CN110058209A - Strapdown inertia Active vibration suppression laser radar - Google Patents
Strapdown inertia Active vibration suppression laser radar Download PDFInfo
- Publication number
- CN110058209A CN110058209A CN201910260616.5A CN201910260616A CN110058209A CN 110058209 A CN110058209 A CN 110058209A CN 201910260616 A CN201910260616 A CN 201910260616A CN 110058209 A CN110058209 A CN 110058209A
- Authority
- CN
- China
- Prior art keywords
- shell
- electric machine
- rotating electric
- laser radar
- enocscope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001629 suppression Effects 0.000 title claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- G01S7/497—Means for monitoring or calibrating
Abstract
The present invention provides a kind of strapdown inertia Active vibration suppression laser radar of novel in structural design；Transmitter, the receiver being connect including rotating electric machine, with controller circuit board；It is characterized by: the controller circuit board, transmitter, receiver are mounted in a shell, loophole is offered on shell, enocscope is also equipped in shell, the ray that transmitter is launched is projected after being reflected by enocscope by loophole, is entered in shell by loophole and be received by the receiver after enocscope refraction by the reflected ray that object is reflected back；The shell is fixed in the shaft of rotating electric machine to be driven by rotating electric machine and rotate；A multi-axial sensor is installed at the shaft and cage connection of the rotating electric machine or in shell on the axis direction of shaft.
Description
Technical field
The present invention relates to a kind of laser radar more particularly to a kind of strapdown inertia Active vibration suppression laser radars.
Background technique
Laser radar is to form outside by 3-D scanning of the laser head to exterior space using laser reflection range measurement principle
The point cloud map in space.The 3-D scanning of laser radar needs to be rotated with motor driven enocscope, the light that fixed light source issues
After enocscope refraction of the beam through rotating, the rotary scanning to external environment is realized.In this process, enocscope and laser head, electricity
The components such as road plate constitute the mechanical rotating parts of laser radar, are usually driven by motor by transmission mechanism, realize per minute
7000 turns of high speed rotation.
Under conventional method, the rotation payload segment of laser radar is easy to be influenced by under the disturbed conditions such as outside shaking,
Prevent in horizontal plane of the scanning surface from maintaining constant altitude, so that the resolving of position be made error occur.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, adapt to reality and need, provide a kind of novel in structural design
Strapdown inertia Active vibration suppression laser radar.
In order to achieve the object of the present invention, the technical scheme adopted by the invention is as follows:
Design a kind of strapdown inertia Active vibration suppression laser radar, including rotating electric machine, and controller circuit board
Transmitter, the receiver of connection；It is characterized by: the controller circuit board, transmitter, receiver are mounted on a shell
It is interior, loophole is offered on shell, enocscope is also equipped in shell, after the ray that transmitter is launched is reflected by enocscope
It is projected by loophole, is entered in shell by loophole and after enocscope refraction by the reflected ray that object is reflected back by receiver
It receives；The shell is fixed in the shaft of rotating electric machine to be driven by rotating electric machine and rotate；The shaft of the rotating electric machine and outer
One multi-axial sensor is installed on the axis direction of shaft in shell junction or shell.
The beneficial effects of the present invention are:
The design, which is used, installs multi-axial sensor in the rotor load part of laser radar, and used using current strapdown
The basic principle led, passes through the angular speed measured laser radar total system during the motion in an implementation and acceleration is (existing
Have technology), carry out the anti-sweep parameter for pushing away laser radar when being not affected by external disturbance, realizes under external disturbed conditions
Laser radar parameter measurement.
Detailed description of the invention
Fig. 1 is the strapdown inertia Active vibration suppression laser radar primary structure schematic diagram of the design.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
Embodiment 1: a kind of strapdown inertia Active vibration suppression laser radar, referring to Fig. 1.
Transmitter, the receiver being connect including rotating electric machine, with controller circuit board (the above are the prior arts)；It is described
Controller circuit board, transmitter, receiver, enocscope are mounted on (controller circuit board, transmitter, reception in a shell 1
Device, four installation relation of enocscope and fixed form belong to existing conventional techniques, and this specification does not carry out it in detail
Description), loophole 2 is offered on shell, enocscope 3 is also equipped in shell 1, the ray that transmitter is launched passes through enocscope
It is projected after refraction by loophole, is entered in shell by loophole and quilt after enocscope refraction by reflected ray that object is reflected back
Receiver receives (the above are the prior arts).
The shell 1 is fixed in the shaft 5 of rotating electric machine to be driven by rotating electric machine and rotate by the design, in this way
The mechanical isolation for realizing electric signal between laser radar rotor and stator, eliminates this component of sliding ring connector, meanwhile, it keeps away
Exempt from traditional sliding ring connector while carry mechanically and electrically two kinds of intermediary functions of system, the bring when running at high speed for a long time
The problems such as electric part poor contact, reliability concerns, occurs.
The design also pacifies on the axis direction of shaft in the shaft 5 of the rotating electric machine with 1 junction of shell or shell
(connection type of controller circuit board and multi-axial sensor 4 is existing to multi-axial sensor 4 equipped with controller circuit board connection
Technology), this multi-axial sensor can measure the angle speed of laser radar total system during the motion during shell rotates
Degree and acceleration, operation program and algorithm in back-end controller by measuring and calculating laser radar angular speed during the motion with
Acceleration can know whether laser radar receives external disturbance, known in a manner of reversely calculating accordingly laser radar for
The external information of disturbance when institute surface sweeping is not received, improves the accuracy of laser radar by this method, and the design institute in an implementation
The angular speed and acceleration of the measurement multi-axial sensor used, the mode that reversely calculates know that laser radar is disturbed not receive
The program and algorithm of the external information of dynamic when institute surface sweeping belong to the prior art, and the algorithm and program being related to are not the design mesh
, this case no longer this this is excessively repeated.
