CN106773802A - Many laser radar synchronous scanning control systems and method - Google Patents
Many laser radar synchronous scanning control systems and method Download PDFInfo
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- CN106773802A CN106773802A CN201510828773.3A CN201510828773A CN106773802A CN 106773802 A CN106773802 A CN 106773802A CN 201510828773 A CN201510828773 A CN 201510828773A CN 106773802 A CN106773802 A CN 106773802A
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Abstract
The present invention relates to many laser radar synchronous scanning control systems and method, the system includes laser radar main frame and at least one laser radar slave；The laser radar slave is used to obtain the second closed loop scan frequency information of itself, first scanning angle information of the second scanning angle information and the laser radar main frame, and according to the second closed loop scan frequency information, second scanning angle information and the first scanning angle information determine the second scan frequency control information, the scan frequency of the laser radar slave is controlled according to the second scan frequency control information, so that the scan frequency of itself is synchronous with the scan frequency of the laser radar main frame, and make the scanning angle of itself synchronous with the scanning angle of the laser radar main frame or with certain difference synchronization.The present invention achievable many Laser Radar Scanning frequencies and angle synchronization, generation scanning is disturbed and then lifts collaborative work efficiency between preventing many laser radars.
Description
Technical field
The present invention relates to laser radar control field, more particularly to a kind of many laser radar synchronizations
Scanning control system and method.
Background technology
Laser radar is to launch the thunder of the characteristic quantities such as the position of detecting laser beam target, speed
Up to system.Laser radar will be by that to objective emission detectable signal (laser beam), then will receive
To the signal (target echo) reflected from target be compared with transmission signal, it is appropriate to make
After treatment, so that it may obtain target for information about, such as target range, orientation, height, speed
Degree, even attitude, the parameter such as shape, so as to be carried out to targets such as aircraft, guided missile and vehicles
Detection, tracking and identification.
In actual applications, a scanning type laser radar cannot increasingly meet application demand,
Generally need to synchronize data acquisition using multi-station laser and use cooperatively.But prior art
In many laser radar control process are realized, due to scanning angle between many laser radars
It is asynchronous, algorithm sequential can be caused to cause confusion, it is that vehicle is calculated, track is distinguished and vehicle
Positioning belt comes greatly difficult, reduces traffic control efficiency.For example in freedom of communication stream control
In system, to realize the functions such as vehicle cab recognition, vehicle positioning, many scanning type lasers need to be used
Radar carries out vehicle scan.Many laser radars can constitute the scanning area of multiple scanning cross-sections,
After vehicle enters scanning area, first should be by first scanning cross-section scanning to vehicle, then
New vehicle cab recognition is set up, if scanning angle is asynchronous, First laser may occur
Radar does not scan vehicle, and second scanning cross-section scans the situation for having arrived vehicle.This
When, because first scanning cross-section does not scan vehicle, it is impossible to set up vehicle cab recognition, therefore
The data that second scanning cross-section is scanned also cannot just be processed.Additionally, special at some
Fixed application scenario, the scanning area of many laser radars occurs coincidence, due to laser thunder
The uncertainty of the scanning angle for reaching, Laser interferometers phenomenon is occurred between many laser radars,
Directly affects Laser Radar Scanning performance.
Simultaneously as the scan frequency between many laser radars is asynchronous, scanning can be influenceed
The integration treatment of data, that is, scan data volume produces difference between causing laser radar individuality,
And the scan period is different between causing laser radar individuality, these are later data treatment
Bring difficulty.
The content of the invention
The technical problems to be solved by the invention are how to realize many scannings of laser radar frequently
Rate and scanning angle synchronization.
For this purpose, one aspect of the present invention proposes a kind of many laser radar synchronous scannings control
System, the system includes laser radar main frame and at least one laser radar slave；
The laser radar slave is used to obtain the second closed loop scan frequency information, second of itself
First scanning angle information of scanning angle information and the laser radar main frame, and according to institute
State the second closed loop scan frequency information, the second scanning angle information and first scanning angle
Information determines the second scan frequency control information, according to the second scan frequency control information control
The scan frequency of the laser radar slave is made, so that the scan frequency of itself and the laser radar
The scan frequency synchronization of main frame, and make the scanning angle of itself with the laser radar main frame
Scanning angle is synchronous or with certain difference synchronization.
