the refracted light is the light refracted by the incident light in the wedge mirror;

[0028] The fifth angle is determined according to the first angle, the second angle, the third angle and the fourth angle in combination with a trigonometric function relationship; wherein the second angle is the angle between the incident light and the optical axis; the third angle is the angle between the normal of the first surface and the optical axis; the fourth angle is the angle between the normal of the second surface and the optical axis; and the fifth angle is the angle between the normal of the second surface and the refracted light;

[0029] The exit angle corresponding to the incident light is determined according to the fifth angle, the fourth angle, and the refractive index of the wedge mirror in combination with a trigonometric function relationship.

[0030] In a second aspect, an embodiment of the present application provides a device for determining a placement position of a wedge mirror, comprising:

[0031] A coarse iteration module, used for adjusting the deflection angle combination according to a first preset adjustment step rule during coarse iteration, until the emergence angle is within a preset emergence angle range, and the difference between the first deflection angle and each second deflection angle is within a preset deviation range, and then fine iteration is performed; wherein the emergence angle is the angle formed by the emergence light and the calibration emergence light; the first deflection angle is the angle between the calibration incident light and the corresponding calibration emergence light; the second deflection angle is the angle between the emergence light and the corresponding incident light;

[0032] A fine iteration module, used for adjusting the deflection angle combination according to a second preset adjustment step rule when performing fine iteration, until each of the exit angles is equal to the target angle, and the first deflection angle is equal to each of the second deflection angles, and the iteration is completed;

[0033] The angle selection module is used to use the first deflection angle and the second deflection angle in the deflection angle combination when iteration is completed as the setting angle of the wedge mirror.

[0034] In a third aspect, an embodiment of the present application provides a laser radar, comprising a wedge-shaped mirror, a light source, and a first detector and a second detector respectively arranged on the upper and lower surfaces of the wedge-shaped mirror; the light source is used to provide an incident light scanning module; the first detector is used to receive the light field of the incident light; the second detector is used to receive the light field of the outgoing light; the setting angle of the wedge-shaped mirror is determined according to the above-mentioned method for determining the placement position of the wedge-shaped mirror.

[0035] The embodiments of the present application have the following beneficial effects: the present application finds an approximate range of the first deflection angle and the second deflection angle through a rough iteration process, and then obtains the final first deflection angle and the second deflection angle of the wedge mirror from the approximate range of the first deflection angle and the second deflection angle through a fine iteration. The final first deflection angle and the second deflection angle are the required setting angles of the wedge mirror. The setting angles can make the light beam swing without diverging, that is, the refracted light beam scanned by the wedge mirror will maintain the divergence angle of the original light beam. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1A schematic diagram of a simulation model of a wedge mirror in the prior art is shown;

[0038] Figure 2 Shows Figure 1 Schematic diagram of the light field received by detector 1 of the middle wedge mirror;

[0039] Figure 3 Shows Figure 1 Schematic diagram of the light field received by detector 2 of the middle wedge mirror;

[0040] Figure 4 A first flow chart of a method for determining a placement position of a wedge mirror according to an embodiment of the present application is shown;

[0041] Figure 5 A second flow chart of the method for determining the placement position of a wedge mirror according to an embodiment of the present application is shown;

[0042] Figure 6 A schematic structural diagram of a wedge mirror is shown;

[0043] Figure 7 A third flow chart of the method for determining the placement position of a wedge mirror according to an embodiment of the present application is shown;

[0044] Figure 8 A fourth process diagram of the method for determining the placement position of a wedge mirror according to an embodiment of the present application is shown;

[0045] Fig. 9 A schematic diagram of the light rays of a wedge mirror is shown;

[0046] Fig.10 The angle of the incident light beam of the wedge mirror obtained according to the method of this embodiment is shown;

[0047] Fig.11 The figure shows the angle of the light beam emitted by the wedge mirror according to the present embodiment;

[0048] Fig.12 The divergence angle of the incident light beam of the wedge mirror obtained according to the method of this embodiment is shown;

[0049] Fig.13 The divergence angle of the light beam emitted by the wedge mirror obtained according to the method of this embodiment is shown;

