CN109270552A - A kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus - Google Patents
A kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus Download PDFInfo
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- CN109270552A CN109270552A CN201811315591.6A CN201811315591A CN109270552A CN 109270552 A CN109270552 A CN 109270552A CN 201811315591 A CN201811315591 A CN 201811315591A CN 109270552 A CN109270552 A CN 109270552A
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Classifications
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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
-
- 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
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The rotation of a kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus, laser mirror uses push-jump structure, can effectively increase laser mirror size and reduce the volume and quality of device.Laser mirror is mounted on magnetic universal ball bearing and using the centre of sphere as rotation center oscillatory scanning, and laser pulse is reflected in the rotation center of laser mirror.When airborne platform attitude angle changes, uses two screw rod stepper motors to control laser mirror in a manner of linear pushing and compensated around the half that x-axis rotates backward roll angle and pitch angle with y-axis；It rotates backward yaw angular amplitude around z-axis using z-axis stepper motor driving laser mirror to compensate, be directed toward the space at laser scanning center is not influenced by platform attitude angle variation.Airborne platform installs lasergyro, installs MEMS gyroscope on laser mirror, and by comparing the two attitude angle value, the normal for controlling laser mirror is directed toward expectation dimensional orientation, realizes and scan to the real-time tracking of dynamic object.
Description
Technical field
The present invention relates to Review for Helicopter laser radar high-precision laser scanning techniques, how to eliminate the attitude angle of airborne platform
The influence of low-frequency fluctuation and high-frequency vibration to laser point cloud, can keep the method for stabilization of carriage angle when proposing a kind of laser scanning
With device.
Background technique
Airborne laser radar (LiDAR) quickly can be tested the extensive sharp of landform by precise acquisition as mapping equipment over the ground
Luminous point cloud generates the digital surface model (DSM) of tested landform.Base of the digital surface model as digitized description terrain information
Plinth, precision have an important influence on subsequent scientific research and application.Therefore, how airborne lidar point cloud data is effectively promoted
DSM precision generated, has important practical significance.
Payload platform of the helicopter as laser radar, is widely applied.Helicopter flight is flexible, can overhead suspension
Stop, F-Zero up to 300km/h, flying height from apart from ground number meter to the high-altitude 6000m, it can be achieved that without landing runway
Small place VTOL, these features become the machine for being most suitable for carrying LiDAR.Helicopter has rotor, tail-rotor etc. one
A little high-speed rotating dynamic components, these components can generate high vibration when working, when leading to helicopter flight vibration and noise compared with
It is high.These disadvantages keep the flight path of helicopter increasingly complex compared with fixed wing aircraft, the attitude angle disturbance of airborne platform
It is more obvious and complicated, existing low-frequency fluctuation, and have high-frequency vibration, thus work the laser radar being mounted on airborne platform
It can generate and seriously affect.The outgoing space angle for the laser pulse beam that complicated attitude angle disturbance will launch airborne LiDAR
It changes, causes tested landform laser point cloud distributed pole obtained uneven.The DSM that laser point cloud density lower generates
Precision deteriorates, and can not clearly describe tested landform in the detailed information in the region.Therefore, it to effectively improve DSM precision, needs to cut
The real attitude angle complexity variation for solving helicopter payload platform adversely affects laser scanning bring.
To solve this problem, common method is production stabilized platform to reach isolation load and payload platform both at home and abroad
Purpose.In recent years, there are many Research Literature in terms of stabilized platform, and stabilized platform technology is also quite mature but most
Research is all confined to the general stabilized platform for maintaining equipment entirety stabilization of carriage angle.General stabilized platform, which is mainly used for eliminating, to be carried
Influence of the body posture angular oscillation to pinpoint equipment and instrument is needed, adapts to various carriers, such as automobile, aircraft, naval vessel.
And airborne LiDAR higher for requirement of real-time, general stabilized platform are compensated since its remaining attitude error is still larger
Effect is poor.The posture angle compensation target of airborne LiDAR is the outgoing direction in space of quick correction laser pulse beam rather than entire
The direction in space of equipment positions, and therefore, general stabilized platform is for airborne laser radar, it is difficult to realize satisfactory appearance
State angle compensation effect.
A degree of research is also carried out in terms of airborne LiDAR posture angle compensation both at home and abroad at present, if Gat is in patent
In propose the general attitude angle Optical devices of a kind of pull-broom type camera on airborne or Space-borne and laser scanner；
Xu Lijun, Wang Jianjun etc. propose a kind of for airborne respectively in patent ZL201010183492.4 and ZL201010180527.9
The method and apparatus and one kind of laser radar pitch angle deviation real-time compensation are mended in real time for airborne laser radar rolling angular displacement
The method and apparatus repaid, but be only limitted to stablize compensation to single attitude angle.The LiDAR manufacturer of some worlds is also
The attitude angle optical compensating member for being suitble to airborne LiDAR system to carry through beginning to focus on research, as Lai Ka company and Optech are public
It joined a kind of roll angle compensation method in two product of department.In conclusion for the laser scanning attitude angle of airborne LiDAR
Antihunt means will become the important research direction of laser radar product.
Summary of the invention
It is not influenced by the variation of airborne platform attitude angle complexity to realize in Review for Helicopter laser radar laser scanning,
The invention proposes a kind of laser scanning stabilization of carriage angle method and apparatus for being exclusively used in Review for Helicopter LiDAR.When design, mainly
Consider the factor of the following aspects: (1) due to airborne laser radar far measuring distance, the area of laser scanning mirror will be designed
It is sufficiently large, effectively to collect laser echo signal；(2) attitude angle of helicopter payload platform changes complicated, existing fitful wind with
Significantly attitude angle fluctuates low frequency caused by turbulent flow, and has the engine of helicopter and the high frequency posture angular oscillation of rotating mechanism,
It is therefore desirable to which laser scanning has large bandwidth to the compensation control of attitude angle, to realize quick control response, high frequency posture is compensated
Angular oscillation.(3) stabilization and compensation to three attitude angles can be achieved at the same time.(4) due to being installed as airborne equipment, stabilising arrangement
Volume want small, weight is light.Therefore, compare by analysis, the Review for Helicopter laser radar laser scanning attitude angle of design is steady
Determine device and be different from three general axis rotary type stabilized platforms, but use push-jump structure, can be achieved at the same time triaxial attitude angle
The real-time compensation of complex vibration, scanning mirror is larger, and device has the advantages of small in size, light weight.It is mounted on the scan mirror
MEMS gyroscope can get three attitude angle real-time measurement values of the scanning mirror relative to local reference frame, therefore can pass through
The dimensional orientation for controlling scanning mirror normal makes the laser scanning direction of scanning mirror be directed toward desired dimensional orientation.In addition, when going straight up to
When the attitude angle of machine payload platform changes, two screw rod stepper motors are used with linear pushing form control scanning mirror around x
Axis (roll angle shaft) and y-axis (pitch angle shaft) rotate backward certain angle to compensate roll angle and pitch angle and disturb；It adopts
Certain angle is rotated backward to compensate yaw angle disturbance around z-axis with z-axis stepper motor driving scanning mirror, makes laser scanning and outgoing
Direction is not influenced by the variation of airborne platform attitude angle, and expectation is directed toward always.This stabilization of carriage angle method is also admirably suitable for swashing
Light is to the spotting scaming of dynamic object, although the attitude angle of Aircraft Load platform changes constantly, laser scanning center
Space be directed toward can be constant always, or can real-time control be directed toward dynamic object any dimensional orientation.
A kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus proposed by the present invention, feature exist
In, it can be achieved that airborne LiDAR laser scanning stabilization of carriage angle system, including laser scanning stabilization of carriage angle device (1), laser top
Spiral shell instrument (2), laser pulse emission device (3), MEMS gyroscope (4), airborne platform (5).Laser scanning stabilization of carriage angle device (1)
Including mechanical driving part and stabilization of carriage angle Setup Controller.Reference frame is XYZ-O, and wherein X-direction is before aircraft
Into direction, Z is vertical downward direction, Y be aircraft front-right to.Coordinate origin O is laser scanning optical centre, i.e. laser is anti-
Penetrate the center of rotation of mirror (101), that is, the laser pulse reflection point of laser mirror (101).Laser pulse emission device (3) and machine
Carrying platform (5) consolidation, laser mirror (101) center is directed toward in laser emitting direction and directive is tested ground.Using laser gyro
Instrument (2) measures the attitude angle variation of airborne platform (5) in real time, and controls laser mirror (101) and accordingly rotated, with stabilization
The outgoing direction in space of laser scanning is constant.In addition, MEMS gyroscope (4) to be mounted on to the back side of laser mirror (101), use
In the practical three-dimension altitude angle of measurement laser mirror (101).
Wherein, by comparing the measured value of the lasergyro (2) and the MEMS gyroscope (4), the two angle is obtained
It is poor to spend, and can control the centre normal of laser mirror (101) to be directed toward on the dimensional orientation of any desired, to dynamic and static object
Carry out laser spotting scaming and detection.On the other hand, when airborne platform (5) has three-dimension altitude angle variation, laser reflection is controlled
The x-axis and y-axis of mirror (101) rotate backward the roll angle of airborne platform (5) and the half of pitch angle measurement value amplitude respectively, and z
Axis rotates backward amplitude identical with the yaw angle measurement of airborne platform (5), so as to make to reflect through laser mirror (101)
The space for the laser beam being emitted afterwards is directed toward not to be influenced by the three-dimension altitude angle variation of airborne platform (5).Meanwhile laser mirror
(101) laser scanning function is also realized.Therefore, the control movement of laser mirror (101) is the superposition of three control signals,
First is that realizing laser two-dimension scanning around the scanning pendulum motion of x-axis；Second is that the reality of airborne platform (5) three-dimension altitude angle variation
When compensation campaign；Third is that laser mirror (101) normal is directed toward the real time tracking motion realized to Spatial distributions target.
Wherein, the mechanical driving part of laser scanning stabilization of carriage angle device (1) includes: laser mirror (101), cross
Shape mirror support bar (102), bulb universal bearing (103), electric machine support (104) are slotted the small hemisphere of stainless steel (105), magnetic
Property steel concave spherical surface body (106), center stand column (107), x-axis screw rod stepper motor (108), y-axis screw rod stepper motor (109), axis
To deflection hinge (110), Miniature ball bearing (111), z-axis stepper motor (112), support post (113), mounting seat
(114), center stand column chassis (115), longitudinal to deflect hinge (116), clump weight (117), direct acting sliding block (118), the gap that disappears lead screw
Nut (119).The rotation of three axis can be achieved in the laser mirror (101), and the coordinate origin O of reference frame XYZ-O is laser
The symmetrical centre of reflecting mirror (101), that is, the center of rotation of laser mirror and laser pulse reflection point.Laser mirror
(101) mirror surface symmetrical centre is overlapped with the rotation center of laser mirror (101), fixes its space by center stand column (107)
Position.The both direction x-axis and y-axis on (101) two orthogonal sides of laser mirror, the respectively roll angle (x of airborne platform
Axis) and pitch angle (y-axis) rotary shaft, can be driven respectively by x-axis screw rod stepper motor (108) and y-axis screw rod stepper motor (109)
Dynamic laser mirror (101) are rotated around y-axis and x-axis.Center stand column (107) can be rotated around z-axis, the rotary shaft of z-axis and yaw angle
It is identical, by z-axis stepper motor (112) driving center stand column (107) rotation being fixed on mounting seat (114), and then drive
Laser mirror (101) is rotated around z-axis.
Wherein, the mirror surface center of laser mirror (101) and four side midpoint of mirror surface are constraint mirror surface spatial rotational orientation
Control point.Four direct acting sliding blocks (118) are connected by bulb universal bearing (103).Four direct acting sliding block (118) both ends are mounted with
Rolling bearing, can the track groove respectively along four electric machine supports (104) move up and down.Two to be connected in x-axis and positive direction of the y-axis
X-axis lead screw stepper motor (108) and Y-axis lead screw stepper motor (109) are mounted in a electric machine support (104) respectively, two straight
Movable slider (118) is mounted on X-axis lead screw stepper motor (108) and Y-axis lead screw stepping electricity by the gap feed screw nut (119) that disappears respectively
On the lead screw of machine (109), upper and lower linear motion, driving are carried out by lead screw driving direct acting sliding block (118) of two stepper motors
Rotation of the laser mirror (101) around x-axis and y-axis.On other two electric machine support (104), it is mounted with clump weight (117),
For meeting quiet, dynamic balancing of the laser mirror (101) around the rotation of three axis when.Center stand column (107) and center stand column chassis
(115) it is fastenedly connected, keeps vertical relation.The lower step axis of center stand column (107) passes through Miniature ball bearing (111), with z
Shaft step motor (112) is connected by shaft coupling.When z-axis stepper motor (112) rotation, center stand column (107) can be driven to revolve
Turn.Four electric machine supports (104) are fixedly connected with four longitudinal deflections hinge (116), it can be achieved that four electric machine supports respectively
(104) along the small deflection of the correspondence edge direction perpendicular to connected laser mirror (101).Meanwhile four longitudinal deflections
Hinge (116) is connect with four axial deflection hinges (110) respectively, it can be achieved that four electric machine supports (104) are along being parallel to
Connect the small deflection of the correspondence edge direction of laser mirror (101).
Wherein, itself design feature of the laser scanning stabilization of carriage angle device (1) can meet installation larger size
Laser mirror (101) simultaneously keeps lesser device volume and quality.The specific size of the laser mirror (101) used for
100mm×100mm×2mm。
Wherein, laser mirror (101) is mounted on cross mirror surface support rod (102), the cross mirror support
Four rod ends of bar (102) are the square knuckle for having threaded hole, can be with the screw rod end phase of bulb universal bearing (103)
Even.Then the screw thread nose end of the bulb universal bearing (103) is connected with the screw rod end of direct acting sliding block (118), and direct acting sliding block
(118) it with gap feed screw nut (119) consolidation that disappears, is moved up and down by the driving of lead screw stepper motor.The cross mirror support
Bar (102) is fixedly connected with a small hemisphere of fluting stainless steel (105).The fluting small hemisphere of stainless steel (105) is straight by one
The solid steel ball of diameter 30mm is deviateing the smaller part steel ball part scaled off at centre of sphere 2mm, and is processing and ten in tangent plane
The identical cross groove of center size of font mirror support bar (102), so as to which cross mirror surface support rod (102) is firm
Gu at the insertion fluting small hemisphere of stainless steel (105) center, and fastening bonding.Laser mirror (101) is pasted onto cross
On mirror support bar (102), the rotation center and the fluting small hemisphere of stainless steel of laser mirror (101) are ensured that in this way
(105) the centre of sphere coincides.The magnetic steel concave spherical surface body (106) made of a magnetic Steel material and center stand column (107)
It is fastenedly connected.The small hemisphere of the fluting stainless steel (105) is tightly inhaled with the magnetic steel concave spherical surface body (106) by magnetic field force
Firmly, the two contact surface is polished into mirror surface accuracy, and coating lubricating oil, and relative displacement will not can occur in three-dimensional space,
Only form spherical surface sliding contact.By magnetic force sucking action, can will slot the small hemisphere of stainless steel (105) and magnetic steel concave spherical surface
(106) two isolated part combinations of body are at a magnetic universal movement bearing arrangement.Simultaneously as laser mirror (101)
With a thickness of 2mm, be exactly equal to the distance that the fluting small hemisphere of stainless steel (105) deviates ball point, therefore laser mirror (101) is viscous
After being attached on cross mirror surface support rod (102), the laser reflection central point of laser mirror (101) will be small with fluting stainless steel
The centre of sphere of hemisphere (105) is overlapped, so that rotation center when laser mirror (101) rotates can immobilize.When laser arteries and veins
When being punched in the rotation center of laser mirror (101) and being reflected, the sweep center point of shoot laser pulsed beams is also remained unchanged.
