CN103076614A - Laser scanning method and device for helicopter collision avoidance - Google Patents
Laser scanning method and device for helicopter collision avoidance Download PDFInfo
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- CN103076614A CN103076614A CN2013100267145A CN201310026714A CN103076614A CN 103076614 A CN103076614 A CN 103076614A CN 2013100267145 A CN2013100267145 A CN 2013100267145A CN 201310026714 A CN201310026714 A CN 201310026714A CN 103076614 A CN103076614 A CN 103076614A
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Abstract
The invention discloses a laser scanning method and device for helicopter collision avoidance. The device comprises a collision avoidance laser scanner device, a helicopter body pitch angle measuring device and a helicopter body; and the device can be used for scanning and imaging a ground obstacle in real time and timely providing the shape and distance information of the obstacle for a pilot. The state of a laser scanning point cloud is decided by two-dimensional motion, wherein the two-dimensional motion comprises sinusoidal swing in a pitch direction and conical laser scanning formed by rotating motion of a scanning mirror; and the laser point scanning track of circular rotating propulsion is generated by synthesizing two motions and a rectangular scanning strip is formed, so that the obstacle at lower front part of the helicopter can be detected at high resolution. When a pitch angle of the helicopter changes, a pitch angle value is obtained by the helicopter body pitch angle measuring device and is provided for a collision avoidance laser scanner controller, so that a swing angle in the pitch direction is controlled in real time, the change of the pitch angle is compensated, the laser scanning pitch field angle is kept unchanged relative to the local horizontal plane and the phenomenon of leaked scanning of the ground obstacle at the lower front part of the helicopter due to the influence from the pitch angle change is prevented.
Description
Technical field
The present invention relates to the angle of pitch compensation technique of helicopter anti-collision technique, spot scan formula airborne laser scanning three-dimensional imaging technique and airborne laser scanning.
Background technology
Helicopter has the various features such as low-latitude flying and high mobility, and not only military use is various, and is also quite extensive in the civil area purposes.At present, helicopter be widely used in commercial affairs transport, go sightseeing, seize smugglers or smuggled goods drug law enforcement, public security fire-fighting, medical aid, forest extinguishing, spray insecticide, many fields such as detecting fish school, petroleum prospecting.
The safety problem of helicopter is the focus that people pay close attention to always.On the one hand, although helicopter flight maneuver, dirigibility are strong, stability, poor stability, the configuration of helicopter uniqueness have caused its accident rate higher.On the other hand, the ground observation sexual dysfunction things such as the line of electric force that is seen everywhere, backguy and steel tower are the main causes that causes the helicopter disastrous accident.Quite a few is arranged in the helicopter crash accident is that the small barriers such as helicopter and electric wire, cable or wire bar bump and cause.In addition, the event that annual helicopter bumps against and helicopter hits the mountain crash also takes place frequently.Therefore, design helicopter anti-collision technique is used for the detection to barriers such as electric wire, electric pole, high-rise building thing, steeples, has very important realistic meaning.
At present, the crashproof millimetre-wave radar technology of helicopter is comparatively ripe, and its scanning field of view is larger, and the all-weather detectivity is stronger, but that shortcoming is resolution is low, be difficult to survey the thinner barriers such as electric wire, and anti-electromagnetic interference capability is relatively poor.Scanning laser radar then has the characteristics such as high spatial resolution and anti-electromagnetic interference (EMI), is the ideal equipment of the crashproof alarm of helicopter.The crashproof laser scanner technique of helicopter is based on the measuring technique of laser scanning and ranging principle, integrated aircraft platform, laser scanner, global position system GPS (Global Positioning System), inertial navigation system INS (Initial Navigation System, mainly comprise Inertial Measurement Unit, be IMU, Inertial Measurement Unit) and computer data acquisition and treatment system etc.
