CN103076614B - The crashproof laser scanning device of a kind of helicopter - Google Patents
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Abstract
一种直升机防撞用激光扫描方法与装置,包括防撞激光扫描仪装置、直升机体俯仰角测量装置和直升机体,可对地面障碍物进行实时扫描成像,及时给飞行员提供障碍物的形状和距离信息。激光扫描点云形态由两维运动决定,一是俯仰方向的正弦摆动,二是扫描镜旋转运动形成的圆锥式激光扫描,两运动的合成产生圆形旋转推进的激光点扫描轨迹,形成长方形扫描条带,可高分辨率探测直升机前下方的障碍物。当直升机有俯仰角变化时,由直升机体俯仰角测量装置获得俯仰角值,提供给防撞激光扫描仪控制器,实时控制俯仰方向的摆动角度,补偿俯仰角变化,使激光扫描俯仰视场角相对于当地水平面始终不变,防止由于俯仰角变化的影响而漏扫直升机前下方的地面障碍物。
A laser scanning method and device for helicopter collision avoidance, including an anti-collision laser scanner device, a helicopter body pitch angle measurement device and a helicopter body, capable of real-time scanning and imaging of ground obstacles, and providing the pilot with the shape and distance of the obstacle in time information. The shape of the laser scanning point cloud is determined by two-dimensional motion, one is the sinusoidal swing in the pitch direction, and the other is the conical laser scanning formed by the rotating motion of the scanning mirror. The combination of the two motions produces a circular rotating and advancing laser point scanning trajectory, forming a rectangular scanning Strip for high-resolution detection of obstacles in front of and below the helicopter. When the helicopter has a pitch angle change, the pitch angle value obtained by the helicopter body pitch angle measurement device is provided to the anti-collision laser scanner controller to control the swing angle in the pitch direction in real time, compensate for the pitch angle change, and make the laser scan the pitch angle of view Relative to the local horizontal plane, it is always constant to prevent the ground obstacles under the front of the helicopter from being missed due to the influence of pitch angle changes.
Description
技术领域 technical field
本发明涉及直升机防撞技术、点扫描式机载激光扫描三维成像技术以及机载激光扫描的俯仰角补偿技术。 The invention relates to helicopter collision avoidance technology, point-scanning airborne laser scanning three-dimensional imaging technology and airborne laser scanning pitch angle compensation technology.
背景技术 Background technique
直升机具有低空飞行和高度机动性等多种特点,不仅军事用途多样,在民用领域用途也相当广泛。目前,直升机被广泛应用于商务运输、观光游览、缉私缉毒、治安消防、医疗救护、森林灭火、喷洒农药、探测鱼群、石油勘探等许多领域。 Helicopters have various characteristics such as low-altitude flight and high maneuverability. They are not only used in military affairs, but also in civilian fields. At present, helicopters are widely used in many fields such as business transportation, sightseeing, anti-smuggling and anti-drug, public security and fire fighting, medical rescue, forest fire fighting, pesticide spraying, fish detection, oil exploration and so on.
直升机的安全问题一直是人们关注的焦点。一方面,直升机虽然飞行机动性、灵活性强,但安定性、稳定性差,直升机独特的构型造成了其事故率比较高。另一方面,随处可见的电力线、拉线和铁塔等地面观测性障碍物,是造成直升机机毁人亡事故的主要原因。直升机坠毁事故中有相当一部分是直升机与电线、电缆和电线杆等微小障碍物发生碰撞造成的。另外,每年直升机相撞和直升机撞山坠毁的事件也频发。因此,设计直升机防撞技术用于对电线、电线杆、高楼建筑物、尖塔等障碍物的检测,具有非常重要的现实意义。 The safety of helicopters has always been the focus of attention. On the one hand, although helicopters have strong flight maneuverability and flexibility, they are poor in stability and stability. The unique configuration of helicopters has resulted in a relatively high accident rate. On the other hand, ground observation obstacles such as power lines, pull lines and iron towers that can be seen everywhere are the main cause of helicopter crashes. A significant number of helicopter crashes are caused by helicopters colliding with tiny obstacles such as wires, cables and utility poles. In addition, there are frequent incidents of helicopter collisions and helicopter crashes every year. Therefore, it is of great practical significance to design helicopter collision avoidance technology to detect obstacles such as wires, utility poles, tall buildings, and steeples.
目前,直升机防撞毫米波雷达技术较为成熟,其扫描视场较大,全天侯探测能力较强,但缺点是分辨率低,难以探测较细的电线等障碍物,并且抗电磁干扰能力较差。而激光扫描雷达则具有高空间分辨率和抗电磁干扰等特性,是直升机防撞告警的理想装备。直升机防撞激光扫描技术是基于激光扫描测距原理的测量技术,集成了飞机平台、激光扫描仪、全球定位系统GPS(GlobalPositioningSystem)、惯性导航系统INS(InitialNavigationSystem,主要包括惯性测量单元,即IMU,InertialMeasurementUnit)以及计算机数据采集与处理系统等。 At present, the helicopter anti-collision millimeter-wave radar technology is relatively mature, with a large scanning field of view and strong all-weather detection capability, but the disadvantage is that the resolution is low, it is difficult to detect obstacles such as thin wires, and the anti-electromagnetic interference ability is weak. Difference. The laser scanning radar has the characteristics of high spatial resolution and anti-electromagnetic interference, and is an ideal equipment for helicopter anti-collision warning. Helicopter anti-collision laser scanning technology is a measurement technology based on the principle of laser scanning ranging, which integrates aircraft platform, laser scanner, global positioning system GPS (Global Positioning System), inertial navigation system INS (Initial Navigation System), mainly including inertial measurement unit, namely IMU, InertialMeasurementUnit) and computer data acquisition and processing systems.
