CN110389360A - A kind of 360 ° for small drone look around imaging and laser warning device - Google Patents
A kind of 360 ° for small drone look around imaging and laser warning device Download PDFInfo
- Publication number
- CN110389360A CN110389360A CN201910691772.7A CN201910691772A CN110389360A CN 110389360 A CN110389360 A CN 110389360A CN 201910691772 A CN201910691772 A CN 201910691772A CN 110389360 A CN110389360 A CN 110389360A
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- warning device
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- 238000003384 imaging method Methods 0.000 title claims abstract description 40
- KPHWPUGNDIVLNH-UHFFFAOYSA-M diclofenac sodium Chemical compound [Na+].[O-]C(=O)CC1=CC=CC=C1NC1=C(Cl)C=CC=C1Cl KPHWPUGNDIVLNH-UHFFFAOYSA-M 0.000 claims abstract description 31
- 239000000523 sample Substances 0.000 claims abstract description 26
- 230000003287 optical effect Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000001815 facial effect Effects 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 5
- 239000003708 ampul Substances 0.000 claims description 3
- 239000010453 quartz Substances 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000005357 flat glass Substances 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
-
- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Abstract
The invention discloses a kind of 360 ° for small drone to look around imaging and laser warning device, including taper reflection, cylinder facial canal lens, altogether optical path lens barrel, 45 ° of dichronic mirrors, altogether aperture laser probe assembly, cmos imaging component, on piece signal processing system and wireless transmission terminal, 45 ° of dichronic mirrors are combined using taper reflection, it realizes the total optical path of laser acquisition and video imaging and 360 ° is looked around the compound alarm of bimodulus, the safe flight for unmanned plane provides the target information of laser acquisition and looks around image.The present invention has remote operating distance, high reliablity, structure simple, small in size, at low cost to wait outstanding advantages, has important application prospect in small drone field.
Description
Technical field
The invention belongs to look around imaging and Laser Warning Technologies, specially a kind of 360 ° for small drone are looked around into
Picture and laser warning device.
Background technique
Unmanned plane shows in the application of the fields such as city management, agricultural, geology, meteorology, electric power, rescue and relief work, video capture
Huge application value.And the low latitude environment that unmanned machine operation is faced also becomes increasingly complex, not only there is static mesh
Mark, such as house, trees, electric wire, there is also dynamic objects, such as flying bird, kite, aircraft, this gives the safety of unmanned plane
Flight brings great difficulty, slightly misoperation, it is easy to unmanned plane be caused to crash.Currently, being used for small drone
The method of anticollision alarm mainly has ultrasonic radar, millimetre-wave radar and laser radar etc..There are operating distances for ultrasonic radar
Closely, the limitations such as influence vulnerable to air turbulence and gas eddy.That there are spatial resolutions is low for millimetre-wave radar, is difficult to realize 360
Degree look around with the limitations such as power consumption height, and laser radar mainly using Velodyne company as the multi-line laser radar of representative, though
So have operating distance far, it can be achieved that outstanding advantages of 360 ° of high-resolution are looked around, but its rotary scanning working method makes
The mechanical balance stability of system is poor, it is possible to interfere with nobody flight attitude.In addition, this kind of laser radar system volume
Greatly, expensive, the limitations such as poor reliability, it is difficult to be widely applied in small drone.
Summary of the invention
The purpose of the present invention is to provide a kind of 360 ° for small drone to look around imaging and laser warning device.
The technical solution for realizing the aim of the invention is as follows: a kind of 360 ° for small drone look around imaging and laser
Alarm device, including taper reflection, cylinder facial canal lens, 45 ° of dichronic mirrors, altogether aperture laser probe assembly, cmos imaging group
Part, on piece signal processing system and wireless transmission terminal, the taper reflection are fixed on nobody by cylinder facial canal lens supports
On on machine, the axis angle at 45 ° on taper reflection axis and with taper reflection is arranged in 45 ° of dichronic mirrors, described total
Aperture laser probe assembly is arranged on the reflection axis of 45 ° of dichronic mirrors, and the detection axis and cone of aperture laser probe assembly altogether
The axis of shape reflecting mirror is overlapped, and the cmos imaging component is arranged in the transmission axes of 45 ° of dichronic mirrors, and cmos imaging component
Optical axis be overlapped with the axis of taper reflection, at aperture laser probe assembly and the cmos imaging component altogether and on piece signal
Reason system connection, the on piece signal processing system for will be total to aperture laser probe assembly, the survey that cmos imaging component obtains
It away from data, looks around image and is transferred to unmanned plane central control system, while by wireless transmission terminal transmission to ground control station.
