Laser radar

Abstract

The utility model provides a laser radar, and relates to the technical field of laser radars, a detection light beam emitted by a transmitting and receiving module is reflected to a target area through a galvanometer module and a reflector in sequence, and the detection light beam reflected by an object in the target area is received by a receiving module; the rotation of the reflecting mirror and the swinging of the galvanometer module are matched with each other, so that the detection light beam rotationally scans the target area, and the driving parameters of the galvanometer module and the driving parameters of the reflecting mirror can be controlled by the control module to be matched with each other in the rotary scanning process; therefore, image rotation compensation is carried out in the process that the detection light beam rotates to scan the target area, so that the position of a light spot projected on the reflector after the detection light beam is reflected by the galvanometer module is unchanged or translated, thereby avoiding the reduction of a vertical view field caused by the influence of image rotation, and enabling the laser radar to scan more areas.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular, to a laser radar. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of an object. The point cloud effect of LiDAR is strongly related to the scanning solution. The scanning solution that can achieve a large field of view, low cost and high reliability has always been the focus of the industry.

[0003] In order to achieve 360° rotation scanning, the existing laser radar usually adopts a scanning scheme in which the transceiver module is fixed and only the reflection module rotates. In this scheme, during the rotation of the reflection module, Figure 1 and Figure 2 As shown, at certain specific angles, the vertical field of view will be reduced, that is, the image rotation problem, which will affect the scanning range of the lidar. Utility Model Content

[0004] The purpose of the present application is to provide a laser radar to address the deficiencies in the above-mentioned prior art, in which the image rotation is compensated by a galvanometer module, and the vertical field of view is not reduced, thereby eliminating the image rotation so that the laser radar can scan more areas.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In one aspect of an embodiment of the present application, a laser radar is provided, comprising a control module, a base, and a transmitting module, a receiving module, a galvanometer module and a reflector arranged on the base;

[0007] The transmitting module is configured to transmit a detection beam to the galvanometer module;

[0008] The galvanometer module is configured to be able to swing and reflect the detection beam to the reflector;

[0009] The reflector is configured to rotate and reflect the detection beam to the target area;

[0010] The receiving module is configured to receive the reflected light beam reflected by the object in the target area;

[0011] The control module is configured to control the driving parameters of the galvanometer module and the driving parameters of the reflector so that the position of the light spot projected on the reflector after the detection light beam is reflected by the galvanometer module remains unchanged or shifts.

[0012] Optionally, the driving parameters of the galvanometer module include the swing frequency and swing amplitude of the galvanometer module, and the driving parameters of the reflector include the rotation rate of the reflector. The swing frequency and swing amplitude of the galvanometer module and the rotation rate of the reflector satisfy the following relationship:

[0013] Among them, f x is the oscillation frequency of the galvanometer module around the y-axis, in Hertz; f y is the oscillation frequency of the galvanometer module around the x-axis, in Hertz; A X A is the swing amplitude of the galvanometer module around the y-axis, in degrees; y is the swing amplitude of the galvanometer module around the x-axis, in degrees; θ is the rotation angle of the reflector, θ=ωt, ω is the rotation rate of the reflector, in rad / s, and t is the rotation time of the reflector.

[0014] Optionally, the laser radar includes a first driver, the galvanometer module includes a galvanometer connected to the first driver, the control module is electrically connected to the first driver, and the control module is used to control the first driver to drive the galvanometer to swing around the first axis and / or the second axis, and the rotation axes of the first axis, the second axis and the reflector are perpendicular to each other.

[0015] Optionally, the galvanometer module further includes a fixed frame and a swing frame, the fixed frame is arranged on the base, the swing frame is connected to the fixed frame via a first axis, and the galvanometer is connected to the swing frame via a second axis.

[0016] Optionally, the laser radar also includes a second driver connected to the reflector drive, the second driver is a hollow motor, and the hollow through hole of the hollow motor is located in the propagation path of the detection light beam.

