CN100434932C - Collaborative work of multiple lidars, and dat processing method - Google Patents
Collaborative work of multiple lidars, and dat processing method Download PDFInfo
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Abstract
A method for making multilaser radar be operated coordinately includes enabling each radar to finalize object blocking scan and dynamic weighted treatment of scanning data independently under coordination control of master controlling and processing module (MCPM), carrying out effectiveness verification on data collected by each radar in real time and stopping linear grogram of the radar as well as shielding its function if certain radar is fault, feeding radar state back to system sate display module, carrying out dynamic data treatment of error compensation and coordinate matching adaptively and finalizing scan and identification task of object multiple surfaces by MCPM according to system topological structure.
Description
Technical field
The present invention relates to a kind of method of dock container technical field of automation, specifically is the collaborative work of multiple lidars and the data processing method of location, the unmanned stockyard of a kind of robotization " suspender-truck-container ".
Background technology
The robotization that the container wharf produces is the development trend of following harbour handling, is subjected to the attention at each big harbour, the world.In the current full-automatic container wharf of having built up, adopt AGV (full-automatic unmanned driving's automatic guide carrier) to realize the level transportation of container in the harbour, like this after AGV runs under the RMG (track gantry), only need just can make things convenient for the location of realizing AGV accurately by alignment sensor.But at the automatic yard first stage of construction, because financial resources and technical immature, general only meeting is adopted the automated handling technology in the stockyard of subregion, harbour, carry out experimental production, the robotization of local implementation container production, thereby can not adopt AGV to the encased conveying in the stockyard; And, because the transportation of domestic container land route is mainly truck, truck and outer truck and a kind of pattern of depositing in dock container transportation shows as, thereby, even adopt AGV to substitute interior truck, also can't avoid the loading and unloading of the external truck of RMG, thereby need to realize RMG accurately case is located truck.
Be the development need of the working condition that adapts to existing container wharf and container automatic loading and unloading, general at present adopt single 3D laser radar that object is carried out non-contact scanning to measure, carry out the accurate measurement and the location of target setting position and attitude more.But single laser radar (hereinafter to be referred as LR) can only carry out scanning survey from a visual angle, and partly profile and pattern can only be guessed judgement by model for being blocked.And the scanning accuracy of scanner and speed directly is subjected to the restriction of scanning prism rotation precision, 3-D scanning motor rotation speed and precision, adds that software processes algorithm and hardware controls technology are simple, and the scanning recognition capability is very limited.Owing to a laser scanner job, there is wrong redundancy of effort performance deficiency in system simultaneously.Therefore, press for a kind of new model and data processing method that can realize the collaborative work of multiple lidars processing of RMG suspender-container in truck fast and accurately, and stronger redundancy fault-tolerant ability can be provided.
Find through literature search prior art, Zheng Dehua etc. are in " Surveying Engineering " [(2005) 14 (2): 32-34,56] " three-dimensional laser scanner and the measuring error analysis of Influential Factors thereof " delivered on is divided into radially three types of three-dimensional laser radar, phase interference method scanning system and trigonometry scanning systems with three-dimensional laser scanning technique.And influence three aspects from instrument error, the sum of errors external environmental condition relevant and analyzed the three-dimensional laser scanning system error effect with the target object reflecting surface.The measuring error influence factor of three-dimensional laser radar device has radially been carried out theoretical analysis comparatively all sidedly, and pointed out that range error and scan angle error are the main error source of 3 D laser scanning error.But yet there are no in the relevant automatic yard realize RMG to truck to collaborative work of multiple lidars work of treatment pattern and the argumentation of data processing method or the report of related application in the case positioning system.
Summary of the invention
The objective of the invention is at the system response time in existing single laser radar localization process technology inadequately, the deficiency of mistake redundant reliability difference provides a kind of collaborative work of multiple lidars and data processing method.New mode of operation that the fast synergistic to container truck tapered end and container lockhole that the present invention is made up of multilasered optical radar scans and corresponding data processing new method, make RMG under the situation that the motion of cart traffic direction is restricted, finish suspender accurately case is located fast to truck, thereby realize that RMG loads and unloads fast to the container automatic of truck, system has extremely strong redundancy fault-tolerant ability.