Preferably, the rib of the taper reflection and the angle of axis are 45 °.
Preferably, the taper reflection is coated with the film that is all-trans of 905nm wave band and visible light wave range.
Preferably, the cylinder facial canal lens are quartz ampoule mirror, and surfaces externally and internally is coated with 905nm wave band and visible light wave range
Anti-reflection film.
Preferably, 45 ° of dichronic mirrors are arranged in total optical path lens barrel, and the optical path lens barrel altogether is driveed there are three port, and one
A port towards taper reflection and coaxial with taper reflection, second port towards on 45 ° of dichroic mirror directions and with
Aperture laser probe assembly is coaxial altogether, in the 45 ° of dichronic mirror transmission directions of direction of third port and coaxial with cmos imaging component.
Preferably, 45 ° of dichronic mirrors are the plate for being coated with 45 ° of the 905nm wave band 45 ° of anti-reflection films of film and visible light wave that are all-trans
Glass.
Preferably, the operation wavelength of the aperture laser probe assembly altogether is 905nm, and is combined using 3 port circulators
Big D/F object lens realize aperture optical path altogether.
Compared with prior art, the present invention its remarkable advantage are as follows: 1) present invention introduces taper reflections to look around method, not
Ingenious 360 degree for solving the problems, such as laser warning are looked around under the premise of using rotary scanning component, and existing multi-thread scanning is overcome to swash
That there are mechanical balance stability is poor for optical radar, system bulk is big, the limitations such as expensive and poor reliability；2) present invention will
Taper reflection combine the total optical path for realizing laser acquisition and video imaging with 45 ° of dichronic mirrors and 360 ° to look around bimodulus compound
Alarm, not only available target range, can also provide 360 degree and look around alerting image, have operating distance remote, high reliablity,
The adaptable equal outstanding advantages of complex environment；3) total aperture laser probe assembly is arranged in the anti-of 45 ° of dichronic mirrors by the present invention
It penetrates on axis, the narrowband total reflection film and visible light anti-reflection film that 905nm wave band is plated on 45 ° of dichronic mirrors are realized exploring laser light and swashed
90 ° of optical paths of optical echo are transferred, it is suppressed that background noise improves the signal-to-noise ratio of total aperture laser probe assembly, improves and swashs
Light warning distance.
Further detailed description is done to the present invention with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the principle of the present invention figure.
Specific embodiment
As shown in Figure 1, a kind of 360 ° for small drone look around imaging and laser warning device, including taper reflection
Mirror 1,2,45 ° of dichronic mirrors 4 of cylinder facial canal lens, altogether aperture laser probe assembly 5, cmos imaging component 6, on piece signal processing system
System 7 and wireless transmission terminal 8, the taper reflection 1 are supported and fixed on unmanned plane by cylinder facial canal lens 2, and described 45 ° points
Look mirror 4 be arranged on 1 axis of taper reflection and with the axis of taper reflection 1 angle at 45 °, it is described altogether aperture laser detection group
Part 5 is arranged on the reflection axis of 45 ° of dichronic mirrors 4, and the detection axis of aperture laser probe assembly 5 and taper reflection 1 altogether
Axis is overlapped, and the cmos imaging component 6 is arranged in the transmission axes of 45 ° of dichronic mirrors 3, and the optical axis of cmos imaging component 6
It is overlapped with the axis of taper reflection 1, the aperture laser probe assembly 5 altogether and cmos imaging component 6 and on piece signal processing
System 7 connects, and the on piece signal processing system 7 is used to that aperture laser probe assembly 5 will to be total to, cmos imaging component 6 obtains
Ranging data looks around image and is transferred to unmanned plane central control system, while being transferred to ground control station by wireless transmission terminal 8.
In further embodiment, the rib of the taper reflection 1 and the angle of axis are 45 °.
