CN118226423A - Semi-solid LiDAR turning mirror stability detection system, method and equipment - Google Patents

Abstract

The invention relates to the technical field of laser radar and discloses a system, a method and equipment for detecting the stability of a semi-solid LiDAR turning mirror.

Description

Semi-solid LiDAR turning mirror stability detection system, method and equipment

Technical Field

The invention relates to the technical field of laser radars, in particular to a semi-solid LiDAR turning mirror stability detection system, method and equipment.

Background

Light Detection AND RANGING (Light Detection and ranging, also called laser radar) is used for detecting the distance of an object to obtain a target object by transmitting and receiving laser beams, and comparing or interfering signals of the Light Detection AND RANGING and the laser radar and then performing proper processing. The method is applied to the fields of unmanned operation, artificial intelligence, military and the like, has obvious route advantages, and has the advantages of high resolution, strong active interference resistance, good low-altitude detection performance, small volume, light weight and the like.

The laser radars can be classified into mechanical type, semi-solid type and solid type according to the scanning mode. Semi-solid LiDAR is considered as a necessary path for mechanical arming to a pure solid state, and is also a main flow path at the present stage. The semi-solid LiDAR is divided into an MEMS rotating mirror and a two-dimensional rotating mirror, and the MEMS scheme is limited by the limited rotating angle of the MEMS rotating mirror, so that the angle of view covered by a single LiDAR is small, and therefore, a plurality of LiDARs are required to be matched for use, and the cost is greatly increased; the two-dimensional rotating mirror scheme uses a vibrating mirror swinging on a longitudinal axis to change the vertical scanning direction of light and a rotating mirror continuously rotating on a transverse axis to realize horizontal scanning of light, and the vibrating mirror and the rotating mirror can realize large-view-field scanning, so that LiDAR of a single two-dimensional rotating mirror scheme can finish high-definition scanning of a three-dimensional world.

The most distant required by the LiDAR at the present stage is generally more than 100m, if the object is to be better identified at a long distance, the horizontal resolution angle is generally set to be lower, for example, 0.05 degrees, namely, the fluctuation angle of the rotating mirror is required to be not more than 0.025 degrees, if the fluctuation angle of the rotating mirror is too large, the problems of left-right swing, boundary dislocation and the like of the static object in a picture can occur, and the LiDAR can be caused to have errors in judging the position and the shape of the object, so that the LiDAR can output an error result when analyzing the object.

However, if the rotating mirror is qualified by the LiDAR, the other occupied parts of the LiDAR are wasted, the rotating mirror is required to be independently tested by the best method, and the precision of the rotating speed tester for detecting the rotating speed stability in the market is low.

Disclosure of Invention

In view of the above, the invention provides a system, a method and equipment for detecting the stability of a semi-solid LiDAR rotating mirror, so as to solve the problem that the precision of the conventional rotating speed tester for detecting the rotating speed stability is low.

In a first aspect, the present invention provides a semi-solid LiDAR turning mirror stability detection system, comprising: the device comprises a semi-solid LiDAR turning mirror stability measuring device and a terminal, wherein the semi-solid LiDAR turning mirror stability measuring device comprises a measured turning mirror, a signal generator, a TTL modulation laser and a camera, and the measured turning mirror and the TTL modulation laser are fixed on the same horizontal plane;

The signal generator is used for controlling the switching frequency of the TTL modulation laser until the switching frequency is equal to the frame rate of each side of the tested turning mirror, and controlling the TTL modulation laser to emit light beams to the tested turning mirror; the measured rotating mirror is used for reflecting the light beam to the corresponding supporting white board; the camera is used for acquiring a light spot fluctuation video set of the light spot on the grid paper within preset time when the light spot appears on the grid paper, sending the light spot fluctuation video set to the terminal, and pasting the grid paper on the support whiteboard; and the terminal is used for acquiring the paper size of the grid paper, the horizontal distance value of the grid paper and the tested rotating mirror, and determining the stability detection result of the tested rotating mirror through a preset calculation method based on the light spot fluctuation video set, the horizontal distance value and the paper size.

According to the semi-solid LiDAR turning mirror stability detection system provided by the invention, the switching frequency of the TTL modulation laser is controlled by the signal generator to be equal to the frame rate of each side of the tested turning mirror, so that the TTL modulation laser and the tested turning mirror are synchronous, further, the signal generator is used for continuously controlling the TTL modulation laser to emit light beams to the tested turning mirror, the tested turning mirror is used for reflecting the emitted light beams to the supporting white board, further, after light spots appear on the grid paper on the supporting white board, the light spot fluctuation video set of the light spots on the grid paper in the preset time can be acquired through the camera, and further, the stability detection result of the tested turning mirror can be obtained quickly and automatically by combining the paper size of the grid paper and the horizontal distance value of the grid paper and the tested turning mirror in the terminal, and the stability detection precision of the tested turning mirror is improved. Furthermore, the tested rotating mirror is independently tested, so that the influence of other external factors on the stability of the rotating mirror is removed as much as possible, and the use and test of other devices are not influenced. Furthermore, stability detection is carried out on the turning mirror before the turning mirror is put into use, the turning mirror does not need to be placed in a LiDAR, time occupation of other parts of the LiDAR is reduced, and the probability of disqualification of a LiDAR product due to the turning mirror is reduced.

