Laser radar debugging system and method

Abstract

The invention provides a laser radar debugging system and method. An initial position detection module determines a voltage initial position; the angle amplitude module detects a full-scale voltage interval; the FPGA determines an initial voltage and a final voltage and generates a control instruction to control the motor to swing; the angle amplitude module generates actual swing information according to the actual swing position of the motor; comparing the actual swing information with the specified swing information by the FPGA; and displaying the target information to debug the laser radar. According to the system, the initial voltage position of a motor in the laser radar in the swinging process can be determined through an initial position detection module, the initial voltage and the final voltage corresponding to the specified motor swinging angle range are determined through an angle amplitude module and an FPGA, and the actual swinging information of the motor in the swinging process is determined; the target information is displayed through a display interface of the FPGA, debugging is carried out based on the target information, the point cloud debugging difficulty of the laser radar can be reduced, and the debugging efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lidar, and in particular to a lidar debugging system and method. Background Art

[0002] With the popularization of lidar, hybrid solid-state lidar has been successively mass-produced. The quantity of mass production mainly depends on the number of abnormal situations in point cloud debugging. In related technologies, usually, software and hardware engineers need to jointly debug. After debugging the initial position, then debug the swing amplitude of the galvanometer, and then view the point cloud. Repeated operations are carried out. If the initial position cannot be adjusted, either replace the galvanometer motor, or re-debug the internal light-shielding sheet of the motor body, or increase the output amplitude ratio of the main control board, and then debug the point cloud layering effect to be okay. If there are differences in a certain process or component in each batch, software and hardware engineers need to jointly debug and confirm the parameters, and the parameter differences are usually large, which increases the difficulty of point cloud debugging of lidar and reduces the debugging efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a lidar debugging system and method to reduce the difficulty of point cloud debugging of lidar and improve the debugging efficiency.

[0004] A lidar debugging system provided by the present invention includes: an initial position detection module, an angle amplitude module, and an FPGA. The FPGA is used to receive an initial position detection instruction sent by a user and send the initial position detection instruction to the initial position detection module. The initial position detection module is used to determine the voltage initial position of the motor in the lidar during the swinging process according to the initial position detection instruction, and send the voltage initial position to the angle amplitude module through the FPGA. The angle amplitude module is used to detect the full-scale voltage range corresponding to the motor swinging at the full-scale angle based on the voltage initial position, and send the full-scale voltage range and the full-scale angle to the FPGA. The FPGA is used to determine the starting voltage and the ending voltage corresponding to the specified motor swing angle range in the specified motor swing condition according to the full-scale voltage range, the full-scale angle, and the specified motor swing condition, generate a control instruction according to the starting voltage, the ending voltage, and the specified motor swing condition, so that the motor swings according to the control instruction. The angle amplitude module is used to obtain the actual swing position of the motor during the swinging process, generate actual swing information according to the actual swing position, and send the actual swing information to the FPGA. The FPGA is used to compare the actual swing information with the specified swing information corresponding to the specified motor swing condition to obtain a comparison result, and is also used to display target information to debug the lidar based on the target information. Wherein, the target information includes: voltage initial position, starting voltage, ending voltage, actual swing information, and comparison result.

[0005] Further, the initial position detection module includes: a voltage control unit and an optocoupler detection unit; the voltage control unit is configured to receive an initial position detection instruction, output a control voltage according to the initial position detection instruction, and send it to the optocoupler detection unit; the optocoupler detection unit is configured to determine the initial voltage position according to the control voltage and the position corresponding to the light blocked by the motor in the lidar during the swinging process when the light emitted by the optocoupler detection unit is blocked.

[0006] Further, the voltage control unit includes: a first chip having an input terminal, an enable terminal, a ground terminal, and an output terminal; the input terminal is connected to an external power supply voltage; the enable terminal is connected to the FPGA through a first resistor and is configured to receive an initial position detection instruction sent by the FPGA; the ground terminal is grounded; the output terminal is configured to output a control voltage; a first capacitor having a first terminal and a second terminal; the first terminal is connected to the external power supply voltage; the second terminal is grounded; a second capacitor having a first terminal and a second terminal, the first terminal is connected to the output terminal of the first chip, and the second terminal is grounded.

[0007] Further, the optocoupler detection unit includes: an optocoupler detection chip having a first terminal, a second terminal, a third terminal, and an output terminal; the first terminal of the optocoupler detection chip is connected to the first terminal of a second resistor; the second terminal of the optocoupler detection chip is grounded; the third terminal of the optocoupler detection chip is connected to the output terminal of the first chip; the output terminal of the optocoupler detection chip is connected to the first terminal of a third resistor; and is configured to output a high level when the motor in the lidar blocks the light emitted by the optocoupler detection unit during the swinging process; the second resistor having a first terminal and a second terminal, the second terminal of the second resistor is connected to the output terminal of the first chip; the third resistor having a first terminal and a second terminal, the second terminal of the third resistor is grounded.

[0008] Further, the angle amplitude module includes: a voltage adjustment unit and a voltage conversion unit; the voltage adjustment unit is configured to obtain an actual voltage range corresponding to the actual swinging position of the motor during the swinging process, adjust the actual voltage range to a voltage adjustment range within a specified voltage range, and send it to the voltage conversion unit; the voltage conversion unit is configured to perform analog-to-digital conversion processing on the voltage adjustment range, output actual swinging information, and send the actual swinging information to the FPGA.

