CN112986958A - Large-range laser scanning device based on high-density echo analysis and control system thereof - Google Patents
Large-range laser scanning device based on high-density echo analysis and control system thereof Download PDFInfo
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Abstract
The invention discloses a large-range laser scanning device based on high-density echo analysis and a control system, and belongs to the technical field of control engineering and control systems. The laser scanning device realizes circumferential rotation in the horizontal and vertical directions under the condition of self rotation of the reflector through the arrangement of the first rotating device, the second rotating device and the third rotating device, and can form multi-angle and multi-azimuth three-dimensional laser scanning taking the scanning device as the center. Meanwhile, the damping structure is designed on the mechanical structure, so that mechanical vibration caused by high-speed rotation can be effectively avoided, the service life is prolonged, and the detection precision is improved. The laser scanning device provided by the invention can be arranged on a mobile carrier and is used for detecting obstacles on a driving route. The invention also provides a control system for controlling the movement of the laser scanning device, and an algorithm for calculating the track and the sight line of the carrier is designed to help the upper computer system to make a decision command.
Description
Technical Field
The invention relates to the technical field of control engineering and control systems, in particular to a laser scanning device for detecting a driving path obstacle of a mobile carrier and a laser scanning control system based on the device.
Background
In a laser radar system, a laser source irradiates a reflecting mirror surface of a laser radar to send a laser signal to an external environment, laser meets a target object in a transmitting direction to generate a return signal, and a receiving element in the laser radar receives the return signal and obtains required information through a computer program. The airborne laser radar just utilizes the principle, and the radar is arranged on the carrier to form an airborne laser radar detection system. The airborne laser radar detection technology can acquire the three-dimensional coordinates of the surface of an object by processing observation data such as position, distance, angle and the like through a special algorithm, has strong advantages on the detection capability of the object, and has the characteristics of high space and time resolution, large dynamic detection range and the like.
The airborne laser radar system mainly comprises the following parts:
carrying a carrier: the laser radar system mainly comprises a helicopter, a fixed wing aircraft and the like, and provides a necessary installation platform and energy for the laser radar system;
laser scanner: the laser scanner can directionally emit laser to a specified direction and receive a returned signal;
positioning and inertial measurement unit: the device is mainly used for carrying platform positioning and attitude measurement, accurately obtaining absolute positions and self relative attitudes, and assisting a laser scanner to adjust the emission direction;
a control unit: the brain of the airborne laser radar system is mainly used for controlling all parts of the system to work normally and cooperatively and recording and processing signal data returned by the laser scanner.
Airborne lidar is used for a variety of mobile vehicles, typically in flying vehicles for geophysical information acquisition, such as disaster monitoring, environmental monitoring, resource exploration, forest surveys, terrain mapping, and the like. Compared with the traditional radar, the airborne laser radar has unique advantages, is not limited by sunshine and weather conditions, and can observe the ground all the day.
Military helicopters and small drones, in order to achieve mission efficiency in a threat environment, are focused on low-altitude flight, positioning the aircraft by reducing the visual, optical or electronic detection of enemies, and utilizing terrain to enhance survivability. In these situations, it is often desirable to maintain the aircraft flight at a height slightly above the terrain. This can lead to an increased incidence of obstacle collision accidents, and the main limitation in low-altitude operations is due to low visibility, which reduces the ability of flight personnel to control the aircraft and identify the danger of obstacle collisions.
Therefore, there is a need to develop a laser scanning obstacle avoidance system for detecting potentially dangerous obstacles present in the flight trajectory and alerting the operator. In order for a laser scanning obstacle avoidance system to be effective, the following requirements must be met: the first and most important requirement is to reliably detect all obstacles at almost all angles of incidence, with a high probability of detection and a very low false alarm rate. All obstacles refer to terrain blocks, buildings, utility poles, towers, cables and any structure that may be hazardous to fast flights. The second requirement is to have a minimum detection range that can meet the requirements, which will depend on the speed of the aircraft, the ability to climb the angle and the pilot's reaction time.
Disclosure of Invention
The invention aims to provide a laser scanning device capable of reliably detecting an obstacle, so as to improve the obstacle recognition capability of a moving carrier and reduce the collision risk.