[0050] Fig.14 A structural schematic diagram of a wedge mirror placement position determination device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0052] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0053] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are intended only to indicate specific features, numbers, steps, operations, elements, components or a combination of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or a combination of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations, elements, components or a combination of the foregoing items. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0054] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0055] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0056] With the development of laser radar technology, laser radar has various scanning methods. In the field of three-dimensional mapping, the mainstream radar is still mechanical scanning radar, and wedge mirror + reflector is an important scanning method. In the existing technology, the wedge mirror usually adopts a curved reflective prism. Figure 1 This is a simulation model diagram of a wedge mirror, such as Figure 1 When used, the wedge-shaped mirror not only reduces the scanning field angle, but also magnifies the angle, causing the divergence angle to increase rapidly. Figure 1 Here m is detector 1, n is detector 2, p is wedge mirror, and q is light source; Figure 2 is the light field received by detector 1, such as Figure 3 is the light field received by detector 2, compared with Figure 2 and Figure 3It can be found that the wedge mirror will cause the light beam to diverge and deform. Based on this, the present application proposes a method, device, laser radar and medium for determining the placement of a wedge mirror. The method for determining the placement of a wedge mirror can make the light beam swing without diverging, that is, the refracted light beam scanned by the wedge mirror will maintain the divergence angle of the original light beam.

[0057] The method for determining the placement position of the wedge mirror is described below in conjunction with some specific embodiments.

[0058] Figure 4 A flow chart of a method for determining the placement position of a wedge mirror according to an embodiment of the present application is shown. Exemplarily, the method for determining the placement position of a wedge mirror comprises the following steps:

[0059] Step S100, during a coarse iteration, the deflection angle combination is adjusted according to a first preset adjustment step rule until the emission angle is within a preset emission angle range and the difference between the first deflection angle and each second deflection angle is within a preset deviation range, and then a fine iteration is performed.

[0060] Among them, the exit angle is the angle formed by the exit light and the calibrated exit light; the first deflection angle is the angle between the calibrated incident light and the corresponding calibrated exit light; the second deflection angle is the angle between the exit light and the corresponding incident light.

[0061] Step S200, when performing fine iteration, the deflection angle combination is adjusted according to the second preset adjustment step rule until each exit angle is equal to the target angle, and the first deflection angle is equal to each second deflection angle, and the iteration is completed.

[0062] Step S300, using the first deflection angle and the second deflection angle in the deflection angle combination when the iteration is completed as the setting angle of the wedge mirror.

[0063] This embodiment first finds an approximate range of the first deflection angle and the second deflection angle through a rough iteration process, and then obtains the final first deflection angle and the second deflection angle of the wedge mirror from the approximate range of the first deflection angle and the second deflection angle through a fine iteration. The final first deflection angle and the second deflection angle are the required setting angles of the wedge mirror. The setting angles can make the light beam swing without diverging, that is, the refracted light beam scanned by the wedge mirror will maintain the divergence angle of the original light beam. In some embodiments, such as Figure 5 As shown, the method for determining the placement position of the wedge mirror specifically includes:

[0064] Step S110, when performing a coarse iteration, a group of deflection angle combinations are selected in sequence from the first deflection angle combination queue as the current deflection angle combination.

[0065] In this embodiment, in order to quickly determine the setting angle of the wedge mirror, a rough iteration process is first performed to obtain an approximate deflection angle combination range, and then a fine iteration process is performed to obtain the final deflection angle combination.

[0066] Before performing a rough iteration, a preset emission angle range and a preset deviation range are first set, and a target angle is set; wherein the preset emission angle range is determined according to the target angle.

[0067] The exit angle is the angle between two exit light beams formed after one of the incident light rays and the calibration incident light ray passes through the wedge mirror, wherein the calibration incident light ray is one of the multiple incident light rays. When describing the method of this embodiment below, for ease of understanding, the case where there are two incident light rays (the first incident light ray and the second incident light ray) is used as an example. When there are three or more incident light rays, the process is the same as that of the two incident light rays. The first incident light ray of the two incident light rays can be the calibration incident light ray.