[0009] Further, the voltage adjustment unit includes: a first voltage comparator including an inverting input terminal, a non-inverting input terminal, a first reference terminal, a second reference terminal, and an output terminal; the inverting input terminal is connected to the output terminal of the first voltage comparator through a fifth resistor; the inverting input terminal obtains the actual voltage range corresponding to the actual swinging position of the motor during the swinging process through a sixth resistor; the non-inverting input terminal is sequentially connected to a reference voltage through a seventh resistor and a ninth resistor; the first reference terminal is grounded; the second reference terminal is grounded through a sixth capacitor; the output terminal of the first voltage comparator is respectively connected to the first terminal of a thirteenth resistor and the first terminal of an eighth resistor, and the second terminal of the eighth resistor is connected to the positive input terminal of a third chip in the voltage conversion unit;

[0010] The tenth resistor has a first end and a second end. The first end of the tenth resistor is connected to the common node of the seventh resistor and the ninth resistor; the second end of the tenth resistor is grounded; the eleventh resistor has a first end and a second end. The first end of the eleventh resistor is connected to the non-inverting input terminal of the first voltage comparator, and the second end of the eleventh resistor is grounded; the second voltage comparator includes an inverting input terminal, a non-inverting input terminal, and an output terminal; the inverting input terminal of the second voltage comparator is respectively connected to the second end of the thirteenth resistor and the first end of the twelfth resistor. The second end of the twelfth resistor is connected to the output terminal of the second voltage comparator; the non-inverting input terminal of the second voltage comparator is respectively connected to the first end of the fifteenth resistor and the first end of the sixteenth resistor; the second end of the fifteenth resistor is connected to the reference voltage, and the second end of the sixteenth resistor is grounded; the output terminal of the second voltage comparator is connected to the negative input terminal of the third chip in the voltage conversion unit through the fourteenth resistor.

[0011] Further, the voltage conversion unit includes: a third chip including a reference terminal, a first power supply terminal, a positive input terminal, a negative input terminal, a ground terminal, a second power supply terminal, an interface terminal, and an output terminal; the reference terminal is connected to the reference voltage; the first power supply terminal is connected to an external first supply voltage; the ground terminal is grounded; the second power supply terminal is connected to an external second supply voltage; the interface terminal is connected to the second power supply terminal through the fourth resistor; the output terminal is connected to the FPGA for outputting actual swing information; a third capacitor has a first end and a second end. The first end of the third capacitor is connected to the reference terminal of the third chip; the second end of the third capacitor is grounded; a fourth capacitor has a first end and a second end. The first end of the fourth capacitor is connected to the first power supply terminal of the third chip; the second end of the fourth capacitor is grounded; a fifth capacitor has a first end and a second end. The first end of the fifth capacitor is connected to the second power supply terminal of the third chip; the second end of the fifth capacitor is grounded.

[0012] Further, the system further includes: a position signal uniform speed module; the position signal uniform speed module is configured to, when the motor is swinging, obtain the driving voltage of the motor, divide the driving voltage, and output a divided voltage; send the divided voltage to the FPGA; the FPGA is configured to detect the fluctuation range of the divided voltage. If the fluctuation range does not exceed a preset fluctuation threshold, it is determined that the motor swings at a uniform speed; if the fluctuation range exceeds the preset fluctuation threshold, it is determined that the motor does not swing at a uniform speed.

[0013] Further, the position signal uniform speed module includes: a seventeenth resistor having a first end and a second end. The first end of the seventeenth resistor is connected to the driving voltage of the motor; the second end of the seventeenth resistor is connected to the FPGA; an eighteenth resistor has a first end and a second end. The first end of the eighteenth resistor is connected to the second end of the seventeenth resistor; the second end of the eighteenth resistor is grounded; a seventh capacitor has a first end and a second end. The first end of the seventh capacitor is connected to the first end of the eighteenth resistor; the second end of the seventh capacitor is grounded.

[0014] A method for debugging a lidar provided by the present invention includes: an FPGA receives an initial position detection instruction sent by a user and sends the initial position detection instruction to an initial position detection module; the initial position detection module is configured to determine an initial voltage position of a motor in a lidar during a swinging process according to the initial position detection instruction, and send the initial voltage position to an angle amplitude module through the FPGA; the angle amplitude module, based on the initial voltage position, detects a full-scale voltage range corresponding to the motor swinging at a full-scale angle, and sends the full-scale voltage range and the full-scale angle to the FPGA; the FPGA determines a starting voltage and an ending voltage corresponding to a specified motor swing angle range in the specified motor swing condition according to the full-scale voltage range, the full-scale angle, and the specified motor swing condition, and generates a control instruction according to the starting voltage, the ending voltage, and the specified motor swing condition, so that the motor swings according to the control instruction; the angle amplitude module obtains an actual swing position of the motor during the swinging process, generates actual swing information according to the actual swing position, and sends the actual swing information to the FPGA; the FPGA compares the actual swing information with specified swing information corresponding to the specified motor swing condition to obtain a comparison result; and is further configured to display target information to debug the lidar based on the target information; wherein the target information includes: the initial voltage position, the starting voltage, the ending voltage, the actual swing information, and the comparison result.

