CN111537979A - Laser radar and control method thereof - Google Patents

Laser radar and control method thereof Download PDF

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Publication number
CN111537979A
CN111537979A CN202010366002.8A CN202010366002A CN111537979A CN 111537979 A CN111537979 A CN 111537979A CN 202010366002 A CN202010366002 A CN 202010366002A CN 111537979 A CN111537979 A CN 111537979A
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signal
transfer function
scanning device
lidar
control
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CN111537979B (en
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高永丰
邓奇超
何海龙
向少卿
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Hesai Photonics Technology Co Ltd
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Hesai Photonics Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance

Abstract

A lidar and a control method thereof, the lidar including: motion detection means, feed forward control means and scanning means, wherein: the motion detection device is suitable for measuring the motion state of the laser radar, generating a motion signal and inputting the motion signal into the feedforward control device; the feedforward control device is suitable for generating a feedforward control signal according to the motion signal and inputting the feedforward control signal into the scanning device; the scanning device is suitable for adjusting according to the feedforward control signal. By adopting the scheme, the interference of external vibration on the laser radar can be reduced, and the stability and quality of point cloud data generated by the laser radar in a vibration state are improved.

Description

Laser radar and control method thereof
Technical Field
The embodiment of the specification relates to the technical field of radars, in particular to a laser radar and a control method thereof.
Background
Currently, a Laser radar (LIDAR or Laser Detection And Range) has been widely applied to the fields of resource development, environmental monitoring, traffic communication, And the like.
The laser radar can transmit detection signals to a target through a scanning device of the laser radar, and can obtain parameter data of the target after data processing is performed on echo signals reflected by the target.
However, the lidar may be subjected to interference such as environmental vibration during operation, and such interference may cause jitter of the point cloud data, which affects the stability and quality of the point cloud data generated by the lidar. For example, the movement of the lidar causes disturbances to the scanning device, and the moments generated by the disturbances destabilize the actual detection direction of the lidar. Particularly, under the condition of severe outdoor environment, the laser radar is more strongly interfered, so that the accuracy of the point cloud data is reduced.
Therefore, how to improve the stability and quality of the point cloud data generated by the laser radar in various environments becomes a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of this, embodiments of the present specification provide a laser radar and a control method thereof, which can improve stability and quality of point cloud data generated by the laser radar.
The embodiment of the present specification provides a laser radar, including a motion detection device, a feedforward control device and a scanning device, wherein:
the motion detection device is suitable for measuring the motion state of the laser radar, generating a motion signal and inputting the motion signal into the feedforward control device;
the feedforward control device is suitable for generating a feedforward control signal according to the motion signal and inputting the feedforward control signal into the scanning device;
the scanning device is suitable for adjusting according to the feedforward control signal.
Optionally, the laser radar further comprises a feedback control device, adapted to generate a feedback control signal according to the pose error of the scanning device, and input the feedback control signal to the scanning device;
the scanning device is further adapted to adjust according to the feed-forward control signal and the feedback control signal.
Optionally, the laser radar further comprises a pose detection device adapted to measure a pose state of the scanning device, generate a pose signal, and input the pose signal to the feedback control device;
the feedback control device is further adapted to calculate a pose error of the scanning device based on the pose signal and a reference signal.
Optionally, the motion detection apparatus includes:
the acceleration detection unit is suitable for measuring the acceleration of the laser radar and generating an acceleration signal;
the feedforward control means includes:
and the translation feedforward control unit is suitable for generating a translation control signal according to the acceleration signal.
Optionally, the translational feed-forward control unit is adapted to generate the translational control signal using a translational control transfer function, and the translational control transfer function obtains the translational control signal based on the acceleration signal.
Optionally, the translation control transfer function is:
G1(s1)＝-D1(s1)；
wherein G is1(s1) For translational control of transfer function, D1(s1) For the disturbance torque transfer function based on the actual acceleration, complex variable s1＝σ1+jω1，σ1Is an arbitrary real number, ω1Is the angular frequency of the acceleration signal.
Optionally, the motion detection apparatus includes:
the angular velocity detection unit is suitable for measuring the angular velocity of the laser radar and generating an angular velocity signal;
the feedforward control means includes:
and the rotation feedforward control unit is suitable for generating a rotation control signal according to the angular speed signal.
Optionally, the rotation feedforward control unit is adapted to generate the rotation control signal using a rotation control transfer function, which obtains the rotation control signal based on the angular velocity signal.
Optionally, the rotation control transfer function is:
Figure BDA0002476762440000021
wherein G is2(s2) For controlling the transfer function for rotation, L(s)2) For converting the angle of rotation of the lidar into a transfer function of the scanning angle of the scanning device, G(s)2) Is a feedback transfer function of the feedback control device, D2(s2) For the disturbance torque transfer function based on the actual turning angle, H(s)2) Is a transfer function of the scanning device, s2A complex variable s for a transfer function of the angular velocity detection unit2＝σ2+jω2，σ2Is an arbitrary real number, ω2And measuring the angular frequency obtained by the rotation angle of the laser radar for the angular velocity detection unit.
Optionally, the motion detection means comprises an inertial measurement unit adapted to measure at least one of acceleration and angular velocity of the lidar.
An embodiment of the present specification further provides a laser radar control method, including:
measuring the motion state of the laser radar to generate a motion signal;
generating a feedforward control signal based on the motion signal;
and adjusting a scanning device of the laser radar based on the feedforward control signal.
Optionally, the laser radar control method further includes:
generating a feedback control signal based on the pose error of the scanning device;
adjusting the scanning device based on the feed-forward control signal and the feedback control signal adjustment.
Optionally, before generating the feedback control signal based on the pose error of the scanning device, the method further includes:
measuring the pose state of the scanning device to generate a pose signal;
calculating a pose error of the scanning device based on the pose signal and the reference signal.
Optionally, the measuring a motion state of the lidar to generate a motion signal includes:
measuring the acceleration of the laser radar to generate an acceleration signal;
generating a feed-forward control signal based on the motion signal, comprising:
and generating a translation control signal based on the acceleration signal.
Optionally, the generating a translation control signal based on the acceleration signal includes:
and generating the translation control signal by adopting a translation control transfer function, wherein the translation control transfer function obtains the translation control signal based on the acceleration signal.
