CN109239690A - A kind of airborne laser radar system based on unmanned plane - Google Patents
A kind of airborne laser radar system based on unmanned plane Download PDFInfo
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- CN109239690A CN109239690A CN201811296917.5A CN201811296917A CN109239690A CN 109239690 A CN109239690 A CN 109239690A CN 201811296917 A CN201811296917 A CN 201811296917A CN 109239690 A CN109239690 A CN 109239690A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The airborne laser radar system based on unmanned plane that the invention discloses a kind of.Telescope module and several passive laser radar optical modules are arranged in optical heat-insulating storehouse the present invention, and setting temperature control modules carry out accurate organically temperature to the passive optical module and laser light source of entire laser radar system, detector, data acquisition module, main control module and control.The present invention quickly and effectively cools down to laser radar passive optical module using core component of the air bottle as refrigeration unit for containing compressed gas, guarantees that laser radar core component works normally.Compressed gas in air bottle is freezed rapidly during release, and whole process does not consume the battery of laser radar or even entire unmanned plane completely, dexterously solves the contradiction of unmanned plane limited battery power supply and the stringent temperature control of laser radar.
Description
Technical field
The present invention relates to laser radar system more particularly to a kind of airborne laser radar systems based on unmanned plane.
Background technique
Laser radar is a kind of contemporary optics remote sensing technology of active, is that conventional radar technology is mutually tied with modern laser
The product of conjunction.Laser has the characteristics that high brightness, high directivity, high coherence, high-peak power.Therefore, laser radar has
Fine angular resolution, high time resolution, high measurement accuracy, remote detection range, multiple target detection, resists by force high distance resolution
The advantages of interference.After microwave radar, the frequency of radiation source has been increased to light frequency by laser radar, is higher by four than millimeter wave
A order of magnitude, this enables to detect small natural target, such as the aerosol and molecule in atmosphere.With laser technology and photoelectricity
The development of sub- technology, laser radar have become important remote sensing means.
According to carrying platform difference, there are mainly three types of laser radars: ground laser radar, airborne laser radar and it is spaceborne swash
Optical radar.
Ground laser radar, also commonly referred to as ground laser radar scanner, commonly used in simple target or small scale essence
The acquisition of thin three-dimensional data.Fixed standing posture laser radar can be subdivided into again according to the difference of ground laser radar working method to sweep
Retouch instrument and transportable laser radar scanner.Fixed standing posture laser radar scanner is real in a manner of scanning of singly standing, multistation splicing
Now to the entire covering for surveying area；Movable ground laser radar, using Backpack type and mobile lidar system as representative.However,
Ground laser radar is easy to be blocked by ground obstacle due to being arranged in ground, the measurement visual field, causes measurement place limited.
It is to rely on the acquisition for carrying out large scale three-dimensional information data that satellite-bone laser radar, which is with satellite platform,.Compared to airborne
Laser radar, satellite-bone laser radar running track is high, the observation visual field is wide, theoretically has and provides the ability of global metadata.But
Due to the limitation of the orbit altitude and tranmitting frequency of satellite-bone laser radar, the packing density of satellite-bone laser radar is lower, resolution ratio
It is very low, it is difficult to realize spatially continuous observation.
Airborne laser radar is using aircraft as carrying platform, commonly used in quickly obtaining for regional scale three-dimensional information data
It takes.The aircraft platforms that airborne laser radar mainly carries at present have spacecraft, aircraft, motorboat, dynamic-delta-wing, unmanned plane
Deng aircraft platform and unmanned aerial vehicle platform are that two of them typically represent.
The inventors found that: aircraft is bulky, at high price, and the measurement that cannot hover；In addition, being mounted in winged
The laser radar of machine can only measure from top to bottom, and experiment curv is along one straight line of aircraft.And unmanned plane is small in size, it is at low cost,
And different height can be hovered over, using unmanned plane itself gesture stability, PPI scanning can be carried out to atmosphere and be given at different height
The field distribution of object out.Therefore, unmanned aerial vehicle onboard laser radar has measurement visual field big, adjustable point orientation observation scanning excellent
Point.
But the inventors found that: unmanned plane is small in size, light-weight, and unmanned plane is run in the sky by electricity
Pond power supply, therefore, unmanned plane has stringent limitation to the weight and electricity consumption of load.By taking big boundary model unmanned plane as an example:
Maximum take-off weight 3600g, battery capacity 5700mAh, non-loaded hovering time: 20-40 minutes.As it can be seen that unmanned plane has load
When, faster, the hovering time is obviously shortened battery consumption.
Laser radar is a kind of measuring instrument of precision, the photoelectric device including multiple precisions, such as various eyeglasses, laser
Device, detector, capture card etc., these devices are very high to temperature requirement.Temperature is excessively high to will lead to the change such as eyeglass, lens cone for telescope
Shape, so as to cause the deformation of entire optical path, focal position changes, can not receive useful signal, influence measurement accuracy；The too low meeting of temperature
Cause some devices such as detector that can not work.In order to guarantee that laser radar works normally, laser radar internal temperature must be controlled
In stringent temperature range, such as 25-30 degree.And laser radar groundwork is outdoors, reachable -40~80 degree of environment temperature it
Between.Therefore, it is necessary to stable temperature control is carried out to laser radar inside.Existing laser radar system, generallys use air-conditioning
Temperature control is carried out, is especially cooled down, the power of air-conditioning is multikilowatt, and operation power consumption is very big, and this temperature control mode is sufficient in power supply
Ground and big aircraft, satellite on there is no problem.However, unmanned plane is powered by battery, limited battery capacity is mounted in nobody
Laser radar on machine can only also power by battery, carry out temperature control according to air-conditioning, battery capacity can exhaust rapidly.Therefore,
How to guarantee that UAV system laser radar completes temperature control under limited power supply, guarantees its work normal within the predetermined time
Make, becomes unmanned aerial vehicle onboard laser radar urgent problem to be solved.