Wherein, X-axis lead screw stepper motor (108) and Y-axis silk is respectively adopted around the rotation of x and y-axis in laser mirror (101)
The screw rod of thick stick stepper motor (109) and gap feed screw nut (119) mechanism that disappears, driving direct acting sliding block (118) move up and down；Laser is anti-
The rotation that mirror (101) is penetrated around z-axis is directly driven using z-axis stepper motor (112).Screw rod stepper motor is by the rotation of stepper motor
Shaft replaces with one section of longer screw rod, and the outer internal screw thread sliding block for adding one to can use outer power drive on screw rod, passes through
It is formed and is engaged between internal screw thread and screw rod, to achieve the purpose that sliding block edge axially moves linearly.Feed screw nut is a kind of machinery
Sub-structure can reach different control precision by controlling the screw pitch of screw thread.The fixed peace of Y-axis lead screw stepper motor (109)
In electric machine support (104), that installs on screw rod disappears gap feed screw nut (119) and installs direct acting sliding block (118) on it additional
It being fixedly connected, the small screw that direct acting sliding block (118) is stretched out by leading flank is connect with the screw hole end of bulb universal bearing (103),
And the small screw that the other end of bulb universal bearing (103) stretches out is connect with the rod end screw hole of cross mirror surface support rod (102),
Therefore, when Y-axis screw rod stepper motor (109) rotate when, can successively drive the gap feed screw nut (119) that disappears, direct acting sliding block (118),
Bulb universal bearing (103), cross mirror surface support rod (102), laser mirror (101) turn about the X axis.In direct acting sliding block
(118) two sides extend perpendicularly out optical axis, and optical axis is connected with the fastening of miniature bearing inner ring, and the outer ring of miniature bearing is then placed in electricity
In the track groove of machine support (104) side, direct acting sliding block (118) can be eliminated under frictional resistance effect by the constraint of track groove
With the radial rotary of screw rod, it is made only to move linearly along the axial direction of screw rod, and forms rolling between miniature bearing and track cell wall
Dynamic contact, reduces track groove to the frictional resistance of direct acting sliding block (118).It is installed in electric machine support (104) bottom centre longitudinal
It deflects hinge (116), longitudinal deflect hinge (116) are connected with axial deflection hinge (110).The axial deflection hinge (110)
Motor can be maintained when laser mirror (101) is perpendicular to center stand column (107) with certain damping and spring restoring force
Bracket (104) is parallel with center stand column；And when screw rod stepper motor pushes laser mirror rotation, it can be according to the geometry of device
Structural constraint makes electric machine support (104) generate small deflection in two hinge rotation directions.Center stand column chassis (115) passes through
Interference fit is fastenedly connected with center stand column (107).With the electric machine support in Y-axis lead screw stepper motor (109) relative direction
(104) in, the clump weight (117) of the quality such as installation and Y-axis lead screw stepper motor (109) realizes laser mirror (101) rotation
When dynamic and static balance.About the dependency structure and working method of X-axis lead screw stepper motor (109), with Y-axis lead screw stepper motor
(109) identical.
Wherein, center stand column (107) is designed to the shape of multi-diameter shaft, is divided into four-stage, it is pressed in this four parts
The descending of diameter arranges: central support shaft of the first part as entire laser mirror (101), with magnetic steel concave spherical surface
Body (106) secure weld；Interference fit is formed between second part and the centre bore of center stand column chassis (115), utilizes huge knot
With joint efforts, it is integrally formed center stand column (107) with center stand column chassis (115)；Part III is mounted in mounting seat (114)
On Miniature ball bearing (111) in heart hole, the inner ring interference fit of multi-diameter shaft and Miniature ball bearing (111) is one
It rises；Part IV passes through Miniature ball bearing (111), is connected by shaft coupling with the rotary shaft of z-axis stepper motor (112), real
Now around the rotate driving of z-axis.Mounting seat (114) be it is rectangular, install support post (113) additional on its four angles respectively, can be into
One step is mutually connected firmly with airborne platform (5).
Wherein, it when only the single axis in two axis of x-axis or y-axis rotates laser mirror (101), is such as rotated around y-axis, if
When X-axis lead screw stepper motor (108) rotation make direct acting sliding block (118) central point on lead screw move △ x apart from when, swash at this time
Light reflection mirror (101) has rotated the angle θ around y-axis.The o that sets up an office is the symmetrical centre of laser mirror (101), px1It is bulb ten thousand in x-axis
To the center of rotation of bearing (103), px2It is the fulcrum that hinge (116) are longitudinally deflected in x-axis, px3It is that direct acting is sliding in x-axis
The centre of motion point of block (118).px1' be when laser mirror (101) angle of rotation be θ when x-axis on bulb universal bearing (103)
The spatial position of center of rotation, px3' it is as laser mirror (101) angle of rotation θ, that is, in x-axis on direct acting sliding block (118)
Centre of motion point after lower mobile △ x distance.For install x-axis lead screw stepper motor (108) electric machine support (104) relative to
The small skew angle of vertical direction.By Px1' and Px2The distance between two o'clock can establish the direct acting on lead screw according to Pythagorean theorem
Relationship between sliding block (118) amount of movement △ x and the rotation angle, θ of laser mirror (101):
(1)
It solves:
(2)
As r1=7, r2=3.7, d1=14,
(3)
(4)
When laser mirror (101) is around the two axis rotations of x-axis and y-axis, for example, laser mirror (101) is rotated around x-axis first
Then one angle ω rotates φ further around y-axis, if the direct acting sliding block (118) at this time on x-axis screw rod stepper motor (109) is mobile
△ x, and the mobile △ y of direct acting sliding block (118) on y-axis screw rod stepper motor (109), analyze the direct acting sliding block on two lead screws
(118) corresponding relationship between two corners of moving distance and laser mirror (101).If Py1It is that bulb is universal in y-axis
The fulcrum of bearing (103), py2It is the fulcrum that hinge (116) are longitudinally deflected in y-axis, py3It is that direct acting is sliding in y-axis
The centre of motion point of block (118).Laser mirror (101) is in the rotation process of two axis, py1With py3Line is parallel to y always
Axis direction, py1With py3Line always perpendicular to py2With py3Line, at this point, py2With py3Line is around point py2It is existing along
It is parallel to the minor rotation in y-axis direction, and is had along the minor rotation for being parallel to x-axis direction.And for x-axis, px2With px3Line
Around point px2Only along being parallel to the minor rotation of x-axis direction, and there is no minor rotation on along the direction for being parallel to y-axis.
When this is that laser mirror (101) is all rotated around two axis, first control Y-axis screw rod stepper motor (109) movement control X-axis screw rod again
The difference at the inclined angle of the mobile two spindle motor bracket (104) of bring of stepper motor (108).Therefore, in structure
In design, in py2Place will have an axial deflection hinge (110) around the rotation of y-axis direction, while having can be around along being parallel to
Longitudinal deflection hinge (116) of x-axis direction rotation.And in px2Place, if having one around rotate along the x-axis direction it is longitudinal partially
Turning hinge chain (116), the axial deflection hinge (110) on axis can lock on plummet direction and not have to rotation.
(5)
(6)
That is two displacements of the direct acting sliding block (118) on X and y-axis stepper motor lead screw are with laser mirror (101) around X and Y
One-to-one relationship is established between two corners of axis.
Wherein, laser mirror (101) is relatively independent around the rotation of z-axis, as long as control z-axis stepper motor rotation,
It not will cause to the coupling effect around x-axis and y-axis rotation.
Wherein, the three-dimension rotation angle of laser mirror (101) is the synthesis of three kinds of movements, first is that around the oscillatory scanning of x-axis
Angle is set as θ；Second is that airborne platform three-dimension altitude angle variation (ω, φ, γ) compensation, respectively (- ω/2 ,-φ/2 ,-γ)；
Third is that allowing the normal direction energy pointing space of laser mirror (101) to be arbitrarily directed toward, if the method for desired laser mirror (101)
Line direction is (ω relative to three attitude angles of initial attitude positione, φe, γe), then laser mirror (101) is around the total of x-axis
Rotational angle is (θ-ω/2+ ωe), total rotational angle around y-axis is (φe- φ/2), total rotational angle around z-axis is (γe-
γ).According to formula (5) and (6), corresponding lead screw direct acting slider displacement △ x and △ y can be obtained, and controls angle around the rotation of z-axis
(γe- γ).