In order to achieve the purpose, the invention adopts the following technical scheme:
a large-range laser scanning device based on high-density echo analysis comprises a laser measuring system for emitting laser beams and receiving reflected echoes, and a laser scanning galvanometer for controlling the deflection of the laser beams,
the laser scanning galvanometer includes:
the laser measuring system comprises a first reflector and a second reflector which are correspondingly arranged, wherein the second reflector totally reflects the laser beam emitted by the laser measuring system to the first reflector;
the first rotating device comprises a supporting base and a first rotating shaft which is arranged on the supporting base and can rotate around the central shaft of the first rotating device by 360 degrees, the first rotating shaft is driven by a first motor to rotate, the first reflecting mirror is fixedly arranged on the first rotating shaft, and the normal line of the surface of the first reflecting mirror forms an included angle of 6-8 degrees with the central shaft of the first rotating shaft;
the second rotating device comprises a rotating base and a bearing seat which is arranged in the rotating base and can rotate around a rotating shaft of the second rotating device, the bearing seat is driven by a second motor to rotate, the supporting base is arranged on the bearing seat, the rotating shaft of the bearing seat and the central shaft of the first rotating shaft form an included angle of 40-50 degrees, and the rotating shaft of the bearing seat is not intersected with the first reflecting mirror surface;
the third rotating device comprises a fixed base, wherein the fixed base is provided with a pair of symmetrically-arranged lugs with through holes, the peripheral surface of the rotating base is provided with a rotating shaft which is matched with the lug through holes and can rotate around the center shaft of the rotating base, the rotating shaft is driven to rotate by a third motor, and the center shaft of the rotating shaft is perpendicular to the rotating shaft of the bearing seat.
The first rotating device enables the first reflecting mirror to generate first rotating motion around a first rotating shaft, and the first rotating motion is that the first reflecting mirror surface does high-speed circumferential motion around the first rotating shaft and is the main motion of the scanning galvanometer; the second rotating device is used for enabling the first reflecting mirror to generate second rotating motion around a second rotating shaft (the rotating shaft of the bearing seat), and the second rotating motion is that the first reflecting mirror surface makes a predetermined angle of rotating motion from a predetermined left limit position to a predetermined right limit position on a reference horizontal Plane (PRIF); the third rotating means is such as to impart to the first mirror a third rotational movement about a third axis of rotation (central axis of the axis of rotation) which is capable of imparting to the first mirror an angular variation with respect to the reference horizontal Plane (PRIF). The reference horizontal plane refers to a plane on which the fixed base is installed.
The rotating mechanism consisting of the first rotating device, the second rotating device, the third rotating device and the first reflecting mirror surface can enable the airborne laser scanning galvanometer to rotate left and right and rotate in a pitching mode, meanwhile, the moving first reflecting mirror continuously reflects the laser beam emitted by the laser measuring system through a preset included angle between A Normal (AN) of the first reflecting mirror surface and a rotating shaft of the first rotating device, so that the direction of the emitted light beam is continuously changed, the one-dimensional laser beam emitted by the laser measuring system is converted into a three-dimensional scanning type laser beam, and the laser emitted by the laser scanning device can generate a special curve.
Specifically, the rotating shaft of the first rotating device passes through the center of the first reflecting mirror surface and forms a set angle with the normal AN of the first reflecting mirror surface; when the first reflecting mirror rotates around the first rotating device rotating shaft, the mirror surface and a reference horizontal Plane (PRIF) present a changing angle, and the laser beam totally reflected by the first reflecting mirror surface is emitted in a set curve. Preferably, the normal to the first mirror surface is at an angle of 7 ° to the central axis of the first axis of rotation.
Furthermore, first speculum and first rotation axis mechanical connection and install on the absorbing support base of special design, support base includes fixed damper cylinder and direction base plate, the one end of first rotation axis is installed in fixed damper cylinder, fixed damper cylinder is fixed on the direction base plate through a plurality of elastic upright posts, on the direction base plate with bearing frame fixed connection.
Furthermore, the fixed damper cylinder is a hollow cylindrical sleeve, a through hole for the first rotating shaft to pass through is formed in the end face of the fixed damper cylinder, a fixing mechanism for fixing the first rotating shaft and ensuring that the first rotating shaft can rotate at a high speed is arranged on the inner wall of the through hole, and the fixing mechanism can adopt a bearing structure. This sleeve structure can effectual fixed first rotation axis, and convenient the dismantlement again can pass the vibrations that high-speed rotation produced to the support base simultaneously to the vibrations that effectively reduce the speculum face improve the degree of accuracy.
