Field angle anomaly identification method and device, storage medium and MEMS laser radar

Abstract

The invention discloses a field angle anomaly recognition method and device, a storage medium and an MEMS laser radar, and the method comprises the steps: obtaining a feedback signal, fed back by a feedback circuit at a current moment, of a galvanometer in the operation process of the MEMS laser radar; the amplitudes of the X axis and the Y axis in the feedback signal are obtained, wherein the amplitudes of the X axis and the Y axis are the amplitudes corresponding to the angles of the galvanometer on the X axis and the Y axis at the current moment; and determining whether the field angle of the galvanometer at the current moment is abnormal or not based on the amplitudes of the X axis and the Y axis in the feedback signal. According to the technical scheme provided by the embodiment of the invention, the abnormality of the field angle of the galvanometer can be detected when the MEMS laser radar runs, so that the safety problem caused by the abnormality of the field angle of the galvanometer is avoided, and the safety and reliability of the MEMS laser radar are improved.

Description

Technical Field

[0001] The present application relates to the field of computers, and in particular to a method, device, storage medium and MEMS laser radar for identifying abnormal field of view angles. Background Art

[0002] Micro-Electro-Mechanical System (MEMS) LiDAR is suitable for large-scale applications due to its small size and low price. MEMS LiDAR is equipped with a galvanometer. The detection range of MEMS LiDAR is closely related to the field of view (FOV) of the galvanometer. During the use of MEMS, the FOV may be too large or too small due to device performance degradation or harsh environment, thus affecting the detection range of LiDAR. Summary of the invention

[0003] The embodiments of the present application provide a method, device, storage medium and MEMS laser radar for identifying abnormal field of view angles, which detects whether the field of view angle of the galvanometer is abnormal when the MEMS laser radar is started and in operation, thereby avoiding safety problems caused by abnormal field of view angles of the galvanometer, and improving the safety and reliability of the MEMS laser radar. The technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a method for identifying abnormal field of view angle, the method comprising:

[0005] When the MEMS laser radar is started, the angles of the galvanometer on the X-axis and the Y-axis are adjusted respectively;

[0006] Acquire echo data generated by scanning the edge of the window piece at the adjusted angles of the galvanometer on the X-axis and the Y-axis;

[0007] Obtain the distances between the upper edge of the window piece, the lower edge of the window piece, the left edge of the window piece, and the right edge of the window piece and the MEMS laser radar in the echo data;

[0008] Based on the distances between the upper edge, the lower edge, the left edge and the right edge of the window piece and the MEMS laser radar, determine whether the field of view angle of the galvanometer is abnormal.

[0009] In a second aspect, an embodiment of the present application provides a method for identifying abnormal field of view angle, the method comprising:

[0010] During the operation of the MEMS laser radar, a feedback signal of the galvanometer fed back by the feedback circuit at the current moment is obtained;

[0011] Obtaining the amplitudes of the X-axis and the Y-axis in the feedback signal, wherein the amplitudes of the X-axis and the Y-axis are the amplitudes corresponding to the angles of the galvanometer on the X-axis and the Y-axis at the current moment;

[0012] Based on the amplitudes of the X-axis and the Y-axis in the feedback signal, it is determined whether the field of view angle of the galvanometer at the current moment is abnormal.

[0013] In a third aspect, an embodiment of the present application provides a device for identifying abnormal field of view angle, the device comprising:

[0014] An angle adjustment module, used to adjust the angles of the galvanometer on the X-axis and the Y-axis respectively when the MEMS laser radar is started;

[0015] A data acquisition module, used for acquiring echo data generated by scanning the window piece at the adjusted angles of the galvanometer on the X-axis and the Y-axis;

[0016] A distance acquisition module, used to acquire the distances between the upper edge of the window sheet, the lower edge of the window sheet, the left edge of the window sheet and the right edge of the window sheet in the echo data and the MEMS laser radar;

[0017] The field of view angle determination module is used to determine whether the field of view angle of the galvanometer is abnormal based on the distances between the upper edge, the lower edge, the left edge and the right edge of the window sheet and the MEMS laser radar.

[0018] In a fourth aspect, an embodiment of the present application provides a device for identifying abnormal field of view angle, the device comprising:

[0019] A signal acquisition module, used to acquire the feedback signal of the galvanometer fed back by the feedback circuit at the current moment during the operation of the MEMS laser radar;

[0020] An amplitude acquisition module is used to acquire the amplitudes of the X-axis and the Y-axis in the feedback signal, where the amplitudes of the X-axis and the Y-axis are the amplitudes corresponding to the angles of the galvanometer on the X-axis and the Y-axis at the current moment;

[0021] The viewing angle determination module is used to determine whether the viewing angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and the Y-axis in the feedback signal.

[0022] In a fifth aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor and executing the above-mentioned method steps.

[0023] In a sixth aspect, an embodiment of the present application provides a MEMS laser radar, which may include: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above-mentioned method steps.

[0024] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0025] In the embodiment of the present application, by obtaining the amplitude of the galvanometer on the X-axis and Y-axis during the operation of the MEMS laser radar, the amplitude of the galvanometer on the X-axis and Y-axis is compared with the corresponding reference amplitude range to determine whether the field of view angle of the galvanometer at the current moment is abnormal. Through the technical solution provided in the embodiment of the present application, it is possible to determine in real time whether the field of view angle of the galvanometer during the operation of the MEMS laser radar is abnormal, thereby avoiding safety problems caused by abnormal field of view angle of the galvanometer, and improving the safety and reliability of the MEMS laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of the system architecture of a method for identifying abnormal field of view angle provided in an embodiment of the present application;

[0028] Figure 2 It is a flow chart of a method for identifying abnormal field of view angle provided in an embodiment of the present application;

[0029] Figure 3 This is a schematic diagram of an example of the effect of adjusting the galvanometer angle provided in an embodiment of the present application;

[0030] Figure 4 It is a flow chart of a method for identifying abnormal field of view angle provided in an embodiment of the present application;

[0031] Figure 5 This is a schematic diagram of an example of restoring the galvanometer angle effect provided in an embodiment of the present application;

[0032] Figure 6 It is a flow chart of a method for identifying abnormal field of view angle provided in an embodiment of the present application;

[0033] Figure 7 It is a flowchart of a method for obtaining feedback information provided by an embodiment of the present application;

