CN114594448A - Laser radar balance installation device, unmanned aerial vehicle, laser radar system and method - Google Patents
Laser radar balance installation device, unmanned aerial vehicle, laser radar system and method Download PDFInfo
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- CN114594448A CN114594448A CN202011405444.5A CN202011405444A CN114594448A CN 114594448 A CN114594448 A CN 114594448A CN 202011405444 A CN202011405444 A CN 202011405444A CN 114594448 A CN114594448 A CN 114594448A
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- driving motor
- connecting rod
- lidar
- laser radar
- balanced
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model provides a balanced installation device, unmanned aerial vehicle, lidar system and method of lidar, including: the mounting seat, a first driving motor and a connecting rod are arranged in the mounting seat; the mounting seat is fixed on the connecting rod, a frame structure sleeved on the periphery of the output shaft of the first driving motor is arranged on the connecting rod, and limiting plates are arranged on two side faces, located in the direction perpendicular to the length direction of the connecting rod, of the inner side of the frame structure; the axis of the output shaft of the first driving motor is perpendicular to the plane of the frame structure, and a limiting hoop is sleeved on the output shaft of the first driving motor; and the limiting hoops are provided with linkage plates which are inserted between the limiting plates on the two side surfaces. The overall gravity center can not be deviated, the accuracy of laser radar detection is improved, and errors are reduced.
Description
Technical Field
The disclosure belongs to the technical field of detection, and particularly relates to a laser radar balance installation device, an unmanned aerial vehicle, a laser radar system and a laser radar method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Airborne laser radar measures as a emerging space to ground observation technique, and current laser radar direct mount is on monitoring facilities, for example installs on unmanned aerial vehicle, and the slope appears easily in the unmanned aerial vehicle flight in-process, leads to the laser radar who installs on unmanned aerial vehicle to appear the slope, and all inertial navigation system all have the error.
The inventor finds in research that although there is a balanced installation device for laser radar, the installation stability of the device is not enough, which easily causes the whole device to be prone to malfunction, for example, the installation mechanism for laser radar on the unmanned aerial vehicle with the prior art patent number CN201920240556.6 has the following problems:
the connecting frame is integrally arranged on one side of the first driving motor, and the gravity center of the integral mounting mechanism gradually shifts under the long-time use condition, so that the integral mechanism detects deviation, and laser beams emitted by the laser radar cannot be perpendicular to the ground.
The gravity center of the integral mounting mechanism gradually deviates and can cause deflection pulling force on the axial side of the output shaft of the first driving motor, the service life of the first driving motor is damaged, and the failure rate of the mounting mechanism is high.
Disclosure of Invention
For overcoming above-mentioned prior art's not enough, this disclosure provides a laser radar's balanced installation device, can guarantee that holistic focus can not squint, improves laser radar detection's rate of accuracy, reduces the error.
In order to achieve the above object, one or more embodiments of the present disclosure provide the following technical solutions:
in a first aspect, a balanced mounting device for a lidar is disclosed, comprising:
the mounting seat, a first driving motor and a connecting rod are arranged in the mounting seat;
the mounting seat is fixed on the connecting rod, a frame structure sleeved on the periphery of the output shaft of the first driving motor is arranged on the connecting rod, and limiting plates are arranged on two side faces, located in the direction perpendicular to the length direction of the connecting rod, of the inner side of the frame structure;
the axis of the output shaft of the first driving motor is perpendicular to the plane of the frame structure, and a limiting hoop is sleeved on the output shaft of the first driving motor;
and the limiting hoops are provided with linkage plates which are inserted between the limiting plates on the two side surfaces.
The technical scheme is further characterized by further comprising an outer frame and an inner frame, wherein the outer frame is rotatably installed on the connecting rod, the inner frame is rotatably connected with the inner side of the outer frame, a second driving motor used for driving the outer frame to rotate is arranged on the connecting rod, and a third driving motor used for driving the inner frame to rotate is arranged on the outer side of the connecting rod.
In a second aspect, a working method of a balanced mounting device of a laser radar is disclosed, which comprises the following steps:
the laser radar fixing device is started through the first driving motor, the limiting hoop is driven to rotate, then the linkage plate is driven to rotate, and therefore the limiting plate is pushed to drive the connecting rod to rotate integrally, and the laser radar is driven to rotate around the vertical axis by the aid of the balance installation device.
Further comprising: the second driving motor can drive the laser radar to rotate horizontally, and the third driving motor drives the laser radar to turn horizontally, so that the overall gravity center can not shift.
The third aspect discloses an unmanned aerial vehicle, lidar's balanced installation device fixes on unmanned aerial vehicle, and lidar installs on balanced installation device.
The fourth aspect discloses laser radar system, include unmanned aerial vehicle and laser radar, the balanced installation device of unmanned aerial vehicle at least fixed is fixed with laser radar on the balanced installation device, and laser radar equipment's both sides are equipped with fixed magnetite respectively, simultaneously, be equipped with on the laser radar equipment with power supply socket assorted power plug, power plug's periphery also is equipped with round power supply magnetite.
The above one or more technical solutions have the following beneficial effects:
the invention provides a laser radar balance installation device, which solves the problem that the gravity center of an integral installation mechanism gradually deviates and can apply a shaft-side deviation pulling force to the axial direction of an output shaft of a first driving motor, the first driving motor is started to drive a limiting hoop to rotate and drive a linkage plate to rotate, so that a limiting plate is pushed to drive a connecting rod to integrally rotate, finally the balance installation device drives a laser radar to rotate around a vertical axis, a second driving motor can drive the laser radar to horizontally rotate, a third driving motor drives the laser radar to horizontally turn over, the integral gravity center can not deviate, the accuracy of laser radar detection is improved, and errors are reduced.
