Galvanometer driving method and device of laser radar and terminal equipment

Abstract

The invention is suitable for the technical field of radars, and provides a galvanometer driving method and device of a laser radar and terminal equipment, and the method comprises the steps: obtaining galvanometer parameters corresponding to a target galvanometer in the laser radar, and a fast-axis driving signal and a slow-axis driving signal corresponding to the target galvanometer; smoothing the slow axis driving signal to generate a smoothed slow axis driving signal; determining a fast axis driving torque and a slow axis driving torque according to the fast axis driving signal, the smoothed slow axis driving signal, galvanometer parameters and a preset fast and slow axis oscillatory differential equation; according to the fast-axis driving torque and the slow-axis driving torque, fast-axis driving current and slow-axis driving current are determined respectively; and driving the target galvanometer according to the fast axis driving current and the slow axis driving current. Therefore, by smoothing the slow axis driving signal, the vibration stability of the galvanometer is improved, so that the vibration track of the galvanometer is more uniform, the point cloud quality is improved, and the service life of the galvanometer is prolonged.

Description

Technical Field

[0001] The present application belongs to the field of radar technology, and in particular, relates to a galvanometer driving method, device, terminal equipment and computer-readable storage medium of a laser radar. Background Art

[0002] The Micro-Electro-Mechanical System (MEMS) galvanometer is the scanning device of the MEMS LiDAR and is the core device of the MEMS LiDAR. The control of the galvanometer is related to the overall point cloud effect of the LiDAR. Generally, the fast axis of the galvanometer of the MEMS LiDAR is driven by a sine wave signal, and the slow axis of the galvanometer is driven by a triangular wave signal. However, in actual applications, there is coupling between the fast and slow axis drive signals. Due to the coupling, the slow axis drive signal is not the original triangular wave, but a superposition signal of the fast and slow axis drive signals. The actual scanning trajectory of the point cloud is a Lissajous scanning trajectory.

[0003] In the related technology, since the angles of the peaks and troughs of the triangular wave signal change rapidly, the angular velocity and angular acceleration of the slow-axis vibration of the galvanometer change greatly, which can easily cause large vibrations and impacts to the galvanometer, thus causing not only uneven vibration trajectory of the galvanometer and affecting the quality of the point cloud, but also affecting the service life of the galvanometer. Summary of the invention

[0004] The embodiments of the present application provide a galvanometer driving method, apparatus, terminal device and storage medium for a laser radar, which can solve the problem that due to the rapid angle changes at the peaks and troughs of the triangular wave signal, the angular velocity and angular acceleration of the galvanometer slow-axis vibration vary greatly, which easily causes large vibration and impact to the galvanometer, thereby not only causing uneven vibration trajectory of the galvanometer and affecting the point cloud quality, but also affecting the service life of the galvanometer.

[0005] In a first aspect, an embodiment of the present application provides a galvanometer driving method for a laser radar, comprising: obtaining galvanometer parameters corresponding to a target galvanometer in the laser radar, a fast-axis driving signal and a slow-axis driving signal corresponding to the target galvanometer, wherein the fast-axis driving signal is a sinusoidal wave signal and the slow-axis driving signal is a triangular wave signal; smoothing the slow-axis driving signal to generate a smoothed slow-axis driving signal; determining a fast-axis driving torque and a slow-axis driving torque according to the fast-axis driving signal, the smoothed slow-axis driving signal, the galvanometer parameters and preset fast-axis and slow-axis vibration differential equations; determining a fast-axis driving current and a slow-axis driving current respectively according to the fast-axis driving torque and the slow-axis driving torque; and driving the target galvanometer according to the fast-axis driving current and the slow-axis driving current.

[0006] In a possible implementation manner of the first aspect, the smoothing of the slow-axis driving signal to generate a smoothed slow-axis driving signal includes:

[0007] Determine each reference smoothing start time corresponding to the slow axis drive signal according to the number of vertical lines corresponding to the laser radar, the frequency of the fast axis drive signal, and the frequency of the slow axis drive signal, wherein each reference smoothing start time corresponds to any peak or trough in the slow axis drive signal;

[0008] According to the slow-axis drive signal, a preset smoothing function and each reference smoothing start time, a target smoothing interval and a target smoothing function corresponding to each reference smoothing start time are determined, and the slow-axis drive signal in each target smoothing interval is smoothed using the smoothing function of each target to generate a smoothed slow-axis drive signal, wherein the smoothed slow-axis drive signal and the derivative function of the smoothed slow-axis drive signal are continuous at the endpoints of each target smoothing interval.

[0009] Optionally, in another possible implementation of the first aspect, determining the fast-axis driving torque and the slow-axis driving torque according to the fast-axis driving signal, the smoothed slow-axis driving signal, the galvanometer parameters, and preset fast-axis and slow-axis vibration differential equations includes:

[0010] Substitute the smoothed slow axis drive signal and the galvanometer parameters into the preset fast and slow axis vibration differential equations to determine the slow axis drive torque;

[0011] The fast-axis driving signal, the galvanometer parameters and the slow-axis driving torque are substituted into the preset fast-slow-axis vibration differential equations to determine the fast-axis driving torque.

[0012] Optionally, in another possible implementation of the first aspect, the galvanometer parameters include the following parameters: galvanometer moment of inertia, fast-axis outer frame moment of inertia, slow-axis outer frame moment of inertia, galvanometer damping coefficient, fast-axis outer frame damping coefficient, slow-axis outer frame damping coefficient, galvanometer torsional deformation coefficient, fast-axis outer frame torsional deformation coefficient, slow-axis outer frame torsional deformation coefficient.