Optionally, the generating the translation control signal by using the translation control transfer function includes:
generating the translational control signal using the following translational control transfer function:
G1(s1)＝-D1(s1)；
wherein G is1(s1) For translational control of transfer function, D1(s1) For disturbance torque transfer function based on actual acceleration, s1＝σ1+jω1，σ1Is an arbitrary real number, ω1Is the angular frequency of the acceleration signal.
Optionally, the measuring a motion state of the lidar to generate a motion signal includes:
measuring the angular velocity of the laser radar to generate an angular velocity signal;
generating a feed-forward control signal based on the motion signal, comprising:
based on the angular velocity signal, a rotation control signal is generated.
Optionally, the generating a rotation control signal based on the angular velocity signal includes:
generating a rotation control signal using a rotation control transfer function, wherein the rotation control transfer function obtains the rotation control signal based on the angular velocity signal.
Optionally, the generating a rotation control signal by using a rotation control transfer function includes:
generating a rotation control signal using the following rotation control transfer function:
Figure BDA0002476762440000041
wherein G is2(s2) For controlling the transfer function for rotation, L(s)2) For converting the angle of rotation of the lidar into a transfer function of the scanning angle of the scanning device, G(s)2) As a feedback transfer function, D2(s2) For the disturbance torque transfer function based on the actual turning angle, H(s)2) Is a transfer function of the scanning device, s2For converting the rotation angle of the lidar into a transfer function of angular velocity, a complex variable s2＝σ2+jω2，σ2Is an arbitrary real number, ω2And measuring the angular frequency obtained by the rotation angle of the laser radar for the angular velocity detection unit.
Optionally, the measuring the motion state of the lidar includes:
and measuring at least one of the acceleration and the angular velocity of the laser radar by using an inertial measurement unit.
Because laser radar's motion can cause the disturbance to scanning device, consequently, adopt the laser radar scheme of this specification embodiment, through measuring laser radar's motion state, can generate the motion signal, and can generate feedforward control signal through the motion signal, then, according to the feedforward control signal can be adjusted scanning device to initiatively compensate the disturbance that scanning device received, eliminate the influence that the disturbance produced, stability when reinforcing scanning device received the disturbance, so can improve laser radar and generate the stability and the quality of some cloud data.
Furthermore, a pose signal can be generated by measuring the pose state of the scanning device, a feedback control signal can be generated by comparing the pose error obtained by the pose signal with a reference signal, and then the scanning device can be adjusted according to the feedback control signal, so that the scanning device can be controlled to adjust the pose according to the motion state of the laser radar and the current pose state of the scanning device, active compensation and feedback adjustment are carried out on the deviation generated by disturbance, the scanning device is in an expected pose state, the stability of the scanning device when the scanning device is disturbed is enhanced, and the accuracy of data acquisition of the laser radar is improved.
Furthermore, an acceleration signal can be generated by measuring the acceleration of the laser radar, a translation control signal can be generated by the acceleration signal, and the pose of the scanning device can be adjusted based on the translation control signal, so that the translation interference caused by the vibration of the laser radar can be eliminated, the anti-interference capability of the scanning device is enhanced, the scanning device is more stable during scanning, and the scanning quality of the scanning device is improved.
Furthermore, an angular velocity signal can be generated by measuring the angular velocity of the laser radar, and a rotation control signal can be generated by the angular velocity signal, so that the position and pose of the scanning device can be adjusted based on the rotation control signal.
Further, the motion detection device may include an inertial measurement unit, and the inertial measurement unit may measure at least one of an acceleration and an angular velocity of the lidar, so that one or two types of motion information of the lidar may be selectively detected, and when the acceleration and the angular velocity of the lidar are measured, disturbance of the lidar motion to the scanning device may be eliminated in multiple dimensions, thereby improving the scanning quality of the scanning device; in addition, two kinds of motion information of the laser radar can be detected through the inertia measuring unit, so that the number of the detecting units in the laser radar can be reduced, and the structure of the laser radar is simplified.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings needed to be used in the embodiments of the present specification or in the description of the prior art will be briefly described below, it is obvious that the drawings described below are only some embodiments of the present specification, and it is also possible for a person skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a lidar in an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of another lidar constructed in an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of another lidar constructed in an embodiment of the present disclosure;
FIG. 4 is a block diagram of a system control for a lidar in an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of another lidar constructed in an embodiment of the present disclosure;
FIG. 6 is a block diagram of a corresponding transfer function of the lidar of FIG. 5;
FIG. 7 is a schematic diagram of another lidar constructed in an embodiment of the present disclosure;
FIG. 8 is a block diagram of a corresponding transfer function of the lidar of FIG. 7;
FIG. 9 is a schematic diagram of another lidar constructed in accordance with an embodiment of the present disclosure;
FIG. 10 is a block diagram of system control for another lidar constructed in accordance with an embodiment of the disclosure;
FIG. 11 is a flow chart of a lidar control method in an embodiment of the present disclosure;
FIG. 12 is a flow chart of another lidar control method in an embodiment of the present disclosure;
fig. 13 is a flowchart of another lidar control method in an embodiment of the present disclosure.
Detailed Description
The embodiment of the specification provides a laser radar, through the motion state of measuring laser radar, can generate the motion signal, and through the feedforward control signal that the motion signal generated, can adjust scanning device to carry out active compensation to the disturbance that scanning device received, eliminate the influence that the disturbance produced, stability when reinforcing scanning device received the disturbance, so can improve laser radar and generate the stability and the quality of cloud data.
For the purpose of enabling those skilled in the art to more clearly understand and practice the concepts, implementations and advantages of the embodiments of the present disclosure, detailed descriptions are provided below through specific application scenarios with reference to the accompanying drawings.
Referring to a schematic structural diagram of a lidar in an embodiment of the present specification shown in fig. 1, in the embodiment of the present specification, the lidar 10 may include: motion detection means 11, feed-forward control means 12 and scanning means 13, wherein:
the motion detection device 11 is suitable for measuring the motion state of the laser radar, generating a motion signal and inputting the motion signal into the feedforward control device;
the feedforward control device 12 is adapted to generate a feedforward control signal according to the motion signal and input the feedforward control signal into the scanning device;
the scanning means 13 is adapted to perform an adjustment in dependence on the feed forward control signal.
