Design And Realization Of The Laser Scanning System Based On Dual Galvanometer

The rapid development of the laser technology and the increasingly heavy of the transportation industry make the intelligence and modernization of the traffic system to inprove. While the increased use of he aircraft, which is one of the current main transport, is exacerbating the work intensity of the aircraft scheduling and airport management. In order to reduce the work intensity of the increasingly heavy aiport and improve the operating efficiency of the airport, this paper studies the laser scanning system based on the dual galvanometer, which is the main part of the the aircraft docking guidance system.The laser scanning system is based on the dual galvanometer system and can realize the contour extraction and object recognition through the control of the stepping motor in the scanning cover. The paper analyzes the scanning mode according to the outline of the aircraft and aircraft model parametersm. Then the laser scanning strategy is proposed based on feature points matching. The laser scanning system can ensure high-precision on aircraft shape of description and recognition by using this scanning mode. Then the paper analyzes the key technology of the laser scanning system, namely the space coordinate transformation, the preprocessing of the laser data and the working mode of the stepper motor. Based on the precision requirement and time requirement of the aircraft docking guidance, the laser scanning system finally determines the byte streamline and data denoising as the preprocessing.In addition, the system determines the working frequency and motor fraction of the stepper motor.In the hardware design process, the paper discusses the hardware design of the main processor AVR32 communication module and control module. The FPGA, as the control unit of the motor module, is designed to ensure command synchronization and drive the motor through the parallel driving. Then the circuit of the continuous measuring mode and the external trigger mode of the laser range finder is designed to get laser data. The power circuit is designed to supply the system. Finally, the paper discusses the design of scanning command protocol and system software of the laser scanning system. The controller AVR32 completes the command analysis, execution and data return on the embedded real-time operating system uC/OS-II. The rotation of the motor in any direction working as the given frequency is achieved by programming on the control unit FPGA. Based on the structure characteristics of dual galvanometer and airport application environment, an adaptive algorithm is proposed to determine the dual galvanometer system physical zeros and a critical value of algorithm is proposed to make the dual galvanometer system back to physical zeros to realize the whole function of laser scanning system.Through the actual aircraft docking guided by the laser scanning sytem on the airport, the system can complete the aircraft docking accuracy and time requirements in the whole process and meets the airplane park guiding function.