[0015] For the lidar debugging system and method provided by the present invention, the initial position detection module determines the initial voltage position; the angle amplitude module detects the full-scale voltage range; the FPGA determines the starting voltage and the ending voltage and generates a control instruction to control the motor to swing; the angle amplitude module generates actual swing information according to the actual swing position of the motor; the FPGA compares the actual swing information with the specified swing information; and the target information is displayed to debug the lidar. Through the initial position detection module, the system can determine the initial voltage position of the motor in the lidar during the swinging process, determine the starting voltage and the ending voltage corresponding to the specified motor swing angle range through the angle amplitude module and the FPGA, and determine the actual swing information of the motor during the swinging process, and display these target information through the display interface of the FPGA to perform debugging based on these target information, which can reduce the difficulty of point cloud debugging of the lidar and improve the debugging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 Schematic diagram of a lidar debugging system provided by an embodiment of the present invention;

[0018] Figure 2 Schematic diagram of an angle and position level provided by an embodiment of the present invention;

[0019] Figure 3 Schematic diagram of an actual swing waveform of a motor provided by an embodiment of the present invention;

[0020] Figure 4 Schematic diagram of a circuit of an initial position detection module provided by an embodiment of the present invention;

[0021] Figure 5 Schematic diagram of a circuit of an angle amplitude module provided by an embodiment of the present invention;

[0022] Figure 6 Schematic diagram of a circuit of a position signal uniform speed module provided by an embodiment of the present invention;

[0023] Figure 7 Schematic diagram of a lidar debugging system provided by an embodiment of the present invention;

[0024] Figure 8 Flowchart of a lidar debugging method provided by an embodiment of the present invention. Detailed implementation manners

[0025] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] In the related art, during the debugging process of lidar, if there are differences in a certain process or component in each batch, software and hardware engineers need to jointly debug and confirm the parameters, and the parameter differences are usually relatively large, increasing the difficulty of lidar point cloud debugging and reducing the debugging efficiency. Based on this, the embodiments of the present invention provide a lidar debugging system and method, and this technology can be applied to applications that require lidar debugging.

[0027] To facilitate the understanding of this embodiment, first, a lidar debugging system disclosed in the embodiments of the present invention will be introduced. As Figure 1 shown, the system includes: an initial position detection module 10, an angle amplitude module 11, and an FPGA 12 (Field Programmable Gate Array, programmable array logic);

[0028] The FPGA 12 is used to receive the initial position detection instruction sent by the user and send the initial position detection instruction to the initial position detection module 10. In actual implementation, when it is necessary to determine the initial voltage position during the swing of the motor in the lidar, the user can operate through the display interface corresponding to the FPGA 12 to send the initial position detection instruction, which is used to indicate: detecting the initial voltage position during the swing of the motor in the lidar; the FPGA 12 can receive this initial position detection instruction and send it to the initial position detection module 10.

[0029] The initial position detection module 10 is used to determine the initial voltage position during the swing of the motor in the lidar according to the initial position detection instruction, and send the initial voltage position to the angle amplitude module 11 through the FPGA 12; this initial voltage position can be understood as the zero-crossing position of the voltage; on one side of this initial voltage position is the positive voltage, and on the other side of this initial voltage position is the negative voltage; in actual implementation, after receiving this initial position detection instruction, the initial position detection module 10 can detect the zero-crossing position of the voltage during the swing of the motor, that is, the initial voltage position, and can send the detected initial voltage position to the FPGA 12, display this initial voltage position in the corresponding display interface through the FPGA 12, and send it to the angle amplitude module 11.

[0030] The angle amplitude module 11 is used to detect the full-scale voltage range corresponding to the full-scale angle swing of the motor based on the initial voltage position, and send the full-scale voltage range and the full-scale angle to the FPGA 12; the above full-scale angle can be understood as the overall swing angle range of the motor in the lidar, and for each lidar, this full-scale angle is usually a fixed value; the above full-scale voltage range can be understood as the voltage range corresponding to the full-scale angle swing of the motor; in actual implementation, the motor can be made to swing at the full-scale angle first, and the angle amplitude module 11 can detect the full-scale voltage range corresponding to the full-scale angle based on this initial voltage position, and send the full-scale angle and this full-scale voltage range to the FPGA 12.

[0031] FPGA 12 is used to determine the starting voltage and the ending voltage corresponding to the specified motor swing angle range in the specified motor swing condition according to the full-scale voltage range, the full-scale angle, and the specified motor swing condition, and generate a control instruction according to the starting voltage, the ending voltage, and the specified motor swing condition, so that the motor swings according to the control instruction; the above-mentioned specified motor swing condition can be set according to actual requirements, which usually includes: the specified motor swing angle range, the swing speed, etc.; the above-mentioned specified motor swing angle range can be a part or all of the full-scale angle; in actual implementation, after receiving the full-scale voltage range and the full-scale angle, FPGA 12 can calculate the swing amplitude parameter, which can be used to represent the correspondence between voltage and angle, such as determining the voltage corresponding to each angle value, etc.; for another example, according to the optical design of the hybrid solid-state lidar, the full-scale angle of the motor is 40 degrees, convert 40 degrees to the VPP value corresponding to the position signal level value, that is, the full-scale voltage range, input the VPP value into FPGA 12, and FPGA 12 outputs the swing amplitude parameter of the angle; then, according to the previously obtained specified motor swing condition, determine the starting voltage and the ending voltage corresponding to the specified motor swing range therein; for example, if the full-scale voltage range corresponding to the full-scale angle (-60 degrees to 60 degrees) is (-10V to 10V), and the specified motor swing angle range is (-30 degrees to 30 degrees), then the corresponding starting voltage can be -5V and the ending voltage is 5V; FPGA 12 can generate a control instruction according to the starting voltage, the ending voltage, and the specified motor swing condition, and send it to the motor, so that the motor swings according to the control instruction.

[0032] The angle amplitude module 11 is used to obtain the actual swing position of the motor during the swing process, generate actual swing information according to the actual swing position, and send the actual swing information to FPGA 12;

[0033] In actual implementation, when the motor swings according to the control instruction, there may be a deviation in the actual swing. Therefore, the angle amplitude module 11 can obtain the actual swing position of the motor during the swing process. For example, the motor is usually equipped with a corresponding position sensor, and the actual swing position of the motor can be collected through the position sensor and sent to the angle amplitude module 11. The angle amplitude module 11 can then generate actual swing information according to the actual swing position. The actual swing information can be the actual swing waveform of the motor, etc.; the actual swing information can be sent to FPGA 12.