By adopting the scheme, the scanning device can be adjusted according to the feedforward control signal generated by the motion signal, so that the disturbance received by the scanning device is actively compensated, the influence generated by the disturbance is eliminated, the stability of the scanning device when the scanning device is disturbed is enhanced, and the stability and the quality of point cloud data generated by the laser radar can be improved.
In a specific implementation, the laser radar may be a rotary laser radar, and by rotating the laser radar, objects at various angles in a three-dimensional space may be detected. The rotary laser radar specifically comprises: a galvanometer scanning laser radar, a rotating mirror scanning laser radar, a swinging mirror scanning laser radar, a mechanical rotation type laser radar, and the like.
In a specific implementation, the scanning device may employ a scanning galvanometer to reflect the detection signal or the echo signal, and may change a reflection angle of the scanning galvanometer by rotating or swinging the scanning galvanometer, so as to scan the target in the three-dimensional space in various directions. The scanning galvanometer can be divided into: electrostatic galvanometer, electromagnetic galvanometer, piezoelectric galvanometer, electrothermal galvanometer and the like.
In specific implementation, the feedforward control device can control the scanning device to adjust the pose according to the motion state of the laser radar, so that the deviation generated by disturbance is actively compensated, and the stability of the scanning device when the scanning device is disturbed is enhanced.
Wherein the pose of the scanning device may include: the angle and/or position of the scanning device may be adjusted, i.e. the angle of the scanning device may be adjusted, the position of the scanning device may be adjusted, or both the angle and the position of the scanning device may be adjusted. Moreover, the coordinate system of the pose of the scanning device can be consistent with the coordinate system of the laser radar, namely the coordinate system of the laser radar can be used as the coordinate system of the scanning device; the coordinate system of the pose of the scanning device can also be inconsistent with the coordinate system of the laser radar, and the coordinate system can be converted by establishing the corresponding relation of the coordinate systems of the two.
In practical applications, the scanning device may include a scanning galvanometer, and adjusting the pose of the scanning device may include: adjusting the pose of the scanning galvanometer; in addition, the scanning device may further include a driver, whereby the posture of the scanning galvanometer may be adjusted by the driver. Wherein the pose of the scanning galvanometer may include: the angle and/or position of the galvanometer is scanned. The driver generally supplies the scanning galvanometer with control signals for adjusting the angle and/or position by means of a drive current or a drive voltage.
In a specific implementation, the scanning device may shift and/or rotate according to the received pose control signal, so as to change the scanning direction and detect in different directions, however, the current pose and the expected pose of the scanning device may generate a deviation, and in order to solve the problem of the deviation between the actual pose and the expected pose, the laser radar may further add feedback control, specifically, compare the current pose and the expected pose of the scanning device, so as to obtain a pose error between the current pose and the expected pose, which is used as a feedback signal, and then control the scanning device according to the pose error to perform feedback adjustment, so as to reduce or eliminate the deviation, so as to enable the scanning device to be in an expected pose state.
It is to be understood that feedforward control and/or feedback control may be used according to actual needs, and the embodiments of the present disclosure are not limited thereto. The details are described below by way of examples.
In an embodiment of the present specification, as shown in fig. 2, the laser radar 10 may include: motion detection means 11, feed forward control means 12, scanning means 13 and feedback control means 21. The feedback control device 21 may generate a feedback control signal in accordance with the pose error of the scanner 10 and input the feedback control signal to the scanner 13. The scanning means 13 may be adjusted in dependence of the feed forward control signal and the feedback control signal.
By adopting the embodiment, the scanning device can be controlled to adjust the pose according to the motion state of the laser radar and the current pose state of the scanning device, so that the deviation generated by disturbance is actively compensated and feedback-adjusted, the scanning device is in an expected pose state, the stability of the scanning device when the scanning device is disturbed is enhanced, and the accuracy of data acquisition of the laser radar is improved.
In a specific implementation, after the feedback control device collects the pose state of the scanning device, the pose error of the scanning device is calculated; or other processing devices acquire the pose state of the scanning device, calculate the pose state and transmit the pose state to a feedback control device, and then calculate the pose error of the scanning device; after the pose state of the scanning device is acquired by other acquisition devices, the feedback control device calculates the pose error of the scanning device according to the acquired pose error of the scanning device.
When other processing devices or other acquisition devices are adopted to acquire the pose state of the scanning device and calculate the pose error, the device can be in contact with the scanning device, such as arranged on the scanning device; it may also be provided without contact with the scanning device, e.g. mounted elsewhere on the lidar, or in the same system as the lidar. The present specification does not limit the apparatus for acquiring the pose state of the scanning apparatus and the installation position of the apparatus. The following describes in detail a manner of acquiring an attitude error through the drawings and examples, and it should be understood that the examples in this specification are only for illustration and are not intended to limit how the attitude error is acquired.
In an embodiment of the present specification, as shown in fig. 3, the laser radar 10 may include: a motion detection device 11, a feedforward control device 12, a scanning device 13, a feedback control device 21 and a pose detection device 31. The pose detection means 31 may measure the pose state of the scanning means 13, generate a pose signal, and input the pose signal to the feedback control means 21; the feedback control device 21 may calculate the pose error of the scanning device 13 based on the pose signal corresponding to the actual pose and the reference signal corresponding to the expected pose.
The pose detection Device 31 may employ any sensor capable of detecting position parameters and/or angle parameters to acquire the pose state of the scanning Device, for example, the pose detection Device 31 may include a PSD (position sensitive Device) sensor and/or an angle sensor.
As an alternative example, the pose signal output by the pose detection apparatus 31 may be: and acquiring a pose waveform signal converted from a pose electric signal obtained by the pose state of the scanning device. Therefore, the reference signal can be a reference waveform signal, and the pose error can be obtained by comparing the pose waveform signal with the reference waveform signal.
In practical application, the pose detection device can adopt a coordinate system of a laser radar and can also adopt other coordinate systems; the reference coordinate system of the reference signal can be consistent with the coordinate system of the laser radar, namely the coordinate system of the laser radar can be used as the reference coordinate system, and the reference coordinate system of the reference signal can also be inconsistent with the coordinate system of the laser radar; by establishing the corresponding relation between the reference signal and the coordinate system where the pose signal is located, the coordinate system can be converted, and thereby the pose error under the same coordinate system is obtained.
