三维扫描激光雷达能够主动获取目标的三维信息, 其高速数据采集与传输是三维实时成像的技术瓶颈之一。自主设计一款地基三维扫描激光雷达系统, 利用数据采集与控制系统实现点云三维成像。激光雷达系统硬件设计包括发射与接收单元、测距单元和扫描单元, 用于获取目标的三维点云数据。激光雷达系统软件设计包括上位机程序、下位机程序和USB固件程序设计, 实现点云数据从下位机到上位机的采集、传输和存储, 及上位机数据解析和实时成像。通过多个场景实验, 结果显示三维扫描激光雷达系统具有厘米级别的测距误差, 可以实现三维实时成像。

The three-dimensional scanning LiDAR can actively acquire three-dimensional information of target. High-speed data acquisition and transmission are key technical issues for three-dimensional real-time imaging. A ground-based three-dimensional scanning LiDAR was designed using data acquisition and control system to achieve three-dimensional imaging with point cloud. The LiDAR hardware design included a transmitting and receiving unit, a ranging unit, and a scanning unit for acquiring the three-dimensional point cloud data of the target. The software design of the LiDAR included upper computer program, lower computer program and USB firmware program design for accomplishing point cloud data acquisition, data transmission, data storage, data analysis and real-time imaging which were collected in lower computer and transmitted into upper computer. Through multiple scene experiments, the results show that three-dimensional scanning LiDAR system has a centimeter-level ranging error, which can realize three-dimensional real-time imaging.