In a second aspect, the present invention provides a method for detecting the stability of a semi-solid LiDAR rotating mirror, which is used for the semi-solid LiDAR rotating mirror stability measuring device in the semi-solid LiDAR rotating mirror stability detecting system of the first aspect or any embodiment corresponding to the first aspect; the method comprises the following steps:

Controlling the switching frequency of the TTL modulation laser by using a signal generator until the switching frequency is equal to the frame rate of each side of the tested rotating mirror; the TTL modulation laser is controlled by the signal generator to emit light beams to the tested rotating mirror, so that the tested rotating mirror reflects the light beams to the corresponding support white board until light spots appear on the grid paper, and the grid paper is stuck on the support white board; the method comprises the steps that a camera is used for obtaining a light spot fluctuation video set of light spots on grid paper within preset time, and the light spot fluctuation video set is sent to a terminal, so that the terminal determines a stability detection result of a tested rotating mirror based on the light spot fluctuation video set, a horizontal distance value and the paper size of the grid paper, wherein the horizontal distance value represents the horizontal distance between the grid paper and the tested rotating mirror.

According to the semi-solid LiDAR turning mirror stability detection method provided by the invention, the switching frequency of the TTL modulation laser is controlled by the signal generator to be equal to the frame rate of each side of the tested turning mirror, so that the TTL modulation laser and the tested turning mirror are synchronous, further, the signal generator is used for continuously controlling the TTL modulation laser to emit light beams to the tested turning mirror, the tested turning mirror is used for reflecting the emitted light beams to the supporting white board, further, after light spots appear on the grid paper on the supporting white board, the light spot fluctuation video set of the light spots on the grid paper in the preset time can be acquired through the camera, and further, the stability detection result of the tested turning mirror can be obtained quickly and automatically by combining the paper size of the grid paper and the horizontal distance value of the grid paper and the tested turning mirror in the terminal, and the stability detection precision of the tested turning mirror is improved.

In an alternative embodiment, the switching frequency of the TTL modulated laser is controlled by the signal generator until the switching frequency is equal to the frame rate of each side of the rotating mirror under test, comprising:

Based on the frequency of a preset signal generator, the signal generator is used for controlling the TTL modulation laser to emit light beams to the tested rotating mirror, so that the tested rotating mirror reflects the light beams to the supporting white board; when continuous deviation exists in the direction of light spots appearing on the grid paper on the supporting whiteboard, adjusting the frequency of a preset signal generator; and based on the adjusted frequency of the preset signal generator, returning to control the operation of transmitting the light beam by using the signal generator until the light spot is deflected left and right alternately or fixed at any position, and determining that the switching frequency of the TTL modulation laser is equal to the frame rate of each side of the tested rotating mirror.

According to the semi-solid LiDAR turning mirror stability detection method provided by the invention, the direction of the light spot of the light beam falling on the grid paper, which is sent out by the TTL modulation laser, can be controlled by continuously adjusting the frequency of the signal generator, and further, whether the switching frequency of the TTL modulation laser is equal to the frame rate of each surface of the turning mirror to be detected can be determined by combining the direction deviation condition of the light spot, so that support is provided for the stability detection of the follow-up turning mirror to be detected.

In an alternative embodiment, the signal generator is used to control the TTL modulation laser to emit a light beam to the tested turning mirror, so that the tested turning mirror reflects the light beam to the corresponding supporting whiteboard until a light spot appears on the grid paper, and the method includes:

Based on the phase delay of a preset signal generator, the signal generator is used for controlling the TTL modulation laser to emit light beams to the tested turning mirror, so that the tested turning mirror reflects the light beams to the corresponding supporting white board; when no light spot appears on the grid paper, adjusting the phase delay of a preset signal generator; and based on the adjusted phase delay of the preset signal generator, returning to control the operation of transmitting the light beam by the TTL modulation laser by using the preset signal generator until the light spot appears on the grid paper.

According to the semi-solid LiDAR turning mirror stability detection method provided by the invention, the emission position of the light beam emitted by the TTL modulation laser can be controlled by continuously adjusting the phase delay of the signal generator, and further, whether the corresponding light spot falls on the grid paper or not can be controlled according to the different emission positions of the light beam, so that support is provided for the stability detection of the follow-up tested turning mirror.

In a third aspect, the present invention provides a method for detecting the stability of a semi-solid LiDAR rotating mirror, which is used for a terminal in the semi-solid LiDAR rotating mirror stability detection system of the first aspect or any embodiment corresponding to the first aspect; the method comprises the following steps:

receiving a light spot fluctuation video set sent by a semisolid LiDAR rotating mirror stability measuring device, and acquiring the paper size of grid paper in the semisolid LiDAR rotating mirror stability measuring device and the horizontal distance value between the grid paper and a measured rotating mirror; calculating a target fluctuation angle of the tested rotating mirror based on the light spot fluctuation video set, the paper size and the horizontal distance value; calculating the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle of the tested rotating mirror based on the horizontal distance value and the light spot fluctuation video set; and determining a stability detection result of the tested rotating mirror based on the target fluctuation angle, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle.

According to the semi-solid LiDAR rotating mirror stability detection method provided by the invention, the target fluctuation angle of the detected rotating mirror can be calculated by combining the light spot fluctuation video set, the paper size and the horizontal distance value, further, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle of the detected rotating mirror in the actual rotation process can be calculated by combining the horizontal distance value and the light spot fluctuation video set, and further, the stability detection result of the detected rotating mirror can be determined by combining the obtained target fluctuation angle, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle. Therefore, by implementing the invention, the stability detection result of the tested rotating mirror can be quickly and automatically obtained, and the stability detection precision of the tested rotating mirror is improved.

In an alternative embodiment, calculating the target fluctuation angle of the rotating mirror under test based on the spot fluctuation video set, the paper size, and the horizontal distance value includes:

Acquiring the number of first pixel points on the grid paper and the number of second pixel points of the light spots on the grid paper based on the light spot fluctuation video set; calculating the side length dimension of the pixel points based on the first pixel point number and the paper size; and calculating the target fluctuation angle of the tested rotating mirror based on the number of the second pixel points, the side length dimension of the pixel points and the horizontal distance value.