Fig. 4 is a system control block diagram of a lidar. The dynamic control process of the lidar is described in detail below with reference to fig. 1, 3, and 4.
As shown by the dashed-dotted line in fig. 4, the movement of the lidar 10 may disturb the scanning device 13, and the movement detection device 11 may generate a movement signal according to the measured movement state of the lidar 10 and input the movement signal to the feedforward control device 12.
As shown in the implementation part of fig. 4, in conjunction with fig. 1, the feedforward control means 12 may generate a feedforward control signal based on the motion signal and input the feedforward control signal to the scanning means 13, and the scanning means 13 may perform an adjustment based on the feedforward control signal.
As an alternative example, as shown in the dotted line portion in fig. 4, in conjunction with fig. 3, the posture detecting means 31 may generate a posture signal based on the measured posture state of the scanning device 13 and input it to the feedback control means 21; the feedback control device 21 may calculate a pose error of the scanning device 13 from the pose signal and the reference signal, and may generate a feedback control signal from the pose error of the scanning device 13 and input the feedback control signal to the scanning device 13; the scanning means 13 may be adjusted in dependence on the feed-forward control signal and the feedback control signal.
The inventor researches and discovers that in the existing application scenario, the interference suffered by the laser radar mainly comprises: firstly, when the laser radar vibrates, parts such as the scanning device and the like may move parallel to the laser radar, so that translational interference is caused, and the scanning device is eccentric to generate inertia moment, so that the actual scanning direction of the scanning device deviates. Secondly, when the mounting base of the laser radar moves relatively, a linking motion may be superimposed on the scanning device, thereby causing rotation interference, increasing the moment of inertia, and generating an additional angle, resulting in deviation of the actual scanning direction of the scanning device.
Thus, in a specific implementation, the motion state of the lidar may include: a vibration state of the lidar and/or a rotation state of the lidar. The scanning device may be feed forward compensated by measuring a physical quantity representative of a state of motion of the lidar to generate a motion signal.
For example, the motion detection means may include: the acceleration detection unit is suitable for measuring the acceleration of the laser radar and generating an acceleration signal; accordingly, the feedforward control means may include: and the translation feedforward control unit is suitable for generating a translation control signal according to the acceleration signal.
The translation feedforward control unit may generate the translation control signal by using a translation control transfer function, and the translation control transfer function may obtain the translation control signal based on the acceleration signal.
By adopting the embodiment, the translational interference caused by the vibration of the laser radar can be eliminated according to the translational control signal obtained by the acceleration, the anti-interference capability of the scanning device is enhanced, the scanning device is more stable during scanning, and the scanning quality of the scanning device is improved.
For another example, the motion detection device may include: the angular velocity detection unit is suitable for measuring the angular velocity of the laser radar and generating an angular velocity signal; accordingly, the feedforward control means may include: and the rotation feedforward control unit is suitable for generating a rotation control signal according to the angular speed signal.
The rotation feedforward control unit may generate the rotation control signal using a rotation control transfer function, and the rotation control transfer function may obtain the rotation control signal based on the angular velocity signal.
By adopting the embodiment, the rotation control signal obtained according to the angular velocity can eliminate the rotation interference caused by the rotation of the laser radar, and the anti-interference capability of the scanning device is enhanced, so that the scanning device is more stable during scanning, and the scanning quality of the scanning device is improved.
In a specific implementation, the motion detection device may use an acceleration detection unit to measure an acceleration of the laser radar and/or use an angular velocity detection unit to measure an angular velocity of the laser radar according to an actual situation, and accordingly, the feedforward control device may use a translational feedforward control unit to generate a translational control signal and/or use a rotational feedforward control unit to generate a rotational control signal. As an alternative example, the scanning device may also be adjusted in combination with a feedback control signal generated by the feedback control device. The following detailed description is made with reference to specific embodiments and accompanying drawings.
In an embodiment of the present specification, as shown in fig. 5, the laser radar 10 may include: a motion detection device 11, a feedforward control device 12, a scanning device 13, a feedback control device 21 and a pose detection device 31; the motion detection means 11 may comprise an acceleration detection unit 111 and the feedforward control means 12 may comprise a translational feedforward control unit 121.
As shown in fig. 6, it is a block diagram of the transfer function of this embodiment. True acceleration a of the lidar 10 due to vibration1As a physical quantity, it can be considered as a signal a1(t), after Laplace transformation, the real acceleration A in the complex frequency domain can be obtained1(s1). The acceleration detection unit 111 may measure the true acceleration a of the laser radar 10 due to vibration by using a sensor1Measuring the corresponding acceleration signal a2(t) obtaining a complex frequency domain after Laplace transformAcceleration signal A of2(s1). The transfer function of the translational feedforward control unit 121 in the complex frequency domain (i.e., the translational control transfer function) can be represented as G1(s1) The disturbance torque transfer function based on the actual acceleration of the laser radar 10 may be D1(s1) The transfer function of the scanning device 13 in the complex frequency domain may be H(s)1) The transfer function of the feedback control unit 21 in the complex frequency domain (i.e., the feedback control transfer function) may be represented as G(s)1). The pose detection apparatus 31 generates a pose signal that can be represented as X in the complex frequency domainw(s1)。
Wherein G is1(s1)＝-D1(s1) Complex variable s1＝σ1+jω1，σ1Is an arbitrary real number, ω1For the acceleration signal a2(t) angular frequency. D1(s1) The actual acceleration and the corresponding disturbance torque of the laser radar 10 in reality can be obtained through priori knowledge or can be measured through experiments, and then the relationship between the actual acceleration and the corresponding disturbance torque is deduced according to data obtained through measurement.
The dynamic control process of the lidar is described in detail below with reference to fig. 5 and 6.
When the laser radar 10 vibrates, the actual acceleration a1 of the laser radar 10 caused by the vibration causes translational interference to the scanning device 13, and passes through a preset disturbance torque transfer function D based on the actual acceleration1(s1) The translation interference signal X in the complex frequency domain can be obtainedd(s1) The acceleration detection unit 111 may generate an acceleration signal a according to the measured acceleration of the lidar 102(t) and inputting the signals into a translational feedforward control unit 121, wherein the translational feedforward control unit 121 is used for converting the acceleration signal A according to Laplace2(s1) And translational control transfer function G1(s1) Can generate a translation control signal Xp(s1). Due to G1(s1)＝-D1(s1) Translational motion control signal Xp(s1) Can actively compensate the translational interference signal Xd(s1) The resulting deviation.