The fixed damping cylinder and the guide base plate are arranged at an included angle of 40-50 degrees, and the fixed damping cylinder and the guide base plate are fixed through a plurality of elastic stand columns, and the elastic stand columns can effectively absorb vibration. Preferably, the fixed damper cylinder is arranged at an angle of 45 ° with respect to the guide base plate, i.e. the rotation axis of the bearing block is at 45 ° with respect to the central axis of the first rotation axis.
Furthermore, a connecting transition surface is arranged between the rotating base and the bearing seat, the guide base plate is provided with a guide damping wheel, and a groove for the guide damping wheel to roll is formed in the connecting transition surface.
Furthermore, the bearing seat adopts a bearing structure, the inner ring of the bearing seat is fixed with the guide substrate, the outer ring of the bearing seat is fixed with the rotating base, and the guide damping wheel rolls on the connecting transition surface between the outer ring and the rotating base. The guide damping wheels can play a role in guiding, so that the support base can rotate more smoothly, and the vibration caused by high-speed rotation can be absorbed and reduced. Preferably, the guide damper wheel is made of rubber and is uniformly arranged in all directions of the guide base plate. The direction shock attenuation wheel is circular arrangement, provides stability for first rotary device, reduces the vibration range under different angles.
Specifically, the second rotating device is connected with the first reflecting mirror surface through the supporting base and the first rotating shaft, so that the first reflecting mirror surface can generate a rotating motion around the vertical reference horizontal Plane (PRIF), namely, a second scanning motion. The second rotating device is mechanically and fixedly connected with a third rotating device through a rotating base, and a fixed base of the third rotating device is arranged on a reference horizontal plane; the second scanning movement, namely the first reflecting mirror surface swings around the rotating shaft of the second rotating device, and the scanning range of the laser scanner is increased in the process.
Specifically, the third rotating device is connected with the second rotating device through a rotating base; the rotating base is connected with the first rotating device through the bearing seat, the third rotating device is fixedly installed in the scanning device, the third motor drives the rotating shaft of the rotating base to work, namely the first reflecting mirror surface generates pitching motion relative to the reference horizontal plane, and the condition that scanning is lost due to the fact that the posture of the carrier changes can be made up in the process.
Further, the rotation of the first rotating device, the second rotating device and the third rotating device is driven by respective stepping motors, the first motor is connected with the first rotating shaft, the second motor is connected with the bearing seat inner ring, and the third motor is associated with the rotating shaft of the rotating base. The laser scanning device further comprises a first encoder, a second encoder and a third encoder which are used for detecting the rotation angles of the first motor, the second motor and the third motor respectively.
The laser measuring system can emit laser beams and receive reflected echoes and is used for measuring the distance from a laser emitting point to a target reflecting point. The laser measuring system comprises a laser emitting device, a laser receiving device, a light path adjusting device and a data processing module. The laser emitting device generates and emits laser; the laser receiving device receives laser echoes reflected by the barrier; the light path adjusting device comprises a lens unit and a light beam adjusting unit, is positioned on the emitting light path of the laser emitting device and is used for adjusting the area of the emitted laser light beam and the emitting light path; and the data processing module processes the laser emission angle, time and echo receiving time and transmits the laser emission angle, the time and the echo receiving time to the core processor system.
The invention also provides a laser scanning control system based on the laser scanning device, the system also comprises a core processor system and an upper computer,
the core processor system includes:
the USB communication module is used for receiving laser measurement system data and laser scanning galvanometer motor rotation angle data;
the data acquisition module is used for acquiring and processing the data received by the USB communication module;
the network communication module is communicated with the upper computer, transmits the data acquired and processed by the data acquisition module and receives a control command of the upper computer;
and the control module outputs control signals to the laser scanning galvanometer to control the rotating speed and the rotating direction of each motor.
The laser scanning control system further comprises a gyroscope for collecting real-time angle attitude data of the carrier, and the gyroscope transmits data to the core processor system.