According to the semi-solid LiDAR turning mirror stability detection method provided by the invention, the first pixel point number on the grid paper and the second pixel point number of the light spots on the grid paper can be obtained through the light spot fluctuation video set, the corresponding pixel point side length size can be further calculated through the first pixel point number and the paper size, the target fluctuation angle of the tested turning mirror can be calculated by combining the second pixel point number and the horizontal distance value, and data support is provided for the follow-up determination of the stability detection result of the tested turning mirror.

In an alternative embodiment, determining the stability test result of the rotating mirror under test based on the target fluctuation angle, the horizontal maximum fluctuation angle, and the vertical maximum fluctuation angle includes:

Comparing the horizontal maximum fluctuation angle with the target fluctuation angle, and comparing the vertical maximum fluctuation angle with the target fluctuation angle; and when the horizontal maximum fluctuation angle is larger than the target fluctuation angle or the vertical maximum fluctuation angle is larger than the target fluctuation angle, determining that the stability of the tested rotating mirror is unqualified.

According to the semi-solid LiDAR rotating mirror stability detection method provided by the invention, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle are respectively compared with the target fluctuation angle, and further, as long as one fluctuation angle in the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle is larger than the target fluctuation angle, the disqualification of the stability of the detected rotating mirror can be determined, and the stability detection precision of the detected rotating mirror is improved.

In a fourth aspect, the present invention provides a computer device comprising: the memory and the processor are in communication connection with each other, the memory stores computer instructions, the processor executes the computer instructions, thereby performing the semi-solid LiDAR turning mirror stability detection method of the second aspect or any of the embodiments corresponding thereto, or the semi-solid LiDAR turning mirror stability detection method of the third aspect or any of the embodiments corresponding thereto.

In a fifth aspect, the present invention provides a computer readable storage medium, on which computer instructions are stored, the computer instructions being configured to cause a computer to perform the method for detecting the stability of a semi-solid LiDAR rotating mirror according to the second aspect or any embodiment corresponding thereto, or the method for detecting the stability of a semi-solid LiDAR rotating mirror according to the third aspect or any embodiment corresponding thereto.

In a sixth aspect, the present invention provides a computer program product, including computer instructions, where the computer instructions are configured to cause a computer to perform the method for detecting the stability of a semi-solid LiDAR turning mirror according to the second aspect or any of the embodiments corresponding thereto, or the method for detecting the stability of a semi-solid LiDAR turning mirror according to the third aspect or any of the embodiments corresponding thereto.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a block diagram of a semi-solid LiDAR rotating mirror stability detection system according to an embodiment of the present invention;

FIG. 2 is a flow chart of a semi-solid LiDAR turning mirror stability detection method for a semi-solid LiDAR turning mirror stability measurement device according to an embodiment of the present invention;

FIG. 3 is a flow chart of another method for semi-solid LiDAR turning mirror stability detection for a semi-solid LiDAR turning mirror stability measurement device according to an embodiment of the present invention;

FIG. 4 is a flow chart of yet another method for semi-solid LiDAR turning mirror stability detection for a semi-solid LiDAR turning mirror stability measurement device according to an embodiment of the present invention;

FIG. 5 is a flow chart of a semi-solid LiDAR turning mirror stability detection method for a terminal according to an embodiment of the present invention;

FIG. 6 is a flow chart of another method for detecting semi-solid LiDAR turning mirror stability of a terminal according to an embodiment of the present invention;

FIG. 7 is a flow chart of yet another method for detecting semi-solid LiDAR turning mirror stability of a terminal according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of an apparatus for measuring the magnitude of a turning mirror fluctuation based on a TTL modulated laser according to an embodiment of the present invention;

FIG. 9 is a flowchart of the operation of an apparatus for measuring the magnitude of a turning mirror ripple based on a TTL modulated laser in accordance with an embodiment of the present invention;

FIG. 10 is a schematic illustration of spot fluctuations within three seconds according to an embodiment of the present invention;

fig. 11 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The embodiment of the invention provides a semisolid LiDAR turning mirror stability detection system, which can enable a TTL modulation laser and a tested turning mirror to be synchronous by controlling the switching frequency of the TTL modulation laser and the frame rate of each surface of the tested turning mirror to be equal through a signal generator so as to achieve the effect of improving the stability detection precision of the tested turning mirror. Meanwhile, the tested rotating mirror is independently tested, so that the influence of other external factors on the stability of the rotating mirror is removed as much as possible, and the use and testing of other devices are not influenced. Furthermore, stability detection is carried out on the turning mirror before the turning mirror is put into use, the turning mirror does not need to be placed in a LiDAR, time occupation of other parts of the LiDAR is reduced, and the probability of disqualification of a LiDAR product due to the turning mirror is reduced.

In the present embodiment, a semi-solid LiDAR turning mirror stability detection system is provided, and as shown in fig. 1, the semi-solid LiDAR turning mirror stability detection system 1 includes a semi-solid LiDAR turning mirror stability measurement device 11 and a terminal 12.

Further, the semi-solid LiDAR turning mirror stability measuring device 11 includes: a measured turning mirror 111, a signal generator 112, a TTL (transmitter-transmitter Logic) modulated laser 113 and a camera 114.

Wherein the tested turning mirror 111 and the TTL modulation laser 113 are fixed on the same horizontal plane; the camera 114 is a high frame rate camera that is larger than the frame rate of each face of the rotating mirror 111 under test.

Further, the TTL modulation laser 113 may be a TTL modulated 632nm beam laser.

Illustratively, the signal generator 112 is configured to control the switching frequency of the TTL modulated laser 113 until the switching frequency is equal to the frame rate of each side of the mirror 111 under test, and to control the TTL modulated laser 113 to emit a light beam to the mirror 111 under test.

Specifically, the TTL modulation laser 113 can control the output of laser light by turning on or off the laser through an external electric signal, and the laser light can be periodically changed in brightness by using a continuous square wave signal.