When the measurement accuracy of the acceleration detection unit 111 reaches a preset accuracy range, the acceleration signal a generated by the acceleration detection unit 1112(t) can be considered as the actual acceleration a1At the same time, the translation control signal Xp(s1) With translation interference signal Xd(s1) Cancel each other out.
The pose detection means 31 can generate a pose signal X based on the measured pose state of the scanning device 13w(s1) And input to a feedback control device 21, and the feedback control device 21 controls the position and orientation of the object according to the position and orientation signal Xw(s1) And a reference signal, the attitude error of the scanning device 13 can be calculated, and the transfer function G(s) can be controlled according to the attitude error of the scanning device 13 and the feedback1) Can generate a feedback control signal Xg(s1) And input into the scanning device 13; the scanning device 13 controls the scanning device according to the feedback control signal Xg(s1) Adjustments may be made.
At this time, the scanning device 13 controls the scanning device to scan the translation according to the translation control signal Xp(s1) And said feedback control signal Xg(s1) After adjustment, the scanning device is in an expected pose state, and the fact that deviation does not occur in the actual scanning direction is guaranteed.
In another embodiment of the present specification, as shown in fig. 7, the lidar 10 may include: a motion detection device 11, a feedforward control device 12, a scanning device 13, a feedback control device 21 and a pose detection device 31; the motion detection means 11 may comprise an angular velocity detection unit 112 and the feed forward control means 12 may comprise a rotational feed forward control unit 122. In practical applications, the scanning direction of the scanning device can be quantitatively described by an angle with a certain reference direction in an established coordinate system, which is called a scanning angle in the coordinate system, and an angle by which the lidar rotates relative to a certain reference object in the established coordinate system can be called a rotation angle in the coordinate system. For example, the scanning angle of the scanning device in the road coordinate system may be an included angle between the scanning direction of the scanning device and the road; the rotation angle of the laser radar under the road surface coordinate system can be an included angle of the laser radar rotating relative to the road surface.
It will be understood that different scanning angles can be obtained in the case of different coordinate systems or different reference directions, and different rotation angles can be obtained in the case of different coordinate systems or different references, which is not limited by the present description.
Since the rotation angle has a differential relationship with the angular velocity, the angular velocity detection unit 112 may obtain the angular velocity of the laser radar 10 by differentiating the measured rotation angle of the laser radar 10, thereby generating an angular velocity signal.
By adopting the embodiment, the position and the attitude of the scanning device can be controlled through the rotation angle of the laser radar, so that the scanning direction of the scanning device is changed, and in order to control the position and the attitude of the scanning device in different application scenes, the corresponding relation between the rotation angle of the laser radar and the scanning angle of the scanning device in the same coordinate system needs to be determined.
True rotation angle theta of laser radar generated by rotation1As a physical quantity, it can be considered as a signal θ1(t) likewise, the scanning angle θ of the scanning device2The physical quantity may be regarded as a signal θ2(t) of (d). By presetting a transfer function for converting the rotation angle of the laser radar into the scanning angle of the scanning device, the corresponding relation between the rotation angle of the laser radar and the scanning angle of the scanning device in the same coordinate system can be determined.
As shown in fig. 8, it is a block diagram of the transfer function of this embodiment. The rotation angle of the laser radar 10 in the road coordinate system may be θ1The rotation angle θ of the laser radar 10 can be adjusted1The pulse signal is regarded as a pulse signal, and is subjected to laplace transform to be constant 1.
Since the rotation angle and the angular velocity have a differential relationship, the angular velocity detection unit 112 can be regarded as a differential link, and after laplace transform, a transfer function of the angular velocity detection unit 112 in a complex frequency domain can be represented as s2. Wherein the complex variable s2＝σ2+jω2，σ2Is an arbitrary real number, ω2An angular frequency obtained for the angular velocity detection unit 112 to measure the rotation angle of the laser radar 10.
The disturbance torque transfer function based on the actual rotation angle of the laser radar 10 may be D2(s2)，D2(s2) The actual rotation angle of the laser radar 10 in reality and the corresponding disturbance torque can be obtained through priori knowledge or can be measured through experiments, and then the relationship between the actual rotation angle and the corresponding disturbance torque is deduced according to data obtained through measurement.
The transfer function of the rotation feedforward control unit 122 in the complex frequency domain (i.e., the rotation control transfer function) may be represented as G2(s2) The transfer function of the scanning device 13 in the complex frequency domain may be H(s)2). The transfer function of the feedback control unit 21 in the complex frequency domain, i.e. the feedback control transfer function, may be G(s)2)。
The transfer function for converting the rotation angle of the laser radar into the scanning angle of the scanning device may be L(s) through presetting2) When the rotation angle of the laser radar 10 in the preset coordinate system is Θ1(s2) In time, the scanning angle theta of the scanning device under the same coordinate system2(s2) Is L(s)2)Θ1(s2)。
From fig. 8, the following equation can be derived:
Figure BDA0002476762440000121
the feedback control transfer function G(s) can be calculated2) Expression (c):
Figure BDA0002476762440000122
to simplify the expression, "(s) may be omitted2) ", thereby obtaining:
Figure BDA0002476762440000123
the dynamic control process of the lidar is described in detail below with reference to fig. 7 and 8.