The core processor system is a core device of the whole control system, an ARM processor is used as a main device, the USB communication module is directly connected with the laser scanning device to establish a master-slave device relation, and laser measurement system data and first, second and third angle encoder data of the laser scanning galvanometer device are obtained through the USB communication module core processor; the data acquisition module is responsible for acquiring and processing the data received by the USB communication module; the network communication module is responsible for communicating with an upper computer and transmitting data received and processed by the core processor; the first motor, the second motor and the third motor of the laser scanning galvanometer device are electrically connected with a control module of the core processing system, and the control module outputs PWM control signals to the motor driving and subdividing module according to a control command of the upper computer to control the rotating speed and the rotating direction of the motors.
And the upper computer system receives and processes the data transmitted by the core processor system, and realizes point cloud data receiving, point cloud data display and point cloud data storage.
Further, the processing generates control decision commands for the vehicle including executing a vehicle trajectory algorithm and a line-of-sight center algorithm. Further, the upper computer system is arranged to execute an algorithm for estimating a trajectory of the vehicle, to make control decision commands based on the calculated trajectory and to send control commands to the core processor system, controlling the rotational movement of said first, second and third rotational axes.
Specifically, the present invention provides an estimation algorithm for calculating a vehicle trajectory:
the trajectory algorithm causes the upper computer system side module to calculate the path to be followed by the vehicle within 20 seconds after receiving the data. A first estimated approximation can be obtained for a straight path by an instantaneous velocity vector that coincides with the flight vector in two dimensions. However, the latter always points at the tangent of the bend itself at the initial instant during the bending path, and it is therefore necessary to formulate an algorithm capable of predicting the bending trajectory. The algorithm calculates the trajectory using data provided by the inertial system and filters using a frequency band that takes into account vehicle dynamics.
The radius of curvature R is defined as a function of the speed modulus and the roll angle theta to compensate for the centrifugal force F to which the vehicle is subjected during movementcAnd gravity Fg. Resultant external force F acting on vehicle in curvemBalancing the gravity and compensating the centripetal force, respectively, results in the following formula relating the roll angle θ and the velocity to the radius of curvature R of the trajectory.
Defining the centrifugal acceleration as acDefining the gravitational acceleration as g, the following relationship is obtained:
in which the circular motion acceleration a having a curvature radius R and a linear velocity vcGiven by the following relationship:
so that there is a formula of the radius of motion of the carrier curve:
the trajectory thus determined is located on a horizontal plane. Subsequently, the velocity vector V is addedxAnd VyContains information representing possible skidding or height variations of the vehicle.
Referring to fig. 10, the trajectory may be stored as a secant of distances selected from a control panel associated with a remote control unit of the laser scanning device, or as a geometric set of points in three-dimensional space.
To simply represent the estimated trajectory in two dimensions, the azimuth angle at which the secant calculated at a selected distance on the control panel is pointed is determined, similarly to the flight vector, rotated as a function of the roll angle in the horizontal plane, and the flight vector azimuth coordinates are added to the detected point.
Specifically, the present invention provides an algorithm for determining a gaze estimation:
the center of line of sight direction algorithm, referring to fig. 11 and 12, covers (30 × 40) ° of field of view FV every 0.5 seconds of the scan map, and the vehicle trajectory T falls within the field of view. The fields of view FR can be increased by 20 deg. respectively, on the x-axis of the abscissa and on the y-axis of the ordinate of the laser obstacle avoidance and monitoring system, so as to be able to analyze (70 × 80) °.