It is as follows that helicopter-mounted scanning three-dimensional imaging laser is used for the crashproof course of work: laser scanner is installed in the positions such as helicopter the place ahead or below, measured in real time flight path and the attitude angle of Review for Helicopter lotus platform by Kalman Filter Technology by the DGPS/INS combination metering system, flight time according to laser pulse calculates laser scanner scans mirror optical centre to the distance of ground laser pin point, in addition, in conjunction with the scan position angle of this laser pulse x time that is obtained by optical electric axial angle encoder, can calculate the three-dimensional coordinate of ground laser pin point.A large amount of laser pin points forms laser point cloud, process through the subsequent point cloud, obtain the three-dimensional imaging of tested landform, i.e. digital elevation model DEM (Digital Elevation Model) and digital surface model DSM(Digital Surface Model) etc.Further, according to three-dimensional imaging, but the information such as the shape of acquired disturbance thing and distance, the alarm pilot in time keeps away barrier.Laser radar is high to the resolution of barrier analyzing spot cloud, and detectable small and easy unheeded barrier is such as electric wire, electric pole etc.In addition, massif and landforms in can the instrumentation radar scanning angle, can observe the Miniature Vehicle thing in the movement tendency effective range, such as flying bird of unmanned plane, larger build etc., and can the accurate detection cable, the information such as the shape of the buildings such as electric pole, tower, chimney, distance, orientation, show in real time the image of barrier, send simultaneously alarm signal, so that the driver in time takes to avoid action.
Europe aviation defence and space flight company (EADS) are in formal externally declaration on November 26 calendar year 2001, and AUS will be tested helicopter laser (HELLAS) the radar obstacle avoidance system of the said firm's development.This HELLAS radar can detect the barrier (for example, electric wire and trees) that aircraft will be run into by optics and voice signal in low-latitude flying, and gives the alarm to the crew.
The crashproof scanning system with spot scan formula laser scanner of present helicopter mainly contains three kinds, and the one, adopt two wedge scannings, can form rosaceous sweep trace track; The 2nd, adopt two vibration mirror scannings, can form grid shape sweep trace track; The 3rd, adopt rotating prism to add vibration mirror scanning, can form grid shape sweep trace track.But the scanning area of these three kinds of scan modes is subjected to the size restrictions of scanning galvanometer face, and sweep limit is little; Simultaneously, there is larger acceleration change in moving component, produces inertial force and impacts, and affects long-term service precision.
In addition, in the laser scanning process, helicopter is known from experience and to be subject to many-sided disturbing effect, such as the control performance defective of fitful wind, turbulent flow, engine luggine and control system itself etc., the angle of pitch of going straight up to body is changed at any time, and is larger to the analyzing spot cloud of barrier.On the one hand, the angle of pitch variation of going straight up to body can change the line space of each circular laser scanning track, cause the density of laser point cloud that larger reduction is arranged, the spatial resolution of the laser scanning point cloud of tested barrier is descended, cause the quality degradation of subsequent reconstruction barrier three-dimensional model, precision to reduce; On the other hand, the angle of pitch variation of going straight up to body can cause the laser scanning zone to break away from scanning to the ground barrier region, the various ground obstacles of drain sweep, and such as cable, the buildings such as electric pole and tower, high chimney, thus cause security threat.Therefore, the real-Time Compensation that changes for the angle of pitch of going straight up to the crashproof scanning laser radar of body is necessary very much, has important practical significance, and can greatly improve detection reliability and precision to ground obstacle.
The crashproof laser scanning of present helicopter lacks the play-by-play of the real-Time Compensation technology that the angle of pitch is changed, do not have to exist for the real-time compensation apparatus that the crashproof laser scanning angle of pitch of helicopter changes yet, do not have simultaneously the research about the real-Time Compensation technology of the crashproof laser scanning angle of pitch variation of helicopter in the existing document yet.
