CN108872963B

CN108872963B - Laser radar control method

Info

Publication number: CN108872963B
Application number: CN201810763523.XA
Authority: CN
Inventors: 黄诚; 彭凯
Original assignee: Beijing Dahan Zhengyuan Technology Co ltd
Current assignee: Beijing Dahan Zhengyuan Technology Co ltd
Priority date: 2018-07-12
Filing date: 2018-07-12
Publication date: 2022-05-13
Anticipated expiration: 2038-07-12
Also published as: CN108872963A

Abstract

The invention relates to a laser radar control method, which comprises the following steps: s1: establishing UDP communication connection between the radar and the upper computer; s2: continuously sending UDP data packets to the radar in the local area network through the upper computer; s3: the radar sends a request to the upper computer after receiving the UDP data packet, and TCP connection is established; s4: after the TCP connection is established, the radar sends the equipment state to the upper computer through the TCP connection; s5: the upper computer receives the equipment state data sent by the radar and then controls the radar or configures radar parameters through the TCP channel; s6: and the radar sends scanning data to the upper computer through UDP connection. The scheme is based on the Ethernet and comprises two types of connection, namely TCP connection and UDP connection, wherein according to the characteristics of the TCP connection and the UDP connection, the TCP connection is used for transmitting information such as radar parameters and radar states; the UDP connection is used only for transmitting scan data.

Description

Laser radar control method

Technical Field

The invention relates to the field of radars, in particular to a laser radar control method.

Background

The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is emitted to a target, then a received signal (target echo) reflected from the target is compared with the emitted signal, and after appropriate processing, relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters, can be obtained, so that the targets of airplanes, missiles and the like are detected, tracked and identified. The laser changes the electric pulse into optical pulse and emits it, and the optical receiver restores the reflected optical pulse from the target into electric pulse and sends it to the display. The laser is used as a transmitting light source, the photoelectric detection technology is mainly adopted, and the laser radar is an advanced detection mode combining the laser technology and the modern photoelectric detection technology. The system consists of a transmitting system, a receiving system, information processing and the like. The emitting system is composed of various lasers, such as a carbon dioxide laser, a neodymium-doped yttrium aluminum garnet laser, a semiconductor laser, a wavelength tunable solid laser, an optical beam expanding unit and the like; the receiving system adopts a telescope and various forms of photodetectors, such as photomultiplier tubes, semiconductor photodiodes, avalanche photodiodes, infrared and visible light multi-element detection devices, and the like. The laser radar adopts 2 working modes of pulse or continuous wave, and the detection method can be divided into laser radars of meter scattering, Rayleigh scattering, Raman scattering, Brillouin scattering, fluorescence, Doppler and the like according to different detection principles.

The laser radar usually needs to configure certain parameters, and if program change is carried out on hardware every time, the efficiency is too low, and the operation is inconvenient; in addition, after the received light beam is processed, data is transmitted to the back end through a software protocol, and a human-computer interface is required to be provided for friendly display of results, so that the results can be conveniently viewed and analyzed. Therefore, lidar control software is necessary.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a laser radar control method to realize the communication between laser radar software and a laser radar. The communication scheme is based on Ethernet and comprises two types of connection, namely TCP connection and UDP connection, wherein according to the characteristics of the TCP connection and the UDP connection, the TCP connection is used for transmitting information such as radar parameters and radar states; the UDP connection is used only for transmitting scan data.

The purpose of the invention is realized by the following technical scheme:

a laser radar control method comprises the following steps:

s1: establishing UDP communication connection between the radar and the upper computer;

s2: continuously sending UDP data packets to the radar in the local area network through the upper computer;

s3: the radar sends a request to the upper computer after receiving the UDP data packet, and TCP connection is established;

s4: after the TCP connection is established, the radar sends the equipment state to the upper computer through the TCP connection;

s5: the upper computer receives the equipment state data sent by the radar and then controls the radar or configures radar parameters through the TCP channel;

s6: and the radar sends scanning data to the upper computer through UDP connection.

As a further improvement of the scheme, after the TCP connection is successfully established, the two sides can carry out bidirectional command interaction and the radar transmits scanning data to the upper computer.

As a further improvement of the scheme, the data of the request sent by the radar to the upper computer comprises identity information and a unique identification number.

As a further improvement of the scheme, after the radar is on line, the equipment state is sent to the upper computer at fixed time intervals T or when the working state is changed.