In further embodiment, the taper reflection 1 is coated with the film that is all-trans of 905nm wave band and visible light wave range.In
In some embodiments, 1 diameter of taper reflection is about 2cm, is highly 1cm, transmissivity 99.5%
In further embodiment, the cylinder facial canal lens 2 be quartz ampoule mirror, surfaces externally and internally be coated with 905nm wave band and
The anti-reflection film of visible light wave range.On the one hand anti-reflection film protects pollution of the taper reflection 1 not by extraneous dust, on the other hand play branch
The effect of support installation taper reflection 1.In certain embodiments, 2 diameter of cylinder facial canal is about 2cm, is highly 1.5cm.
In further embodiment, 45 ° of dichronic mirrors (4) setting is in total optical path lens barrel (3), the optical path lens barrel altogether
(3) it drives there are three port, a port is towards taper reflection (1) and, second port direction coaxial with taper reflection (1)
Coaxially, third port is towards 45 ° of dichronic mirrors for aperture laser probe assembly (5) on 45 ° of dichronic mirror (4) reflection directions and together
(4) in transmission direction and coaxial with cmos imaging component (6).
In further embodiment, 45 ° of dichronic mirrors 4 are to be coated with 45 ° of 905nm wave band be all-trans film and 45 ° of visible light wave
The K9 plate glass of anti-reflection film, having a size of 30mm*20mm*2mm.
In further embodiment, the operation wavelength of the aperture laser probe assembly 5 altogether is 905nm, and uses 3 ports
Circulator combines big D/F object lens to realize aperture optical path altogether.In certain embodiments, the aperture laser probe assembly 5 altogether has
Effect optics bore is 20mm, emits visual field 10mrad, field of view of receiver 15mrad, transmission power 75W, and distance resolution is
0.3 meter.
It further carries out in example, the cmos imaging component 6 is MV-2000UC industrial camera.
Working principle of the present invention is as follows:
Natural light passes through cylinder facial canal lens 2 after target reflects and reaches taper reflection 1, and natural light is worn in succession by reflection
Cross cylinder facial canal lens and the altogether port of optical path lens barrel, be irradiated to 45 ° of dichronic mirrors 4, light beam pass through 45 ° of dichronic mirrors 4 by CMOS at
As the reception of component 6, on piece signal processing system 7 is transferred to image is looked around after 6 video imaging of cmos imaging component.
Altogether aperture laser probe assembly 5 905nm band pulse laser diode issue laser beam, through 45 ° of dichronic mirrors 4,
After taper reflection 1 reflects, cylinder facial canal lens 2 are then passed through, are emitted around in 360 ° of directions, if in certain direction ranging
There is target, then direction outgoing beam reflects after encountering target, and a part of light is visited against optical path by total aperture laser
Component 5 is surveyed to be received, altogether aperture laser probe assembly 5 identified by return laser beam and flight time measurement realization to target away from
From measurement, and distance signal is fed back on piece signal processing system 7.
On piece signal processing system 7 controls laser acquisition, object ranging and the cmos imaging of aperture laser probe assembly 5 altogether
Component 6 shoots 360 ° and looks around image, and the ranging data of total aperture laser probe assembly 5 is sentenced and is looked around with cmos imaging component 6
Image transmitting gives unmanned plane central control system, while data are transmitted back to ground control station using wireless transmission terminal 8.
Present invention introduces taper reflections to look around method, and overcoming existing multi-thread scanning laser radar, there are mechanical balance to stablize
Property it is poor, system bulk is big, the limitations such as expensive and poor reliability.The present invention is by taper reflection and 45 ° of dichronic mirror phases
Be implemented in combination with the total optical path of laser acquisition and video imaging and 360 ° looked around the compound alarm of bimodulus, not only can with target whether there is or not,
Target range can also provide 360 degree and look around alerting image.So this product had both had, range accuracy was high, sphere of action is wide, surveys
It is fast away from speed, small in size, light weight and cost is low, the advantages such as easy to use, also there is high reliablity, complex environment adaptability
It is strong to wait outstanding advantages.
