CN108107912A - A kind of Intelligent unattended machine mapping system - Google Patents
A kind of Intelligent unattended machine mapping system Download PDFInfo
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- CN108107912A CN108107912A CN201810099053.1A CN201810099053A CN108107912A CN 108107912 A CN108107912 A CN 108107912A CN 201810099053 A CN201810099053 A CN 201810099053A CN 108107912 A CN108107912 A CN 108107912A
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- unmanned plane
- mapping system
- intelligent unattended
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- 238000013507 mapping Methods 0.000 title claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 18
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of Intelligent unattended machine mapping system, including：Unmanned plane, Cloud Server and mobile terminal, unmanned plane and mobile terminal communicate to connect respectively with Cloud Server, and unmanned plane is also connected with communication of mobile terminal；Unmanned plane includes central processing unit, image processing unit, laser radar unit, power supply unit and communication unit, and described image processing unit, laser radar unit, power supply unit and communication unit are connected respectively with central processing unit；Laser radar unit includes electric platform, laser emitter and receiving unit, and electric platform, laser emitter and receiving unit are connected respectively with central processing unit.The present invention is surveyed and drawn by unmanned plane, three-dimensional imaging is realized using laser radar, shorten mapping time, improve mapping efficiency, using solar energy dim light charge control ensure that solar panels in the case that dim light charging stablize, solar panels caused by spherical guiding device then effectively prevents sun angular cannot comprehensive light the problem of.
Description
Technical field
The present invention relates to unmanned air vehicle technique fields, particularly a kind of Intelligent unattended machine mapping system.
Background technology
Unmanned plane is simple in structure, maneuverability, use cost are low, suitable for the task that someone's aircraft is not easy to perform, at present,
Unmanned air vehicle technique is in high-speed developing period, all many-sided such as new countryside construction planning, the large scale of the national economic development
Topographic map revision, forest litterfall monitoring, the design of hydraulic engineering preconsolidation stress, ECOLOGICAL ENVIRONMENTAL MONITORING, accidental pollution event are met an urgent need etc. all
There is huge application demand, in recent years, unmanned plane aerial photography technology becomes the important supplement of aerial survey remote sensing fields platform, unmanned plane
Aerial photographing technology can be widely applied to the fields such as basic map mapping, digital city construction, urban planning, mapping, exploitation, but at present
Unmanned plane cruising ability deficiency, particularly in the case of external environment complexity out of office mapping generally require unmanned plane and carry out for a long time
Flight, and regular solar device influenced to cause to charge by ambient light it is unstable.
It is detected in the modern times in scientific domain, radar imagery is an important research contents, it has widened conventional radar
Concept enables people to see more detailed target information by radar screen, has the work such as round-the-clock, remote work
Feature is widely used in military and civilian field, is surveyed including battle reconnaissance, guidance, target identification, resource investigation, landform
It paints；3D laser radars are one and are related to multi-direction multi-field comprehensive imaging radar, using the directionality of laser, are concerned with
Property, monochromaticjty and the infrared characteristics such as round-the-clock, 3D laser infrared radar imagings system is in geology detecting, guided missile tracking, aerospace
Civilian or militaries field extensive use is waited, builds 3D laser infrared radar imaging systems, to Study of Laser range measurement principle, three-dimensional imaging
It building method and improves laser radar performance and plays an important roll, the laser range finder of mesh single-point on the market has compared often
See, but it can only measure the distance of specified point in target, compared to laser range finder, the price of laser radar product is just on the market
It is much higher.Reduce laser radar cost, make its closer to it is civilian be to have major issue to be solved.
The content of the invention
The shortcomings that it is an object of the invention to overcome the prior art, provides a kind of Intelligent unattended machine mapping system.
Specifically, a kind of Intelligent unattended machine mapping system, including：Unmanned plane, Cloud Server and mobile terminal, it is described nobody
Machine and mobile terminal communicate to connect respectively with the Cloud Server, and the unmanned plane is also connected with the communication of mobile terminal；Institute
Stating unmanned plane includes central processing unit, image processing unit, laser radar unit, power supply unit and communication unit, the figure
As processing unit, laser radar unit and communication unit are connected respectively with the central processing unit；The laser radar unit
Including electric platform, laser emitter and receiving unit, the electric platform, laser emitter and receiving unit respectively with it is described
Central processing unit connects；The laser radar unit is sent for acquisition scans Data Concurrent to the central processing unit, institute
Central processing unit is stated for the space three-dimensional information of object to be calculated according to scan data and sends it to described image
Processing unit exports 3-D view and passes through the communication unit is sent to the Cloud Server, the power supply list by 3-D view
Member is used to power for UAV system.
