Development Of Rotating LiDAR Based On LiFi Communication Technology

LiDAR(Light Detection and Ranging)is an active telemetering technology.It is a detection technology integrating laser technology,radar technology and opto-mechatronics technology.It has become an important technical means for obtaining three-dimensional data in space.It has the advantages of wide range of detection,high accuracy,high speed and good stability.It has important application value in military,automotive field,SLAM(Simultaneous Localization And Mapping)construction,fire rescue,UAV obstacle avoidance and path planning and tunnel deformation monitoring in coal mine.Based on the detailed analysis of the composition and key technologies of the traditional rotating lidar system,the paper mainly improves the data transmission way,the way of rotation and the programming way of the controller.Firstly,aiming at the problems of low life and slow speed caused by the brush communication between the moving parts and the fixed parts of the traditional rotary lidar system,a duplex wireless communication technology based on LIFI is proposed to replace traditional brush and data transmission between the rotating part and the fixed part of the rotary laser radar is performed.Secondly,according to the measurement distance and measurement speed of rotary LiDAR,a suitable laser ranging sensor is selected.At the same time,a dedicated wireless power supply module is designed to solve the problem of power supply to moving parts.A dedicated wireless power supply module is designed according to the characteristics of rotary LiDAR of the permanent magnet brushless motor to achieve the rotation of the rotating LiDAR power supply and rotation;the structure of the shell and other related structures is also designed.Then the controllers of the rotating part and the fixed part of the rotary laser radar are programmed by the Lab VIEW for STM32 programming environment,and the data processing software of the upper computer is programmed to form the software system part of the rotary laser radar.Finally,the error analysis is carried out on the scanning test of the rotary LiDAR,and the contour recognition of the human body based on the SIFT algorithm is carried out on the image of the point cloud human body obtained by the scanning and the PC software processing by the rotary LiDAR.