[0034] FPGA 12 is used to compare the actual swing information with the specified swing information corresponding to the specified motor swing condition to obtain a comparison result; it is also used to display the target information to debug the lidar based on the target information; wherein, the target information includes: the voltage initial position, the starting voltage, the ending voltage, the actual swing information, and the comparison result.

[0035] The above-specified swing information can be understood as the swing information corresponding to the motor under the specified motor swing conditions in an ideal situation; the specified swing information can be the specified swing waveform of the motor under the specified motor swing conditions, etc.; in actual implementation, the lidar may or may not need to be debugged. Therefore, the actual swing information and the specified swing information of the above motor may be the same or different, and the FPGA 12 can compare these two types of information to obtain a comparison result; this comparison result can be used to indicate whether the actual swing information and the specified swing information are the same or different; the above target information such as the initial voltage position, starting voltage, ending voltage, actual swing information, and comparison result can be displayed through the display interface of the FPGA 12, enabling the debugging personnel to debug the lidar based on these target information. In addition to the above information, this target information can also include various other parameters during the debugging process, which can be specifically set as needed and are not limited here.

[0036] For the above lidar debugging system, the initial position detection module 10 can determine the initial voltage position of the motor in the lidar during the swing process, the starting voltage and the ending voltage corresponding to the specified motor swing angle range can be determined by the angle amplitude module 11 and the FPGA 12, and the actual swing information of the motor during the swing process can be determined. These target information are displayed through the display interface of the FPGA 12 for debugging based on these target information, which can reduce the difficulty of point cloud debugging of the lidar and improve the debugging efficiency.

[0037] Further, the initial position detection module 10 includes: a voltage control unit and an optocoupler detection unit; the voltage control unit is configured to receive an initial position detection instruction, output a control voltage according to the initial position detection instruction, and send it to the optocoupler detection unit; the optocoupler detection unit is configured to determine the initial voltage position according to the control voltage and the position corresponding to the light blocked by the optocoupler detection unit emitted by the motor in the lidar during the swing process.

[0038] In actual implementation, an optocoupler detection unit can be placed in the horizontal position. When the motor is in the uniform scanning process and is perpendicular to the horizontal position at 90 degrees, the optocoupler detection unit can receive a signal, and at this time, a pulse signal will be output. The initial voltage position can be determined according to this pulse signal. That is, when the motor is in uniform scanning, the angle signal of the motor is output as the corresponding voltage signal output by the internal sensor of the motor to the FPGA 12; at this time, the FPGA 12 will present the corresponding level signal when the motor swings to the vertical position.

[0039] For easy understanding, refer to Figure 2A schematic diagram of an angle and position level, where the first waveform represents the detection signal when the motor swings, and the second waveform represents the pulse signal output when the motor (or the motor lens) swings to the vertical position of the optocoupler detection unit; it can be seen from the figure that the level value corresponding to the full scale of the motor angle is VPP, and VPP = V1 - V2, where V1 to V2 correspond to the above full scale voltage range; the VPP level can be converted by an ADC (Analog-to-Digital Converter) and then input to the FPGA12. When the optocoupler detection unit detects that the motor lens swings to the vertical angle, it outputs a pulse signal. According to these two waveforms, the starting voltage V3 and the ending voltage V4 are determined, that is, the position corresponding to the starting voltage V3 is the starting position of the motor, and the position corresponding to the ending voltage V4 is the ending position of the motor. The required swing amplitude can be determined according to the starting voltage V3 and the ending voltage V4, and the amplitude is the absolute value of the difference between V3 and V4.

[0040] See Figure 3 A schematic diagram of the actual swing waveform of a motor, where it can be seen that the motor swings from the position corresponding to V4 to the position corresponding to V3 at a relatively slow speed, and the motor swings from the position corresponding to V3 to the position corresponding to V4 at a relatively fast speed. The required swing speed can be determined according to the specified motor swing conditions.

[0041] Furthermore, as Figure 4 A schematic circuit diagram of an initial position detection module, the voltage control unit includes:

[0042] The first chip U3 has an input terminal IN, an enable terminal EN, a ground terminal GND, and an output terminal OUT; the input terminal IN is connected to the external power supply voltage V1; the enable terminal EN is connected to the FPGA12 through the first resistor R16 and is used to receive the initial position detection instruction CONTR1 sent by the FPGA12; the ground terminal GND is grounded; the output terminal OUT is used to output the control voltage VED; the resistance value of the first resistor R16 can be set according to actual needs.

[0043] The first capacitor C5 has a first terminal and a second terminal; the first terminal is connected to the external power supply voltage V1; the second terminal is grounded; the capacitance value of this first capacitor C5 can be set according to actual needs.

[0044] The second capacitor C6 has a first terminal and a second terminal. The first terminal is connected to the output terminal OUT of the first chip U3, and the second terminal is grounded. The capacitance value of this second capacitor C6 can be set according to actual needs.

[0045] Furthermore, the optocoupler detection unit includes:

[0046] The optocoupler detection chip U4 has a first terminal, a second terminal, a third terminal, and an output terminal OUT1. The first terminal of the optocoupler detection chip U4 is connected to the first terminal of the second resistor R14. The second terminal of the optocoupler detection chip U4 is grounded. The third terminal of the optocoupler detection chip U4 is connected to the output terminal of the first chip U3. The output terminal of the optocoupler detection chip U4 is connected to the first terminal of the third resistor R18. It is used to output a high level when the motor in the lidar blocks the light emitted by the optocoupler detection unit during the swinging process.

