Laser scanning method and device for helicopter collision avoidance

Abstract

The invention discloses a laser scanning method and device for helicopter collision avoidance. The device comprises a collision avoidance laser scanner device, a helicopter body pitch angle measuring device and a helicopter body; and the device can be used for scanning and imaging a ground obstacle in real time and timely providing the shape and distance information of the obstacle for a pilot. The state of a laser scanning point cloud is decided by two-dimensional motion, wherein the two-dimensional motion comprises sinusoidal swing in a pitch direction and conical laser scanning formed by rotating motion of a scanning mirror; and the laser point scanning track of circular rotating propulsion is generated by synthesizing two motions and a rectangular scanning strip is formed, so that the obstacle at lower front part of the helicopter can be detected at high resolution. When a pitch angle of the helicopter changes, a pitch angle value is obtained by the helicopter body pitch angle measuring device and is provided for a collision avoidance laser scanner controller, so that a swing angle in the pitch direction is controlled in real time, the change of the pitch angle is compensated, the laser scanning pitch field angle is kept unchanged relative to the local horizontal plane and the phenomenon of leaked scanning of the ground obstacle at the lower front part of the helicopter due to the influence from the pitch angle change is prevented.

Description

Technical field [0001] The invention relates to helicopter anti-collision technology, point scanning type airborne laser scanning three-dimensional imaging technology and airborne laser scanning pitch angle compensation technology. Background technique [0002] Helicopters have a variety of characteristics such as low-altitude flight and high mobility. They are not only diverse in military use, but also widely used in the civil field. At present, helicopters are widely used in many fields such as business transportation, sightseeing, anti-smuggling and anti-narcotics, public security and fire fighting, medical rescue, forest fire fighting, pesticide spraying, fish detection, oil exploration and so on. [0003] The safety of helicopters has always been the focus of attention. On the one hand, although the helicopter has strong flight maneuverability and flexibility, its stability and stability are poor. The unique configuration of the helicopter causes its accident rate to be relat...

AI Technical Summary

Problems solved by technology

[0010] 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

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