CN113419230A - Laser scanning mainboard, laser scanner, unmanned aerial vehicle and unmanned aerial vehicle control method - Google Patents
Laser scanning mainboard, laser scanner, unmanned aerial vehicle and unmanned aerial vehicle control method Download PDFInfo
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- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims description 47
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000011835 investigation Methods 0.000 description 4
- 239000000835 fiber Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application provides a laser scanning mainboard, a laser scanner, an unmanned aerial vehicle and an unmanned aerial vehicle control method, and belongs to the technical field of laser scanning. The laser scanning mainboard comprises a laser scanning module, a measuring module and a programmable device, wherein the laser scanning module is used for emitting laser and controlling the laser to scan a target to be measured; the measuring module is connected with the laser scanning module and is used for measuring and obtaining laser ranging data, angle measuring data and attitude data of the laser scanning main board in the motion process; the programmable device is respectively electrically connected with the laser scanning module and the measuring module, and is used for sending working instructions to the laser scanning module and the measuring module and receiving and processing the laser ranging data, the angle measuring data and the attitude data. The laser scanning module, the measuring module and the programmable device are integrated on one mainboard, so that the size and the weight of the laser scanning measuring instrument can be effectively reduced.
Description
Technical Field
The application relates to the technical field of laser scanning, in particular to a laser scanning mainboard, a laser scanner, an unmanned aerial vehicle and an unmanned aerial vehicle control method.
Background
Along with the continuous development of unmanned aerial vehicle technique and computer technology, unmanned aerial vehicle's performance constantly promotes, the price constantly reduces, and unmanned aerial vehicle machine carries laser scanning measurement system and is equipped with progressively and is applied to fields such as survey, investigation, high accuracy modeling, becomes the common means of quick picture, investigation. However, the existing airborne laser scanning measurement system of the unmanned aerial vehicle is large in size and weight, and is difficult to meet the application requirements in the aspects of surveying and mapping, reconnaissance, investigation, high-precision modeling and the like.
Disclosure of Invention
The invention provides a laser scanning main board, a laser scanner, an unmanned aerial vehicle and an unmanned aerial vehicle control method, which are used for solving the problems of large size and heavy weight of the existing airborne laser scanning measurement system for the unmanned aerial vehicle.
In a first aspect, the present application provides a laser scanning motherboard, including a laser scanning module, a measurement module, and a programmable device. The laser scanning module is used for emitting laser and controlling the laser to scan a target to be detected; the measuring module is connected with the laser scanning module and is used for measuring the distance between the laser scanning module and a target to be measured to obtain laser ranging data and measuring the angle of laser emitted by the laser scanning module to obtain angle measuring data; measuring the angular speed and the acceleration of the laser scanning main board in the motion process to obtain attitude data; programmable device respectively with laser scanning module the measurement module electricity is connected, programmable device is used for to laser scanning module with the measurement module sends work order, and the receipt laser rangefinder data angle measurement data the gesture data to utilize the GPS (Global Positioning System) time information who obtains to right laser rangefinder data angle measurement data the gesture data carries out time synchronization respectively, laser rangefinder data, angle measurement data, gesture data after the output time synchronization.
In the embodiment of the application, the laser scanning module, the measuring module and the programmable device are integrated on the laser scanning mainboard, so that the volume and the weight of the laser scanning measuring instrument can be effectively reduced, and the applicability in the aspects of surveying and mapping, reconnaissance, investigation, high-precision modeling and the like is improved.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the laser scanning module includes a laser emitting module and a scanning driving module. The laser emitting module is used for emitting laser; the scanning driving module is used for changing the angle of the laser emitted by the laser emitting module according to the instruction sent by the programmable device to form laser scanning, the laser emitting module and the scanning driving module are respectively and electrically connected with the programmable device, and the scanning driving module is connected with the measuring module.
In the embodiment of the application, the scanning driving module is connected with the laser emitting module, and the angle of the laser emitted by the laser emitting module is changed by using the scanning driving module under the control of the programmable device, so that laser scanning is formed. The laser emission module and the scanning driving module are electrically connected with the programmable device, and the laser emission module and the scanning driving module are controlled by the programmable device, so that the size of the mainboard is reduced, and the cost is reduced.
