CN110764105A - Unmanned aerial vehicle's laser radar system and unmanned aerial vehicle system - Google Patents
Unmanned aerial vehicle's laser radar system and unmanned aerial vehicle system Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/385—Arrangements for measuring battery or accumulator variables
- G01R31/387—Determining ampere-hour charge capacity or SoC
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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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Abstract
The embodiment of the invention provides a laser radar system of an unmanned aerial vehicle and an unmanned aerial vehicle system, wherein an airborne power supply of the unmanned aerial vehicle can provide power supply signals for a machine body device and the laser radar system; the laser radar system comprises a power supply conversion module, a synchronous signal generation module, an attitude determination and positioning module, an image acquisition module, a laser ranging module and a data processing module; and power conversion module, synchronizing signal produce module, decide appearance orientation module, image acquisition module, laser rangefinder module and data processing module integration in an organic whole to install on unmanned aerial vehicle's fuselage equipment. The laser radar system provided by the embodiment of the invention has the advantages of light weight, small volume, high operation efficiency and strong robustness.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar system of an unmanned aerial vehicle and an unmanned aerial vehicle system.
Background
With the development of automation technology And LIDAR (Light Detection And Ranging) technology, the unmanned aerial vehicle airborne laser radar system is widely applied to various fields such as digital power grids, urban three-dimensional modeling, digital water conservancy, forestry And the like due to rapidity, non-contact And penetrability.
At present, be applied to inorganic airborne laser radar system and include power, laser scanner, digital camera, GPS locater, controller and power etc. usually, its volume is great, then tens kilograms lightly, and then hundreds kilograms is heavy, and this kind of airborne laser radar system can make increase unmanned aerial vehicle's weight when carrying unmanned aerial vehicle to have great consumption, influence flight parameter, have great measuring error.
Disclosure of Invention
The embodiment of the invention provides a laser radar system of an unmanned aerial vehicle and an unmanned aerial vehicle system, which have smaller volume, reduce power consumption and improve flight efficiency and measurement accuracy.
In a first aspect, an embodiment of the present invention provides a lidar system for an unmanned aerial vehicle, where the unmanned aerial vehicle at least includes a body device and an airborne power supply, and the airborne power supply is configured to provide a power supply signal for the body device and the lidar system; the laser radar system includes: the system comprises a power supply conversion module, a synchronous signal generation module, an attitude determination positioning module, an image acquisition module, a laser ranging module and a data processing module;
the power supply conversion module is used for receiving a power supply signal provided by the airborne power supply and distributing the power supply signal to the synchronous signal generation module, the attitude determination positioning module, the image acquisition module, the laser ranging module and the data processing module;
the synchronous signal generating module is used for generating a synchronous signal when receiving the power supply signal distributed by the power supply conversion module, and sending the synchronous signal to the attitude determination positioning module, the image acquisition module and the laser ranging module so as to enable the attitude determination positioning module, the image acquisition module and the laser ranging module to synchronously operate;
the attitude determination positioning module is used for acquiring positioning information and attitude information of each position point in a target area in real time and sending the positioning information and the attitude information to the data processing module;
the image acquisition module is used for acquiring image color data of each position point in the target area in real time and sending the image color data to the data processing module;
the laser ranging module is used for acquiring distance information of two adjacent position points in the target area in real time and sending the distance information to the data processing module;
the data processing module is used for storing the positioning information and the attitude information, the image color data and the distance information, and carrying out primary processing on the positioning information and the attitude information, the image color data and the distance information to obtain a three-dimensional point cloud data set;
the power supply conversion module, the synchronous signal generation module, the attitude determination positioning module, the image acquisition module, the laser ranging module and the data processing module are integrated into a whole and are arranged on the machine body equipment.