Calculation of the time taken to leave the field of view, referring to fig. 10, in the case of a detector field of view with an opening defined, for example, by an angle α, a trajectory with a radius of curvature R emerges from the field of view after covering the arch enclosed by the arch. The length L of the arch AB has:
L＝R·β＝R·2·α＝2αR
thus, if the vehicle covers a circular trajectory with a radius of curvature R at a speed v, it will leave the detector field of view after a period of time t, which is given by the following relation:
the field of view opening is calculated as a function of tilt angle, and reference is now made to fig. 13 and 14, which show examples of scanned fields of view projected on a plane perpendicular to the direction of motion of the vehicle (helicopter): theta is the roll angle at which the helicopter is tilted with respect to the horizontal plane, x and y are the openings of the scanning field of view (azimuth and elevation, respectively) with respect to the flight direction, and alpha is the corresponding opening in the horizontal plane. If y is1< y (low roll angle, as in the example of FIG. 13), then the following relationship exists:
if y1 > - [ y (high roll angle, as shown in FIG. 14), the following relationship holds:
for both systems above, x and y have the following values:
LOS azimut＝20°
LOS azimut＝15°
it is further worth noting that the scanning detection of the laser scanning device enables to detect obstacles at a predetermined distance dist. At this point, if the vehicle trajectory has a large radius of curvature R, the trajectory itself will exit the field of view if:
where dist denotes the maximum detection distance. This occurs when the vehicle line of sight covers a circle of radius R and an arc surrounded by angle β. The following relationship has proven to be valid:
thus, there are:
the length L of the arc of the circumferential angle enclosed by the angle β then is:
on the other hand, the upper computer can automatically perform priority ranking on the detected obstacles according to the risks represented by the relevant ranges, and can provide timely warning and detected obstacle information on the multifunctional display, so that the flight crew can implement effective avoidance measures.
The invention has the following beneficial effects:
(1) the laser scanning device provided by the invention realizes circumferential rotation in the horizontal and vertical directions under the condition of autorotation of the reflector through the arrangement of the first rotating device, the second rotating device and the third rotating device, and can form multi-angle and multi-azimuth three-dimensional laser scanning by taking the scanning device as the center. Meanwhile, the damping structure is designed on the mechanical structure, so that the mechanical vibration caused by high-speed rotation can be effectively avoided, the service life is prolonged, and the detection precision is improved.
(2) The invention provides a control system which is used for controlling the motion of a laser scanning device and is provided with an algorithm for calculating the track and the sight line of a carrier to help an upper computer system to make a decision command.
(3) The laser scanning control system provided by the invention can be installed on a mobile carrier and is used for detecting obstacles on a driving route, automatically carrying out priority sequencing on the detected obstacles and providing timely warning and detected obstacle information on a multifunctional display so as to facilitate the implementation of effective avoidance measures by machine staff.
Drawings
Fig. 1 is an overall schematic view of a laser scanning apparatus.
Fig. 2 is a schematic diagram of the laser scanning system.
Fig. 3 is a schematic perspective view of a laser scanning galvanometer.
FIG. 4 is a side view of a laser scanning galvanometer.
Fig. 5 is a schematic view of a combination structure of the first reflector and the first rotating device.
Fig. 6 is a schematic structural view of a support base.
Fig. 7 is a schematic diagram of the composition of a laser measurement system.
FIG. 8 is a diagram of a core processor.
Fig. 9 is a control flow chart of the laser scanning system.
FIG. 10 is a schematic diagram of a vehicle trajectory secant and azimuth in the trajectory algorithm of the present invention.
Fig. 11 is a view illustrating a vehicle view center field in the view center direction algorithm according to the present invention.
Fig. 12 is a schematic view of the vertical (upper) and horizontal (lower) sight fields of the vehicle in the sight center direction algorithm of the present invention.
FIG. 13 is a schematic view of a scan field of view with low roll angle in the line-of-sight center orientation algorithm of the present invention.
Fig. 14 is a schematic view of a vehicle high roll angle scanning field of view in the line of sight center direction algorithm of the present invention.
Detailed Description
The present invention will be further described with reference to specific examples, but the present invention is not limited thereto.
Example 1
The embodiment provides a laser scanning system for scanning and detecting obstacles on a driving route in vehicle-mounted operation, which comprises a protective shell, a laser scanning device arranged in an inner shell and a control system based on the laser scanning device, and is shown in fig. 1 and 2.
The laser scanning device comprises a laser scanning galvanometer and a laser measuring system. As shown in fig. 3 and 4, the laser scanning galvanometer includes a first rotating device 1, a second rotating device 2, a third rotating device 3, and a first reflecting mirror 4 fixedly mounted on the first rotating device 1.
The first rotating device 1 includes a support base 11 and a first rotating shaft 12 mounted on the support base 11 and rotatable 360 ° about its own center axis (a1), the first rotating shaft 12 being driven to rotate by a first motor. The first reflector 4 is fixedly installed at one end of the first rotating shaft 12, specifically, the rotating shaft of the first rotating shaft 12 passes through the center of the mirror surface of the first reflector 4 and forms AN included angle of 7 degrees with the normal (AN) of the first reflector 4.