Preferably, the laser radar main frame is used to obtain the first scan frequency information of itself,
Laser radar master is determined according to the first scan frequency information and default scan frequency information
First scan frequency control information of machine, is somebody's turn to do with according to the first scan frequency control information control
The scan frequency of laser radar main frame and default scan frequency synchronizing information.
Preferably, the laser radar main frame is further used for being believed according to first scan frequency
Breath and default scan frequency information, the of the laser radar main frame is determined by closed loop control algorithm
One scan frequency control information.
Preferably, the laser radar slave is further used for being believed according to first scanning angle
Breath and the second scanning angle information, determine that scanning angle adjusts letter by closed loop control algorithm
Breath, and information and the default scan frequency information determination scanning are adjusted according to the scanning angle
Frequency compensation information, is determined according to the second scan frequency information by closed loop control algorithm
Two closed loop scan frequency information, according to the second closed loop scan frequency information, the scanning frequently
Rate compensated information and the default scan frequency information determine that the second of the laser radar slave sweeps
Retouch frequency control information.
Preferably, the laser radar slave is further used for using formula fα=(1+ α/2 π) F
Scan frequency compensated information is calculated, wherein, the α is that the scanning angle adjusts information, fα
It is the scan frequency compensated information, F is the default scan frequency information.
Preferably, the laser radar slave is further used for scanning frequency according to second closed loop
Rate information, the scan frequency compensated information and default scanning angle regulating time determine described
Second scan frequency control information.
On the other hand, present invention also offers a kind of many laser radar synchronous scanning controlling parties
Method, the method includes：
Laser radar slave obtains the second closed loop scan frequency information, the second scanning angle of itself
First scanning angle information of information and laser radar main frame, and swept according to second closed loop
Retouch frequency information, the second scanning angle information and the first scanning angle information and determine second
Scan frequency control information, the laser radar is controlled according to the second scan frequency control information
The scan frequency of slave, so that the scanning of the scan frequency of itself and the laser radar main frame is frequently
Rate synchronization, and make the scanning angle of itself synchronous with the scanning angle of the laser radar main frame
Or with certain difference synchronization.
Preferably, also include：
The laser radar slave obtains the second closed loop scan frequency information of itself, the second scanning
Before first scanning angle information of angle information and laser radar main frame, the method is also wrapped
Include：
The laser radar main frame obtains the first scan frequency information of itself, according to described first
Scan frequency information and default scan frequency information determine the first scanning of the laser radar main frame
Frequency control information, the laser radar main frame is controlled with according to the first scan frequency control information
Scan frequency and default scan frequency synchronizing information.
Preferably, it is described to be believed according to the second closed loop scan frequency information, the second scanning angle
Breath and the first scanning angle information determine the second scan frequency control information, specially：
According to the first scanning angle information and the second scanning angle information, by closed loop
Control algolithm determines that scanning angle adjusts information, and adjusts information and institute according to the scanning angle
State default scan frequency information and determine scan frequency compensated information, according to second scan frequency
Information determines the second closed loop scan frequency information by closed loop control algorithm, is closed according to described second
Ring scan frequency information, the scan frequency compensated information and the default scan frequency information are true
Second scan frequency control information of the fixed laser radar slave.
Preferably, it is described that information and the default scan frequency letter are adjusted according to the scanning angle
Breath determines scan frequency compensated information, specially：
Using formula fα=(1+ α/2 π) F calculate scan frequency compensated information, wherein, the α is
The scanning angle adjusts information, fαIt is the scan frequency compensated information, F is described default
Scan frequency information.