Optionally, the data processing module includes a main processor and a communication unit;
the main processor is respectively communicated with the power supply conversion module, the attitude determination positioning module, the image acquisition module, the laser ranging module and an external module through the communication unit;
the communication unit comprises at least three of an RS232 transceiver, a universal asynchronous transceiver transmitter, a wireless transmitter, a universal input/output port, an HDMI interface, a network port, a USB concentrator and a USB interface.
Optionally, the host processor includes an IMX6 chip.
Optionally, the laser ranging module includes a multi-line laser ranging sensor;
the range L of the multi-line laser ranging sensor is as follows: l is more than or equal to 1m and less than or equal to 200 m; the distance measurement precision delta L of the multi-line laser distance measurement sensor is as follows: delta L is less than 3 cm.
Optionally, the synchronization signal generation module is integrated in the power conversion module.
Optionally, the attitude determination and positioning module includes an inertial gyroscope and a GPS locator.
Optionally, the image acquisition module includes a camera.
Optionally, the lidar system further includes: a housing;
the power supply conversion module, the synchronous signal generation module, the attitude determination positioning module, the laser ranging module and the data processing module are positioned in the shell;
the camera is located outside the shell, just the camera with shell swing joint.
Optionally, the lidar system further includes: a power supply detection module;
the power supply detection module is used for detecting the residual electric quantity of the airborne power supply;
the power supply detection module is integrated with the power supply conversion module, the synchronous signal generation module, the attitude determination positioning module, the image acquisition module, the laser ranging module and the data processing module.
Optionally, the lidar system further includes: a human-machine operation module;
the human-computer operation module is used for receiving reference data of a base station and the three-dimensional point cloud data set, and carrying out point cloud coloring by combining the reference data and the three-dimensional point cloud data set to obtain colorful three-dimensional point cloud data.
In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle system, including: unmanned aerial vehicle and above-mentioned unmanned aerial vehicle's laser radar system.
According to the laser radar system of the unmanned aerial vehicle and the unmanned aerial vehicle system provided by the embodiment of the invention, the power supply is provided for the body equipment and the laser radar system of the unmanned aerial vehicle through the airborne power supply of the unmanned aerial vehicle, so that a battery power supply is not required to be additionally arranged in the laser radar system, the size and the weight of the laser radar system can be reduced, the carrying capacity of the unmanned aerial vehicle is reduced, the integral power consumption is further reduced, and the flying efficiency is improved. Meanwhile, a power supply conversion module of the laser radar system can convert an onboard power supply into power supply voltages of other modules, so that the other modules can stably operate; the synchronous signal generating module of the laser radar system can send synchronous signals to the attitude determination positioning module, the image acquisition module and the laser ranging module, so that the attitude determination positioning module, the image acquisition module and the laser ranging module can operate simultaneously, so that the data processing module can combine signals sent by the laser ranging module, the attitude determination positioning module and the image acquisition module to obtain a three-dimensional point cloud data set, thereby improving the precision of the three-dimensional point cloud data set, further improving the measurement and scanning precision, and enabling the laser radar system to have stronger robustness.
Drawings
Fig. 1 is a block diagram of a lidar system according to an embodiment of the present invention;
fig. 2 is a block diagram of a data processing module of a laser radar system according to an embodiment of the present invention;
FIG. 3 is a block diagram of another laser radar system provided by an embodiment of the present invention;
FIG. 4 is a block diagram of another laser radar system provided by an embodiment of the present invention;
FIG. 5 is a block diagram of another laser radar system provided by an embodiment of the present invention;
fig. 6 is a block diagram of an unmanned aerial vehicle system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
The embodiment of the invention provides a laser radar system of an unmanned aerial vehicle, which can scan a target area, draw a three-dimensional graph and be used for searching hidden danger points with insufficient safety distance in power line patrol. This laser radar system can be applied to unmanned aerial vehicle, and this unmanned aerial vehicle includes fuselage equipment and airborne power supply at least. Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention. As shown in fig. 1, the laser radar system 100 includes a power conversion module 30, a synchronization signal generation module 40, an attitude determination positioning module 50, an image acquisition module 60, a laser ranging module 70, and a data processing module 80; the onboard power supply 20 of the drone 200 is capable of providing power signals to the body equipment 10 and the lidar system 100 of the drone 200.