[0034] Figure 8 This is an example schematic diagram of the X-axis and Y-axis amplitudes provided in an embodiment of the present application;

[0035] Fig. 9It is a flow chart of a method for identifying abnormal field of view angle provided in an embodiment of the present application;

[0036] Fig.10 It is a structural schematic diagram of a device for identifying abnormal field of view angle provided in an embodiment of the present application;

[0037] Fig.11 is a structural schematic diagram of a viewing angle determination module provided in an embodiment of the present application;

[0038] Fig.12 is a structural schematic diagram of a viewing angle determination unit provided in an embodiment of the present application;

[0039] Fig.13 It is a structural schematic diagram of a device for identifying abnormal field of view angle provided in an embodiment of the present application;

[0040] Fig.14 It is a structural schematic diagram of a device for identifying abnormal field of view angle provided in an embodiment of the present application;

[0041] Fig.15 is a structural schematic diagram of a viewing angle determination module provided in an embodiment of the present application;

[0042] Fig.16 is a structural schematic diagram of a viewing angle determination unit provided in an embodiment of the present application;

[0043] Fig.17 It is a structural schematic diagram of a device for identifying abnormal field of view angle provided in an embodiment of the present application;

[0044] Fig.18 It is a schematic diagram of the structure of a MEMS laser radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0046] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0047] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0048] The present application is described in detail below with reference to specific embodiments.

[0049] The method can be implemented by a computer program and can be run on a field of view anomaly recognition device based on a von Neumann system. The computer program can be integrated into an application or run as an independent tool application. Among them, the field of view anomaly recognition device in the embodiment of the present application can be a MEMS laser radar.

[0050] See also Figure 1 , which is a schematic diagram of the system architecture of a method for identifying abnormal field of view angle provided in an embodiment of the present application. It includes an object, a window, a MEMS, a field programmable gate array (FPGA), a laser device, a photoelectric receiving device, an analog-to-digital conversion module, a MEMS feedback circuit, a transmitting circuit module, and a host computer. The FPGA includes a detection module, a feedback detection module, a driving module, a transmitting module, and a fault handling module.

[0051] When the MEMS laser radar is started, the driving module controls the MEMS galvanometer to adjust the angle, and the transmitting module issues instructions to the transmitting circuit module, which in turn drives the laser device to transmit the laser through the window to scan the object. The laser reflected by the object is received by the photoelectric receiving device and fed back to the FPGA through the analog-to-digital conversion module. The FPGA identifies whether there is edge data of the window through the detection module. If so, the point cloud data is transmitted to the host computer and the angle of the galvanometer is adjusted to the angle before the MEMS laser radar is started. If not, the fault handling module is notified to handle the fault and output the fault code to the host computer.

[0052] When the MEMS laser radar is running, the driving module transmits driving information to the MEMS feedback circuit, the feedback circuit drives the MEMS to control the galvanometer, the MEMS feeds back the current feedback information to the MEMS feedback circuit, the feedback circuit transmits the feedback information of the X-axis and Y-axis to the feedback detection module for judgment. If it is judged that the galvanometer is scanning normally on the X-axis and Y-axis at the current moment, the MEMS laser radar is kept in normal operation. If it is judged that the field of view angle of the MEMS galvanometer at the current moment is abnormal, the fault handling module is notified to handle the fault and transmit the fault code to the host computer.

[0053] See also Figure 2 , a flow chart of a method for identifying abnormal field of view angle is provided for an embodiment of the present application.

[0054] The embodiment of the present application is described by taking a MEMS laser radar as an example. The method for identifying abnormal field of view angle may include the following steps:

[0055] S101, when the MEMS laser radar is started, adjusting the angles of the galvanometer on the X-axis and the Y-axis respectively;

[0056] Among them, the galvanometer can be a component in the MEMS laser radar. Its function is to adjust the angle under the control of the driver, so as to change the trajectory of the scanning laser and irradiate it onto the object to be scanned. The galvanometer is mainly adjusted in the X-axis and Y-axis directions.

[0057] The angle of the galvanometer on the X-axis may be a reflection angle of the galvanometer in the X-axis direction when reflecting the laser.

[0058] The angle of the galvanometer on the Y axis may be a reflection angle of the galvanometer in the Y axis direction when reflecting the laser.

[0059] When starting the MEMS laser radar, in order to identify and confirm the field of view of the galvanometer of the MEMS laser radar, the angle of the galvanometer is adjusted to prepare for subsequent identification. The angle adjustment can appropriately increase the angle of the galvanometer on the X-axis and Y-axis so that the subsequent identification process can proceed normally.

[0060] It should be noted that when the galvanometer is working normally, it generally cannot scan the edge of the window. In order to detect the edge of the window to determine whether the field of view of the galvanometer is abnormal, it is necessary to appropriately increase the angle of the galvanometer on the X-axis and Y-axis.

[0061] S102, acquiring echo data generated by scanning the edge of the window piece at the adjusted angles of the galvanometer on the X-axis and the Y-axis;

[0062] The echo data can be the echo signal reflected from the edge of the window piece after the laser passes through the galvanometer to detect the edge of the window piece, which is caused by the attenuation delay signal caused by the change of the laser transmission medium. If the echo data can be obtained, it can be considered that the transmission medium has changed when the laser irradiates the window piece, that is, the edge of the window piece is scanned.

[0063] When the upper and lower edges of the window are scanned at the adjusted galvanometer angle at the Y axis, and the left and right edges of the window are scanned at the adjusted galvanometer angle at the X axis, the echo data corresponding to the upper, lower, left and right edges are obtained. The echo data is point cloud data, including information about the object or the object, such as distance information, height, speed, posture, and even shape parameters. In one achievable method, a frame of laser radar echo data contains 125×126 points, which is 125 columns and 126 rows. The distance information of each point in the echo data can be obtained by obtaining the echo data of 125×126 points and then obtaining the distance information of 125×126 points.

[0064] like Figure 3 As shown, when the laser passes through the galvanometer and scans the edge of the window, the laser will generate an echo signal due to the difference between the edge of the window and the window medium, thereby acquiring echo data.

[0065] The window piece may be a thin piece made of a light-transmitting material, and the window piece is surrounded by a light-opaque material as the edge of the window piece. In order not to affect the determination of the viewing angle, the window piece is smooth and flat.