[0013] Optionally, in yet another possible implementation of the first aspect, determining the fast-axis driving current and the slow-axis driving current according to the fast-axis driving torque and the slow-axis driving torque, respectively, includes:

[0014] Determine the fast axis driving current according to the conversion formula corresponding to the driving torque and the driving current and the fast axis driving torque;

[0015] Determine the slow axis drive current based on the conversion formula and the slow axis drive torque.

[0016] Optionally, in yet another possible implementation of the first aspect, before respectively determining the fast-axis driving current and the slow-axis driving current according to the fast-axis driving torque and the slow-axis driving torque, the method further includes:

[0017] Obtain the structural parameters corresponding to the target galvanometer;

[0018] Accordingly, the fast axis driving current is determined according to the conversion formula corresponding to the driving torque and the driving current and the fast axis driving torque, including:

[0019] Substitute the fast axis driving torque and structural parameters into the conversion formula to determine the fast axis driving current;

[0020] Accordingly, the above-mentioned determination of the slow axis driving current according to the conversion formula and the slow axis driving torque includes:

[0021] Substitute the slow axis driving torque and structural parameters into the conversion formula to determine the slow axis driving current.

[0022] Optionally, in another possible implementation of the first aspect, the above-mentioned structural parameters include the following parameters: magnetic induction intensity corresponding to the target galvanometer, slow axis outer frame length, fast axis outer frame length, pitch between coil turns, and number of coil turns.

[0023] In the second aspect, an embodiment of the present application provides a galvanometer drive device for a laser radar, including: a first acquisition module, used to obtain galvanometer parameters corresponding to a target galvanometer in the laser radar, a fast-axis drive signal and a slow-axis drive signal corresponding to the target galvanometer, wherein the fast-axis drive signal is a sine wave signal and the slow-axis drive signal is a triangular wave signal; a smoothing module, used to smooth the slow-axis drive signal to generate a smoothed slow-axis drive signal; a first determination module, used to determine the fast-axis drive torque and the slow-axis drive torque according to the fast-axis drive signal, the smoothed slow-axis drive signal, the galvanometer parameters and the preset fast- and slow-axis vibration differential equations; a second determination module, used to determine the fast-axis drive current and the slow-axis drive current respectively according to the fast-axis drive torque and the slow-axis drive torque; a drive module, used to drive the target galvanometer according to the fast-axis drive current and the slow-axis drive current.

[0024] In a possible implementation manner of the second aspect, the smoothing module includes:

[0025] A first determination unit is used to determine each reference smoothing start time corresponding to the slow axis drive signal according to the number of vertical lines corresponding to the laser radar, the frequency of the fast axis drive signal and the frequency of the slow axis drive signal, wherein each reference smoothing start time corresponds to any peak or trough in the slow axis drive signal;

[0026] A smoothing unit is used to determine a target smoothing interval and a target smoothing function corresponding to each reference smoothing start time according to a slow-axis driving signal, a preset smoothing function and each reference smoothing start time, and to smooth the slow-axis driving signal in each target smoothing interval using the smoothing function of each target to generate a smoothed slow-axis driving signal, wherein the smoothed slow-axis driving signal and the derivative function of the smoothed slow-axis driving signal are continuous at the endpoints of each target smoothing interval.

[0027] Optionally, in another possible implementation manner of the second aspect, the first determining module includes:

[0028] A second determination unit is used to substitute the smoothed slow axis driving signal and the galvanometer parameters into a preset fast and slow axis vibration differential equation to determine the slow axis driving torque;

[0029] The third determination unit is used to substitute the fast-axis driving signal, the galvanometer parameters and the slow-axis driving torque into the preset fast-slow-axis vibration differential equation to determine the fast-axis driving torque.

[0030] Optionally, in another possible implementation of the second aspect, the galvanometer parameters include the following parameters: galvanometer moment of inertia, fast-axis outer frame moment of inertia, slow-axis outer frame moment of inertia, galvanometer damping coefficient, fast-axis outer frame damping coefficient, slow-axis outer frame damping coefficient, galvanometer torsional deformation coefficient, fast-axis outer frame torsional deformation coefficient, slow-axis outer frame torsional deformation coefficient.

[0031] Optionally, in yet another possible implementation manner of the second aspect, the second determining module includes:

[0032] A fourth determining unit, configured to determine a fast-axis driving current according to a conversion formula corresponding to the driving torque and the driving current and the fast-axis driving torque;

[0033] The fifth determining unit is used to determine the slow-axis driving current according to the conversion formula and the slow-axis driving torque.

[0034] Optionally, in yet another possible implementation of the second aspect, the apparatus further includes:

[0035] The second acquisition module is used to obtain the structural parameters corresponding to the target galvanometer;

[0036] Accordingly, the fourth determining unit is specifically configured to:

[0037] Substitute the fast axis driving torque and structural parameters into the conversion formula to determine the fast axis driving current;

[0038] Accordingly, the fifth determining unit is specifically configured to:

[0039] Substitute the slow axis driving torque and structural parameters into the conversion formula to determine the slow axis driving current.

[0040] Optionally, in another possible implementation of the second aspect, the above-mentioned structural parameters include the following parameters: magnetic induction intensity corresponding to the target galvanometer, slow axis outer frame length, fast axis outer frame length, pitch between coil turns, and number of coil turns.

[0041] In a third aspect, an embodiment of the present application provides a terminal device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the galvanometer driving method of the laser radar as described above when executing the computer program.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the galvanometer driving method of the laser radar as described above is implemented.

[0043] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the galvanometer driving method of the laser radar as described above.