[0047] The second resistor R14 has a first terminal and a second terminal. The second terminal of the second resistor R14 is connected to the output terminal of the first chip U3. The resistance value of the second resistor R14 can be set according to actual requirements.

[0048] The third resistor R18 has a first terminal and a second terminal. The second terminal of the third resistor R18 is grounded. The resistance value of the third resistor R18 can be set according to actual requirements.

[0049] When it is necessary to detect the initial voltage position, the user can operate through the display interface of the FPGA12. Output the initial position detection instruction CONTR1 as high through the FPGA12, and output the control voltage VED through the first chip U3. When the motor lens reaches the vertical position, the output terminal OUT1 of the optocoupler detection chip is at a high level and is sent to the FPGA12, and then the initial voltage position can be determined. After the initial voltage position detection is completed, the user can operate through the display interface of the FPGA12. Output the initial position detection instruction CONTR1 as low through the FPGA12. The first chip U3 has no output, the control voltage VED level is 0V, the output terminal OUT1 of the optocoupler detection chip outputs a low level and is sent to the FPGA12. Usually, after determining the initial voltage position, in order to avoid the influence and interference of the light emitted by the optocoupler detection unit on other detection information, the circuit output by U3 can be disconnected, and the optocoupler will not work.

[0050] Further, the angle amplitude module 11 includes: a voltage adjustment unit and a voltage conversion unit. The voltage adjustment unit is used to obtain the actual voltage range corresponding to the actual swinging position of the motor during the swinging process, adjust the actual voltage range to a voltage adjustment range within a specified voltage range, and send it to the voltage conversion unit. The voltage conversion unit is used to perform analog-to-digital conversion processing on the voltage adjustment range, output the actual swinging information, and send the actual swinging information to the FPGA12.

[0051] The above-specified voltage range is usually related to the chip used in the voltage conversion unit. For example, the specified voltage range is 0V - 5V, etc. In actual implementation, the voltage adjustment unit can adjust the actual voltage range corresponding to the actual swing position of the motor. For example, the actual voltage range determined by the voltage adjustment unit according to the actual swing position of the motor is -2V - 2V. By raising this actual voltage range, it can be adjusted to a voltage adjustment range within 0V - 5V, which is 0V - 4V. The voltage conversion unit can perform analog-to-digital conversion on the voltage adjustment range of 0V - 4V to obtain the actual swing information of the motor, such as the actual swing waveform of the motor, etc., and can send this actual swing information to FPGA12.

[0052] Further, as Figure 5 shown in the circuit schematic diagram of an angle amplitude module, the voltage adjustment unit includes:

[0053] The first voltage comparator U1A includes an inverting input terminal, a non-inverting input terminal, a first reference terminal, a second reference terminal, and an output terminal. The inverting input terminal is connected to the output terminal of the first voltage comparator U1A through the fifth resistor R1. The inverting input terminal obtains the actual voltage range corresponding to the actual swing position of the motor during the swing process through the sixth resistor R2. The non-inverting input terminal is sequentially connected to the reference voltage Vref through the seventh resistor R3 and the ninth resistor R5. The first reference terminal is grounded. The second reference terminal is grounded through the sixth capacitor C1. The output terminal of the first voltage comparator U1A is respectively connected to the first end of the thirteenth resistor R10 and the first end of the eighth resistor R4. The second end of the eighth resistor R4 is connected to the positive input terminal IN+ of the third chip U2 in the voltage conversion unit;

[0054] The tenth resistor R7 has a first end and a second end. The first end of the tenth resistor R7 is connected to the common node of the seventh resistor R3 and the ninth resistor R5. The second end of the tenth resistor R7 is grounded;

[0055] The eleventh resistor R8 has a first end and a second end. The first end of the eleventh resistor R8 is connected to the non-inverting input terminal of the first voltage comparator U1A. The second end of the eleventh resistor R8 is grounded;

[0056] The second voltage comparator U1B includes an inverting input terminal, a non-inverting input terminal, and an output terminal. The inverting input terminal of the second voltage comparator U1B is respectively connected to the second terminal of the thirteenth resistor R10 and the first terminal of the twelfth resistor R9. The second terminal of the twelfth resistor R9 is connected to the output terminal of the second voltage comparator U1B. The non-inverting input terminal of the second voltage comparator U1B is respectively connected to the first terminal of the fifteenth resistor R12 and the first terminal of the sixteenth resistor R13. The second terminal of the fifteenth resistor R12 is connected to the reference voltage Vref, and the second terminal of the sixteenth resistor R13 is grounded. The output terminal of the second voltage comparator U1B is connected to the negative input terminal IN- of the third chip U2 in the voltage conversion unit through the fourteenth resistor R11.

[0057] Further, the voltage conversion unit includes:

[0058] The third chip U2 includes a reference terminal REF, a first power supply terminal VDD, a positive input terminal IN+, a negative input terminal IN-, a ground terminal GND, a second power supply terminal VIO, an interface terminal SDI, and an output terminal. The reference terminal REF is connected to the reference voltage Vref. The first power supply terminal VDD is connected to an external first power supply voltage. The ground terminal GND is grounded. The second power supply terminal VIO is connected to an external second power supply voltage VCC. The interface terminal SDI is connected to the second power supply terminal VIO through the fourth resistor R6. The output terminal is connected to FPGA12 for outputting actual swing information.

[0059] The third capacitor C3 has a first terminal and a second terminal. The first terminal of the third capacitor C3 is connected to the reference terminal of the third chip C3. The second terminal of the third capacitor C3 is grounded.