Summary of the invention
The airborne laser radar system based on unmanned plane that the object of the present invention is to provide a kind of is guaranteeing in laser radar
Under the premise of portion's temperature, have many advantages, such as that power consumption is low, cruise duration is long.
The present invention is implemented as follows: a kind of airborne laser radar system based on unmanned plane, the laser radar system
Including outer housing, passive optical module, laser light source, detector, data acquisition module, main control module and temperature control modules；
Wherein:
The passive optical module, laser light source, detector, data acquisition module, main control module and temperature control modules
It is arranged in the outer housing；
The main control module is for controlling laser light source, detector, data acquisition module and temperature control modules work；
The passive optical module include optical heat-insulating storehouse and the telescope module being arranged in the optical heat-insulating storehouse and
Several passive laser radar optical modules；
The temperature control modules include the first temperature sensing assembly and refrigeration module；First temperature sensing assembly is used
In the temperature information for acquiring the passive optical module；The refrigeration module is used to cool down to the passive optical module；It is described
Refrigeration module includes at least one refrigeration unit, and each refrigeration unit includes air bottle, gas-guide tube and valve member, the cold air
Compressed gas is accommodated in bottle, and the compressed gas is liquefaction or cured fire-retardant gas, described for air guide tube described in the output
Gas in air bottle；The valve member is used to control gas-guide tube opening and closing under the control of main control module；
The main control module is used to obtain the temperature information of the first temperature sensing assembly acquisition, is higher than in the temperature information
Refrigeration module work is controlled when scheduled first temperature threshold；The side wall in the optical heat-insulating storehouse offers gas port, the system
The gas of cold unit output enters the optical heat-insulating storehouse by the gas port；
The temperature control modules further include blower module and second temperature detection components；The second temperature detection components
For acquiring the laser light source, detector, data acquisition module, the temperature information at main control module；
The main control module is also used to control the fan according to the temperature information that the second temperature detection components measure
Module work.
Further, be provided with metal heat-conducting tube in the optical heat-insulating storehouse, the entrance of the metal heat-conducting tube with it is described
The outlet of gas-guide tube, the telescope module include lens cone for telescope and telescope disk, and the metal heat-conducting tube is close to
The outer wall of the lens cone for telescope.
Further, the outlet of the gas-guide tube connects two-way metal heat-conducting tube, and the two-way metal heat-conducting tube is set respectively
Set the two sides opposite in the lens cone for telescope.
Further, the refrigeration unit further includes pressure detecting assembly and pressure regulator valve, the pressure detecting assembly and tune
Pressure valve is arranged on the pipeline of gas-guide tube, and pressure detecting assembly is used to detect the gas pressure in gas-guide pipeline；The pressure
Detection components and pressure regulator valve are connect with main control module；
The main control module is for obtaining the gas pressure that pressure detecting assembly detects, control pressure regulator valve work, with defeated
It is not more than the gas of scheduled first pressure value out.
Further, the temperature control system further includes heating module, and the main control module is also used in all pressure
The gas pressure that detection components detect sends alarm signal when being respectively less than scheduled second pressure threshold value.
Further, the temperature control system further includes heating module, and the heating module includes multiple electric heating films,
The electric heating film is tightly attached to the lateral wall of the lens cone for telescope；The main control module is also used to be lower than in the temperature information
Heating module work is controlled when scheduled second temperature threshold value.
Further, further include unmanned plane, unmanned machine support is provided on the unmanned plane, the laser radar system is set
It sets on the unmanned machine support, mast-up is provided at the top of the outer housing, the laser radar system is hung by described
It shelves and is arranged on unmanned machine support.
Further, be additionally provided with dampening assembly on the mast-up, the dampening assembly respectively with the outer housing and
Mast-up connection, for the laser radar system damping.
In conclusion the present invention provides a kind of airborne laser radar system based on unmanned plane, in passive optical module
Optical heat-insulating storehouse is set, telescope module and several passive laser radar optical modules are arranged in optical heat-insulating storehouse,
Temperature control modules are set to the passive optical module and laser light source of entire laser radar system, detector, data acquisition module
Block, main control module carry out accurate organically temperature and control.The present invention is conducive to what compressed gas can freeze rapidly during release
Characteristic, refrigeration module do not need to consume additional electric energy when working, and do not generate power consumption.
Temperature control modules of the invention include the first temperature sensing assembly and refrigeration module；First temperature sensing assembly is used
In the temperature information of acquisition passive optical module；Refrigeration module is used to cool down to passive optical module.The present invention uses and contains pressure
Laser radar passive optical module quickly and effectively drops in core component of the air bottle of contracting gas as refrigeration unit
Temperature guarantees that laser radar core component works normally.Compressed gas in air bottle is freezed rapidly during release, entire mistake
Journey does not consume the battery of laser radar or even entire unmanned plane completely, dexterously solves the limited battery power supply of unmanned plane and swashs
The contradiction of the stringent temperature control of optical radar.
