CN108415034A - A kind of laser radar real-time imaging devices - Google Patents
A kind of laser radar real-time imaging devices Download PDFInfo
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- CN108415034A CN108415034A CN201810394910.0A CN201810394910A CN108415034A CN 108415034 A CN108415034 A CN 108415034A CN 201810394910 A CN201810394910 A CN 201810394910A CN 108415034 A CN108415034 A CN 108415034A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 25
- 238000005259 measurement Methods 0.000 claims abstract description 36
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 230000001413 cellular effect Effects 0.000 claims description 6
- 238000009877 rendering Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000001228 spectrum Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- 238000012805 post-processing Methods 0.000 abstract description 2
- 238000004458 analytical method Methods 0.000 description 8
- 230000002123 temporal effect Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 2
- 238000013439 planning Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
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Classifications
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- 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
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- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of laser radar real-time imaging devices, including the mobile platform of communication connection, lidar measurement unit, taking unit, GNSS base stations, wireless transport module and ground station；Mobile platform is equipped with mobile control module, and taking unit is used to obtain the image information of measurand；GNSS base stations are for receiving satellite-signal and being transmitted to lidar measurement unit after signal processing；Exact position, attitude data and laser ranging data of the lidar measurement unit for acquiring in real time with handling out measurand, and ground station real-time display is reached by wireless transport module after combining the image information of measurand to calculate three-dimensional true color point cloud data of space coordinate and the corresponding color information of measurand to form measurand；The present invention can solve the problems, such as that current laser radar data obtains three-dimensional true color point cloud data method and bring that time-consuming by post-processing by generating date.
Description
Technical field
The invention belongs to technical field of earth observation, specifically, being related to a kind of laser radar real-time imaging devices.
Background technology
Laser ranging imaging technique is the new technology occurred in recent years, it is the principle using laser ranging, and synthesis is answered
It with appearance location technology is surveyed, is analyzed and is handled by volume of data, obtained the three dimensional point cloud on measurand surface, thus may be used
Rebuild out the various data such as threedimensional model and line, face, the body of measured target；In practical applications, need high-definition digital image with
Laser point cloud data carries out subsequent registration and differential is corrected, and can just obtain digital elevation model, digital surface model and number
Orthograph picture, then by merging laser point cloud data and digital orthograph as data could obtain true color three-dimensional laser point cloud
Data；But in requiring high application to timeliness, for example, battlefield surroundings investigation, after calamity atural object reconnoitre immediately, transmission line of electricity it is fast
Under the environment such as confirmation, true color three-dimensional laser point cloud data has been obtained not by Data Post immediately for fast inspection, squatter building information
It can meet demand.
Invention content
For deficiency above-mentioned in the prior art, the present invention provide one kind may be implemented measurand three-dimensional coordinate information and
The laser radar real-time imaging devices that texture information is acquired, handles and transmitted in real time.
In order to achieve the above object, the solution that the present invention uses is：A kind of laser radar real-time imaging devices, including
Mobile platform, lidar measurement unit, taking unit, GNSS base stations, wireless transport module and the ground work of communication connection
It stands.
The lidar measurement unit and the taking unit are loaded into the mobile platform；The mobile platform is set
There are mobile control module, the mobile control module to be moved along preset direction for receiving move and controlling the mobile platform
Dynamic, the taking unit is used to obtain the image information of measurand.
The GNSS base stations are for receiving satellite-signal and being transmitted to institute after the satellite-signal received processing
State lidar measurement unit.
The lidar measurement unit for acquire in real time with handle out the exact position of measurand, attitude data and
Laser ranging data, and calculate the space coordinate of the measurand and corresponding face in conjunction with the image information of the measurand
Color information to form the three-dimensional true color point cloud data of the measurand, the three-dimensional true color point cloud of the measurand in real time
Data reach the ground station by the wireless transport module and real-time display is in the ground station.
Further, the lidar measurement unit include survey appearance locating module, laser scanner, imaging sensor and
Control storage unit；The survey appearance locating module for obtain the current position of the laser radar real-time imaging devices, speed,
Time and posture information；The laser scanner is used to obtain the range information of measurand in preset range；Described image passes
Sensor is used for transmission the image information of the measurand；The control storage unit includes that synchronous control subelement, data are deposited
Store up subelement, capture control subelement and monitoring subelement.
Further, by described wireless after the control storage unit subpackage compression three-dimensional true color point cloud data
Transmission module reaches the ground station.
Further, the compress mode of the three-dimensional true color point cloud data is fast compression.
Further, the mobile platform is one kind in aircraft, ground moving platform or water surface movable platform.
Further, described image sensor is in digital image sensor, bloom spectrum sensor or infrared sensor
It is a kind of.