[0017] Another aspect of the embodiments of the present application provides a control method of any of the above laser radars, wherein the laser radar includes a rotating reflector and a oscillating galvanometer module, and the method includes:

[0018] The driving parameters of the reflector and / or the driving parameters of the galvanometer module are controlled so that the position of the light spot projected on the reflector remains unchanged or moves in position.

[0019] Optionally, the driving parameters of the control mirror and / or the driving parameters of the galvanometer module include:

[0020] Obtain driving parameters of the reflector;

[0021] The driving parameters of the galvanometer module are adjusted according to the driving parameters of the reflector so that the position of the light spot projected on the reflector remains unchanged or moves.

[0022] Optionally, the driving parameters of the control mirror and / or the driving parameters of the galvanometer module include:

[0023] Get the drive parameters of the galvanometer module;

[0024] The driving parameters of the reflector are adjusted according to the driving parameters of the galvanometer module so that the position of the light spot projected on the reflector remains unchanged or is shifted.

[0025] Optionally, in the driving parameters of the control reflector and / or the driving parameters of the galvanometer module, the driving parameters of the galvanometer module include the swing frequency and swing amplitude of the galvanometer module, the driving parameters of the reflector include the rotation rate of the reflector, and the swing frequency and swing amplitude of the galvanometer module and the rotation rate of the reflector satisfy the following relationship:

[0026] Among them, f x is the oscillation frequency of the galvanometer module around the y-axis, in Hertz; f y is the oscillation frequency of the galvanometer module around the x-axis, in Hertz; A X A is the swing amplitude of the galvanometer module around the y-axis, in degrees; y is the swing amplitude of the galvanometer module around the x-axis, in degrees; θ is the rotation angle of the reflector, θ=ωt, ω is the rotation rate of the reflector, in rad / s, and t is the rotation time of the reflector.

[0027] Optionally, the driving parameters of the control mirror and / or the driving parameters of the galvanometer module include:

[0028] Acquire a mapping database including driving parameters of the reflector and driving parameters of the galvanometer module;

[0029] According to the mapping relationship between the driving parameters of the reflector and the driving parameters of the galvanometer module in the mapping database, the driving parameters of the reflector and / or the driving parameters of the galvanometer module are controlled.

[0030] The beneficial effects of this application include:

[0031] The present application provides a laser radar, including a control module, a base, and a transmitting module, a receiving module, a galvanometer module and a reflector arranged on the base. The detection beam emitted by the transmitting module is reflected to the target area through the galvanometer module and the reflector in turn, and the detection beam reflected by the object in the target area can be received by the receiving module, thereby realizing the detection of the target area. And through the rotation of the reflector and the swing of the galvanometer module, the detection beam is rotated to scan the target area. During the rotation scanning process, the control module can control the driving parameters of the galvanometer module and the driving parameters of the reflector to match each other, so that image rotation compensation is performed during the process of the detection beam rotating and scanning the target area, so that the position of the light spot projected on the reflector after the detection beam is reflected by the galvanometer module remains unchanged or the position is translated, thereby avoiding the influence of image rotation, resulting in a reduction in the vertical field of view, so that the laser radar can scan more areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of the structure of a scanning solution provided by the prior art;

[0034] Figure 2 A scanning solution provided by the prior art scans a point cloud pattern formed by scanning 360°;

[0035] Figure 3 A schematic diagram of the structure of a laser radar provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of the structure of a galvanometer module provided in an embodiment of the present application;

[0037] Figure 5 A point cloud pattern formed by a 360° scan of a laser radar provided in an embodiment of the present application;

[0038] Figure 6 A top view of a galvanometer and a reflector provided in an embodiment of the present application.