The present invention specifically is achieved through the following technical solutions, the present invention adopts multilasered optical radar system (hereinafter to be referred as MLRS), and adjust five technology automatically by laser radar collaborative work, target blocked scan, the processing of scan-data dynamic weighting, the automatic shielding of scanning radar fault and system architecture and realize, wherein: the employing radar is controlled with main processing block and is handled sub-thread for each radar generates corresponding sub-thread of radar data acquisition and radar data; Adopt radar state monitoring and fault processing module that the state of each laser radar in the system is carried out real-time malfunction monitoring, diagnosis, and fault laser radar is wherein carried out functional shielding; Adopt the duty (comprise each laser radar, drive radar realize the servomotor of 3-D scanning, motor movement control card, each data transmission interface etc.) of each hardware device in the system status monitoring module monitors multilasered optical radar system and show in real time and report to the police, each module realizes that by separate threads each intermodule is realized parameter transmission and information interaction by memory shared.Under the radar control and the coordination of main processing block were controlled, each radar walked abreast and independently finishes target blocked scan and the processing of scan-data dynamic weighting; System is in service to carry out validation verification to the image data of each radar in real time, if certain laser radar breaks down, then stops this radar thread and shields its function, and radar state is fed back to system status display module; Radar control and main processing block are according to system topology, and self-adaptation is carried out the Dynamic Data Processing of coordinate coupling and error compensation, finishes the scanning identification mission to a plurality of surfaces of target:
Below the content among the present invention is further described:
1. laser radar collaborative work
All by independently thread control, MLRS is not that each LR of in-order operation scans to each LR, but under the control of control of MLRS radar and main processing block, by the run action of synchronous a plurality of radars, scan task is finished in each radar collaborative work.Under this pattern, even a plurality of LR works simultaneously, sweep time can be greater than single LR sweep time yet.MLRS has greatly improved data processing speed, and has kept the height independence between each LR each LR data in real time ground parallel acquisition and processing.
MLRS can realize more senior application function (for example measuring volume, quality of object on the travelling belt or fluid or the like) by the synchronous run action (scanning angle, sweep velocity etc.) of two or more LR, and system has very strong extensibility.
2. target blocked scan
Each LR does not carry out complete scan to the target face in the visual field, but by the scanning area (not exclusively scanning) that MLRS sets each radar, can significantly improve sweep velocity like this.By a plurality of LR are installed, can make the target object all outer surfaces all within sweep of the eye at MLRS.
MLRS is according to the profile of target to be scanned, sets important area and distributes and Duplication, calculates the scanning angle scope of each radar, merges the whole scope to be scanned that covers with the scanning area of each radar.Cover the important goal zone with suitable scanning overlapping region, data in the overlapping region are carried out the error compensation computing, significantly improved scanning accuracy.
By installing and that a plurality of LR scanning areas are set is overlapping, can make each surface of sweep object all have 2 or above LR to scan and monitor.For the container target, the exact position that recognizes each lockhole or tapered end that can be complete.
MLRS by distributing the scanning area of dynamically determining each work LR rationally, adapts to different application scenarios according to scanning accuracy and the speed and the current topological structure of mission requirements.
3. the scan-data dynamic weighting is handled
The mode that adopts a plurality of LR to scan from different perspectives is weighted processing with the data of different visual angles according to the dynamic weights allocation algorithm based on neural network, finally generates the objective contour coordinate after the compensating error, significantly improves data precision.
Concrete job step is as follows:
1) before system's operation, utilizes nerual network technique, according to the initial weight table of field measurement data foundation based on distance and reflectivity;
2) neural network adopts MLP (multilayer perceptron) structure, and training algorithm adopts SDBP (SteepestDescent Back Propagation) algorithm, i.e. steepest decline back-propagation algorithm.Network be input as distance and reflectivity, be output as corresponding data weights (degree of confidence), the data weights that distance L R is near more, reflectivity is big more are big more.
3) the data processing primary module obtains each LR state from the radar state monitoring module, obtains the LR number of current operate as normal;
4) be that each normal LR produces the corresponding sub-thread of data processing, to the range data value inquiry initial weight table that collects, the corresponding weights of interpolation calculation calculate apart from fiducial range set after finishing " semaphore disposes ".
5) after the data processing primary module waits for that all normal LR dispose, the coordinate that impact point carries out absolute mode is mated, promptly use predefined common coordinate system to mate according to current MLRS topological structure;
6) each coincide point is adopted the error compensation Processing Algorithm, calculate the coordinates of targets value after the error compensation.