[0044] Compared with the prior art, the beneficial effects of the embodiments of the present application are as follows: by smoothing the slow-axis drive signal, the angle changes at the peaks and troughs of the slow-axis drive signal are made relatively gentle, and the smoothed slow-axis drive signal is used to perform slow-axis drive on the galvanometer, so that the angular velocity and angular acceleration of the slow-axis vibration of the galvanometer change smoothly, thereby improving the stability of the galvanometer vibration, thereby not only making the vibration trajectory of the galvanometer more uniform and improving the point cloud quality, but also extending the service life of the galvanometer. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 any creative work.

[0046] Figure 1 It is a flowchart of a galvanometer driving method of a laser radar provided in one embodiment of the present application;

[0047] Figure 2 This is a waveform diagram of a slow axis driving signal coupled with a fast axis driving signal provided by an embodiment of the present application;

[0048] Figure 3is a schematic diagram of a Lissajous scanning trajectory corresponding to a laser radar provided in an embodiment of the present application;

[0049] Figure 4 This is a spectrum analysis diagram of a slow axis driving signal (triangular wave signal) provided in one embodiment of the present application;

[0050] Figure 5 is a spectrum analysis diagram of a smoothed slow axis driving signal provided by an embodiment of the present application;

[0051] Figure 6 It is a structural schematic diagram of a galvanometer drive device of a laser radar provided in an embodiment of the present application;

[0052] Figure 7 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0054] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0055] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0056] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0057] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0058] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0059] The following is a detailed description of the galvanometer driving method, device, terminal equipment, storage medium and computer program of the laser radar provided in the present application with reference to the accompanying drawings.

[0060] Figure 1 A schematic flow chart of a laser radar galvanometer driving method provided in an embodiment of the present application is shown.

[0061] like Figure 1 As shown, the galvanometer driving method of the laser radar includes the following steps:

[0062] Step 101, obtaining the galvanometer parameters corresponding to the target galvanometer in the laser radar, and the fast-axis driving signal and the slow-axis driving signal corresponding to the target galvanometer.

[0063] It should be noted that the galvanometer driving method of the laser radar of the embodiment of the present application can be executed by the galvanometer driving device of the laser radar of the embodiment of the present application. The galvanometer driving device of the laser radar of the embodiment of the present application can be configured in any terminal device to execute the galvanometer driving method of the laser radar of the embodiment of the present application. For example, the galvanometer driving device of the laser radar of the embodiment of the present application can be configured in the processor of the laser radar to drive the galvanometer in the laser radar.

[0064] The basic principles of the MEMS laser radar and MEMS galvanometer involved in the embodiments of the present application are described below:

[0065] MEMS can refer to sensors, actuators or micro systems with a size of millimeters or smaller. Common products include MEMS accelerometers, MEMS microphones, gyroscopes, micromotors, micropumps, MEMS galvanometers and their integrated products.

[0066] MEMS LiDAR is a LiDAR that uses a MEMS mirror as a laser beam scanning element. It has the advantages of small size, simple macroscopic structure, high reliability, and low power consumption. The optical characteristics of the MEMS mirror are closely related to the spatial resolution, detection distance and other parameters of the LiDAR.

[0067] The MEMS galvanometer is an optical MEMS actuator chip that can deflect, modulate, open and close, and phase-control the laser beam under driving. It is currently widely used in projection, display, optical communication and other scenarios. The MEMS galvanometer can be divided into a single-axis MEMS galvanometer and a dual-axis MEMS galvanometer. The MEMS galvanometer in the embodiment of the present application can be a dual-axis MEMS galvanometer. For a dual-axis MEMS galvanometer, the scanning frequency of the transverse axis (horizontal direction, fast axis) of the MEMS galvanometer can be between 0.5-2KHz, and the scanning frequency of the longitudinal axis (vertical direction, slow axis) can be between 10-30Hz.

[0068] The fast axis of the target galvanometer may refer to a direction with a higher scanning frequency (ie, the frequency of the driving signal); and the slow axis of the target galvanometer may refer to a direction with a lower scanning frequency (ie, the frequency of the driving signal).

[0069] The fast-axis driving signal may be a sine wave signal, and the slow-axis driving signal may be a triangle wave signal.

[0070] It should be noted that the fast axis drive signal can be used to indicate the change relationship between the movement angle of the target galvanometer in the fast axis direction and time; the slow axis drive signal can be used to indicate the change relationship between the movement angle of the target galvanometer in the slow axis direction and time.

[0071] Among them, the galvanometer parameters corresponding to the target galvanometer may include parameters such as the galvanometer moment of inertia, the fast-axis outer frame moment of inertia, the slow-axis outer frame moment of inertia, the galvanometer damping coefficient, the fast-axis outer frame damping coefficient, the slow-axis outer frame damping coefficient, the galvanometer torsional deformation coefficient, the fast-axis outer frame torsional deformation coefficient, and the slow-axis outer frame torsional deformation coefficient.

[0072] In an embodiment of the present application, the fast-axis drive signal and the slow-axis drive signal corresponding to the target galvanometer, and the galvanometer parameters corresponding to the target galvanometer can be pre-configured, so that before driving the target galvanometer, the fast-axis drive signal and the slow-axis drive signal corresponding to the target galvanometer, and the galvanometer parameters corresponding to the target galvanometer can be directly obtained.

[0073] It should be noted that the galvanometer parameters corresponding to the target galvanometer can be obtained from the manufacturer of the target galvanometer, or can be determined by measuring the target galvanometer with a professional instrument for measuring various parameters, and the embodiments of the present application do not limit this. For example, parameters such as the galvanometer moment of inertia, the fast-axis outer frame moment of inertia, and the slow-axis outer frame moment of inertia can be measured by a moment of inertia measuring instrument.

[0074] Step 102 : Smoothing the slow-axis driving signal to generate a smoothed slow-axis driving signal.

