CN106773802B - More laser radar synchronous scanning control systems and method - Google Patents
More laser radar synchronous scanning control systems and method Download PDFInfo
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- CN106773802B CN106773802B CN201510828773.3A CN201510828773A CN106773802B CN 106773802 B CN106773802 B CN 106773802B CN 201510828773 A CN201510828773 A CN 201510828773A CN 106773802 B CN106773802 B CN 106773802B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The present invention relates to more laser radar synchronous scanning control systems and method, which includes laser radar host and an at least 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 host, and according to the second closed loop scan frequency information, second scanning angle information and the first scanning angle information determine that the second scan frequency controls information, the scan frequency that information controls the laser radar slave is controlled according to second scan frequency, so that the scan frequency of itself is synchronous with the scan frequency of the laser radar host, and keeps the scanning angle of itself synchronous with the scanning angle of the laser radar host or synchronized with certain difference.It is synchronous with angle that the present invention can be achieved more laser radar scanning frequencies, prevents from scanning occurs between more laser radars to interfere and then promoting collaborative work efficiency.
Description
Technical field
The present invention relates to laser radar control field, more particularly to a kind of more laser radar synchronous scanning control systems and
Method.
Background technique
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.Laser radar
By to objective emission detectable signal (laser beam), then by the reflected signal of slave target (target echo) received with
Transmitting signal is compared, after making proper treatment, so that it may target is obtained for information about, such as target range, orientation, height, speed
Degree, posture, the even parameters such as shape, to be detected, tracked and be identified to targets such as aircraft, guided missile and vehicles.
In practical applications, a scanning type laser radar is increasingly unable to satisfy application demand, it usually needs using more
Platform laser synchronizes data acquisition and is used cooperatively.But the prior art realize more laser radar control processes in, due to
Scanning angle is asynchronous between more laser radars, will lead to algorithm timing and causes confusion, and calculates for vehicle, lane is distinguished and vehicle
Positioning belt comes greatly difficult, reduces traffic control efficiency.Such as in freedom of communication flow control, to realize that vehicle is known
Not, the functions such as vehicle positioning need to carry out vehicle scan using more scanning type laser radars.More laser radars constitute multiple
Then the scanning area of scanning cross-section should be built after vehicle enters scanning area by first scanning cross-section scanning to vehicle first
New vehicle cab recognition is found, if scanning angle is asynchronous, First laser radar may occur and do not scan vehicle, and
The case where vehicle has been arrived in two scanning cross-section scannings.At this point, can not be established since first scanning cross-section does not scan vehicle
Vehicle cab recognition, therefore the data that second scanning cross-section scans also can not just be handled.In addition, in certain specific applied fields
It closes, the scanning area of more laser radars will appear coincidence, due to the uncertainty of the scanning angle of laser radar, more laser
It will appear Laser interferometers phenomenon between radar, directly affect laser radar scanning performance.
Simultaneously as the scan frequency between more laser radars is asynchronous, the integration processing of scan data will affect, i.e.,
Cause scan data volume between laser radar individual to generate difference, and cause the scan period between laser radar individual different,
These are that later data processing brings difficulty.
Summary of the invention
The technical problem to be solved by the present invention is to how realize that the scan frequency of more laser radars and scanning angle are same
Step.
For this purpose, one aspect of the present invention proposes a kind of more laser radar synchronous scanning control systems, the system packet
Include laser radar host and at least a laser radar slave；
The laser radar slave be used to obtain itself the second closed loop scan frequency information, the second scanning angle information with
And the first scanning angle information of the laser radar host, and according to the second closed loop scan frequency information, the second scanning
Angle information and the first scanning angle information determine that the second scan frequency controls information, according to second scan frequency
Control information controls the scan frequency of the laser radar slave, so that the scan frequency of itself and the laser radar host are swept
Frequency Synchronization is retouched, and keeps the scanning angle of itself synchronous with the scanning angle of the laser radar host or same with certain difference
Step.
Preferably, the laser radar host is used to obtain the first scan frequency information of itself, sweeps according to described first
It retouches frequency information and default scan frequency information determines the first scan frequency control information of the laser radar host, it should with basis
First scan frequency control information control the laser radar host scan frequency and default scan frequency synchronizing information.