[0068] Among them, the first incident light and the second incident light, the corresponding outgoing light are the first outgoing light and the second outgoing light, respectively, and the outgoing angle is the angle formed between the first outgoing light and the second outgoing light. Since the rough iteration process only obtains an approximate deflection angle combination, a preset outgoing angle range will be set first before the rough iteration. The outgoing angle that the present application ultimately needs to obtain needs to be equal to the incident angle formed by the first incident light and the second incident light, wherein the target angle is equal to the incident angle. In order to speed up the iteration process, a rough iteration is first performed. In the rough iteration process, it is not necessary to obtain that the outgoing angle is equal to the incident angle, but only needs to be relatively close to the incident angle. Therefore, the preset outgoing angle range can be determined according to the incident angle, that is, the set range is an angle range including the incident angle. For example, if the incident angle is 1 degree, the preset outgoing angle range can be set to 0.5 degrees to 1.5 degrees, or 0.4 degrees to 1.5 degrees, or 0.7 degrees to 1.3 degrees, etc.

[0069] In this embodiment, in order to ensure that the divergence angle of the emitted light is equal to that of the incident light, it is necessary not only to ensure that the emitted angle is equal to the incident angle, but also to ensure that the deflection angle of the first incident light is equal to the deflection angle of the second incident light. Therefore, before the coarse iteration process, it is also necessary to set a preset deviation range, which is the range value of the difference between the first deflection angle and the second deflection angle. The first deflection angle is the angle between the first incident light and the first emitted light; the second deflection angle is the angle between the second incident light and the second emitted light.

[0070] The deflection angle combination includes a first deflection angle between the first surface of the wedge mirror and the preset surface and a second deflection angle between the second surface of the wedge mirror and the preset surface. Figure 6 As shown, Figure 6Here, a represents the first surface of the wedge mirror, b represents the second surface of the wedge mirror, and c represents the preset surface. Usually, the preset surface is a horizontal plane. The first deflection angle is the angle formed between the first surface of the wedge mirror and the preset surface, and the second deflection angle is the angle formed between the second surface of the wedge mirror and the preset surface.

[0071] Exemplarily, the first deflection angle combination queue is obtained by arranging and combining the first deflection angle and the second deflection angle respectively within the first deflection angle step threshold range and the second deflection angle step threshold range according to a first preset adjustment step rule; wherein the first preset adjustment step rule includes the first deflection angle step and the second deflection angle step.

[0072] In order to avoid the problem of total reflection, the threshold range of the first deflection angle and the second deflection angle will be set, that is, the first deflection angle can only be within the first deflection angle step threshold range, and the second deflection angle can only be within the second deflection angle step threshold range. When determining the first deflection angle combination queue, since the rough iteration process does not need to be very accurate at this time, the first deflection angle step and the second deflection angle step do not need to be very fine. The first deflection angle step and the second deflection angle step are larger than the third deflection angle step and the fourth deflection angle step, and the first deflection angle step and the second deflection angle step can be the same or different, such as the first deflection angle step and the second deflection angle step can both be set to 1 degree, or the first deflection angle step is set to 1 degree, the second deflection angle step is set to 0.8 degrees, etc. The first deflection angle step and the second deflection angle step can be set as needed, usually the range of the first deflection angle step and the first deflection angle step is between 0.5 degrees and 1.5 degrees. The first deflection angle combination queue is the arrangement and combination formed by adjusting the first deflection angle and the second deflection angle according to the corresponding preliminary adjustment step starting from the current angle.

[0073] Step S120, based on the first deflection angle and the second deflection angle in the current deflection angle combination, combined with at least two incident light rays and the outgoing light rays corresponding to each incident light ray, determines whether each outgoing angle is within a preset outgoing angle range, and determines whether the difference between each second deflection angle and the first deflection angle is within a preset deviation range.

[0074] In step S110, when performing a coarse iteration, a group of deflection angle combinations are selected from the first deflection angle combination queue in turn as the deflection angle combinations of the current iteration process, and then according to step S120, it is calculated whether the emission angle is within the preset emission angle range, and it is determined whether the difference between the first deflection angle and the second deflection angle is within the preset deviation range. If not, return to step S110, reselect a group of deflection angle combinations as the deflection angle combinations of the coarse iteration process, and again determine whether the emission angle is within the preset emission angle range, and determine whether the difference between the first deflection angle and the second deflection angle is within the preset deviation range, until the emission angle is within the preset emission angle range, and the difference between the first deflection angle and the second deflection angle is within the preset deviation range, at which time the coarse iteration process ends, and the fine iteration process begins subsequently.