Because this weights allocation algorithm based target point calculates with relative distance and the target reflectivity of LR, make measuring distance value measurement data less, that target reflectivity is bigger can obtain bigger weights, significantly improved scanning accuracy after calculating through error compensation.
4. the scanning radar fault shields automatically
When some LR hinders for some reason and is closed, can shield the LR of these inefficacies, system uses other LR to continue to finish scan task under non-stop-machine situation.Travel through normal LR chained list, the image data of each LR is carried out validation verification, stop this LR thread if this LR breaks down, it is added fault LR chained list, and show fault and warning in the system status monitoring module.
Can judge that it breaks down if following mistake takes place LR:
1. data are zero entirely
2. data are maximum range entirely
3. coincide point coordinate and other radar are obviously conflicted
4. radar does not have response
5. radar produces other mistake
The automatic shield technology of the fault that system adopted has guaranteed the continuity of system works, also provides the favourable time to guarantee to system overhaul.
5. system architecture is adjusted automatically
After some LR hindered conductively-closed for some reason, system degradation became more rudimentary scanning system.The degradation of this system model and degeneration may reduce certain scanning accuracy, finish smoothly but still can guarantee that location tasks is continual.
Along with increasing of CCS casual clearing station number, system is degradation successively automatically, can carry out " minimum operational mode " on the basis of minimum working quantity LR having, and this moment, systemic-function was simplified most, still finished scan task;
After some LR fault is repaired, after the affirmation by upper program, be " normally " by its state of resetting, restart this LR data acquisition thread, but real-time upgrading MLRS topological structure;
When the MLRS topological structure changes, system is immediately again according to topological structure evolution (or degeneration) system model, determine suitable coordinate coupling and Error Compensation Algorithm adaptively, and again target is carried out piecemeal, for each work LR distributes new scanning area, under the situation of not halt system operation, realize " plug and play ".
The structure of system is adjusted function automatically and realize that key step is as follows in the radar state monitoring module:
1) upgrades each LR state, add up the radar number of current operate as normal, set up the handle chained list of normal LR with this;
2) LR that has repaired after the fault, its state of resetting is " normally ", this radar handle of deletion from fault radar chained list, and start the LR collecting thread, and add normal radar chained list, devote oneself to work again;
3) carry out the automatic fault diagnosis shielding processing;
4) upgrade coordinate coupling and Error Compensation Algorithm according to current MLRS topological structure;
5) redistribute each radar scanning zone according to current MLRS topological structure;
6) give the system status monitoring module with current radar state information feedback, show and the processing of reporting to the police.
The invention provides the collaborative work of multiple lidars and the data processing method of " suspender-container in truck ", a plurality of advanced persons' data processing and system self-adaption control technology used in the integration of novelty, significantly improved accuracy of identification and speed, and extremely strong system redundancy fault-tolerant ability is provided.Satisfy RMG in the automatic yard to the high precision of truck loading and unloading container to the case positioning requirements, effectively improved the efficiency of loading and unloading, for repair and maintenance brings great convenience, guaranteed continuous the carrying out of production safety.
Description of drawings
The multilasered optical radar system layout synoptic diagram (front view) that Fig. 1 realizes for the inventive method;
The multilasered optical radar system layout synoptic diagram (vertical view) that Fig. 2 realizes for the inventive method;
Fig. 3 is a MLRS module organization chart;
Fig. 4 is the error compensation processing flow chart of weights dynamic assignment;
Fig. 5 is single radar data processing flow chart;
Fig. 6 is automatic fault diagnosis shielding workflow diagram;
Fig. 7 is radar state control work flows journey figure.