直升机机载激光扫描三维成像用于防撞的工作过程如下:激光扫描仪安装在直升机前方或下方等位置,由DGPS/INS组合测量系统通过卡尔曼滤波技术实时测出直升机载荷平台的飞行轨迹和姿态角,根据激光脉冲的飞行时间计算出激光扫描仪扫描镜光学中心到地面激光脚点的距离,另外,结合由光电轴角编码器获得的该激光脉冲发射时刻的扫描方位角,可计算出地面激光脚点的三维坐标。大量的激光脚点形成激光点云,经过后续点云处理,获得被测地形的三维成像,即数字高程模型DEM(DigitalElevationModel)和数字表面模型DSM(DigitalSurfaceModel)等。进一步,根据三维成像,可获得障碍物的形状和距离等信息,告警飞行员及时避障。激光雷达对障碍物扫描点云的分辨率高,可探测微小和易被忽视的障碍物,如电线、电线杆等。另外,能够测量雷达扫描角度内的山体和地貌,能够观测到运动趋势有效范围内的小型飞行物,如无人机、较大体型的飞鸟等,并能够准确探测电缆、电线杆、塔、烟囱等建筑的形状、距离、方位等信息,实时显示障碍物的图像,同时发出告警信号,以便驾驶员及时采取回避动作。 The working process of helicopter onboard laser scanning 3D imaging for collision avoidance is as follows: the laser scanner is installed in front of or below the helicopter, and the DGPS/INS combined measurement system uses Kalman filter technology to measure the flight trajectory and Attitude angle, according to the flight time of the laser pulse, calculate the distance from the optical center of the scanning mirror of the laser scanner to the laser foot point on the ground. In addition, combined with the scanning azimuth angle at the time of the laser pulse emission obtained by the photoelectric shaft angle encoder, it can be calculated The three-dimensional coordinates of the laser foot point on the ground. A large number of laser footpoints form a laser point cloud. After subsequent point cloud processing, the three-dimensional imaging of the measured terrain is obtained, that is, the digital elevation model DEM (Digital Elevation Model) and the digital surface model DSM (Digital Surface Model). Further, based on 3D imaging, information such as the shape and distance of obstacles can be obtained, and the pilot can be warned to avoid obstacles in time. Lidar has a high resolution for scanning point clouds of obstacles, and can detect tiny and easily overlooked obstacles, such as wires and utility poles. In addition, it can measure mountains and landforms within the radar scanning angle, and can observe small flying objects within the effective range of motion trends, such as drones, larger birds, etc., and can accurately detect cables, utility poles, towers, and chimneys Information such as the shape, distance, and orientation of the building, real-time display of the image of the obstacle, and an alarm signal at the same time, so that the driver can take evasive action in time.
欧洲航空防务和航天公司(EADS)于2001年11月26日正式对外宣布,美国陆军将对该公司研制的直升机激光(HELLAS)雷达避障系统进行测试。该HELLAS雷达能通过光学和声音信号探测到飞机在低空飞行中将要碰到的障碍物(例如,电线和树木),并向机组成员发出警报。 The European Aeronautical Defense and Space Corporation (EADS) officially announced on November 26, 2001 that the U.S. Army will test the Helicopter Laser Laser (HELLAS) radar obstacle avoidance system developed by the company. The HELLAS radar detects obstacles (such as power lines and trees) that the aircraft is about to encounter during low-altitude flight through optical and acoustic signals, and alerts the crew.
目前的直升机防撞用点扫描式激光扫描仪的扫描体制主要有三种,一是采用双光楔扫描,可形成玫瑰花形的扫描线轨迹;二是采用双振镜扫描,可形成栅形扫描线轨迹;三是采用旋转棱镜加振镜扫描,可形成栅形扫描线轨迹。但这三种扫描方式的扫描区域受扫描振镜面的尺寸限制,扫描范围小;同时,运动部件存在较大的加速度变化,产生惯性力冲击,影响长期的使用精度。 At present, there are three main scanning systems for point-scanning laser scanners for helicopter collision avoidance. One is to use double optical wedge scanning to form a rosette-shaped scanning line trajectory; the other is to use dual-galvanometer scanning to form a grid-shaped scanning line. The third is to use a rotating prism plus a vibrating mirror to scan, which can form a grid-shaped scanning line trajectory. However, the scanning area of these three scanning methods is limited by the size of the scanning galvanometer surface, and the scanning range is small; at the same time, there is a large acceleration change in the moving parts, resulting in inertial force impact, which affects the long-term use accuracy.
另外,在激光扫描过程中,直升机体会受到多方面的干扰影响,如阵风、湍流、发动机振动及控制系统本身的控制性能缺陷等,使直升机体的俯仰角随时变化,对障碍物的扫描点云较大。一方面,直升机体的俯仰角变化会改变各圆形激光扫描轨迹的行间距,导致激光点云的密度有较大降低,使被测障碍物的激光扫描点云的空间分辨率下降,造成后续重建障碍物三维模型的质量退化、精度降低;另一方面,直升机体的俯仰角变化会导致激光扫描区域脱离了对地面障碍物区域的扫描,漏扫各种地面障碍物,如电缆,电线杆和塔、高耸烟囱等建筑,从而造成安全威胁。因此,针对直升机体防撞激光扫描雷达的俯仰角变化的实时补偿非常有必要,具有重要的现实意义,可大大提高对地面障碍物的探测可靠性和精度。 In addition, during the laser scanning process, the helicopter body is affected by various disturbances, such as gusts, turbulence, engine vibration, and control performance defects of the control system itself, which cause the pitch angle of the helicopter body to change at any time. larger. On the one hand, the pitch angle change of the helicopter body will change the line spacing of each circular laser scanning trajectory, resulting in a large decrease in the density of the laser point cloud, which will reduce the spatial resolution of the laser scanning point cloud of the measured obstacle, resulting in subsequent The quality of the reconstruction of the 3D model of obstacles is degraded and the accuracy is reduced; on the other hand, the change of the pitch angle of the helicopter body will cause the laser scanning area to deviate from the scanning of the ground obstacle area, and various ground obstacles such as cables and utility poles will be missed and towers, tall chimneys and other structures, thus posing a security threat. Therefore, the real-time compensation for the pitch angle change of the helicopter body anti-collision laser scanning radar is very necessary and has important practical significance, which can greatly improve the reliability and accuracy of detecting ground obstacles.