When the laser radar 10 rotates, the rotation interference is caused to the scanning device 13, and the preset disturbance torque transfer function D based on the actual rotation angle under the road coordinate system is passed2(s2) The rotation interference signal X in the complex frequency domain can be obtainedb(s2) The angular velocity detection unit 112 may generate an angular velocity signal according to the measured angular velocity of the laser radar 10 and input the angular velocity signal to the rotation feedforward control unit 122, and the rotation feedforward control unit 122 may control the rotation according to the angular velocity signal and the rotation control transfer function G2(s2) Can generate a rotation control signal Xz(s2)。
The pose detection device 31 can adopt the coordinate system of the laser radar 10, and the pose detection device 31 can generate a pose signal X under the coordinate system of the laser radar 10 according to the measured pose state of the scanning device 13w(s2) And input to a feedback control device 21, and the feedback control device 21 controls the position and orientation of the object according to the position and orientation signal Xw(s2) And a reference signal, the attitude error of the scanning device 13 can be calculated, and the transfer function G(s) can be controlled according to the attitude error of the scanning device 13 and the feedback2) Can generate a feedback control signal Xg(s2)。
At this time, the scanning device 13 may be configured to rotate according to the rotation control signal Xz(s2) And said feedback control signal Xg(s2) After adjustment, the rotation interference signal X can be completely eliminatedb(s2) The effect of (2) is to scribe the square region (i.e., L (s))2) -1) performing a disturbance active compensation, thereby passing through the dashed area (i.e. L(s)2) Can accurately convert the rotation angle of the laser radar into the scanning angle of the scanning device, so that the scanning device 13 is in an expected pose state, the scanning angle of the scanning device 13 in a road surface coordinate system is an expected scanning angle, and the actual scanning direction is ensured not to deviate, thereby being capable of controlling different seatsThe index is the scanning direction of the lower scanning device.
It should be understood that the above embodiments are only examples, and the feedforward control device may output a translation control signal and/or a rotation control signal to perform feedforward control on the scanning device according to practical situations, and the present specification does not limit this.
In a specific implementation, as shown in fig. 9, the motion detection device 11 may further include an inertial measurement unit 113, and the inertial measurement unit 113 may measure at least one of an acceleration and an angular velocity of the laser radar 10. Accordingly, when the inertial measurement unit 113 measures the acceleration of the laser radar 10, the feedforward control means may include a translational feedforward control unit 121; when the inertial measurement unit 113 measures the angular velocity of the lidar 10, the feed-forward control apparatus may include a rotation feed-forward control unit 122.
Fig. 10 is a block diagram of a system control of a lidar. The dynamic control process of the lidar will be described in detail below with reference to fig. 9 and 10.
As shown by the dashed line in fig. 10, in conjunction with fig. 9, the scanning device 13 may be disturbed by the movement of the lidar, which may specifically include translational interference and rotational interference. The inertial measurement unit 113 may generate a motion signal based on the measured motion state of the laser radar 10 and input the motion signal to the feedforward control device 12. Specifically, the inertial measurement unit 113 may measure at least one of an acceleration and an angular velocity of the laser radar 10.
As shown in a solid line portion in fig. 10, with reference to fig. 9, when the inertial measurement unit 113 measures the acceleration of the laser radar 10 to generate an acceleration signal, the translational feedforward control unit 121 may generate a translational control signal according to the acceleration signal. The scanning device 13 is adjusted according to the translation control signal.
When the inertial measurement unit 113 measures the angular velocity of the laser radar 10 and generates an angular velocity signal, the rotation feedforward control unit 122 may generate a rotation control signal based on the angular velocity signal. The scanning device 13 is adjusted according to the rotation control signal.
As an alternative example, as shown in the dotted line portion in fig. 10 in conjunction with fig. 9, the attitude detecting means 31 generates an attitude signal from the measured attitude state of the scanning device 10 and inputs it to the feedback control means 21, and the feedback control means 21 may calculate an attitude error of the scanning device from the attitude signal and a reference signal and generate a feedback control signal. The scanning means 13 may be adjusted according to the received feedback control signal.
When the pose detection device 31 adopts a laser radar coordinate system, the scanning angle of the scanning device 13 in the road coordinate system can be obtained after the scanning angle of the scanning device 13 in the laser radar 10 coordinate system is adjusted and the rotation angle of the laser radar 10 in the road coordinate system are superposed. Thereby controlling the scanning direction of the scanning device under different coordinate systems.
By adopting the embodiment, one or two kinds of motion information of the laser radar can be selectively detected, and when the acceleration and the angular velocity of the laser radar are measured, the disturbance of the laser radar motion to the scanning device can be eliminated in a multi-dimensional manner, so that the scanning quality of the scanning device is improved; in addition, two kinds of motion information of the laser radar can be detected through the inertia measuring unit, so that the number of the detecting units in the laser radar can be reduced, and the structure of the laser radar is simplified.
In specific implementation, the motion detection device may be installed according to actual conditions, for example, may be installed on a laser radar bracket, and may also be installed at other positions on the laser radar. In order to obtain more accurate measurement data, the motion detection means may be mounted close to the scanning means.
In practical applications, the lidar may be configured to acquire parameter data of a target, for example, may acquire distance data, velocity data, trajectory data, and the like of the target. The disturbance that receives to scanning device through feedforward control device carries out initiative compensation, eliminates the influence that the disturbance produced, and stability when reinforcing scanning device receives the disturbance improves laser radar and generates the quality of point cloud data for laser radar's performance is more stable, is favorable to simultaneously that the later stage carries out some cloud data processing such as barrier detection, barrier classification, dynamic object tracking.
The embodiment of the present specification further provides a laser radar control method corresponding to the above laser radar, and the following detailed description is made by using specific embodiments with reference to the accompanying drawings.
Referring to a flowchart of a laser radar control method in an embodiment of the present specification shown in fig. 11, in the embodiment of the present specification, the method may include the following steps:
and S111, measuring the motion state of the laser radar and generating a motion signal.
The laser radar can be a rotary laser radar, and objects at all angles in a three-dimensional space can be detected through the rotary laser radar. The rotary laser radar specifically comprises: a galvanometer scanning laser radar, a rotating mirror scanning laser radar, a swinging mirror scanning laser radar, a mechanical rotation type laser radar, and the like.
And S112, generating a feedforward control signal based on the motion signal.
And S113, adjusting a scanning device of the laser radar based on the feedforward control signal.
In specific implementation, the feedforward control device can control the scanning device to adjust the pose according to the motion state of the laser radar, so that the deviation generated by disturbance is actively compensated, and the stability of the scanning device when the scanning device is disturbed is enhanced.
Wherein the pose of the scanning device may include: the angle and/or position of the scanning device can be adjusted, namely the angle of the scanning device can be adjusted, the position of the scanning device can also be adjusted, and the angle and the position of the scanning device can also be adjusted simultaneously, wherein the angle refers to the angle of the scanning device relative to the laser radar body; position refers to the position of the scanning device relative to the laser radar body.
