CN110726997A - Intelligent laser positioning and tracking system - Google Patents
Intelligent laser positioning and tracking system Download PDFInfo
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- CN110726997A CN110726997A CN201910953679.9A CN201910953679A CN110726997A CN 110726997 A CN110726997 A CN 110726997A CN 201910953679 A CN201910953679 A CN 201910953679A CN 110726997 A CN110726997 A CN 110726997A
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- 238000005259 measurement Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
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- 239000004575 stone Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
Abstract
The invention discloses an intelligent laser positioning and tracking system which comprises a flight frame, a universal driving device, a four-degree-of-freedom laser positioning device and the like. The universal driving device carries out coarse pose adjustment, the four-degree-of-freedom laser positioning device carries out fine pose adjustment, and real-time stable operation is realized; the laser positioning devices are uniformly distributed, and can be used for simultaneously carrying out laser positioning on a plurality of targets in a plurality of directions; the three-in-one operation of sea, land and air can be carried out, and the three-in-one operation can be carried out by flight tracking, hand-held tracking and underwater tracking.
Description
Technical Field
The invention relates to the technical field of laser positioning, in particular to an intelligent laser positioning and tracking system.
Background
Laser rangefinder principle can be used for tool setting, unwrapping wire, the marking of trade cutting machinery such as stone material, timber, paper, cloth, leather, glass, pottery to the user accomplishes needs such as detection, processing, installation, under current general laser rangefinder principle, the product is mostly portable or fixed, lacks the mobility, and can't the localization tracking aerial with target under water, for this, has designed a laser localization tracking device of sea, land and air trinity, in order to adapt to multiple operation environment. For example, patent No. CN201910459007.2 provides a "laser tracking measurement system with a standard ball as a reflection device added with counterweight balance", which includes a light path carrying platform, a weight balance device, a pitching motion driving platform, a standard ball fine adjustment device, a revolving motion driving platform, etc., and has the advantages of reducing the requirement on shafting precision, and the measurement precision is superior to that of the traditional laser tracking measurement equipment under the same processing conditions and processing cost; the disadvantages are fixed operation and inorganity.
Disclosure of Invention
Aiming at the problems, the invention provides an intelligent laser positioning and tracking system, wherein a universal driving device is used for carrying out coarse pose adjustment, a four-freedom-degree laser positioning device is used for carrying out fine pose adjustment, and real-time steady-state operation is realized; the laser positioning devices are uniformly distributed, and can be used for simultaneously carrying out laser positioning on a plurality of targets in a plurality of directions; the three-in-one operation of sea, land and air can be carried out, and the three-in-one operation can be carried out by flight tracking, hand-held tracking and underwater tracking.
The technical scheme adopted by the invention is as follows: an intelligent laser positioning and tracking system comprises a flying frame, a universal driving device and a four-degree-of-freedom laser positioning device, wherein the flying frame is fixedly arranged on the universal driving device; the four-freedom laser positioning device is hinged in the flight frame.
The flight frame comprises a lower ball cup, a first annular cover, a first brushless motor, a first propeller, first pillars, battery panels, a control box, cantilevers, a first electric push rod, a spherical cover, a transparent ball baffle, an air bag and an upper ball cup, wherein the four first pillars, the four battery panels and the four cantilevers are respectively uniformly distributed and fixedly installed on the periphery of the lower side of the lower ball cup; a first annular cover is fixedly arranged on each cantilever, a first brushless motor is fixedly arranged on the lower side of each first annular cover, and a first propeller is fixedly arranged on a motor shaft of each first brushless motor; each battery panel is fixedly provided with a control box, each control box is fixedly provided with a first electric push rod, and each first electric push rod is fixedly provided with a transparent ball baffle; the upper ball cup is fixedly arranged on the lower ball cup; the spherical cover is hinged in a spherical hinge formed by the upper spherical cup and the lower spherical cup; four air bags are uniformly distributed and fixedly arranged around the inner part of the spherical cover.
Universal drive arrangement include chassis, spring, first support, hollow post, first servo motor, drum, second annular cover, second screw, second brushless motor, second pillar, controller, second support, camera, second electric putter, its characterized in that: the four first supports are uniformly hinged on the chassis, each first support is hinged with a spring, and the other end of each spring is hinged on the chassis; four hollow columns are uniformly distributed and fixedly arranged on the chassis; the second bracket is fixedly arranged on the chassis, and the controller and the second electric push rod are respectively and fixedly arranged on the upper side and the lower side of the second bracket; the camera is fixedly arranged at the push rod end of the second electric push rod; each first support is hinged with a drum wheel, and the drum wheel is fixedly connected with a motor shaft of a first servo motor fixedly arranged on the first support; two second pillars are symmetrically arranged and fixedly installed on the chassis, a second annular cover is fixedly installed on each second pillar, a second brushless motor is fixedly installed on each second annular cover, and a second propeller is fixedly installed on a motor shaft of each second brushless motor.