In combination with the technical solution provided by the first aspect, in some possible implementations, the scanning driving module includes a scanning rotating mirror, a power module, and a control module. The scanning rotating mirror is connected with the measuring module and used for changing the angle of the laser emitted by the laser emitting module; the power module is connected with the scanning rotating mirror and used for providing power for the scanning rotating mirror; the control module is respectively electrically connected with the power module and the programmable device and used for receiving the instruction sent by the programmable device and controlling the working state of the power module according to the instruction.
In the embodiment of the application, the control module controls the working parameters of the power module according to the instruction sent by the programmable device, so as to control the working state of the scanning rotating mirror, thereby realizing the control of the laser emission module. In the scheme, the angle of the laser emitted by the laser emitting module can be controlled through the programmable device, so that laser scanning is formed, the control on the laser scanning is more flexible, and the applicability of the laser scanning mainboard is improved.
In combination with the technical solution provided by the first aspect, in some possible implementation manners, the measurement module includes a laser ranging module, an angle measurement module, and an inertia measurement module. The laser ranging module is electrically connected with the programmable device and used for measuring the distance between the laser scanning module and a target to be measured to obtain laser ranging data; the angle measuring module is electrically connected with the programmable device, is connected with the laser scanning module, and is used for measuring the angle of laser emitted by the laser scanning module in the laser scanning mainboard to obtain angle measuring data; the inertia measurement module is electrically connected with the programmable device and is used for measuring the angular velocity and the acceleration of the laser scanning mainboard at any moment in the motion process to obtain attitude data on the running track of the mainboard.
In the embodiment of the application, laser ranging data, angle measurement data and attitude data are respectively acquired through the laser ranging module, the angle measurement module and the inertia measurement module, independent data are acquired through the independent modules, mutual interference among different data is avoided, and the accuracy of the acquired data can be improved.
In combination with the technical solution provided by the first aspect, in some possible implementations, the angle measurement module includes a high-precision code wheel, a grating read head, and a read head driver. The high-precision code disc is connected with the laser scanning module, rotates along with the laser scanning module and is used for measuring the angle of the laser emitted by the laser scanning module; the grating reading head is used for reading the reading of the high-precision code disc and is electrically connected with the high-precision code disc; and the reading head drive is respectively and electrically connected with the grating reading head and the FPGA integrated circuit board and is used for sending the reading of the grating reading head to the FPGA integrated circuit board.
In combination with the technical solution provided by the first aspect, in some possible implementation manners, the laser ranging module includes an APD (Avalanche Photo Diode, APD, Avalanche photodiode) detector and an analog-to-digital converter (analog-to-digital converter), the APD detector is configured to detect a laser signal diffusely reflected by the surface of the target to be measured, and the laser signal is an analog signal; the analog-to-digital converter is respectively electrically connected with the APD detector and the programmable device, and is used for converting the analog signals acquired by the APD detector into digital signals, obtaining the distance between the laser scanning module and the target to be measured based on the digital signals, and sending the obtained distance value to the programmable device.
In the embodiment of the application, the APD detector is used for detecting the laser signal diffusely reflected by the surface of the target to be detected, and the analog-to-digital converter is used for converting the laser signal belonging to the analog signal into the digital signal, so that the distance value between the target to be detected and the APD detector is obtained, and the distance value is sent to the programmable device, thereby being beneficial to the subsequent processing of the programmable device on the distance value.
In a second aspect, the present application provides a laser scanner comprising a laser scanner body and a laser scanning motherboard of an embodiment of the first aspect and/or any possible implementation manner of the embodiment of the first aspect, wherein the laser scanning motherboard is disposed on the laser scanner body.
In a third aspect, the present application provides an unmanned aerial vehicle, including the unmanned aerial vehicle main part and the laser scanner of the embodiment of the second aspect, the laser scanner set up in the unmanned aerial vehicle main part.
In a fourth aspect, the present application provides a method for controlling an unmanned aerial vehicle, which is applied to an electronic device, where the electronic device is in communication connection with the unmanned aerial vehicle, and the method includes: configuring working parameters of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to acquire POS (position and orientation system) data and judging whether the POS data are normally acquired; when the POS data are normally acquired, controlling the unmanned aerial vehicle to carry out laser scanning, and judging whether the laser scanning data are normally acquired; and controlling the unmanned aerial vehicle to take off when the laser scanning data is normally acquired.