In practical application, a coordinate system where the pose of the scanning device is located can be consistent with a coordinate system where the laser radar is located, that is, the coordinate system of the laser radar can be used as the coordinate system of the scanning device; the coordinate system of the pose of the scanning device can also be inconsistent with the coordinate system of the laser radar, and the coordinate system can be converted by establishing the corresponding relation of the coordinate systems of the two.
By adopting the scheme, the scanning device can be adjusted according to the feedforward control signal generated by the motion signal, so that the disturbance received by the scanning device is actively compensated, the influence generated by the disturbance is eliminated, the stability of the scanning device when the scanning device is disturbed is enhanced, and the stability and the quality of point cloud data generated by the laser radar can be improved.
In a specific implementation, in order to solve the problem of deviation between an actual pose and an expected pose, the laser radar may further add feedback control to control the scanning device to adjust according to an error between the current pose and the expected pose of the scanning device.
Specifically, as shown in fig. 12, the laser radar control method may further include:
and S121, generating a feedback control signal based on the pose error of the scanning device.
The pose error of the scanning device can be calculated after the pose state of the scanning device is collected by the feedback control device, or can be calculated after the pose state of the scanning device is collected by other processing devices and transmitted to the feedback control device.
And S122, adjusting the scanning device based on the feedforward control signal and the feedback control signal.
It should be understood that there is no precedence order between the steps S111 to S113 and the steps S121 to S122, and the foregoing steps may be performed separately or in a preset order, which is not limited in this embodiment of the specification.
By adopting the scheme, the deviation can be reduced or eliminated, so that the scanning device is in an expected pose state.
As an optional example, according to the motion state of the laser radar and the current pose state of the scanning device, the feed-forward control signal and the feedback control signal are combined, and the scanning device can be controlled to adjust the pose, so that the deviation generated by disturbance is actively compensated and feedback-adjusted, the scanning device is in an expected pose state, the stability of the scanning device when the scanning device is disturbed is enhanced, and the accuracy of data acquisition of the laser radar is improved.
In a specific implementation, as shown in fig. 13, as an alternative example, the position and orientation error may be obtained by generating a feedback control signal to adjust the scanning device:
s131, measuring the pose state of the scanning device and generating a pose signal.
Wherein the pose signal may be: and acquiring a pose waveform signal converted from a pose electric signal obtained by the pose state of the scanning device. Accordingly, the reference signal may be a reference waveform signal.
And S132, calculating the pose error of the scanning device based on the pose signal and the reference signal.
And S133, generating a feedback control signal based on the pose error of the scanning device.
And S134, adjusting the scanning device based on the feedforward control signal and the feedback control signal.
In practical application, the pose signal can be in a coordinate system of the laser radar and can also be in other coordinate systems; the reference coordinate system of the reference signal can be consistent with the coordinate system of the laser radar, namely the coordinate system of the laser radar can be used as the reference coordinate system, and the reference coordinate system of the reference signal can also be inconsistent with the coordinate system of the laser radar; by establishing the corresponding relation between the reference signal and the coordinate system where the pose signal is located, the coordinate system can be converted, and thereby the pose error under the same coordinate system is obtained.
In a specific implementation, the motion state of the lidar may include: a vibration state of the lidar and/or a rotation state of the lidar. The vibration of the laser radar causes translational interference to the scanning device, and the rotation of the laser radar causes rotational interference to the scanning device. Therefore, by measuring a physical quantity that can represent a motion state of the laser radar and generating a motion signal, feed-forward compensation can be performed on the scanning device.
Specifically, the measuring the motion state of the lidar and the generating the motion signal may include at least one of:
measuring the acceleration of the laser radar to generate an acceleration signal;
and measuring the angular speed of the laser radar to generate an angular speed signal.
Accordingly, the generating a feed-forward control signal based on the motion signal may include at least one of:
after measuring the acceleration of the laser radar and generating an acceleration signal, generating a translation control signal based on the acceleration signal;
after measuring the angular velocity of the lidar and generating an angular velocity signal, a rotation control signal is generated based on the angular velocity signal.
By adopting the embodiment, the translational interference caused by the vibration of the laser radar can be eliminated through the translational control signal, and the rotational interference caused by the rotation of the laser radar can be eliminated through the rotational control signal, so that the anti-interference capability of the scanning device is enhanced, the scanning device is more stable during scanning, and the scanning quality of the scanning device is improved.
In a specific implementation, the translational control signal may be generated by using a translational control transfer function, and the translational control transfer function obtains the translational control signal based on the acceleration signal.
Wherein the translational control signal may be generated using the following translational control transfer function:
G1(s1)＝-D1(s1)；
wherein G is1(s1) For translational control of transfer function, D1(s1) For disturbance torque transfer function based on actual acceleration, s1＝σ1+jω1，σ1Is an arbitrary real number, ω1Is the angular frequency of the acceleration signal.
In a specific implementation, the rotation control signal may be generated using a rotation control transfer function that obtains the rotation control signal based on the angular velocity signal.
Wherein the rotation control signal may be generated using the following rotation control transfer function:
Figure BDA0002476762440000171
wherein G is2(s2) For controlling the transfer function for rotation, L(s)2) For converting the angle of rotation of the lidar into a transfer function of the scanning angle of the scanning device, G(s)2) As a feedback transfer function, D2(s2) For the disturbance torque transfer function based on the actual turning angle, H(s)2) Is a transfer function of the scanning device, s2For converting the rotation angle of the lidar into a transfer function of angular velocity, a complex variable s2＝σ2+jω2，σ2Is an arbitrary real number, ω2And measuring the angular frequency obtained by the rotation angle of the laser radar for the angular velocity detection unit.
In a specific implementation, an inertial measurement unit may be employed to measure at least one of acceleration and angular velocity of the lidar. Therefore, one or two kinds of motion information of the laser radar can be selectively detected, and when the acceleration and the angular velocity of the laser radar are measured, the disturbance of the laser radar motion to the scanning device can be eliminated in a multi-dimensional mode, and the scanning quality of the scanning device is improved; in addition, two kinds of motion information of the laser radar can be detected through the inertia measuring unit, so that the number of the detecting units in the laser radar can be reduced, and the structure of the laser radar is simplified.
Although the embodiments of the present specification are disclosed above, the embodiments of the present specification are not limited thereto. Various changes and modifications may be effected by one skilled in the art without departing from the spirit and scope of the embodiments herein described, and it is intended that the scope of the embodiments herein described be limited only by the scope of the appended claims.