Preferably, the laser radar host is further used for according to the first scan frequency information and default scanning frequency
Rate information determines that the first scan frequency of the laser radar host controls information by closed loop control algorithm.
Preferably, the laser radar slave is further used for being swept according to the first scanning angle information and described second
Retouch angle information, by closed loop control algorithm determine scanning angle adjust information, and according to the scanning angle adjust information and
The default scan frequency information determines scan frequency compensated information, passes through closed-loop control according to the second scan frequency information
Algorithm determines the second closed loop scan frequency information, according to the second closed loop scan frequency information, scan frequency compensation letter
Breath and the default scan frequency information determine the second scan frequency control information of the laser radar slave.
Preferably, the laser radar slave is further used for utilizing formula fα=(π of 1+ α/2) F calculates scan frequency and mends
Repay information, wherein the α is that the scanning angle adjusts information, fαFor the scan frequency compensated information, F is described default
Scan frequency information.
Preferably, the laser radar slave is further used for according to the second closed loop scan frequency information, described sweeps
It retouches frequency compensation information and default scanning angle regulating time determines the second scan frequency control information.
On the other hand, the present invention also provides a kind of more laser radar synchronous scanning control methods, this method comprises:
Laser radar slave obtains the second closed loop scan frequency information, the second scanning angle information and the laser thunder of itself
Up to the first scanning angle information of host, and according to the second closed loop scan frequency information, the second scanning angle information and
The first scanning angle information determines that the second scan frequency controls information, controls information control according to second scan frequency
The scan frequency of the laser radar slave, so that the scan frequency of itself is synchronous with the scan frequency of the laser radar host,
And keeps the scanning angle of itself synchronous with the scanning angle of the laser radar host or synchronized with certain difference.
Preferably, further includes:
The laser radar slave obtain itself the second closed loop scan frequency information, the second scanning angle information and swash
Before first scanning angle information of optical radar host, this method further include:
The laser radar host obtains the first scan frequency information of itself, according to the first scan frequency information and
Default scan frequency information determines the first scan frequency control information of the laser radar host, according to first scan frequency
Control information control the laser radar host scan frequency and default scan frequency synchronizing information.
Preferably, described according to the second closed loop scan frequency information, the second scanning angle information and described first
Scanning angle information determines that the second scan frequency controls information, specifically:
According to the first scanning angle information and the second scanning angle information, swept by closed loop control algorithm determination
Angular adjustment information is retouched, and determines that scan frequency is mended according to scanning angle adjusting information and the default scan frequency information
Information is repaid, the second closed loop scan frequency information is determined by closed loop control algorithm according to the second 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
Second scan frequency of radar slave controls information.
Preferably, described that scan frequency is determined according to scanning angle adjusting information and the default scan frequency information
Compensated information, specifically:
Utilize formula fα=(π of 1+ α/2) F calculates scan frequency compensated information, wherein the α is the scanning angle tune
Save information, fαFor the scan frequency compensated information, F is the default scan frequency information.
The present invention uses double-closed-loop control, it can be achieved that when more laser radars cooperate, and guarantees scan frequency and scanning
Angle is synchronous respectively or is synchronized respectively with certain difference, prevents that scanning interference occurs between more laser radars and then promotes association
Same working efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 shows the structural block diagram of more laser radar synchronous scanning control systems of one embodiment of the invention；
Fig. 2 shows the method flow diagrams of more laser radar synchronous scanning control systems of one embodiment of the invention；
Fig. 3 shows the method flow of more laser radar synchronous scanning control systems of another embodiment of the present invention
Figure；
Fig. 4 shows the specific structure signal of more laser radar synchronous scanning control systems of one embodiment of the invention
Figure；
The scanning angle state of laser radar host and laser radar host that Fig. 5 shows one embodiment of the invention is shown
It is intended to.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1 shows the structural block diagram of more laser radar synchronous scanning control systems of one embodiment of the invention；Such as
Shown in Fig. 1, which includes laser radar host 11 and an at least laser radar slave 12；
The laser radar slave 12 is used to obtain the second closed loop scan frequency information of itself, the second scanning angle letter
First scanning angle information of breath and the laser radar host 11, and according to the second closed loop scan frequency information, the
Two scanning angle information and the first scanning angle information determine that the second scan frequency controls information, sweep according to described second
The scan frequency that frequency control information controls the laser radar slave 12 is retouched, so that the scan frequency of itself and the laser radar
The scan frequency of host 11 it is synchronous and itself scanning angle it is synchronous with the scanning angle of the laser radar host 11 or with
Certain difference is synchronous.