目前的直升机防撞激光扫描缺乏对俯仰角变化的实时补偿技术的详细报道,也没有针对直升机防撞激光扫描俯仰角变化的实时补偿装置存在,同时现有文献中也没有关于直升机防撞激光扫描俯仰角变化的实时补偿技术的研究。 The current helicopter anti-collision laser scanning lacks detailed reports on the real-time compensation technology for the change of the pitch angle, and there is no real-time compensation device for the pitch angle change of the helicopter anti-collision laser scanning. At the same time, there is no information about the helicopter anti-collision laser scanning Research on real-time compensation technology of pitch angle change.
发明内容 Contents of the invention
为了实现直升机防撞的快速激光扫描成像,提高扫描区域范围,并针对现有直升机防撞激光扫描技术中缺乏对俯仰角变化的实时补偿技术的缺陷,本发明提供了一种直升机防撞用激光扫描装置,一方面,产生不同于现有激光扫描点云形态的新激光扫描体制;另一方面,可实现对直升机体俯仰角变化的实时补偿,有效提高防撞扫描的可靠性。其中,激光扫描点云形态由两方面运动决定,一是激光扫描仪整体装置在俯仰方向的正弦摆动,二是扫描镜旋转运动形成的圆锥式激光扫描轨迹,两运动的合成产生圆形旋转推进的激光点扫描轨迹,形成长方形扫描条带,可高分辨率探测直升机前下方的障碍物。另外,当直升机体有俯仰角变化时,由直升机体俯仰角测量装置获得俯仰角值,提供给防撞激光扫描仪控制器,实时控制俯仰方向的摆动角度,补偿俯仰角变化,使激光扫描俯仰视场角相对于当地水平面始终不变,防止由于俯仰角变化的影响而漏扫直升机前下方的地面障碍物。 In order to realize the rapid laser scanning imaging of helicopter collision avoidance, increase the scanning area range, and aim at the lack of real-time compensation technology for pitch angle changes in the existing helicopter collision avoidance laser scanning technology, the invention provides a laser for helicopter collision avoidance The scanning device, on the one hand, produces a new laser scanning system that is different from the existing laser scanning point cloud form; on the other hand, it can realize real-time compensation for changes in the pitch angle of the helicopter body, effectively improving the reliability of anti-collision scanning. Among them, the shape of the laser scanning point cloud is determined by two aspects of motion. One is the sinusoidal swing of the laser scanner in the pitch direction, and the other is the conical laser scanning trajectory formed by the rotary motion of the scanning mirror. The combination of the two motions produces a circular rotation propulsion The laser point scanning trajectory forms a rectangular scanning strip, which can detect obstacles in front of the helicopter with high resolution. In addition, when the pitch angle of the helicopter body changes, the pitch angle value obtained by the helicopter body pitch angle measuring device is provided to the anti-collision laser scanner controller to control the swing angle in the pitch direction in real time, compensate for the pitch angle change, and make the laser scanning pitch The field of view is always constant relative to the local horizontal plane, preventing ground obstacles under the front of the helicopter from being missed due to the influence of pitch angle changes.
本申请专利提供的一种直升机防撞用激光扫描装置,其特征在于包括防撞激光扫描仪装置(1)、直升机体俯仰角测量装置(2)、直升机体(3);所述防撞激光扫描仪装置(1),其特征在于包括防撞激光扫描仪控制器(11)、俯仰扫描电机(12)、传动机构(13)、俯仰扫描旋转框架(14)、俯仰扫描光电轴角编码器(15)、圆锥扫描电机(16)、圆锥扫描镜(17)、圆锥扫描光电轴角编码器(18)、激光测距仪(19)。所述直升机体俯仰角测量装置(2)包括GPS(21)、IMU(22)、卡尔曼滤波器(23)。所述防撞激光扫描仪装置(1)和所述直升机体俯仰角测量装置(2)均固定在所述直升机体(3)上。所述圆锥扫描电机(16)、所述圆锥扫描镜(17)、所述圆锥扫描光电轴角编码器(18)和所述激光测距仪(19)均安装在所述俯仰扫描旋转框架(14)上。 A laser scanning device for helicopter collision avoidance provided by the patent of this application is characterized in that it includes an anti-collision laser scanner device (1), a helicopter body pitch angle measurement device (2), and a helicopter body (3); the anti-collision laser The scanner device (1) is characterized in that it includes an anti-collision laser scanner controller (11), a pitch scanning motor (12), a transmission mechanism (13), a pitch scanning rotating frame (14), a pitch scanning photoelectric shaft angle encoder (15), conical scanning motor (16), conical scanning mirror (17), conical scanning photoelectric shaft angle encoder (18), laser rangefinder (19). The helicopter body pitch angle measurement device (2) includes a GPS (21), an IMU (22), and a Kalman filter (23). Both the anti-collision laser scanner device (1) and the helicopter body pitch angle measuring device (2) are fixed on the helicopter body (3). The conical scanning motor (16), the conical scanning mirror (17), the conical scanning photoelectric shaft angle encoder (18) and the laser rangefinder (19) are all installed on the pitch scanning rotating frame ( 14) on.