[0066] S103, obtaining the distances between the upper edge of the window piece, the lower edge of the window piece, the left edge of the window piece, and the right edge of the window piece in the echo data and the MEMS laser radar;

[0067] After acquiring the echo data of the edge of the scanned window piece, the distances between the upper edge of the window piece, the lower edge of the window piece, the left edge of the window piece, and the right edge of the window piece and the MEMS laser radar in the echo data are acquired respectively.

[0068] S104, determining whether the field of view angle of the galvanometer is abnormal based on the distances between the upper edge, the lower edge, the left edge, and the right edge of the window sheet and the MEMS laser radar.

[0069] Based on the distances between the upper edge, lower edge, left edge and right edge of the window piece and the MEMS laser radar obtained in S103, the distances between the upper edge, lower edge, left edge and right edge of the window piece and the MEMS laser radar are compared with the preset distance range respectively. If the distances obtained within the detection cycle are all within the preset distance range, it can be considered that there is no abnormality in the field of view angle of the galvanometer and it can work normally; if at least one of the distances obtained within the detection cycle is not within the preset distance range, it can be considered that there is an abnormality in the field of view angle of the galvanometer and it cannot work normally. The MEMS laser radar is not started and needs to be inspected and repaired.

[0070] Among them, the preset distance range can be a target theoretical distance obtained after multiple tests. For example, the target theoretical distance is within a theoretical threshold range. If the obtained distance is not within the theoretical threshold range, it can be considered that the field of view angle of the galvanometer is abnormal and cannot work normally.

[0071] In the embodiment of the present application, by adjusting the angles of the X-axis and Y-axis of the galvanometer, the echo data generated by the edge of the scanning window piece is obtained based on the laser, and the distances between the upper edge of the window piece, the lower edge of the window piece, the left edge of the window piece and the right edge of the window piece and the MEMS laser radar are further obtained, and the obtained distances are compared with the preset distance ranges respectively, so as to determine whether the field of view angle of the galvanometer is abnormal. The technical solution provided in the embodiment of the present application makes it possible to detect abnormal field of view angle of the galvanometer when the MEMS laser radar is turned on, thereby avoiding safety problems caused by abnormal field of view angle of the galvanometer, and improving the reliability and safety of the MEMS laser radar.

[0072] See also Figure 4 , which is a flow chart of a method for identifying field angle anomalies provided in an embodiment of the present application.

[0073] The embodiment of the present application is described by taking a MEMS laser radar as an example. The method for identifying abnormal field of view angle may include the following steps:

[0074] S201, when the MEMS laser radar is started, adjusting the angles of the galvanometer on the X-axis and the Y-axis respectively;

[0075] For details, please refer to step S101, which will not be described in detail here.

[0076] S202, acquiring echo data generated by scanning the edge of the window piece at the adjusted angles of the galvanometer on the X-axis and the Y-axis;

[0077] For details, please refer to step S102, which will not be described in detail here.

[0078] S203, obtaining the distances between the upper edge of the window piece, the lower edge of the window piece, the left edge of the window piece, and the right edge of the window piece in the echo data and the MEMS laser radar;

[0079] For details, please refer to step S103, which will not be described in detail here.

[0080] S204, respectively comparing the distances between the upper edge of the window sheet, the lower edge of the window sheet, the left edge of the window sheet, and the right edge of the window sheet and the MEMS laser radar with a preset distance range;

[0081] Among them, the preset distance range can be the target theoretical distance obtained after multiple tests. For example, if the distance between the upper edge of the window piece and the MEMS laser radar is obtained and compared with the preset distance range, it can be determined that the distance between the upper edge of the window piece and the MEMS laser radar is not within the preset distance range.

[0082] S205, if the distance between the upper edge of the window piece and the MEMS laser radar is within the preset distance range, and the distance between the lower edge of the window piece and the MEMS laser radar is within the preset distance range, it is determined that the Y-axis scanning of the galvanometer is normal;

[0083] If the distance between the upper edge of the window piece and the MEMS laser radar is within the preset distance range, and the distance between the lower edge of the window piece and the MEMS laser radar is also within the preset distance range, it can be determined that the Y-axis scanning of the galvanometer is normal. For example: if the distance between the upper edge of the window piece and the MEMS laser radar is the first distance, the preset distance range is the first theoretical threshold range, the distance between the lower edge of the window piece and the MEMS laser radar is the second distance, and the preset distance range is the second theoretical threshold range, it can be seen that the distances between the upper edge of the window piece, the lower edge of the window piece and the MEMS laser radar are all within the preset distance range, then it is determined that the Y-axis scanning of the galvanometer is normal at the current moment.

[0084] S206, if the distance between the left edge of the window sheet and the MEMS laser radar is within the preset distance range, and the distance between the right edge of the window sheet and the MEMS laser radar is within the preset distance range, it is determined that the X-axis scanning of the galvanometer is normal;

[0085] If the distance between the left edge of the window and the MEMS laser radar is within the preset distance range, and the distance between the right edge of the window and the MEMS laser radar is also within the preset distance range, it can be determined that the X-axis scanning of the galvanometer is normal. For example: if the distance between the left edge of the window and the MEMS laser radar is the first distance, the preset distance range is the first threshold range, the distance between the right edge of the window and the MEMS laser radar is the second distance, and the preset distance range is the second threshold range, it can be seen that the distances between the upper edge of the window, the lower edge of the window and the MEMS laser radar are all within the preset distance range, then it is determined that the X-axis scanning of the galvanometer is normal at the current moment.

[0086] S207, if it is determined that the field of view angle of the galvanometer is normal, adjusting the angles of the galvanometer on the X-axis and the Y-axis to the angles before the MEMS laser radar is activated, and performing scanning at the angles before the MEMS laser radar is activated;

[0087] If it is determined that both the X-axis and Y-axis of the galvanometer are scanning normally, it can be considered that the field of view angle is normal and the MEMS lidar is allowed to start.

[0088] Adjust the X-axis and Y-axis angles of the galvanometer to the angles before the LiDAR is activated, so that the edge of the window will not be scanned during scanning. Figure 5 As shown, after adjustment, the laser will not come into contact with the edge of the window during scanning, so that the MEMS lidar can perform scanning work normally.