Embodiment
Technology of the present invention adopts the multilasered optical radar system to realize, concrete workflow is as follows:
1. at the system for field installation phase,, set up initial weight table based on distance and reflectivity according to field measurement data training weights distribution network;
2.MLRS carry out the state self check when starting, carry out a series of initialization, target is carried out the scanning area piecemeal, the scanning area of definite radar of respectively working;
3. the sub-thread of each radar work is independently carried out scan task, and the message pre-service is generated measurement data, and the interpolation calculation of tabling look-up goes out the data weights, the confidence interval delocalization of generation scan-data;
4.MLRS in service, monitoring module carries out automatic fault diagnosis and shielding in real time.Carry out validation verification according to radar data, when radar breaks down (data exception, coincide point data and other radar is obviously conflicted, radar mistake etc.), stop its thread immediately, and shield its work;
5.MLRS in service, monitoring module real time monitoring radar state.When radar breaks down or the radar adding work of having repaired is arranged, MLRS is immediately again according to topological structure evolution (or degeneration) system model, determine suitable coordinate coupling and Error Compensation Algorithm adaptively, and be that each work LR distributes new scanning area, and feedback result system status display module;
6. each normal radar scans independently simultaneously, treat that data are handled in all radar scannings after, MLRS radar control is carried out dynamic error compensation with main processing block and is handled;
7.MLRS radar control and main processing block further calculate with identification and handle according to the final objective coordinate; According to last result, send desired value to control system.
Below in conjunction with accompanying drawing and concrete job step embodiments of the present invention are described in further detail.
A kind of exemplary embodiment of the present invention has been shown in the accompanying drawing---four laser radar systems (QuadrupleLaser Radar System, hereinafter to be referred as QLRS), this embodiment is used for realizing a kind of elevating rack track gantry loading and unloading capacity, and truck locatees case under the low frame rail road gantry.
Fig. 1 is that suspender-container in truck positioning system constitutes synoptic diagram.As shown in Figure 1,1-RMG cart, 2-RMG dolly, 3-3D laser radar, 4-RMG crossbeam, 5-RMG suspender, 6-container, 7-truck contraposition indicating device, 8-truck, 9-RMG trolley travelling direction.Four-headed arrow 9 shows the traffic direction of RMG dolly (2), the traffic direction of RMG cart (1) vertical with this direction (tangential movement).Four 3D laser radars (3) are uniform to be installed on the low frame crossbeam (4) of RMG.
Fig. 2 is the scheme of installations of four 3D laser radars on the low frame crossbeam of RMG.As shown in Figure 2,1-RMG cart, 2-RMG dolly, 3-3D laser radar, 4-RMG trolley travelling direction, 5-RMG suspender, 6-container, 7-truck direction of motion.Four 3D laser radars (3) are installed on the low frame crossbeam (4) of RMG cart along container diagonal symmetry.
Fig. 3 is a multilasered optical radar system module organization chart, system's main thread generation radar control and main processing block, radar state monitoring and fault processing module, system status monitoring module etc.Wherein radar control is handled sub-thread with main processing block for each radar generates corresponding sub-thread of radar data acquisition and radar data.
Technology contents of the present invention is realized by following concrete system works flow process:
1. handle for the dynamic weighting of realizing image data,,, set up initial weight table based on distance and reflectivity according to field measurement data training weights distribution network at the system for field installation phase;
2.QLRS carry out the state self check when starting, normal radar chained list of initialization and fault radar chained list according to speed, the accuracy requirement of task, carry out the scanning area piecemeal to target, the scanning area of definite radar of respectively working.The QLRS system is respectively synchronously from the different surfaces of viewpoint scanning truck or casing nearby, until there being part surface overlapping, the scanning area of each LR must cover nearly 1/2nd area of 1/4th the end face that comprises summit nearby, two sides in the viewing area.What of lap can be realized the exact position of identifying the tapered end of vanning process truck or unloading case process casing lockhole by scan control software by the scanning start angle that each laser radar is set.