Further, the taking unit is high-definition digital camera, and the ground station is laptop.
Further, the transmission mode of the wireless transport module is data radio station, the wireless transmission of 4G cellular networks or 5G
One kind in cellular network wireless transmission.
Further, the display mode is to render to show, the rendering form includes being rendered by elevation, pressing echo strength
It renders, render by echo times and rendered by measurand classification.
The invention has the advantages that the present invention presses three dimensional point cloud and image data by fast compression method
It contracts and ground station is transferred to by wireless data transmission module is shown, improve laser radar operating efficiency, expand and answer
Use range；The present invention can solve current laser radar data by generating date and obtain three-dimensional true color by post-processing
Problem that point cloud data method brings that time-consuming, can effectively solve geological disaster exploration, terrain and its features investigate in real time, transmission line of electricity
Timeliness requires high problem in the applications such as real-time inspection.
Description of the drawings
Fig. 1 is the workflow schematic diagram of the present invention.
Specific implementation mode
Below in conjunction with attached drawing, the invention will be further described：
To make the object, technical solutions and advantages of the present invention clearer, the technical solution in the present invention is carried out below
It clearly and completely describes, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Referring to Fig.1, the present invention provides a kind of laser radar real-time imaging devices, including the mobile platform of communication connection, swashs
Optical radar measuring unit, taking unit, GNSS base stations, wireless transport module and ground station.
The lidar measurement unit and the taking unit are loaded into the mobile platform；The mobile platform is set
There are mobile control module, the mobile control module to be moved along preset direction for receiving move and controlling the mobile platform
Dynamic, the taking unit is used to obtain the image information of measurand；Lidar measurement unit and taking unit pass through machinery
Constructional device is relatively fixed to mobile platform, and mobile platform can carry out large area measurement after carrying lidar measurement unit.
The GNSS base stations are for receiving satellite-signal and being transmitted to institute after the satellite-signal received processing
State lidar measurement unit；Data processing will be passed through by RTK data radio stations after the GNSS base stations reception satellite-signal
It is sent to lidar measurement unit with the position and temporal information obtained after analysis.
The lidar measurement unit for acquire in real time with handle out the exact position of measurand, attitude data and
Laser ranging data, and calculate the space coordinate of the measurand and corresponding face in conjunction with the image information of the measurand
Color information to form the three-dimensional true color point cloud data of the measurand, the three-dimensional true color point cloud of the measurand in real time
Data reach the ground station by the wireless transport module and real-time display is in the ground station.
In the present embodiment, the lidar measurement unit includes surveying appearance locating module, laser scanner, imaging sensor
And control storage unit；The survey appearance locating module is for obtaining the current position of the laser radar real-time imaging devices, speed
Degree, time and posture information；The laser scanner has certain scanning angle, for obtaining measurand in preset range
Range information；Described image sensor is used for transmission the image information of the measurand；The control storage unit includes
Synchronous control subelement, data storage subunit operable, capture control subelement and monitoring subelement；It includes high-precision to survey appearance locating module
Spend Inertial Measurement Unit (IMU), airborne double-frequency GPS receiver and high-performance airborne GPS antenna, the laser radar real time imagery
The current position of device, speed and posture information are obtained by high-precision Inertial Measurement Unit (IMU), and the laser radar is real-time
The time service unit that the current temporal information of imaging device is made of airborne double-frequency GPS receiver and high-performance airborne GPS antenna obtains
；The position for surveying the acquisition of appearance locating module and posture information can be tested with the range information acquired in laser scanner
The three-dimensional point cloud information of object；Data are controlled by high-precise synchronization, realize the spatial information data of acquisition measurand in real time
The true color three-dimensional laser point cloud data of measurand, true color are formed using Registration of Measuring Data and fusion with ground feature attribute data
The three-dimensional laser point cloud data form of expression includes digital image three-dimensional laser point cloud, infrared image three-dimensional laser point cloud, multispectral
Image three-dimensional laser point cloud.
In the present embodiment, by described after the control storage unit subpackage compression three-dimensional true color point cloud data
Wireless transport module reaches the ground station.
The compress mode of the three-dimensional true color point cloud data is fast compression；Improve the promptness of data processing.
Further, the mobile platform is one kind in aircraft, ground moving platform or water surface movable platform.
Described image sensor is one kind in digital image sensor, bloom spectrum sensor or infrared sensor.
The taking unit is high-definition digital camera, and the ground station is laptop；The high-definition digital phase
Machine and control storage unit associated working, periodically obtain the image information of measurand.
The transmission mode of the wireless transport module be data radio station, 4G cellular networks wireless transmission or 5G cellular networks without
One kind in line transmission.