The four-degree-of-freedom laser positioning device comprises a third support, a first double-shaft motor, a first gear, a second gear, a fourth support, a second support, a third gear, a second double-shaft motor, a fourth gear, a second servo motor, a third support, a friction wheel, an electric telescopic laser chamber, a laser emitting hole, a laser receiving hole, a rotary table and a sleeve cup, wherein the fourth support is cross-shaped, and the first gear and the second gear, the third gear and the fourth gear are symmetrically hinged to the lower two branches and the upper two branches in pairs respectively; two ends of the third bracket are fixedly arranged on the two second gears; the first support and the second support are respectively and fixedly arranged on the upper side and the lower side of the fourth support; the first double-shaft motor is fixedly arranged on the first support, and motor shafts on two sides are fixedly connected with the two first gears; the second double-shaft motor is fixedly arranged on the second support, and motor shafts on two sides are fixedly connected with the two third gears; two sides of the sleeve cup are fixedly arranged on the two fourth gears; two third supports are fixedly arranged on two sides of the sleeve cup, each third support is fixedly provided with a second servo motor, and an output shaft of each third servo motor is fixedly provided with a friction wheel; the rotary table is hinged in the sleeve cup, and the side wall of the rotary table is tightly attached to the two friction wheels; the electric telescopic laser chamber is fixedly arranged in the turntable, and four groups of laser emitting holes and laser receiving holes are uniformly and fixedly arranged on the electric telescopic laser chamber.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) the universal driving device carries out coarse pose adjustment, the four-degree-of-freedom laser positioning device carries out fine pose adjustment, and real-time stable operation is realized; (2) laser positioning can be simultaneously carried out on a plurality of targets in a plurality of directions; (3) the three-in-one operation of sea, land and air can be carried out, and flight tracking, hand-held tracking and underwater tracking can be realized; (4) simple structure and high operation efficiency.
Drawings
Fig. 1 and 2 are schematic overall structural diagrams of the present invention.
Fig. 3 and 4 are schematic structural diagrams of the flight frame of the invention.
FIG. 5 is a schematic structural diagram of the universal driving apparatus of the present invention.
Fig. 6 and 7 are schematic structural views of a four-degree-of-freedom laser positioning device according to the present invention.
Reference numerals: 1-a flight frame; 2-a universal drive; 3-four-degree-of-freedom laser positioning device; 101-dropping a ball cup; 102-a first annular shield; 103-a first brushless motor; 104-a first propeller; 105-a first strut; 106-panel; 107-a control box; 108-a cantilever; 109-a first electric push rod; 110-a spherical cap; 111-transparent ball baffles; 112-an air bag; 113-putting a ball cup; 201-a chassis; 202-a spring; 203-a first scaffold; 204-hollow column; 205-a first servomotor; 206-a drum; 207-a second annular shield; 208-a second propeller; 209-a second brushless motor; 210-a second strut; 211-a controller; 212-a second bracket; 213-a camera; 214-a second electric putter; 301-a third support; 302-a first support; 303-a first dual-axis motor; 304-a first gear; 305-a second gear; 306-a fourth stent; 307-a second seat; 308-a third gear; 309-a second dual shaft motor; 310-a fourth gear; 311-a second servomotor; 312-a third support; 313-a friction wheel; 314-an electric telescopic laser chamber; 315-laser emission aperture; 316-laser acceptance aperture; 317-a rotary table; 318-set cup.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
Example (b): as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, and fig. 7, the intelligent laser positioning and tracking system includes a flying frame 1, a universal driving device 2, and a four-degree-of-freedom laser positioning device 3, wherein the flying frame 1 is fixedly mounted on the universal driving device 2. The four-freedom laser positioning device 3 is hinged in the flying frame 1.
Four first support columns 105, four battery panels 106 and four cantilevers 108 of the flying frame 1 are uniformly distributed and fixedly installed on the periphery of the lower side of the lower ball cup 101. A first annular cover 102 is fixedly arranged on each cantilever 108, a first brushless motor 103 is fixedly arranged on the lower side of each first annular cover 102, and a first propeller 104 is fixedly arranged on a motor shaft of each first brushless motor 103. Each battery plate 106 is fixedly provided with a control box 107, each control box 107 is fixedly provided with a first electric push rod 109, and each first electric push rod 109 is fixedly provided with a transparent ball baffle 111. The upper ball cup 113 is fixedly mounted on the lower ball cup 101. The spherical cap 110 is hinged in the spherical hinge formed by the upper spherical cup 113 and the lower spherical cup 101. Four air bags 112 are uniformly and fixedly arranged on the periphery inside the spherical cover 110.