[0075] For example, Figure 7 As shown, based on the first deflection angle and the second deflection angle in the current deflection angle combination, combined with at least two incident light rays and the outgoing light rays corresponding to each incident light ray, determining whether each outgoing angle is within a preset outgoing angle range includes steps S121 to S123:

[0076] Step S121, calculating the exit angle corresponding to each incident light ray according to the first deflection angle, the second deflection angle, each incident light ray and the rotation angle of the wedge mirror around the optical axis in the current deflection angle combination.

[0077] Exemplarily, the exit angle corresponding to each incident light ray can be determined according to the first deflection angle, the second deflection angle, each incident light ray and the rotation angle of the wedge mirror around the optical axis in the current deflection angle combination, in combination with a preset calculation rule, wherein the rotation angle range of the optical axis is 0 degrees to 360 degrees.

[0078] It should be noted that when calculating the exit angle, the calculation is performed by simulating the refracted light and the exit light formed by the incident light passing through the wedge-shaped mirror when the current deflection angle combination is determined.

[0079] Since the calculation process of each emission angle is the same, when calculating the emission angle below, no distinction is made between the first emission angle and the second emission angle, and the emission angle is used to explain the calculation.

[0080] For example, Figure 8 As shown, the process of calculating the emission angle includes steps S10 to S30:

[0081] Step S10, calculating the first angle according to the incident light, the first deflection angle, the second deflection angle and the optical axis in combination with a trigonometric function relationship.

[0082] Step S20, determining the fifth angle according to the first angle, the second angle, the third angle and the fourth angle in combination with the trigonometric function relationship.

[0083] Step S30, determining the exit angle corresponding to the incident light according to the fifth angle, the fourth angle, and the refractive index of the wedge mirror in combination with the trigonometric function relationship.

[0084] Among them, the first angle is the angle between the refracted light and the optical axis; the refracted light is the light refracted by the incident light in the wedge mirror. Among them, the second angle is the angle between the incident light and the optical axis; the third angle is the angle between the normal of the first surface and the optical axis; the fourth angle is the angle between the normal of the second surface and the optical axis; the fifth angle is the angle between the normal of the second surface and the refracted light.

[0085] Combine the following Fig. 9 The calculation of the exit angle is explained in detail, such as Fig. 9 As shown, Fig. 9The incident light ray is d, the outgoing light ray is e, the first angle is a1, the second angle is a2, the third angle is a3, the fourth angle is a4, the fifth angle is a5, the optical axis is f, the normal of the first surface is g, the normal of the second surface is h, and the refracted light is i.

[0086] When calculating the first angle, you can use formula 1, which is: a1=asin(sin(a2+a3)). The first angle is the angle between the refracted light and the optical axis; the refracted light is the light refracted by the incident light in the wedge mirror. The second angle is the angle between the incident light and the optical axis; the third angle is the angle between the normal of the first surface and the optical axis. Based on the determination of the first deflection angle and the second deflection angle, the angles of the second angle and the third angle can be determined.

[0087] When calculating the fifth angle, you can use formula 2: a5=a4+a2+a3-a1-a2 cos(θ); where θ is the rotation angle of the wedge mirror around the optical axis; the fourth angle is the angle between the normal of the second surface and the optical axis; and the fifth angle is the angle between the normal of the second surface and the refracted light.

[0088] On the basis of obtaining the fifth angle, when calculating the emission angle, the sixth angle may be calculated using Formula 3 first, and then the emission angle may be calculated using Formula 4.

[0089] Formula 3 is: a6=asin(n sin(a5)); in the formula, a6 is the sixth angle, which is the angle formed by the normal of the second surface and the outgoing light; n is the refractive index of the wedge mirror.

[0090] Formula 4 is: a7=a6-a4; in the formula, a7 is the emission angle.