Further, the central processing unit is AVR single chip.
Further, the laser emitter is a wordline laser transmitter.
Further, the receiving unit is USB camera.
Further, the laser emitter and the receiving unit are arranged on the electric platform, the electronic cloud
Platform is arranged below the unmanned plane.
Further, the power supply unit includes solar panels, voltage sensor, power control unit and accumulator, institute
Voltage sensor is stated to be connected with the positive and negative electrode of the solar panels and the power control unit respectively, the solar panels
Positive and negative electrode of the positive and negative electrode respectively with the accumulator is connected, between the anode of the anode of the solar panels and the accumulator
The first triode and diode are additionally provided with, the emitter of first triode is connected with the anode of the solar panels, institute
The collector for stating the first triode is connected with the anode of the diode, the anode of the cathode of the diode and the accumulator
Connection；The power control unit is also associated with the second triode, the base stage of first triode and second triode
Collector connection, the base stage of second triode is connected with the power control unit, the transmitting of second triode
Pole is grounded.
Further, the power control unit is MCU.
Further, the unmanned plane is additionally provided with guiding device, and the guiding device is arranged on the solar panels
Side, the guiding device are spherical guiding device.
Further, the communication unit is 3G/4G/WIFI modules.
Further, the central control unit is also associated with GPS/ big dipper multi-mode locating modules.
The present invention has the following advantages：It is surveyed and drawn by unmanned plane, using laser radar scanning and realizes three-dimensional imaging,
3-D view is sent to Cloud Server by unmanned plane, can not only substantially reduce mapping time, improves mapping efficiency, is used
Solar energy dim light charge control ensure that solar panels are stablized in the charging of dim light, set spherical guiding device then effective
Solar panels caused by avoiding sun angular cannot comprehensive light the problem of.
Description of the drawings
Fig. 1 is a kind of system schematic of Intelligent unattended machine mapping system of the present invention.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to following institute
It states.
As shown in Figure 1, specifically, a kind of Intelligent unattended machine mapping system, including：Unmanned plane, Cloud Server and movement are eventually
End, unmanned plane and mobile terminal communicate to connect respectively with Cloud Server, and unmanned plane is also connected with communication of mobile terminal；Unmanned plane bag
Include central processing unit, image processing unit, laser radar unit, power supply unit and communication unit, image processing unit, laser
Radar cell and communication unit are connected respectively with central processing unit；Laser radar unit includes electric platform, laser emitter
And receiving unit, electric platform, laser emitter and receiving unit are connected respectively with central processing unit；Laser radar unit is used
It is sent in acquisition scans Data Concurrent to central processing unit, central processing unit is used to that object to be calculated according to scan data
Space three-dimensional information simultaneously sends it to image processing unit output 3-D view and passes through communication unit and send 3-D view
To Cloud Server, power supply unit is used to power for UAV system.
Further, central processing unit is AVR single chip, can open/close laser by USB command, and setting is swept
Retouch path, control cloud platform rotation angle；By the way that the system completes monolithic AVR programmings, hardware is built, imaging controls and image procossing
The control of system and scanning means, and can accurately realize indices and function, ensureing the preferable premise for realizing 3D imagings
Under, compared with similar laser radar, by a relatively large margin reduce system cost.
Further, laser emitter is a wordline laser transmitter.
Further, receiving unit is USB camera.
Further, laser emitter and receiving unit are arranged on electric platform, and electric platform is arranged under unmanned plane
Side, microcontroller control the rotation of holder, and a wordline laser device is driven by holder according to scan path, emits a series of scanning light
Beam, the two-dimentional echo-signal of scanned target return is obtained by USB camera, and AVR single chip is obtained using laser ranging algorithm
Target range information is bonded three-dimensional laser image-forming information with target two-dimensional signal, and graphics is obtained by image processing module
Picture, and 3-D view is sent to Cloud Server, it is protected from weather influences using laser radar, under thick fog, low-visibility conditions
It also can accurate drawing three-dimensional image.