The present invention uses double-closed-loop control, when being capable of achieving many laser radars collaborative works, it is ensured that
Scan frequency and scanning angle are synchronous respectively or synchronous respectively with certain difference, prevent many to swash
There is scanning interference between optical radar and then lift collaborative work efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below
The accompanying drawing to be used needed for embodiment or description of the prior art will be briefly described, show and
Easy insight, drawings in the following description are some embodiments of the present invention, common for this area
For technical staff, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 shows many laser radar synchronous scanning control systems of one embodiment of the invention
Structured flowchart；
Fig. 2 shows many laser radar synchronous scanning control systems of one embodiment of the invention
Method flow diagram；
Fig. 3 shows many laser radar synchronous scannings control system of another embodiment of the present invention
The method flow diagram of system；
Fig. 4 shows many laser radar synchronous scanning control systems of one embodiment of the invention
Concrete structure schematic diagram；
Fig. 5 shows the laser radar main frame and laser radar main frame of one embodiment of the invention
Scanning angle view.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below will knot
The accompanying drawing in the embodiment of the present invention is closed, the technical scheme in the embodiment of the present invention is carried out clearly
Description, it is clear that described embodiment is a part of embodiment of the invention, rather than whole
Embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not making wound
The every other embodiment obtained under the premise of the property made work, belongs to the model of present invention protection
Enclose.
Fig. 1 shows many laser radar synchronous scanning control systems of one embodiment of the invention
Structured flowchart；As shown in figure 1, the system swashs including laser radar main frame 11 and at least one
Optical radar slave 12；
Described laser radar slave 12 be used for obtain itself the second closed loop scan frequency information,
First scanning angle information of the second scanning angle information and the laser radar main frame 11, and
Swept according to the second closed loop scan frequency information, the second scanning angle information and described first
Retouch angle information and determine the second scan frequency control information, controlled according to second scan frequency
Information controls the scan frequency of the laser radar slave 12 so that the scan frequency of itself with it is described
The scan frequency synchronization of laser radar main frame 11, and the scanning angle of itself and the laser thunder
Scanning angle up to main frame 11 is synchronous or with certain difference synchronization.
The many laser radar synchronous scanning control systems of the present embodiment can realize many laser thunders
When cooperating, it is ensured that scan frequency and scanning angle are synchronous respectively or with certain difference point
Not synchronously, prevent that scanning interference and then lifting collaborative work effect occur between many laser radars
Rate.
Preferably, above-mentioned laser radar main frame 11 can be further used for obtain itself first sweep
Frequency information is retouched, determining according to the first scan frequency information and default scan frequency information should
First scan frequency control information of laser radar main frame 11, with according to the first scan frequency control
Information processed controls the scan frequency and default scan frequency synchronizing information of the laser radar main frame 11.
Further, described laser radar main frame 11 can be used for according to first scan frequency
Information and default scan frequency information, the laser radar main frame 11 is determined by closed loop control algorithm
The first scan frequency control information.
Used as the preferred of the present embodiment, described laser radar slave 12 is further used for according to institute
The first scanning angle information and the second scanning angle information are stated, it is true by closed loop control algorithm
Determine scanning angle regulation information, and information and the default scanning are adjusted according to the scanning angle
Frequency information determines scan frequency compensated information, according to the second scan frequency information by closing
Ring control algolithm determines the second closed loop scan frequency information, according to the second closed loop scan frequency
Information, the scan frequency compensated information and the default scan frequency information determine the laser thunder
Up to the second scan frequency control information of slave.
On this basis, the laser radar slave 12 is further used for utilizing formula
fα=(1+ α/2 π) F calculate scan frequency compensated information, wherein, the α is the scanning angle
Regulation information, fαIt is the scan frequency compensated information, F is the default scan frequency information.
Preferably, the laser radar slave 12 can be further used for according to second closed loop
Scan frequency information, the scan frequency compensated information and default scanning angle regulating time are true
The fixed second scan frequency control information.
The many laser radar synchronous scanning control systems of the present embodiment are realizing many laser thunders
While work up to synchronous scanning Collaborative Control, additionally it is possible to ensure many scannings of laser radar frequently
The control accuracy of rate and scanning angle, sweeping between many laser radars of reduction to a greater extent
Interference is retouched, and further lifts collaborative work efficiency.