In combination with the technical solution provided by the fourth aspect, in some possible embodiments, the method further includes: when the unmanned aerial vehicle returns, controlling the unmanned aerial vehicle to stop laser scanning, and stopping collecting the laser scanning data and the POS data; and acquiring the laser scanning data and POS data acquired by the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a block diagram of a laser scanning motherboard according to an embodiment of the present disclosure;
fig. 2 is a block diagram of another laser scanning motherboard according to an embodiment of the present disclosure;
fig. 3 is a block diagram of a laser scanner according to an embodiment of the present application;
fig. 4 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 5 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present application;
fig. 6 is a schematic flow chart of another unmanned aerial vehicle control method according to an embodiment of the present application.
Icon: 10-laser scanning the mainboard; 100-a laser scanning module; 110-a laser emitting module; 120-scan driving module; 200-a measurement module; 210-a laser ranging module; 220-an angle measurement module; 230-an inertial measurement module; 300-a programmable device; 410-GNSS board card; 420-a GNSS antenna; 500-a processor; 20-an electronic device; 30-a laser scanner; 31-a laser scanner body; 40-unmanned aerial vehicle; 41-unmanned aerial vehicle body.
Detailed Description
In the description of the present application, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements.
The technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a laser scanning motherboard 10 according to an embodiment of the present disclosure, which includes a laser scanning module 100, a measurement module 200, and a programmable device 300.
The laser scanning module is used for emitting laser and controlling the laser to scan the target to be detected.
In one embodiment, the laser scanning module includes a laser emitting module and a scanning driving module. The laser emission module and the scanning driving module are respectively electrically connected with the programmable device 300, the scanning driving module is connected with the measuring module, the laser emission module is used for emitting laser, and the scanning driving module is used for changing the angle of the laser emitted by the laser emission module according to an instruction sent by the programmable device 300 and scanning the laser.
In one embodiment, the scanning driving module includes a scanning rotating mirror, a power module and a control module.
The scanning rotating mirror is used for changing the angle of the laser emitted by the laser emitting module and is connected with the measuring module. The power module is connected with the scanning rotating mirror and used for providing power for the scanning rotating mirror. The control module is electrically connected with the power module and the programmable device 300 respectively, and is used for receiving the instruction sent by the programmable device 300 and controlling the working state of the power module according to the instruction. For example, the control module receives the rotation speed parameters (including the rotation speed, the rotation direction, etc.) sent by the programmable device 300, and controls the working state (including the rotation speed, the rotation direction, etc.) of the power module according to the rotation speed parameters, thereby realizing the control of the working state of the scanning turning mirror, such as the rotation speed, the rotation direction, etc.
Optionally, the laser emission module may be a fiber laser, and the fiber laser is used for emitting pulsed laser. The parameter setting is performed on the fiber laser through the programmable device 300.
Optionally, the scanning rotating mirror may be any kind of scanning rotating mirror, and in actual use, the type of the scanning rotating mirror may be determined according to requirements.
Alternatively, the power module may be a motor and the control module may be a motor scan drive module.
In one embodiment, the measurement module 200 may be a measurement module 200 including a laser ranging module, an angle measurement module, and an inertial measurement module.
The programmable device 300 of the laser ranging module is electrically connected, and the laser ranging module is used for measuring the distance between the laser scanning module 100 and the target to be measured, so as to obtain laser ranging data. The angle measurement module is electrically connected with the programmable device 300, is connected with the laser scanning module, and is used for measuring the angle of the laser emitted by the laser scanning module so as to obtain angle measurement data; the inertial measurement module is electrically connected to the programmable device 300, and the inertial measurement module is used to measure the angular velocity and acceleration of the laser scanning module 100, so as to obtain attitude data.
Optionally, in an embodiment, the programmable device 300 sends a working instruction to the laser ranging module, the angle measurement module, and the inertia measurement module, and obtains laser ranging data, angle measurement data, and attitude data, and then performs time packing on the laser ranging data, the angle measurement data, and the attitude data respectively through the obtained GPS time information to implement time synchronization between the multi-source data, thereby preventing measurement result inaccuracy due to time error. And finally, outputting laser ranging data, angle measurement data and attitude data with GPS time information. After the programmable device 300 acquires the GPS time information, a time reference synchronized with the GPS time system needs to be established internally, and then the time synchronization operation is performed. For example, the programmable device 300 acquires GPS time information, establishes a time reference synchronized with a GPS time system therein, and performs time synchronization on the acquired laser ranging data and angle measurement data on the basis of the time reference, where the time systems are both GPS time systems. The laser ranging data and the angle measurement data after time synchronization also comprise GPS time information. Similarly, the attitude data is time-synchronized, and after time synchronization, the data comprises the attitude data and the GPS time information.