Wherein, stabilization of carriage angle Setup Controller use embedded control system, the driving link that need to be manipulated totally three: x-axis
Screw rod stepper motor (108), y-axis screw rod stepper motor (109) and z-axis stepper motor (112)；Need received external information shared
Six: three attitude angles of airborne platform (5), i.e. roll angle, pitch angle and yaw angle；Three appearances of laser mirror (101)
State angle.Lasergyro (2) and the collected six instantaneous appearances of MEMS gyroscope (4) are received using embedded system S3c2440
State angle information；According to the laser scanning swing angle of setting, laser mirror (101) normal be directed toward object space orientation, when
Six preceding attitude angle informations, calculate △ x, △ y, z-axis rotational angle (γe- γ), obtain turn of stepper motor on each axis
Dynamic step number；Finally, controlling 3 stepper motor drivers respectively using output interface, driving laser mirror (101) rotation extremely refers to
Three fixed rotational angles.
Wherein, the Control System Software program of stabilization of carriage angle Setup Controller includes: (1) Bootloader: being completed
WatchDog Timer, system clock initialization, universal input/output interface (GPIO) are closed in the foundation of abnormal interrupt vector table
Initialization, interrupts the work such as initialization at the initialization of each PWM timer.(2)I2C data capture program: when stabilization of carriage angle device
After start-up operation, the operating status of three stepper motors is first determined whether.It, will if three stepper motors are in stop state
I2C interface configuration is main reception pattern, receives the three-axis attitude angular data of lasergyro (2) and MEMS gyroscope (4) measurement.
(3) motor rotates step number solver: the step angle of selected screw rod stepper motor is 1.8 °, then the motor completes 360 °
Rotation needs the movement of 200 steps.Screw lead is 5.08mm, then gap feed screw nut (119) moving step sizes that disappear of motor are
The corner control resolution ratio of 0.0254mm, laser mirror (101) are 0.029 °, when using single doublebeat step motor control mode
When, the corner of laser mirror can be controlled resolution ratio and halved, i.e., 0.0145 °.(4) motor operation program: three stepper motors
Rotation control its stepper motor driver by three groups of GPIO pins and driven, the steering of x-axis screw rod stepper motor (108) by
The level signal control that GPG3 is provided, rotation angle are controlled by the pulse signal that GPE11 is provided；Y-axis screw rod stepper motor (109)
The level signal that is provided by GPG5 of steering control, the pulse signal control that rotation angle is provided by GPE12；Z-axis stepper motor
(112) steering is controlled by the level signal that GPG6 is provided, and rotation angle is controlled by the pulse signal that GPE13 is provided.
Detailed description of the invention
Fig. 1 is that Review for Helicopter LiDAR can realize laser scanning stabilization of carriage angle schematic diagram.
Fig. 2 is airborne LiDAR stabilization of carriage angle system composition figure.
Fig. 3 is the mechanical construction drawing of laser scanning stabilization of carriage angle device (1).
Fig. 4 is the association structure figure of laser mirror (101).
Fig. 5 is screw rod stepper motor driving mechanism structure figure.
Fig. 6 is the z-axis driving structure figure of center stand column (107).
Fig. 7 is laser mirror (101) only around the control principle analysis chart of Y-axis rotation.
Fig. 8 is the control principle analysis chart that laser mirror (101) is rotated around X-axis and Y-axis.
Fig. 9 is the control system architecture schematic diagram of stabilization of carriage angle Setup Controller.
Figure 10 is the control system program flow chart of stabilization of carriage angle Setup Controller.
Specific embodiment
The invention patent embodiment is described in further detail below in conjunction with attached drawing.
Fig. 1 is that Review for Helicopter LiDAR can realize laser scanning stabilization of carriage angle schematic diagram.Laser pulse emission device (3) with
Airborne platform (5) consolidation, the geometric center of laser mirror (101) is directed toward in laser emitting direction and directive is tested ground.Laser
The pedestal of reflecting mirror (101) and airborne platform (5) consolidate, laser mirror (101) with a fixed angles reflected laser pulse beam,
The direction in space for keeping laser pulse Shu Zhixiang certain.When laser radar works, it is often desirable that the outgoing space side of laser pulse beam
To remaining unchanged, but the attitude angle of airborne platform (5) is changing at any time, causes the exit direction of laser pulse to deviate desired
Direction.XYZ-O is cartesian coordinate system, and X-direction is flight direction of advance, and vertically downward, Y-direction is vertical with X, Z for Z-direction, and
Meet right hand rule.When airborne platform (5) has clockwise 2 α of pitch angle around Y-axis, the offset of shoot laser direction,
Therefore if to keep exit direction constant, laser mirror (101) need to be rotated counterclockwise to the one of airborne platform (5) pitch angle
Half, i.e. α.Compensation for roll angle, method are identical.It therefore, can be by anti-by laser on pitch angle and rolling angular direction
It penetrates the half that mirror (101) counter-rotating corresponds to attitude angle numerical value, emergent ray angle can be corrected and be disturbed to no attitude angle
Ideally.And the disturbance of airborne platform (5) yaw angle only rotates in the direction at laser emitting angle around z-axis, and and have not been changed
Its shooting angle, therefore the yaw angle for working as airborne platform (5) has a corner, need to only rotate backward scanning mirror identical as yaw angle
Angle.
Fig. 2 is airborne LiDAR stabilization of carriage angle system composition figure.Airborne LiDAR laser scanning stabilization of carriage angle can be achieved
System, including laser scanning stabilization of carriage angle device (1), lasergyro (2), laser pulse emission device (3), MEMS gyroscope
(4), airborne platform (5).Laser scanning stabilization of carriage angle device (1) includes mechanical driving part and the control of stabilization of carriage angle device
Device.Reference frame is XYZ-o, and wherein X-direction is the direction of advance of aircraft, and Z is vertical downward direction, and Y is the positive right side of aircraft
Direction.Coordinate origin o is laser scanning optical centre, the i.e. center of rotation of laser mirror (101), that is, laser mirror
(101) laser pulse reflection point.Laser pulse emission device (3) and airborne platform (5) consolidate, and laser is directed toward in laser emitting direction
Reflecting mirror (101) center and the tested ground of directive.Become using the attitude angle that lasergyro (2) measures airborne platform (5) in real time
Change, and controls laser mirror (101) and accordingly rotated, it is constant with the outgoing direction in space that stabilized lasers scan.In addition, will
MEMS gyroscope (4) is mounted on the back side of laser mirror (101), for measuring the practical three-dimensional appearance of laser mirror (101)
State angle.By comparing the measured value of the lasergyro (2) and the MEMS gyroscope (4), the two differential seat angle is obtained, controllably
The centre normal of laser mirror (101) processed is directed toward on the dimensional orientation of any desired, carries out laser to dynamic and static object
Spotting scaming and detection.On the other hand, when airborne platform (5) has three-dimension altitude angle variation, control laser mirror (101)
X-axis and y-axis rotate backward the roll angle of airborne platform (5) and the half of pitch angle measurement value amplitude respectively, and z-axis rotates backward
Amplitude identical with the yaw angle measurement of airborne platform (5), so as to make what is be emitted after laser mirror (101) are reflected to swash
The space of light beam is directed toward not to be influenced by the three-dimension altitude angle variation of airborne platform (5).Meanwhile laser mirror (101) is also real
Existing laser scanning function.Therefore, the control movement of laser mirror (101) is the superposition of three control signals, first is that around x-axis
Pendulum motion is scanned, realizes laser two-dimension scanning；Second is that being moved to the real-time compensation of airborne platform (5) three-dimension altitude angle variation；
Third is that laser mirror (101) normal is directed toward the real time tracking motion realized to Spatial distributions target.