In the present embodiment, the display mode is to render to show, specifically renders display, the rendering form for pseudo-colours
It renders including pressing elevation, rendered by echo strength, rendered by echo times and is rendered by measurand classification.
The present embodiment also provides a kind of laser radar real time imagery method of laser radar real-time imaging devices, including step
Suddenly：
(a) GNSS base stations are switched on, and GNSS base stations receive satellite-signal, and the satellite-signal received is passed through data
Position and temporal information are obtained after processing and analysis and are sent to lidar measurement unit.
(b) lidar measurement unit is switched on, and ground station sends lidar measurement unit initialization directive.
(c) after lidar measurement unit receives initialization directive and completes initialization, lidar measurement unit receives
In step (a) GNSS base stations send position and temporal information, lidar measurement unit receive satellite-signal and with it is described
The position and temporal information that GNSS base stations are sent carry out real time differential processing, form the high precision position of lidar measurement unit
Confidence ceases.
(d) ground station carries out move with mobile platform and state interacts.
(e) by wireless transport module, earthward work station sends tested pair through too fast compression to lidar measurement unit
The three-dimensional true color point cloud data of elephant.
(f) ground station carries out decompression analysis to the three-dimensional true color point cloud data received, and the analysis can pass through
The software realization of ground station shows the three-dimensional information of current work region measurand in ground station after analysis；Ground
Face work station maneuvering platform unzips it the true color point cloud data received, and shows, and realizes data management
With the functions such as various visual angles browsing, people and substance markers, viewshed analysis, range measurement and route planning.
Hereinafter, by taking mobile platform is unmanned plane as an example, the mobile control module on unmanned plane is for flying control module, into one
Step illustrates the operating process of the present invention：
Step 1：Unmanned plane selection is carried out according to tested landform, and unmanned plane is unfolded, the unmanned plane expansion is divided into machine
Arm is unfolded, wing expansion.
Step 2：On a mobile platform by hanging plate mounting installation by lidar measurement unit；The right hand is followed when installation
Principle, Y-axis positive direction is identical as mobile platform direction of advance, and Z axis is upward.
Step 3：Lidar measurement unit electrical connecting wires, the electrical connecting wires include RTK lines, and GPS lines are several to conduct electricity
Platform antenna and network interface connection, battery connection, data radio station ground surface end antenna, network interface and Battery Interconnecting Cables.
Step 4：It powers on and checks oneself, mobile platform, which is powered on, is powered with lidar measurement unit and starts each module.
Step 5：Lidar measurement unit and mobile platform initialization and parameter setting, the initialization includes ground work
Make station to carry out Initialize installation and parameter setting and transmit commands to mobile platform and laser radar by wireless transport module
Measuring unit.
Step 6：Flight program, the flight program are that ground station carries out flight-line design, and route information is passed through
Wireless transport module is transmitted to the winged control of mobile platform.
Step 7：System, which is taken off, carries out operation, and mobile platform carries out movement and lidar measurement unit according to both tramp-liners
And taking unit carries out three-dimensional laser point cloud and image data acquiring and is sent to earth station by wireless transmission platform.
Step 8：Three-dimensional true color point cloud analysis, the analysis can be by ground station software realizations, including cloud
Load, distance measuring, label route planning show current work region atural object three-dimensional letter after point cloud load in ground station
Breath.
Step 9：Terminate operation, mobile platform makes a return voyage, halt system work.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (9)
1. a kind of laser radar real-time imaging devices, it is characterized in that：Mobile platform, lidar measurement list including communication connection
Member, taking unit, GNSS base stations, wireless transport module and ground station；
The lidar measurement unit and the taking unit are loaded into the mobile platform；The mobile platform, which is equipped with, to be moved
Dynamic control module, the mobile control module are moved for receiving move and controlling the mobile platform along preset direction,
The taking unit is used to obtain the image information of measurand；
The GNSS base stations for receive satellite-signal and will the satellite-signal that received processing after be transmitted to it is described swash
Optical radar measuring unit；
Exact position, attitude data and laser of the lidar measurement unit for acquiring in real time with handling out measurand
Ranging data, and in conjunction with the image information of the measurand calculate the measurand space coordinate and corresponding color letter
Breath to form the three-dimensional true color point cloud data of the measurand, the three-dimensional true color point cloud data of the measurand in real time
The ground station is reached by the wireless transport module and real-time display is in the ground station.