The power conversion module 30 is configured to receive a power signal provided by the onboard power supply 20 of the unmanned aerial vehicle 200, and distribute the power signal to the synchronization signal generation module 40, the attitude determination positioning module 50, the image acquisition module 60, the laser ranging module 70, and the data processing module 80; the synchronization signal 40 generation module is configured to generate a synchronization signal when receiving the power signal distributed by the power conversion module 30, and send the synchronization signal to the pose positioning module 50, the image acquisition module 60, and the laser ranging module 70, so that the pose positioning module 50, the image acquisition module 60, and the laser ranging module 70 operate synchronously; the attitude determination positioning module 50 is configured to obtain positioning information and attitude information of each position point in the target area in real time, and send the positioning information and the attitude information to the data processing module 80; the image acquisition module 60 is configured to acquire image color data of each position point in the target area in real time, and send the image color data to the data processing module 80; the laser ranging module 70 is configured to obtain distance information of two adjacent position points in the target area in real time, and send the distance information to the data processing module 80; the data processing module 80 is configured to store the positioning information and the pose information, the image color data, and the distance information, and perform preliminary processing on the positioning information and the pose information, the image color data, and the distance information to obtain a three-dimensional point cloud data set; the power conversion module 30, the synchronization signal generation module 40, the attitude determination positioning module 50, the image acquisition module 60, the laser ranging module 70, and the data processing module 80 are integrated into a whole and are installed on the body device 10.
Specifically, the flight process of the unmanned aerial vehicle 200 requires the onboard power supply 20 to provide a power supply signal for the fuselage equipment 10 of the unmanned aerial vehicle 200, so that the fuselage equipment 10 can normally operate, and the fuselage equipment 10 can be, for example, a flight platform of the unmanned aerial vehicle 200. In-process to electric power line patrol, building survey etc., unmanned aerial vehicle 200 can assist laser radar system 100 to accomplish the scanning to the target area, and at this moment, can set up laser radar system 100 on unmanned aerial vehicle 200's fuselage equipment 10. Laser radar system 100 needs corresponding power supply when scanning the target area, if set up battery power in laser radar system 100, this will increase laser radar system's volume, still can increase laser radar system 100's weight simultaneously, this will influence unmanned aerial vehicle 200's flight efficiency. Airborne power source 20 through unmanned aerial vehicle 200 provides power signal for laser radar system 100, and set up power conversion module 30 in laser radar system 100, can be converted the mains voltage that airborne power source 20 provided by this power conversion module 30, after with the mains voltage that can make airborne power source 20 provide carries out steady voltage and vary voltage conversion through power conversion module 30, satisfy the synchronous signal among laser radar system 100 and produce module 40, decide appearance orientation module 50, image acquisition module 60, laser ranging module 70 and data processing module 80's power demand. So, need not to set up the battery power again in laser radar system 100 to can alleviate laser radar system 100's weight, reduce laser radar system 100's volume, and then reduce unmanned aerial vehicle 200's fuselage equipment load capacity, be favorable to improving unmanned aerial vehicle 200's flight efficiency.
Meanwhile, the laser radar system is further provided with a synchronization signal generation module 40, and the synchronization signal generation module 40 can respectively send synchronization signals to the attitude determination positioning module 50, the image acquisition module 60 and the laser ranging module 70 when receiving the power signal provided by the power conversion module 30, so that the attitude determination positioning module 50, the image acquisition module 60 and the laser ranging module 70 can synchronously operate. Thus, the positioning information and the attitude information acquired by the attitude determination positioning module 50, the image color data acquired by the image acquisition module 60 and the distance information of two adjacent position points in the target area acquired by the laser ranging module 70 can be synchronized in real time, so that the positioning information and the attitude information, the image color data and the distance information of two adjacent position points in the target area can have higher matching degree, thereby improving the accuracy of the three-dimensional point cloud data set acquired by the data processing module 80, and further improving the accuracy of measurement and scanning of the laser radar system 100, so that the laser radar system 100 has stronger robustness.