[0039] Icons: 001-reflection module; 002-rotating axis of the reflection module; 003, 160-linear array; 110-base; 120-transmitting module; 130-galvanometer module; 131-galvanometer; 132-first driver; 133-fixed frame; 134-swinging frame; 135-first axis; 136-second axis; 140-reflector; 142-second driver; 150-control module; 170-light spot. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. It should be noted that, in the absence of conflict, the various features in the embodiments of the present application can be combined with each other, and the combined embodiments are still within the scope of protection of the present application.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0044] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0045] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] In existing scanning schemes, such as Figure 1 As shown, the transceiver module ( Figure 1 The light emitted by the reflective module 001 (not shown) is projected onto the reflective surface of the reflective module 001 to form a straight light spot, and then the reflective module 001 projects the incident light onto the target area to scan the objects in the environment in the form of a linear array 003. In order to achieve 360-degree scanning, Figure 1As shown, the transceiver module does not rotate, and only the reflector module 001 rotates around the rotating shaft 002 of the reflector module to realize that during the rotation of the reflector module 001, the linear array 003 can scan objects within a 360-degree range, and after the transceiver module receives the light beam reflected by the object, a Figure 2 The point cloud pattern shown. Since the transceiver module does not rotate, only the reflector module 001 rotates, although it can reduce costs and size, simplify the solution, and improve reliability, etc., please combine Figure 1 and Figure 2 As shown, as the reflection module 001 rotates, the linear array 003 projected onto the target area by its reflection surface will gradually tilt from vertical to horizontal. As the linear array 003 tilts, the vertical field of view will shrink, for example. Figure 2 As shown, when the reflection module 001 is at the initial 0° position, the linear array 003 is just the vertical linear array 003. When the reflection module 001 gradually rotates from 0° to 90°, the linear array 003 begins to gradually tilt toward the horizontal direction. With the tilt of the linear array 003, the vertical field of view will be reduced until the reflection module 001 rotates to the 90° position, the linear array 003 just becomes the horizontal linear array 003. At this time, the vertical field of view is the smallest. When the reflection module 001 gradually rotates from 90° to 180°, the horizontal linear array 003 gradually tilts again until it becomes the vertical linear array 003 again at the 180° position. Therefore, when the reflection module 001 rotates one circle (that is, 360°), Figure 2 The point cloud pattern shown is composed of Figure 2 It can be seen that the vertical field of view of the entire point cloud pattern at the arc position is significantly reduced, resulting in the area within the arc range being unable to be covered by the linear array, thus causing the image rotation problem.

[0047] In view of the above situation, one aspect of the embodiments of the present application provides a laser radar, such as Figure 3 As shown, the laser radar includes a base 110 and a transmitting module 120, a receiving module, a galvanometer module 130, a reflector 140 and a control module 150 arranged on the base 110, wherein the base 110 can provide support and protection for each component, and at the same time, the integrity of the laser radar can also be improved through the base 110. The present application does not limit the specific form of the base 110, for example, it can be a base, a shell and other forms.

[0048] Please continue to refer to Figure 3The transmitting module 120, the galvanometer module 130 and the reflector 140 are arranged in sequence along the optical path, so that after the transmitting module 120 transmits the detection light beam, the detection light beam can be first reflected by the galvanometer module 130 to the reflector 140, so that the detection light beam forms a light spot on the reflector 140, and then is reflected by the reflector 140, thereby projecting the detection light beam to the target area, and after the detection light beam is reflected by the object in the target area, it can also be received by the receiving module. For example, the detection light beam reflected by the object in the target area is reflected by the reflector 140 and the galvanometer module 130 in sequence and then received by the receiving module, thereby forming a point cloud pattern.

[0049] The transmitting module 120 may be a single-channel transmitter, that is, the number of transmitters is only one, not a laser array, thereby reducing the number of channels. Figure 3 As shown, the single beam of light emitted by the single-channel transmitter can be reflected to the reflector 140 at different angles by the rapid swing of the galvanometer module 130, so that a linear array or a planar array is formed after reflection by the reflector 140 (for ease of understanding, the following description is taken as an example of a linear array, and the planar array is the same), thereby realizing one-dimensional scanning (i.e. Figure 3 z-direction scanning).