Four first supports 203 of the universal driving device 2 are uniformly hinged on the chassis 201, each first support 203 is hinged with a spring 202, and the other end of each spring 202 is hinged on the chassis 201. Four hollow columns 204 are uniformly distributed and fixedly arranged on the chassis 201. The second bracket 212 is fixedly installed on the chassis 201, and the controller 211 and the second electric putter 214 are fixedly installed at the upper and lower sides of the second bracket 212, respectively. The camera 213 is fixedly mounted on the push rod end of the second electric push rod 214. Each first support 203 is hinged with a drum 206, and the drum 206 is fixedly connected with a motor shaft of a first servo motor 205 fixedly arranged on the first support 203. Two second support columns 210 are symmetrically arranged and fixedly installed on the chassis 201, a second annular cover 207 is fixedly installed on each second support column 210, a second brushless motor 209 is fixedly installed on each second annular cover 207, and a second propeller 208 is fixedly installed on a motor shaft of each second brushless motor 209.
The fourth bracket 306 of the four-degree-of-freedom laser positioning device 3 is cross-shaped, and the two branches at the lower side and the two branches at the upper side are symmetrically hinged with the first gear 304 and the second gear 305, and the third gear 308 and the fourth gear 310 in pairs respectively. The third bracket 301 is fixedly mounted at both ends on two second gears 305. The first pedestal 302 and the second pedestal 307 are respectively fixedly mounted on the upper side and the lower side of the fourth bracket 306. The first double-shaft motor 303 is fixedly mounted on the first support 302, and motor shafts on two sides are fixedly connected with two first gears 304. The second double-shaft motor 309 is fixedly installed on the second support 307, and motor shafts on two sides are fixedly connected with two third gears 308. The two sides of the sleeve cup 318 are fixedly arranged on the two fourth gears 310. Two third supports 312 are fixedly arranged at two sides of the sleeve cup 318, each third support 312 is fixedly provided with a second servo motor 311, and an output shaft of each third servo motor is fixedly provided with a friction wheel 313. The turntable 317 is hinged in the sleeve cup 318, and the side wall of the turntable 317 is tightly attached with the two friction wheels 313. The electric telescopic laser chamber 314 is fixedly arranged in a turntable 317, and four groups of laser emitting holes 315 and laser receiving holes 316 are uniformly and fixedly arranged on the electric telescopic laser chamber.
The four degrees of freedom of the four-degree-of-freedom laser positioning device 3 are rotation in three directions and movement in one direction, and specifically comprise the following steps: the rotation of the fourth bracket 306 driven by the first double-shaft motor 303 around the central line of the second gear 305; rotation of the sleeve cup 318 driven by the second dual-shaft motor 309 about the centerline of the fourth gear 310; the friction wheel 313 driven by the second servomotor 311, the rotation of the turntable 317 around its axis driven by the friction force, and the reciprocating movement of the electric telescopic laser chamber 314 in the direction of the center line.
The principle of the universal driving device 2 is as follows: the four drums 206 are tightly attached to the outer surface of the spherical cover 110 hinged in the lower ball cup 101, the included angle of 45 degrees is formed between the axis of the section of each drum 206 and the horizontal plane, and when the four drums 206 rotate in the same direction, the spherical cover 110 spins along the vertical axis; when the two drums 206 on one side turn the same and the two drums 206 on the other side turn the same and opposite to the opposite side, the spherical cap 110 may achieve rotation along two orthogonal axes of the horizontal plane, respectively.
The four groups of laser ranging units can realize laser ranging and tracking operation in four directions at most.
The invention can realize three-dimensional integrated operation of sea, land and air, can measure at a long distance, has relatively low precision of the long-distance measurement, can measure at a short distance, adopts flight or underwater sliding, tracks objects at a short distance in real time, and has relatively high precision. During measurement, the pose of the spherical hood 110 is preliminarily determined by the four drums 206, and then the pose is regulated and controlled in real time by the four-degree-of-freedom laser positioning device 3, so that accurate and stable operation is realized.