[0089] S208, if at least one of the distances between the upper edge of the window sheet, the lower edge of the window sheet, the left edge of the window sheet, and the right edge of the window sheet and the MEMS laser radar is not within the preset distance range, it is determined that the field of view angle of the galvanometer is abnormal;

[0090] If at least one of the distances between the upper edge of the window, the lower edge of the window, the left edge of the window, and the right edge of the window and the MEMS laser radar is not within the preset distance range, such as the following situation: assuming that the preset distance ranges are all theoretical threshold ranges, if at least one of the distances between the upper edge of the window, the lower edge of the window, the left edge of the window, and the right edge of the window and the MEMS laser radar exceeds the theoretical threshold range, it is determined that the field of view angle of the galvanometer is abnormal.

[0091] S209, if it is determined that the field of view angle of the galvanometer is abnormal, outputting a fault code to a host computer;

[0092] There are three situations when the galvanometer's field of view is abnormal, namely: the galvanometer's X-axis scanning is abnormal but the Y-axis scanning is normal; the galvanometer's Y-axis scanning is abnormal but the X-axis scanning is normal; and the galvanometer's X-axis and Y-axis scanning are abnormal. If any of the above three situations occurs, it can be considered that the field of view is abnormal, the MEMS laser radar is not allowed to start, and a fault code is output to the host computer.

[0093] Among them, the host computer can be an electronic control unit (ECU), also known as a "driving computer" or "on-board computer", which is used to receive fault codes and give prompts.

[0094] In the embodiment of the present application, by comparing the distances between the upper edge of the window piece, the lower edge of the window piece, the left edge of the window piece, and the right edge of the window piece and the MEMS laser radar with the preset distance range, if the X-axis and Y-axis of the galvanometer are both scanning normally, it is determined that the field of view angle of the galvanometer is normal, the angle of the galvanometer is adjusted to the angle before the MEMS laser radar is started, and the scanning work is started; if at least one of the X-axis and Y-axis of the galvanometer is scanning abnormally, it is determined that the field of view angle of the galvanometer is abnormal, the MEMS laser radar is not allowed to start, and a fault code is output to the upper computer. Through the technical solution provided in the embodiment of the present application, the field of view angle of the galvanometer can be detected when the MEMS laser radar is started, and when the field of view angle of the galvanometer is detected to be abnormal, the startup of the MEMS laser radar is interrupted and a fault code is output to the upper computer, thereby avoiding safety problems caused by abnormal field of view angle of the galvanometer, and improving the reliability and safety of the MEMS laser radar.

[0095] See also Figure 6 , which is a flow chart of a method for identifying field angle anomalies provided in an embodiment of the present application.

[0096] The embodiment of the present application is described by taking a MEMS laser radar as an example. The method for identifying abnormal field of view angle may include the following steps:

[0097] S301, during the operation of the MEMS laser radar, obtaining a feedback signal of the galvanometer fed back by the feedback circuit at the current moment;

[0098] During the operation of the MEMS laser radar, the feedback information of the galvanometer at the current moment is obtained based on the feedback circuit, such as Figure 7 As shown, the FPGA outputs driving information to the MEMS feedback circuit, the MEMS feedback circuit drives the galvanometer in the MEMS to rotate and obtains feedback information, and the MEMS feedback circuit returns the feedback information to the FPGA for analysis.

[0099] The feedback information includes the amplitude of the galvanometer on the X-axis and the Y-axis.

[0100] The amplitude of the X-axis may be the amplitude obtained by scanning in the X-axis direction at the current time and the current angle.

[0101] The amplitude of the Y axis may be the amplitude obtained by scanning in the Y axis direction at the current time and the current angle.

[0102] FPGA has the functions of outputting driving information and receiving and analyzing feedback information. The FPGA outputs driving information to allow the MEMS feedback circuit to drive the galvanometer to rotate in a certain manner, and receives feedback information from the MEMS feedback circuit.

[0103] The MEMS feedback circuit receives the driving information output by the FPGA, and drives the galvanometer of the MEMS to rotate according to the driving information. In addition, the MEMS feedback circuit also receives the feedback information fed back by the MEMS, and transmits the feedback information to the FPGA for analysis.

[0104] It should be noted that the feedback circuit feeds back the information at the current moment, and the conclusions drawn based on the feedback information can only represent the field of view of the galvanometer at the current moment.

[0105] S302, obtaining the amplitudes of the X-axis and the Y-axis in the feedback signal, wherein the amplitudes of the X-axis and the Y-axis are the amplitudes corresponding to the angles of the galvanometer on the X-axis and the Y-axis at the current moment;

[0106] Get the amplitude of the galvanometer on the X-axis and Y-axis in the feedback information.

[0107] The amplitude of the X-axis may be the amplitude in the X-axis direction obtained by scanning the galvanometer at the current moment and the current angle.

[0108] The amplitude of the Y axis may be the amplitude in the Y axis direction obtained by scanning the galvanometer at the current moment and the current angle.

[0109] S303: Determine whether the field of view angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and the Y-axis in the feedback signal.

[0110] Based on the amplitudes of the X-axis and the Y-axis in the feedback information, they are compared with the corresponding reference amplitude ranges. If the amplitudes of the X-axis and the Y-axis are both within the corresponding reference amplitude ranges, it is considered that there is no abnormality in the field of view angle at the current moment; if at least one of the amplitudes of the X-axis and the Y-axis is not within the reference amplitude range, it can be considered that the field of view angle of the galvanometer at the current moment is abnormal.

[0111] The amplitudes of the X-axis and Y-axis can be: if the waveform obtained by scanning in the X-axis direction is a sine wave, then the amplitude of the galvanometer in the X-axis is the vertical distance between the peak and the trough in one cycle; if the waveform obtained by scanning in the Y-axis direction is a triangle wave, then the amplitude of the galvanometer in the Y-axis is the vertical distance between the highest point and the lowest point in one cycle, such as Figure 8 shown.

[0112] Among them, the reference amplitude range can be the theoretical or current MEMS calibration amplitude data, and the reference amplitude range is the theoretical threshold range. If the amplitudes of the galvanometer on the X-axis and the Y-axis are both within the theoretical threshold range, it is considered that the field of view angle of the galvanometer at the current moment is normal, otherwise it is considered that the field of view angle of the galvanometer at the current moment is abnormal.