在所述防撞激光扫描仪装置(1)中,所述俯仰扫描电机(12)通过所述传动机构(13),带动所述俯仰扫描旋转框架(14)以正弦方式进行摆动;所述圆锥扫描电机(16)带动所述圆锥扫描镜(17)旋转,反射由所述激光测距仪(19)发出的激光脉冲,所述激光测距仪(19)测量每个激光脉冲打在障碍物上的激光脚点的空间距离;当所述直升机体(3)有俯仰变化时,由所述直升机体俯仰角测量装置(2)实时获得俯仰角值,提供给所述防撞激光扫描仪控制器(11),控制所述俯仰扫描电机(12)的摆动角度,使激光扫描俯仰视场角始终相对于当地水平坐标系不变,以补偿俯仰角变化,防止由于俯仰角的变化造成激光扫描区域漏扫地面障碍物。 In the anti-collision laser scanner device (1), the pitch scanning motor (12) drives the pitch scanning rotating frame (14) to swing sinusoidally through the transmission mechanism (13); The scanning motor (16) drives the conical scanning mirror (17) to rotate, reflecting the laser pulses emitted by the laser rangefinder (19), and the laser rangefinder (19) measures the impact of each laser pulse on the obstacle The spatial distance of the laser foot point on the ground; when the helicopter body (3) has a pitch change, the pitch angle value is obtained in real time by the helicopter body pitch angle measuring device (2), and provided to the anti-collision laser scanner control device (11), controlling the swing angle of the pitch scanning motor (12), so that the laser scanning pitch angle of view is always relative to the local horizontal coordinate system, so as to compensate for changes in pitch angles and prevent laser scanning due to changes in pitch angles The area misses sweeping ground obstacles.
其中,所述防撞激光扫描仪(1)安装在直升机体(3)的前下部,相对于水平方向的安装倾斜角为45°。激光扫描点云形态由两方面运动决定,一是俯仰方向的正弦摆动,二是扫描镜旋转运动形成的圆锥式激光扫描,两运动的合成产生圆形旋转推进的激光点扫描轨迹,形成长方形扫描条带,可高分辨率探测直升机前下方的障碍物。俯仰扫描视场角为,圆锥激光扫描的倾斜角为15°(即所述圆锥扫描镜的平面法线与所述圆锥扫描电机的转轴之间的夹角)。所述防撞激光扫描仪控制器(11)根据激光测距仪获得的激光脚点的空间距离和方位、所述俯仰扫描光电轴角编码器(15)获得的所述防撞激光扫描仪的俯仰方向转角(即所述俯仰扫描旋转框架(14)的转动角度),以及所述圆锥扫描光电轴角编码器(18)获得的旋转角度,可计算出地面激光脚点的空间位置。当激光扫描脉冲打到直升机前下方的障碍物上(如电线、电线杆、建筑物、尖塔等)时,所述防撞激光扫描仪控制器(11)获得关于该障碍物的激光扫描点云,经过曲面拟合,重建障碍物的三维成像,并判断出障碍物的形状和距离信息,提醒飞行员及时操作直升机避开该障碍物。 Wherein, the anti-collision laser scanner (1) is installed at the front lower part of the helicopter body (3), and the installation inclination angle relative to the horizontal direction is 45°. The shape of the laser scanning point cloud is determined by two aspects of motion, one is the sinusoidal swing in the pitch direction, and the other is the conical laser scanning formed by the rotating motion of the scanning mirror. The combination of the two motions produces a circular rotating and advancing laser point scanning trajectory, forming a rectangular scanning Strip for high-resolution detection of obstacles in front of and below the helicopter. The viewing angle of the pitch scanning is 15°, and the inclination angle of the conical laser scanning is 15° (that is, the included angle between the plane normal of the conical scanning mirror and the rotation axis of the conical scanning motor). The anti-collision laser scanner controller (11) is based on the spatial distance and azimuth of the laser foot point obtained by the laser rangefinder, and the anti-collision laser scanner obtained by the pitch scanning photoelectric shaft angle encoder (15). The rotation angle in the pitch direction (that is, the rotation angle of the pitch scanning rotating frame (14)) and the rotation angle obtained by the conical scanning photoelectric shaft angle encoder (18) can calculate the spatial position of the ground laser footpoint. When the laser scanning pulse hits an obstacle (such as a wire, a utility pole, a building, a steeple, etc.) in front of the helicopter, the anti-collision laser scanner controller (11) obtains a laser scanning point cloud of the obstacle , after surface fitting, the three-dimensional imaging of the obstacle is reconstructed, the shape and distance information of the obstacle are judged, and the pilot is reminded to operate the helicopter to avoid the obstacle in time.