Summary of the invention
For the fast laser scanning imagery of realizing that helicopter is crashproof, improve the scanning area scope, and for the defective that lacks the real-Time Compensation technology that the angle of pitch is changed in the existing crashproof laser scanner technique of helicopter, the invention provides the crashproof laser scanning device of using of a kind of helicopter, on the one hand, produce the new laser scanning system that is different from existing laser scanning point cloud form; On the other hand, can realize going straight up to the real-Time Compensation of body angle of pitch variation, the reliability of the crashproof scanning of Effective Raise.Wherein, the laser scanning point cloud form is determined by the motion of two aspects, the one, the laser scanner single unit system is at the sine swing of pitch orientation, the 2nd, the circular cone type laser scanning track that scanning mirror rotatablely moves and forms, the laser spots track while scan that the synthetic generation circular rotating of two motions advances, form rectangle scanning band, but high resolving power is surveyed the barrier of helicopter front lower place.In addition, when going straight up to body when having the angle of pitch to change, obtain angle of pitch value by going straight up to body angle of pitch measurement mechanism, offer crashproof laser scanner controller, control in real time the pendulum angle of pitch orientation, the compensation angle of pitch changes, and makes laser scanning pitching field angle constant all the time with respect to local level, prevents the ground obstacle of drain sweep helicopter front lower place owing to the impact of angle of pitch variation.
The crashproof laser scanning device of using of a kind of helicopter that the application's patent provides is characterized in that comprising crashproof laser scanning instrument apparatus (1), goes straight up to body angle of pitch measurement mechanism (2), goes straight up to body (3); Described crashproof laser scanning instrument apparatus (1) is characterized in that comprising crashproof laser scanner controller (11), pitching scan module (12), gear train (13), pitching scanning rotating frame (14), pitching scanning optical electric axial angle encoder (15), conical scanning motor (16), conical scanning mirror (17), conical scanning optical electric axial angle encoder (18), laser range finder (19).The described body angle of pitch measurement mechanism (2) of going straight up to is characterized in that comprising GPS(31), IMU(32), Kalman filter (23).Described crashproof laser scanning instrument apparatus (1) and the described body angle of pitch measurement mechanism (2) of going straight up to all are fixed on described going straight up on the body (3).Described conical scanning motor (16), described conical scanning mirror (17), described conical scanning optical electric axial angle encoder (18) and described laser range finder (19) are installed on the described pitching scanning rotating frame (14).
In described crashproof laser scanning instrument apparatus (1), described pitching scan module (12) drives described pitching scanning rotating frame (14) and swings with sinusoidal manner by described gear train (13); Described conical scanning motor (16) drives described conical scanning mirror (17) rotation, the laser pulse that reflection is sent by described laser range finder (19), described laser range finder (19) is measured the space length that each laser pulse is beaten the laser pin point on barrier; When the described body (3) of going straight up to when having pitching to change, obtain in real time angle of pitch value by the described body angle of pitch measurement mechanism (2) of going straight up to, offer described crashproof laser scanner controller (11), control the pendulum angle of described pitching scan module (12), make laser scanning pitching field angle constant with respect to local horizontal coordinates all the time, change with the compensation angle of pitch, prevent because the variation of the angle of pitch causes laser scanning zone drain sweep ground obstacle.
Wherein, described crashproof laser scanner (1) is installed in the front bottom of going straight up to body (3), is 45 ° with respect to the mounting inclination angle of horizontal direction.The laser scanning point cloud form is determined by the motion of two aspects, the one, the sine swing of pitch orientation, the 2nd, the circular cone type laser scanning that scanning mirror rotatablely moves and forms, the laser spots track while scan that the synthetic generation circular rotating of two motions advances, form rectangle scanning band, but high resolving power is surveyed the barrier of helicopter front lower place.Pitching scanning field of view angle is
, the pitch angle of circular cone laser scanning is 15 ° (being the angle between the rotating shaft of the plane normal of described conical scanning mirror and described conical scanning motor).The space length of the laser pin point that described crashproof laser scanner controller (11) obtains according to laser range finder and the pitch orientation corner (being the rotational angle that described pitching scans rotating frame (14)) of the described crashproof laser scanner that orientation, described pitching scanning optical electric axial angle encoder (15) obtain, and the anglec of rotation that obtains of described conical scanning optical electric axial angle encoder (18), can calculate the locus of ground laser pin point.When (such as electric wire, electric pole, buildings, steeple etc.) are got on the barrier of helicopter front lower place in the laser scanning pulse, described crashproof laser scanner controller (11) obtains the laser scanning point cloud about this barrier, through surface fitting, rebuild the three-dimensional imaging of barrier, and judge shape and the range information of barrier, remind the pilot in time to operate helicopter and avoid this barrier.