As a further improvement of the scheme, the time T is 10-20 seconds.

As a further improvement of the solution, the status is represented by a fault code, covering the operating status of each sub-module.

As a further improvement of the scheme, the data transmission adopts a line-by-line transmission mode, that is, the scanning result sends data of one line at a time, wherein the data includes a line index, a starting column index, and the number of points included in the data of the frame.

As a further improvement of the scheme, the time interval of the upper computer continuously sending the UDP broadcast data packets twice is 10-20 seconds.

As a further improvement of the scheme, an information connection port number needs to be attached to the UDP broadcast packet.

As a further improvement of the scheme, the upper computer can modify the parameters of the radar at any time.

The invention has the beneficial effects that: according to the scheme, two connection channels, namely TCP connection and UDP connection, are established between the radar and the upper computer, different communication channels are distributed according to communication contents between the radar and the upper computer, radar control, parameter configuration and the like are carried out by utilizing TCP, data transmission is carried out by utilizing UDP, namely, the communication contents between the radar and the upper computer are divided into instruction types and data types, the instruction types are transmitted by adopting TCP, and the data are transmitted by adopting UDP.

Drawings

FIG. 1 is a system block diagram of the present invention;

fig. 2 is a communication flow diagram of the present invention.

Detailed Description

The technical solution of the present invention is further described in detail with reference to the following specific examples, but the scope of the present invention is not limited to the following.

As shown in fig. 1:

a laser radar control method comprises the following steps:

A system using the laser radar control method, the system comprising:

the upper computer is provided with an information receiving/transmitting module for continuously transmitting UDP broadcast data packets to the local area network;

the upper computer is provided with a monitoring port for responding to the connection request of the radar at any time;

the radar system receives a UDP (user Datagram protocol) broadcast data packet after the radar is started and enters a local area network, the UDP broadcast data packet needs to be accompanied by an information connection port number, the radar communicates and identifies with an upper computer through the information connection port number, and then TCP (transmission control protocol) information connection is established with the upper computer;

the upper computer information connection adopts a TCP protocol to realize the control and parameter configuration of the radar, the upper computer can modify the parameters of the radar at any time, and the channel connection adopts a UDP protocol for the radar to transmit scanning data to the upper computer.

The upper machine body functions include: monitoring the running condition of the radar in real time; configuring parameters of the radar; receiving real-time scanning data of a radar, and displaying the scanning data of the radar in a 3D mode; the displayed 3D map may be interacted with using a mouse.

The radar mainly comprises the following functions: monitoring the running state of each submodule in real time; the parameters are configurable; and periodically scanning the front obstacle by using the laser, analyzing the returned data, and uploading the data to software or back-end equipment.

After the TCP information connection is successfully established, two sides can carry out bidirectional command interaction and the radar transmits scanning data to the upper computer, namely, the radar and the upper computer start to interact only after the TCP information connection is successfully established, wherein the command information is transmitted through a TCP protocol, and the data information is transmitted through a UDP protocol.

As a preferred embodiment, the data sent by the radar to the upper computer comprises identity information and a unique identification number, in the design, the same upper computer can be simultaneously communicated with a plurality of radars, and in order to ensure the reliability between the radar and the upper computer, the upper computer must be allowed to identify the radars, so that the scheme adds unique identification information which is unique to the radar and can represent the identity of the radar into a data packet to be sent to the upper computer, and the upper computer can effectively identify the radar; meanwhile, in order to avoid decoding the information, when the identity information is sent, the sent data is encrypted, in the scheme, the identity information of the radar is put into N multi-bit binary code numbers, one bit in each bit of binary code is the identity code of the radar, and a method for decoding the code arrangement is stored in the upper computer, so that the radar information can be guaranteed to be intercepted.

After the radar is on line, the working state is sent to the upper computer every fixed time T or when the working state changes, wherein the time T is 10-20 seconds, in the embodiment, the working state is sent every 10 seconds, and besides, the interval time can also be set to be 15 seconds, 20 seconds and the like. The state is represented by a fault code, and covers the working state of each submodule. Similarly, the time interval between two consecutive sending of UDP broadcast data packets by the upper computer is 10-20 seconds.

As a preferred embodiment, the data transmission is performed in a progressive manner, that is, the scanning result sends data of one row at a time, where the data includes a row index, a starting column index, and the data of the frame includes the number of points.