[0075] like Figure 2 As shown in FIG. 1 , a waveform diagram of a slow-axis driving signal coupled with a fast-axis driving signal provided in an embodiment of the present application is shown. When the slow-axis driving signal is a triangular wave signal and the fast-axis driving signal is a sine wave signal, during the galvanometer driving process, the slow-axis driving signal will be coupled with the fast-axis driving signal, so that the slow-axis driving signal is expressed as follows: Figure 2 The coupled waveform is shown. Figure 2 It can be seen from the figure that the coupled slow axis driving signal has a large fluctuation amplitude at the peak 201 and the trough 202, which causes the vibration of the galvanometer in the slow axis direction to be unstable and the motion trajectory to be uneven.

[0076] like Figure 3 , which is a schematic diagram of a Lissajous scanning trajectory corresponding to a laser radar provided in an embodiment of the present application, Figure 3 The area corresponding to 301 is the point cloud trajectory obtained by scanning when the slow axis driving signal is at the peak. It can be seen that the point cloud in this area is not evenly distributed in the vertical direction, sometimes dense and sometimes sparse.

[0077] Therefore, based on the above problems, the method of the embodiment of the present application smoothes the slow-axis drive signal at the peaks and troughs of the slow-axis drive signal so that the changes in the angular velocity and angular acceleration of the slow-axis drive signal at the peaks and troughs are smoother, thereby achieving the purpose of improving the vibration stability of the galvanometer, making the vibration trajectory of the galvanometer more uniform, and improving the quality of the point cloud.

[0078] As a possible implementation, the slow axis driving signal may be a periodic triangle wave signal, and the fast axis driving signal may be a periodic sine wave signal. Figure 4 4 is a spectrum analysis diagram of a slow axis driving signal (triangular wave signal) provided in an embodiment of the present application, wherein 401 is a time domain waveform corresponding to the slow axis driving signal in one cycle, and 402 is a spectrum diagram corresponding to the time domain waveform 401. Figure 4It can be seen that assuming that the time-domain waveform 401 reaches a peak at the time axis t = t0, then when 0 < t ≤ t0 and t ≥ t0, the time-domain waveform 401 corresponding to the slow-axis drive signal is a monotonic linear signal; for example, the time-domain waveform 401 corresponding to the drive signal can be expressed by formula (1):

[0079]

[0080] Where θ2 is the movement angle of the target galvanometer in the slow-axis direction, t is time, and a1, b1, a3, b3 are known coefficients.

[0081] It can be seen from the spectrogram 402 that there are many frequency components at the peak of the slow-axis drive signal, which easily causes resonance when the slow-axis drive signal and the fast-axis drive signal are superimposed; and it can be seen from the time-domain waveform 401 that the angular velocity and angular acceleration of the galvanometer change greatly at the peak of the slow-axis drive signal, which easily generates abnormal noise and large oscillations, thus affecting the point cloud quality.

[0082] Therefore, in the embodiments of the present application, for the periodic slow-axis drive signal, each peak and valley in the slow-axis drive signal can be smoothed so that the angle changes at the peaks and valleys of the slow-axis drive signal are relatively gentle, improving the stability of the galvanometer vibration. That is, in a possible implementation manner of the embodiments of the present application, the above step 102 may include:

[0083] Determine each reference smoothing start time corresponding to the slow-axis drive signal according to the number of vertical lines corresponding to the lidar, the frequency of the fast-axis drive signal, and the frequency of the slow-axis drive signal, where each reference smoothing start time corresponds to any peak or valley in the slow-axis drive signal;

[0084] Determine the target smoothing interval and the target smoothing function corresponding to each reference smoothing start time according to the slow-axis drive signal, the preset smoothing function, and each reference smoothing start time, and use each target smoothing function to smooth the slow-axis drive signal within each target smoothing interval to generate a smoothed slow-axis drive signal, where the smoothed slow-axis drive signal and the derivative function of the smoothed slow-axis drive signal are continuous at the endpoints of each target smoothing interval.

[0085] Where the number of vertical lines corresponding to the lidar can be preset according to the application scenario of the lidar and the lowest number of lines required for the recognition accuracy in this application scenario, and the embodiments of the present application do not limit this. For example, the number of vertical lines can be 64 lines, 128 lines, etc.

[0086] Where the preset smoothing function can be a quadratic function. For example, the preset smoothing function can be expressed by formula (2):

[0087] θ2=a2·t 2 +b2·t+c2 (2)

[0088] Among them, θ2 is the movement angle of the target galvanometer in the slow axis direction, t is time, a2, b2, c2 are coefficients of the quadratic function, and a2, b2, c2 are unknowns.

[0089] In the embodiment of the present application, during a laser radar scan, the laser radar scans when the slow axis drive signal is at the rising edge, and does not scan when the slow axis drive signal is at the falling edge, that is, each frame of point cloud data is generated by the points scanned during the process of the slow axis drive signal being at the rising edge. In addition, since the frequency of the fast axis drive signal is much greater than the frequency of the slow axis drive signal, the fast axis drive signal has gone through many cycles in one cycle of the slow axis drive signal, such as Figure 2 As shown, Figure 2 The period of the sawtooth waveform in the slow axis drive signal can represent the period of the fast axis drive signal, and the number of periods experienced by the fast axis drive signal within the time corresponding to the rising edge of the slow axis drive signal is the number of vertical lines corresponding to the laser radar. Therefore, when smoothing the slow axis drive signal, the interval range corresponding to the peak value and the interval range corresponding to the trough can be determined from the slow axis drive signal according to the number of laser lines corresponding to the laser radar, so as to smooth the peaks and troughs of the slow axis drive signal.