[0050] To achieve 360° rotation scanning, Figure 3 As shown, the reflector 140 can be rotatably arranged on the base 110, so that when the reflector 140 rotates relative to the base 110, the detection beam can rotate and scan the target area. When the reflector 140 rotates 360°, the detection beam also completes a 360° rotation scan, thereby realizing two-dimensional scanning. The present application does not limit the shape of the reflector 140, which can be circular, elliptical, rectangular, etc.

[0051] Since the detection beam is finally reflected by the reflector to the target area to form a linear array, the field of view of the linear array will have a certain relationship with the spot shape of the detection beam on the reflection surface of the reflector. Therefore, in order to make the vertical field of view of the linear array ( Figure 3In order to ensure that the field of view in the z direction is not reduced, the control module 150 can control the galvanometer module 130 and the reflector 140 to coordinate, so that the position of the light spot projected on the reflector 140 after the detection light beam is reflected by the galvanometer module 130 remains unchanged or shifts. Specifically, for example, the control module 150 controls the driving parameters of the galvanometer module 130 to match the driving parameters of the reflector 140, so that the position of the light spot projected on the reflector 140 after the detection light beam is reflected by the galvanometer module 130 remains unchanged or shifts. The driving parameters of the galvanometer module can be the swing parameters of the galvanometer module, for example, the swing parameters include the swing frequency and swing amplitude of the galvanometer module, and the driving parameters of the reflector can be the rotation parameters of the reflector, for example, the rotation parameters include the rotation rate of the reflector.

[0052] Of course, in the control process of the control module 150, the driving parameters of the reflector 140 can be obtained first, and then the driving parameters of the galvanometer module 130 can be adjusted to match the driving parameters of the reflector 140; or the driving parameters of the galvanometer module 130 can be obtained first, and then the driving parameters of the reflector 140 can be adjusted to match the driving parameters of the galvanometer module 130. For example, in a scheme of adjusting the driving parameters of the galvanometer module 130, the driving parameters of the galvanometer module 130 can be adjusted so that when the reflector 140 rotates, the galvanometer module 130 performs image rotation compensation, so that the position of the spot formed on the reflector by the detection light beam after being reflected by the galvanometer module remains unchanged relative to the position of the reflector or is translated. Figure 5 As shown, it is the point cloud pattern obtained by the receiving module. It can be seen that during the rotation of the reflector 140 by 360 degrees, the vertical field of view of the linear array is not reduced. In other words, when the reflector 140 is at any rotation angle, the linear arrays projected by it are all vertical linear arrays, so that the laser radar can scan more areas.

[0053] In the scheme of adjusting the driving parameters of the galvanometer module 130, for the convenience of control, the reflector 140 can have an initial position, and the reflector 140 can rotate around the z-axis relative to the base 110. Therefore, the rotation angle of the reflector 140 at any time can be determined by real-time acquisition of the rotation rate of the reflector 140 relative to the initial position by the control module 150, and the swing frequency and swing amplitude of the galvanometer module on the x-axis and y-axis are calculated according to the rotation angle, so that the position of the light spot 170 formed on the reflector 140 by the detection light beam after being reflected by the galvanometer module remains unchanged or shifts relative to the position of the reflector 140. For example Figure 6As shown, at time t0, the reflector 140 is at the initial position, and the light spot 170 reflected by the galvanometer module 130 to the reflector 140 is the light spot AB. At time t1, the reflector 140 rotates through an angle θ, and at this time, the light spot AB moves to the light spot A'B', that is, under the control of the control module 150, the position of the light spot 170 formed on the reflector 140 remains unchanged relative to the position of the reflector 140. Please continue to refer to Figure 6 At time t0, the reflector 140 is at the initial position, and the light spot 170 reflected by the galvanometer module 130 to the reflector 140 is the light spot AB. At time t1, the reflector 140 rotates through an angle θ, and at this time, the light spot AB moves to a position parallel to A'B', that is, under the control of the control module 150, the position of the light spot 170 formed on the reflector 140 is translated relative to the position of the reflector 140. For ease of understanding, the following will schematically describe the image rotation compensation at a specific angle by way of example:

[0054] Combination Figure 3 and Figure 5 As shown, when the reflector 140 is in the initial 0° position, the galvanometer module 130 can swing rapidly around the y direction to form a vertical linear array 160. When the reflector 140 rotates from 0° to 90°, the galvanometer module 130 can swing rapidly around the x direction to keep the reflector 140 still emitting the vertical linear array 160. At the position between 0° and 90°, the galvanometer module 130 can swing rapidly around the x direction and the y direction at the same time to correct the linear array so that the linear array 160 remains vertical (z direction) without tilting, thereby achieving image rotation compensation. It should be understood that when the reflector 140 rotates from 90° to 180°, the image rotation compensation is the same as the compensation process from 0° to 90°, and 0° to 180° is a compensation cycle, and when it rotates from 180° to 360°, it is a repeated compensation cycle.

[0055] Optionally, see Figure 6 As shown, the driving parameters of the galvanometer module include the swing frequency and swing amplitude of the galvanometer module, and the driving parameters of the reflector include the rotation rate of the reflector. The swing frequency and swing amplitude of the galvanometer module and the rotation rate of the reflector satisfy the following relationship:

[0056] Among them, f x is the oscillation frequency of the galvanometer module around the y-axis, in Hertz; f y is the oscillation frequency of the galvanometer module around the x-axis, in Hertz; A X A is the swing amplitude of the galvanometer module around the y-axis, in degrees; y is the swing amplitude of the galvanometer module around the x-axis, in degrees; θ is the rotation angle of the reflector, θ=ωt, ω is the rotation rate of the reflector, in rad / s, and t is the rotation time of the reflector.

[0057] When the swing frequency of the galvanometer module around the y-axis is equal to the swing frequency of the galvanometer module around the x-axis (of course, it also includes the case where the swing frequency of the galvanometer module around the y-axis is approximately equal to the swing frequency of the galvanometer module around the x-axis, that is, there can be a reasonable error between the two), the conversion relationship between the reflector and the galvanometer module can be effectively simplified, and by controlling the swing amplitude of the galvanometer module around the x-axis and y-axis respectively, the position of the light spot of the detection light beam projected on the reflector 140 after being reflected by the galvanometer module 130 remains unchanged or is shifted.

[0058] Optional, such as Figure 3 and Figure 4 As shown, the laser radar includes a first driver 132, and the galvanometer module 130 includes a galvanometer 131 connected to the first driver 132. The control module 150 is electrically connected to the first driver 132, so that the control module 150 controls the first driver 132 to drive the galvanometer 131 to swing around the first axis 135 and / or the second axis 136. The specific configuration needs to be adaptively configured according to the rotation rate or rotation angle of the transmitting module, that is, the galvanometer module 130 can be a two-dimensional galvanometer. Figure 3 and Figure 4 As shown, the first axis 135 is the y direction, the second axis 136 is the x direction, and the rotation axis of the reflector 140 is the z direction, so that the first axis 135, the second axis 136 and the rotation axis of the reflector 140 are perpendicular to each other.

[0059] Optional, such as Figure 4 As shown, the galvanometer module 130 also includes a fixed frame 133 and a swing frame 134. The fixed frame 133 is arranged on the base 110. The swing frame 134 is connected to the fixed frame 133 via a first axis 135. The galvanometer 131 is connected to the swing frame 134 via a second axis 136. The first axis 135 and the second axis 136 can both be torsion beams that can undergo elastic deformation, so that the galvanometer 131 can swing around the x-direction and / or the y-direction through the torsional deformation of the torsion beam. The first driver 132 can be an electromagnetic driver, for example, including structures such as coils and magnets, so that the electromagnetic induction principle can be used to cause the galvanometer 131 to swing around the x-direction and / or the y-direction as expected when the coil is energized.