[0113] In the embodiment of the present application, by obtaining the amplitude of the galvanometer on the X-axis and Y-axis during the operation of the MEMS laser radar, the amplitude of the galvanometer on the X-axis and Y-axis is compared with the corresponding reference amplitude range to determine whether the field of view angle of the galvanometer at the current moment is abnormal. Through the technical solution provided in the embodiment of the present application, it is possible to determine in real time whether the field of view angle of the galvanometer during the operation of the MEMS laser radar is abnormal, thereby avoiding safety problems caused by abnormal field of view angle of the galvanometer, and improving the safety and reliability of the MEMS laser radar.

[0114] See also Fig. 9 , which is a flow chart of a method for identifying field angle anomalies provided in an embodiment of the present application.

[0115] The embodiment of the present application is described by taking a MEMS laser radar as an example. The method for identifying abnormal field of view angle may include the following steps:

[0116] S401, during the operation of the MEMS laser radar, obtaining a feedback signal of the galvanometer fed back by the feedback circuit at the current moment;

[0117] For details, please refer to step S301, which will not be described in detail here.

[0118] S402, obtaining the amplitudes of the X-axis and the Y-axis in the feedback signal, where the amplitudes of the X-axis and the Y-axis are the amplitudes corresponding to the angles of the galvanometer on the X-axis and the Y-axis at the current moment;

[0119] For details, please refer to step S302, which will not be described in detail here.

[0120] S403, respectively comparing the amplitudes of the X-axis and the Y-axis in the feedback signal with the corresponding reference amplitude ranges;

[0121] The amplitudes of the X-axis and Y-axis in the feedback information are compared with the corresponding reference amplitude ranges to determine whether the amplitudes of the X-axis and Y-axis at the current moment are within the reference amplitude range, providing a basis for determining whether the field of view angle is abnormal.

[0122] For example, if the amplitude of the X-axis in the feedback information is the first amplitude, and the corresponding reference amplitude range is the first theoretical amplitude, and the first amplitude is within the first theoretical amplitude range, then it is determined that the amplitude of the galvanometer on the X-axis at the current moment is within the reference amplitude; if the amplitude of the Y-axis in the feedback information is the second amplitude, and the corresponding reference amplitude range is the second theoretical amplitude, and the second amplitude is within the second theoretical amplitude range, then it is determined that the amplitude of the galvanometer on the Y-axis at the current moment is not within the reference amplitude range.

[0123] S404, if the X-axis amplitude is within the corresponding reference amplitude range, it is determined that the X-axis scanning of the galvanometer is normal at the current moment;

[0124] If the amplitude of the X-axis is within the reference amplitude range, it is determined that the X-axis scanning of the galvanometer is normal at the current moment. For example, if the sine wave obtained by the galvanometer in the X-axis scanning, the vertical distance between the peak and the trough in the current cycle is the first amplitude, the reference amplitude range is the first theoretical amplitude, and the first amplitude is within the first theoretical amplitude range, it is determined that the X-axis scanning of the galvanometer is normal at the current moment.

[0125] S405, if the amplitude of the Y-axis is within the corresponding reference amplitude range, it is determined that the Y-axis scanning of the galvanometer is normal at the current moment;

[0126] If the amplitude of the Y-axis is within the reference amplitude range, it is determined that the Y-axis scanning of the galvanometer is normal at the current moment. For example, if the triangular wave obtained by the galvanometer in the Y-axis scanning, the vertical distance between the highest point and the lowest point in the current cycle is the second amplitude, the reference amplitude range is the second theoretical amplitude, and the second amplitude is within the second theoretical amplitude range, it is determined that the Y-axis scanning of the galvanometer is normal at the current moment.

[0127] S406, if it is determined that the field of view angle of the galvanometer at the current moment is normal, driving the galvanometer to continue operating;

[0128] If it is determined that the X-axis and Y-axis of the galvanometer are scanning normally at the current moment, it can be determined that the field of view of the galvanometer at the current moment is normal, and the driver keeps the galvanometer running.

[0129] S407, if at least one of the amplitudes of the X-axis and the Y-axis is not within the corresponding reference amplitude range, determining that the field of view angle of the galvanometer at the current moment is abnormal;

[0130] If at least one of the amplitudes of the galvanometer on the X-axis and the Y-axis is not within the corresponding reference amplitude range, that is, the following situations are included: the amplitude of the galvanometer on the X-axis is not within the corresponding reference amplitude range, but the amplitude of the galvanometer on the Y-axis is within the corresponding reference amplitude range, for example, the amplitude of the galvanometer on the X-axis is the first amplitude, and the corresponding reference amplitude range is the first theoretical amplitude, the amplitude of the Y-axis is the second amplitude, and the corresponding reference amplitude range is the second theoretical amplitude, the first amplitude is not within the first theoretical amplitude range, and the second amplitude is within the second theoretical amplitude range; the amplitude of the galvanometer on the X-axis is within the corresponding reference amplitude range, but the amplitude of the galvanometer on the Y-axis is not within the corresponding reference amplitude range, For example, the amplitude of the galvanometer on the X-axis is the first amplitude, and the corresponding reference amplitude range is the first theoretical amplitude, the amplitude of the Y-axis is the second amplitude, and the corresponding reference amplitude range is the second theoretical amplitude, the first amplitude is within the first theoretical amplitude range, and the second amplitude is not within the second theoretical amplitude range; and the amplitudes of the galvanometer on both the X-axis and the Y-axis are not within the corresponding reference amplitude range, for example, the amplitude of the galvanometer on the X-axis is the first amplitude, and the corresponding reference amplitude range is the first theoretical amplitude, the amplitude of the Y-axis is the second amplitude, and the corresponding reference amplitude range is the second theoretical amplitude, the first amplitude is not within the first theoretical amplitude range, and the second amplitude is not within the second theoretical amplitude range.

[0131] If any one of the above three situations is obtained based on the feedback information fed back by the feedback circuit at the current moment, it is determined that the field of view angle of the galvanometer at the current moment is abnormal.

[0132] S408, if it is determined that the field of view angle of the galvanometer at the current moment is abnormal, output a fault code to a host computer;

[0133] If it is determined that the field of view angle of the galvanometer at the current moment is abnormal, a fault code needs to be output to the host computer to prompt the user to take corresponding measures in time.

[0134] Among them, the host computer can be an electronic control unit (ECU), also known as a "driving computer" or "on-board computer", which is used to receive fault codes and give prompts.