[0091] Step S122, calculating the emission angle corresponding to each emission angle according to each emission angle and the calibrated emission angle.

[0092] The calibrated incident light is a beam of light among all incident light rays; and the calibrated exit angle is an exit angle corresponding to the calibrated incident light.

[0093] Step S123, determining whether each emission angle is within a preset emission angle range.

[0094] After calculating the exit angle corresponding to each incident light through the above steps, the absolute value of the difference between each exit angle and the calibrated exit angle is the exit angle corresponding to each exit light. After determining each exit angle, it can be determined whether the exit angle is within the preset exit angle range.

[0095] If it is determined in the above steps that both the emission angle and the deflection angle meet the requirements, step S210 is executed to perform a fine iteration process, and a group of deflection angle combinations are selected in turn from the second deflection angle combination queue as the current deflection angle combination.

[0096] In the above steps, a deflection angle combination can be determined through the coarse iteration process, and then before performing the fine iteration, the third deflection angle step threshold range and the fourth deflection angle step threshold range can be determined according to the deflection angle combination determined in the coarse iteration; then the third deflection angle step threshold range and the fourth deflection angle step threshold range are usually the range before and after the first deflection angle and the second deflection angle in the deflection angle combination determined in the coarse iteration process. For example, if the first deflection angle determined by the coarse iteration is x and the second deflection angle is y, then the third deflection angle step threshold range can be xz to x+z, and the fourth deflection angle step threshold range can be yz to y+z, wherein z can be set as needed and is not specifically limited here.

[0097] The second deflection angle combination queue is obtained by arranging and combining the first deflection angle and the second deflection angle respectively within the third deflection angle step threshold range and the fourth deflection angle step threshold range according to the second preset adjustment step rule; wherein the second preset adjustment step rule includes the third deflection angle step and the fourth deflection angle step.

[0098] It can be understood that the determination of the first deflection angle combination queue is the same as the determination of the first deflection angle combination queue, except that the third deflection angle step and the fourth deflection angle step are more precise than the first deflection angle step and the second deflection angle step, such as the third deflection angle step and the fourth deflection angle step are usually between 0.05 degrees and 0.15 degrees, and can be set to 0.1 degrees.

[0099] Step S220, based on the first deflection angle and the second deflection angle in the current deflection angle combination, combined with at least two incident light rays and the outgoing light rays corresponding to each incident light ray, determines whether each outgoing angle is equal to the target angle, and determines whether the first deflection angle and each second deflection angle are equal.

[0100] It can be understood that in order to ensure that the divergence angles of the emitted light and the incident light are equal, the embodiment not only needs to ensure that the emitted angle is equal to the incident angle, but also needs to ensure that the first deflection angle is equal to the second deflection angle. When performing fine iteration, a group of deflection angle combinations are selected from the second deflection angle combination queue in turn as the deflection angle combination of the current iteration process, and then according to step S220, it is calculated whether the emitted angle is equal to the target angle, and it is determined whether the difference between the first deflection angle and the second deflection angle is equal. If they are not equal, it returns to step S210, and a group of deflection angle combinations are reselected as the deflection angle combination of the fine iteration process, and it is determined again whether the emitted angle is equal to the target angle, and it is determined whether the first deflection angle and the second deflection angle are equal, until the emitted angle is equal to the target angle (incident angle), and the first deflection angle and the second deflection angle are equal, then the fine iteration process ends, and step S300 is executed to use the first deflection angle and the second deflection angle in the current deflection angle combination as the setting angle of the wedge mirror. Even if the emission angle is equal to the target angle, and the first deflection angle and the second deflection angle are equal, the combination of the first deflection angle and the second deflection angle is the setting angle of the wedge mirror.

[0101] The calculation process of the emission angle is the same as the calculation process of the emission angle in the above-mentioned rough iteration process, and will not be repeated here.