Further, the TTL modulation laser 113 may be controlled to be periodically turned on or off by the signal generator 112 through a connection line, i.e., the switching frequency of the TTL modulation laser 113 is controlled.

Further, by adjusting the frequency of the signal generator 112, the signal generator 112 continuously controls the TTL modulation laser 113 to be periodically turned on or off at different frequencies until the switching frequency of the TTL modulation laser 113 is equal to the frame rate of each side of the mirror 111 under test, and the frequency of the signal generator 112 is stopped.

The frame rate of each surface of the measured rotating mirror 111 can be calculated by the rotating speed of the measured rotating mirror 111. For example, the rotation speed of the measured rotating mirror 111 is set to be 600 rpm, namely 10 rpm, and 0.1s is required for each rotation of the rotating mirror, and 0.025s is required for one 4-plane rotating mirror to rotate through one plane, so that the frame rate of each plane of the rotating mirror can be calculated to be 40Hz.

Further, at the current frequency, the signal generator 112 is used to continuously control the TTL modulation laser 113 to periodically turn on and emit a corresponding light beam to the mirror under test 111.

Further, the rotating mirror 111 to be measured may reflect the received light beam onto the corresponding supporting whiteboard 2.

Illustratively, the camera 114 is configured to obtain a spot fluctuation video set of the spot on the mesh paper 3 within a preset time when the spot appears on the mesh paper 3, and send the spot fluctuation video set to the terminal 12.

Wherein, the grid paper 3 is stuck on the supporting whiteboard 2; the spot fluctuation video set may include a left-right fluctuation case and an up-down fluctuation case of the spot displayed on the mesh paper 3.

Specifically, when a light spot appears on the mesh paper 3, the change condition of the light spot on the mesh paper 3 can be recorded by the camera 114, and then each frame of picture is analyzed frame by frame, so that the fluctuation condition of the light spot in a certain time, namely, a light spot fluctuation video set can be obtained. The recording time is a preset time, such as 3s.

Further, the resulting spot fluctuation video set is transmitted to the terminal 12.

Further, the magnitude of fluctuation of the actual light spot is related to the distance between the light spot and the measured turning mirror 111, and the farther the light spot position is from the measured turning mirror 111, the larger the fluctuation of the actual light spot is under the same fluctuation angle of the measured turning mirror 111. Further, the measurable fluctuation is related to the actual pixel size, and in this embodiment, the measurement accuracy can be further improved by reducing the distance between the camera 114 and the light spot and improving the resolution of the camera, so that the detection of the stability of the rotating mirror with a very small fluctuation angle can be realized in this embodiment.

The terminal 12 is for obtaining the paper size of the mesh paper, the horizontal distance value of the mesh paper and the measured rotating mirror, and determining the stability detection result of the measured rotating mirror through a preset calculation method based on the light spot fluctuation video set, the horizontal distance value and the paper size.

Specifically, the number of first pixel points appearing on the grid paper 3 and the number of second pixel points fluctuating on the grid paper 3 of the light spots can be obtained through the light spot fluctuation video set, and then the actual side length size of each pixel point can be calculated by combining the number of the first pixel points and the paper size. Further, the number of the second pixel points, the actual side length of the pixel points and the horizontal distance value of the grid paper and the measured rotating mirror are combined, so that the target fluctuation angle of the measured rotating mirror 111 in the LiDAR point cloud can be calculated.

Further, by combining the left-right fluctuation condition, the up-down fluctuation condition, and the horizontal distance value of the mesh paper and the measured rotating mirror, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle of the measured rotating mirror 111 in the actual rotation process can be calculated.

Finally, whether the stability of the currently measured rotating mirror 111 is qualified can be judged by combining the obtained target fluctuation angle, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle.

According to the semi-solid LiDAR turning mirror stability detection system provided by the embodiment, the switching frequency of the TTL modulation laser is controlled through the signal generator, the frame rate of each side of the tested turning mirror is equal, the TTL modulation laser is enabled to be synchronous with the tested turning mirror, further, the TTL modulation laser is continuously controlled through the signal generator to emit light beams to the tested turning mirror, the tested turning mirror is utilized to reflect the emitted light beams to the supporting white board, further, after light spots appear on grid paper on the supporting white board, the light spot fluctuation video set of the light spots on the grid paper in preset time can be acquired through the camera, further, the stability detection result of the tested turning mirror can be obtained quickly and automatically by combining the paper size of the grid paper and the horizontal distance value of the grid paper and the tested turning mirror in the terminal, and the stability detection precision of the tested turning mirror is improved. Furthermore, the tested rotating mirror is independently tested, so that the influence of other external factors on the stability of the rotating mirror is removed as much as possible, and the use and test of other devices are not influenced. Furthermore, stability detection is carried out on the turning mirror before the turning mirror is put into use, the turning mirror does not need to be placed in a LiDAR, time occupation of other parts of the LiDAR is reduced, and the probability of disqualification of a LiDAR product due to the turning mirror is reduced.

According to an embodiment of the present invention, there is provided a method embodiment for detecting the stability of a semi-solid LiDAR turning mirror, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical sequence is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in a different order than that illustrated herein.

In this embodiment, a method for detecting the stability of a semi-solid LiDAR turning mirror is provided, which may be used in the semi-solid LiDAR turning mirror stability measuring device 11 in the semi-solid LiDAR turning mirror stability detecting system 1 provided in the foregoing embodiment of the present invention, and fig. 2 is a flowchart of the method for detecting the stability of a semi-solid LiDAR turning mirror according to an embodiment of the present invention, as shown in fig. 2, where the flowchart includes the following steps:

Step S201, the switching frequency of the TTL modulation laser is controlled by the signal generator until the switching frequency is equal to the frame rate of each side of the tested rotating mirror.

Specifically, according to the functional description of the signal generator 112 in the above embodiment, the switching frequency of the TTL modulation laser 113 can be made equal to the frame rate of each side of the rotating mirror 111 under test by continuously adjusting the frequency of the signal generator 112.