The specific format of the data is as follows:

name (R)	Length of	Type (B)	Description of the invention
				Radar numbering	2	Integer number of	Unique identification of radar
Y axis (1-200)	2	Integer number of	Y-axis numbering in radar scan arrays
				X-axis start (1-600)	2	Integer number of	X-axis start number in radar scan array
Number of scanning points	2	Integer number of	Scanning the number of spots in the x-axis
				1 st point Z axis	2	Integer number of	Distance to the nearest cm, 1 for 1cm
1 st point signal	2	Integer number of	Signal strength
				2 nd point Z axis	2	Integer number of
2 nd point signal	2	Integer number of
				……
Point N Z axis	2	Integer number of
				Nth point signal	2	Integer number of

The specific communication method is shown in fig. 2:

the method comprises the following steps: the upper computer continuously sends UDP data packets to the local area network for radar search;

step two: after receiving the UDP data, the radar communicates with the upper computer according to the information connection port provided by the data class, so that the upper computer searches for the radar;

step three: the radar sends a TCP information connection request, the upper computer completes the establishment of the TCP information connection after agreeing, and therefore UDP communication connection and TCP communication connection are established between the upper computer and the radar;

step four: the radar sends the equipment state to the upper computer through a UDP communication protocol, the upper computer identifies the radar after receiving the equipment state, and the upper computer controls the radar or performs parameter configuration through a TCP communication protocol after the radar passes the identification;

step five: after the configuration is completed, the radar responds to a corresponding instruction of the upper computer and sends scanning data to the upper computer;

thus, the information communication between the whole upper computer and the radar is completed.

The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A laser radar control method is characterized by comprising the following steps:

s2: continuously sending UDP broadcast data packets to the radar in the local area network through the upper computer;

s3: the radar sends a request to the upper computer after receiving the UDP broadcast data packet, and TCP connection is established;

s6: the radar sends scanning data to an upper computer through UDP connection;

the command class is transmitted by adopting TCP, and the data is transmitted by adopting UDP;

the system also comprises a radar system, when the radar is started and enters the local area network, a UDP broadcast data packet is received, an information connection port number is required to be attached to the UDP broadcast data packet, the radar communicates and identifies with an upper computer through the information connection port number, and then TCP information connection is established with the upper computer;

the upper computer information connection adopts a TCP protocol to realize the control and parameter configuration of the radar, the upper computer can modify the parameters of the radar at any time, and the channel connection adopts a UDP protocol for the radar to transmit scanning data to the upper computer;

the upper machine body functions include: monitoring the running condition of the radar in real time; configuring parameters of the radar; receiving real-time scanning data of a radar, and displaying the scanning data of the radar in a 3D mode; the displayed 3D graph can be interacted by using a mouse;

the radar mainly comprises the following functions: monitoring the running state of each submodule in real time; parameter configuration; periodically scanning a front obstacle by using laser, analyzing returned data, and uploading the data to software or back-end equipment;

after the TCP information connection is successfully established, the two sides can carry out bidirectional command interaction and the radar transmits scanning data to the upper computer, namely, the radar and the upper computer start to interact only after the TCP information connection is successfully established, wherein the command information is transmitted through a TCP protocol, and the data information is transmitted through a UDP protocol.

2. The lidar control method of claim 1, wherein after the TCP connection is successfully established, the two parties can perform bidirectional command interaction and the radar transmits scan data to the upper computer.

3. The lidar control method of claim 2, wherein the data requested by the radar to send to the host computer comprises identity information, the identity information being identified by a unique identification number.

4. The lidar control method according to claim 3, wherein the radar transmits the device status to the upper computer every fixed time T or when the operating status changes after the radar is on line.

5. The lidar control method according to claim 4, wherein the time T is in a range of 10-20 seconds.

6. The lidar control method of claim 5, wherein the status is represented by a fault code covering the operational status of each sub-module.

7. The lidar control method according to claim 6, wherein the data transmission is performed in a row-by-row manner, that is, the scanning result sends data of one row at a time, wherein the data includes a row index, a starting column index, and the data of the frame includes the number of points.

8. The lidar control method according to claim 1, wherein a time interval between two consecutive transmissions of UDP broadcast packets by the upper computer is in a range of 10 to 20 seconds.

9. The lidar control method of claim 8, wherein the UDP broadcast packet is accompanied by an information connection port number.

10. The lidar control method of claim 9, wherein the upper computer is capable of modifying the radar parameters at any time.