Fig. 2 shows many laser radar synchronous scanning control systems of one embodiment of the invention
Method flow diagram.As shown in Fig. 2 the method includes：
S1：Laser radar slave obtains the second closed loop scan frequency information of itself, the second scanning
First scanning angle information of angle information and laser radar main frame, and closed according to described second
Ring scan frequency information, the second scanning angle information and the first scanning angle information determine
Second scan frequency control information, the laser is controlled according to the second scan frequency control information
The scan frequency of radar slave, so that the scan frequency of itself and the laser radar main frame are swept
Retouch Frequency Synchronization, and the scanning angle for making the scanning angle of itself and the laser radar main frame
Synchronously or with certain difference synchronization.
The method of many laser radar synchronous scanning control systems described in the present embodiment can be used
In concrete application said system embodiment, its principle is similar with technique effect, no longer goes to live in the household of one's in-laws on getting married herein
State.
Fig. 3 shows many laser radar synchronous scannings control system of another embodiment of the present invention
The method flow diagram of system.As shown in figure 3, preferably, laser radar described in step S1 from
Machine obtains the second closed loop scan frequency information, the second scanning angle information and the laser thunder of itself
Up to before the first scanning angle information of main frame, the method also includes：
S0：The laser radar main frame obtains the first scan frequency information of itself, according to described
First scan frequency information and default scan frequency information determine the first of the laser radar main frame
Scan frequency control information, the laser radar is controlled with according to the first scan frequency control information
The scan frequency of main frame and default scan frequency synchronizing information.
Preferably, it is above-mentioned true according to the first scan frequency information and default scan frequency information
First scan frequency control information of the fixed laser radar main frame, specially：
According to the first scan frequency information and default scan frequency information, by closed-loop control
Algorithm determines the first scan frequency control information of the laser radar main frame.
On this basis, according to the second closed loop scan frequency information, described in step S1
Two scanning angle information and the first scanning angle information determine that the second scan frequency is controlled
Information, specially：
According to the first scanning angle information and the second scanning angle information, by closed loop
Control algolithm determines that scanning angle adjusts information, and adjusts information and institute according to the scanning angle
State default scan frequency information and determine scan frequency compensated information, according to second scan frequency
Information determines the second closed loop scan frequency information by closed loop control algorithm, is closed according to described second
Ring scan frequency information, the scan frequency compensated information and the default scan frequency information are true
Second scan frequency control information of the fixed laser radar slave.
Further, it is above-mentioned that information and the default scan frequency are adjusted according to the scanning angle
Information determines scan frequency compensated information, can be specially：
Using formula fα=(1+ α/2 π) F calculate scan frequency compensated information, wherein, the α is
The scanning angle adjusts information, fαIt is the scan frequency compensated information, F is described default
Scan frequency information.
Additionally, preferably, it is above-mentioned according to the second closed loop scan frequency information, described sweep
Retouch frequency compensation information and the default scan frequency information determines the of the laser radar slave
Two scan frequency control information, including：
According to the second closed loop scan frequency information fc, the scan frequency compensated information fαAnd
Default scanning angle regulating time T/N determines the second scan frequency control information f, wherein,
T is regulating cycle, and N is preset constant.For example, at the system fading margin moment, f is exported firstα
Angle synchronous adjustment is scanned, while opening timing device, when timing reaches T/N,
Output fcFrequency Synchronization regulation is scanned, timer is simultaneously closed off, wherein T is regulating cycle；
N is adjustable numerical value, and different value is chosen according to different systems.
Preferably, adoptable control algolithm is engineering in practice using the widest in the present embodiment
General ratio-integration-differential control, abbreviation PID control rule.PID control is restrained with its structure
Simply, good stability, reliable operation, easy to adjust and turn into one of Industry Control major technique.