To sum up, the design, which is used, installs multi-axial sensor in the rotor load part of laser radar, and utilizes current victory
The basic principle of connection formula inertial navigation passes through the angular speed measured laser radar total system during the motion and acceleration in an implementation
Degree carrys out the anti-sweep parameter for pushing away laser radar when being not affected by external disturbance, realizes to the laser under external disturbed conditions
Radar parameter measurement.
What the embodiment of the present invention was announced is preferred embodiment, and however, it is not limited to this, the ordinary skill people of this field
Member, easily according to above-described embodiment, understands spirit of the invention, and make different amplification and variation, but as long as not departing from this
The spirit of invention, all within the scope of the present invention.
Claims (1)
1. a kind of strapdown inertia Active vibration suppression laser radar, connect including rotating electric machine, with controller circuit board
Transmitter, receiver；It is characterized by: the controller circuit board, transmitter, receiver are mounted in a shell, shell
On offer loophole, be also equipped with enocscope in shell, the ray that transmitter is launched reflected by enocscope after by light transmission
Hole is projected, and is entered in shell by loophole and be received by the receiver after enocscope refraction by the reflected ray that object is reflected back；
The shell is fixed in the shaft of rotating electric machine to be driven by rotating electric machine and rotate；The shaft and cage connection of the rotating electric machine
One multi-axial sensor is installed on the axis direction of shaft in place or shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910260616.5A CN110058209A (en) | 2019-04-02 | 2019-04-02 | Strapdown inertia Active vibration suppression laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910260616.5A CN110058209A (en) | 2019-04-02 | 2019-04-02 | Strapdown inertia Active vibration suppression laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110058209A true CN110058209A (en) | 2019-07-26 |
Family
ID=67318188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910260616.5A Pending CN110058209A (en) | 2019-04-02 | 2019-04-02 | Strapdown inertia Active vibration suppression laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110058209A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2246473A (en) * | 1983-09-14 | 1992-01-29 | Gec Avionics | Cassegrain aerial system |
| CN102506860A (en) * | 2011-11-26 | 2012-06-20 | 中国科学院光电技术研究所 | Inertia stabilizing device based on acceleration feedback and feed-forward and control method thereof |
| CN103822632A (en) * | 2014-03-03 | 2014-05-28 | 山西科泰微技术有限公司 | Inertial navigation system provided with rolling isolating function and rolling isolating method thereof |
| CN106896720A (en) * | 2017-03-09 | 2017-06-27 | 中国科学院光电技术研究所 | A kind of improved fast anti-mirror stable inertia control method based on strapdown acceleration analysis |
| CN107064909A (en) * | 2017-06-01 | 2017-08-18 | 北京怡孚和融科技有限公司 | A kind of laser radar directive property stabilizer and laser radar directive property systems stabilisation and a kind of compensation method of laser radar |
| CN107238839A (en) * | 2017-07-19 | 2017-10-10 | 北醒（北京）光子科技有限公司 | A kind of infrared acquisition and measurement apparatus |
| CN109375651A (en) * | 2018-10-14 | 2019-02-22 | 中国科学院光电技术研究所 | A kind of anti-axis of rolling perturbation motion method of motion platform horizontal photoelectric tracking system |
| CN210243831U (en) * | 2019-04-02 | 2020-04-03 | 南昌艾克威尔机器人有限公司 | Strapdown inertial navigation active vibration suppression laser radar |
-
2019
- 2019-04-02 CN CN201910260616.5A patent/CN110058209A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2246473A (en) * | 1983-09-14 | 1992-01-29 | Gec Avionics | Cassegrain aerial system |
| CN102506860A (en) * | 2011-11-26 | 2012-06-20 | 中国科学院光电技术研究所 | Inertia stabilizing device based on acceleration feedback and feed-forward and control method thereof |
| CN103822632A (en) * | 2014-03-03 | 2014-05-28 | 山西科泰微技术有限公司 | Inertial navigation system provided with rolling isolating function and rolling isolating method thereof |
| CN106896720A (en) * | 2017-03-09 | 2017-06-27 | 中国科学院光电技术研究所 | A kind of improved fast anti-mirror stable inertia control method based on strapdown acceleration analysis |
| CN107064909A (en) * | 2017-06-01 | 2017-08-18 | 北京怡孚和融科技有限公司 | A kind of laser radar directive property stabilizer and laser radar directive property systems stabilisation and a kind of compensation method of laser radar |
| CN107238839A (en) * | 2017-07-19 | 2017-10-10 | 北醒（北京）光子科技有限公司 | A kind of infrared acquisition and measurement apparatus |
| CN109375651A (en) * | 2018-10-14 | 2019-02-22 | 中国科学院光电技术研究所 | A kind of anti-axis of rolling perturbation motion method of motion platform horizontal photoelectric tracking system |
| CN210243831U (en) * | 2019-04-02 | 2020-04-03 | 南昌艾克威尔机器人有限公司 | Strapdown inertial navigation active vibration suppression laser radar |
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