Multi-line laser radar scanning time sequence control method

Abstract

The invention provides a multi-line laser radar scanning time sequence control method. A multi-line laser radar uses an FPGA as a main control module, and the main control module internally comprisesa motor control unit, a time sequence control unit, a trigger control unit and an acquisition control unit, wherein the motor control unit, a motor driving unit, a motor and an incremental encoder form a rotation control module of the motor; the trigger control unit, the acquisition control unit and a multi-channel laser driving detection unit form a multi-channel laser ranging module; the incremental encoder sends an output pulse signal to the FPGA, and the FPGA performs frequency division or frequency multiplication on the pulse signal according to a set sampling frequency to obtain an effective control signal consistent with a sampling frequency; then the effective control signal is converted to form a trigger signal for enabling the multi-channel laser driving detection unit to performlaser ranging; and when the FPGA enables the multi-channel laser driving detection unit to perform laser ranging, the incremental encoder records a current azimuth angle so that the synchronism of angle measurement and ranging is ensured.

Description

technical field [0001] The invention relates to a timing control method, in particular to a multi-line laser radar scanning timing control method. Background technique [0002] Multi-line laser radar is an active rotating full-circle sensitive navigation and obstacle avoidance equipment. Its basic working principle is to conduct a distance test every time a fixed angle (set angle value) is rotated under the control of a certain sequence. Measurements are made uniformly at angular intervals throughout the full circle of rotation. [0003] At present, the multi-line lidar on the market mainly has 16 lines and 32 lines, which rotate at a constant speed under the main control sequence, and measure at a fixed time interval at a fixed time, and evenly realize 360-degree full-circle measurement. The main control timing is generally generated by the following techniques: [0004] FPGA actively generates timing, that is, the timing is completely generated by FPGA, and after frequen...

AI Technical Summary

Problems solved by technology

This method is simple to use, completely output by the FPGA, and can work normally without too much intervention; however, in actual operation, although active control is used to generate timing, the timing needs to be consistent with the angle measuring components of the multi-line lidar. However, due to the low sampling rate of the goniometer components, it is difficult to achieve complete synchronization, so it is easy to produce azimuth angle errors of the measurement points, and it is impossible to achieve uniform testing within a 360-degree circle

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