[0135] Through the technical solution provided in the embodiments of the present application, it is possible to determine whether the field of view angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and Y-axis of the galvanometer at the current moment. If there is no abnormality, the MEMS laser radar will remain in normal operation. If an abnormality occurs, a fault code will be output to the host computer to prompt the user to take corresponding measures, so as to realize real-time judgment on whether the field of view angle of the galvanometer is abnormal during the operation of the MEMS laser radar, thereby avoiding safety problems caused by abnormal field of view angle of the galvanometer, and improving the safety and reliability of the MEMS laser radar.

[0136] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0137] See also Fig.10 , which shows a schematic diagram of the structure of a viewing angle abnormality recognition device provided by an exemplary embodiment of the present application. The viewing angle abnormality recognition device can be implemented by software, hardware or a combination of both to realize all or part of the terminal. The device 1 includes an angle adjustment module 11, a data acquisition module 12, a distance acquisition module 13 and a viewing angle determination module 14.

[0138] An angle adjustment module 11 is used to adjust the angles of the galvanometer on the X-axis and the Y-axis respectively when the MEMS laser radar is started;

[0139] A data acquisition module 12 is used to acquire echo data generated by scanning the window piece with the adjusted galvanometer at the angles of the X-axis and the Y-axis;

[0140] A distance acquisition module 13 is used to acquire the distances between the upper edge of the window sheet, the lower edge of the window sheet, the left edge of the window sheet and the right edge of the window sheet in the echo data and the MEMS laser radar;

[0141] The field of view angle determination module 14 is used to determine whether the field of view angle of the galvanometer is abnormal based on the distances between the upper edge, the lower edge, the left edge and the right edge of the window and the MEMS laser radar.

[0142] Optional, such as Fig.11 As shown, the viewing angle determination module 14 includes:

[0143] A distance comparison unit 141 is used to compare the distances between the upper edge of the window sheet, the lower edge of the window sheet, the left edge of the window sheet, and the right edge of the window sheet and the MEMS laser radar with a preset distance range;

[0144] A field of view angle determination unit 142 is used to determine that the field of view angle of the galvanometer is normal if the distances between the upper edge, the lower edge, the left edge and the right edge of the window and the MEMS laser radar are all within the preset distance range;

[0145] The field of view angle determination unit 142 is also used to determine that the field of view angle of the galvanometer is abnormal if at least one of the distances between the upper edge of the window piece, the lower edge of the window piece, the left edge of the window piece, and the right edge of the window piece and the MEMS laser radar is not within the preset distance range.

[0146] Optional, such as Fig.12 As shown, the viewing angle determination unit 142 includes:

[0147] An X-axis determination subunit 1421 is used to determine that the X-axis scanning of the galvanometer is normal if the distance between the upper edge of the window piece and the MEMS laser radar is within the preset distance range, and the distance between the lower edge of the window piece and the MEMS laser radar is within the preset distance range;

[0148] The Y-axis determination subunit 1422 is used to determine that the Y-axis scanning of the galvanometer is normal if the distance between the left edge of the window piece and the MEMS laser radar is within the preset distance range, and the distance between the right edge of the window piece and the MEMS laser radar is within the preset distance range.

[0149] Optional, such as Fig.13 As shown, the device 1 also includes:

[0150] An angle recovery module 15 is used to adjust the angles of the galvanometer on the X-axis and the Y-axis to the angles before the laser radar is activated if it is determined that the field of view angle of the galvanometer is normal, and scan at the angles before the laser radar is activated;

[0151] The fault notification module 16 is used to output a fault code to a host computer if it is determined that the field of view angle of the galvanometer is abnormal.

[0152] Through the technical solution provided in the embodiment of the present application, the field of view angle of the galvanometer can be detected when the MEMS laser radar is started, and when the field of view angle of the galvanometer is detected to be abnormal, the startup of the MEMS laser radar is interrupted and a fault code is output to the host computer at the same time, thereby avoiding safety problems caused by abnormal field of view angle of the galvanometer and improving the reliability and safety of the MEMS laser radar.

[0153] See also Fig.14 As shown, it shows a schematic diagram of the structure of a viewing angle abnormality identification device provided by an exemplary embodiment of the present application. The device 2 includes a signal acquisition module 21, an amplitude acquisition module 22, and a viewing angle determination module 23:

[0154] The signal acquisition module 21 is used to obtain the feedback signal of the galvanometer fed back by the feedback circuit at the current moment during the operation of the MEMS laser radar;

[0155] An amplitude acquisition module 22 is used to acquire the amplitudes of the X-axis and the Y-axis in the feedback signal, wherein the amplitudes of the X-axis and the Y-axis are the amplitudes corresponding to the angles of the galvanometer on the X-axis and the Y-axis at the current moment;

[0156] The viewing angle determination module 23 is used to determine whether the viewing angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and the Y-axis in the feedback signal.

[0157] Optional, such as Fig.15As shown, the viewing angle determination module 23 includes:

[0158] An amplitude comparison unit 231 is used to compare the amplitudes of the X-axis and the Y-axis in the feedback signal with the corresponding reference amplitude ranges;

[0159] A field of view angle determination unit 232, configured to determine that the field of view angle of the galvanometer at the current moment is normal if the amplitudes of the X-axis and the Y-axis are both within the corresponding reference amplitude ranges;

[0160] The field of view angle determination unit 232 is further configured to determine that the field of view angle of the galvanometer at the current moment is abnormal if at least one of the amplitudes of the X-axis and the Y-axis is not within the corresponding reference amplitude range.

[0161] Optional, such as Fig.16 As shown, the viewing angle determination unit 232 includes:

[0162] The X-axis determination subunit 2321 is used to determine that the X-axis scanning of the galvanometer is normal at the current moment if the X-axis amplitude is within the corresponding reference amplitude range;

[0163] The Y-axis determination subunit 2322 is used to determine that the Y-axis scanning of the galvanometer is normal at the current moment if the amplitude of the Y-axis is within the corresponding reference amplitude range.

[0164] Optional, such as Fig.17 As shown, the device 2 also includes:

[0165] A normal operation module 24 is used to drive the galvanometer to continue to operate if it is determined that the field of view angle of the galvanometer at the current moment is normal;

[0166] The fault notification module 25 is used to output a fault code to a host computer if it is determined that the field of view angle of the galvanometer at the current moment is abnormal.