Wherein, described GPS(21) receiving antenna is installed in described top of going straight up to body (3), described IMU(22) is installed on the airborne platform (4) of going straight up to body (3) bottom, described GPS(21) and described IMU(22) the data of measurement data by described Kalman filter (23) process, obtain described real-time angle of pitch value of going straight up to body (3), offer the described crashproof laser scanner controller (11) of described crashproof laser scanner (1), by compensation control, make the pitching scanning field of view angular region of described crashproof laser scanner (1) constant with respect to local horizontal reference coordinate system all the time, the pitching scanning field of view angle of the pitching scanning field of view angle of this moment=setting (
)-described gone straight up to the angle of pitch of body (3), thereby realize the real-Time Compensation to angle of pitch variation, eliminate the described angle of pitch of going straight up to body (3) and change adverse effect to the laser scanning overlay area, raising prevents from causing the disengaging of laser scanning zone to the scanning of ground obstacle because the described wide-angle angle of pitch of going straight up to body (3) changes to the scanning reliability of helicopter front lower place barrier.
Wherein, described gear train (13) adopts gear-tooth wheel transmission or gear-belt wheel transmission.
Wherein, the maximum measure distance of described laser range finder (19) is 300 meters, and laser pulse repetition frequency is 100 kHz to the maximum, and conical scanning mirror gyro frequency is that 110 Hz(are that rotational speed is 6600r/min), the sine swing frequency of pitch orientation is 2Hz.Sinusoidal cycles of the every rotation of rotational angle of the described pitching scanning rotating frame (14) of described crashproof laser scanner (1) can obtain a frame scan 3-D view, and the barrier of helicopter front lower place is carried out one-shot measurement.Because the sine swing frequency of pitch orientation is 2Hz, so can carry out twice laser scanning imaging p.s., obtains two width of cloth 3-D views, guarantee the real-time of scanning imagery.And conical scanning mirror gyro frequency is 110 Hz, then can obtain 110 circle laser scanning lines (being the trajectory that laser pulse point forms) p.s., to guarantee the density of laser point cloud, makes three-dimensional imaging have higher spatial resolution.
To sum up, a kind of helicopter provided by the invention is crashproof to have three main characteristics with laser scanning device, and the one, can obtain to have the circle propelling laser scanning point cloud that rectangle scans band, sweep limit is large and adjustable; The 2nd, per second can obtain two width of cloth 3-D views, and every width of cloth image can have 55 circular scan circles, and this structure can guarantee that the crashproof laser scanning of helicopter has the laser point cloud of high real-time and acquisition high spatial resolution; The 3rd, but the large pitching angle of real-Time Compensation helicopter changes the adverse effect to laser scanning imaging, eliminates the described angle of pitch of going straight up to body (3) and changes adverse effect to the laser scanning overlay area, improves the reliability of helicopter raising anti-collision technique.
Description of drawings
Fig. 1 is the crashproof laser scanner system architecture diagram of helicopter.
Fig. 2 is the crashproof laser scanning principle of work of helicopter schematic diagram.
Fig. 3 is crashproof laser scanner structural drawing.
Fig. 4 is the angle of pitch compensating for variations control system block diagram of crashproof laser scanner.
Fig. 5 is the spacescan point cloud distribution plan of crashproof laser scanner.
Embodiment
Below in conjunction with accompanying drawing patent working example of the present invention is described in further detail.