Meanwhile temperature control modules of the invention further include blower module and second temperature detection components；Second temperature inspection
It surveys component and is used to acquire laser light source, detector, data acquisition module, the temperature information at main control module, main control module is also used
In the temperature information control blower module work measured according to second temperature detection components.The present invention is directed in laser radar respectively
The heat resistance of portion's different components and whole laser radar heat dissipation consider, corresponding temperature detection mechanism are arranged for each component, and set
Corresponding temperature control threshold is set, each fan is individually controlled, while improving temperature controlled accuracy, moreover it is possible to save
Fan power consumption reduces the power consumption of entire laser radar, under the premise of guaranteeing that unmanned aerial vehicle onboard laser radar works normally, improves
Its cruise duration and time of measuring.
System of the invention, the technology prejudice of air-conditioning and fan for cooling can only be used by overcoming laser radar system.Using
Combined type cooling profiles guarantee that UAV system laser radar completes temperature control under limited power supply, guarantee it scheduled
It is worked normally in time.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology and advantage, below will be to implementation
Example or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is only some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of laser radar structure of airborne laser radar system based on unmanned plane provided in an embodiment of the present invention
Figure；
Fig. 2 is inside a kind of laser radar of airborne laser radar system based on unmanned plane provided in an embodiment of the present invention
Structure chart；
Fig. 3 is a kind of knot of the refrigeration module of airborne laser radar system based on unmanned plane provided in an embodiment of the present invention
Composition；
Fig. 4 is a kind of overall structure figure of airborne laser radar system based on unmanned plane provided in an embodiment of the present invention.
In figure: 100- telescope module, 101- optical heat-insulating storehouse, 102- telescope disk, 201- air bottle, 202- air guide
Pipe, 203- valve member, 204- metal heat-conducting tube, 205- electric heating film, 206- support frame, 301- laser light source, 302- light are put
Big device, 303- cooling fin, the first fan of 304-, 305- detector, the second fan of 306-, 400- outer housing, the protection of 401- optics
Window, the unmanned machine support of 500-, 600- mast-up, 601- dampening assembly.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment:
Fig. 1 is a kind of laser radar structure of airborne laser radar system based on unmanned plane provided in an embodiment of the present invention
Figure.
UAV is to utilize radio robot and the process control provided for oneself referred to as " unmanned plane " (" UAV ")
The not manned vehicle of device manipulation.
According to civil aviaton's regulation, classify by scale, unmanned plane can be divided into miniature drone, light-duty unmanned plane, small drone
And large-scale unmanned plane.Miniature drone refers to that empty weight is less than or equal to 7kg, and light-duty unmanned plane refers to that quality is greater than 7kg, but
Unmanned plane less than or equal to 116kg, and full power is put down in winged, calibrated airspeed is less than 100km/h (55nmile/h), and ceiling is less than
3000m.Small drone refers to that empty weight is less than or equal to the unmanned plane of 5700kg, except miniature and light-duty unmanned plane.It is large-scale
Unmanned plane refers to that empty weight is greater than the unmanned plane of 5700kg.
Classify by flying platform configuration, unmanned plane can be divided into fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, unmanned airship, the umbrella wing
Unmanned plane, flapping wing unmanned plane etc..
The present invention is especially suitable for light-duty rotor wing unmanned aerial vehicles.
In a preferred embodiment, unmanned plane mentioned in the present invention is light-duty rotor wing unmanned aerial vehicle.The present invention mentions
A kind of airborne laser radar system based on unmanned plane supplied is a kind of airborne laser radar system based on light-duty rotor wing unmanned aerial vehicle
System.
As shown in Figure 1, the present invention provides a kind of airborne laser radar system based on unmanned plane, the laser radar system
System includes outer housing 400, passive optical module, laser light source 301, detector 305, data acquisition module, main control module and temperature
Spend control module.
The passive optical module, laser light source 301, detector 305, data acquisition module, main control module and temperature control
Molding block is arranged in the outer housing 400.
The main control module is for controlling laser light source 301, detector 305, data acquisition module and temperature control modules
Work.
In a specific embodiment, laser light source 301 is laser, and detector 305 is photodetector 305, number
It is analog-digital converter such as data collecting card according to acquisition module.Main control module can be single-chip microcontroller, MCU, computer etc..
The passive optical module includes optical heat-insulating storehouse 101 and the telescope that is arranged in the optical heat-insulating storehouse 101
Module 100 and several passive laser radar optical modules.
For the laser radar system of bistatic, telescope module 100 may include that transmitter-telescope and reception are looked in the distance
Mirror.In some transmitting-receivings in the laser radar set, telescope can only include a transmitting-receiving telescope.
In embodiments of the present invention, telescope module 100 includes lens cone for telescope and transmitter-telescope and receiving telescope.
To mitigate main screw lift, the load weight and power consumption of unmanned plane, lens cone for telescope low and on-deformable gold using density are reduced
Belong to material.
Passive laser radar optical module of the present invention is the optical element for not emitting light itself fever, as eyeglass,
Optical fiber.
Due to 102 temperature of lens cone for telescope and telescope disk in passive optical module, especially telescope module 100
The excessively high laser radar optical path that will cause distorts, influences measurement accuracy.Therefore, when environment temperature increases, to passive optical
Module quickly and effectively cools down, and guarantees each device the operation is stable of passive optical module.Simultaneously as unmanned plane of the invention and
It is powered on laser radar using battery, battery capacity is very limited.And for unmanned plane in-flight, battery itself is also
A kind of heavier load, needs to consume certain electricity.In order to which the limited battery power supply for solving unmanned plane is severe with laser radar
The contradiction of the temperature control needs at quarter, the invention proposes a whole set of the laser radar temperature based on unmanned plane to control solution party
Case.