[0090] As a possible implementation, Figure 4 Taking 401 in 401 as an example, when smoothing the peak part of 401, a time point t' that satisfies the number of vertical lines corresponding to the laser radar can be determined before the time point t0 at which the slow axis drive signal reaches its peak value according to the frequency of the slow axis drive signal and the frequency of the fast axis drive signal, as the reference smoothing start time, that is, the number of cycles experienced by the fast axis drive signal before the time point t' is greater than or equal to the number of vertical lines corresponding to the laser radar. Afterwards, the reference smoothing start time t' can be used as the starting point t1 of a candidate smoothing interval, so that the slow axis drive signal and the preset smoothing function are continuous at t1, and equation (1) is obtained; and the derivative function of the slow axis drive signal and the derivative function of the preset smoothing function are continuous at t1, and equation (2) is obtained; afterward, it can be assumed that there is a time point t2 greater than t1, so that the slow axis drive signal and the preset smoothing function are continuous at t2, and equation (3) is obtained; and the derivative function of the slow axis drive signal and the derivative function of the preset smoothing function are continuous at t2, and equation (4) is obtained. Finally, equation (1) to equation (4) can be combined to solve the specific values ​​of t2 and the unknown coefficients of the preset smoothing function (ie, a2, b2, c2 in the above example).

[0091] If the specific values ​​of t2 and a2, b2, and c2 that meet the conditions can be solved through the above process, the interval [t1, t2] can be determined as the target smoothing interval, and the specific values ​​of a2, b2, and c2 obtained can be substituted into the preset smoothing function as the target smoothing function; then the target smoothing function can be used to replace the slow-axis driving signal in the target smoothing interval [t1, t2], thereby obtaining a smoothed slow-axis driving signal.

[0092] If the above process fails to solve the specific values ​​of t2 and a2, b2, and c2 that meet the conditions, t'+Δt can be determined as the starting point t1 of the new candidate smoothing interval according to the preset step size Δt, and then the above process is repeated until the specific values ​​of t2 and a2, b2, and c2 that meet the conditions are solved. Then, the interval [t1, t2] can be determined as the target smoothing interval, and the specific values ​​of a2, b2, and c2 obtained can be substituted into the preset smoothing function as the target smoothing function; then, the target smoothing function can be used to replace the slow-axis driving signal in the target smoothing interval [t1, t2], so as to obtain the smoothed slow-axis driving signal.

[0093] It should be noted that the smoothing process at the trough of the slow axis drive signal is the same as the smoothing process at the peak mentioned above, and will not be repeated here. After smoothing both the peak and the valley of the slow axis drive signal, the smoothed slow axis drive signal can be obtained. In addition, since the slow axis drive signal is a periodic signal, the above-mentioned smoothing process can be performed on the waveform of the slow axis drive signal within one cycle to generate a smoothed slow axis drive signal within one cycle, and then the smoothed slow axis drive signal can be periodically generated in the process of driving the target galvanometer.

[0094] like Figure 5 As shown in FIG. 1 , a spectrum analysis diagram of a smoothed slow axis driving signal provided in an embodiment of the present application is shown, wherein 501 is a spectrum analysis diagram of a slow axis driving signal after smoothing. Figure 4 502 is the spectrum diagram corresponding to the smoothed slow-axis drive signal, and it can be seen that its frequency components are concentrated on both sides, and no obvious resonance will be generated when superimposed with the fast-axis signal.

[0095] It should be noted that when determining the target smoothing interval and the target smoothing function, the preset step size used can be a smaller value to improve the accuracy and reliability of smoothing the slow axis drive signal. In actual use, the specific value of the preset step size can be determined according to actual needs and specific application scenarios, and the embodiments of the present application do not limit this.

[0096] Step 103 , determining the fast axis driving torque and the slow axis driving torque according to the fast axis driving signal, the smoothed slow axis driving signal, the galvanometer parameters and the preset fast and slow axis vibration differential equations.

[0097] In an embodiment of the present application, after smoothing the slow-axis drive signal, the fast-axis drive torque can be determined according to the fast-axis drive signal, and the slow-axis drive torque can be determined according to the smoothed slow-axis drive signal. Then, the fast-axis drive current and the slow-axis drive current required to drive the target galvanometer can be determined respectively according to the fast-axis drive torque and the slow-axis drive torque to drive the target galvanometer.

[0098] As a possible implementation, the preset fast and slow axis vibration differential equations may include the conversion relationship between the fast and slow axis drive signals, vibration parameters and fast and slow axis drive torques. Since the fast and slow axis drive signals and vibration parameters are known, the fast and slow axis drive signals and vibration parameters of the target galvanometer may be substituted into the preset fast and slow axis vibration differential equations to determine the fast axis drive torque and slow axis drive torque corresponding to the target galvanometer. That is, in a possible implementation of the present application embodiment, the above step 103 may include:

[0099] Substitute the smoothed slow axis drive signal and the galvanometer parameters into the preset fast and slow axis vibration differential equations to determine the slow axis drive torque;

[0100] The fast-axis driving signal, the galvanometer parameters and the slow-axis driving torque are substituted into the preset fast-slow-axis vibration differential equations to determine the fast-axis driving torque.

[0101] As a possible implementation method, the preset fast and slow axis vibration differential equations can be expressed by formula (3-1), formula (3-2) and formula (3-3):

[0102]

[0103]

[0104]

[0105] Among them, T e is the slow axis driving torque, T e +kθ is the fast-axis driving torque, J is the galvanometer moment of inertia, J1 is the fast-axis outer frame moment of inertia, J2 is the slow-axis outer frame moment of inertia, c is the galvanometer damping coefficient, c1 is the fast-axis outer frame damping coefficient, c2 is the slow-axis outer frame damping coefficient, k is the galvanometer torsional deformation coefficient, k1 is the fast-axis outer frame torsional deformation coefficient, k2 is the slow-axis outer frame torsional deformation coefficient, θ is the galvanometer deflection angle, θ1 is the fast-axis driving signal, and θ2 is the slow-axis driving signal.