[0060] The fourth capacitor C4 has a first terminal and a second terminal. The first terminal of the fourth capacitor C4 is connected to the first power supply terminal VDD of the third chip U2. The second terminal of the fourth capacitor C4 is grounded.

[0061] The fifth capacitor C2 has a first terminal and a second terminal. The first terminal of the fifth capacitor C2 is connected to the second power supply terminal VIO of the third chip U2. The second terminal of the fifth capacitor C2 is grounded.

[0062] The resistance values of the above-mentioned ninth resistor R5, tenth resistor R7, fifteenth resistor R12, and sixteenth resistor R13 are usually the same; the input signal INPUT is output through the differential operation of the first voltage comparator U1A. The resistance values of the fifth resistor R1 and the eleventh resistor R8 are usually the same; the resistance values of the sixth resistor R2 and the seventh resistor R3 are usually the same. The input level of the input signal INPUT is reduced by a factor of R1 / R2. The output terminal of the first voltage comparator U1A, that is, the center level is raised to 1 / 2Vref, and then inverted by the second voltage comparator U1B and input into the third chip U2 together. The third chip U2 inputs the actual swing information into the FPGA12 through the SPI (Serial Peripheral Interface) protocol.

[0063] Furthermore, the system further includes: a position signal uniform speed module 13; the position signal uniform speed module 13 is used to obtain the driving voltage of the motor during the swinging process of the motor, divide the driving voltage, and output the divided voltage; send the divided voltage to the FPGA12; the FPGA12 is used to detect the fluctuation range of the divided voltage. If the fluctuation range does not exceed the preset fluctuation threshold, it is determined that the motor swings at a uniform speed; if the fluctuation range exceeds the preset fluctuation threshold, it is determined that the motor does not swing at a uniform speed.

[0064] The position signal uniform speed module 13 can be used to detect whether the position signal of the motor swing is uniform. The driving voltage of the motor and the sensor signal form a closed loop. In actual implementation, the speed of the motor swing is different, the light sensitivity is different, and if the position signal fluctuates greatly, the driving voltage will also fluctuate greatly. If the motor swings at a uniform speed, the driving voltage basically does not fluctuate. Therefore, by detecting whether the driving voltage fluctuates greatly during the swing, it can be identified whether the position signal of the motor swing is uniform. If the detected position signal is not uniform, only the position sensor of the motor needs to be replaced and then the point cloud layer adjustment is carried out. If it is detected that the driving voltage does not fluctuate greatly during operation, it can be detected whether there is an abnormality in the real-time swing position waveform of the motor.

[0065] Furthermore, as Figure 6 shown in the circuit schematic diagram of a position signal uniform speed module, the position signal uniform speed module 13 includes:

[0066] A seventeenth resistor R14, having a first end and a second end, the first end of the seventeenth resistor R14 is connected to the driving voltage Vdriver of the motor; the second end of the seventeenth resistor R14 is connected to the FPGA12;

[0067] An eighteenth resistor R15, having a first end and a second end, the first end of the eighteenth resistor R15 is connected to the second end of the seventeenth resistor R14; the second end of the eighteenth resistor R15 is grounded;

[0068] The seventh capacitor C7 has a first end and a second end. The first end of the seventh capacitor C7 is connected to the first end of the eighteenth resistor R15; the second end of the seventh capacitor C7 is grounded.

[0069] The above-mentioned seventeenth resistor R14, eighteenth resistor R15, and seventh capacitor C7 can all be set according to actual requirements. The driving voltage Vdriver of the motor is divided by the seventeenth resistor R14 and the eighteenth resistor R15 to obtain a divided voltage, and this divided voltage can be directly input to the ADC interface of the FPGA12 for detection. If the divided voltage fluctuates greatly, it means that the driving voltage Vdriver also fluctuates greatly, indicating that the input signal of the internal sensor of the motor is abnormal. The sensor or the motor can be directly replaced and the point cloud layering debugging can be carried out again.

[0070] For easy understanding, as Figure 7 shown in the schematic diagram of a lidar debugging system, the system includes: an initial position detection module 10, an angle amplitude module 11, a position signal uniform module 13, and an FPGA12. The initial position detection module 10 can determine the initial voltage position of the motor in the lidar during the swinging process through the optocoupler detection method; the angle amplitude module 11 can detect the full-scale voltage range corresponding to the motor swinging at the full-scale angle. The FPGA12 can determine the starting voltage and the ending voltage corresponding to the specified motor swing angle range in the specified motor swing condition according to the full-scale voltage range, the full-scale angle, and the specified motor swing condition, and generate corresponding control instructions to be sent to the motor to make the motor swing according to this control instruction; the position signal uniform module 13 can detect whether the motor swings uniformly during the swinging process; various parameters during the debugging process can be displayed through the display interface of the FPGA12, enabling the debugging personnel to debug the lidar based on these parameters.

[0071] The above lidar debugging system can preliminarily confirm the point cloud debugging parameters of each set of products during the process of optimizing the point cloud debugging parameters, enabling the debugger to achieve an acceptable point cloud effect by making fine-tuning based on these parameters, thus greatly saving the point cloud debugging time of the lidar. According to the point cloud layer-by-layer debugging experiment, it is found that when the starting position corresponding to the starting voltage of the motor, the swing angle amplitude meets the requirements, and the speed is uniform during the swing, the point cloud layer-by-layer debugging will be successful. These several indicators are input into FPGA12, and FPGA12 processes and verifies the initial parameters. The debugger fills the verified initial parameters into the software debugging interface for fine-tuning to quickly achieve the point cloud layer-by-layer debugging. The full-scale voltage range and the voltage initial position are transmitted to FPGA12, and after being recognized by FPGA12, the corresponding parameters are input into the debugging interface. The debugger makes fine-tuning according to the initial parameters. If the point cloud is acceptable, parameter changes may not be necessary, and the point cloud layer-by-layer debugging can be completed quickly. The real-time angle and real-time position of the motor are digitized and detected and monitored in real time by FPGA12, optimizing the point cloud debugging of the hybrid solid-state whole machine.

