| The galvanometer scanning Lidar on board has the characteristics of small size and embedded installation.It can detect and sense 3D scenes in real time.It is an important imaging sensor for unmanned driving and the Lidar has broad application prospects.Based on the development of two-dimensional galvanometer laser radar,the laser radar galvanometer scanning system is analyzed.Based on the discussion of the structure of galvanometer scanning system and the simulation analysis of closed-loop control system,the signal control and processing circuit and servo drive circuit are designed,and the program of signal control circuit is debugged.After studying the dynamic characteristics and tracking characteristics of the galvanometer,the trend of error is explored,and a laser scanning trajectory control method is proposed at the same time.In order to solve the problem of high speed and accurate scanning scene of galvanometer,a method is proposed to improve speed and precision according to its scanning characteristics.In order to solve the distortion problem of galvanometer scanning imaging system,its principle is deeply analyzed and a correction algorithm is designed.At the end of the thesis,the actual image reconstruction effect of the above method is verified by contrast experiments,which lays a solid foundation for the image reconstruction of galvanometer scanning Lidar.Finally,the purpose of controlling the galvanometer scanning system to scan the three-dimensional scene is realized. |
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