[0106] Step 104 , determining a fast-axis driving current and a slow-axis driving current according to the fast-axis driving torque and the slow-axis driving torque, respectively.

[0107] In the embodiment of the present application, after the fast-axis driving torque and the slow-axis driving torque are determined, the fast-axis driving current can be determined according to the fast-axis driving torque, and the slow-axis driving current can be determined according to the slow-axis driving torque.

[0108] As a possible implementation, a conversion formula between the driving torque and the driving current may be pre-configured, and the driving current may be determined by the conversion formula between the two. That is, in a possible implementation of the embodiment of the present application, the above step 104 may include:

[0109] Determine the fast axis driving current according to the conversion formula corresponding to the driving torque and the driving current and the fast axis driving torque;

[0110] Determine the slow axis drive current based on the conversion formula and the slow axis drive torque.

[0111] As a possible implementation, since the structures of different galvanometers may be different, and the conversion relationship between the driving torque and the driving current is related to the structure of the galvanometer, the structural parameters of the target galvanometer may also be obtained before determining the driving current. That is, in a possible implementation of the embodiment of the present application, before the above step 104, the following may also be included:

[0112] Obtain the structural parameters corresponding to the target galvanometer;

[0113] Accordingly, the above-mentioned determination of the fast-axis driving current according to the conversion formula corresponding to the driving torque and the driving current and the fast-axis driving torque may include:

[0114] Substitute the fast axis driving torque and structural parameters into the conversion formula to determine the fast axis driving current;

[0115] Accordingly, the above-mentioned determination of the slow axis driving current according to the conversion formula and the slow axis driving torque includes:

[0116] Substitute the slow axis driving torque and structural parameters into the conversion formula to determine the slow axis driving current.

[0117] Among them, the structural parameters corresponding to the target galvanometer may include the magnetic induction intensity corresponding to the target galvanometer, the slow axis outer frame length, the fast axis outer frame length, the pitch between coil turns, the number of coil turns, etc.

[0118] As an example, the conversion formula corresponding to the preset driving torque and driving current can be expressed by formula (4):

[0119]

[0120] Among them, T e is the driving torque, i coil is the driving current, B ext is the magnetic induction intensity corresponding to the target galvanometer, l s is the length of the fast axis outer frame, l f is the length of the outer frame of the slow axis, N is the number of coil turns, and δl is the pitch between coil turns.

[0121] It can be understood that when determining the fast axis drive current, the fast axis drive torque can be used as T in formula (4): e , and the various structural parameters corresponding to the target galvanometer are substituted into formula (4), then the fast axis driving current can be determined; when determining the slow axis driving current, the slow axis determining torque can be used as T in formula (4) e , and substitute the various structural parameters corresponding to the target galvanometer into formula (4), then the slow axis driving current can be determined.

[0122] It should be noted that the structural parameters corresponding to the target galvanometer are determined when the target galvanometer leaves the factory, so the structural parameters can be stored as the inherent parameters of the target galvanometer, so that the stored structural parameters can be directly obtained from the memory of the laser radar. In addition, since the pitch δl between the turns of the coil is usually small, it can be ignored, that is, when determining the driving current by formula (4), the value of δl can also be regarded as 0.

[0123] Step 105 , driving the target galvanometer according to the fast-axis driving current and the slow-axis driving current.

[0124] In the embodiment of the present application, after the fast-axis driving current, ie, the slow-axis driving current, is determined, the determined fast-axis driving current and the slow-axis driving current can be used to drive the target galvanometer to operate, so as to obtain point cloud data.

[0125] The galvanometer driving method of the laser radar provided in the embodiment of the present application smoothes the slow axis driving signal, and determines the fast axis driving torque and the slow axis driving torque according to the fast axis driving signal, the smoothed slow axis driving signal, the galvanometer parameters and the preset fast and slow axis vibration differential equations, and then determines the fast axis driving current and the slow axis driving current respectively according to the fast axis driving torque and the slow axis driving torque, and then drives the target galvanometer according to the fast axis driving current and the slow axis driving current. Therefore, by smoothing the slow axis driving signal, the angle change at the peak and the trough of the slow axis driving signal is relatively gentle, and the galvanometer is driven by the slow axis using the smoothed slow axis driving signal, so that the angular velocity and angular acceleration of the slow axis vibration of the galvanometer change smoothly, and the stability of the galvanometer vibration is improved, so that not only the vibration trajectory of the galvanometer is more uniform, the point cloud quality is improved, but also the service life of the galvanometer is extended.

[0126] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0127] Corresponding to the galvanometer driving method of the laser radar described in the above embodiment, Figure 6 A structural block diagram of a galvanometer drive device of a laser radar provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0128] Reference Figure 6 The device 60 comprises:

[0129] The first acquisition module 61 is used to acquire the galvanometer parameters corresponding to the target galvanometer in the laser radar, the fast-axis driving signal and the slow-axis driving signal corresponding to the target galvanometer, wherein the fast-axis driving signal is a sine wave signal, and the slow-axis driving signal is a triangular wave signal;

[0130] A smoothing module 62, used for smoothing the slow axis driving signal to generate a smoothed slow axis driving signal;

[0131] A first determination module 63 is used to determine the fast axis driving torque and the slow axis driving torque according to the fast axis driving signal, the smoothed slow axis driving signal, the galvanometer parameters and the preset fast and slow axis vibration differential equations;

[0132] A second determination module 64, used to determine a fast-axis driving current and a slow-axis driving current according to the fast-axis driving torque and the slow-axis driving torque, respectively;

[0133] The driving module 65 is used to drive the target galvanometer according to the fast-axis driving current and the slow-axis driving current.