Fig. 1 is the crashproof laser scanner system architecture diagram of helicopter.The crashproof laser scanning device of using of a kind of helicopter provided by the invention is characterized in that comprising crashproof laser scanning instrument apparatus (1), goes straight up to body angle of pitch measurement mechanism (2), goes straight up to body (3); Described crashproof laser scanning instrument apparatus (1) is characterized in that comprising crashproof laser scanner controller (11), pitching scan module (12), gear train (13), pitching scanning rotating frame (14), pitching scanning optical electric axial angle encoder (15), conical scanning motor (16), conical scanning mirror (17), conical scanning optical electric axial angle encoder (18), laser range finder (19); The described body angle of pitch measurement mechanism (2) of going straight up to is characterized in that comprising GPS(31), IMU(32), Kalman filter (23); Described crashproof laser scanning instrument apparatus (1) and the described body angle of pitch measurement mechanism (2) of going straight up to all are fixed on described going straight up on the body (3); Described conical scanning motor (16), described conical scanning mirror (17), described conical scanning optical electric axial angle encoder (18) and described laser range finder (19) are installed on the described pitching scanning rotating frame (14); In described crashproof laser scanning instrument apparatus (1), described pitching scan module (12) drives described pitching scanning rotating frame (14) and swings with sinusoidal manner by described gear train (13); Described conical scanning motor (16) drives described conical scanning mirror (17) rotation, the pulse laser that reflection is sent by described laser range finder (19), described laser range finder (19) is measured the space length that each laser pulse is beaten the laser pin point on barrier; When the described body (3) of going straight up to when having the angle of pitch to change, obtained by the described body angle of pitch measurement mechanism (2) of going straight up to, offer described crashproof laser scanner controller (11), control the pendulum angle of described pitching scan module (12), change with the compensation angle of pitch, make laser scanning pitching field angle constant with respect to local horizontal coordinates all the time, prevent that the regional variation owing to the angle of pitch of laser scanning has broken away from ground obstacle and caused drain sweep.
Fig. 2 is the crashproof laser scanning principle of work of helicopter schematic diagram.Described crashproof laser scanner (1) is installed in described front bottom of going straight up to body (3), is 45 ° with respect to the horizontal direction pitch angle, and laser scanning is carried out in the zone, front lower place, and pitching scanning field of view angle is
By described GPS(21) be installed in described top of going straight up to body (3), described IMU(22) is installed on the described described airborne platform (4) of going straight up on the body (3), described GPS(21) and described IMU(22) by described Kalman filter (23), obtain the described real-time angle of pitch of going straight up to body (3), offer the described crashproof laser scanner controller (11) of described crashproof laser scanner (1), by compensation control, make the scanning angle of pitch field of view of described crashproof laser scanner (1) constant with respect to local horizontal reference coordinate system all the time, namely real-Time Compensation is carried out in the variation of the angle of pitch, eliminate the described angle of pitch of going straight up to body (3) and change adverse effect to laser scanning direction, raising prevents from causing laser scanning zone disengaging scanning ground obstacle to cause drain sweep because the described wide-angle angle of pitch of going straight up to body (3) changes to the reliability of helicopter front lower place barrier scanning.
Fig. 3 is crashproof laser scanner structural drawing.Described crashproof laser scanning instrument apparatus (1) is characterized in that comprising crashproof laser scanner controller (11), pitching scan module (12), gear train (13), pitching scanning rotating frame (14), pitching scanning optical electric axial angle encoder (15), conical scanning motor (16), conical scanning mirror (17), conical scanning optical electric axial angle encoder (18), laser range finder (19); Described crashproof laser scanning instrument apparatus (1) is fixedly mounted on described going straight up on the body (3); Described conical scanning motor (16), described conical scanning mirror (17), described conical scanning optical electric axial angle encoder (18) and described laser range finder (19) are installed on the described pitching scanning rotating frame (14); Described gear train (13) adopts gear-tooth wheel transmission or gear-belt wheel transmission; In described crashproof laser scanning instrument apparatus (1), described pitching scan module (12) drives described pitching scanning rotating frame (14) and swings with sinusoidal manner by described gear train (13); Described conical scanning motor (16) drives described conical scanning mirror (17) rotation, the pulse laser that reflection is sent by described laser range finder (19), described laser range finder (19) is measured the space length that each laser pulse is beaten the laser pin point on barrier; Go straight up to body (3) when not having the angle of pitch to change or the angle of pitch changes when very small when described, it is constant all the time that described pitching scan module (12) drives the pendulum angle scope of described pitching scanning rotating frame (14), for the pitching scanning field of view angle set (
); When the described body (3) of going straight up to when having the angle of pitch to change, obtain angle of pitch value by the described body angle of pitch real-time measurement apparatus (2) of going straight up to, offer described crashproof laser scanner controller (11), control the pendulum angle scope of described pitching scan module (12), change with the compensation angle of pitch, the pitching scanning field of view angle of the pitching scanning field of view angle of this moment=setting (
)-described gone straight up to the angle of pitch of body (3), makes laser scanning pitching field angle constant with respect to local horizontal coordinates all the time, prevents that the regional impact owing to angle of pitch variation of laser scanning has broken away from ground obstacle and caused drain sweep.