[0167] Through the technical solution provided in the embodiments of the present application, it is possible to determine whether the field of view angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and Y-axis of the galvanometer at the current moment. If there is no abnormality, the MEMS laser radar will remain in normal operation. If an abnormality occurs, a fault code will be output to the host computer to prompt the user to take corresponding measures, so as to realize real-time judgment on whether the field of view angle of the galvanometer is abnormal during the operation of the MEMS laser radar, thereby avoiding safety problems caused by abnormal field of view angle of the galvanometer, and improving the safety and reliability of the MEMS laser radar.

[0168] It should be noted that the field of view anomaly identification device provided in the above embodiment only uses the division of the above functional modules as an example when executing the field of view anomaly identification method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the field of view anomaly identification device provided in the above embodiment and the field of view anomaly identification method embodiment belong to the same concept, and the implementation process thereof is detailed in the method embodiment, which will not be repeated here.

[0169] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0170] The present application also provides a computer storage medium, which can store multiple instructions, and the instructions are suitable for being loaded and executed by a processor as described above. Figure 1-Figure 9 The method steps of the embodiment shown in the figure can be found in the specific implementation process. Figure 1-Figure 9 The specific description of the illustrated embodiment will not be repeated here.

[0171] The present application also provides a MEMS laser radar, which stores at least one instruction, and the at least one instruction is loaded and executed by the processor. Figure 1-Figure 9 The specific description of the illustrated embodiment will not be repeated here.

[0172] See also Fig.18 , which is a schematic diagram of the structure of a MEMS laser radar provided in an embodiment of the present application. Fig.18 As shown, the mobile terminal 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0173] The communication bus 1002 is used to realize the connection and communication between these components.

[0174] The user interface 1003 may include a display screen (Display) and a camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.

[0175] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0176] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect the various parts of the entire MEMS laser radar 1000, and executes various functions and processes data of the MEMS laser radar 1000 by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0177] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally be at least one storage device located away from the aforementioned processor 1001. As Fig.18 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a viewing angle abnormality recognition application.

[0178] exist Fig.18In the mobile terminal 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 1001 can be used to call the field of view angle abnormality recognition application stored in the memory 1005, and specifically perform the following operations:

[0179] When the MEMS laser radar is started, the angles of the galvanometer on the X-axis and the Y-axis are adjusted respectively;

[0180] Acquire echo data generated by scanning the edge of the window piece at the adjusted angles of the galvanometer on the X-axis and the Y-axis;

[0181] Obtain the distances between the upper edge of the window piece, the lower edge of the window piece, the left edge of the window piece, and the right edge of the window piece and the MEMS laser radar in the echo data;

[0182] Based on the distances between the upper edge, the lower edge, the left edge and the right edge of the window piece and the MEMS laser radar, determine whether the field of view angle of the galvanometer is abnormal.

[0183] In one embodiment, when the processor 1001 determines whether the field of view angle of the galvanometer is abnormal based on the distances between the upper edge, the lower edge, the left edge, and the right edge of the window sheet and the MEMS laser radar, the processor 1001 specifically performs the following operations:

[0184] Respectively comparing the distances between the upper edge of the window sheet, the lower edge of the window sheet, the left edge of the window sheet, and the right edge of the window sheet and the MEMS laser radar with a preset distance range;

[0185] If the distances between the upper edge of the window sheet, the lower edge of the window sheet, the left edge of the window sheet, and the right edge of the window sheet and the MEMS laser radar are all within the preset distance range, it is determined that the field of view angle of the galvanometer is normal;

[0186] If at least one of the distances between the upper edge of the window, the lower edge of the window, the left edge of the window, and the right edge of the window and the MEMS laser radar is not within the preset distance range, it is determined that the field of view angle of the galvanometer is abnormal.

[0187] In one embodiment, when the processor 1001 executes the step of determining that the field of view angle of the galvanometer is normal if the distances between the upper edge of the window sheet, the lower edge of the window sheet, the left edge of the window sheet, and the right edge of the window sheet and the MEMS laser radar are all within the preset distance range, the processor 1001 specifically performs the following operations:

[0188] If the distance between the upper edge of the window piece and the MEMS laser radar is within the preset distance range, and the distance between the lower edge of the window piece and the MEMS laser radar is within the preset distance range, it is determined that the X-axis scanning of the galvanometer is normal;

[0189] If the distance between the left edge of the window piece and the MEMS laser radar is within the preset distance range, and the distance between the right edge of the window piece and the MEMS laser radar is within the preset distance range, it is determined that the Y-axis scanning of the galvanometer is normal.

[0190] In one embodiment, after executing the step of determining whether the field of view angle of the galvanometer is abnormal based on the distances between the upper edge of the window sheet, the lower edge of the window sheet, the left edge of the window sheet, and the right edge of the window sheet and the MEMS laser radar, the processor 1001 further performs the following operations:

[0191] If it is determined that the field of view angle of the galvanometer is normal, the angles of the galvanometer on the X-axis and the Y-axis are adjusted to the angles before the laser radar is activated, and scanning is performed at the angles before the laser radar is activated;

[0192] If it is determined that the field of view angle of the galvanometer is abnormal, a fault code is output to a host computer.

[0193] Optionally, the processor 1001 further performs the following operations:

[0194] During the operation of the MEMS laser radar, a feedback signal of the galvanometer fed back by the feedback circuit at the current moment is obtained;

[0195] Obtaining the amplitudes of the X-axis and the Y-axis in the feedback signal, wherein the amplitudes of the X-axis and the Y-axis are the amplitudes corresponding to the angles of the galvanometer on the X-axis and the Y-axis at the current moment;

[0196] Based on the amplitudes of the X-axis and the Y-axis in the feedback signal, it is determined whether the field of view angle of the galvanometer at the current moment is abnormal.

[0197] In one embodiment, when the processor 1001 determines whether the field of view angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and the Y-axis in the feedback signal, the processor 1001 specifically performs the following operations:

[0198] Comparing the amplitudes of the X-axis and the Y-axis in the feedback signal with the corresponding reference amplitude ranges respectively;

[0199] If the amplitudes of the X-axis and the Y-axis are both within the corresponding reference amplitude ranges, it is determined that the field of view of the galvanometer at the current moment is normal;

[0200] If at least one of the amplitudes of the X-axis and the Y-axis is not within the corresponding reference amplitude range, it is determined that the field of view angle of the galvanometer at the current moment is abnormal.