As shown in fig. 5 and 6, the supporting base 11 includes a fixed damping cylinder 111 and a guiding base plate 112, the fixed damping cylinder 111 is a hollow cylindrical sleeve, a through hole for the first rotation shaft 12 to pass through is formed in an end surface of the fixed damping cylinder, a bearing structure for fixing the first rotation shaft 12 and ensuring that the first rotation shaft 12 can rotate at a high speed is formed in an inner wall of the through hole, the fixing mechanism can effectively fix the first rotation shaft and is convenient to detach, and meanwhile, vibration generated by high-speed rotation can be transmitted to the supporting base, so that vibration of the reflecting mirror surface is effectively reduced, and accuracy is improved. The fixed damping cylinder 111 and the guide base plate 112 are arranged at an included angle of 45 degrees, the fixed damping cylinder and the guide base plate are fixed through a plurality of elastic upright columns 113, and the elastic upright columns 113 can effectively absorb vibration.
The second rotating device 2 includes a rotating base 21 and a bearing seat 22 disposed in the rotating base 21 and capable of rotating around its own rotating shaft, the bearing seat 22 is driven by a second motor to rotate, the bearing seat 22 adopts a bearing structure, an inner ring of the bearing seat is fixed to the guide substrate 112, and an outer ring of the bearing seat is fixed to the rotating base 21. Under the driving of the second motor, the first rotating device 1 rotates around the rotating shaft (a2) of the bearing seat 22. The axis of rotation of the bearing support 22 is at a 45 ° angle to the central axis of the first axis of rotation 12 and the axis of rotation (a2) of the bearing support 22 does not intersect the first mirror surface 4.
A connecting transition surface is arranged between the rotary base 21 and the bearing seat 22, the guide base plate 112 is provided with the guide damping wheels 13, the guide damping wheels 13 are made of rubber and are uniformly arranged in all directions of the guide base plate 112 in a circular arrangement, and grooves for the guide damping wheels 13 to roll are formed in the connecting transition surface. The guide shock-absorbing wheel 13 can play a role in guiding, so that the support base 11 can rotate more smoothly, and can absorb and reduce the vibration caused by high-speed rotation.
The third rotating device 3 comprises a fixed base 31, the fixed base 31 is provided with a pair of symmetrically arranged lugs 32 with through holes, the outer peripheral surface of the rotating base 21 is provided with a rotating shaft 23 which is matched with the through holes of the lugs 32 and can rotate around a self central shaft (A3), the rotating shaft 23 is driven to rotate by a third motor, and the central shaft of the rotating shaft 23 is vertical to the rotating shaft of the bearing seat 22. The second rotating device 2 is rotated about the center axis of the rotating shaft 23 by the driving of the third motor.
The fixed base 31 is installed in the protective case housing with this installation surface as a reference horizontal Plane (PRIF). The first rotating device 1 is used for making the first reflecting mirror 4 generate a first rotating motion around a first rotating shaft (A1), wherein the first rotating motion is that the mirror surface of the first reflecting mirror 4 does high-speed circumferential motion around the first rotating shaft and is the main motion of the scanning galvanometer; the second rotating device 2 is used for enabling the first reflecting mirror 4 to generate a second rotating motion around a second rotating shaft (A2), wherein the second rotating motion is that the mirror surface of the first reflecting mirror 4 rotates on a reference horizontal plane from a preset left limit position to a preset right limit position by a preset angle, namely, the first reflecting mirror surface swings around the rotating shaft of the second rotating device 2, and the scanning range of the laser scanner is increased in the process; the third rotating device 3 is used for generating a third rotating motion of the first reflecting mirror 4 around a third rotating shaft (A3), and the third rotating motion can generate an angle change of the first reflecting mirror 4 relative to the reference horizontal plane, namely, a pitching motion of the first reflecting mirror surface relative to the reference horizontal plane, and the process can compensate the scanning loss condition caused by the change of the posture of the carrier.
The laser scanning device also comprises a first encoder, a second encoder and a third encoder which are used for respectively detecting the rotation angles of the first motor, the second motor and the third motor. The encoder transmits the detected angle data to the control system.
As shown in fig. 7, the laser measuring system includes a laser emitting device 5, a laser receiving device, a light path adjusting device, and a data processing module.