When the more laser radar synchronous scanning control systems of the present embodiment can realize that more laser radars cooperate, protect
Card scan frequency and scanning angle is synchronous respectively or is synchronized respectively with certain difference, prevents from sweeping between more laser radars
It retouches and interferes and then promote collaborative work efficiency.
Preferably, above-mentioned laser radar host 11 can be further used for obtaining the first scan frequency information of itself, root
The first scan frequency control of the laser radar host 11 is determined according to the first scan frequency information and default scan frequency information
Information processed, to control the scan frequency of the laser radar host 11 according to first scan frequency control information and preset scanning frequency
Rate synchronizing information.
Further, the laser radar host 11 can be used for according to the first scan frequency information and default scanning
Frequency information determines that the first scan frequency of the laser radar host 11 controls information by closed loop control algorithm.
As the preferred of the present embodiment, the laser radar slave 12 is further used for according to first scanning angle
Information and the second scanning angle information determine that scanning angle adjusts information by closed loop control algorithm, and are swept according to described
It retouches angular adjustment information and the default scan frequency information determines scan frequency compensated information, according to second scan frequency
Information determines the second closed loop scan frequency information by closed loop control algorithm, according to the second closed loop scan frequency information, institute
It states scan frequency compensated information and the default scan frequency information determines the second scan frequency control of the laser radar slave
Information.
On this basis, the laser radar slave 12 is further used for utilizing formula fα=(π of 1+ α/2) F calculates scanning
Frequency compensation information, wherein the α is that the scanning angle adjusts information, fαFor the scan frequency compensated information, F is institute
State default scan frequency information.
Preferably, the laser radar slave 12 can be further used for according to the second closed loop scan frequency information,
The scan frequency compensated information and default scanning angle regulating time determine the second scan frequency control information.
The more laser radar synchronous scanning control systems of the present embodiment are realizing more laser radar synchronous scanning collaborations
While controlling work, additionally it is possible to guarantee the scan frequency of more laser radars and the control precision of scanning angle, more
On reduce more laser radars between scanning interference, and further promoted collaborative work efficiency.
Fig. 2 shows the method flow diagrams of more laser radar synchronous scanning control systems of one embodiment of the invention.
As shown in Fig. 2, this method comprises:
S1: laser radar slave obtain itself the second closed loop scan frequency information, the second scanning angle information and swash
First scanning angle information of optical radar host, and according to the second closed loop scan frequency information, the second scanning angle information
And the first scanning angle information determines that the second scan frequency controls information, controls information according to second scan frequency
The scan frequency of the laser radar slave is controlled, so that the scan frequency of itself and the scan frequency of the laser radar host are same
Step, and keep the scanning angle of itself synchronous with the scanning angle of the laser radar host or synchronized with certain difference.
It is above-mentioned to can be used for concrete application for the method for more laser radar synchronous scanning control systems described in the present embodiment
System embodiment, principle is similar with technical effect, and details are not described herein again.
Fig. 3 shows the method flow of more laser radar synchronous scanning control systems of another embodiment of the present invention
Figure.As shown in figure 3, preferably, laser radar slave described in step S1 obtain itself the second closed loop scan frequency information,
Before second scanning angle information and the first scanning angle information of laser radar host, this method further include:
S0: the laser radar host obtains the first scan frequency information of itself, is believed according to first scan frequency
Breath and default scan frequency information determine the first scan frequency control information of the laser radar host, according to first scanning
Frequency control information control the laser radar host scan frequency and default scan frequency synchronizing information.
Preferably, above-mentioned that laser radar master is determined according to the first scan frequency information and default scan frequency information
First scan frequency of machine controls information, specifically:
According to the first scan frequency information and default scan frequency information, which is determined by closed loop control algorithm
First scan frequency of radar host computer controls information.
On this basis, according to the second closed loop scan frequency information, the second scanning angle information described in step S1
And the first scanning angle information determines that the second scan frequency controls information, specifically:
According to the first scanning angle information and the second scanning angle information, swept by closed loop control algorithm determination
Angular adjustment information is retouched, and determines that scan frequency is mended according to scanning angle adjusting information and the default scan frequency information
Information is repaid, the second closed loop scan frequency information is determined by closed loop control algorithm according to the second 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
Second scan frequency of radar slave controls information.