When controlled device structure and parameter can not be grasped completely, or during less than mathematical models, control
When theoretical other technologies are difficult to use, facilitate the most using PID control technology.PID control,
Also there are PI and PD control in practice.PID controller is exactly systematic error, proportion of utilization, integration,
Difference gauge calculates controlled quentity controlled variable and is controlled.The present embodiment is merely to illustrate technical side of the invention
Case, rather than its limitations, it will be understood by those within the art that：It still can be right
The control rate that the embodiment is used is modified, or carries out equivalent to it, and these are repaiied
Change or replace, do not make the spirit of essence disengaging the present embodiment technical scheme of appropriate technical solution
And scope.
The method of many laser radar synchronous scanning control systems described in the present embodiment can be used
In concrete application said system embodiment, its principle is similar with technique effect, no longer goes to live in the household of one's in-laws on getting married herein
State.
Fig. 4 shows many laser radar synchronous scannings control system of one embodiment of the invention
The concrete structure schematic diagram of system.Many laser thunders of the invention are illustrated with reference to Fig. 4
Up to synchronous scanning control system and the concrete application process of method.As shown in figure 4, the system
Including 1 laser radar main frame and Duo Tai laser radar slaves, due to every laser radar from
The synchronous method all same of machine and laser radar main frame, therefore the present embodiment is with laser radar main frame
100 and laser radar slave 200 as a example by, illustrate specific synchronous scanning control method.Need
Illustrate, the laser radar main frame and Duo Tai laser radar slaves of the present embodiment
Using scanning type laser radar, and the hardware composition of many scanning type laser radars is identical,
Connected using bus between many scanning type laser radars.
Described laser radar main frame 100, it is preferable to retouch pulsed drive module including first
102, first laser module 103, the first scan frequency closed loop control module 101 and first is swept
Retouch information detecting module 104.
Wherein, first pulsed drive module 102 is retouched, for receiving the first scan frequency closed loop control
The first scan frequency control information f that molding block 101 sendsPID, output frequency is fPIDSweep
Retouch pulse；
First laser module 103, including laser diode, pulsed drive is retouched for receiving first
The scanning impulse that module 102 sends is lighted；
First scanning information detection module 104, for detecting and exports first laser module 103
Real-time first scan frequency information and the first scanning angle information；
First scan frequency closed loop control module 101, for receiving the first scanning information detection mould
The first scan frequency information that block 104 sends, closed-loop control exports the control of the first scan frequency
Information fPID。
Described scanning type laser radar slave 200, including the second scanning impulse drive module
203, second laser module 204, the second scanning information detection module 205, the second scanning frequency
Rate closed loop control module 201, scanning angle closed loop control module 206 and scan frequency compensation mould
Block 202.
Wherein, the second scanning impulse drive module 203, for receiving scan frequency compensating module
202 the second scan frequency control information f for sending, output frequency is the scanning impulse of f；
Second laser module 204, including laser diode, drive for receiving the second scanning impulse
The scanning impulse that dynamic model block 203 sends is lighted；
Second scanning information detection module 205, for detecting and exports second laser module 204
Real-time second scan frequency information and the second scanning angle information.
Second scan frequency closed loop control module 201, for receiving the second scanning information detection mould
The second scan frequency information that block 205 sends, closed-loop control (such as PID control) output
Second closed loop scan frequency information fc；Scanning angle closed loop control module 206, sweeps for receiving
Retouch formula laser radar main frame 100 transmission the first scanning angle information (that is, scanning angle is same
Step information) αIt is main, while receiving the second scanning that the second scanning information detection module 205 sends
Angle information αFrom, closed-loop control output scanning angle regulation information αPID；Scan frequency is compensated
Module 202, for receiving the second scanning that the second scan frequency closed loop control module 201 sends
Frequency closed loop regulation information fcThe scanning angle sent with scanning angle closed loop control module 206
Regulation information αPID, calculate the output laser radar slave synchronize needed for scanning the
Two scan frequency control information f.