Temperature control modules of the invention include the first temperature sensing assembly and refrigeration module；The first temperature detection group
Part is used to acquire the temperature information of the passive optical module.
Specifically, first temperature sensing assembly includes multiple first temperature detecting units, the first temperature detecting unit
For temperature sensor or thermistor.Several described temperature sensors or thermistor are arranged in optical heat-insulating storehouse 101.?
In one preferred embodiment, temperature sensor or thermistor in the first temperature sensing assembly are distributed in telescope module
On 100 lens cone for telescope.
Fig. 3 is a kind of knot of the refrigeration module of airborne laser radar system based on unmanned plane provided in an embodiment of the present invention
Composition.As shown in figure 3, the refrigeration module is used to cool down to the passive optical module；The refrigeration module includes at least one
A refrigeration unit, each refrigeration unit include air bottle 201, gas-guide tube 202 and valve member 203,201 content of air bottle
Receiving has compressed gas, and the compressed gas is liquefaction or cured fire-retardant gas, and the gas-guide tube 202 is for exporting the cold air
Gas in bottle 201；The valve member 203 is used to control gas-guide tube 202 under the control of main control module and be opened and closed.Work as gas-guide tube
When 202 opening, the compressed gas in air bottle 201 is discharged from gas-guide tube 202, and gasification occurs, absorbs heat from surrounding air,
To generate refrigeration effect, cool down to target position.When gas-guide tube 202 is closed, compressed gas is stored in air bottle 201.
The valve member 203 is electric control valve, such as solenoid valve, ball valve.
The side wall in the optical heat-insulating storehouse 101 offers gas port, and the gas of the refrigeration unit output is led by described
Stomata enters the optical heat-insulating storehouse 101, absorbs the heat in optical heat-insulating storehouse 101, reaches and cool down in optical heat-insulating storehouse 101
Effect.
The main control module is used to obtain the temperature information of the first temperature sensing assembly acquisition, is higher than in the temperature information
Refrigeration module work is controlled when scheduled first temperature threshold.The present inventor it has been investigated that: when the temperature of laser radar
When degree is within the scope of 25-30 degree, the measurement accuracy highest of laser radar.Therefore, the first temperature threshold can be 30 degree.
In order to improve refrigerating efficiency, the compressed gas is preferably refrigerant.Refrigerant draws cooled object at low temperature
The heat of body, is then transferred to air at relatively high temperatures.In some embodiments, compressed gas is gas refrigerant, such as empty
Gas, hydrogen, helium etc., these gases are always gaseous state in refrigeration cycle.Gas refrigerant is while refrigeration, energy-saving ring
It protects, not will cause air pollution.
In some embodiments, the compressed gas is the liquefied refrigerant of energy under room temperature or lower temperature, such as fluorine benefit
High (fluorine, chlorine, the br-derivatives of saturated hydrocarbon), azeotropic mixed working medium (be mixed in a certain ratio by two kinds of freon and
At azeotropic solution), hydrocarbon (propane, ethylene etc.), ammonia etc..
The present invention is conducive to the characteristic that compressed gas can freeze rapidly during release, and refrigeration module does not need to disappear when working
Additional electric energy is consumed, power consumption is not generated.
The present invention using containing the core component of the air bottle 201 of compressed gas as refrigeration unit, to laser radar without
Source optical module is quickly and effectively cooled down, and guarantees that laser radar core component works normally.Compressed gas in air bottle 201
Body freezes rapidly during release, and whole process does not consume the battery of laser radar or even entire unmanned plane completely, dexterously
Solves the contradiction of unmanned plane limited battery power supply and the stringent temperature control of laser radar.
In order to further provide for the cooling effect to UAV system laser radar passive optical module, temperature control power consumption is reduced,
Optical heat-insulating storehouse 101 of the invention is heat insulation structure, and optical heat-insulating storehouse 101 has good leakproofness.In a reality
It applies in example, the inner wall in the optical heat-insulating storehouse 101 is covered with heat preserving and insulating material, alternatively, the side wall in the optical heat-insulating storehouse 101
It is all or part of heat preserving and insulating material, such as foam.In a preferred embodiment, the optical heat-insulating storehouse 101 is main
Bracket is rigid metallic material, and one or more side plates are heat preserving and insulating material.Designing in this way is advantageous in that, can guarantee light
While learning heat-insulated 101 structural strength of storehouse, mitigate the weight in optical heat-insulating storehouse 101 as much as possible, while improving heat insulation.
In one embodiment, the side wall in the optical heat-insulating storehouse 101 offers gas port, the refrigeration unit output
Gas is directly entered the optical heat-insulating storehouse 101 by the gas port, the heat in optical heat-insulating storehouse 101 is absorbed, to optics
The effect to cool down in heat-insulated storehouse 101.At this point, the output end of the valve member 203 of refrigeration unit connects an exhaust pipe, the row
Tracheae is entered inside optical heat-insulating storehouse 101 by gas port, by realizing the air cooling-down in optical heat-insulating storehouse 101 to looking in the distance
The cooling of mirror module 100 and other optical devices.
In one embodiment, as shown in Figure 2 and Figure 3, a side wall in optical heat-insulating storehouse 101 is additionally provided with support frame
206, support frame as described above 206 is used to support the air bottle 201.Air bottle 201 is detachably connected with support frame 206, thus
It is convenient for changing air bottle 201, after the compressed gas in an air bottle 201 is finished, can be removed, replace with new cold air
Bottle 201, improves the flexibility of system.