Claims (20)

1. A lidar comprising motion detection means, feed forward control means and scanning means, wherein:
the motion detection device is suitable for measuring the motion state of the laser radar, generating a motion signal and inputting the motion signal into the feedforward control device;
the feedforward control device is suitable for generating a feedforward control signal according to the motion signal and inputting the feedforward control signal into the scanning device;
the scanning device is suitable for adjusting according to the feedforward control signal.
2. The lidar of claim 1, further comprising a feedback control device adapted to generate a feedback control signal in accordance with a pose error of the scanning device and input the feedback control signal to the scanning device;
the scanning device is further adapted to adjust according to the feed-forward control signal and the feedback control signal.
3. The lidar of claim 2, further comprising a pose detection means adapted to measure a pose state of the scanning means, generate a pose signal, and input the pose signal to the feedback control means;
the feedback control device is further adapted to calculate a pose error of the scanning device based on the pose signal and a reference signal.
4. Lidar according to claim 1, wherein said motion detection means comprises:
the acceleration detection unit is suitable for measuring the acceleration of the laser radar and generating an acceleration signal;
the feedforward control means includes:
and the translation feedforward control unit is suitable for generating a translation control signal according to the acceleration signal.
5. The lidar of claim 4, wherein the translational feed forward control unit is adapted to generate the translational control signal using a translational control transfer function, the translational control transfer function deriving the translational control signal based on the acceleration signal.
6. The lidar of claim 5, wherein the translation control transfer function is:
G1(s1)＝-D1(s1)；
wherein G is1(s1) For translational control of transfer function, D1(s1) For the disturbance torque transfer function based on the actual acceleration, complex variable s1＝σ1+jω1，σ1Is an arbitrary real number, ω1Is the angular frequency of the acceleration signal.
7. Lidar according to claim 2 or 3, wherein said motion detection means comprises:
the angular velocity detection unit is suitable for measuring the angular velocity of the laser radar and generating an angular velocity signal;
the feedforward control means includes:
and the rotation feedforward control unit is suitable for generating a rotation control signal according to the angular speed signal.
8. Lidar according to claim 7, wherein the rotation feedforward control unit is adapted to generate the rotation control signal using a rotation control transfer function, the rotation control transfer function deriving the rotation control signal based on the angular velocity signal.
9. The lidar of claim 8, wherein the rotation control transfer function is:
Figure FDA0002476762430000021
wherein G is2(s2) For controlling the transfer function for rotation, L(s)2) For converting the angle of rotation of the lidar into a transfer function of the scanning angle of the scanning device, G(s)2) Is a feedback transfer function of the feedback control device, D2(s2) For the disturbance torque transfer function based on the actual turning angle, H(s)2) Is a transfer function of the scanning device, s2A complex variable s for a transfer function of the angular velocity detection unit2＝σ2+jω2，σ2Is an arbitrary real number, ω2And measuring the angular frequency obtained by the rotation angle of the laser radar for the angular velocity detection unit.
10. Lidar according to claim 1, wherein the motion detection means comprises an inertial measurement unit adapted for measuring at least one of an acceleration and an angular velocity of the lidar.
11. A laser radar control method, comprising:
measuring the motion state of the laser radar to generate a motion signal;
generating a feedforward control signal based on the motion signal;
and adjusting a scanning device of the laser radar based on the feedforward control signal.
12. The lidar control method of claim 11, further comprising:
generating a feedback control signal based on the pose error of the scanning device;
adjusting the scanning device based on the feed-forward control signal and the feedback control signal adjustment.
13. The lidar control method of claim 12, further comprising, prior to generating a feedback control signal based on the pose error of the scanning device:
measuring the pose state of the scanning device to generate a pose signal;
calculating a pose error of the scanning device based on the pose signal and the reference signal.
14. The lidar control method of claim 11, wherein the measuring a motion state of the lidar to generate a motion signal comprises:
measuring the acceleration of the laser radar to generate an acceleration signal;
generating a feed-forward control signal based on the motion signal, comprising:
and generating a translation control signal based on the acceleration signal.
15. The lidar control method of claim 14, wherein generating a translational control signal based on the acceleration signal comprises:
and generating the translation control signal by adopting a translation control transfer function, wherein the translation control transfer function obtains the translation control signal based on the acceleration signal.
16. The lidar control method of claim 15, wherein the generating the translational control signal using a translational control transfer function comprises:
generating the translational control signal using the following translational control transfer function:
G1(s1)＝-D1(s1)；
wherein G is1(s1) For translational control of transfer function, D1(s1) For disturbance torque transfer function based on actual acceleration, s1＝σ1+jω1，σ1Is an arbitrary real number, ω1Is the angular frequency of the acceleration signal.
17. The lidar control method of claim 12 or 13, wherein the measuring a motion state of the lidar and generating a motion signal comprises:
measuring the angular velocity of the laser radar to generate an angular velocity signal;
generating a feed-forward control signal based on the motion signal, comprising:
based on the angular velocity signal, a rotation control signal is generated.
18. The lidar control method of claim 17, wherein the generating a rotation control signal based on the angular velocity signal comprises:
generating a rotation control signal using a rotation control transfer function, wherein the rotation control transfer function obtains the rotation control signal based on the angular velocity signal.
19. The lidar control method of claim 18, wherein generating a rotation control signal using a rotation control transfer function comprises:
generating a rotation control signal using the following rotation control transfer function:
Figure FDA0002476762430000031
wherein G is2(s2) For controlling the transfer function for rotation, L(s)2) For converting the angle of rotation of the lidar into a transfer function of the scanning angle of the scanning device, G(s)2) As a feedback transfer function, D2(s2) For the disturbance torque transfer function based on the actual turning angle, H(s)2) Is a transfer function of the scanning device, s2For converting the rotation angle of the lidar into a transfer function of angular velocity, a complex variable s2＝σ2+jω2，σ2Is an arbitrary real number, ω2Obtained by measuring the rotation angle of the lidar for the angular velocity detection unitAngular frequency.
20. The lidar control method of claim 11, wherein the measuring a state of motion of the lidar comprises:
and measuring at least one of the acceleration and the angular velocity of the laser radar by using an inertial measurement unit.
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