Fig. 3 is the mechanical construction drawing of laser scanning stabilization of carriage angle device (1).Laser scanning stabilization of carriage angle device (1)
Mechanical driving part include: laser mirror (101), cross mirror surface support rod (102), bulb universal bearing (103), electricity
Machine support (104) is slotted the small hemisphere of stainless steel (105), magnetic steel concave spherical surface body (106), center stand column (107), x-axis screw rod
Stepper motor (108), y-axis screw rod stepper motor (109), axial deflection hinge (110), Miniature ball bearing (111), z-axis step
Into motor (112), support post (113), mounting seat (114), center stand column chassis (115) are longitudinal to deflect hinge (116),
Clump weight (117), direct acting sliding block (118), the gap that disappears feed screw nut (119).The laser mirror (101) can be achieved three axis and turn
Dynamic, the coordinate origin o of reference frame XYZ-o is the symmetrical centre of laser mirror (101), that is, the rotation of laser mirror
Center and laser pulse reflection point.The mirror surface symmetrical centre of laser mirror (101) and the rotation center of laser mirror (101)
It is overlapped, its spatial position is fixed by center stand column (107).The both direction x-axis on (101) two orthogonal sides of laser mirror
And y-axis, the respectively rotary shaft of the roll angle (x-axis) of airborne platform and pitch angle (y-axis) can be by x-axis screw rod stepper motor
(108) it respectively drives laser mirror (101) with y-axis screw rod stepper motor (109) and is rotated around y-axis and x-axis.Center stand column
(107) it can be rotated around z-axis, z-axis is identical as the rotary shaft of yaw angle, by the z-axis stepper motor being fixed on mounting seat (114)
(112) driving center stand column (107) rotation, and then laser mirror (101) is driven to rotate around z-axis.
The mirror surface center and four side midpoint of mirror surface of laser mirror (101) are the control for constraining mirror surface spatial rotational orientation
Point.Four direct acting sliding blocks (118) are connected by bulb universal bearing (103).Four direct acting sliding block (118) both ends are mounted with to roll
Bearing, can the track groove respectively along four electric machine supports (104) move up and down.Two electricity being connected in x-axis and positive direction of the y-axis
X-axis lead screw stepper motor (108) and Y-axis lead screw stepper motor (109) are mounted in machine support (104) respectively, two direct acting are sliding
Block (118) is mounted on X-axis lead screw stepper motor (108) and Y-axis lead screw stepper motor by the gap feed screw nut (119) that disappears respectively
(109) on lead screw, upper and lower linear motion is carried out by lead screw driving direct acting sliding block (118) of two stepper motors, driving swashs
Rotation of the light reflection mirror (101) around x-axis and y-axis.It on other two electric machine support (104), is mounted with clump weight (117), uses
Quiet, dynamic balancing when meeting laser mirror (101) and being rotated around three axis.Center stand column (107) and center stand column chassis (115)
It is fastenedly connected, keeps vertical relation.The lower step axis of center stand column (107) passes through Miniature ball bearing (111), walks with z-axis
It is connected into motor (112) by shaft coupling.When z-axis stepper motor (112) rotation, center stand column (107) can be driven to rotate.Four
A electric machine support (104) is fixedly connected with four longitudinal deflections hinge (116), it can be achieved that four electric machine support (104) edges respectively
Perpendicular to connected laser mirror (101) correspondence edge direction small deflection.Meanwhile four longitudinal deflection hinges
(116) it is connect respectively with four axial deflection hinges (110), it can be achieved that four electric machine supports (104) are connected along being parallel to
The small deflection of the correspondence edge direction of laser mirror (101).
For airborne LiDAR, only when the echo-signal received is sufficiently strong, correct record just can be carried out.With spy
Ranging from increase, the echo-signal that can be received by mirror surface is just weaker, need to increase laser mirror (101) size come it is anti-
Penetrate echo-signal as much as possible.Traditional stabilization of carriage angle platform uses in the structure of tri-axial rotary platform, the size of scanning mirror
Critical constraints.And design feature of the laser scanning stabilization of carriage angle device (1) itself, swashing for installation larger size can be met
Light reflection mirror (101) simultaneously keeps lesser device volume and quality.The specific ruler of the laser mirror (101) used in the present apparatus
Very little is 100mm × 100mm × 2mm.
Fig. 4 is the association structure figure of laser mirror (101).Laser mirror (101) is mounted on cross mirror support
On bar (102), four rod ends of the cross mirror surface support rod (102) are the square knuckle for having threaded hole, can be with
The screw rod end of bulb universal bearing (103) is connected.Then the screw thread nose end Yu direct acting sliding block of the bulb universal bearing (103)
(118) screw rod end is connected, and direct acting sliding block (118) and gap feed screw nut (119) consolidation that disappears, and is driven by lead screw stepper motor
It moves up and down.The cross mirror surface support rod (102) is fixedly connected with a small hemisphere of fluting stainless steel (105).Fluting is not
The rust small hemisphere of steel (105) is that the solid steel ball of a diameter 30mm is being deviateed the smaller part steel ball scaled off at centre of sphere 2mm
Part, and cross groove identical with the center size of cross mirror surface support rod (102) is processed in tangent plane, thus
Cross mirror surface support rod (102) can be securely embedded at the fluting small hemisphere of stainless steel (105) center, and fasten bonding.It will
Laser mirror (101) is pasted on cross mirror surface support rod (102), ensures that the rotation of laser mirror (101) in this way
Turn center and the centre of sphere of the fluting small hemisphere of stainless steel (105) coincides.Magnetic steel using a magnetic Steel material production is recessed
Spherical surface body (106) is fastenedly connected with center stand column (107).The small hemisphere of the fluting stainless steel (105) and the magnetic steel are recessed
Spherical surface body (106) is tightly sucked by magnetic field force, and the two contact surface is polished into mirror surface accuracy, and coating lubricating oil, can be
Relative displacement will not occur in three-dimensional space, only form spherical surface sliding contact.It, can be by stainless steel of slotting by magnetic force sucking action
(106) two isolated part combinations of small hemisphere (105) and magnetic steel concave spherical surface body are at a magnetic universal movement bearing knot
Structure.Simultaneously as laser mirror (101) with a thickness of 2mm, be exactly equal to the fluting small hemisphere of stainless steel (105) and deviate ball
The distance of point, therefore after laser mirror (101) is pasted on cross mirror surface support rod (102), laser mirror (101) swashs
Light reflection kernel point will be overlapped with the centre of sphere of the fluting small hemisphere of stainless steel (105), thus when laser mirror (101) rotates
Rotation center can immobilize.When laser pulse is when the rotation center of laser mirror (101) is reflected, shoot laser arteries and veins
The sweep center point for rushing beam also remains unchanged.
Fig. 5 is screw rod stepper motor driving mechanism structure figure.Laser mirror (101) is respectively adopted around the rotation of x and y-axis
The screw rod of X-axis lead screw stepper motor (108) and Y-axis lead screw stepper motor (109) and gap feed screw nut (119) mechanism that disappears, driving
Direct acting sliding block (118) moves up and down；Laser mirror (101) is directly driven around the rotation of z-axis using z-axis stepper motor (112).
Screw rod stepper motor is that the rotary shaft of stepper motor replaced with one section of longer screw rod, and outer on screw rod plus one can benefit
It with the internal screw thread sliding block of outer power drive, is engaged by being formed between internal screw thread and screw rod, is moved to reach sliding block along axial straight line
Dynamic purpose.Feed screw nut is a kind of mechanical sub-structure, can reach different control precision by controlling the screw pitch of screw thread.