Fig. 4 is the angle of pitch compensating for variations control system block diagram of crashproof laser scanner.Go straight up to body (3) when not having the angle of pitch to change or the angle of pitch changes when very small when described, the pendulum angle of described pitching scan module (12) is for setting pitching scanning field of view angle (namely
); When the described body (3) of going straight up to when having the angle of pitch to change, obtain in real time described angle of pitch changing value of going straight up to body (3) by the described body angle of pitch measurement mechanism (2) of going straight up to, offer described crashproof laser scanner controller (11), control the pendulum angle of described pitching scan module (12), control system input this moment pitching scanning field of view angle=setting pitching scanning field of view angle (
)-described gone straight up to the angle of pitch of body (3), change adverse effect to the laser scanning zone to compensate the described angle of pitch of going straight up to body (3), make laser scanning pitching field angle constant with respect to local horizontal coordinates all the time, prevent laser scanning zone because the impact that the angle of pitch changes and drain sweep ground obstacle.Because it is 2 Hz that described pitching scan module (12) drives the sine swing frequency of described pitching scanning rotating frame (14), be to obtain two width of cloth laser scanning 3-D views p.s., therefore setting the controlled frequency of angle of pitch compensating for variations control system also is 2 Hz, be every scanning piece image, carry out an angle of pitch compensation control.
Fig. 5 is the spacescan point cloud distribution plan of crashproof laser scanner.The form of laser scanning point cloud determines by the motion of two aspects, the one, and described pitching scanning rotating frame (14) is at the sine swing of pitch orientation; The 2nd, the circular laser scanning track distribution laser spots that the circular motion of described conical scanning mirror (17) forms.Parameter is set to: the laser ranging of described laser range finder (19) is 50 m, pulse repetition rate is made as 10 kHz, the gyro frequency of described conical scanning mirror (17) is that 110 Hz(are that rotational speed is 6600 r/min), the sinusoidal motion frequency of described pitching scanning rotating frame (14) is 2 Hz.In addition, the mounting inclination angle of crashproof laser scanner is 45 °, the scanning field of view angle of pitch orientation be 120 ° (
), the pitch angle of circular cone laser scanning is 15 ° (they being the angle between the rotating shaft of the plane normal of described conical scanning mirror and described conical scanning motor).According to above-mentioned parameter, by numerical simulation, the crashproof laser scanning process of helicopter simulating, obtain take the crashproof laser scanner laser pulse of helicopter launching site as the center of circle, range finding is as the laser point cloud of 50 meters the enterprising line scanning of space disc.Such as figure (a) with (b), independent large black circle represents the Laser emission central point (being the laser reflection point on the described conical scanning mirror (17)) of described crashproof laser scanner among the figure.Wherein, figure (a) be the outboard profile of laser scanning point cloud, the scan laser point be distributed in take the crashproof laser scanner laser pulse of helicopter launching site as the center of circle, the range finding on 50 meters space disc; Figure (b) is the front view of laser scanning point cloud.When in above-mentioned laser scanning field angle zone, barrier being arranged, such as electric wire, high building, electric pole etc., when laser scanning point can be got on the barrier, acquisition is about the laser scanning point cloud of this barrier, process through surface fitting, but the 3-D view of acquired disturbance thing, and judge barrier shape and range information, in time remind pilot's reasonable operation helicopter to avoid this barrier.