Specifically, when angle closed-loop control is scanned, laser radar slave 200 is swept
Retouch angle closed loop control module 206 receive laser radar main frame 100 transmission scanning angle it is same
After step information, the synchronous angle information is recorded for αIt is main, and driver sweep angle closed-loop control mould
Block 206 receives the second scanning angle information that the second scanning information detection module 205 sends,
Recording the second scanning angle information that now the second scanning information detection module 205 sends is
αFrom, then scanning type laser radar host computer 100 and scanning type laser radar slave 200 are at one
Synchronous angular difference in regulating cyclep=αFrom-αIt is mainIf, αp>π, then αp=αp-2π。
PID closed-loop controls are synchronized using the scanning angle difference, output closed-loop regulation is calculated
Scanning angle regulation information α afterwardsPID。
When frequency compensation calculating is scanned, the scan frequency compensation of laser radar slave 200
Module 202 passes through formula fα=(1+ αPID/ 2 π) F is by scanning angle regulation information αPIDIt is converted into and sweeps
Retouch frequency compensation information fα, according to fαWith the output of the second scan frequency closed loop control module 201
Scan frequency regulation information fc, determine that single adjusts the second final scan frequency control information
F, the laser module of second laser module 204 is driven by the second scanning impulse drive module 203
Lighted according to setting scan frequency.
Specifically, Fig. 5 shows the laser radar main frame and laser thunder of one embodiment of the invention
Up to the scanning angle view of main frame.As shown in figure 5, in a regulating cycle, such as
Really many scan frequencies and scanning angle of laser radar are in synchronous regime, reach and are adjusted in synchronism
During the moment, the scan angle of scanning type laser radar host computer 100 and scanning type laser radar slave 200
Degree is identical (for example, the scanning angle of laser radar main frame 100 is in 301 states, laser radar
The scanning angle of slave 200 is in 302 states), now, synchronous angular differencep=0, single regulation
Final scan frequency f=F.
Another situation, if many scan frequencies and scanning angle of laser radar are in non-same
Step state is (for example, when the scanning angle of laser radar main frame 100 is in 301 state, swash
The scanning angle of optical radar slave 200 is in 303 states or 304 states), reach same step
During the section moment, the scanning of the output of scan frequency compensating module 202 of laser radar slave 200
Angular adjustment information αPID, by formula fα=(1+ αPID/ 2 π) scanning angle adjusts information by F
αPIDIt is converted into scan frequency compensated information fα, then by scan frequency compensated information fαWith
The scan frequency regulation information f of the output of two scan frequency closed loop control module 201c, it is determined that scanning
The scan frequency of the output single regulation of frequency compensation module 202.Further, laser radar
Slave 200 can adjust information f according to scan frequencyc, scan frequency compensated information fαAnd it is pre-
If scanning angle regulating time T/N determines that single adjusts final the second scan frequency control letter
Breath f.For example, at the system fading margin moment, f is exported firstαAngle synchronous adjustment is scanned,
Opening timing device, when timing reaches T/N, exports f simultaneouslycThe same step of scan frequency
Section, simultaneously closes off timer, and wherein T is regulating cycle；N is adjustable numerical value, according to not
Same system chooses different value.
When the present invention can be capable of achieving many laser radars and cooperate, it is ensured that scan frequency and
Scanning angle is synchronous respectively or synchronous respectively with certain difference, and ensure that scanning frequency
The control accuracy of rate and scanning angle, between many laser radars of reduction to a greater extent
Scanning interference, and further lift collaborative work efficiency.
Above example is merely to illustrate technical scheme, rather than its limitations；To the greatest extent
Pipe has been described in detail to the present invention with reference to the foregoing embodiments, the ordinary skill of this area
Personnel should be understood：It can still be carried out to the technical scheme described in foregoing embodiments
Modification, or equivalent is carried out to which part technical characteristic；And these modifications or replacement,
Do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of many laser radar synchronous scanning control systems, it is characterised in that including swashing
Optical radar main frame and at least one laser radar slave；
The laser radar slave is used to obtain the second scan frequency information of itself, the second scanning
First scanning angle information of angle information and the laser radar main frame, and according to described
Two scan frequency information, the second scanning angle information and the first scanning angle information determine
Second scan frequency control information, the laser is controlled according to the second scan frequency control information
The scan frequency of radar slave, so that the scan frequency of itself and the laser radar main frame are swept
Retouch Frequency Synchronization, and the scanning angle for making the scanning angle of itself and the laser radar main frame
Synchronously or with certain difference synchronization.