The GPS time information may be obtained by a satellite signal receiving module, and the programmable device 300 may obtain the GPS time information from the satellite signal receiving module.
In one embodiment, the satellite signal receiving module may be disposed on the laser scanning motherboard 10, and in this embodiment, the laser scanning motherboard 10 is further provided with a satellite signal receiving module, which is electrically connected to the programmable device 300 and is configured to receive time information sent by a satellite.
Optionally, the Satellite signal receiving module may be composed of a GNSS (Global Navigation Satellite System) antenna and a GNSS board, and the GNSS antenna is electrically connected to the GNSS board. The GNSS antenna is used for receiving satellite observation data; the GNSS board card is used for receiving satellite observation data received by the GNSS antenna and analyzing the satellite observation data.
In one embodiment, the laser ranging module includes an APD detector and an analog-to-digital converter, and the analog-to-digital converter is electrically connected to the APD detector and the programmable device 300. The APD detector is configured to detect a laser signal diffusely reflected by a surface of the target to be detected, where the laser signal is an analog signal, send the detected laser signal to the analog-to-digital converter, convert the analog signal (laser signal) acquired by the APD detector into a digital signal by the analog-to-digital converter, obtain a distance between the laser scanning module 100 and the target to be detected based on the digital signal, and send the obtained distance value to the programmable device 300.
In one embodiment, the angle measuring module comprises a high-precision code disc, a grating reading head and a reading head driver, wherein the high-precision code disc is connected with the scanning driving module and rotates along with the scanning driving module to measure the angle of the laser emitted by the laser scanning module. The grating reading head is electrically connected with the high-precision code disc and is used for reading the reading of the high-precision code disc; the reading head driver is electrically connected with the grating reading head and the programmable device 300 respectively and is used for reading the reading of the high-precision code disc and sending the reading of the grating reading head to the programmable device 300. When the high-precision code disc rotates along with the scanning driving module, the grating reading head continuously reads the reading of the current high-precision code disc, and the programmable device 300 obtains the code disc reading at any moment through the driving of the reading head to complete the angle measurement.
Optionally, the high-precision code disc is connected with a scanning rotating mirror of the scanning driving module, and when the scanning rotating mirror rotates under the driving of the power module, the high-precision code disc is driven to rotate.
In one embodiment, the inertia measurement module is composed of three accelerometers and three gyroscopes, so as to measure angular velocity and acceleration of the main board at any time in the movement process, and the instantaneous attitude of the main board can be calculated through the angular velocity and acceleration, so as to obtain attitude data on the main board movement track, wherein the angular velocity and the acceleration in the movement process are the attitude data. Optionally, an RS422 interface is provided on the inertial measurement module, and the original angular velocity and acceleration data are sent to the programmable device 300 through the RS422 interface.
In one embodiment, the laser scanning motherboard 10 is further provided with a processor, and the processor is electrically connected to the programmable device 300, and is configured to receive the self-state information (including the optical ranging data, the angle measurement data, and the attitude data) output by the programmable device 300 after time synchronization, and store the self-state information after time synchronization, for example, store the optical ranging data, the angle measurement data, and the attitude data after time synchronization. Meanwhile, the processor communicates with the programmable device 300 to control the laser scanning module and the measurement module 200, monitor whether each device on the motherboard is abnormal, and set respective parameters of the laser scanning module and the measurement module 200, for example, set a rotation speed parameter of a power module in the laser scanning module, or set parameters of a laser emission module, such as a pulse laser frequency, a laser capacity, a laser pulse width, and the like.
In one embodiment, the processor is further electrically connected to the satellite signal receiving module to obtain the time information transmitted by the satellite. For example, the processor may be in communication connection with the GNSS board, acquire time information sent by the satellite, and acquire an observation packet and raw observation data of the GNSS satellite.
Optionally, the processor and the programmable device 300 are both provided with RJ45 interfaces, and the processor is in communication connection with the programmable device 300 through an RJ45 interface to complete parameter setting, scanning control, self-state information data storage, and abnormal state monitoring.
Optionally, the processor may be an ARM (advanced RISC machine) embedded computer, the ARM architecture CPU is used as an operation core, and the Linux system is used as a development platform, so that the requirement on system power consumption is low, and the system crash problem caused by sudden power failure can be avoided.
Alternatively, the Programmable device 300 may be an FPGA (Field Programmable Gate Array) device.