Optionally, fig. 2 is a block diagram of a data processing module of a laser radar system according to an embodiment of the present invention. With reference to fig. 1 and 2, the data processing module 80 includes a main processor 81 and a communication unit 82; the main processor 81 is respectively communicated with the power conversion module 30, the attitude determination and positioning module 50, the image acquisition module 60, the laser ranging module 70 and an external module (not shown in the figure) through a communication unit 82; the communication unit 82 includes at least three of an RS232 transceiver, a universal asynchronous transceiver transmitter, a wireless transmitter, a universal input/output port, an HDMI interface, a network port, a USB hub, and a USB interface. In this manner, data processing module 80 may be able to have greater compatibility, further enhancing the robustness of laser radar system 100.
The main processor 81 of the data processing module 80 may include an IMX6 chip, among others. The IMX6 chip is an industrial-grade chip, supports a built-in LORA transceiver and an external data transmission station, can transmit data with other modules or equipment through interfaces such as 4G, SATA, USB, RS232, internet access and the like, and has high compatibility.
Optionally, with continued reference to FIG. 1, laser ranging module 70 of lidar system 100 may include a multiline laser ranging sensor. The range L of the multi-line laser ranging sensor is as follows: l is more than or equal to 1m and less than or equal to 200 m; the distance measurement precision delta L of the multi-line laser distance measurement sensor is as follows: delta L is less than 3 cm.
Illustratively, the multiline laser ranging sensor may be, for example, a Quanergy M8 lidar having a high stability, a light weight and a small size, so that the stability of the lidar system can be further improved, the weight of the lidar system 100 can be reduced, and the size of the lidar system 100 can be reduced. The technical parameters of the multi-line laser ranging sensor can be shown in table 1.
TABLE 1 technical parameter table of multi-line laser ranging sensor
As can be seen from the table above, the multi-line laser ranging sensor has high ranging precision and a safe fan, can stably operate in a load environment, and has small volume, light weight and low power consumption. The multi-line laser ranging sensor also has a wide scanning range, can quickly transmit acquired data, and has high compatibility when data transmission is carried out.
Optionally, fig. 3 is a block diagram of a structure of another laser radar system according to an embodiment of the present invention. As shown in fig. 3, synchronization signal generation module 40 of lidar system 100 is integrated within power conversion module 30. Like this, need not additionally to set up synchronizing signal and produce module 40, simplify laser radar system and reach the structure, and when power conversion module 30 provided power signal, can send synchronous operation's synchronizing signal to deciding appearance orientation module 50, image acquisition module 60 and laser ranging module 70 in step to make deciding appearance orientation module 50, image acquisition module 60 and laser ranging module 70 can the quick start, and synchronous operation, improve laser radar system's scanning efficiency.
Optionally, with continued reference to fig. 3, the position determination module 50 includes an inertial gyroscope 51 and a GPS locator 52. The inertial gyroscope 51 determines the current postures of the drone 200 and the laser radar system 100 through the characteristics of the axis-fixing property and the inverse property. The GPS locator can determine the current position coordinate through the GPS locating function. In this way, when the laser radar system 100 scans the target area, the attitude and the position coordinates of the current position can be respectively obtained by the attitude determination and positioning module 50 including the inertial gyroscope 51 and the GPS locator 52, so as to prevent the course from being lost.
Optionally, fig. 4 is a block diagram of a structure of another laser radar system according to an embodiment of the present invention. As shown in fig. 4, image acquisition module 60 of lidar system 100 includes a camera. The camera is used for collecting image color data of each position point of a target area, and the image color data can be combined with other data to carry out point cloud coloring.
