CN108828556A - laser radar control system - Google Patents
laser radar control system Download PDFInfo
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- CN108828556A CN108828556A CN201810764913.9A CN201810764913A CN108828556A CN 108828556 A CN108828556 A CN 108828556A CN 201810764913 A CN201810764913 A CN 201810764913A CN 108828556 A CN108828556 A CN 108828556A
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- radar
- host computer
- control system
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- laser radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to laser radar control system, which includes host computer, and host computer transmits/receives module for continuously sending udp broadcast data packet into local area network configured with information；The host computer responds the connection request of radar configured with listening port at any time；Radar system receives udp broadcast data packet, establishes TCP message with host computer immediately and connect after radar start and entrance local area network；The connection of upper machine information uses Transmission Control Protocol, realizes control to radar, parameter configuration；Channel connection uses udp protocol, transmits scan data to host computer for radar.This programme is based on Ethernet, connects comprising two classes, and TCP connection and UDP connection, according to the characteristic of the two, TCP connection is used for transmission the information such as radar parameter, radar state；UDP connection is only used for transmission scan data.
Description
Technical field
The present invention relates to field of radar, and in particular to a kind of laser radar control system.
Background technique
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.Its work
Principle is the reflected signal of slave target (target echo) that then will receive to objective emission detectable signal (laser beam)
With transmitting signal be compared, after making proper treatment, so that it may obtain target for information about, as target range, orientation, height,
Speed, posture, the even parameters such as shape, to be detected, tracked and be identified to targets such as aircraft, guided missiles.It is sent out by laser
The composition such as machine, optical receiver, turntable and information processing system is penetrated, electric pulse is become light pulse emission and gone out by laser, light
Receiver electric pulse is reduced into from the reflected light pulse of target, is sent to display again.Use laser as transmitting light source,
Using the master of detecting technique means, laser radar is advanced detection side of the laser technology in conjunction with modern detecting technique
Formula.It is made of the part such as emission system, reception system, information processing.Emission system is various forms of lasers, such as dioxy
Change the solid state laser and optics of carbon laser, neodymium doped yttrium aluminium garnet laser, semiconductor laser and tunable wave length
The composition such as expand unit；Reception system uses telescope and various forms of photodetectors, such as photomultiplier tube, semiconductor light
The combination such as electric diode, avalanche photodide, infrared and visible light multiunit detector part.Laser radar is using pulse or continuously
2 kinds of working methods of wave, detection method can be divided into Mie scattering, Rayleigh scattering, Raman scattering, cloth according to the principle difference of detection
The laser radars such as deep scattering, fluorescence, Doppler.
Laser radar generally requires to configure certain parameters, if carrying out program change, efficiency to hardware every time
It is too low and inconvenient；In addition, data are passed except through software protocol after having been treated for being received back the light beam come
To outside rear end, it is also necessary to man-machine interface be provided and carry out friendly displaying to result, convenient for checking and analyzing result.Therefore, laser
Radar control software is necessary.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of laser radar control systems, are swashed with realizing
Communication between optical radar software and laser radar.Communication scheme is based on Ethernet, connects comprising two classes, and TCP connection and UDP connect
It connects, according to the characteristic of the two, TCP connection is used for transmission the information such as radar parameter, radar state；UDP connection is only used for transmission and sweeps
Retouch data.
The purpose of the present invention is achieved through the following technical solutions：
A kind of laser radar control system, the system include：
Host computer, host computer transmit/receive module for continuously sending udp broadcast data packet into local area network configured with information；
The host computer responds the connection request of radar configured with listening port at any time；
Radar system receives udp broadcast data packet, establishes TCP with host computer immediately after radar start and entrance local area network
Information connection；
The connection of upper machine information uses Transmission Control Protocol, realizes control to radar, parameter configuration；Channel connection uses udp protocol,
Scan data is transmitted to host computer for radar.
As the further improvement of this programme, after the TCP message connection is successfully established, both sides can carry out two-way order
Interactive and radar transmits scan data to host computer.
As the further improvement of this programme, the data that the radar is sent to host computer include identity information, uniquely
Identifier.
As the further improvement of this programme, the radar changes after online at interval of set time T or working condition
When, working condition is sent to host computer.
As the further improvement of this programme, the time T is 10-20 seconds.
As the further improvement of this programme, the state is indicated with fault code, covers the work shape of each submodule
State.