Y-axis lead screw stepper motor (109) is fixedly mounted in electric machine support (104), installed on screw rod disappear gap feed screw nut (119) with
The direct acting sliding block (118) installed additional on it is fixedly connected, the small screw and bulb ten thousand that direct acting sliding block (118) is stretched out by leading flank
It is connected to the screw hole end of bearing (103), and the small screw and cross mirror surface branch that the other end of bulb universal bearing (103) stretches out
The rod end screw hole of strut (102) connects, and therefore, when Y-axis screw rod stepper motor (109) rotation, can successively drive the gap lead screw that disappears
Nut (119), direct acting sliding block (118), bulb universal bearing (103), cross mirror surface support rod (102), laser mirror
(101) it turns about the X axis.Optical axis is extended perpendicularly out in the two sides of direct acting sliding block (118), optical axis fastens phase with miniature bearing inner ring
Even, the outer ring of miniature bearing is then placed in the track groove of electric machine support (104) side, can eliminate directly by the constraint of track groove
Movable slider (118), with the radial rotary of screw rod, makes it only move linearly along the axial direction of screw rod, and micro- under frictional resistance effect
Profile shaft holds to be formed between track cell wall and be in rolling contact, and reduces track groove to the frictional resistance of direct acting sliding block (118).In motor
Longitudinal deflection hinge (116) of bracket (104) bottom centre installation is longitudinal to deflect hinge (116) and axial deflection hinge (110) phase
Even.The axial deflection hinge (110) has certain damping and spring restoring force, when laser mirror (101) is perpendicular in
When heart column (107), electric machine support (104) can be maintained parallel with center stand column；And when screw rod stepper motor pushes laser reflection
When mirror rotates, electric machine support (104) can be made to generate in two hinge rotation directions according to the constraint of the geometry of device small
Deflection.Center stand column chassis (115) is fastenedly connected by interference fit with center stand column (107).With Y-axis lead screw stepper motor
(109) in the electric machine support in relative direction (104), the clump weight of the quality such as installation and Y-axis lead screw stepper motor (109)
(117), dynamic and static balance when laser mirror (101) rotation is realized.Dependency structure about X-axis lead screw stepper motor (109)
And working method, it is identical as Y-axis lead screw stepper motor (109).
Fig. 6 is the z-axis driving structure figure of center column (107).Center stand column (107) is designed to the shape of multi-diameter shaft,
It is divided into four-stage, this four parts are arranged by the descending of its diameter: first part is as entire laser mirror
(101) central support shaft, with magnetic steel concave spherical surface body (106) secure weld；Second part and center stand column chassis (115)
Interference fit is formed between centre bore, using huge binding force, center stand column (107) and center stand column chassis (115) is made to become one
Body；Part III is mounted on the Miniature ball bearing (111) in mounting seat (114) centre bore, multi-diameter shaft and Miniature ball
The inner ring interference fit of bearing (111) is together；Part IV passes through Miniature ball bearing (111), passes through shaft coupling and z
The rotary shaft of shaft step motor (112) is connected, and realizes the rotate driving around z-axis.Mounting seat (114) be it is rectangular, respectively at it
Support post (113) are installed additional on four angles, further can mutually be connected firmly with airborne platform (5).
Fig. 7 is laser mirror (101) only around the control principle analysis chart of Y-axis rotation.When laser mirror (101) only around
It when single axis in two axis of x-axis or y-axis rotates, is such as rotated around y-axis, if when X-axis lead screw stepper motor (108) rotation makes on lead screw
Direct acting sliding block (118) central point move △ x apart from when, laser mirror (101) has rotated the angle θ around y-axis at this time.Set up an office o
It is the symmetrical centre of laser mirror (101), px1It is the center of rotation of bulb universal bearing (103) in x-axis, px2It is to be indulged in x-axis
To the fulcrum of deflection hinge (116), px3It is the centre of motion point of direct acting sliding block (118) in x-axis.px1' it is when laser is anti-
Penetrate the spatial position of bulb universal bearing (103) center of rotation in x-axis when mirror (101) angle of rotation is θ, px3' it is to work as laser reflection
When mirror (101) angle of rotation θ, that is, direct acting sliding block (118) moves up and down the centre of motion point after △ x distance in x-axis.To install x
Small skew angle of the electric machine support (104) of axial filament thick stick stepper motor (108) relative to vertical direction.By Px1' and Px2Two o'clock it
Between distance direct acting sliding block (118) amount of movement △ x on lead screw and laser mirror (101) can be established according to Pythagorean theorem
Rotate the relationship between angle, θ:
(1)
It solves:
(2)
As r1=7, r2=3.7, d1=14,
(3)
(4)
Fig. 8 is the control principle analysis chart that laser mirror (101) are rotated around X-axis and Y-axis.When laser mirror (101) is around x-axis
When with two axis rotations of y-axis, for example, laser mirror (101) rotates an angle ω around x-axis first, then rotated further around y-axis
φ, if the mobile △ x of direct acting sliding block (118) at this time on x-axis screw rod stepper motor (109), and y-axis screw rod stepper motor (109)
On the mobile △ y of direct acting sliding block (118), analyze the moving distance and laser mirror of the direct acting sliding block (118) on two lead screws
(101) the corresponding relationship between two corners.If Py1It is the fulcrum of bulb universal bearing (103) in y-axis, py2It is y
The fulcrum of hinge (116), py are longitudinally deflected on axis3It is the centre of motion point of direct acting sliding block (118) in y-axis.Laser is anti-
Mirror (101) is penetrated in the rotation process of two axis, py1With py3Line is parallel to y-axis direction, py always1With py3Line hang down always
Directly in py2With py3Line, at this point, py2With py3Line is around point py2It is existing along being parallel to the minor rotation in y-axis direction, and have
Along the minor rotation for being parallel to x-axis direction.And for x-axis, px2With px3Line is around point px2Only along being parallel to x-axis direction
Minor rotation, and there is no minor rotation on along the direction for being parallel to y-axis.This be laser mirror (101) around two axis all
When rotation, first control Y-axis screw rod stepper motor (109) is mobile controls mobile two axis of bring of X-axis screw rod stepper motor (108) again
The difference at the inclined angle of electric machine support (104).Therefore, in structure design, one surrounds y at py2
The axial deflection hinge (110) of axis direction rotation, while having can be around along the longitudinal deflection hinge for being parallel to x-axis direction rotation
(116).And in px2Place, as long as there is an axis on longitudinal deflection hinge (116) rotated along the x-axis direction, axis
It can be locked on plummet direction to deflection hinge (110) and not have to rotation.
(5)
(6)
That is two displacements of the direct acting sliding block (118) on X and y-axis stepper motor lead screw are with laser mirror (101) around X and Y
One-to-one relationship is established between two corners of axis.
Laser mirror (101) is relatively independent around the rotation of z-axis, as long as control z-axis stepper motor rotation, Bu Huizao
The coupling effect rotated in pairs around x-axis and y-axis.
The three-dimension rotation angle of laser mirror (101) is the synthesis of three kinds of movements, first is that around the oscillatory scanning angle of x-axis, if
For θ；Second is that the compensation to airborne platform three-dimension altitude angle variation (ω, φ, γ), respectively (- ω/2 ,-φ/2 ,-γ)；Third is that
The normal direction energy pointing space of laser mirror (101) is allowed arbitrarily to be directed toward, if the normal side of desired laser mirror (101)
It is (ω to three attitude angles relative to initial attitude positione, φe, γe), then total rotation of the laser mirror (101) around x-axis
Angle is (θ-ω/2+ ωe), total rotational angle around y-axis is (φe- φ/2), total rotational angle around z-axis is (γe- γ).
According to formula (5) and (6), corresponding lead screw direct acting slider displacement △ x and △ y can be obtained, and controls angle around the rotation of z-axis
(γe- γ).
Fig. 9 is the control system architecture schematic diagram of stabilization of carriage angle Setup Controller.Stabilization of carriage angle Setup Controller is adopted
With embedded control system, the driving link that need to be manipulated totally three: x-axis screw rod stepper motor (108), y-axis screw rod stepper motor
(109) and z-axis stepper motor (112)；There are six the received external information of need is total: three attitude angles of airborne platform (5) are rolled
Corner, pitch angle and yaw angle；Three attitude angles of laser mirror (101).Laser is received using embedded system S3c2440
Gyroscope (2) and the collected six transient posture angle informations of MEMS gyroscope (4)；According to the laser scanning angle of oscillation of setting
Degree, the object space orientation of laser mirror (101) normal direction, six current attitude angle informations, calculate △ x, △ y, z
Rotational angle (the γ of axise- γ), obtain the rotation step number of stepper motor on each axis；Finally, controlling 3 respectively using output interface
A stepper motor driver, driving laser mirror (101) rotation to three specified rotational angles.
