实时感知型激光雷达多通道数据采集系统设计

激光雷达是实现环境实时感知的重要传感器，针对多通道感知激光雷达数据量大、数据传输解算实时性要求高及量体裁衣高效小型化的迫切需求，基于自研采用可靠的机械扫描、阵列探测和数据采集控制相结合的多通道激光雷达，设计实现了基于FPGA和DSP的多路并行信号采集处理系统，并在点云三维实时成像中得到了验证。该数据采集处理系统中的FPGA负责多通道激光雷达数据控制采集以及数据传输，DSP负责对数据进行解析处理并通过网口将点云数据上传到上位机，实现点云实时显示。实际测试结果表明，该数据采集处理系统能够满足多通道激光雷达2 Mpts/s的大数据量点云解析，并保证20 fps以上实时数据的可靠采集传输，实现周围环境和障碍物激光雷达点云的快速解算，可应用于自动驾驶、导航避障、周界安防等领域。

Design of multi-channel data acquisition system for real-time perception lidar

Lidar is the most effective means for real-time environmental awareness. Based on the demand of multi-channel perception lidar with large amount of data, real-time data transmission and miniaturization, a multi-channel parallel signal acquisition and processing system was designed based on FPGA and DSP. A self-developed three-dimensional lidar was designed, including mechanical scanning, linear array detection, data acquisition and control system. The system was implemented and verified in the three-dimensional point cloud imaging experiments. In this system, FPGA was responsible for multi-channel lidar data acquisition, control and transmission. DSP was used for data calculation and uploading the point cloud data to the upper computer through the network to realize the real-time display of point cloud. The experiments of lidar show that the proposed real-time data acquisition system could meet the requirements of point cloud calculation at 2 Mpts/s, with real time data acquisition and procession at 20 fps. The rapid calculation of lidar point cloud of the environment and obstacles is realized. It can be applied to automatic driving, navigation obstacle avoidance, perimeter security and etc.