In another embodiment, metal heat-conducting tube 204, the metal heat-conducting tube are provided in the optical heat-insulating storehouse 101
The outlet of 204 entrance and the gas-guide tube 202, the telescope module 100 include lens cone for telescope and telescope
Piece 102, the metal heat-conducting tube 204 are close to the outer wall of the lens cone for telescope.
The metal heat-conducting tube 204 can be copper pipe, it was found by the inventors of the present invention that copper pipe can realize scheduled lead
While hot property, density is minimum.
The lens cone for telescope of telescope is metal material, has preferable thermal conductivity, is close to when using metal heat-conducting tube 204
When lens cone for telescope, the cooling capacity that refrigeration unit discharges promptly can be directly conducted to lens cone for telescope.It is single compared to refrigeration
Member is first cooling to the air around lens cone for telescope, is then conducted cooling capacity to lens cone for telescope by air cold to lens cone for telescope
But the cooling efficiency of technical solution, metal heat-conducting tube 204 is higher, reduces the waste of cooling capacity.
In another embodiment, it is contemplated that lens cone for telescope uneven heating will also result in deformation, in order to realize more uniformly
The outlet of cooling effect, the gas-guide tube 202 connects two-way metal heat-conducting tube 204, and the two-way metal heat-conducting tube 204 is set respectively
Set the two sides opposite in the lens cone for telescope.So, lens cone for telescope two sides cool down simultaneously, inhibit to the maximum extent
Lens cone for telescope deformation, ensure that the measurement accuracy of laser radar.
Certainly, in another embodiment, it is disposed with multiple refrigeration units, the outlet of the gas-guide tube 202 of each refrigeration unit
Metal heat-conducting tube 204 all the way are all connected with, multiple metal heat-conducting tubes 204 form equally distributed cooling battle array around lens cone for telescope
Column guarantee that lens cone for telescope rapidly and uniformly cools down.
For laser radar system, each component, each position are different for the sensibility and tolerance of temperature；Therefore,
It needs to design the accurately temperature control scheme for being directed to laser radar different location, more fully utilizes limited temperature control resource and electricity
Pond extends the UAV system lidar measurement time to extend unmanned plane cruise duration.As shown in figure 3, telescope module
100 lens cone for telescope includes multiple sides, and the side for being provided with telescope is known as eyeglass side plate.The present inventor
It was found that: the deformation of eyeglass side plate influences the performance of laser radar maximum；Therefore, the metal of the eyeglass side plate of telescope is set
The density of heat conducting pipe 204 is higher than the density of the metal heat-conducting tube 204 of other sides of lens cone for telescope.Meanwhile it looking in the distance to protect
Mirror eyeglass 102 is provided with the exhaust outlet of gas-guide tube 202, exhaust outlet is for exporting not by high-temperature damage above telescope disk 102
Cold air, the directly air cooling-down to 102 top of telescope disk.
Further, the main control module is used to obtain the temperature information of the first temperature sensing assembly acquisition, in the temperature
Spend control refrigeration module work when information is higher than scheduled first temperature threshold, comprising:
The main control module is used to obtain the temperature information of the first temperature sensing assembly measurement, according to preset weight point
Cloth is weighted and averaged the first temperature detecting unit measured value each in the first temperature sensing assembly, obtains weighted temperature.The master
Control module is also used to the control refrigeration module work when the weighted temperature is higher than scheduled first temperature threshold.To improve temperature
Spend the accuracy of control.
Specifically, for example, the weight of the first temperature detecting unit at telescope disk 102 be higher than lens cone for telescope other
The weight of the first temperature detecting unit of position.The weight of the first temperature detecting unit at transmission fiber is higher than aerial first temperature
The weight of detection unit.
In one embodiment, the refrigeration unit further includes pressure detecting assembly and pressure regulator valve, the pressure detecting group
Part and pressure regulator valve are arranged on the pipeline of gas-guide tube 202, and pressure detecting assembly is used to detect the gas pressure in 202 tunnel of gas-guide tube
Power；The pressure detecting assembly and pressure regulator valve are connect with main control module；The main control module is for obtaining pressure detecting assembly
The gas pressure detected, control pressure regulator valve work, to export the gas for being not more than scheduled first pressure value.By adjusting system
The gas pressure value of cold unit output, controls refrigeration unit slow release gas, to extend cooling time.
In one embodiment, the gas pressure that the main control module is also used to detect in all pressure detecting assemblies is equal
Alarm signal is sent when less than scheduled second pressure threshold value.
The control module of main control module and unmanned plane is electrically connected, i.e., the control module of main control module and unmanned plane can lead to
Letter.When main control module detects that the gas pressure that all pressure detecting assemblies detect is respectively less than scheduled second pressure threshold value,
The temperature information of the first temperature sensing assembly measurement is obtained, if the temperature information is higher than scheduled dangerous values, main control module
Dangerous information is issued to the control module of unmanned plane.After the control module of unmanned plane receives the dangerous information, nobody is controlled
Machine flies back.
As shown in Figure 1, being additionally provided with optics protection window 401 on the outer housing 400, the optics protection window 401 is arranged
In the top of telescope disk 102, in other words, the outside of telescope disk 102 is arranged in the optics protection window 401.Due to
Telescope disk 102 is the core devices of laser radar, is coated with special film layer above.The optics protection window 401 can be protected
Telescope disk 102 prevents telescope disk 102 from directly contacting and suffering erosion with outside air.