In one embodiment, the processor communicates with an external electronic device through the communication module, and the external electronic device can access the processor to realize parameter setting, status checking and working mode control.
Optionally, the communication module may adopt a 5G module to implement a large amount of data transmission and improve the transmission rate.
Optionally, the electronic device may be a computer, a mobile phone, or the like.
For easy understanding, referring to fig. 2, in an embodiment, the laser emitting module 110, the scanning driving module 120, the laser ranging module 210, the angle measuring module 220, the inertia measuring module 230, and the GNSS board 410 are respectively electrically connected to the programmable device 300, the GNSS antenna 420 is electrically connected to the GNSS board 410, the GNSS board 410 is further electrically connected to the processor 500, the programmable device 300 is electrically connected to the processor 500, and the processor 500 is communicatively connected to the electronic device 20. The specific functions of the above modules are already described clearly, and are not described herein again.
It should be noted that fig. 2 is only one of many embodiments of the laser scanning main board 10 shown in the present application, and therefore, the example shown in fig. 2 should not be construed as limiting the present application.
Referring to fig. 3, fig. 3 is a schematic diagram of a laser scanner 30 according to an embodiment of the present application, which includes a laser scanning main board 10 and a laser scanner main body 31.
Here, the laser scanning main board 10 is disposed on the laser scanner main body 31, and the laser scanning main board 10 is already described in the foregoing, and is not described herein again.
Referring to fig. 4, fig. 4 shows a drone 40 according to an embodiment of the present application, which includes a laser scanner 30 and a drone main body 41.
Wherein, laser scanner 30 sets up on unmanned aerial vehicle main part 41, and laser scanner 30 has already been described in the foregoing clearly, and the repeated description is omitted here.
Referring to fig. 5, fig. 5 is a flowchart illustrating a method for controlling an unmanned aerial vehicle according to an embodiment of the present application, and the steps included in the method will be described with reference to fig. 5.
Step S100: and configuring working parameters of the unmanned aerial vehicle.
Wherein, unmanned aerial vehicle's working parameter includes unmanned aerial vehicle's the height parameter of navigating to and laser scanner's working parameter.
Step S200: and controlling the unmanned aerial vehicle to collect POS data and judging whether the POS data is normally collected.
Step S300: when POS data are normally collected, the unmanned aerial vehicle is controlled to carry out laser scanning, and whether the laser scanning data are normally collected or not is judged.
Step S400: when the laser scanning data are normally collected, the unmanned aerial vehicle is controlled to take off.
When the unmanned aerial vehicle navigates back, the method further comprises:
step S500: controlling the unmanned aerial vehicle to stop laser scanning and stop collecting laser scanning data and POS data;
step S600: and acquiring laser scanning data and POS data acquired by the unmanned aerial vehicle.
For convenience of understanding, please refer to fig. 6, where fig. 6 is a workflow of the electronic device and the unmanned aerial vehicle.
At first start unmanned aerial vehicle, then electronic equipment connects unmanned aerial vehicle wifi, opens the control software on the electronic equipment again, carries out communication connection with unmanned aerial vehicle, when connecting successfully, begins to set up working parameter, if connect failure, restart unmanned aerial vehicle, the connection is once more gone on again to the above-mentioned step of repetition. After the working parameter is set, whether the working parameter is successfully set is detected, if the working parameter is not successfully set, the working parameter is set again, and if the working parameter is successfully set, the unmanned aerial vehicle is controlled to collect POS data. Judge whether normal the collection of POS data, when judging that POS data acquisition goes wrong, control unmanned aerial vehicle once more and gather POS data, if POS data normal collection, control unmanned aerial vehicle gathers laser scanning data. Whether the laser scanning data are normally collected is judged, when the problem of the laser scanning data collection is judged, the unmanned aerial vehicle is controlled to collect the laser scanning data again, and if the laser scanning data are normally collected, the unmanned aerial vehicle is controlled to take off.