[0102] In order to verify the effect of the method for determining the placement position of the wedge mirror of this embodiment, this embodiment sets the angle of the wedge mirror with the first deflection angle and the second deflection angle of 15 degrees through this embodiment, and the angles of the incident light are (-3, 0) and (3, 0) respectively. The first number in the bracket represents the azimuth angle of the incident light, and the second number represents the pitch angle of the incident light. Then, according to the method of this embodiment, the following is obtained: Figure 6 The first deflection angle of the first surface of the wedge mirror is 22.62 degrees, and the second angle of the second surface is 0 degrees. Fig.10 is the angle of the incident light beam of the wedge mirror obtained according to the method of this embodiment, Fig.11 is the angle of the light beam emitted by the wedge mirror obtained according to this embodiment, Fig.12 is the divergence angle of the incident light beam of the wedge mirror obtained according to the method of this embodiment, Fig.13 is the divergence angle of the light beam emitted by the wedge mirror obtained according to the method of this embodiment, according to Fig.10 , Fig.11 It can be seen that the incident angle and the exit angle are the same, and according to Fig.12 , Fig.13 It can be seen that the divergence angle is also the same.

[0103] This embodiment determines a deflection angle combination of a wedge mirror through a coarse iteration process, wherein the first deflection angle and the second deflection angle in the deflection angle combination can make the emission angle within a preset emission angle range, and make the difference between the first deflection angle and the second deflection angle within a preset deviation range, and after finding the deflection angle combination, fine iteration is started, and the final deflection angle combination can be obtained through the fine iteration process, wherein the emission angle is equal to the incident angle, and the first deflection angle is equal to the second deflection angle. This embodiment first finds an approximate range of the first deflection angle and the second deflection angle through a coarse iteration process, and then obtains the final first deflection angle and the second deflection angle of the wedge mirror from the approximate range of the first deflection angle and the second deflection angle through fine iteration, and the final first deflection angle and the second deflection angle are the required setting angles of the wedge mirror, and the setting angles can make the light beam swing without diverging, that is, the refracted light beam scanned by the wedge mirror will maintain the divergence angle of the original light beam.

[0104] Fig.14 A schematic diagram of the structure of a wedge mirror placement position determination device according to an embodiment of the present application is shown. Exemplarily, the wedge mirror placement position determination device includes:

[0105] The coarse iteration module 100 is used to adjust the deflection angle combination according to the first preset adjustment step rule during coarse iteration until the emission angle is within the preset emission angle range and the difference between the first deflection angle and each second deflection angle is within the preset deviation range, and then perform fine iteration.

[0106] Among them, the exit angle is the angle formed by the exit light and the calibrated exit light; the first deflection angle is the angle between the calibrated incident light and the corresponding calibrated exit light; the second deflection angle is the angle between the exit light and the corresponding incident light.

[0107] The fine iteration module 200 is used to adjust the deflection angle combination according to the second preset adjustment step rule during fine iteration until each exit angle is equal to the target angle and the first deflection angle is equal to each second deflection angle, and the iteration is completed.

[0108] The angle selection module 300 is used to use the first deflection angle and the second deflection angle in the deflection angle combination when the iteration is completed as the setting angle of the wedge mirror.

[0109] It can be understood that the device of this embodiment corresponds to the method for determining the placement position of the wedge mirror in the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described repeatedly here.

[0110] The present application also provides a laser radar, which can be used as an example. Figure 1As shown, the laser radar includes a wedge-shaped mirror, a light source, and a first detector and a second detector respectively arranged on the upper and lower surfaces of the wedge-shaped mirror; the light source is used to provide an incident light scanning module; the first detector is used to receive the light field of the incident light; the second detector is used to receive the light field of the outgoing light; the setting angle of the wedge-shaped mirror is determined according to the above-mentioned method for determining the placement position of the wedge-shaped mirror.

[0111] The present application also provides a terminal device, which includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to enable the terminal device to execute the functions of each module in the above-mentioned wedge mirror placement position determination method or the above-mentioned wedge mirror placement position determination device.

[0112] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0113] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory is used to store a computer program, and the processor may execute the computer program accordingly after receiving an execution instruction.