It further include multiple heat sources, such as detector 305, data acquisition module, main control module, these heat inside laser radar
Source can generate heat during the work time.Certainly, in some embodiments, laser radar further includes image intensifer 302, light amplification
Device 302 is also important heat source for amplifying to the optical signal of laser radar.The heat resistance of these heat sources itself is higher than
Passive optical module, still, since multiple heat source courses of work can generate a large amount of heat, therefore, it is necessary to timely and effectively right
It radiates, to guarantee that each heat source works normally, meanwhile, avoid heat transfer into passive optical module.
Therefore, the temperature control modules of the invention further include blower module and second temperature detection components；Described
Two temperature sensing assemblies are used to acquire the laser light source 301, detector 305, data acquisition module, the temperature at main control module
Information.
Specifically, offer multiple fan holes on two sidewalls opposite on the outer housing 400, the fan holes of two sidewalls it
Between form air exhaust passage.
The blower module includes the first fan of multiple groups 304, and every group of first fan 304 includes two opposite in fan hole
The first fan 304 being arranged, every group of first fan 304 are respectively formed an air exhaust passage.Fan shape positioned at 400 side of outer housing
At air inlet, the fan positioned at 400 other side of outer housing forms air outlet.In order to guarantee inside lidar housings body 400
Air cleaner, reduce interference of the dust to laser radar component, the outside of first fan 304 is provided with filter screen, mistake
Strainer is used for air plankton.
Fig. 2 shows two group of first fan 304, the air draft that laser light source 301 is located at the formation of first group of first fan 304 is logical
On road；Image intensifer 302 is located on the air exhaust passage of second group of first fan 304 formation.
In one embodiment, it is contemplated that laser light source 301 and 302 calorific value of image intensifer are big, as shown in Fig. 2, this hair
Bright laser light source 301 and image intensifer 302 is separately positioned on the opposite two sides in optical heat-insulating storehouse 101, in 301 He of laser light source
The side wall of image intensifer 302 is provided with the cooling fin 303 of multiple level of confidentiality arrangements, carries out to laser light source 301 and image intensifer 302
Heat dissipation.In order to further increase heat dissipation effect, the cooling fin 303 is arranged between the air exhaust passage of the first fan 304.It is described
Multiple cooling fins 303 are distributed in laminated array formula, and the interval of two layers of cooling fin 303 is not more than 1cm, to improve radiating efficiency.
Since laser light source 301, detector 305 and image intensifer 302 belong to accurate optical element, and calorific value is big,
In order to improve the heat dissipation effect of these devices, the present invention is in laser light source 301, the side wall of detector 305 and image intensifer 302
It is provided with multiple cooling fins 303.
In one embodiment, in order to make more compact structure inside laser radar, layout more rationally, heat dissipation it is more abundant,
The lower section of laser light source 301 is arranged in detector 305.Data acquisition module and main control module integrate, and are arranged in laser
The lower section of light source 301.So, the optowire inside whole system (such as optical fiber layout) is more compact, and fiber lengths are most
It is short；Meanwhile the length of electric wire (conducting wire) is also most short, signal interference is minimum.
In one embodiment, it is contemplated that 305 calorific value of detector is big, and detector 305 belongs to accurate photoelectric device, right
Operating temperature requirements are stringent, as shown in Fig. 2, the side wall of detector 305 is provided with the cooling fin 303 of multiple level of confidentiality arrangements.In order to
The heat dissipation to detector 305 is further increased, the second fan 306 is additionally provided on the cooling fin 303 of detector 305, it is described
Second fan 306 is used to radiate to detector 305.
The main control module is also used to control the fan according to the temperature information that the second temperature detection components measure
Module work.
Further, the second temperature detection components include light-source temperature detection unit, 305 temperature detection list of detector
Member, 302 temperature detecting unit of image intensifer and control module temperature detecting unit.The light-source temperature detection unit is for detecting
Temperature at laser light source 301；305 temperature detecting unit of detector is used to detect the temperature at detector 305；The light
302 temperature detecting unit of amplifier is used to detect the temperature at image intensifer 302；The control module temperature detecting unit is used for
Detect the temperature at main control module.
Further, the temperature information control that the main control module is also used to be measured according to the second temperature detection components
The blower module work, comprising:
The main control module is used to obtain the temperature information of second temperature detection components measurement, in light-source temperature detection unit
When the temperature information of detection is higher than scheduled third temperature threshold, the first fan 304 work at laser light source 301 is controlled；?
When the temperature information of 302 temperature detecting unit of image intensifer detection is higher than scheduled four temperature threshold, image intensifer 302 is controlled
First fan 304 work at place；It is higher than scheduled 5th temperature in the temperature information that 305 temperature detecting unit of detector detects
When threshold value, control the second fan 306 work.
The present invention is directed to the heat resistance of different components and whole laser radar heat dissipation inside laser radar respectively and considers, is each
Corresponding temperature detection mechanism is arranged in component, and corresponding temperature control threshold is arranged, and individually controls each fan, is improving
While temperature controlled accuracy, moreover it is possible to save fan power consumption, reduce the power consumption of entire laser radar, guarantee unmanned plane machine
Under the premise of carrying laser radar normal work, its cruise duration and time of measuring are improved.