[0060] Optional, such as Figure 3As shown, the laser radar further includes a second driver 142, which is drivingly connected to the reflector 140, and the second driver 142 can be electrically connected to the control module 150, so that the control module 150 can collect the rotation angle of the reflector 140. The reflector 140 can be fixedly arranged on the rotatable part of the second driver 142, and the fixed part of the second driver 142 is arranged on the base 110, so that the second driver 142 drives the reflector 140 to rotate relative to the base 110.

[0061] The reflector 140 may be a 45° reflector, for example, the reflective surface may be at an angle of 45° to the horizontal plane.

[0062] Optionally, to further simplify the structure, such as Figure 3 As shown, the second driver 142 is a hollow motor, and the hollow through hole of the hollow motor is located in the propagation path of the detection beam, so that the detection beam reflected by the galvanometer 131 can directly use the hollow through hole to be incident on the reflector 140. Of course, in other embodiments, the second driver 142 can also be a non-hollow motor, thereby allowing the detection beam to be incident on the reflector 140 from the side to achieve scanning.

[0063] Optionally, the control module 150 includes an electrically connected controller and a sensor, wherein the sensor can detect the rotation rate of the reflector 140 , and the controller can determine the rotation angle of the reflector according to the rotation rate detected by the sensor and time, thereby adjusting the swing frequency of the galvanometer module 130 .

[0064] Optionally, the galvanometer module 130 is a linear galvanometer module, that is, the galvanometer module 130 operates in a linear mode to ensure that the angle is controllable and to avoid differences in scanning patterns caused by differences in resonance points when the galvanometer module 130 operates in a resonant mode.

[0065] Another aspect of the embodiment of the present application provides a laser radar control method, which is applied to any of the above laser radars, and the method includes:

[0066] The laser radar includes a reflector that can rotate relative to a base and a vibrating mirror module, and the method includes:

[0067] S010: Control the driving parameters of the reflector and / or the driving parameters of the galvanometer module so that the position of the light spot projected on the reflector remains unchanged or moves.

[0068] Since the detection beam is finally reflected by the reflector 140 to the target area to form a linear array, the field of view of the linear array will have a certain relationship with the spot shape of the detection beam on the reflection surface of the reflector 140. Therefore, in order to make the vertical field of view of the linear array ( Figure 3In order to ensure that the field of view in the z direction is not reduced, the control module 150 can control the galvanometer module 130 and the reflector 140 to coordinate, so that the position of the light spot projected on the reflector 140 after the detection light beam is reflected by the galvanometer module 130 remains unchanged or shifts. Specifically, for example, the control module 150 controls the driving parameters of the galvanometer module 130 to match the driving parameters of the reflector 140, so that the position of the light spot projected on the reflector 140 after the detection light beam is reflected by the galvanometer module 130 remains unchanged or shifts. The driving parameters of the galvanometer module can be the swing parameters of the galvanometer module, for example, the swing parameters include the swing frequency and swing amplitude of the galvanometer module, and the driving parameters of the reflector can be the rotation parameters of the reflector, for example, the rotation parameters include the rotation rate of the reflector.

[0069] When image rotation compensation is performed by S010, at least the following methods can be used:

[0070] One method is to first obtain the rotation rate of the reflector 140, and then obtain the rotation angle of the reflector 140 by combining the rotation rate of the reflector 140 with time, and then adjust the swing parameters of the galvanometer module 130 according to the rotation angle of the reflector 140, so that after the adjustment, the position of the light spot projected on the reflector 140 remains unchanged or shifts. The swing parameters include the swing frequency and / or the swing amplitude.

[0071] Another method is to first obtain the swing parameters of the galvanometer module 130, and adjust the rotation rate of the reflector 140 according to the swing parameters of the galvanometer module 130, so that after the adjustment, the position of the light spot projected by the galvanometer module 130 on the reflector 140 remains unchanged or shifts. The swing parameters include the swing frequency and / or the swing amplitude.