[0201] In one embodiment, when the processor 1001 executes the step of determining that the field of view angle of the galvanometer at the current moment is normal if the amplitudes of the galvanometer on the X-axis and the Y-axis are both within the corresponding reference amplitude ranges, the processor 1001 specifically performs the following operations:

[0202] If the amplitude of the galvanometer on the X-axis is within the corresponding reference amplitude range, it is determined that the galvanometer is scanning the X-axis normally at the current moment;

[0203] If the amplitude of the galvanometer on the Y-axis is within the corresponding reference amplitude range, it is determined that the Y-axis scanning of the galvanometer is normal at the current moment.

[0204] In one embodiment, after executing the step of determining whether the field of view angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and the Y-axis in the feedback signal, the processor 1001 further performs the following operations:

[0205] If it is determined that the field of view angle of the galvanometer at the current moment is normal, driving the galvanometer to continue operating;

[0206] If it is determined that the field of view angle of the galvanometer at the current moment is abnormal, a fault code is output to the upper computer.

[0207] Through the technical solution provided in the embodiments of the present application, the field of view angle of the galvanometer can be detected when the MEMS laser radar is started, and when the field of view angle of the galvanometer is detected to be abnormal, the startup of the MEMS laser radar is interrupted and a fault code is output to the host computer at the same time, thereby avoiding safety problems caused by abnormal field of view angle of the galvanometer, and improving the reliability and safety of the MEMS laser radar; in addition, during the operation of the MEMS laser radar, it is possible to determine whether the field of view angle of the galvanometer at the current moment is abnormal based on the amplitude of the X-axis and Y-axis of the galvanometer at the current moment. If there is no abnormality, the MEMS laser radar is kept working normally. If an abnormality occurs, a fault code is output to the host computer to prompt the user to make corresponding processing, so as to realize real-time judgment on whether the field of view angle of the galvanometer is abnormal during the operation of the MEMS laser radar, thereby avoiding safety problems caused by abnormal field of view angle of the galvanometer, and improving the safety and reliability of the MEMS laser radar.

[0208] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0209] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for identifying abnormal field of view angle, characterized in that: Applied to a MEMS laser radar, the MEMS laser radar includes a galvanometer, and the method includes: During the operation of the MEMS laser radar, a feedback signal of the galvanometer fed back by the feedback circuit at the current moment is obtained; Obtaining the amplitudes of the X-axis and the Y-axis in the feedback signal, wherein the amplitudes of the X-axis and the Y-axis are the amplitudes corresponding to the angles of the galvanometer on the X-axis and the Y-axis at the current moment; Based on the amplitudes of the X-axis and the Y-axis in the feedback signal, it is determined whether the field of view angle of the galvanometer at the current moment is abnormal.

2. The method according to claim 1, characterized in that: The determining whether the field of view angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and the Y-axis in the feedback signal includes: Comparing the amplitudes of the X-axis and the Y-axis in the feedback signal with the corresponding reference amplitude ranges respectively; If the amplitudes of the X-axis and the Y-axis are both within the corresponding reference amplitude ranges, it is determined that the field of view of the galvanometer at the current moment is normal; If at least one of the amplitudes of the X-axis and the Y-axis is not within the corresponding reference amplitude range, it is determined that the field of view angle of the galvanometer at the current moment is abnormal.

3. The method according to claim 2, characterized in that If the amplitudes of the galvanometer on the X-axis and the Y-axis are both within the corresponding reference amplitude ranges, then determining that the field of view of the galvanometer at the current moment is normal includes: If the amplitude of the X-axis is within the corresponding reference amplitude range, it is determined that the X-axis scanning of the galvanometer is normal at the current moment; If the amplitude of the Y-axis is within the corresponding reference amplitude range, it is determined that the Y-axis scanning of the galvanometer is normal at the current moment.

4. The method according to claim 1, characterized in that: After determining whether the field of view angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and the Y-axis in the feedback signal, the method further includes: If it is determined that the field of view angle of the galvanometer at the current moment is normal, driving the galvanometer to continue operating; If it is determined that the field of view angle of the galvanometer at the current moment is abnormal, a fault code is output to the upper computer.

5. A device for identifying abnormal viewing angle, characterized in that: Applied to a MEMS laser radar, the MEMS laser radar includes a galvanometer, and the device includes: A signal acquisition module, used to acquire the feedback signal of the galvanometer fed back by the feedback circuit at the current moment during the operation of the MEMS laser radar; An amplitude acquisition module is used to acquire the amplitudes of the X-axis and the Y-axis in the feedback signal, where the amplitudes of the X-axis and the Y-axis are the amplitudes corresponding to the angles of the galvanometer on the X-axis and the Y-axis at the current moment; The viewing angle determination module is used to determine whether the viewing angle of the galvanometer at the current moment is abnormal based on the amplitudes of the X-axis and the Y-axis in the feedback signal.

6. The device according to claim 5, characterized in that The viewing angle determination module comprises: an amplitude comparison unit, used to compare the amplitudes of the X-axis and the Y-axis in the feedback signal with the corresponding reference amplitude ranges; A field of view angle determination unit, configured to determine that the field of view angle of the galvanometer at the current moment is normal if the amplitudes of the X-axis and the Y-axis are both within the corresponding reference amplitude ranges; The field of view angle determination unit is further configured to determine that the field of view angle of the galvanometer at the current moment is abnormal if at least one of the amplitudes of the X-axis and the Y-axis is not within the corresponding reference amplitude range.

7. The device according to claim 6, characterized in that The viewing angle determination unit comprises: An X-axis determination subunit, configured to determine that the X-axis scanning of the galvanometer is normal at the current moment if the X-axis amplitude is within the corresponding reference amplitude range; The Y-axis determination subunit is used to determine that the Y-axis scanning of the galvanometer is normal at the current moment if the amplitude of the Y-axis is within the corresponding reference amplitude range.

8. The device according to claim 5, characterized in that The device also includes: A normal operation module, used for driving the galvanometer to continue to operate if it is determined that the field of view angle of the galvanometer at the current moment is normal; The fault notification module is used to output a fault code to a host computer if it is determined that the field of view angle of the galvanometer at the current moment is abnormal.

9. A computer storage medium, characterized in that: The computer storage medium has a plurality of instructions, which are suitable for being loaded by a processor and executing the method steps as claimed in any one of claims 1 to 4.

10. A MEMS laser radar, characterized in that: include: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for the processor to load and execute the method steps as claimed in any one of claims 1 to 4.

Images