Further, above-mentioned that information and the determining scanning frequency of the default scan frequency information are adjusted according to the scanning angle
Rate compensated information, can specifically:
Utilize formula fα=(π of 1+ α/2) F calculates scan frequency compensated information, wherein the α is the scanning angle tune
Save information, fαFor the scan frequency compensated information, F is the default scan frequency information.
In addition, preferably, it is above-mentioned according to the second closed loop scan frequency information, the scan frequency compensated information and
The default scan frequency information determines the second scan frequency control information of the laser radar slave, comprising:
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,
System adjusts the moment, first output fαIt is scanned angle synchronous adjustment, while opening timing device, when timing reaches T/N
When, export fcIt is scanned Frequency Synchronization adjusting, simultaneously closes off timer, wherein T is regulating cycle；N is adjustable numerical value, according to
Different systems chooses different value.
Preferably, ratio-product that adoptable control algolithm is most widely used in practice in the present embodiment for engineering
Point-differential control, abbreviation PID control rule.PID control rule it is simple with its structure, stability is good, reliable operation, it is easy to adjust and
As one of Industry Control major technique.When controlled device structure and parameter cannot be grasped completely, or less than mathematical models
When, it is the most convenient using PID control technology when the other technologies of control theory are difficult to use.PID control, also have in practice PI and
PD control.PID controller is exactly systematic error, and proportion of utilization, integral, difference gauge calculate control amount and controlled.The present embodiment
It is only used to illustrate the technical scheme of the present invention, rather than its limitations, those skilled in the art should understand that: it still may be used
It is modified with the control rate used to the embodiment, or it is equivalently replaced, and these modifications or substitutions, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the present embodiment technical solution.
It is above-mentioned to can be used for concrete application for the method for more laser radar synchronous scanning control systems described in the present embodiment
System embodiment, principle is similar with technical effect, and details are not described herein again.
Fig. 4 shows the specific structure signal of more laser radar synchronous scanning control systems of one embodiment of the invention
Figure.The concrete application mistake of more laser radar synchronous scanning control systems and method of the invention is illustrated below with reference to Fig. 4
Journey.As shown in figure 4, the system includes 1 laser radar host and Duo Tai laser radar slave, due to every laser radar slave
It is all the same with the synchronous method of laser radar host, therefore the present embodiment is with laser radar host 100 and laser radar slave 200
Example, illustrates specific synchronous scanning control method.It should be noted that the embodiment of the present invention laser radar host and Duo Tai swash
Scanning type laser radar can be used in optical radar slave, and the hardware composition of more scanning type laser radars is identical, and more
It is connected between scanning type laser radar using bus.
The laser radar host 100, it is preferable to retouch pulsed drive module 102, first laser module including first
103, the first scan frequency closed loop control module 101 and the first scanning information detection module 104.
Wherein, first pulsed drive module 102 is retouched, for receiving the transmission of the first scan frequency closed loop control module 101
First scan frequency controls information fPID, output frequency fPIDScanning pulse；
First laser module 103, including laser diode retouch sweeping for the transmission of pulsed drive module 102 for receiving first
Retouch pulse carry out it is luminous；
First scanning information detection module 104, for detecting and exporting the scanning frequency of first laser module 103 real-time first
Rate information and the first scanning angle information；
First scan frequency closed loop control module 101, for receiving the first of the transmission of the first scanning information detection module 104
Scan frequency information, closed-loop control export the first scan frequency and control information fPID。
The scanning type laser radar slave 200, including the second scanning pulse drive module 203, second laser module
204, the second scanning information detection module 205, the second scan frequency closed loop control module 201, scanning angle closed loop control module
206 and scan frequency compensating module 202.
Wherein, the second scanning pulse drive module 203, second for receiving the transmission of scan frequency compensating module 202 sweeps
Frequency control information f is retouched, output frequency is the scanning pulse of f；
Second laser module 204, including laser diode, for receiving the transmission of the second scanning pulse drive module 203
Scanning pulse carries out luminous；
Second scanning information detection module 205, for detecting and exporting the scanning frequency of second laser module 204 real-time second
Rate information and the second scanning angle information.