Above description to the present invention and embodiment thereof is not limited to this, only is one of embodiments of the present invention shown in the accompanying drawing.In the situation that do not break away from the invention aim, without designing and the similar structure of this technical scheme or embodiment, all belong to protection domain of the present invention with creating.
Claims (5)
1. the crashproof laser scanning device of using of helicopter is characterized in that comprising crashproof laser scanning instrument apparatus (1), goes straight up to body angle of pitch measurement mechanism (2), goes straight up to body (3); Described crashproof laser scanning instrument apparatus (1) is characterized in that comprising crashproof laser scanner controller (11), pitching scan module (12), gear train (13), pitching scanning rotating frame (14), pitching scanning optical electric axial angle encoder (15), conical scanning motor (16), conical scanning mirror (17), conical scanning optical electric axial angle encoder (18), laser range finder (19); The described body angle of pitch measurement mechanism (2) of going straight up to is characterized in that comprising GPS(31), IMU(32), Kalman filter (23); Described crashproof laser scanning instrument apparatus (1) and the described body angle of pitch measurement mechanism (2) of going straight up to all are fixed on described going straight up on the body (3); Described conical scanning motor (16), described conical scanning mirror (17), described conical scanning optical electric axial angle encoder (18) and described laser range finder (19) are installed on the described pitching scanning rotating frame (14); In described crashproof laser scanning instrument apparatus (1), described pitching scan module (12) drives described pitching scanning rotating frame (14) and swings with sinusoidal manner by described gear train (13); Described conical scanning motor (16) drives described conical scanning mirror (17) rotation, the laser pulse that reflection is sent by described laser range finder (19), described laser range finder (19) is measured the space length that each laser pulse is beaten the laser pin point on barrier; When the described body (3) of going straight up to when having the angle of pitch to change, obtained in real time by the described body angle of pitch measurement mechanism (2) of going straight up to, offer described crashproof laser scanner controller (11), control the pendulum angle of described pitching scan module (12), change with the compensation angle of pitch, make laser scanning pitching field angle constant with respect to local horizontal coordinates all the time, prevent from making laser scanning zone drain sweep ground obstacle owing to the impact of the angle of pitch.
2. according to the crashproof laser scanning device of using of a kind of helicopter claimed in claim 1, it is characterized in that described crashproof laser scanner (1) is installed in the front bottom of going straight up to body (3), is 45 ° with respect to the mounting inclination angle of horizontal direction; The laser scanning point cloud form is determined by the motion of two aspects, the one, the sine swing of pitch orientation, the 2nd, the circular cone type laser scanning that scanning mirror rotatablely moves and forms, the laser spots track while scan that the synthetic generation circular rotating of two motions advances, form rectangle scanning band, but high resolving power is surveyed the barrier of helicopter front lower place; Pitching scanning field of view angle is
, the pitch angle of circular cone laser scanning is 15 ° (being the angle between the rotating shaft of the plane normal of described conical scanning mirror and described conical scanning motor); The pitch orientation corner of the described crashproof laser scanner of the space length of the laser pin point that described crashproof laser scanner controller (11) obtains according to laser range finder and orientation, described pitching scanning optical electric axial angle encoder (15) acquisition, and the anglec of rotation that obtains of described conical scanning optical electric axial angle encoder (18), can calculate the locus of ground laser pin point; When the laser scanning pulse is got on the ground obstacle of helicopter front lower place, described crashproof laser scanner controller (11) obtains the laser scanning point cloud about this barrier, through surface fitting, the three-dimensional imaging of acquired disturbance thing, judge shape and the range information of barrier, and remind the pilot in time to operate helicopter and avoid this barrier.