[0134] In actual use, the galvanometer driving device of the laser radar provided in the embodiment of the present application can be configured in any terminal device to execute the galvanometer driving method of the aforementioned laser radar.

[0135] The galvanometer drive device of the laser radar provided in the embodiment of the present application smoothes the slow axis drive signal, and determines the fast axis drive torque and the slow axis drive torque according to the fast axis drive signal, the smoothed slow axis drive signal, the galvanometer parameters and the preset fast and slow axis vibration differential equations, and then determines the fast axis drive current and the slow axis drive current respectively according to the fast axis drive torque and the slow axis drive torque, and then drives the target galvanometer according to the fast axis drive current and the slow axis drive current. Therefore, by smoothing the slow axis drive signal, the angle change at the peak and the trough of the slow axis drive signal is relatively gentle, and the galvanometer is driven by the slow axis of the smoothed slow axis drive signal, so that the angular velocity and angular acceleration of the slow axis vibration of the galvanometer change smoothly, and the stability of the galvanometer vibration is improved, so that not only the vibration trajectory of the galvanometer is more uniform, the point cloud quality is improved, but also the service life of the galvanometer is extended.

[0136] In a possible implementation form of the present application, the smoothing module 62 includes:

[0137] A first determination unit is used to determine each reference smoothing start time corresponding to the slow axis drive signal according to the number of vertical lines corresponding to the laser radar, the frequency of the fast axis drive signal and the frequency of the slow axis drive signal, wherein each reference smoothing start time corresponds to any peak or trough in the slow axis drive signal;

[0138] A smoothing unit is used to determine a target smoothing interval and a target smoothing function corresponding to each reference smoothing start time according to a slow-axis driving signal, a preset smoothing function and each reference smoothing start time, and to smooth the slow-axis driving signal in each target smoothing interval using the smoothing function of each target to generate a smoothed slow-axis driving signal, wherein the smoothed slow-axis driving signal and the derivative function of the smoothed slow-axis driving signal are continuous at the endpoints of each target smoothing interval.

[0139] Furthermore, in another possible implementation form of the present application, the first determining module 63 includes:

[0140] A second determination unit is used to substitute the smoothed slow axis driving signal and the galvanometer parameters into a preset fast and slow axis vibration differential equation to determine the slow axis driving torque;

[0141] The third determination unit is used to substitute the fast-axis driving signal, the galvanometer parameters and the slow-axis driving torque into the preset fast-slow-axis vibration differential equation to determine the fast-axis driving torque.

[0142] Furthermore, in another possible implementation form of the present application, the above-mentioned galvanometer parameters include the following parameters: galvanometer moment of inertia, fast-axis outer frame moment of inertia, slow-axis outer frame moment of inertia, galvanometer damping coefficient, fast-axis outer frame damping coefficient, slow-axis outer frame damping coefficient, galvanometer torsional deformation coefficient, fast-axis outer frame torsional deformation coefficient, slow-axis outer frame torsional deformation coefficient.

[0143] Furthermore, in another possible implementation form of the present application, the second determining module 64 includes:

[0144] A fourth determining unit, configured to determine a fast-axis driving current according to a conversion formula corresponding to the driving torque and the driving current and the fast-axis driving torque;

[0145] The fifth determining unit is used to determine the slow-axis driving current according to the conversion formula and the slow-axis driving torque.

[0146] Furthermore, in another possible implementation form of the present application, the device 60 further includes:

[0147] The second acquisition module is used to obtain the structural parameters corresponding to the target galvanometer;

[0148] Accordingly, the fourth determining unit is specifically configured to:

[0149] Substitute the fast axis driving torque and structural parameters into the conversion formula to determine the fast axis driving current;

[0150] Accordingly, the fifth determining unit is specifically configured to:

[0151] Substitute the slow axis driving torque and structural parameters into the conversion formula to determine the slow axis driving current.

[0152] Furthermore, in another possible implementation form of the present application, the above-mentioned structural parameters include the following parameters: the magnetic induction intensity corresponding to the target galvanometer, the slow axis outer frame length, the fast axis outer frame length, the pitch between coil turns, and the number of coil turns.

[0153] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0154] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0155] In order to implement the above embodiments, the present application also proposes a terminal device.

[0156] Figure 7 A schematic diagram of the structure of a terminal device according to an embodiment of the present application.

[0157] like Figure 7 As shown, the terminal device 200 includes:

[0158] A memory 210 and at least one processor 220, a bus 230 connecting different components (including the memory 210 and the processor 220), the memory 210 stores a computer program, and when the processor 220 executes the program, the galvanometer driving method of the laser radar described in the embodiment of the present application is implemented.

[0159] Bus 230 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0160] The terminal device 200 typically includes a variety of electronic device readable media, which can be any available media that can be accessed by the terminal device 200, including volatile and non-volatile media, removable and non-removable media.

[0161] The memory 210 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 240 and / or cache memory 250. The terminal device 200 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 260 may be used to read and write non-removable, non-volatile magnetic media ( Figure 7 not shown, usually called a "hard drive"). Although Figure 7 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical medium) may be provided. In these cases, each drive may be connected to bus 230 via one or more data medium interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0162] A program / utility 280 having a set (at least one) of program modules 270 may be stored, for example, in the memory 210, such program modules 270 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 270 generally perform the functions and / or methods of the embodiments described herein.