3. the sub-thread of each radar is independently carried out scan task according to the scanning area of system assignment.Can be decomposed into two classes for truck or each surperficial scan task of container: box top and four sides.Disposal route for end face is: by the coarse positioning of truck, make the end face of truck or container be within the visual field of four LR.Each LR is respectively from apart from self nearest inswept gradually end face center, summit, installation site, separately it is not exclusively scanned in the end face central area, the compensation operation that the data of gathering with four LR are carried out lap draws than the higher coordinate figure of scanning accuracy separately.Disposal route for the side is: each side is within the visual field of two adjacent LR.Each LR is respectively from apart from self nearest inswept gradually this center, side, limit, installation site, per two adjacent LR are responsible for this side is not exclusively scanned, and the compensation operation that carries out lap with the data of adjacent two LR collection side draws the side coordinate figure than scanning accuracy is higher separately.The sub-thread of each radar generates measurement data with the message pre-service, and the interpolation calculation of tabling look-up goes out the data weights, the confidence interval delocalization of generation scan-data;
4.QLRS in service, monitoring module carries out the automatic fault diagnosis shielding in real time.Monitoring module travels through normal LR chained list, radar data is carried out validation verification, when radar breaks down (data exception, coincide point data and other radar is obviously conflicted, radar mistake etc.), stop its thread immediately, and shield its work, it is added fault LR chained list, and show fault and warning in the system status monitoring module; System uses other LR to continue to finish scan task under non-stop-machine situation;
5.QLRS in service, monitoring module real time monitoring radar state.When radar broke down, QLRS was immediately again according to topological structure degeneration system model, and along with increasing of CCS casual clearing station number, system successively demotes automatically, until " the minimum operational mode " that have 2 operate as normal LR.After some LR fault is repaired, after the affirmation by upper program, be " normally " by its state of resetting, this radar handle of deletion from fault radar chained list, and start the LR collecting thread, and add normal radar chained list, devote oneself to work again.Along with system topology changes, system determines on real-time adaptive ground suitable coordinate coupling and Error Compensation Algorithm, and be that each work LR distributes new scanning area, and give the system status monitoring module, show and the processing of reporting to the police current radar state information feedback.
6.QLRS each normal radar scans independently simultaneously, system is that each normal LR produces the corresponding sub-thread of data processing, to the range data value inquiry initial weight table that collects, the corresponding weights of interpolation calculation, for giving bigger weights with the relative measurement distance value of LR impact point measurement data less, that target reflectivity is bigger, and calculate apart from fiducial range set after finishing " semaphore disposes ".After treating the intact data of all radar scannings and pre-service, the control of QLRS radar is carried out dynamic error compensation with main processing block and is handled.Radar control and main processing block are according to current QLRS system topology, adopt and the corresponding coordinate matching algorithm of current operate as normal radar quantity (4,3 or 2), carry out the splicing of impact point, the application error backoff algorithm carries out corresponding data processing in the overlapping region, calculates the final coordinate after the compensation;
7.QLRS (as calculate truck back edge position, calculate the suspender attitude, pick out tapered end or lockhole and accurately calculate its position and size or the like) further calculated with identification and handled in radar control according to the final objective coordinate with main processing block; According to last result of calculation, send the control system of desired value to RMG, control RMG and make corresponding actions.
Described four laser radar systems adopt above-mentioned collaborative work and data processing method, obtain truck relatively and the site error (space three-dimensional rectangular coordinate) of RMG cart and suspender.In the test, collaborative work and the data processing method of four LR of QLRS control adopt overlapping 20% scanning area of adjacent LR, carry out blocked scan 40 forty equivalent unit 40s simultaneously at the scene.Scan and discern its 4 lockhole position modes with four LR of employing sequence starting and compare, total processing speed is about 3 times.With do not carry out any overlapping scan and the coordinate matching way is compared, QLRS scan-data precision improves about 35% in the overlapping region.Four laser radar collaborative works and maskable fault, when some laser radar broke down, laser radar that can termination failure was scanned by other laser radar, though scanning accuracy and speed slightly reduce, still can guarantee finishing smoothly of the task of loading and unloading.
Claims (8)
1, a kind of collaborative work of multiple lidars and data processing method, it is characterized in that, adopt the multilasered optical radar system, and by laser radar collaborative work, target blocked scan, scan-data dynamic weighting handle, the scanning radar fault automatically shielding and system architecture adjust automatically and realize, wherein: adopt radar control to handle sub-thread for each radar generation corresponding sub-thread of radar data acquisition and radar data with main processing block; Adopt radar state monitoring and fault processing module that the state of each laser radar in the system is carried out real-time malfunction monitoring, diagnosis, and fault laser radar is wherein carried out functional shielding; The duty of each hardware device in the employing system status monitoring module monitors multilasered optical radar system also shows and warning in real time; Each module realizes by separate threads, each intermodule is realized parameter transmission and information interaction by memory shared, under the radar control and the coordination of main processing block were controlled, each radar walked abreast and independently finishes target blocked scan and the processing of scan-data dynamic weighting; System is in service to carry out validation verification to the image data of each radar in real time, if certain laser radar breaks down, then stops this radar thread and shields its function, and radar state is fed back to system status display module; Radar control and main processing block are according to system topology, and self-adaptation is carried out the Dynamic Data Processing of coordinate coupling and error compensation, finishes the scanning identification mission to a plurality of surfaces of target.