As the further improvement of this programme, the data transmission by the way of transmitting line by line, i.e., scanning result is primary
The data of a line are sent, wherein including line index, originate column index, this frame data includes the number of point.
As the further improvement of this programme, the host computer sends the time interval of udp broadcast data packet twice in succession
It is 10-20 seconds.
As the further improvement of this programme, incidental information connecting pin slogan is needed in the udp broadcast data packet.
As the further improvement of this programme, the host computer can modify the parameter of radar at any time.
The beneficial effects of the invention are as follows：This programme establishes two kinds of interface channels between radar and host computer, i.e. TCP connects
It connects and is connected with UDP, and distribute different communication channels according to the Content of Communication between radar and host computer, carry out thunder using TCP
Up to control and parameter configuration etc., data transmitting is carried out using UDP, that is to say, that by the Content of Communication between radar and host computer point
For instruction class and data class, instruction class is transmitted using TCP, and data are transmitted using UDP, is referred to simplify control
It enables.
Detailed description of the invention
Fig. 1 is system block diagram of the invention；
Fig. 2 is communication flow diagram of the invention.
Specific embodiment
Technical solution of the present invention is described in further detail combined with specific embodiments below, but protection scope of the present invention is not
It is confined to as described below.
As shown in Figure 1：
A kind of laser radar control system, the system include：
Host computer, host computer transmit/receive module for continuously sending udp broadcast data packet into local area network configured with information；
The host computer responds the connection request of radar configured with listening port at any time；
Radar system receives udp broadcast data packet, needs in udp broadcast data packet attached after radar start and entrance local area network
Information connecting pin slogan, radar are communicated and are identified with host computer by the information connecting pin slogan, immediately with host computer
Establish TCP message connection；
The connection of upper machine information uses Transmission Control Protocol, realizes control to radar, parameter configuration, and host computer can modify thunder at any time
The parameter reached, channel connection use udp protocol, transmit scan data to host computer for radar.
Host computer concrete function includes：Monitor radar operation conditions in real time；The parameter of radar is configured；Receive radar
Real-time scan data, and radar scanning data are shown in a manner of 3D；The 3D figure of display can use mouse progress
Interaction.
Radar mainly includes following functions：Monitor each submodule operating status in real time；Parameter is configurable；Periodically using sharp
Optical scanning front obstacle analyzes the data of return, and data is uploaded to software or rear end equipment.
After TCP message connection is successfully established, both sides can carry out two-way command interaction and radar and sweep to host computer transmission
Retouch data, that is to say, that only just start to interact between radar and host computer after TCP message connection is successfully established,
The information of middle order class is transmitted by Transmission Control Protocol, and the information of data class is transmitted by udp protocol.
As a kind of preferred embodiment, the data that above-mentioned radar is sent to host computer include identity information, unique to identify
Number, in the design, the same host computer can be carried out while be communicated with multiple radars, in order to guarantee between radar and host computer
Reliability, it is necessary to allow host computer to identify radar, therefore this programme is by distinctive oneself identity of capable of representing of radar
Unique identifying information addition carries out being sent to host computer in the packet, so that host computer can effectively identify the radar；
Simultaneously in order to avoid the information is decrypted, when carrying out identity information transmission, the data of transmission should be encrypted, will in this programme
The identity information of radar is put into N number of multidigit binary coded number, and the one digit number in each binary coding is the radar
Identity coding, and have in host computer decode the coding permutations method, thereby may be ensured that radar information is intercepted.
Radar is after online, when changing at interval of set time T or working condition, sends working condition to host computer, when
Between T be 10-20 seconds, selected in the present embodiment every 10 seconds transmission one action states, in addition to this interval time can also be with
It is arranged to 15 seconds, 20 seconds etc..State is indicated with fault code, covers the working condition of each submodule.Likewise, described upper
The time interval that machine sends udp broadcast data packet twice in succession is 10-20 seconds.
As a kind of preferred embodiment, data are transmitted by the way of transmitting line by line, i.e., scanning result once sends a line
Data, wherein include line index, originate column index, this frame data include point number.