其中,由所述GPS(21)和所述IMU(22)的测量数据通过所述卡尔曼滤波器(23)的数据处理,获得所述直升机体(3)的实时俯仰角值,提供给所述防撞激光扫描仪(1)的所述防撞激光扫描仪控制器(11),通过补偿控制,使所述防撞激光扫描仪(1)的俯仰扫描视场角范围始终相对于当地水平参考坐标系不变,此时的俯仰扫描视场角=设定的俯仰扫描视场角()-所述直升机体(3)的俯仰角,从而实现对俯仰角变化的实时补偿,消除所述直升机体(3)的俯仰角变化对激光扫描覆盖区域的不利影响,提高对直升机前下方障碍物的扫描可靠性,防止因所述直升机体(3)的大角度俯仰角变化而导致激光扫描区域脱离对地面障碍物的扫描。 Wherein, the measurement data of the GPS (21) and the IMU (22) are processed by the Kalman filter (23) to obtain the real-time pitch angle value of the helicopter body (3), which is provided to the The anti-collision laser scanner controller (11) of the above-mentioned anti-collision laser scanner (1), through compensation control, makes the pitch scanning field angle range of the anti-collision laser scanner (1) always relative to the local level The reference coordinate system remains unchanged, and the pitch scanning field of view at this time = the set pitch scanning field of view ( ) - the pitch angle of the helicopter body (3), so as to realize real-time compensation for changes in the pitch angle and eliminate the The adverse effect of the pitch angle change of the helicopter body (3) on the laser scanning coverage area improves the scanning reliability of obstacles in front of the helicopter and prevents the laser scanning area from being caused by the large-angle pitch angle change of the helicopter body (3) Get out of the scan for ground obstacles.
其中,所述传动机构(13)采用齿轮-齿轮传动或齿轮-带轮传动。 Wherein, the transmission mechanism (13) adopts gear-to-gear transmission or gear-pulley transmission.
其中,所述激光测距仪(19)的最大测距为300米,激光脉冲重复频率最大为100kHz,圆锥扫描镜旋转频率为110Hz(即旋转速度为6600r/min),俯仰方向的正弦摆动频率为2Hz。所述防撞激光扫描仪(1)的所述俯仰扫描旋转框架(14)的转动角度每转动一个正弦周期,可获得一帧扫描三维图像,对直升机前下方的障碍物进行一次测量。由于俯仰方向的正弦摆动频率为2Hz,因此每秒钟可进行两次激光扫描成像,获得两幅三维图像,保证扫描成像的实时性。而圆锥扫描镜旋转频率为110Hz,则每秒钟可获得110圈激光扫描线(即激光脉冲点形成的轨迹线),以保证激光点云的密度,使三维成像具有较高的空间分辨率。 Among them, the maximum range of the laser rangefinder (19) is 300 meters, the maximum laser pulse repetition frequency is 100kHz, the rotation frequency of the conical scanning mirror is 110Hz (that is, the rotation speed is 6600r/min), and the sinusoidal oscillation frequency in the pitch direction is 2Hz. Every time the rotation angle of the pitch scanning rotating frame (14) of the anti-collision laser scanner (1) rotates a sinusoidal period, a frame of scanned three-dimensional images can be obtained to measure obstacles in front and below the helicopter. Since the sinusoidal oscillation frequency in the pitch direction is 2 Hz, laser scanning imaging can be performed twice per second to obtain two 3D images to ensure real-time scanning imaging. While the rotation frequency of the conical scanning mirror is 110Hz, 110 laser scanning lines (that is, the trajectory lines formed by the laser pulse points) can be obtained per second to ensure the density of the laser point cloud and make the 3D imaging have a higher spatial resolution.
综上,本发明提供的一种直升机防撞用激光扫描装置具有三个主要的特点,一是可获得具有长方形扫描条带的圆形推进激光扫描点云,扫描范围大且可调;二是每秒可获得两幅三维图像,每幅图像可具有55个圆形扫描圈,此结构可保证直升机防撞激光扫描具有高实时性和获得高空间分辨率的激光点云;三是可实时补偿直升机的大俯仰角变化对激光扫描成像的不利影响,消除所述直升机体(3)的俯仰角变化对激光扫描覆盖区域的不利影响,提高直升机提高防撞技术的可靠性。 In summary, a laser scanning device for helicopter collision avoidance provided by the present invention has three main characteristics. One is that a circular advance laser scanning point cloud with a rectangular scanning strip can be obtained, and the scanning range is large and adjustable; the other is Two three-dimensional images can be obtained per second, and each image can have 55 circular scanning circles. This structure can ensure that the helicopter anti-collision laser scanning has high real-time and high spatial resolution laser point cloud; the third is real-time compensation The adverse effect of the large pitch angle change of the helicopter on the laser scanning imaging is eliminated, and the adverse effect of the pitch angle change of the helicopter body (3) on the laser scanning coverage area is eliminated, and the reliability of the helicopter anti-collision technology is improved.
附图说明 Description of drawings
图1是直升机防撞激光扫描仪系统结构框图。 Figure 1 is a structural block diagram of the helicopter anti-collision laser scanner system.
图2是直升机防撞激光扫描工作原理示意图。 Figure 2 is a schematic diagram of the working principle of the helicopter anti-collision laser scanning.
图3是防撞激光扫描仪结构图。 Figure 3 is a structural diagram of the anti-collision laser scanner.
图4是防撞激光扫描仪的俯仰角变化补偿控制系统框图。 Fig. 4 is a block diagram of the pitch angle change compensation control system of the anti-collision laser scanner.
图5是防撞激光扫描仪的空间扫描点云分布图。 Fig. 5 is the spatial scanning point cloud distribution diagram of the anti-collision laser scanner.
具体实施方式 Detailed ways
以下结合附图对本发明专利实施例作进一步详细描述。 The patent embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.