Second scan frequency closed loop control module 201, for receiving the second of the transmission of the second scanning information detection module 205
Scan frequency information, closed-loop control (such as PID control) export the second closed loop scan frequency information fc；Scanning angle closed-loop control
Module 206, for receiving the first scanning angle information of the transmission of scanning type laser radar host computer 100 (that is, the synchronous letter of scanning angle
Breath) αIt is main, while receiving the second scanning angle information α that the second scanning information detection module 205 is sentFrom, closed-loop control output sweep
Retouch angular adjustment information αPID；Scan frequency compensating module 202 is sent for receiving the second scan frequency closed loop control module 201
The second scan frequency closed loop adjust information fcInformation is adjusted with the scanning angle that scanning angle closed loop control module 206 is sent
αPID, calculate and export the second scan frequency control information f needed for the laser radar slave synchronizes scanning.
Specifically, when being scanned angle closed-loop control, the scanning angle closed loop control module of laser radar slave 200
After 206 receive the scanning angle synchronizing information of the transmission of laser radar host 100, recording the synchronization angle information is αIt is main, and trigger
Scanning angle closed loop control module 206 receives the second scanning angle information that the second scanning information detection module 205 is sent, record
The second scanning angle information that the second scanning information detection module 205 is sent at this time is αFrom, then scanning type laser radar host computer 100
With synchronous angular difference of the scanning type laser radar slave 200 in a regulating cyclep=αFrom-αIt is mainIf αp> π, then αp=αp-2
π.PID closed-loop control is synchronized using the scanning angle difference, the scanning angle after output closed-loop is adjusted is calculated and adjusts letter
Cease αPID。
When being scanned frequency compensation calculating, the scan frequency compensating module 202 of laser radar slave 200 passes through formula
fα=(1+ αPID/ 2 π) F by scanning angle adjust information αPIDIt is converted into scan frequency compensated information fα, according to fαWith the second scanning
The scan frequency that Frequency servo module 201 exports adjusts information fc, determine that single adjusts the second final scan frequency control
Information f processed drives the mode of laser group of second laser module 204 to scan according to setting by the second scanning pulse drive module 203
Frequency shines.
Specifically, Fig. 5 shows the laser radar host of one embodiment of the invention and the scan angle of laser radar host
Spend status diagram.As shown in figure 5, in a regulating cycle, if the scan frequency and scanning angle of more laser radars
In synchronous regime, when reaching the synchronous adjustment moment, scanning type laser radar host computer 100 and scanning type laser radar slave 200
Scanning angle identical (for example, the scanning angle of laser radar host 100 is in 301 states, laser radar slave 200 is swept
Retouch angle and be in 302 states), at this point, synchronous angular differencep=0, single adjusts final scan frequency f=F.
Another situation, if the scan frequency and scanning angle of more laser radars are in asynchronous regime (for example, laser
When the scanning angle of radar host computer 100 is in 301 state, the scanning angle of laser radar slave 200 is in 303 states or 304
State), when reaching the synchronous adjustment moment, the scanning angle tune of the output of scan frequency compensating module 202 of laser radar slave 200
Save information αPID, pass through formula fα=(1+ αPID/ 2 π) F by scanning angle adjust information αPIDIt is converted into scan frequency compensated information
fα, then pass through scan frequency compensated information fαIt adjusts and believes with the scan frequency of the second scan frequency closed loop control module 201 output
Cease fc, determine that scan frequency compensating module 202 exports the scan frequency that single is adjusted.Further, laser radar slave 200 can
Information f is adjusted according to scan frequencyc, scan frequency compensated information fαAnd default scanning angle regulating time T/N determines single tune
The second final scan frequency of section controls information f.For example, the moment is adjusted in system, output f firstαIt is synchronous to be scanned angle
It adjusts, while opening timing device, when timing reaches T/N, exports fcScan frequency is adjusted in synchronism, and simultaneously closes off timing
Device, wherein T is regulating cycle；N is adjustable numerical value, chooses different value according to different systems.
When more laser radars collaborative works can be achieved in the present invention, guarantee that scan frequency is synchronous respectively with scanning angle
Or synchronized respectively with certain difference, and can guarantee the control precision of scan frequency and scanning angle, to a greater extent
The scanning interference between more laser radars is reduced, and further promotes collaborative work efficiency.