Step S202, a signal generator is used for controlling a TTL modulation laser to emit light beams to a tested turning mirror, so that the tested turning mirror reflects the light beams to a corresponding support white board until light spots appear on grid paper, and the grid paper is stuck on the support white board.

Specifically, the time delay of the square wave signal can be adjusted by changing the phase delay of the signal generator 112, so that the laser emitting time of the TTL modulation laser 113 is delayed to a certain extent, and the position of the light spot on the turning mirror is changed, so that the position of the light spot passing through the tested turning mirror 111 is changed, and the light spot can be moved to the mesh paper 3.

Step S203, a camera is utilized to acquire a light spot fluctuation video set of light spots on the grid paper within a preset time, and the light spot fluctuation video set is sent to a terminal, so that the terminal determines a stability detection result of the tested rotating mirror based on the light spot fluctuation video set, a horizontal distance value and the paper size of the grid paper, wherein the horizontal distance value represents the horizontal distance between the grid paper and the tested rotating mirror.

Specifically, according to the functional description of the camera 114 in the above embodiment, the corresponding spot fluctuation video set may be obtained by recording by the camera 114, and the obtained spot fluctuation video set is sent to the terminal 12.

Further, according to the description of the terminal 12 in the above embodiment, the stability detection result of the detected turning mirror 111 can be obtained by combining the obtained spot fluctuation video set, the horizontal distance value, and the paper size of the mesh paper.

In some alternative embodiments, as shown in fig. 3, the step S201 includes:

In step S2011, the TTL modulation laser is controlled to emit a light beam to the tested turning mirror by the signal generator based on the preset signal generator frequency, so that the tested turning mirror reflects the light beam to the supporting whiteboard.

Specifically, when the frequency of the signal generator 112 is a preset signal generator frequency that is set in advance, the TTL modulation laser 113 is controlled to emit a light beam to the mirror under test 111 at the preset signal generator frequency.

Further, the light beam is reflected to the supporting whiteboard 2 through the mirror under test 111.

In step S2012, when there is a continuous shift in the direction of the light spot appearing on the mesh paper on the support whiteboard, the preset signal generator frequency is adjusted.

Specifically, when the switching frequency of the TTL modulated laser 113 is not equal to the frame rate of each side of the measured turning mirror 111, synchronization cannot be generated, and at this time, the position of the light beam emitted by the TTL modulated laser 113 on the turning mirror is fixed to generate a shift in a lateral direction, and then a continuous shift phenomenon occurs in a direction after the light spot passes through the measured turning mirror 111.

Therefore, when there is a continuous shift in the direction of the light spot appearing on the mesh paper 3 on the supporting whiteboard 2, it means that the switching frequency of the TTL modulation laser 113 and the frame rate of each side of the mirror under test 111 are not equal at this time, and it is necessary to continue adjusting the frequency of the signal generator 112.

Step S2013, based on the adjusted preset signal generator frequency, the operation of controlling the TTL modulation laser to emit light beams by using the signal generator is returned until the light spots are deflected left and right alternately or fixed at any position, and the switching frequency of the TTL modulation laser is determined to be equal to the frame rate of each side of the tested rotating mirror.

Specifically, step S2011 is repeated according to the adjusted new preset signal generator frequency until the light spot on the mesh paper 3 is deflected alternately left and right or fixed at any position, which indicates that the switching frequency of the TTL modulation laser 113 is equal to the frame rate of each side of the measured rotating mirror 111. At this time, the more stable the operation of the rotating mirror 111 to be measured, the smaller the amplitude of the spot wobbling left and right.

In some alternative embodiments, as shown in fig. 4, the step S202 includes:

In step S2021, the TTL modulated laser is controlled to emit a light beam to the mirror under test by the signal generator based on the preset signal generator phase delay, so that the mirror under test reflects the light beam to the corresponding supporting whiteboard.

Specifically, when the phase delay of the signal generator 112 is a preset signal generator phase delay set in advance, the TTL modulation laser 113 is controlled to emit a light beam to the mirror under test 111 under the preset signal generator phase delay.

Further, the light beam is reflected to the supporting whiteboard 2 through the mirror under test 111.

In step S2022, when no light spot appears on the mesh paper, the phase delay of the preset signal generator is adjusted.

Specifically, according to the description of step S202, the position of the spot passing through the measured turning mirror 111 can be changed by adjusting the phase delay of the signal generator 112 so that the spot can be moved to the mesh paper 3.

Therefore, when no light spot appears on the mesh paper 3, it is necessary to adjust the phase delay of the signal generator 112.

In step S2023, based on the adjusted phase delay of the preset signal generator, the operation of controlling the TTL modulation laser to emit light beam by using the preset signal generator is returned until the flare appears on the mesh paper.

Specifically, step S2021 is repeated according to the adjusted new preset signal generator phase delay until the spot appears on the mesh paper, to stop adjusting the phase delay of the signal generator 112.

According to the semi-solid LiDAR turning mirror stability detection method provided by the embodiment, the direction of the light spot of the light beam falling on the grid paper and sent by the TTL modulation laser can be controlled by continuously adjusting the frequency of the signal generator, and further, whether the switching frequency of the TTL modulation laser is equal to the frame rate of each face of the tested turning mirror can be determined by combining the direction deviation condition of the light spot. Further, when the switching frequency of the TTL modulation laser is equal to the frame rate of each surface of the tested rotating mirror, the emitting position of the light beam emitted by the TTL modulation laser can be controlled by continuously adjusting the phase delay of the signal generator, and further, whether the corresponding light spot falls on the grid paper can be controlled according to different light beam emitting positions. Finally, after the light spots fall on the grid paper, the light spot fluctuation video set of the light spots on the grid paper in the preset time can be acquired through the camera, further, the calculation is carried out at the terminal by combining the paper size of the grid paper and the horizontal distance value of the grid paper and the tested rotating mirror, the stability detection result of the tested rotating mirror can be quickly and automatically obtained, and the stability detection precision of the tested rotating mirror is improved.