Figure 10 is the control system program flow chart of stabilization of carriage angle Setup Controller.Stabilization of carriage angle Setup Controller
Control System Software program includes: (1) Bootloader: completing the foundation of abnormal interrupt vector table, closes house dog timing
Device, universal input/output interface (GPIO) initialization, the initialization of each PWM timer, interrupts initialization at system clock initialization
Equal work.(2) I2C data capture program: after stabilization of carriage angle device is started to work, three stepper motors are first determined whether
Operating status.If three stepper motors are in stop state, by I2C interface configuration is main reception pattern, receives laser top
The three-axis attitude angular data of spiral shell instrument (2) and MEMS gyroscope (4) measurement.(3) motor rotates step number solver: selected
The step angle of screw rod stepper motor is 1.8 °, then the rotation that the motor completes 360 ° needs the movement of 200 steps.Screw lead is
5.08mm, then gap feed screw nut (119) moving step sizes that disappear of motor are 0.0254mm, and the corner of laser mirror (101) controls
Resolution ratio is 0.029 °, and when using single doublebeat control, the corner control resolution ratio of laser mirror halves, i.e., 0.0145 °.
(4) motor operation program: the rotation of three stepper motors controls its stepper motor driver by three groups of GPIO pins and is driven
Dynamic, the steering of x-axis screw rod stepper motor (108) is controlled by the level signal that GPG3 is provided, the arteries and veins that rotation angle is provided by GPE11
Rush signal control；The steering of y-axis screw rod stepper motor (109) is controlled by the level signal that GPG5 is provided, and rotates angle by GPE12
The pulse signal of offer controls；The level signal that the steering of z-axis stepper motor (112) is provided by GPG6 controls, rotation angle by
The pulse signal control that GPE13 is provided.
Above to the description of the present invention and its specific embodiment, it is not limited to which this, is only the present invention shown in attached drawing
One of embodiment.Without departing from the spirit of the invention, it without creating designs and the technical solution class
As structure or embodiment, category the scope of the present invention.
Claims (7)
1. a kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus, which is characterized in that can be achieved airborne
The stabilization of carriage angle system of LiDAR laser scanning includes laser scanning stabilization of carriage angle device (1), lasergyro (2), laser
Impulse sender (3), MEMS gyroscope (4), airborne platform (5)；Laser scanning stabilization of carriage angle device (1) includes machine driving
Part and stabilization of carriage angle Setup Controller；Measure the posture of the airborne platform (5) in real time using the lasergyro (2)
Angle variation, and control the laser mirror (101) in the mechanical driving part of the laser scanning stabilization of carriage angle device (1) into
The corresponding rotation of row, it is constant with the outgoing dimensional orientation of stabilized lasers scanning center；The MEMS gyroscope (4) is mounted on described sharp
The back side of light reflection mirror (101), measures the three-dimension altitude angle of the laser mirror (101)；By comparing the laser gyro
The measured value of instrument (2) and the MEMS gyroscope (4) obtains the two differential seat angle, can control in the laser mirror (101)
Heart normal is directed toward the dimensional orientation of any desired, carries out the detection of laser spotting scaming to dynamic and static object；When described airborne
When platform (5) has three-dimension altitude angle variation, the x-axis and y-axis for controlling the laser mirror (101) rotate backward the machine respectively
The roll angle of carrying platform (5) and the half of pitch angle measurement value amplitude, and z-axis rotate backward it is inclined with the airborne platform (5)
The identical amplitude of boat angle measurement, so as to refer to the space for the laser beam being emitted after the laser mirror (101) are reflected
To not influenced by the three-dimension altitude angle variation of the airborne platform (5)；The laser mirror (101) swings around x-axis, realizes and swashs
Optical scanning function；The control movement of the laser mirror (101) is the superposition of three control signals, first is that around the swing of x-axis
Laser two-dimension scanning is realized in scanning motion；Second is that being moved to the real-time compensation of the airborne platform (5) three-dimension altitude angle variation；
Third is that controlling the laser mirror (101) normal direction, the real time tracking motion to Spatial distributions target is realized.
2. a kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus described in accordance with the claim 1,
It is characterized in that, the mechanical driving part of the laser scanning stabilization of carriage angle device (1) includes: laser mirror (101), cross
Shape mirror support bar (102), bulb universal bearing (103), electric machine support (104) are slotted the small hemisphere of stainless steel (105), magnetic
Property steel concave spherical surface body (106), center stand column (107), x-axis screw rod stepper motor (108), y-axis screw rod stepper motor (109), axis
To deflection hinge (110), Miniature ball bearing (111), z-axis stepper motor (112), support post (113), mounting seat
(114), center stand column chassis (115), longitudinal to deflect hinge (116), clump weight (117), direct acting sliding block (118), the gap that disappears lead screw
Nut (119)；The rotation of three axis, the mirror surface symmetrical centre of the laser mirror (101) can be achieved in the laser mirror (101)
Center coincidence is rotated, its spatial position is fixed by the center stand column (107)；The laser mirror (101) two is mutually
The both direction x-axis and y-axis on perpendicular side, the respectively rotary shaft of the roll angle of airborne platform and pitch angle, can be by the x-axis
Screw rod stepper motor (108) and the y-axis screw rod stepper motor (109) respectively drive the laser mirror (101) around y-axis and
X-axis rotation；The center stand column (107) can rotate around z-axis, and z-axis is identical as the rotary shaft of yaw angle, by being fixed on the installation
The z-axis stepper motor (112) on pedestal (114) drives center stand column (107) rotation, and then drives the laser anti-
Mirror (101) is penetrated to rotate around z-axis.
3. according to a kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus described in claim 1 and 2,
It is characterized in that, the mirror surface center and four side midpoint of mirror surface of the laser mirror (101) are constraint mirror surface spatial rotational orientation
Control point；Four direct acting sliding blocks (118) are connected by the bulb universal bearing (103)；Four direct acting sliding blocks
(118) both ends are mounted with rolling bearing, can the track groove respectively along four electric machine supports (104) move up and down；In x-axis and
The X-axis lead screw stepper motor (108) and institute are installed respectively in two electric machine supports (104) being connected in positive direction of the y-axis
Y-axis lead screw stepper motor (109) is stated, two direct acting sliding blocks (118) pass through described gap feed screw nut (119) installation that disappears respectively
On the lead screw of the X-axis lead screw stepper motor (108) and the Y-axis lead screw stepper motor (109), by two stepper motors
Lead screw drives the direct acting sliding block (118) to carry out linear motion up and down, drives the laser mirror (101) around x-axis and y-axis
Rotation；On other two described electric machine support (104), the clump weight (117) are mounted with, for meeting the laser reflection
Static balance and dynamic balancing when mirror (101) is rotated around three axis；The lower step axis of the center stand column (107) passes through described miniature
Ball bearing (111) is connect with the z-axis stepper motor (112) by shaft coupling；Four electric machine supports (104) are respectively
It is fixedly connected with four longitudinal deflections hinge (116), it can be achieved that four electric machine supports (104) are along perpendicular to connecting
Connect the small deflection of the correspondence edge direction of the laser mirror (101)；Meanwhile four longitudinal deflections hinge (116) point
It is not connect with four axial deflection hinges (110), it can be achieved that four electric machine supports (104) are connected along being parallel to
The small deflection of the correspondence edge direction of the laser mirror (101).