The specific format of data is as follows：
| Title | Length | Type | Description |
| Radar number | 2 | Integer | The unique identification of radar |
| Y-axis（1-200） | 2 | Integer | Y-axis is numbered in radar scanning array |
| X-axis starting（1-600） | 2 | Integer | X-axis Base Serial Number in radar scanning array |
| Scanning element number | 2 | Integer | In the number of x-axis direction scanning element |
| 1st Z axis | 2 | Integer | Distance is accurate to cm, and 1 represents 1cm |
| 1st signal | 2 | Integer | Signal strength |
| 2nd Z axis | 2 | Integer | |
| 2nd signal | 2 | Integer | |
| …… | |||
| N-th point Z axis | 2 | Integer | |
| N-th point signal | 2 | Integer |
Specific communication modes are as shown in Figure 2：
Step 1：Host computer continuously sends UDP message packet into local area network and carries out search lighting；
Step 2：Radar is communicated according to the information connectivity port that data class provides with host computer after receiving UDP message, until
This completes host computer search radar；
Step 3：Radar sends TCP message connection request, and host computer completes TCP message establishment of connection after agreeing to, so far, on
UDP communication protocol and TCP communication agreement are established between position machine and radar；
Step 4：Radar by UDP communication protocol to host computer sending device state, know radar after receiving by host computer
Not, after being identified by, host computer is controlled radar or is carried out parameter configuration by TCP communication agreement；
Step 5：After configuration is completed, radar responds the command adapted thereto of host computer and sends scan data to host computer；
So far the information communication between entire host computer and radar is completed.
The above is only a preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be at this
In the text contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And those skilled in the art institute into
Capable modifications and changes do not depart from the spirit and scope of the present invention, then all should be in the protection scope of appended claims of the present invention
It is interior.
Claims (10)
1. a kind of laser radar control system, which is characterized in that the system includes：
Host computer, host computer transmit/receive module for continuously sending udp broadcast data packet into local area network configured with information；
The host computer responds the connection request of radar configured with listening port at any time；
Radar system receives udp broadcast data packet, establishes TCP with host computer immediately after radar start and entrance local area network
Information connection；
The connection of upper machine information uses Transmission Control Protocol, realizes control to radar, parameter configuration；Channel connection uses udp protocol,
Scan data is transmitted to host computer for radar.
2. laser radar control system according to claim 1, which is characterized in that the TCP message connection is successfully established
Afterwards, both sides can carry out two-way command interaction and radar and transmit scan data to host computer.
3. laser radar control system according to claim 2, which is characterized in that the number that the radar is sent to host computer
According to including identity information, unique identifier.
4. laser radar control system according to claim 3, which is characterized in that the radar after online, at interval of
When set time T or working condition change, working condition is sent to host computer.
5. laser radar control system according to claim 4, which is characterized in that the time T is 10-20 seconds.
6. laser radar control system according to claim 5, which is characterized in that the state indicates with fault code,
Cover the working condition of each submodule.
7. laser radar control system according to claim 6, which is characterized in that the data transmission uses to be transmitted line by line
Mode, i.e. the scanning result data that once send a line originate column index wherein including line index, this frame data includes point
Number.
8. laser radar control system according to claim 1, which is characterized in that the host computer is sent twice in succession
The time interval of udp broadcast data packet is 10-20 seconds.
9. laser radar control system according to claim 8, which is characterized in that needed in the udp broadcast data packet attached
Information connecting pin slogan.
10. laser radar control system according to claim 9, which is characterized in that the host computer can be modified at any time
The parameter of radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810764913.9A CN108828556A (en) | 2018-07-12 | 2018-07-12 | laser radar control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810764913.9A CN108828556A (en) | 2018-07-12 | 2018-07-12 | laser radar control system |
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| CN108828556A true CN108828556A (en) | 2018-11-16 |
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Cited By (3)
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| CN110333512A (en) * | 2019-06-27 | 2019-10-15 | 江苏维航精仪科技有限公司 | A kind of laser radar system and laser ranging system |
| CN114553708A (en) * | 2022-01-11 | 2022-05-27 | 航天南湖电子信息技术股份有限公司 | Mobile radar ad hoc network system and mobile radar |
| WO2023061181A1 (en) * | 2021-10-15 | 2023-04-20 | 华为技术有限公司 | Data transmission method and apparatus |
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| CN114553708A (en) * | 2022-01-11 | 2022-05-27 | 航天南湖电子信息技术股份有限公司 | Mobile radar ad hoc network system and mobile radar |
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Application publication date: 20181116 |