In this embodiment, a method for detecting the stability of a semi-solid LiDAR turning mirror is provided, which may be used in the terminal 12 in the semi-solid LiDAR turning mirror stability detection system 1 provided in the foregoing embodiment of the present invention, and fig. 5 is a flowchart of a method for detecting the stability of a semi-solid LiDAR turning mirror according to an embodiment of the present invention, as shown in fig. 5, where the flowchart includes the following steps:

Step S501, receiving a light spot fluctuation video set sent by the semisolid LiDAR rotating mirror stability measuring device, and acquiring the paper size of the grid paper in the semisolid LiDAR rotating mirror stability measuring device and the horizontal distance value between the grid paper and the measured rotating mirror.

For specific procedures, reference is made to the above interaction procedure and functional description of the semi-solid LiDAR turning mirror stability measurement device 11 and the terminal 12, and details are not repeated here.

Step S502, calculating the target fluctuation angle of the tested rotating mirror based on the light spot fluctuation video set, the paper size and the horizontal distance value.

Wherein the target fluctuation angle represents the minimum measurable fluctuation accuracy of the measured rotating mirror 111 in the LiDAR point cloud.

In some alternative embodiments, as shown in fig. 6, the step S502 includes:

step S5021, obtaining the number of first pixel points on the grid paper and the number of second pixel points of the light spots on the grid paper based on the light spot fluctuation video set.

Specifically, the number of the pixels appearing on the grid paper, namely the number of the first pixels, can be obtained by carrying out frame-by-frame analysis on each frame of picture in the facula fluctuation video set.

Further, the number of second pixel points of the light spots on the grid paper can be obtained.

In step S5022, the edge length of the pixel is calculated based on the first number of pixels and the paper size.

Specifically, the actual side length dimension of the corresponding pixel point can be calculated by dividing the paper size by the number of the first pixel points.

Step S5023, calculating the target fluctuation angle of the tested rotating mirror based on the number of the second pixel points, the side length dimension of the pixel points and the horizontal distance value.

Specifically, by combining the number of second pixels, the side length of the pixels, and the horizontal distance value, the fluctuation angle of the measured turning mirror 111 can be calculated.

Step S503, calculating the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle of the tested rotating mirror based on the horizontal distance value and the light spot fluctuation video set.

Specifically, the spot fluctuation video set may include a left-right fluctuation case and an up-down fluctuation case of the spot displayed on the mesh paper 3.

Further, by combining the obtained left-right fluctuation condition, up-down fluctuation condition and horizontal distance value of the mesh paper and the measured rotating mirror, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle of the measured rotating mirror 111 in the actual rotation process can be calculated.

In an example, the maximum fluctuation of the light spot is 10.6mm in left and right directions and 5.3mm in up and down directions, according to the distance of 3m between the grid paper and the measured rotating mirror, the horizontal fluctuation of the light spot is about +/-0.1 degrees, the vertical fluctuation is about +/-0.05 degrees, namely the maximum fluctuation of the horizontal angle of the measured rotating mirror is +/-0.05 degrees, and the maximum fluctuation of the vertical angle is +/-0.025 degrees.

Step S504, determining the stability detection result of the tested rotating mirror based on the target fluctuation angle, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle.

Specifically, whether the stability of the currently measured rotating mirror 111 is qualified can be determined by combining the obtained target fluctuation angle, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle.

In some alternative embodiments, as shown in fig. 7, the step S504 includes:

in step S5041, the horizontal maximum fluctuation angle and the target fluctuation angle are compared, and the vertical maximum fluctuation angle and the target fluctuation angle are compared.

Specifically, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle of the rotating mirror 111 to be measured in the actual rotation process are respectively compared with the target fluctuation angle.

In step S5042, when the horizontal maximum fluctuation angle is greater than the target fluctuation angle or the vertical maximum fluctuation angle is greater than the target fluctuation angle, the stability of the rotating mirror to be measured is determined to be unqualified.

Specifically, when one of the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle of the measured rotating mirror 111 in the actual rotation process is larger than the target fluctuation angle, it can be determined that the stability of the measured rotating mirror is not acceptable.

Further, only when the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle are smaller than or equal to the target fluctuation angle, the stability of the tested rotating mirror is qualified.

According to the semi-solid LiDAR turning mirror stability detection method provided by the embodiment, the number of pixels of light spots on grid paper can be obtained through the light spot fluctuation video set, the corresponding side length dimension of the pixels can be further calculated through the number of the pixels and the size of the paper, and then the target fluctuation angle of the tested turning mirror can be calculated by combining the horizontal distance value. Further, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle of the tested rotating mirror in the actual rotating process can be calculated by combining the horizontal distance value and the light spot fluctuation video set. And finally, comparing the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle with the target fluctuation angle respectively, and further, determining that the stability of the tested rotating mirror is unqualified and improving the stability detection precision of the tested rotating mirror as long as one fluctuation angle among the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle is larger than the target fluctuation angle.

In one example, an apparatus for measuring the magnitude of a turning mirror fluctuation based on a TTL modulated laser is provided, as shown in FIG. 8, comprising: the device comprises a signal generator 81, a TTL (transistor-transistor logic) modulation 632nm red light laser 82, a measured rotating mirror 83, a high frame rate (the frame rate of each surface of the rotating mirror is larger than that of the rotating mirror) camera 84, a supporting white board 85 and grid paper 86 with a known size, wherein the devices 81-84 are main components of the device. The signal generator 81 controls the TTL modulation 632nm red light laser 82 to be periodically turned on or turned off through a connecting wire, the TTL modulation 632nm red light laser 82 emits red light to be emitted to the mirror surface of the turning mirror 83, the red light is reflected to the grid paper 86 on the supporting white board 85 through the mirror surface, and finally the light spot change falling on the grid paper 86 is recorded through the high-frame-rate camera 84 arranged near the turning mirror.