Further, the temperature control system further includes heating module, and the heating module includes multiple electric heating films
205, the electric heating film 205 is tightly attached to the lateral wall of the lens cone for telescope；The main control module is also used in the temperature
Control heating module work when information is lower than scheduled second temperature threshold value.The present invention is very light and handy using electric heating film 205, only
It needs to be attached to lens cone for telescope, so that it may fixed.And electric heating film 205 and the contact surface of lens cone for telescope are big, heating efficiency is high,
Thermal losses is small.Especially suitable for the airborne laser radar system based on unmanned plane.
Alternatively, the heating module can also be PI heating film, ceramic heating and resistance wire etc..
Fig. 4 is a kind of overall structure figure of airborne laser radar system based on unmanned plane provided in an embodiment of the present invention.
As shown in figure 4, system of the invention further includes unmanned plane.Unmanned machine support 500, the laser thunder are provided on the unmanned plane
It is arranged on the unmanned machine support 500 up to system, the top of the outer housing 400 is provided with mast-up 600, the laser thunder
It is arranged on unmanned machine support 500 up to system by the mast-up 600.
Further, be additionally provided with dampening assembly 601 on the mast-up 600, the dampening assembly 601 respectively with it is described
Outer housing 400 and mast-up 600 connect, for enhancing the stability of laser radar system to the laser radar system damping.
The dampening assembly 601 is elastic element or flexible member.
Basic principle for the laser radar of Atmospheric Survey, abbreviation atmospheric laser radar, atmospheric laser radar is: outgoing
Laser pulse and atmospheric interaction input optical receiver after collecting atmospheric backscatter signal using optical antenna, through light
Electrical resistivity survey is surveyed and after data processing, obtains a series of crucial atmospheric parameters.Such as aerosol concentration, PM2.5 value, the cloud level, temperature, wet
Degree, visibility, Atmospheric components (such as steam, various polluted gas).
Atmospheric laser radar will measure atmospheric parameter, therefore atmospheric laser radar needs to scan to space all directions, packet
It includes both horizontally and vertically, including upwardly or downwardly scans.The laser radar system of unmanned aerial vehicle onboard provided by the invention is big
There is advantage in terms of gas parameter measurement.Specifically, laser radar system of the invention is by changing laser radar on unmanned plane
Angle of assembling, it can be achieved that multiangular measurement.
Further, in one embodiment, in order to mitigate the weight of whole system, reduce system bulk, it is of the invention
System uses all optical fibre structure, and optical fiber connection is all made of between optical module (including laser light source, telescope, image intensifer),
The a length of C-band communication band of light wave of laser light source output, the wave-length coverage of C-band communication band be 1530nm~
1570nm.The present invention, as laser acquisition wave band, to eye-safe, and uses the band detection pole using C-band communication band
The earth improves the concealment of laser radar system detection, and can realize and be seamlessly connected with communication optical fiber.
In the embodiment that Fig. 4 is provided, laser radar system is arranged by the mast-up 600 in unmanned machine support 500
On, telescope disk 102 is arranged upward, may be implemented to scan upwards, obtains the atmospheric parameter in space vertically upward.?
In other embodiment, if necessary to obtain horizontal direction atmospheric parameter, laser radar level can be assembled in unmanned plane branch
On frame 500.
Since atmospheric backscatter signal is very faint, for Testing of Feeble Signals, needs large aperture telescope system and answer
Miscellaneous optical path receiver.Atmospheric laser radar is caused integrally to be matched great.And it is used to scan the laser radar of landform, it is only necessary to measure
The hard goal on ground reflects, and compared to faint atmospheric particles backscatter signal, the signal of hard goal is strong, and small in size, price is low,
Structure is simple.And scan the laser radar of landform, it is only necessary to scanning downwards, and Atmospheric Survey needs to sweep to space different directions
It retouches.Therefore, requirement of the atmospheric laser radar to equipment and platform is very high, and design difficulty is big.
The laser radar system of unmanned aerial vehicle onboard provided by the invention especially has advantage in terms of atmospheric parameter measurement.Its
The scanning of airspace multi-angle can be achieved；Conventional airplane can only scan downwards, and can not achieve hovering measurement.Nothing of the invention
Man-machine load laser radar system.
In conclusion the present invention provides a kind of airborne laser radar system based on unmanned plane, in passive optical module
Optical heat-insulating storehouse is set, telescope module and several passive laser radar optical modules are arranged in optical heat-insulating storehouse,
Temperature control modules are set to the passive optical module and laser light source of entire laser radar system, detector, data acquisition module
Block, main control module carry out accurate organically temperature and control.The present invention is conducive to what compressed gas can freeze rapidly during release
Characteristic, refrigeration module do not need to consume additional electric energy when working, and do not generate power consumption.
Temperature control modules of the invention include the first temperature sensing assembly and refrigeration module；First temperature sensing assembly is used
In the temperature information of acquisition passive optical module；Refrigeration module is used to cool down to passive optical module.The present invention uses and contains pressure
Laser radar passive optical module quickly and effectively drops in core component of the air bottle of contracting gas as refrigeration unit
Temperature guarantees that laser radar core component works normally.Compressed gas in air bottle is freezed rapidly during release, entire mistake
Journey does not consume the battery of laser radar or even entire unmanned plane completely, dexterously solves the limited battery power supply of unmanned plane and swashs
The contradiction of the stringent temperature control of optical radar.
Meanwhile temperature control modules of the invention further include blower module and second temperature detection components；Second temperature inspection
It surveys component and is used to acquire laser light source, detector, data acquisition module, the temperature information at main control module, main control module is also used
In the temperature information control blower module work measured according to second temperature detection components.The present invention is directed in laser radar respectively
The heat resistance of portion's different components and whole laser radar heat dissipation consider, corresponding temperature detection mechanism are arranged for each component, and set
Corresponding temperature control threshold is set, each fan is individually controlled, while improving temperature controlled accuracy, moreover it is possible to save
Fan power consumption reduces the power consumption of entire laser radar, under the premise of guaranteeing that unmanned aerial vehicle onboard laser radar works normally, improves
Its cruise duration and time of measuring.