[0114] The present application also provides a computer-readable storage medium for storing the computer program used in the above terminal device. For example, the computer-readable storage medium may include but is not limited to: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0115] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0116] In addition, the functional modules or units in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0117] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0118] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A method for determining the placement position of a wedge mirror, characterized in that: include: When performing a coarse iteration, the deflection angle combination is adjusted according to a first preset adjustment step rule until the exit angle is within a preset exit angle range, and the difference between the first deflection angle and each second deflection angle is within a preset deviation range, and then a fine iteration is performed; wherein the exit angle is the angle formed by the exit light and the calibrated exit light; the first deflection angle is the angle between the calibrated incident light and the corresponding calibrated exit light; the second deflection angle is the angle between the exit light and the corresponding incident light; When performing fine iteration, the deflection angle combination is adjusted according to a second preset adjustment step rule until each of the exit angles is equal to the target angle, and the first deflection angle is equal to each of the second deflection angles, and the iteration is completed; wherein the target angle is the incident angle; Using the first deflection angle and the second deflection angle in the deflection angle combination when the iteration is completed as the setting angle of the wedge mirror; The step of adjusting the deflection angle combination according to the first preset adjustment step rule until the emission angle is within the preset emission angle range and the difference between each second deflection angle and the first deflection angle is within the preset deviation range, then performing fine iteration includes: Selecting a group of deflection angle combinations from the first deflection angle combination queue in sequence as the current deflection angle combination; wherein the deflection angle combination includes a first deflection angle between a first surface of the wedge mirror and a preset surface and a second deflection angle between a second surface of the wedge mirror and the preset surface; wherein the preset surface is a reference surface for adjusting the first deflection angle and the second deflection angle; Based on the first deflection angle and the second deflection angle in the current deflection angle combination, combined with at least two incident light rays and an outgoing light ray corresponding to each of the incident light rays, determining whether each of the outgoing angles is within a preset outgoing angle range, and determining whether the difference between each of the second deflection angles and the first deflection angle is within a preset deviation range; If so, the detailed iteration process is entered.

2. The method for determining the placement position of a wedge mirror according to claim 1, characterized in that: The step of adjusting the deflection angle combination according to the second preset adjustment step rule until each of the exit angles is equal to the target angle and the first deflection angle is equal to each of the second deflection angles is iteratively completed, comprising: Selecting a group of deflection angle combinations from the second deflection angle combination queue in sequence as the current deflection angle combination; Based on the first deflection angle and the second deflection angle in the current deflection angle combination, in combination with the at least two incident light rays and the outgoing light rays corresponding to each of the incident light rays, determining whether each of the outgoing angles is equal to the target angle, and determining whether the first deflection angle and each of the second deflection angles are equal; If yes, the iteration is confirmed to be complete.

3. The method for determining the placement position of a wedge mirror according to claim 1, characterized in that: The first deflection angle combination queue is obtained by arranging and combining the first deflection angle and the second deflection angle respectively within the first deflection angle step threshold range and the second deflection angle step threshold range according to a first preset adjustment step rule; wherein the first preset adjustment step rule includes a first deflection angle step and a second deflection angle step.

4. The method for determining the placement position of a wedge mirror according to claim 1, characterized in that: The second deflection angle combination queue is obtained by arranging and combining the first deflection angle and the second deflection angle within the third deflection angle step threshold range and the fourth deflection angle step threshold range respectively according to a second preset adjustment step rule; wherein the second preset adjustment step rule includes the third deflection angle step and the fourth deflection angle step.

5. The method for determining the placement position of a wedge mirror according to claim 1, characterized in that: The determining whether each of the exit angles is within a preset exit angle range based on the first deflection angle and the second deflection angle in the current deflection angle combination, in combination with at least two incident light rays and an exit light ray corresponding to each of the incident light rays, comprises: Calculate the exit angle corresponding to each incident light ray according to the first deflection angle and the second deflection angle in the current deflection angle combination, in combination with each incident light ray and the rotation angle of the wedge mirror around the optical axis; The exit angle corresponding to each of the exit angles is calculated according to each of the exit angles and the calibrated exit angle; wherein the calibrated incident light is a beam of light among all the incident light rays; the calibrated exit angle is the exit angle corresponding to the calibrated incident light; Determine whether each of the emission angles is within a preset emission angle range.