4. according to a kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus described in claim 1 and 2,
It is characterized in that, design feature of the laser scanning stabilization of carriage angle device (1) itself, can meet the institute of installation larger size
It states laser mirror (101) and keeps lesser device volume and quality；The specific ruler of the laser mirror (101) used
Very little is 100mm × 100mm × 2mm；The laser mirror (101) is mounted on the cross mirror surface support rod (102), institute
Four rod ends for stating cross mirror surface support rod (102) are the square knuckle with threaded hole, can be with the bulb universal bearing
(103) screw rod end is connected；The screw rod end of the screw thread nose end of the bulb universal bearing (103) and the direct acting sliding block (118)
It is connected, and the direct acting sliding block (118) and described gap feed screw nut (119) fastening that disappears link, and are driven by lead screw stepper motor
And it moves up and down；The cross mirror surface support rod (102) and the small hemisphere of the fluting stainless steel (105) are fastened connection；
The fluting small hemisphere of stainless steel (105) is to be scaled off the solid steel ball of a diameter 30mm at deviation centre of sphere 2mm
Smaller part steel ball part, and process in tangent plane identical with the center size of the cross mirror surface support rod (102)
Cross groove, so as to which the cross mirror surface support rod (102) is securely embedded in the small hemisphere of the fluting stainless steel
(105) at center；The laser mirror (101) is pasted on the cross mirror surface support rod (102), it thus can be true
The centre of sphere of the rotation center and the fluting small hemisphere of stainless steel (105) of protecting the laser mirror (101) coincides；Using
The magnetic steel concave spherical surface body (106) of one magnetic Steel material production is fastenedly connected with the center stand column (107)；It is described to open
The small hemisphere of slot stainless steel (105) is tightly sucked with the magnetic steel concave spherical surface body (106) by magnetic field force, the two contact surface
It is polished into mirror surface accuracy, and coating lubricating oil, relative displacement will not occur in three-dimensional space, spherical surface sliding is only formed and connects
Touching；It, can be by the small hemisphere of the fluting stainless steel (105) and the magnetic steel concave spherical surface body (106) by magnetic force sucking action
Two elements are combined into the universal ball bearing structure of magnetism；The laser mirror (101) with a thickness of 2mm, be exactly equal to
The distance of ball point is deviateed in the fluting small hemisphere of stainless steel (105) section, thus the laser mirror (101) be pasted onto it is described
After on cross mirror surface support rod (102), the laser reflection central point and the fluting stainless steel of the laser mirror (101)
The centre of sphere of small hemisphere (105) is overlapped, so that the rotation center when laser mirror (101) rotates immobilizes；Laser
Rotation center of the pulse in the laser mirror (101) is reflected, and the sweep center point of shoot laser pulsed beams is kept not
Become.
5. according to a kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus described in claim 1 and 3,
It is characterized in that, extending perpendicularly out optical axis in the two sides of the direct acting sliding block (118), the inner ring of optical axis and a miniature bearing is tight
Solid phase connects, and the outer ring of miniature bearing is then placed in the track groove of the electric machine support (104) side, by the constraint of track groove
The direct acting sliding block (118) can be eliminated under frictional resistance effect with the radial rotary of screw rod, make it only along the axial straight of screw rod
Line is mobile, and is formed and be in rolling contact between this miniature bearing and track cell wall, reduces track groove to the direct acting sliding block
(118) frictional resistance；The axial deflection hinge (110) has certain damping and spring restoring force, when the laser is anti-
When penetrating mirror (101) perpendicular to the center stand column (107), the electric machine support (104) can be maintained parallel with the center stand column；
And when screw rod stepper motor pushes laser mirror rotation, according to the geometry of the laser scanning stabilization of carriage angle device (1)
Structural constraint will be such that the electric machine support (104) turns in longitudinal deflection hinge (116) and the axial deflection hinge (110)
Small deflection is generated on dynamic direction.
6. according to a kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus described in claim 1 and 2,
It is characterized in that, when the laser mirror (101) is around the two axis rotations of x-axis and y-axis, for example, the laser mirror
(101) an angle ω is rotated around x-axis first, then φ is rotated further around y-axis, if the x-axis screw rod stepper motor (109) at this time
On the mobile △ x of the direct acting sliding block (118), and the direct acting sliding block (118) on the y-axis screw rod stepper motor (109) is mobile
△ y, can establish the direct acting sliding block (118) on two lead screws moving distance and two of the laser mirror (101)
Corresponding relationship between corner；The o that sets up an office is the symmetrical centre of the laser mirror (101), px1It is the bulb ten thousand in x-axis
To the center of rotation of bearing (103), px2It is the fulcrum of longitudinal deflection hinge (116) in x-axis, px3It is institute in x-axis
State the centre of motion point of direct acting sliding block (118)；If py1It is the fulcrum of the bulb universal bearing (103) in y-axis, py2
It is the fulcrum of longitudinal deflection hinge (116) in y-axis, py3It is in y-axis in the movement of the direct acting sliding block (118)
Heart point；The laser mirror (101) is in the rotation process of two axis, py1With py3Line is parallel to y-axis direction, py always1With
py3Line always perpendicular to py2With py3Line, at this point, py2With py3Line is around point py2It is existing along being parallel to y-axis direction
Minor rotation, and have along the minor rotation for being parallel to x-axis direction；And for x-axis, px2With px3Line is around point px2Only edge
Be parallel to the minor rotation of x-axis direction, and there is no minor rotation on along the direction for being parallel to y-axis；The laser reflection
Mirror (101) is relatively independent around the rotation of z-axis, as long as control z-axis stepper motor rotation, not will cause the laser mirror
(101) to the coupling effect around x-axis and y-axis rotation.
7. according to a kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus described in claim 1 and 6,
It is characterized in that laser mirror (101) three-dimension rotation angle is three kinds of movement synthesis, first is that around x-axis oscillatory scanning angle, if
For θ；Second is that the compensation to airborne platform three-dimension altitude angle variation (ω, φ, γ), respectively (- ω/2 ,-φ/2 ,-γ), negative sign
Expression rotates backward；Third is that making the normal direction pointing space arbitrary orientation of the laser mirror (101), if desired described
The normal direction of laser mirror (101) is (ω relative to three attitude angles of the airborne platform (5) initial positione, φe,
γe), then the laser mirror (101) is (θ-ω/2+ ω around total rotational angle of x-axise), total rotational angle around y-axis is
(φe- φ/2), total rotational angle around z-axis is (γe- γ)；According to the machinery of the laser scanning stabilization of carriage angle device (1)
Kinematic constraint relationship can obtain the direct acting slider displacement △ x on the x-axis screw rod stepper motor (109) and the x-axis screw rod stepping
Direct acting slider displacement △ y and the z-axis stepper motor (112) on motor (108) control angle (γ around the rotation of z-axise-
γ).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315591.6A CN109270552B (en) | 2018-11-07 | 2018-11-07 | Helicopter-mounted laser radar laser scanning attitude angle stabilizing method and device |
| PCT/CN2018/126005 WO2020093577A1 (en) | 2018-11-07 | 2018-12-31 | Laser scanning attitude angle stabilization method and apparatus for helicopter-borne lidar |
| ZA2019/02540A ZA201902540B (en) | 2018-11-07 | 2019-04-23 | Method and apparatus for attitude stabilization of laser scanning for helicopter-borne lidar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315591.6A CN109270552B (en) | 2018-11-07 | 2018-11-07 | Helicopter-mounted laser radar laser scanning attitude angle stabilizing method and device |
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| Publication Number | Publication Date |
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| CN109270552A true CN109270552A (en) | 2019-01-25 |
| CN109270552B CN109270552B (en) | 2022-12-30 |
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|---|---|---|---|
| CN201811315591.6A Active CN109270552B (en) | 2018-11-07 | 2018-11-07 | Helicopter-mounted laser radar laser scanning attitude angle stabilizing method and device |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN109270552B (en) |
| WO (1) | WO2020093577A1 (en) |
| ZA (1) | ZA201902540B (en) |
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| CN110824501A (en) * | 2019-11-25 | 2020-02-21 | 陕西理工大学 | An airborne laser radar optical scanning device |
| CN110824501B (en) * | 2019-11-25 | 2022-05-27 | 陕西理工大学 | An airborne laser radar optical scanning device |
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| CN117518975A (en) * | 2024-01-04 | 2024-02-06 | 东北大学 | Integrated circuit AOI data acquisition control system based on line laser scanner |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020093577A1 (en) | 2020-05-14 |
| ZA201902540B (en) | 2021-08-25 |
| CN109270552B (en) | 2022-12-30 |
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