[0072] The present invention provides a lidar debugging method, as Figure 8 shown, the method includes the following steps:

[0073] Step S802, the FPGA receives the initial position detection instruction sent by the user and sends the initial position detection instruction to the initial position detection module;

[0074] Step S804, the initial position detection module is used to determine the voltage initial position of the motor in the lidar during the swing process according to the initial position detection instruction, and sends the voltage initial position to the angle amplitude module through the FPGA;

[0075] Step S806, based on the voltage initial position, the angle amplitude module detects the full-scale voltage range corresponding to the motor swinging at the full-scale angle, and sends the full-scale voltage range and the full-scale angle to the FPGA;

[0076] Step S808, the FPGA determines the starting voltage and the ending voltage corresponding to the specified motor swing angle range in the specified motor swing condition according to the full-scale voltage range, the full-scale angle and the specified motor swing condition, and generates a control instruction according to the starting voltage, the ending voltage and the specified motor swing condition, so that the motor swings according to the control instruction;

[0077] Step S810, the angle amplitude module obtains the actual swing position of the motor during the swing process, generates actual swing information according to the actual swing position, and sends the actual swing information to the FPGA;

[0078] Step S812: The FPGA compares the actual swing information with the specified swing information corresponding to the specified motor swing condition to obtain a comparison result; it is also used to display target information for debugging the lidar based on the target information. The target information includes: the initial voltage position, the starting voltage, the ending voltage, the actual swing information, and the comparison result.

[0079] In the above lidar debugging method, the initial position detection module can determine the initial voltage position of the motor in the lidar during the swing process. The starting voltage and the ending voltage corresponding to the specified motor swing angle range are determined by the angle amplitude module and the FPGA, and the actual swing information of the motor during the swing process is determined. These target information are displayed through the display interface of the FPGA for debugging based on these target information, which can reduce the difficulty of point cloud debugging of the lidar and improve the debugging efficiency.

[0080] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lidar debugging system, characterized in that, The system includes: an initial position detection module, an angle amplitude module, and an FPGA; The FPGA is configured to receive an initial position detection instruction sent by a user, and send the initial position detection instruction to the initial position detection module; The initial position detection module is configured to determine the initial voltage position of the motor in the lidar during the swinging process according to the initial position detection instruction, and send the initial voltage position to the angle amplitude module through the FPGA; The angle amplitude module is configured to detect the full-scale voltage range corresponding to the full-scale angle when the motor swings at the full-scale angle based on the initial voltage position, and send the full-scale voltage range and the full-scale angle to the FPGA; The FPGA is configured to determine the start voltage and the end voltage corresponding to the specified motor swing angle range in the specified motor swing condition according to the full-scale voltage range, the full-scale angle, and the specified motor swing condition, and generate a control instruction according to the start voltage, the end voltage, and the specified motor swing condition, so that the motor swings according to the control instruction; The angle amplitude module is configured to obtain the actual swing position of the motor during the swinging process, generate actual swing information according to the actual swing position, and send the actual swing information to the FPGA; The FPGA is configured to compare the actual swing information with the specified swing information corresponding to the specified motor swing condition to obtain a comparison result; and is also configured to display target information for debugging the lidar based on the target information; wherein the target information includes: the initial voltage position, the start voltage, the end voltage, the actual swing information, and the comparison result.

2. The system according to claim 1, characterized in that, The initial position detection module includes: a voltage control unit and an optocoupler detection unit; The voltage control unit is configured to receive the initial position detection instruction, output a control voltage according to the initial position detection instruction, and send it to the optocoupler detection unit; The optocoupler detection unit is configured to determine the initial voltage position according to the control voltage and the position corresponding to the motor in the lidar blocking the light emitted by the optocoupler detection unit during the swinging process.

3. The system according to claim 2, characterized in that, The voltage control unit includes: A first chip having an input terminal, an enable terminal, a ground terminal, and an output terminal; the input terminal is connected to an external power supply voltage; the enable terminal is connected to the FPGA through a first resistor and is configured to receive the initial position detection instruction sent by the FPGA; the ground terminal is grounded; the output terminal is configured to output a control voltage; A first capacitor having a first terminal and a second terminal; the first terminal is connected to the external power supply voltage; the second terminal is grounded; A second capacitor having a first terminal and a second terminal, the first terminal is connected to the output terminal of the first chip, and the second terminal is grounded.

4. The system according to claim 3, characterized in that, The optocoupler detection unit includes: An optocoupler detection chip has a first terminal, a second terminal, a third terminal, and an output terminal; the first terminal of the optocoupler detection chip is connected to the first terminal of a second resistor; the second terminal of the optocoupler detection chip is grounded; the third terminal of the optocoupler detection chip is connected to the output terminal of the first chip; the output terminal of the optocoupler detection chip is connected to the first terminal of a third resistor; and it is used to output a high level when the motor in the lidar blocks the light emitted by the optocoupler detection unit during the swinging process. A second resistor has a first terminal and a second terminal, and the second terminal of the second resistor is connected to the output terminal of the first chip. A third resistor has a first terminal and a second terminal, and the second terminal of the third resistor is grounded.