The specific principle is as follows: the TTL modulation laser can turn on or off the laser to control the output of laser through an external electric signal, the laser can be periodically changed in brightness by using a continuous square wave signal, the frequency of a signal generator can be adjusted to change the brightness period, and the proportion of the brightness time and the darktime can be changed by adjusting the duty ratio of the square wave. The time delay of the square wave signal can be adjusted by changing the phase delay of the signal generator, so that the laser emergent time is delayed to a certain extent, and the position of the light spot on the rotating mirror is changed, so that the position of the light spot passing through the rotating mirror is changed, and the light spot can be moved to the grid paper, thereby facilitating the subsequent observation and analysis.

Furthermore, the switching frequency of the laser is equal to the frame rate of each surface of the rotating mirror by changing the frequency of the signal generator, if the switching frequency of the laser is not equal to the frame rate of each surface of the rotating mirror, synchronization is not generated, the position of the laser on the rotating mirror in each time is fixed, and a transverse direction deviation occurs, so that a continuous deviation phenomenon occurs in one direction after a light spot passes through the rotating mirror, the frequency of the fine tuning signal generator is changed in a left-right alternating manner or fixed at a certain position, and the switching frequency of the laser is equal to the frame rate of each surface of the rotating mirror; at the moment, the more stable the turning mirror operates, the smaller the amplitude of left and right shaking of the light spot appears.

Further, the change of the light spot on the grid paper can be recorded through the high-frame-rate camera, and then each frame of picture is analyzed frame by frame, so that the fluctuation condition of the light spot in a certain time is obtained; the actual size of the side length of each pixel point can be calculated by dividing the size of the known grid paper in the picture by the number of the pixel points on the grid paper in the video, and finally the fluctuation angle of the light spot and the rotating mirror can be calculated by the fluctuation size of the light spot from left to right, up and down and the distance between the grid paper and the rotating mirror. And if the maximum horizontal and vertical fluctuation angle of the light spot is smaller than the minimum horizontal and vertical resolution angle in the LiDAR point cloud, the stability of the turning mirror is qualified, and if the maximum horizontal and vertical fluctuation angle of the light spot is smaller than the minimum horizontal and vertical resolution angle in the LiDAR point cloud, the turning mirror is unqualified.

Further, the fluctuation of the actual light spot is related to the distance between the light spot and the turning mirror, and the farther the light spot is from the turning mirror, the larger the fluctuation of the actual light spot is under the same fluctuation angle of the turning mirror; the measurable fluctuation is related to the actual pixel point size, and the measuring precision can be improved by reducing the distance between the camera and the light spot and improving the resolution of the camera; therefore, the scheme can measure the rotating mirror with extremely small fluctuation angle.

Further, as shown in fig. 9, a flow chart of the operation of the apparatus for measuring the magnitude of the turning mirror fluctuation based on the TTL-modulated laser is given.

Firstly, fixing a laser and a mirror surface of a current measured rotating mirror (the rotating speed is 600 revolutions per minute) on the same horizontal plane, placing a supporting white board at a distance of 3m from the two vertical directions, emitting laser to the supporting white board through the mirror surface of the rotating mirror at a certain angle, and pasting grid paper at the position of a light spot. Setting the signal generator as square wave signal, setting the frequency as 40Hz, turning on the laser to make it flash, making the turning mirror rotate at 600 rpm, at this time, the flash of the laser is synchronous with the frequency of each face of the turning mirror (if the continuous left or right shift occurs, the frequency of the signal generator needs to be finely adjusted), adjusting the phase delay of the signal generator again to change the emergent position of the light spot, and finally making the light spot fall on the grid paper.

A three-second picture is recorded by a high-frame-rate camera, 112 pixels and 79 pixels are respectively arranged in the length and width directions of white paper in the picture, the size of standard A4 paper is 297mm multiplied by 210mm, and the side length of each pixel is 2.65mm through calculation, so that the fluctuation angle of a rotating mirror with the fluctuation angle being larger than +/-arctan (2.65/2/3000)/2 approximately +/-0.0127 DEG can be measured under the fixed distance among the rotating mirror, the camera and grid paper, and the minimum measurable fluctuation precision is arctan (2.65/3000)/2 approximately 0.025 deg.

As shown in fig. 10, the fluctuation of the spot within three seconds was 10.6mm at the maximum left and right fluctuation of the spot and 5.3mm at the maximum up and down fluctuation, and further, from the distance of 3m between the mesh paper and the turning mirror, it was calculated that the horizontal fluctuation of the spot was about ±0.1°, the vertical fluctuation was about ±0.05°, and the maximum fluctuation of the horizontal angle corresponding to the turning mirror was ±0.05°, and the maximum fluctuation of the vertical angle was ±0.025 °. This level fluctuation is greater than 0.025 ° we need and therefore it can be considered that the turning mirror is unacceptable for our product.

The embodiment of the invention also provides computer equipment for executing the method for realizing the embodiment.

Referring to fig. 11, fig. 11 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, as shown in fig. 11, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 11.

The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.

Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform a method for implementing the embodiments described above.

The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.

The computer device also includes a communication interface 30 for the computer device to communicate with other devices or communication networks.

The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.