6. The method for determining the placement position of a wedge mirror according to claim 2, characterized in that: The determining whether each of the exit angles is equal to the target angle based on the first and second angles in the current angle combination, in combination with the at least two incident light rays and the exit light rays corresponding to each of the incident light rays, comprises: Calculate the exit angle corresponding to each incident light ray according to the first deflection angle and the second deflection angle in the current deflection angle combination, in combination with each incident light ray and the rotation angle of the wedge mirror around the optical axis; The exit angle corresponding to each of the exit angles is calculated according to each of the exit angles and the calibrated exit angle; wherein the calibrated incident light is a beam of light among all the incident light rays; the calibrated exit angle is the exit angle corresponding to the calibrated incident light; Determine whether each of the exit angles is equal to the target angle.

7. The method for determining the placement position of a wedge mirror according to claim 5 or 6, characterized in that: The step of calculating the exit angle corresponding to each incident light ray according to the first deflection angle and the second deflection angle in the current deflection angle combination, in combination with each incident light ray and the rotation angle of the wedge mirror around the optical axis, comprises: Calculate a first angle according to the incident light, the first deflection angle, the second deflection angle and the optical axis in combination with a trigonometric function relationship; wherein the first angle is the angle between the refracted light and the optical axis; and the refracted light is the light refracted by the incident light in the wedge mirror; The fifth angle is determined according to the first angle, the second angle, the third angle and the fourth angle in combination with a trigonometric function relationship; wherein the second angle is the angle between the incident light and the optical axis; the third angle is the angle between the normal of the first surface and the optical axis; the fourth angle is the angle between the normal of the second surface and the optical axis; and the fifth angle is the angle between the normal of the second surface and the refracted light; The exit angle corresponding to the incident light is determined according to the fifth angle, the fourth angle, and the refractive index of the wedge mirror in combination with a trigonometric function relationship.

8. A device for determining the placement position of a wedge mirror, characterized in that: include: A coarse iteration module, used for adjusting the deflection angle combination according to a first preset adjustment step rule during coarse iteration, until the emergence angle is within a preset emergence angle range, and the difference between the first deflection angle and each second deflection angle is within a preset deviation range, and then fine iteration is performed; wherein the emergence angle is the angle formed by the emergence light and the calibration emergence light; the first deflection angle is the angle between the calibration incident light and the corresponding calibration emergence light; the second deflection angle is the angle between the emergence light and the corresponding incident light; A fine iteration module, used for adjusting the deflection angle combination according to a second preset adjustment step rule when performing fine iteration, until each of the exit angles is equal to the target angle, and the first deflection angle is equal to each of the second deflection angles, and the iteration is completed; wherein the target angle is the incident angle; An angle selection module, used for using the first deflection angle and the second deflection angle in the deflection angle combination when iteration is completed as the setting angle of the wedge mirror; The step of adjusting the deflection angle combination according to the first preset adjustment step rule until the emission angle is within the preset emission angle range and the difference between each second deflection angle and the first deflection angle is within the preset deviation range, then performing fine iteration includes: Selecting a group of deflection angle combinations from the first deflection angle combination queue in sequence as the current deflection angle combination; wherein the deflection angle combination includes a first deflection angle between a first surface of the wedge mirror and a preset surface and a second deflection angle between a second surface of the wedge mirror and the preset surface; wherein the preset surface is a reference surface for adjusting the first deflection angle and the second deflection angle; Based on the first deflection angle and the second deflection angle in the current deflection angle combination, combined with at least two incident light rays and an outgoing light ray corresponding to each of the incident light rays, determining whether each of the outgoing angles is within a preset outgoing angle range, and determining whether the difference between each of the second deflection angles and the first deflection angle is within a preset deviation range; If so, the detailed iteration process is entered.

9. A laser radar, characterized in that: The laser radar comprises a wedge-shaped mirror, a light source, and a first detector and a second detector respectively arranged on the upper and lower surfaces of the wedge-shaped mirror; The light source is used to provide incident light to scan the module; The first detector is used to receive the light field of the incident light; The second detector is used to receive the light field of the outgoing light; The setting angle of the wedge mirror is determined according to the method for determining the placement position of the wedge mirror according to any one of claims 1-7.

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