5. The system according to claim 1, characterized in that, The angle amplitude module includes: a voltage adjustment unit and a voltage conversion unit. The voltage adjustment unit is used to obtain the actual voltage range corresponding to the actual swinging position of the motor during the swinging process, adjust the actual voltage range to a voltage adjustment range within a specified voltage range, and send it to the voltage conversion unit. The voltage conversion unit is used to perform analog-to-digital conversion processing on the voltage adjustment range, output actual swinging information, and send the actual swinging information to the FPGA.

6. The system according to claim 5, characterized in that, The voltage adjustment unit includes: A first voltage comparator includes an inverting input terminal, a non-inverting input terminal, a first reference terminal, a second reference terminal, and an output terminal; the inverting input terminal is connected to the output terminal of the first voltage comparator through a fifth resistor; the inverting input terminal obtains the actual voltage range corresponding to the actual swinging position of the motor during the swinging process through a sixth resistor; the non-inverting input terminal is sequentially connected to a reference voltage through a seventh resistor and a ninth resistor; the first reference terminal is grounded; the second reference terminal is grounded through a sixth capacitor; the output terminal of the first voltage comparator is respectively connected to the first terminal of a thirteenth resistor and the first terminal of an eighth resistor, and the second terminal of the eighth resistor is connected to the positive input terminal of a third chip in the voltage conversion unit. A tenth resistor has a first terminal and a second terminal, the first terminal of the tenth resistor is connected to the common node of the seventh resistor and the ninth resistor; the second terminal of the tenth resistor is grounded. An eleventh resistor has a first terminal and a second terminal, the first terminal of the eleventh resistor is connected to the non-inverting input terminal of the first voltage comparator, and the second terminal of the eleventh resistor is grounded. A second voltage comparator includes an inverting input terminal, a non-inverting input terminal, and an output terminal; the inverting input terminal of the second voltage comparator is respectively connected to the second terminal of the thirteenth resistor and the first terminal of a twelfth resistor, and the second terminal of the twelfth resistor is connected to the output terminal of the second voltage comparator; the non-inverting input terminal of the second voltage comparator is respectively connected to the first terminal of a fifteenth resistor and the first terminal of a sixteenth resistor; the second terminal of the fifteenth resistor is connected to the reference voltage, and the second terminal of the sixteenth resistor is grounded; the output terminal of the second voltage comparator is connected to the negative input terminal of a third chip in the voltage conversion unit through a fourteenth resistor.

7. The system according to claim 6, characterized in that, The voltage conversion unit includes: The third chip includes a reference terminal, a first power terminal, a positive input terminal, a negative input terminal, a ground terminal, a second power terminal, an interface terminal, and an output terminal; the reference terminal is connected to a reference voltage; the first power terminal is connected to an external first power supply voltage; the ground terminal is grounded; the second power terminal is connected to an external second power supply voltage; the interface terminal is connected to the second power terminal through a fourth resistor; the output terminal is connected to the FPGA for outputting actual swing information; The third capacitor has a first end and a second end, and the first end of the third capacitor is connected to the reference terminal of the third chip; the second end of the third capacitor is grounded; The fourth capacitor has a first end and a second end, and the first end of the fourth capacitor is connected to the first power terminal of the third chip; the second end of the fourth capacitor is grounded; The fifth capacitor has a first end and a second end, and the first end of the fifth capacitor is connected to the second power terminal of the third chip; the second end of the fifth capacitor is grounded.

8. The system according to claim 1, characterized in that, The system further includes: a position signal uniform speed module; The position signal uniform speed module is configured to, when the motor is swinging, obtain the driving voltage of the motor, divide the driving voltage, and output a divided voltage; send the divided voltage to the FPGA; The FPGA is configured to detect the fluctuation range of the divided voltage. If the fluctuation range does not exceed a preset fluctuation threshold, it is determined that the motor is swinging at a uniform speed; if the fluctuation range exceeds the preset fluctuation threshold, it is determined that the motor is not swinging at a uniform speed.

9. The system according to claim 8, wherein, The position signal uniform speed module includes: The seventeenth resistor has a first end and a second end, and the first end of the seventeenth resistor is connected to the driving voltage of the motor; the second end of the seventeenth resistor is connected to the FPGA; The eighteenth resistor has a first end and a second end, and the first end of the eighteenth resistor is connected to the second end of the seventeenth resistor; the second end of the eighteenth resistor is grounded; The seventh capacitor has a first end and a second end, and the first end of the seventh capacitor is connected to the first end of the eighteenth resistor; the second end of the seventh capacitor is grounded.

10. A method for debugging a lidar, wherein, The method includes: The FPGA receives an initial position detection instruction sent by a user and sends the initial position detection instruction to an initial position detection module; The initial position detection module is configured to determine the voltage initial position of the motor in the swinging process in the lidar according to the initial position detection instruction, and send the voltage initial position to an angle amplitude module through the FPGA; The angle amplitude module, based on the voltage initial position, detects the full-scale voltage range corresponding to when the motor swings at the full-scale angle, and sends the full-scale voltage range and the full-scale angle to the FPGA; The FPGA determines the starting voltage and the ending voltage corresponding to the specified motor swing angle range in the specified motor swing condition according to the full-scale voltage range, the full-scale angle, and the specified motor swing condition, and generates a control instruction according to the starting voltage, the ending voltage, and the specified motor swing condition, so that the motor swings according to the control instruction; The angle amplitude module obtains the actual swing position of the motor during the swing process, generates actual swing information according to the actual swing position, and sends the actual swing information to the FPGA; The FPGA compares the actual swing information with the specified swing information corresponding to the specified motor swing condition to obtain a comparison result; it is also used to display target information for debugging the lidar based on the target information. The target information includes: the initial voltage position, the starting voltage, the ending voltage, the actual swing information, and the comparison result.

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