图1是直升机防撞激光扫描仪系统结构框图。本发明提供的一种直升机防撞用激光扫描装置,其特征在于包括防撞激光扫描仪装置(1)、直升机体俯仰角测量装置(2)、直升机体(3);所述防撞激光扫描仪装置(1),其特征在于包括防撞激光扫描仪控制器(11)、俯仰扫描电机(12)、传动机构(13)、俯仰扫描旋转框架(14)、俯仰扫描光电轴角编码器(15)、圆锥扫描电机(16)、圆锥扫描镜(17)、圆锥扫描光电轴角编码器(18)、激光测距仪(19);所述直升机体俯仰角测量装置(2)包括GPS(21)、IMU(22)、卡尔曼滤波器(23);所述防撞激光扫描仪装置(1)和所述直升机体俯仰角测量装置(2)均固定在所述直升机体(3)上;所述圆锥扫描电机(16)、所述圆锥扫描镜(17)、所述圆锥扫描光电轴角编码器(18)和所述激光测距仪(19)均安装在所述俯仰扫描旋转框架(14)上;在所述防撞激光扫描仪装置(1)中,所述俯仰扫描电机(12)通过所述传动机构(13),带动所述俯仰扫描旋转框架(14)以正弦方式进行摆动;所述圆锥扫描电机(16)带动所述圆锥扫描镜(17)旋转,反射由所述激光测距仪(19)发出的脉冲激光,所述激光测距仪(19)测量每个激光脉冲打在障碍物上的激光脚点的空间距离;当所述直升机体(3)有俯仰角变化时,由所述直升机体俯仰角测量装置(2)获得,提供给所述防撞激光扫描仪控制器(11),控制所述俯仰扫描电机(12)的摆动角度,以补偿俯仰角变化,使激光扫描俯仰视场角始终相对于当地水平坐标系不变,防止激光扫描区域由于俯仰角的变化而脱离了地面障碍物造成漏扫。 Figure 1 is a structural block diagram of the helicopter anti-collision laser scanner system. A laser scanning device for helicopter collision avoidance provided by the present invention is characterized in that it includes an anti-collision laser scanner device (1), a helicopter body pitch angle measurement device (2), and a helicopter body (3); the anti-collision laser scanning device The instrument device (1) is characterized in that it includes an anti-collision laser scanner controller (11), a pitch scanning motor (12), a transmission mechanism (13), a pitch scanning rotating frame (14), a pitch scanning photoelectric shaft angle encoder ( 15), conical scanning motor (16), conical scanning mirror (17), conical scanning photoelectric shaft angle encoder (18), laser rangefinder (19); the helicopter body pitch angle measuring device (2) includes GPS ( 21), IMU (22), Kalman filter (23); the anti-collision laser scanner device (1) and the helicopter body pitch angle measurement device (2) are fixed on the helicopter body (3) ; The conical scanning motor (16), the conical scanning mirror (17), the conical scanning photoelectric shaft angle encoder (18) and the laser range finder (19) are all installed on the pitch scanning rotating frame (14): In the anti-collision laser scanner device (1), the tilt scanning motor (12) drives the tilt scanning rotating frame (14) in a sinusoidal manner through the transmission mechanism (13) Swing; the conical scanning motor (16) drives the conical scanning mirror (17) to rotate, reflecting the pulsed laser light emitted by the laser rangefinder (19), and the laser rangefinder (19) measures each laser The spatial distance of the laser foot point pulsed on the obstacle; when the helicopter body (3) has a pitch angle change, it is obtained by the helicopter body pitch angle measuring device (2) and provided to the anti-collision laser scanning The instrument controller (11) controls the swing angle of the pitch scanning motor (12) to compensate for changes in the pitch angle, so that the pitch angle of the laser scanning field of view remains unchanged relative to the local horizontal coordinate system, preventing the laser scanning area from being affected by the pitch angle. The change of the ground obstacle caused missed scan.
图2是直升机防撞激光扫描工作原理示意图。所述防撞激光扫描仪(1)安装在所述直升机体(3)的前下部,相对于水平方向倾斜角为45°,对前下方区域进行激光扫描,俯仰扫描视场角为。由所述GPS(21)和所述IMU(22)通过所述卡尔曼滤波器(23),获得所述直升机体(3)的实时俯仰角,提供给所述防撞激光扫描仪(1)的所述防撞激光扫描仪控制器(11),通过补偿控制,使所述防撞激光扫描仪(1)的扫描俯仰角视场区域始终相对于当地水平参考坐标系不变,即对俯仰角的变化进行实时补偿,消除所述直升机体(3)的俯仰角变化对激光扫描方向的不利影响,提高对直升机前下方障碍物扫描的可靠性,防止因所述直升机体(3)的大角度俯仰角变化而导致激光扫描区域脱离扫描地面障碍物而造成漏扫。 Figure 2 is a schematic diagram of the working principle of the helicopter anti-collision laser scanning. The anti-collision laser scanner (1) is installed at the front lower part of the helicopter body (3), with an inclination angle of 45° relative to the horizontal direction, and performs laser scanning on the front lower area, and the pitch scanning field angle is . The real-time pitch angle of the helicopter body (3) is obtained by the GPS (21) and the IMU (22) through the Kalman filter (23), and provided to the anti-collision laser scanner (1) The anti-collision laser scanner controller (11), through compensation control, keeps the scanning pitch angle field of view area of the anti-collision laser scanner (1) constant relative to the local horizontal reference coordinate system, that is, the pitch real-time compensation for changes in the helicopter body (3), eliminating the adverse effects of changes in the pitch angle of the helicopter body (3) on the laser scanning direction, improving the reliability of scanning obstacles in the front and bottom of the helicopter, and preventing The change of angle and pitch angle causes the laser scanning area to depart from scanning ground obstacles, resulting in missed scans.