2. laser radar real-time imaging devices according to claim 1, it is characterized in that：The lidar measurement unit includes
Survey appearance locating module, laser scanner, imaging sensor and control storage unit；The survey appearance locating module is described for obtaining
The current position of laser radar real-time imaging devices, speed, time and posture information；The laser scanner is default for obtaining
The range information of measurand in range；Described image sensor is used for transmission the image information of the measurand；The control
Storage unit processed includes synchronous control subelement, data storage subunit operable, capture control subelement and monitoring subelement.
3. laser radar real-time imaging devices according to claim 1, it is characterized in that：The control storage unit subpackage compression
The ground station is reached by the wireless transport module after the three-dimensional true color point cloud data.
4. laser radar real-time imaging devices according to claim 3, it is characterized in that：The three-dimensional true color point cloud data
Compress mode is fast compression.
5. laser radar real-time imaging devices according to claim 1, it is characterized in that：The mobile platform be aircraft,
One kind in face mobile platform or water surface movable platform.
6. laser radar real-time imaging devices according to claim 1, it is characterized in that：Described image sensor is digital image
One kind in sensor, bloom spectrum sensor or infrared sensor.
7. laser radar real-time imaging devices according to claim 1, it is characterized in that：The taking unit is high-definition digital phase
Machine, the ground station are laptop.
8. laser radar real-time imaging devices according to claim 1, it is characterized in that：The transmission side of the wireless transport module
Formula is one kind in data radio station, the wireless transmission of 4G cellular networks or the wireless transmission of 5G cellular networks.
9. laser radar real-time imaging devices according to claim 1, it is characterized in that：The display mode is to render to show,
The rendering form includes rendering by elevation, being rendered by echo strength, measurand classification wash with watercolours is rendered and pressed by echo times
Dye.
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Cited By (8)
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| CN109669190A (en) * | 2018-12-20 | 2019-04-23 | 大连理工大学 | A kind of high precision large-sized three-dimensional environment scanning system for excavating equipment of large scene |
| CN109917433A (en) * | 2019-01-31 | 2019-06-21 | 北京讯腾智慧科技股份有限公司 | A kind of fly able measuring system and flight measurement method |
| CN111337030A (en) * | 2020-05-19 | 2020-06-26 | 北京数字绿土科技有限公司 | Backpack-based laser radar scanning system and navigation positioning method |
| CN111694012A (en) * | 2020-05-29 | 2020-09-22 | 北京航空航天大学合肥创新研究院 | Three-dimensional terrain online generation method and system based on airborne laser radar |
| CN112183411A (en) * | 2020-10-05 | 2021-01-05 | 浙江港创智能机器人有限公司 | Monocular SLAM system for high-voltage transmission line inspection |
| CN112235041A (en) * | 2020-12-18 | 2021-01-15 | 成都纵横大鹏无人机科技有限公司 | Real-time point cloud processing system and method and airborne data acquisition device and method |
| CN112578398A (en) * | 2020-12-07 | 2021-03-30 | 中国工程物理研究院应用电子学研究所 | Double-focal-plane detection and identification system and detection and identification method |
| CN114124909A (en) * | 2021-09-14 | 2022-03-01 | 福州大学 | Point cloud real-time acquisition, compression and transmission system and method based on laser radar |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109669190A (en) * | 2018-12-20 | 2019-04-23 | 大连理工大学 | A kind of high precision large-sized three-dimensional environment scanning system for excavating equipment of large scene |
| CN109917433A (en) * | 2019-01-31 | 2019-06-21 | 北京讯腾智慧科技股份有限公司 | A kind of fly able measuring system and flight measurement method |
| CN111337030A (en) * | 2020-05-19 | 2020-06-26 | 北京数字绿土科技有限公司 | Backpack-based laser radar scanning system and navigation positioning method |
| CN111694012A (en) * | 2020-05-29 | 2020-09-22 | 北京航空航天大学合肥创新研究院 | Three-dimensional terrain online generation method and system based on airborne laser radar |
| CN112183411A (en) * | 2020-10-05 | 2021-01-05 | 浙江港创智能机器人有限公司 | Monocular SLAM system for high-voltage transmission line inspection |
| CN112578398A (en) * | 2020-12-07 | 2021-03-30 | 中国工程物理研究院应用电子学研究所 | Double-focal-plane detection and identification system and detection and identification method |
| CN112578398B (en) * | 2020-12-07 | 2022-11-29 | 中国工程物理研究院应用电子学研究所 | Double-focal-plane detection and identification system and detection and identification method |
| CN112235041A (en) * | 2020-12-18 | 2021-01-15 | 成都纵横大鹏无人机科技有限公司 | Real-time point cloud processing system and method and airborne data acquisition device and method |
| CN114124909A (en) * | 2021-09-14 | 2022-03-01 | 福州大学 | Point cloud real-time acquisition, compression and transmission system and method based on laser radar |
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