2. many laser radars synchronous scanning control system according to claim 1, it is special
Levy and be, the laser radar main frame is used to obtain the first scan frequency information of itself, according to
The first scan frequency information and default scan frequency information determine the laser radar main frame
First scan frequency control information, the laser is controlled with according to the first scan frequency control information
The scan frequency of radar host computer and default scan frequency synchronizing information.
3. many laser radars synchronous scanning control system according to claim 2, it is special
Levy and be, the laser radar main frame be further used for according to the first scan frequency information and
Default scan frequency information, determine the laser radar main frame by closed loop control algorithm first is swept
Retouch frequency control information.
4. many laser radars synchronous scanning control system according to claim 1, it is special
Levy and be, the laser radar slave be further used for according to the first scanning angle information and
The second scanning angle information, determines that scanning angle adjusts information by closed loop control algorithm,
And information and the default scan frequency information determination scanning frequency are adjusted according to the scanning angle
Rate compensated information, second is determined according to the second scan frequency information by closed loop control algorithm
Closed loop scan frequency information, according to the second closed loop scan frequency information, the scan frequency
Compensated information and the default scan frequency information determine the second scanning of the laser radar slave
Frequency control information.
5. many laser radars synchronous scanning control system according to claim 4, it is special
Levy and be, the laser radar slave is further used for using formula fα=(1+ α/2 π) F are calculated
Scan frequency compensated information, wherein, the α is that the scanning angle adjusts information, fαFor described
Scan frequency compensated information, F is the default scan frequency information.
6. many laser radar synchronous scanning control systems according to claim 4 or 5, its
It is characterised by, the laser radar slave is further used for according to the second closed loop scan frequency
Information, the scan frequency compensated information and default scanning angle regulating time determine described
Two scan frequency control information.
7. a kind of many laser radar synchronous scanning control methods, it is characterised in that including：
Laser radar slave obtains the second closed loop scan frequency information, the second scanning angle of itself
First scanning angle information of information and laser radar main frame, and swept according to second closed loop
Retouch frequency information, the second scanning angle information and the first scanning angle information and determine second
Scan frequency control information, the laser radar is controlled according to the second scan frequency control information
The scan frequency of slave, so that the scanning of the scan frequency of itself and the laser radar main frame is frequently
Rate synchronization, and make the scanning angle of itself synchronous with the scanning angle of the laser radar main frame
Or with certain difference synchronization.
8. many laser radars synchronous scanning control method according to claim 7, it is special
Levy and be, the laser radar slave obtains the second closed loop scan frequency information, second of itself
Before first scanning angle information of scanning angle information and laser radar main frame, the method is also
Including：
The laser radar main frame obtains the first scan frequency information of itself, according to described first
Scan frequency information and default scan frequency information determine the first scanning of the laser radar main frame
Frequency control information, the laser radar main frame is controlled with according to the first scan frequency control information
Scan frequency and default scan frequency synchronizing information.
9. many laser radars synchronous scanning control method according to claim 7, it is special
Levy and be, it is described according to the second closed loop scan frequency information, the second scanning angle information with
And the first scanning angle information determines the second scan frequency control information, specially：
According to the first scanning angle information and the second scanning angle information, by PID
Control algolithm determines that scanning angle adjusts information, and adjusts information and institute according to the scanning angle
State default scan frequency information and determine scan frequency compensated information, according to second scan frequency
Information determines the second closed loop scan frequency information by pid control algorithm, is closed according to described second
Ring scan frequency information, the scan frequency compensated information and the default scan frequency information are true
Second scan frequency control information of the fixed laser radar slave.
10. many laser radars synchronous scanning control method according to claim 9, its
It is characterised by, it is described that information and the default scan frequency information are adjusted according to the scanning angle
Determine scan frequency compensated information, specially：
Using formula fα=(1+ α/2 π) F calculate scan frequency compensated information, wherein, the α is
The scanning angle adjusts information, fαIt is the scan frequency compensated information, F is described default
Scan frequency information.
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