图3是防撞激光扫描仪结构图。所述防撞激光扫描仪装置(1),其特征在于包括防撞激光扫描仪控制器(11)、俯仰扫描电机(12)、传动机构(13)、俯仰扫描旋转框架(14)、俯仰扫描光电轴角编码器(15)、圆锥扫描电机(16)、圆锥扫描镜(17)、圆锥扫描光电轴角编码器(18)、激光测距仪(19);所述防撞激光扫描仪装置(1)固定安装在所述直升机体(3)上;所述圆锥扫描电机(16)、所述圆锥扫描镜(17)、所述圆锥扫描光电轴角编码器(18)和所述激光测距仪(19)均安装在所述俯仰扫描旋转框架(14)上;所述传动机构(13)采用齿轮-齿轮传动或齿轮-带轮传动;在所述防撞激光扫描仪装置(1)中,所述俯仰扫描电机(12)通过所述传动机构(13),带动所述俯仰扫描旋转框架(14)以正弦方式进行摆动;所述圆锥扫描电机(16)带动所述圆锥扫描镜(17)旋转,反射由所述激光测距仪(19)发出的脉冲激光,所述激光测距仪(19)测量每个激光脉冲打在障碍物上的激光脚点的空间距离;当所述直升机体(3)没有俯仰角变化时或俯仰角变化很微小时,所述俯仰扫描电机(12)带动所述俯仰扫描旋转框架(14)的摆动角度范围始终不变,为设定的俯仰扫描视场角();当所述直升机体(3)有俯仰角变化时,由所述直升机体俯仰角实时测量装置(2)获得俯仰角值,提供给所述防撞激光扫描仪控制器(11),控制所述俯仰扫描电机(12)的摆动角度范围,以补偿俯仰角变化,此时的俯仰扫描视场角=设定的俯仰扫描视场角(±60°)-所述直升机体(3)的俯仰角,使激光扫描俯仰视场角始终相对于当地水平坐标系不变,防止激光扫描区域由于俯仰角变化的影响而脱离了地面障碍物造成漏扫。 Figure 3 is a structural diagram of the anti-collision laser scanner. The anti-collision laser scanner device (1) is characterized in that it includes an anti-collision laser scanner controller (11), a pitch scanning motor (12), a transmission mechanism (13), a pitch scanning rotating frame (14), a pitch scanning Photoelectric shaft angle encoder (15), cone scanning motor (16), cone scanning mirror (17), cone scanning photoelectric shaft angle encoder (18), laser rangefinder (19); the anti-collision laser scanner device (1) fixedly installed on the helicopter body (3); the conical scanning motor (16), the conical scanning mirror (17), the conical scanning photoelectric shaft angle encoder (18) and the laser measuring The tachymeters (19) are all mounted on the tilt scanning rotating frame (14); the transmission mechanism (13) adopts gear-gear transmission or gear-pulley transmission; the anti-collision laser scanner device (1) Among them, the pitch scanning motor (12) drives the pitch scanning rotating frame (14) to swing in a sinusoidal manner through the transmission mechanism (13); the conical scanning motor (16) drives the conical scanning mirror ( 17) Rotate and reflect the pulsed laser light emitted by the laser range finder (19), and the laser range finder (19) measures the spatial distance of the laser foot point hit by each laser pulse on the obstacle; when the When the helicopter body (3) has no pitch angle change or the pitch angle changes very little, the pitch scan motor (12) drives the pitch scan rotation frame (14) to have a swing angle range that remains unchanged, which is the set pitch scan Field of view (); when the helicopter body (3) has a pitch angle change, the pitch angle value is obtained by the helicopter body pitch angle real-time measurement device (2), and provided to the anti-collision laser scanner controller ( 11), controlling the swing angle range of the pitch scanning motor (12) to compensate for changes in the pitch angle, at this time the pitch scanning field angle = the set pitch scanning field angle (±60°) - the helicopter body (3) The pitch angle keeps the pitch angle of laser scanning constant relative to the local horizontal coordinate system, preventing the laser scanning area from being separated from ground obstacles due to the influence of pitch angle changes and causing missed scans.
图4是防撞激光扫描仪的俯仰角变化补偿控制系统框图。当所述直升机体(3)没有俯仰角变化时或俯仰角变化很微小时,所述俯仰扫描电机(12)的摆动角度为设定俯仰扫描视场角(即±60°);当所述直升机体(3)有俯仰角变化时,由所述直升机体俯仰角测量装置(2)实时获得所述直升机体(3)的俯仰角变化值,提供给所述防撞激光扫描仪控制器(11),控制所述俯仰扫描电机(12)的摆动角度,此时控制系统输入的的俯仰扫描视场角=设定的俯仰扫描视场角(±60°)-所述直升机体(3)的俯仰角,以补偿所述直升机体(3)的俯仰角变化对激光扫描区域的不利影响,使激光扫描俯仰视场角始终相对于当地水平坐标系不变,防止激光扫描区域由于俯仰角变化的影响而漏扫地面障碍物。由于所述俯仰扫描电机(12)带动所述俯仰扫描旋转框架(14)的正弦摆动频率是2Hz,即每秒钟获得两幅激光扫描三维图像,故设定俯仰角变化补偿控制系统的控制频率也是2Hz,即每扫描一幅图像,进行一次俯仰角补偿控制。 Fig. 4 is a block diagram of the pitch angle change compensation control system of the anti-collision laser scanner. When the helicopter body (3) has no pitch angle change or the pitch angle change is very small, the swing angle of the pitch scan motor (12) is the set pitch scan field angle (ie ±60°); when the When the pitch angle of the helicopter body (3) changes, the pitch angle change value of the helicopter body (3) is obtained in real time by the helicopter body pitch angle measuring device (2), and provided to the anti-collision laser scanner controller ( 11), control the swing angle of the pitch scanning motor (12), at this time, the pitch scanning field angle input by the control system = the set pitch scanning field angle (±60°) - the helicopter body (3) The pitch angle of the helicopter body (3) is used to compensate for the adverse effects of the pitch angle change of the helicopter body (3) on the laser scanning area, so that the pitch angle of the laser scanning field of view is always constant relative to the local horizontal coordinate system, preventing the laser scanning area from changing due to the pitch angle Due to the impact of sweeping ground obstacles. Since the pitch scanning motor (12) drives the pitch scanning rotating frame (14) at a sinusoidal oscillation frequency of 2 Hz, that is, two laser scanning three-dimensional images are obtained per second, the control frequency of the pitch angle change compensation control system is set It is also 2Hz, that is, each time an image is scanned, the pitch angle compensation control is performed once.