3. according to the crashproof laser scanning device of using of a kind of helicopter claimed in claim 1, it is characterized in that described GPS(21) receiving antenna be installed in described top of going straight up to body (3), described IMU(22) is installed on the airborne platform (4) of going straight up to body (3) bottom, described GPS(21) and described IMU(22) the data of measurement data by described Kalman filter (23) process, obtain described real-time angle of pitch value of going straight up to body (3), offer the described crashproof laser scanner controller (11) of described crashproof laser scanner (1), by compensation control, make the pitching scanning field of view angular region of described crashproof laser scanner (1) constant with respect to local horizontal reference coordinate system all the time, the pitching scanning field of view angle of the pitching scanning field of view angle of this moment=setting (
)-described gone straight up to the angle of pitch of body (3), thereby realize the real-Time Compensation to angle of pitch variation, eliminate the described angle of pitch of going straight up to body (3) and change adverse effect to the laser scanning overlay area, raising prevents from causing the disengaging of laser scanning zone to the scanning of ground obstacle because the described wide-angle angle of pitch of going straight up to body (3) changes to the scanning reliability of helicopter front lower place barrier.
4. according to the crashproof laser scanning device of using of a kind of helicopter claimed in claim 1, it is characterized in that described gear train (13) adopts gear-tooth wheel transmission or gear-belt wheel transmission.
5. according to the crashproof laser scanning device of using of a kind of helicopter claimed in claim 1, the maximum measure distance that it is characterized in that described laser range finder (19) is 300 meters, laser pulse repetition frequency is 100 kHz to the maximum, conical scanning mirror gyro frequency is that 110 Hz(are that rotational speed is 6600r/min), the sine swing frequency of pitch orientation is 2Hz; Sinusoidal cycles of the every rotation of rotational angle of the described pitching scanning rotating frame (14) of described crashproof laser scanner (1) can obtain a frame scan 3-D view, and the barrier of helicopter front lower place is carried out one-shot measurement; Because the sine swing frequency of pitch orientation is 2Hz, so can carry out twice laser scanning imaging p.s., obtains two width of cloth 3-D views, guarantee the real-time of scanning imagery; And conical scanning mirror gyro frequency is 110 Hz, then can obtain 110 circle laser scanning lines (being the trajectory that laser pulse point forms) p.s., to guarantee the density of laser point cloud, makes three-dimensional imaging have higher spatial resolution.
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| CN105093237A (en) * | 2015-09-08 | 2015-11-25 | 零度智控（北京）智能科技有限公司 | Detection device of barriers for unmanned plane and detection method thereof |
| CN105487075A (en) * | 2016-02-17 | 2016-04-13 | 陈杨珑 | Intelligent anti-collision alarm device with recognition function |
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| US11397245B2 (en) | 2017-08-30 | 2022-07-26 | Hexagon Technology Center Gmbh | Surveying instrument for scanning an object and for projection of information |
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| EP3517998A1 (en) * | 2018-01-24 | 2019-07-31 | Leica Geosystems AG | Airborne lidar pulse rate modulation |
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| US11639987B2 (en) * | 2018-01-24 | 2023-05-02 | Leica Geosystems Ag | Airborne lidar pulse rate modulation |
| CN108387222A (en) * | 2018-03-06 | 2018-08-10 | 黑龙江工业学院 | A kind of mapping location positioning system |
| CN112955776A (en) * | 2018-07-19 | 2021-06-11 | 卢米诺有限责任公司 | Adjustable pulse characteristics for ground detection in a lidar system |
| CN109633676A (en) * | 2018-11-22 | 2019-04-16 | 浙江中车电车有限公司 | A kind of method and system based on the laser radar obstruction detection direction of motion |
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| CN113232025B (en) * | 2021-06-07 | 2022-04-22 | 上海大学 | Mechanical arm obstacle avoidance method based on proximity perception |
| CN113232025A (en) * | 2021-06-07 | 2021-08-10 | 上海大学 | Mechanical arm obstacle avoidance method based on proximity perception |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
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