The above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of more laser radar synchronous scanning control systems, which is characterized in that including laser radar host and at least one
Laser radar slave；
The laser radar slave be used for obtain itself the second scan frequency information, the second scanning angle information and it is described swash
First scanning angle information of optical radar host, and according to the second scan frequency information, the second scanning angle information and
The first scanning angle information determines that the second scan frequency controls information, controls information control according to second scan frequency
The scan frequency of the laser radar slave, so that the scan frequency of itself is synchronous with the scan frequency of the laser radar host,
And keeps the scanning angle of itself synchronous with the scanning angle of the laser radar host or synchronized with certain difference；
The laser radar slave is further used for according to the first scanning angle information and the second scanning angle information,
It determines that scanning angle adjusts information by closed loop control algorithm, and information and default scan frequency is adjusted according to the scanning angle
Information determines scan frequency compensated information, determines the second closed loop by closed loop control algorithm according to the second scan frequency information
Scan frequency information, according to the second closed loop scan frequency information, the scan frequency compensated information and the default scanning
Frequency information determines the second scan frequency control information of the laser radar slave.
2. more laser radars synchronous scanning control system according to claim 1, which is characterized in that the laser radar
Host is used to obtain the first scan frequency information of itself, according to the first scan frequency information and default scan frequency information
The the first scan frequency control information for determining the laser radar host, is swashed with controlling this according to first scan frequency control information
The scan frequency of optical radar host and default scan frequency synchronizing information.
3. more laser radars synchronous scanning control system according to claim 2, which is characterized in that the laser radar
Host is further used for being determined according to the first scan frequency information and default scan frequency information by closed loop control algorithm
First scan frequency of the laser radar host controls information.
4. more laser radars synchronous scanning control system according to claim 3, which is characterized in that the laser radar
Slave is further used for utilizing formula fα=(π of 1+ α/2) F calculates scan frequency compensated information, wherein the α is the scanning
Angular adjustment information, fαFor the scan frequency compensated information, F is the default scan frequency information.
5. more laser radar synchronous scanning control systems according to claim 4, which is characterized in that the laser radar from
Machine is further used for according to the second closed loop scan frequency information, the scan frequency compensated information and default scanning angle
Regulating time determines the second scan frequency control information.
6. a kind of more laser radar synchronous scanning control methods characterized by comprising
Laser radar slave obtains the second closed loop scan frequency information, the second scanning angle information and the laser radar master of itself
First scanning angle information of machine, and according to the second closed loop scan frequency information, the second scanning angle information and described
First scanning angle information determines that the second scan frequency controls information, controls this according to second scan frequency control information and swashs
The scan frequency of optical radar slave, so that the scan frequency of itself is synchronous with the scan frequency of the laser radar host, and
Keep the scanning angle of itself synchronous with the scanning angle of the laser radar host or synchronous with certain difference；
It is described according to the second closed loop scan frequency information, the second scanning angle information and the first scanning angle information
Determine that the second scan frequency controls information, specifically:
According to the first scanning angle information and the second scanning angle information, scan angle is determined by pid control algorithm
Degree adjusts information, and determines scan frequency compensated information according to scanning angle adjusting information and default scan frequency information,
The second closed loop scan frequency information is determined by pid control algorithm according to the second scan frequency information, according to described second
Closed loop scan frequency information, the scan frequency compensated information and the default scan frequency information determine the laser radar slave
The second scan frequency control information.
7. more laser radars synchronous scanning control method according to claim 6, which is characterized in that the laser radar
Slave obtains the first scanning of the second closed loop scan frequency information of itself, the second scanning angle information and laser radar host
Before angle information, this method further include:
The laser radar host obtains the first scan frequency information of itself, according to the first scan frequency information and presets
Scan frequency information determines the first scan frequency control information of the laser radar host, to be controlled according to first scan frequency
Information control the laser radar host scan frequency and default scan frequency synchronizing information.
8. more laser radars synchronous scanning control method according to claim 6, which is characterized in that described according to
Scanning angle adjusts information and the default scan frequency information determines scan frequency compensated information, specifically:
Utilize formula fα=(π of 1+ α/2) F calculates scan frequency compensated information, wherein the α is that the scanning angle adjusts letter
Breath, fαFor the scan frequency compensated information, F is the default scan frequency information.
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