The laser emitting device 5 generates and emits laser; laser emitted by a laser emitting device 5 is refracted by a first reflecting mirror 4 of a laser scanning galvanometer and then emitted to the outside, a rotating mechanism consisting of the first rotating device 1, the second rotating device 2 and the third rotating device 3 of the laser scanning galvanometer can enable the airborne laser scanning galvanometer to rotate left and right and rotate in a pitching mode, meanwhile, the first reflecting mirror 4 in motion continuously reflects laser beams emitted by a laser measuring system through a preset included angle between A Normal (AN) of the first reflecting mirror surface 4 and a rotating shaft of the first rotating device 1, the direction of the emitted light beams is continuously changed, one-dimensional laser beams emitted by the laser measuring system are converted into three-dimensional scanning laser beams, and the laser emitted by the laser scanning device can generate a special curve.
And a second reflecting mirror 6 for emitting light beams completely is arranged on the light path between the laser emitting device 5 and the first reflecting mirror 4.
The laser receiving device receives laser echoes reflected by the barrier; the light path adjusting device comprises a lens unit and a light beam adjusting unit, is positioned on the emitting light path of the laser emitting device and is used for adjusting the area of the emitted laser light beam and adjusting the emitting light path; the data processing module processes the laser emission angle, time and echo receiving time and transmits the laser emission angle, the time and the echo receiving time to the control system.
The control system based on the laser scanning device comprises a core processor system, an upper computer system, a multifunctional display system and a power supply module for supplying power to the whole laser scanning system.
As shown in fig. 8, the core processor system includes a USB communication module, a data acquisition module, a network communication module, and a control module. The core processor system is a core device of the whole control system, an ARM processor is used as a main device, the USB communication module is directly connected with the laser scanning device to establish a master-slave device relation, and laser measurement system data and first, second and third angle encoder data of the laser scanning galvanometer device are obtained through the USB communication module core processor; the data acquisition module is responsible for acquiring and processing the data received by the USB communication module; the network communication module is in charge of communicating with the upper computer, transmitting data received and processed by the core processor and receiving a control command of the upper computer; the control module outputs PWM control signals to the motor driving and subdividing module according to the control command of the upper computer to control the rotating speed and the rotating direction of the motor.
And the upper computer system receives and processes the data transmitted by the core processor system, and realizes point cloud data receiving, point cloud data display and point cloud data storage.
In particular, the upper computer system is arranged to execute a control algorithm of the scanning pattern generated by the laser scanning device based on information indicative of the inclination of the first rotation axis. Further, the results of the upper computer system are arranged to execute an algorithm for estimating the trajectory of the vehicle, and still further, the upper computer system is arranged to control the rotational movement of the first, second and third rotational axes of the laser scanning galvanometer in accordance with the estimated trajectory. The upper computer system is further arranged to perform a calculation algorithm of a central direction of a line of sight of the scanning device.
In addition, the upper computer system can automatically perform priority sequencing on the detected obstacles according to the risks represented by the relevant ranges, and can provide timely warning and detected obstacle information on the multifunctional display system, so that the crew can implement effective avoidance measures.
The laser scanning system of the embodiment further comprises a gyroscope for acquiring real-time angle attitude data of the mobile carrier, the gyroscope transmits the acquired data to the core processor system, and the core processor control system is assisted to make a control decision.
As shown in fig. 9, the control flow of the laser scanning device is as follows: in vehicle-mounted operation, a one-dimensional laser beam is emitted by a laser measuring system, then a mechanical rotating device of a laser scanning galvanometer drives a first reflector to rotate three-dimensionally by a three-way motor, and the moving first reflector continuously reflects the one-dimensional laser emitted by the laser measuring system, so that the one-dimensional laser emitted by the laser measuring system is converted into a three-dimensional scanning laser beam to obtain the three-dimensional state of an environment; if an obstacle is encountered during vehicle-mounted operation, the core processor system continuously receives time difference data of laser emitted and received by the laser measuring system and data fed back by the three angle encoders to obtain coordinates of a target reflection point, and transmits the obtained data to the upper computer system to assist the upper computer system in making a decision; the upper computer system executes the set vehicle track algorithm and the sight center algorithm to process data and make a control decision command according to the data processed and transmitted by the core processor system, the core processor system receives the decision command of the upper computer system, the rotating speed and the steering of the motor are controlled by PWM waves, and the mechanical rotating device executes the command, so that the whole control cycle is completed.