When unmanned aerial vehicle returns to the navigation, electronic equipment connects unmanned aerial vehicle wifi once more to carry out communication connection again with unmanned aerial vehicle, then control unmanned aerial vehicle and stop laser scanning, then judge whether laser scanning stops, if not stop, again control unmanned aerial vehicle and stop laser scanning, if judge that laser scanning has stopped, stop to gather laser scanning data, and stop to gather POS data, electronic equipment downloads the laser scanning data and the POS data that unmanned aerial vehicle gathered, after the download was accomplished, close unmanned aerial vehicle.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A laser scanning motherboard, comprising:
the laser scanning module is used for emitting laser and controlling the laser to scan a target to be detected;
the measuring module is connected with the laser scanning module and used for measuring the distance between the laser scanning module and a target to be measured to obtain laser ranging data and measuring the angle of laser emitted by the laser scanning module to obtain angle measuring data; measuring the angular speed and the acceleration of the laser scanning main board in the motion process to obtain attitude data;
the programmable device is respectively and electrically connected with the laser scanning module and the measuring module, and is used for sending a working instruction to the laser scanning module and the measuring module, receiving the laser ranging data, the angle measuring data and the attitude data, respectively carrying out time synchronization on the laser ranging data, the angle measuring data and the attitude data by utilizing the acquired GPS time information, and outputting the laser ranging data, the angle measuring data and the attitude data after the time synchronization.
2. The laser scanning motherboard of claim 1, wherein the laser scanning module comprises:
the laser emitting module is used for emitting laser;
and the scanning driving module is used for changing the angle of the laser emitted by the laser emitting module according to the instruction sent by the programmable device to form laser scanning, the laser emitting module and the scanning driving module are respectively and electrically connected with the programmable device, and the scanning driving module is connected with the measuring module.
3. The laser scanning motherboard of claim 2, wherein the scan drive module comprises:
the scanning rotating mirror is connected with the measuring module and is used for changing the angle of the laser emitted by the laser emitting module;
the power module is connected with the scanning rotating mirror and used for providing power for the scanning rotating mirror;
and the control module is respectively electrically connected with the power module and the programmable device and is used for receiving the instruction sent by the programmable device and controlling the working state of the power module according to the instruction.
4. The laser scanning motherboard of claim 1, wherein the measurement module comprises:
the laser ranging module is electrically connected with the programmable device and used for measuring the distance between the laser scanning module and a target to be measured to obtain laser ranging data;
the angle measuring module is electrically connected with the programmable device and is connected with the laser scanning module and used for measuring the angle of laser emitted by the laser scanning module in the laser scanning mainboard to obtain angle measuring data;
and the inertia measurement module is electrically connected with the programmable device and is used for measuring the angular velocity and the acceleration of the laser scanning mainboard at any moment in the motion process to obtain attitude data on the running track of the mainboard.
5. The laser scanning motherboard of claim 4, wherein the angle measurement module comprises:
the high-precision coded disc is connected with the laser scanning module, rotates along with the laser scanning module and is used for measuring the angle of the laser emitted by the laser scanning module;
the grating reading head is used for reading the reading of the high-precision code disc and is electrically connected with the high-precision code disc;
and the reading head drive is respectively electrically connected with the grating reading head and the programmable device and is used for sending the reading of the grating reading head to the programmable device.
6. The laser scanning motherboard of claim 4, wherein the laser ranging module comprises:
the APD detector is used for detecting a laser signal diffusely reflected by the surface of the target to be detected, and the laser signal is an analog signal;
and the analog-to-digital converter is respectively electrically connected with the APD detector and the programmable device, and is used for converting the analog signals acquired by the APD detector into digital signals, acquiring the distance between the laser scanning module and the target to be detected based on the digital signals, and sending the acquired distance value to the programmable device.
7. A laser scanner, comprising:
a laser scanner body;
the laser scanning main board of any one of claims 1 to 6, the laser scanning main board being provided on the laser scanner body.
8. An unmanned aerial vehicle, comprising:
an unmanned aerial vehicle main body;
the laser scanner of claim 7, disposed on the drone body.
9. A control method of an unmanned aerial vehicle is applied to an electronic device, the electronic device is in communication connection with the unmanned aerial vehicle, and the method comprises the following steps:
configuring working parameters of the unmanned aerial vehicle;
controlling the unmanned aerial vehicle to acquire POS data and judging whether the POS data are normally acquired;
when the POS data are normally acquired, controlling the unmanned aerial vehicle to carry out laser scanning, and judging whether the laser scanning data are normally acquired;
and controlling the unmanned aerial vehicle to take off when the laser scanning data is normally acquired.
10. The drone controlling method of claim 9, further comprising:
when the unmanned aerial vehicle returns, controlling the unmanned aerial vehicle to stop laser scanning, and stopping collecting the laser scanning data and the POS data;
and acquiring the laser scanning data and POS data acquired by the unmanned aerial vehicle.
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