Optionally, and with continued reference to fig. 4, lidar system 100 also includes a housing 101. The power conversion module 30, the synchronization signal generation module 40, the attitude determination positioning module 50, the laser ranging module 70 and the data processing module 80 are located in the housing 101, and the camera 60 may also be fixedly installed in the housing 101. Or, camera 60 also can be with casing 101 swing joint, and camera 60 can be hung externally outside the casing promptly, so, when not needing camera 60, can pull down camera 60 to alleviate laser radar system 100's weight, be favorable to improving unmanned aerial vehicle 200's flight efficiency.
Optionally, fig. 5 is a block diagram of a structure of another laser radar system according to an embodiment of the present invention. As shown in fig. 5, lidar system 100 also includes a power detection module 90; the power detection module 90 is used for detecting the remaining power of the onboard power supply 20; the power detection module 90 is integrated with the power conversion module 30, the synchronization signal generation module 40, the attitude determination positioning module 50, the image acquisition module 60, the laser ranging module 70 and the data processing module 80. In this manner, power detection module 90 may be capable of detecting the remaining power of airborne power supply 20 in real time during the operation of other modules of laser radar system 100 to prevent insufficient power of airborne power supply 20 from affecting the scanning of laser radar system 100 on the target area.
Optionally, with continued reference to fig. 5, lidar system 100 also includes a human operator module 300; the human-machine operation module 300 is configured to receive reference data of a base station and a three-dimensional point cloud data set acquired by the data processing module 80, and perform point cloud coloring by combining the reference data and the three-dimensional point cloud data set to acquire color three-dimensional point cloud data.
Specifically, the human machine operation module 300 may be, for example, a computer, the human machine operation module 300 is not integrated with other modules of the laser radar system 100, and the human machine operation module 300 is not installed on the body device 10 of the unmanned aerial vehicle 200. When the drone 200 carries the laser radar system 100 to scan a target area, the underground base station forms corresponding reference data at the same time, the reference data can be combined with a three-dimensional point cloud data set obtained by the data processing module 80 of the laser radar system 100 through preliminary processing, and post-processing is performed through the man-machine operation module 300 to obtain color three-dimensional point cloud data with higher precision. Illustratively, the following table 2 is a table of the data precision of the post-processing performed by the human operation module 300 and other data precisions.
TABLE 2 data accuracy of post-processing by human-machine operation module and other data accuracy condition table
As can be seen from the above table, the planar positioning accuracy of the post-processing performed by the human-machine operation module 300 is improved by three orders of magnitude compared with the planar positioning accuracy of a single point, and is improved by one order of magnitude compared with the planar positioning accuracy of Real Time Kinematic (RTK) method; the elevation positioning accuracy of post-processing by the human-machine operation module 300 is improved by two orders of magnitude compared with that of a single point, and is improved by one time compared with that of RTK. Meanwhile, the speed precision and the attitude precision of the post-processing by the man-machine operation module 300 are improved compared with the speed precision and the attitude precision of the original single point and RTK, so that the scanning precision of the laser radar system can be further improved.
The embodiment of the invention also provides an unmanned aerial vehicle system, which comprises an unmanned aerial vehicle and the laser radar system of the unmanned aerial vehicle provided by the embodiment of the invention, so that the unmanned aerial vehicle system also has the beneficial effects of the laser radar system provided by the embodiment of the invention, and the same parts can be understood by referring to the above, and are not described again in the following.