[0072] Another method is to first obtain the swing parameters of the galvanometer module 130 and the rotation rate of the reflector 140, and then adjust the swing parameters of the galvanometer module 130 and the rotation rate of the reflector 140, so that after the adjustment, the position of the light spot projected by the galvanometer module 130 on the reflector 140 remains unchanged or shifts. The swing parameters include the swing frequency and / or the swing amplitude.

[0073] When image rotation is compensated in step S010, it can be performed according to the mapping relationship of data pre-stored in the database. Specifically, a mapping database can be obtained first, and the mapping database contains mapping relationships between different rotation rates and different swing parameters. Based on this, according to the mapping relationship between the rotation rate and the swing parameter in the mapping database, the driving parameters of the reflector 140 and / or the driving parameters of the galvanometer module 130 can be controlled.

[0074] For example: when adjusting the swing parameters of the galvanometer module 130 according to the rotation rate of the reflector 140, after obtaining the rotation rate of the reflector 140, the swing parameters corresponding to the rotation rate can be first searched in the mapping database, and then the galvanometer module 130 can be controlled to work according to the swing parameters obtained in the mapping database.

[0075] For another example, when adjusting the rotation rate of the reflector 140 according to the swing parameters of the galvanometer module 130, after obtaining the swing parameters of the galvanometer module 130, the rotation rate corresponding to the swing parameters can be first searched in the mapping database, and then the reflector 140 can be controlled to operate according to the rotation rate obtained in the mapping database.

[0076] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A laser radar, characterized in that: It includes a control module, a base, and a transmitting module, a receiving module, a galvanometer module and a reflector arranged on the base; The transmitting module is configured to transmit a detection beam to the galvanometer module; The galvanometer module is configured to be able to swing and reflect the detection light beam to the reflector; The reflector is configured to rotate and reflect the detection beam to a target area; The receiving module is configured to receive a reflected light beam reflected by an object in a target area; The control module is configured to control the driving parameters of the galvanometer module and the driving parameters of the reflector so that the position of the light spot projected on the reflector after the detection light beam is reflected by the galvanometer module remains unchanged or shifts.

2. The laser radar according to claim 1, characterized in that The driving parameters of the galvanometer module include the swing frequency and swing amplitude of the galvanometer module, and the driving parameters of the reflector include the rotation rate of the reflector. The swing frequency and swing amplitude of the galvanometer module and the rotation rate of the reflector satisfy the following relationship: Among them, f x is the oscillation frequency of the galvanometer module around the y-axis, in Hertz; y A is the oscillation frequency of the galvanometer module around the x-axis, in Hertz; X A is the swing amplitude of the galvanometer module around the y-axis, in degrees; y is the swing amplitude of the galvanometer module around the x-axis, in degrees; θ is the rotation angle of the reflector, θ=ωt, ω is the rotation rate of the reflector, in rad / s, and t is the rotation time of the reflector.

3. The laser radar according to claim 1 or 2, characterized in that: The laser radar includes a first driver, the galvanometer module includes a galvanometer connected to the first driver, the control module is electrically connected to the first driver, and the control module is used to control the first driver to drive the galvanometer to swing around a first axis and / or a second axis, and the first axis, the second axis and the rotation axis of the reflector are perpendicular to each other.

4. The laser radar according to claim 3, characterized in that: The galvanometer module also includes a fixed frame and a swing frame. The fixed frame is arranged on the base. The swing frame is connected to the fixed frame via the first axis. The galvanometer is connected to the swing frame via the second axis.

5. The laser radar according to claim 1 or 2, characterized in that: The laser radar also includes a second driver drivingly connected to the reflector.

6. The laser radar according to claim 5, characterized in that The second driver is a hollow motor, and a hollow through hole of the hollow motor is located in the propagation path of the detection light beam.

7. The laser radar according to claim 1, characterized in that The galvanometer module is a linear galvanometer module.

Images