2, collaborative work of multiple lidars according to claim 1 and data processing method, it is characterized in that: described laser radar collaborative work, be meant: each laser radar is all controlled its real-time data acquisition and pre-service by thread independently, under the control of radar control and main processing block, by the run action of synchronous a plurality of radars, scan task is finished in each radar collaborative work; A plurality of laser radars are worked sweep time simultaneously smaller or equal to single laser radar sweep time.
3, collaborative work of multiple lidars according to claim 1 and data processing method, it is characterized in that: described target blocked scan, be meant: each laser radar does not carry out complete scan to the target face in the visual field, but it carries out the scanning in certain zone by the multilasered optical radar default, by a plurality of radar scanning region overlappings are set, data in the overlapping region are compensated computing improve scanning accuracy.
4, collaborative work of multiple lidars according to claim 1 and data processing method, it is characterized in that: described scan-data dynamic weighting is handled, be meant: the mode that adopts a plurality of laser radars to scan from different perspectives, the data of different visual angles are weighted processing according to the dynamic weights allocation algorithm based on neural network, finally generate the objective contour coordinate after the compensating error.
5, according to claim 1 or 4 described collaborative work of multiple lidars and data processing methods, it is characterized in that: described scan-data dynamic weighting is handled, and concrete steps are as follows:
1) before system's operation, utilizes nerual network technique, according to the initial weight table of field measurement data foundation based on distance and reflectivity;
2) neural network adopts the multilayer perceptron structure, and training algorithm adopts steepest decline back-propagation algorithm, network be input as distance and reflectivity, be output as corresponding data weights, the data weights near more apart from laser radar, that reflectivity is big more are big more;
3) the data processing primary module obtains each laser radar state from the radar state monitoring module, obtains the LR of current operate as normal, i.e. the number of single laser radar;
4) be that each normal laser radar produces the corresponding sub-thread of data processing, to the range data value inquiry initial weight table that collects, the corresponding weights of interpolation calculation calculate apart from fiducial range set after finishing " semaphore disposes ";
5) after the data owner processing module waits for that all normal laser radars dispose, the coordinate that impact point carries out absolute mode is mated, use predefined common coordinate system to mate according to current multilasered optical radar system topology;
6) the data owner processing module adopts the error compensation Processing Algorithm to each coincide point, calculates the coordinates of targets value after the error compensation.
6; collaborative work of multiple lidars according to claim 1 and data processing method; it is characterized in that: described scanning radar fault shields automatically; be meant: when there is fault in some laser radar; shield the laser radar of these inefficacies; system is under non-stop-machine situation; use other laser radar to continue to finish scan task; travel through normal laser radar chained list; image data to each laser radar is carried out validation verification;, this laser radar stops this laser radar thread if breaking down; it is added fault laser radar chained list, and show fault and warning in the system status monitoring module.
7, collaborative work of multiple lidars according to claim 1 and data processing method, it is characterized in that: described system architecture is adjusted automatically, be meant: when certain radar hinders conductively-closed or certain radar fault is repaired for some reason, when the topological structure that causes the multilasered optical radar system to form changes, system evolves or the degeneration system model according to topological structure immediately again, determine coordinate coupling and Error Compensation Algorithm adaptively, and again target is carried out piecemeal, for each work radar distributes new scanning area, under the situation of not halt system operation, realize plug and play.
8, according to claim 1 or 7 described collaborative work of multiple lidars and data processing methods, it is characterized in that: described system architecture is adjusted automatically, realizes that step is as follows in the radar state monitoring module:
1) upgrades each laser radar state, add up the radar number of current operate as normal, set up the handle chained list of normal laser radar with this;
2) laser radar of having repaired after the fault, its state of resetting is " normally ", this radar handle of deletion from fault radar chained list, and start the laser radar collecting thread, and add normal radar chained list, devote oneself to work again;
3) carry out the automatic fault diagnosis shielding processing;
4) upgrade coordinate coupling and Error Compensation Algorithm according to current multilasered optical radar system topology;
5) redistribute each radar scanning zone according to current multilasered optical radar system topology;
6) give the system status monitoring module with current radar state information feedback, show and the processing of reporting to the police.
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