For example, fig. 6 is a block diagram of a structure of a drone system according to an embodiment of the present invention. As shown in fig. 6, the drone 200 of the drone system 400 may include a fuselage device and an onboard power supply that can provide a power signal for the fuselage device and the lidar system of the drone 200 to enable stable operation of the fuselage device and the lidar system.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. The laser radar system of the unmanned aerial vehicle is characterized in that the unmanned aerial vehicle at least comprises an airborne power supply and a body device, wherein the airborne power supply is used for providing power supply signals for the body device and the laser radar system; the laser radar system includes: the system comprises a power supply conversion module, a synchronous signal generation module, an attitude determination positioning module, an image acquisition module, a laser ranging module and a data processing module;
the power supply conversion module is used for receiving a power supply signal provided by the airborne power supply and distributing the power supply signal to the synchronous signal generation module, the attitude determination positioning module, the image acquisition module, the laser ranging module and the data processing module;
the synchronous signal generating module is used for generating a synchronous signal when receiving the power supply signal distributed by the power supply conversion module, and sending the synchronous signal to the attitude determination positioning module, the image acquisition module and the laser ranging module so as to enable the attitude determination positioning module, the image acquisition module and the laser ranging module to synchronously operate;
the attitude determination positioning module is used for acquiring positioning information and attitude information of each position point in a target area in real time and sending the positioning information and the attitude information to the data processing module;
the image acquisition module is used for acquiring image color data of each position point in the target area in real time and sending the image color data to the data processing module;
the laser ranging module is used for acquiring distance information of two adjacent position points in the target area in real time and sending the distance information to the data processing module;
the data processing module is used for storing the positioning information and the attitude information, the image color data and the distance information, and carrying out primary processing on the positioning information and the attitude information, the image color data and the distance information to obtain a three-dimensional point cloud data set;
the power supply conversion module, the synchronous signal generation module, the attitude determination positioning module, the image acquisition module, the laser ranging module and the data processing module are integrated into a whole and are arranged on the machine body equipment.
2. The lidar system of claim 1, wherein the data processing module comprises a main processor and a communication unit;
the main processor is respectively communicated with the power supply conversion module, the attitude determination positioning module, the image acquisition module, the laser ranging module and an external module through the communication unit;
the communication unit comprises at least three of an RS232 transceiver, a universal asynchronous transceiver transmitter, a wireless transmitter, a universal input/output port, an HDMI interface, a network port, a USB concentrator and a USB interface.
3. The lidar system of claim 2, wherein the host processor comprises an IMX6 chip.
4. The lidar system of claim 1, wherein the laser ranging module comprises a multiline laser ranging sensor;
the range L of the multi-line laser ranging sensor is as follows: l is more than or equal to 1m and less than or equal to 200 m; the distance measurement precision delta L of the multi-line laser distance measurement sensor is as follows: delta L is less than 3 cm.
5. The lidar system of claim 1, wherein the synchronization signal generation module is integrated within the power conversion module.
6. The lidar system of claim 1, wherein the attitude and positioning module comprises an inertial gyroscope and a GPS locator.
7. The lidar system of claim 1, wherein the image acquisition module comprises a camera.
8. The lidar system of claim 7, further comprising: a housing;
the power supply conversion module, the synchronous signal generation module, the attitude determination positioning module, the laser ranging module and the data processing module are positioned in the shell;
the camera is located outside the shell, just the camera with shell swing joint.
9. The lidar system according to any of claims 1 to 8, further comprising: a power supply detection module;
the power supply detection module is used for detecting the residual electric quantity of the airborne power supply;
the power supply detection module is integrated with the power supply conversion module, the synchronous signal generation module, the attitude determination positioning module, the image acquisition module, the laser ranging module and the data processing module.
10. The lidar system according to any of claims 1 to 8, further comprising: a human-machine operation module;
the human-computer operation module is used for receiving reference data of a base station and the three-dimensional point cloud data set, and carrying out point cloud coloring by combining the reference data and the three-dimensional point cloud data set to obtain colorful three-dimensional point cloud data.
11. An unmanned aerial vehicle system, comprising: a lidar system for a drone and a drone according to any of claims 1 to 10.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111652276A (en) * | 2020-04-30 | 2020-09-11 | 南京理工大学 | All-weather portable multifunctional bionic positioning, attitude determining and viewing system and method |
| CN112558082A (en) * | 2020-12-10 | 2021-03-26 | 金祺创（北京）技术有限公司 | Unmanned aerial vehicle detection system |
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