[0163] The terminal device 200 can also communicate with one or more external devices 290 (e.g., keyboard, pointing device, display 291, etc.), and can also communicate with one or more devices that enable users to interact with the terminal device 200, and / or communicate with any device that enables the terminal device 200 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be carried out through an input / output (I / O) interface 292. In addition, the terminal device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN) and / or public network, such as the Internet) through a network adapter 293. As shown in the figure, the network adapter 293 communicates with other modules of the terminal device 200 through a bus 230. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the terminal device 200, including but not limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive, and data backup storage system, etc.

[0164] The processor 220 executes various functional applications and data processing by running the programs stored in the memory 210 .

[0165] It should be noted that the implementation process and technical principles of the terminal device of this embodiment refer to the aforementioned explanation of the galvanometer driving method of the laser radar in the embodiment of the present application, and will not be repeated here.

[0166] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0167] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0168] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0169] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0170] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0171] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0172] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0173] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A laser radar galvanometer driving method, characterized in that: include: Acquire a galvanometer parameter corresponding to a target galvanometer in a laser radar, and a fast-axis drive signal and a slow-axis drive signal corresponding to the target galvanometer, wherein the fast-axis drive signal is a sine wave signal, and the slow-axis drive signal is a triangular wave signal; Smoothing the slow-axis driving signal to generate a smoothed slow-axis driving signal; Determine a fast-axis driving torque and a slow-axis driving torque according to the fast-axis driving signal, the smoothed slow-axis driving signal, the galvanometer parameters, and preset fast-axis and slow-axis vibration differential equations; Determining a fast-axis driving current and a slow-axis driving current respectively according to the fast-axis driving torque and the slow-axis driving torque; The target galvanometer is driven according to the fast-axis driving current and the slow-axis driving current.

2. The method according to claim 1, characterized in that The step of smoothing the slow axis driving signal to generate a smoothed slow axis driving signal includes: Determine, according to the number of vertical lines corresponding to the laser radar, the frequency of the fast-axis drive signal, and the frequency of the slow-axis drive signal, each reference smoothing start time corresponding to the slow-axis drive signal, wherein each reference smoothing start time corresponds to any peak or trough in the slow-axis drive signal; According to the slow-axis drive signal, a preset smoothing function and each of the reference smoothing start times, a target smoothing interval and a target smoothing function corresponding to each of the reference smoothing start times are determined, and the slow-axis drive signal within each of the target smoothing intervals is smoothed using the smoothing function of each of the targets to generate the smoothed slow-axis drive signal, wherein the smoothed slow-axis drive signal and the derivative function of the smoothed slow-axis drive signal are continuous at the endpoints of each of the target smoothing intervals.

3. The method according to claim 1, characterized in that The determining of the fast axis driving torque and the slow axis driving torque according to the fast axis driving signal, the smoothed slow axis driving signal, the galvanometer parameters and the preset fast and slow axis vibration differential equations includes: Substituting the smoothed slow axis drive signal and the galvanometer parameters into the preset fast and slow axis vibration differential equations to determine the slow axis drive torque; The fast-axis driving signal, the galvanometer parameters and the slow-axis driving torque are substituted into the preset fast-slow-axis vibration differential equations to determine the fast-axis driving torque.

4. The method according to claim 1, characterized in that The galvanometer parameters include the following parameters: galvanometer moment of inertia, fast axis outer frame moment of inertia, slow axis outer frame moment of inertia, galvanometer damping coefficient, fast axis outer frame damping coefficient, slow axis outer frame damping coefficient, galvanometer torsional deformation coefficient, fast axis outer frame torsional deformation coefficient, slow axis outer frame torsional deformation coefficient.

5. The method according to claim 1, characterized in that The step of determining a fast-axis driving current and a slow-axis driving current respectively according to the fast-axis driving torque and the slow-axis driving torque comprises: Determining the fast-axis driving current according to a conversion formula corresponding to the driving torque and the driving current and the fast-axis driving torque; The slow-axis driving current is determined according to the conversion formula and the slow-axis driving torque.

6. The method according to claim 5, characterized in that Before respectively determining the fast-axis driving current and the slow-axis driving current according to the fast-axis driving torque and the slow-axis driving torque, the method further includes: Obtaining structural parameters corresponding to the target galvanometer; The step of determining the fast axis driving current according to a conversion formula corresponding to the driving torque and the driving current and the fast axis driving torque includes: Substituting the fast axis driving torque and the structural parameters into the conversion formula to determine the fast axis driving current; The determining the slow-axis driving current according to the conversion formula and the slow-axis driving torque includes: The slow axis driving torque and the structural parameters are substituted into the conversion formula to determine the slow axis driving current.

7. The method according to claim 6, characterized in that The structural parameters include the following parameters: the magnetic induction intensity corresponding to the target galvanometer, the length of the slow axis outer frame, the length of the fast axis outer frame, the pitch between the turns of the coil, and the number of turns of the coil.

8. A galvanometer drive device for a laser radar, characterized in that: include: A first acquisition module is used to acquire a galvanometer parameter corresponding to a target galvanometer in a laser radar, and a fast-axis drive signal and a slow-axis drive signal corresponding to the target galvanometer, wherein the fast-axis drive signal is a sine wave signal, and the slow-axis drive signal is a triangular wave signal; A smoothing module, used for smoothing the slow-axis driving signal to generate a smoothed slow-axis driving signal; A first determination module, configured to determine a fast-axis driving torque and a slow-axis driving torque according to the fast-axis driving signal, the smoothed slow-axis driving signal, the galvanometer parameters, and preset fast-axis and slow-axis vibration differential equations; A second determination module, configured to determine a fast-axis driving current and a slow-axis driving current according to the fast-axis driving torque and the slow-axis driving torque, respectively; A driving module is used to drive the target galvanometer according to the fast-axis driving current and the slow-axis driving current.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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