Claims (7)
1. a kind of 360 ° for small drone look around imaging and laser warning device, which is characterized in that reflected including taper
Mirror (1), cylinder facial canal lens (2), 45 ° of dichronic mirrors (4), altogether aperture laser probe assembly (5), cmos imaging component (6), on piece
Signal processing system (7) and wireless transmission terminal (8), the taper reflection (1) are supported and fixed on by cylinder facial canal lens (2)
On unmanned plane, 45 ° of dichronic mirrors (4) be arranged on taper reflection (1) axis and with the axis of taper reflection (1) at
45° angle, described aperture laser probe assembly (5) altogether are arranged on the reflection axis of 45 ° of dichronic mirrors (4), and aperture laser is visited altogether
The detection axis for surveying component (5) is overlapped with the axis of taper reflection (1), and the cmos imaging component (6) is arranged in 45 ° of dichronic mirrors
(3) in transmission axes, and the optical axis of cmos imaging component (6) is overlapped with the axis of taper reflection (1), and the aperture altogether is swashed
Optical detection component (5) and cmos imaging component (6) are connect on piece signal processing system (7), the on piece signal processing system
(7) nothing is transferred to for being total to aperture laser probe assembly (5), the ranging data that cmos imaging component (6) obtains, looking around image
Man-machine central control system, while ground control station is transferred to by wireless transmission terminal (8).
2. 360 ° for small drone according to claim 1 look around imaging and laser warning device, feature exists
In the rib of the taper reflection (1) and the angle of axis are 45 °.
3. 360 ° for small drone according to claim 1 look around imaging and laser warning device, feature exists
In the taper reflection (1) is coated with the film that is all-trans of 905nm wave band and visible light wave range.
4. 360 ° for small drone according to claim 1 look around imaging and laser warning device, feature exists
In the cylinder facial canal lens (2) are quartz ampoule mirror and the anti-reflection film for being coated with 905nm wave band and visible light wave range.
5. 360 ° for small drone according to claim 1 look around imaging and laser warning device, feature exists
In 45 ° of dichronic mirrors (4) setting is in total optical path lens barrel (3), and optical path lens barrel (3) altogether are driveed there are three port, and one is held
Mouthful towards taper reflection (1) and coaxial with taper reflection (1), second port is towards on 45 ° of dichronic mirror (4) reflection directions
And together aperture laser probe assembly (5) coaxially, third port towards in 45 ° of dichronic mirror (4) transmission directions and with CMOS at
As component (6) are coaxial.
6. 360 ° for small drone according to claim 1 look around imaging and laser warning device, feature exists
In 45 ° of dichronic mirrors (4) are the plate glass for being coated with 45 ° of the 905nm wave band 45 ° of anti-reflection films of film and visible light wave that are all-trans.
7. 360 ° for small drone according to claim 1 look around imaging and laser warning device, feature exists
In the operation wavelength of aperture laser probe assembly (5) altogether is 905nm, and combines big D/F object lens using 3 port circulators
Realize aperture optical path altogether.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691772.7A CN110389360A (en) | 2019-07-30 | 2019-07-30 | A kind of 360 ° for small drone look around imaging and laser warning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691772.7A CN110389360A (en) | 2019-07-30 | 2019-07-30 | A kind of 360 ° for small drone look around imaging and laser warning device |
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| CN110389360A true CN110389360A (en) | 2019-10-29 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111156862A (en) * | 2020-01-10 | 2020-05-15 | 中北大学 | Broadband laser warning structure based on dichroic mirror and grating diffraction |
| CN111722256A (en) * | 2020-07-01 | 2020-09-29 | 南京理工大学 | Ultra-high precision positioning sensor combining GPS positioning with panoramic imaging map matching |
| CN111854698A (en) * | 2020-07-01 | 2020-10-30 | 南京理工大学 | Miniaturized low-cost road surface obstacle warning visual positioning sensor and warning method |
| CN111856428A (en) * | 2020-07-01 | 2020-10-30 | 南京理工大学 | 360-degree all-around low-cost three-dimensional imaging sensor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111156862A (en) * | 2020-01-10 | 2020-05-15 | 中北大学 | Broadband laser warning structure based on dichroic mirror and grating diffraction |
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| CN111854698A (en) * | 2020-07-01 | 2020-10-30 | 南京理工大学 | Miniaturized low-cost road surface obstacle warning visual positioning sensor and warning method |
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