Further, power supply unit includes solar panels, voltage sensor, power control unit and accumulator, and voltage passes
Sensor is connected respectively with the positive and negative electrode of solar panels and power control unit, the positive and negative electrodes of solar panels respectively with accumulator
Positive and negative electrode connects, and is additionally provided with the first triode and diode between the anode of solar panels and the anode of accumulator, and the one or three
The emitter of pole pipe and the anode of solar panels connect, and the collector of the first triode and the anode of diode connect, diode
Cathode and accumulator anode connect；Power control unit is also associated with the second triode, the base stage of the first triode and the
The collector connection of two triodes, the base stage of the second triode are connected with power control unit, and the emitter of the second triode connects
Ground.
Under dim light, the output current very little of solar panels reconnects electric power storage after a capacitance can be connected at photovoltaic module both ends
Pond, the output voltage of photovoltaic module can be drawn very low moment when connecting accumulator, and the output current of photovoltaic module is occurring
It is just exported after one moment very high electric current with a low current, by controlling the frequent break-make between photovoltaic module and accumulator
Mode charge, i.e., between photovoltaic module and accumulator by switch connect, when instantaneous high current charge after, just disconnect
Switch；When photovoltaic module open-circuit voltage raises, then the such intermittent charges of ON switch, just it can remain charging current
In very high scope, the open-circuit voltage size of the solar panels that are detected by voltage sensor output controls solar energy
Volt battery when voltage reaches setting value, just connects charging circuit the break-make that accumulator charges, and otherwise disconnects and charging.
Further, power control unit MCU.
Further, unmanned plane is additionally provided with guiding device, and guiding device is arranged on above solar panels, and guiding device is
Spherical guiding device, spherical guiding device can be by light through dome skylight, through concentrator optically focused, by the photoconductive tube of high reflectance
Diffusing device is transmitted to, light is made uniformly to be radiated on solar panels, solar panels cannot be complete caused by solving sun angle
The problem of face light, improve transfer efficiency.
Further, communication unit is 3G/4G/WIFI modules.
Further, central control unit is also associated with GPS/ big dipper multi-mode locating modules, and locating module is with certain frequency
Location information is sent to Cloud Server, so that staff positions unmanned plane, while can be positioned and believed according to unmanned plane
Breath judges the position of every 3-D view, to be spliced to image, to be synthesized.
It should be noted that for foregoing each embodiment of the method, in order to be briefly described, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should know, the application and from the limitation of described sequence of movement, because
For according to the application, certain some step may be employed other orders or be carried out at the same time.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and unit not necessarily this Shen
It please be necessary.
In the above-described embodiments, all emphasize particularly on different fields to the description of each embodiment, be not described in some embodiment
Part, may refer to the associated description of other embodiment.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, ROM, RAM etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent variations made according to the claims of the present invention, it is still within the scope of the present invention.
Claims (10)
1. a kind of Intelligent unattended machine mapping system, which is characterized in that including：Unmanned plane, Cloud Server and mobile terminal, the nothing
Man-machine and mobile terminal communicates to connect respectively with the Cloud Server, and the unmanned plane is also connected with the communication of mobile terminal；
The unmanned plane includes central processing unit, image processing unit, laser radar unit, power supply unit and communication unit, described
Image processing unit, laser radar unit and communication unit are connected respectively with the central processing unit；The laser radar list
Member include electric platform, laser emitter and receiving unit, the electric platform, laser emitter and receiving unit respectively with institute
State central processing unit connection；The laser radar unit is sent for acquisition scans Data Concurrent to the central processing unit,
The central processing unit is used to that the space three-dimensional information of object to be calculated according to scan data and sends it to the figure
3-D view is sent to the Cloud Server, the power supply as processing unit exports 3-D view and passes through the communication unit
Unit is used to power for UAV system.
2. a kind of Intelligent unattended machine mapping system according to claim 1, which is characterized in that the central processing unit is
AVR single chip.
3. a kind of Intelligent unattended machine mapping system according to claim 1, which is characterized in that the laser emitter is one
Wordline laser emitter.