System of the invention, the technology prejudice of air-conditioning and fan for cooling can only be used by overcoming laser radar system.Using
Combined type cooling profiles guarantee that UAV system laser radar completes temperature control under limited power supply, guarantee it scheduled
It is worked normally in time.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (8)
1. a kind of airborne laser radar system based on unmanned plane, which is characterized in that the laser radar system include outer housing,
Passive optical module, laser light source, detector, data acquisition module, main control module and temperature control modules；Wherein:
The passive optical module, laser light source, detector, data acquisition module, main control module and temperature control modules are all provided with
It sets in the outer housing；
The main control module is for controlling laser light source, detector, data acquisition module and temperature control modules work；
The passive optical module includes optical heat-insulating storehouse and the telescope module being arranged in the optical heat-insulating storehouse and several
A passive laser radar optical module；
The temperature control modules include the first temperature sensing assembly and refrigeration module；First temperature sensing assembly is for adopting
Collect the temperature information of the passive optical module；The refrigeration module is used to cool down to the passive optical module；The refrigeration
Module includes at least one refrigeration unit, and each refrigeration unit includes air bottle, gas-guide tube and valve member, in the air bottle
Accommodate compressed gas, the compressed gas is liquefaction or cured fire-retardant gas, described for air guide tube in exporting the cold air
Gas in bottle；The valve member is used to control gas-guide tube opening and closing under the control of main control module；
The main control module is used to obtain the temperature information of the first temperature sensing assembly acquisition, is higher than in the temperature information predetermined
The first temperature threshold when control refrigeration module work；The side wall in the optical heat-insulating storehouse offers gas port, and the refrigeration is single
The gas of member output enters the optical heat-insulating storehouse by the gas port；
The temperature control modules further include blower module and second temperature detection components；The second temperature detection components are used for
Acquire the laser light source, detector, data acquisition module, the temperature information at main control module；
The main control module is also used to control the blower module according to the temperature information that the second temperature detection components measure
Work.
2. system according to claim 1, which is characterized in that be provided with metal heat-conducting tube in the optical heat-insulating storehouse, institute
The entrance of metal heat-conducting tube and the outlet of the gas-guide tube are stated, the telescope module includes lens cone for telescope and telescope
Eyeglass, the metal heat-conducting tube are close to the outer wall of the lens cone for telescope.
3. system according to claim 2, which is characterized in that the outlet of the gas-guide tube connects two-way metal heat-conducting tube,
The two-way metal heat-conducting tube is separately positioned on the opposite two sides of the lens cone for telescope.
4. system according to claim 1, which is characterized in that the refrigeration unit further includes pressure detecting assembly and pressure regulation
Valve, the pressure detecting assembly and pressure regulator valve are arranged on the pipeline of gas-guide tube, and pressure detecting assembly is for detecting gas-guide tube
Gas pressure in road；The pressure detecting assembly and pressure regulator valve are connect with main control module；
The main control module is for obtaining the gas pressure that pressure detecting assembly detects, control pressure regulator valve work, to export not
Greater than the gas of scheduled first pressure value.
5. system according to claim 1, which is characterized in that the temperature control system further includes heating module, described
Main control module is also used to the hair when the gas pressure that all pressure detecting assemblies detect is respectively less than scheduled second pressure threshold value
Send alarm signal.
6. system according to claim 1, which is characterized in that the temperature control system further includes heating module, described
Heating module includes multiple electric heating films, and the electric heating film is tightly attached to the lateral wall of the lens cone for telescope；The master control mould
Block is also used to the control heating module work when the temperature information is lower than scheduled second temperature threshold value.
7. system according to claim 1, which is characterized in that further include unmanned plane, be provided with nobody on the unmanned plane
Machine support, the laser radar system are arranged on the unmanned machine support, and mast-up, institute are provided at the top of the outer housing
Laser radar system is stated to be arranged on unmanned machine support by the mast-up.
8. system according to claim 1, which is characterized in that dampening assembly is additionally provided on the mast-up, it is described to subtract
Shake component is connect with the outer housing and mast-up respectively, for the laser radar system damping.
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| CN201811296917.5A CN109239690A (en) | 2018-11-01 | 2018-11-01 | A kind of airborne laser radar system based on unmanned plane |
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| WO2020237572A1 (en) * | 2019-05-30 | 2020-12-03 | 深圳市速腾聚创科技有限公司 | Laser radar and intelligent sensing device |
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| CN113687091A (en) * | 2021-09-22 | 2021-11-23 | 深圳市天辰防务通信技术有限公司 | Laser speed measuring device |
| CN113702942A (en) * | 2021-08-09 | 2021-11-26 | 斯卡纳(北京)科技有限公司 | Unmanned aerial vehicle laser radar based on data drive |
| CN115335720A (en) * | 2020-03-19 | 2022-11-11 | 株式会社电装 | Object detection device |
| CN116106872A (en) * | 2023-04-13 | 2023-05-12 | 西南交通大学 | Mobile laser radar calibration room |
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| CN113687091A (en) * | 2021-09-22 | 2021-11-23 | 深圳市天辰防务通信技术有限公司 | Laser speed measuring device |
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