Portions of the present invention may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or aspects in accordance with the present invention by way of operation of the computer. Those skilled in the art will appreciate that the form of computer program instructions present in a computer readable medium includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the manner in which the computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Herein, a computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by a computer.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims (10)

1. A semi-solid LiDAR turning mirror stability detection system, the system comprising: the device comprises a semi-solid LiDAR turning mirror stability measuring device and a terminal, wherein the semi-solid LiDAR turning mirror stability measuring device comprises a measured turning mirror, a signal generator, a TTL modulation laser and a camera, and the measured turning mirror and the TTL modulation laser are fixed on the same horizontal plane;

The signal generator is used for controlling the switching frequency of the TTL modulation laser until the switching frequency is equal to the frame rate of each surface of the tested turning mirror, and controlling the TTL modulation laser to emit light beams to the tested turning mirror;

the tested rotating mirror is used for reflecting the light beam to the corresponding supporting white board;

The camera is used for acquiring a light spot fluctuation video set of the light spot on the grid paper within preset time when the light spot appears on the grid paper, and sending the light spot fluctuation video set to the terminal, wherein the grid paper is stuck on the supporting whiteboard;

The terminal is used for acquiring the paper size of the grid paper, the horizontal distance value of the grid paper and the tested rotating mirror, and determining the stability detection result of the tested rotating mirror through a preset calculation method based on the light spot fluctuation video set, the horizontal distance value and the paper size.

2. A method for detecting the stability of a semi-solid LiDAR turning mirror, which is characterized by being used for a semi-solid LiDAR turning mirror stability measuring device in the semi-solid LiDAR turning mirror stability detecting system according to claim 1; the method comprises the following steps:

Controlling the switching frequency of the TTL modulation laser by using a signal generator until the switching frequency is equal to the frame rate of each side of the tested rotating mirror;

The TTL modulation laser is controlled by the signal generator to emit light beams to the tested rotating mirror, so that the tested rotating mirror reflects the light beams to the corresponding supporting white board until light spots appear on grid paper, and the grid paper is stuck on the supporting white board;

And acquiring a light spot fluctuation video set of the light spot on the grid paper within a preset time by using a camera, and transmitting the light spot fluctuation video set to the terminal, so that the terminal determines a stability detection result of the tested rotating mirror based on the light spot fluctuation video set, a horizontal distance value and the paper size of the grid paper, wherein the horizontal distance value represents the horizontal distance between the grid paper and the tested rotating mirror.

3. The method of claim 2 wherein controlling the switching frequency of the TTL modulated laser with the signal generator until the switching frequency is equal to the frame rate of each side of the rotating mirror under test comprises:

based on a preset signal generator frequency, utilizing the signal generator to control the TTL modulation laser to emit a light beam to a tested turning mirror, so that the tested turning mirror reflects the light beam to the supporting whiteboard;

When the direction of the light spot on the grid paper on the support whiteboard is continuously deviated, adjusting the frequency of the preset signal generator;

And based on the adjusted frequency of the preset signal generator, returning to control the operation of transmitting the light beam by using the signal generator until the light spot is deflected left and right alternately or fixed at any position, and determining that the switching frequency of the TTL modulation laser is equal to the frame rate of each side of the tested turning mirror.

4. The method of claim 2, wherein controlling the TTL modulated laser to emit a beam to the mirror under test with the signal generator such that the mirror under test reflects the beam to a corresponding supporting whiteboard until a spot appears on the grid paper, comprises:

Based on the phase delay of a preset signal generator, the signal generator is used for controlling the TTL modulation laser to emit light beams to the tested turning mirror, so that the tested turning mirror reflects the light beams to the corresponding supporting white board;

When no light spot appears on the grid paper, adjusting the phase delay of the preset signal generator;

and based on the adjusted phase delay of the preset signal generator, returning to control the operation of transmitting the light beam by using the TTL modulation laser by using the preset signal generator until light spots appear on the grid paper.

5. A method for detecting the stability of a semi-solid LiDAR turning mirror, which is used for a terminal in the semi-solid LiDAR turning mirror stability detection system according to claim 1; the method comprises the following steps:

receiving a light spot fluctuation video set sent by a semisolid LiDAR rotating mirror stability measuring device, and acquiring the paper size of grid paper in the semisolid LiDAR rotating mirror stability measuring device and the horizontal distance value between the grid paper and a measured rotating mirror;

Calculating a target fluctuation angle of the tested rotating mirror based on the light spot fluctuation video set, the paper size and the horizontal distance value;

calculating the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle of the tested rotating mirror based on the horizontal distance value and the light spot fluctuation video set;

And determining a stability detection result of the tested rotating mirror based on the target fluctuation angle, the horizontal maximum fluctuation angle and the vertical maximum fluctuation angle.

6. The method of claim 5, wherein calculating a target roll angle of the rotating mirror under test based on the spot roll video set, the paper size, and the horizontal distance value comprises:

Acquiring the number of first pixel points on the grid paper and the number of second pixel points of the light spots on the grid paper based on the light spot fluctuation video set;

calculating the side length of the pixel points based on the first pixel point number and the paper size;

and calculating the target fluctuation angle of the tested rotating mirror based on the number of the second pixel points, the side length dimension of the pixel points and the horizontal distance value.

7. The method of claim 5, wherein determining a stability test result for the rotating mirror under test based on the target angle of fluctuation, the horizontal maximum angle of fluctuation, and the vertical maximum angle of fluctuation comprises:

comparing the horizontal maximum fluctuation angle with the target fluctuation angle, and comparing the vertical maximum fluctuation angle with the target fluctuation angle;

And when the horizontal maximum fluctuation angle is larger than the target fluctuation angle or the vertical maximum fluctuation angle is larger than the target fluctuation angle, determining that the stability of the tested rotating mirror is unqualified.

8. A computer device, comprising:

The semi-solid LiDAR rotating mirror stability detection method according to any one of claims 2 to 7, and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions.

9. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the semi-solid LiDAR turning mirror stability detection method of any of claims 2 to 7.

10. A computer program product comprising computer instructions for causing a computer to perform the semi-solid LiDAR rotating mirror stability detection method of any of claims 2 to 7.