图5是防撞激光扫描仪的空间扫描点云分布图。激光扫描点云的形态由两方面的运动决定,一是所述俯仰扫描旋转框架(14)在俯仰方向的正弦摆动;二是所述圆锥扫描镜(17)的圆周运动形成的圆形激光扫描轨迹分布激光点。参数设置为:所述激光测距仪(19)的激光测距为50m,脉冲重复频率设为10kHz,所述圆锥扫描镜(17)的旋转频率为110Hz(即旋转速度为6600r/min),所述俯仰扫描旋转框架(14)的正弦运动频率为2Hz。另外,防撞激光扫描仪的安装倾斜角为45°,俯仰方向的扫描视场角为120°(±60°),圆锥激光扫描的倾斜角为15°(即所述圆锥扫描镜的平面法线与所述圆锥扫描电机的转轴之间的夹角)。根据上述参数,通过数值仿真,模拟直升机防撞激光扫描过程,获得在以直升机防撞激光扫描仪激光脉冲发射点为圆心、测距为50米的空间圆面上进行扫描的激光点云。如图(a)和(b)所示,图中单独的大实心圆点代表所述防撞激光扫描仪的激光发射中心点(即所述圆锥扫描镜(17)上的激光反射点)。其中,图(a)是激光扫描点云的侧面图,扫描激光点均分布在以直升机防撞激光扫描仪激光脉冲发射点为圆心、测距为50米的空间圆面上;图(b)为激光扫描点云的正面视图。当在上述的激光扫描视场角区域内有障碍物时,如电线、高楼、电线杆等,激光扫描点会打到障碍物上时,获得关于该障碍物的激光扫描点云,经过曲面拟合处理,可获得障碍物的三维图像,并判断出障碍物形状和距离信息,及时提醒飞行员合理操作直升机避开该障碍物。 Fig. 5 is the spatial scanning point cloud distribution diagram of the anti-collision laser scanner. The shape of the laser scanning point cloud is determined by two aspects of motion, one is the sinusoidal swing of the pitch scanning rotating frame (14) in the pitch direction; the other is the circular laser scanning formed by the circular motion of the conical scanning mirror (17). The trajectory distributes the laser points. The parameters are set as follows: the laser distance measurement of the laser range finder (19) is 50m, the pulse repetition frequency is set to 10kHz, the rotation frequency of the conical scanning mirror (17) is 110Hz (that is, the rotation speed is 6600r/min), The sinusoidal motion frequency of the pitch scanning rotating frame (14) is 2Hz. In addition, the installation inclination angle of the anti-collision laser scanner is 45°, the scanning field angle in the pitch direction is 120° (±60°), and the inclination angle of the conical laser scanning is 15° (that is, the plane method of the conical scanning mirror The angle between the line and the axis of rotation of the conical scanning motor). According to the above parameters, through numerical simulation, the helicopter anti-collision laser scanning process is simulated, and the laser point cloud scanned on the spatial circular surface with the laser pulse emission point of the helicopter anti-collision laser scanner as the center and the distance measurement of 50 meters is obtained. As shown in Figures (a) and (b), the single large solid circle in the figure represents the laser emission center point of the anti-collision laser scanner (that is, the laser reflection point on the conical scanning mirror (17)). Among them, Figure (a) is a side view of the laser scanning point cloud, and the scanning laser points are all distributed on the space circle with the laser pulse emission point of the helicopter anti-collision laser scanner as the center of the circle and the distance measurement is 50 meters; Figure (b) Frontal view of the laser scanned point cloud. When there are obstacles in the above-mentioned laser scanning field of view area, such as electric wires, tall buildings, utility poles, etc., when the laser scanning point hits the obstacle, the laser scanning point cloud of the obstacle is obtained, and simulated by the curved surface. Combined processing, the three-dimensional image of the obstacle can be obtained, and the shape and distance information of the obstacle can be judged, and the pilot can be reminded to operate the helicopter reasonably to avoid the obstacle in time.
以上对本发明及其实施方式的描述,并不局限于此,附图中所示仅是本发明的实施方式之一。在不脱离本发明创造宗旨的情况下,不经创造地设计出与该技术方案类似的结构或实施例,均属本发明保护范围。 The above description of the present invention and its embodiments is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention. Without departing from the inventive concept of the present invention, any uninvented design of structures or embodiments similar to the technical solution shall fall within the protection scope of the present invention.
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CN101900806A (en) * | 2010-05-18 | 2010-12-01 | 北京航空航天大学 | A method and device for real-time compensation of roll angle deviation of airborne lidar |
CN101865996A (en) * | 2010-05-19 | 2010-10-20 | 北京航空航天大学 | A method and device for real-time compensation of pitch angle deviation of airborne lidar |
CN102426355A (en) * | 2011-09-14 | 2012-04-25 | 北京航空航天大学 | Device and method for compensating laser emission pointing disturbance of airborne LADAR (Laser Detection and Ranging) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US11639987B2 (en) | 2018-01-24 | 2023-05-02 | Leica Geosystems Ag | Airborne lidar pulse rate modulation |
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