Claims (5)
1. The utility model provides an intelligence laser positioning tracker, includes flight frame (1), universal drive arrangement (2), four degrees of freedom laser positioning device (3), its characterized in that: the flying frame (1) is fixedly arranged on the universal driving device (2); the four-freedom-degree laser positioning device (3) is hinged in the flying frame (1);
the flight frame (1) comprises a lower ball cup (101), a first annular cover (102), a first brushless motor (103), a first propeller (104), first support columns (105), battery plates (106), a control box (107), cantilevers (108), a first electric push rod (109), a ball cover (110), a transparent ball baffle (111), an air bag (112) and an upper ball cup (113), wherein the four first support columns (105), the four battery plates (106) and the four cantilevers (108) are uniformly distributed and fixedly installed on the periphery of the lower side of the lower ball cup (101) respectively; a first annular cover (102) is fixedly arranged on each cantilever (108), a first brushless motor (103) is fixedly arranged on the lower side of each first annular cover (102), and a first propeller (104) is fixedly arranged on a motor shaft of each first brushless motor (103); each control box (107) is fixedly provided with a first electric push rod (109), and each push rod end of the first electric push rod (109) is fixedly provided with a transparent ball baffle (111); the upper ball cup (113) is fixedly arranged on the lower ball cup (101); the spherical cover (110) is hinged in a spherical hinge formed by the upper spherical cup (113) and the lower spherical cup (101); four air bags (112) are uniformly distributed and fixedly arranged on the periphery inside the spherical cover (110);
the universal driving device (2) comprises a chassis (201), springs (202), first supports (203), a hollow column (204), a first servo motor (205), a drum (206), a second annular cover (207), a second propeller (208), a second brushless motor (209), a second support column (210), a controller (211), a second support (212), a camera (213) and a second electric push rod (214), wherein the four first supports (203) are uniformly hinged on the chassis (201), each first support (203) is hinged with one spring (202), and the other end of each spring (202) is hinged on the chassis (201); each first bracket (203) is hinged with a drum (206), and the drum (206) is fixedly connected with a motor shaft of a first servo motor (205) fixedly arranged on the first bracket (203); two second support columns (210) are symmetrically arranged and fixedly installed on the chassis (201), each second support column (210) is fixedly provided with a second annular cover (207), each second annular cover (207) is fixedly provided with a second brushless motor (209), and a motor shaft of each second brushless motor (209) is fixedly provided with a second propeller (208);
the four-degree-of-freedom laser positioning device (3) comprises a third support (301), a first support (302), a first double-shaft motor (303), a first gear (304), a second gear (305), a fourth support (306), a second support (307), a third gear (308), a second double-shaft motor (309), a fourth gear (310), a second servo motor (311), a third support (312), a friction wheel (313), an electric telescopic laser chamber (314), a laser emitting hole (315), a laser receiving hole (316), a rotary table (317) and a cup (318), wherein the fourth support (306) is cross-shaped, and the lower two branches and the upper two branches are respectively and symmetrically hinged with the first gear (304), the second gear (305), the third gear (308) and the fourth gear (310) in pairs; two ends of the third bracket (301) are fixedly arranged on the two second gears (305); the first support (302) and the second support (307) are respectively and fixedly arranged on the upper side and the lower side of the fourth bracket (306); a first double-shaft motor (303) is fixedly arranged on the first support (302), and motor shafts on two sides are fixedly connected with two first gears (304); a second double-shaft motor (309) is fixedly arranged on a second support (307), and motor shafts on two sides are fixedly connected with two third gears (308); two sides of the sleeve cup (318) are fixedly arranged on the two fourth gears (310); two third supports (312) are fixedly arranged on two sides of the sleeve cup (318), each third support (312) is fixedly provided with a second servo motor (311), and an output shaft of each third servo motor is fixedly provided with a friction wheel (313); the rotary table (317) is hinged in the sleeve cup (318), and the side wall of the rotary table (317) is tightly attached to the two friction wheels (313).
2. The intelligent laser position tracking system of claim 1, wherein: a control box (107) is fixedly arranged on each battery plate (106).
3. The intelligent laser position tracking system of claim 1, wherein: four hollow columns (204) are uniformly distributed and fixedly arranged on the chassis (201); the second bracket (212) is fixedly arranged on the chassis (201), and the controller (211) and the second electric push rod (214) are respectively and fixedly arranged on the upper side and the lower side of the second bracket (212).
4. The intelligent laser position tracking system of claim 1, wherein: and a camera (213) is fixedly arranged at the push rod end of the second electric push rod 214.
5. The intelligent laser position tracking system of claim 1, wherein: the electric telescopic laser chamber 314 is fixedly arranged in a turntable (317), and four groups of laser emitting holes 315 and laser receiving holes (316) are uniformly and fixedly arranged on the electric telescopic laser chamber.
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|---|---|---|---|
| CN201910953679.9A CN110726997B (en) | 2019-10-09 | 2019-10-09 | Intelligent laser positioning and tracking system |
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| CN201910953679.9A CN110726997B (en) | 2019-10-09 | 2019-10-09 | Intelligent laser positioning and tracking system |
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| CN110726997B CN110726997B (en) | 2023-11-03 |
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