4. a kind of Intelligent unattended machine mapping system according to claim 1, which is characterized in that the receiving unit is USB
Camera.
5. a kind of Intelligent unattended machine mapping system according to claim 1, which is characterized in that the laser emitter and institute
It states receiving unit to be arranged on the electric platform, the electric platform is arranged below the unmanned plane.
6. a kind of Intelligent unattended machine mapping system according to claim 1, which is characterized in that the power supply unit is included too
It is positive can plate, voltage sensor, power control unit and accumulator, the voltage sensor respectively with the solar panels just,
Cathode and power control unit connection, the positive and negative electrode of the solar panels connect respectively with the positive and negative electrode of the accumulator
It connects, is additionally provided with the first triode and diode between the anode of the anode of the solar panels and the accumulator, described
The emitter of one triode is connected with the anode of the solar panels, collector and the diode of first triode
Anode connection, the cathode of the diode is connected with the anode of the accumulator；The power control unit is also associated with
Two triodes, the base stage of first triode are connected with the collector of second triode, the base of second triode
Pole is connected with the power control unit, the emitter ground connection of second triode.
7. a kind of Intelligent unattended machine mapping system according to claim 6, which is characterized in that the power control unit is
MCU。
8. a kind of Intelligent unattended machine mapping system according to claim 6, which is characterized in that the unmanned plane is additionally provided with
Guiding device, the guiding device are arranged on above the solar panels, and the guiding device is spherical guiding device.
9. a kind of Intelligent unattended machine mapping system according to claim 1, which is characterized in that the communication unit is 3G/
4G/WIFI modules.
A kind of 10. Intelligent unattended machine mapping system according to claim 1, which is characterized in that the central control unit
It is also associated with GPS/ big dipper multi-mode locating modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099053.1A CN108107912A (en) | 2018-01-31 | 2018-01-31 | A kind of Intelligent unattended machine mapping system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810099053.1A CN108107912A (en) | 2018-01-31 | 2018-01-31 | A kind of Intelligent unattended machine mapping system |
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| Publication Number | Publication Date |
|---|---|
| CN108107912A true CN108107912A (en) | 2018-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810099053.1A Pending CN108107912A (en) | 2018-01-31 | 2018-01-31 | A kind of Intelligent unattended machine mapping system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261871A (en) * | 2019-06-18 | 2019-09-20 | 中国矿业大学 | A kind of fully-mechanized mining working fast inspection device based on laser infrared radar imaging |
| CN110456378A (en) * | 2019-07-04 | 2019-11-15 | 重庆交通大学 | Underwater full topographic surveying system and test method based on unmanned plane route intelligent planning |
| CN110764105A (en) * | 2019-11-08 | 2020-02-07 | 北京煜邦电力技术股份有限公司 | Unmanned aerial vehicle's laser radar system and unmanned aerial vehicle system |
| CN111006720A (en) * | 2019-12-18 | 2020-04-14 | 刘启 | Simulation method of measuring instrument |
| WO2021098365A1 (en) * | 2019-11-22 | 2021-05-27 | 杭州欧镭激光技术有限公司 | Laser radar for moving device and method for using laser radar, and laser radar system |
-
2018
- 2018-01-31 CN CN201810099053.1A patent/CN108107912A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261871A (en) * | 2019-06-18 | 2019-09-20 | 中国矿业大学 | A kind of fully-mechanized mining working fast inspection device based on laser infrared radar imaging |
| CN110456378A (en) * | 2019-07-04 | 2019-11-15 | 重庆交通大学 | Underwater full topographic surveying system and test method based on unmanned plane route intelligent planning |
| CN110764105A (en) * | 2019-11-08 | 2020-02-07 | 北京煜邦电力技术股份有限公司 | Unmanned aerial vehicle's laser radar system and unmanned aerial vehicle system |
| WO2021098365A1 (en) * | 2019-11-22 | 2021-05-27 | 杭州欧镭激光技术有限公司 | Laser radar for moving device and method for using laser radar, and laser radar system |
| CN111006720A (en) * | 2019-12-18 | 2020-04-14 | 刘启 | Simulation method of measuring instrument |
| CN111006720B (en) * | 2019-12-18 | 2021-06-11 | 刘启 | Simulation method of measuring instrument |
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