Claims (9)
1. A kind of wide-range laser scanner based on high-density echo analysis, including the laser measurement system used for launching the laser beam and receiving the reflected echo, and the laser scanning galvanometer which controls the deflection of the laser beam, characterized by that, the said laser scanning galvanometer includes:
the laser measuring system comprises a first reflector and a second reflector which are correspondingly arranged, wherein the second reflector totally reflects the laser beam emitted by the laser measuring system to the first reflector;
the first rotating device comprises a supporting base and a first rotating shaft which is arranged on the supporting base and can rotate around the central shaft of the first rotating device by 360 degrees, the first rotating shaft is driven by a first motor to rotate, the first reflecting mirror is fixedly arranged on the first rotating shaft, and the normal line of the surface of the first reflecting mirror forms an included angle of 6-8 degrees with the central shaft of the first rotating shaft;
the second rotating device comprises a rotating base and a bearing seat which is arranged in the rotating base and can rotate around a rotating shaft of the second rotating device, the bearing seat is driven by a second motor to rotate, the supporting base is arranged on the bearing seat, the rotating shaft of the bearing seat and the central shaft of the first rotating shaft form an included angle of 40-50 degrees, and the rotating shaft of the bearing seat is not intersected with the first reflecting mirror surface;
the third rotating device comprises a fixed base, wherein the fixed base is provided with a pair of symmetrically-arranged lugs with through holes, the peripheral surface of the rotating base is provided with a rotating shaft which is matched with the lug through holes and can rotate around the center shaft of the rotating base, the rotating shaft is driven to rotate by a third motor, and the center shaft of the rotating shaft is perpendicular to the rotating shaft of the bearing seat.
2. The high-density echo analysis-based large-scale laser scanning device according to claim 1, wherein the support base comprises a fixed damper cylinder and a guide base plate, one end of the first rotating shaft is installed in the fixed damper cylinder, the fixed damper cylinder is fixed on the guide base plate through a plurality of elastic upright posts, and the guide base plate is fixedly connected with a bearing seat.
3. The high-density echo analysis-based large-range laser scanning device according to claim 2, wherein a connection transition surface is arranged between the rotating base and the bearing seat, a guide damping wheel is arranged on the guide base plate, and a groove for the guide damping wheel to roll is arranged on the connection transition surface.
4. The high-density echo analysis-based large-scale laser scanning device according to claim 3, wherein the guide damper wheel is made of rubber and is uniformly arranged in all directions of the guide base plate.
5. The high-density echo analysis based broad area laser scanning device of claim 1, wherein said laser measurement system comprises:
a laser emitting device that generates and emits laser light;
a laser receiving device for receiving a laser echo reflected by an obstacle;
the light path adjusting device comprises a lens unit and a light beam adjusting unit, and is used for adjusting the area of the emitted laser beam and the emitted light path respectively;
and the data processing module is used for processing the laser emission angle, the laser emission time and the echo receiving time.
6. The high-density echo analysis-based large-scale laser scanning device according to claim 1, further comprising a first encoder, a second encoder and a third encoder for detecting rotation angles of the first motor, the second motor and the third motor, respectively.
7. A laser scanning control system, comprising a large-scale laser scanning device based on high-density echo analysis according to any one of claims 1 to 6, and a core processor system and an upper computer,
the core processor system includes:
the USB communication module is used for receiving laser measurement system data and laser scanning galvanometer motor rotation angle data;
the data acquisition module is used for acquiring and processing the data received by the USB communication module;
the network communication module is communicated with the upper computer, transmits the data acquired and processed by the data acquisition module and receives a control command of the upper computer;
and the control module outputs control signals to the laser scanning galvanometer to control the rotating speed and the rotating direction of each motor.
8. The laser scanning control system of claim 7, wherein the upper computer receives and processes data, the processing including executing a vehicle trajectory algorithm and a line-of-sight center algorithm to generate control decision commands.
9. The laser scanning control system of claim 7, further comprising a gyroscope to collect real-time angular pose data of the vehicle, the gyroscope to transmit data to the core processor system.
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