The limiting plate of the horizontal rectangle frame of this disclosed technical scheme and the cooperation of linkage plate, under the circumstances of the focus skew that can avoid, can not have partial pressure to first driving motor's output shaft, improve first driving motor's life, reduce installation device fault rate, this disclosed technical scheme can guarantee that holistic focus can not squint, improves the rate of accuracy that laser radar detected, reduces the error.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a schematic perspective view of an embodiment of the present disclosure;
FIG. 2 is a schematic bottom perspective view of an embodiment of the present disclosure;
FIG. 3 is a side-view perspective schematic of an embodiment of the present disclosure;
FIG. 4 is a top view of an embodiment of the present disclosure;
FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4 according to an embodiment of the present disclosure;
FIG. 6 is a schematic perspective view of a connecting rod and a mounting base according to an embodiment of the disclosure;
FIG. 7 is a schematic perspective view of a connecting rod and an outer frame according to an exemplary embodiment of the disclosure;
in the figure, 1 mounting base, 2 first driving motor, 3 connecting rods, 31 horizontal sections, 32 vertical sections, 33 horizontal rectangular frames, 34 limiting hoops, 35 limiting plates, 36 linkage plates, 37 second driving motor, 38 third driving motor, 4 circular ring-shaped slide ways, 5 first circular ring-shaped slide blocks, 6 second circular ring-shaped slide blocks, 7 third circular ring-shaped slide blocks, 8 first roller wheels, 9 second roller wheels, 10 stabilizer bars, 11 rotating shafts, 12 outer frames, 13 inner frames, 14 laser radars, 15 avoidance grooves, 16 balancing weights and 17 lead screws.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example of implementation 1
The embodiment discloses a laser radar's balanced installation device, see that fig. 1 shows, including mount pad 1 that can fix on unmanned aerial vehicle and the first driving motor 2 of setting in the mount pad, balanced installation device is still including the connecting rod 3 of L shape, rotate and install frame 12 on the connecting rod and the inside casing 13 of being connected with the inboard rotation of frame, be provided with on the connecting rod of L shape and be used for driving frame pivoted second driving motor, the outside of L shape connecting rod is provided with and is used for driving inside casing pivoted third driving motor.
Referring to the attached drawings 5 and 6, the connecting rod is vertically arranged and integrally formed by a horizontal section 31 and a vertical section 32, the horizontal section is rotatably connected with the bottom of the mounting seat, a horizontal rectangular frame 33 sleeved on the periphery of an output shaft of a first driving motor is integrally formed in the middle section of the horizontal section, two side faces, located in the length direction of the vertical horizontal section, of the inner side of the horizontal rectangular frame are provided with two spacing plates 35 which are spaced and parallel to each other, the axis of the output shaft of the first driving motor is perpendicular to the plane of the rectangular frame, a limiting hoop 34 is sleeved on the output shaft of the first driving motor, and two linkage plates 36 respectively inserted between the two limiting plates on the two side faces are arranged on the limiting hoop.
When the laser radar detection device works, the first driving motor is started to drive the limiting hoop to rotate and the linkage plate to rotate, so that the limiting plate is pushed to drive the connecting rod to rotate integrally, finally, the balance installation device drives the laser radar 14 to rotate around a vertical axis, the second driving motor 37 can drive the laser radar to rotate horizontally, and the third driving motor 38 drives the laser radar to turn horizontally, so that the integral gravity center can not deviate, the accuracy of laser radar detection is improved, and errors are reduced; the limiting plate of horizontal rectangular frame and the cooperation of linkage board, under the circumstances of the focus skew that can avoid, can not have partial pressure to first driving motor's output shaft, improve first driving motor's life, reduce the installation device fault rate.
In a specific implementation example, an annular slide way 4 is arranged at the bottom of the mounting seat, a first annular slide block 5 is arranged on the annular slide way in a sliding fit manner, the horizontal section is fixed on the first annular slide block, the axis of an output shaft of the first driving motor is perpendicular to the axis of an output shaft of the second driving motor, and the axis of an output shaft of the second driving motor is perpendicular to the axis of an output shaft of the third driving motor. In the embodiment, the horizontal section passes through the center of the first circular sliding block and is fixedly connected with the two arc sections of the horizontal section and the first circular sliding block, so that the stability of the balanced installation device is improved.
Referring to fig. 2, in a specific embodiment, a counterweight assembly is arranged at a section of the horizontal section far away from the vertical section, the horizontal section is provided with an avoiding groove 15 for avoiding the counterweight assembly, the counterweight assembly comprises a screw rod 17 rotatably installed in the avoiding groove along the length direction of the horizontal section and a counterweight block 16 in threaded connection with the screw rod, the screw rod is rotated, and the position of the counterweight block is adjusted to adjust the gravity centers at the two sides of the output shaft of the first driving motor, so as to ensure that the whole gravity center is on the output shaft axis of the first driving motor.
Referring to fig. 3 and 7, in a specific embodiment, a second driving motor is installed at the bottom end of a vertical section, a second circular ring-shaped slider 6 is arranged at the midpoint of the outer side of the outer frame, a plurality of first rollers rotatably connected with the second circular ring-shaped slider are arranged at a position of the vertical section close to the outer frame, the second circular ring-shaped slider is sleeved on the periphery of an output shaft of the second driving motor, and through the sliding fit between the second circular ring-shaped slider and the first rollers 8, the load on the output shaft of the second driving motor is reduced, the rotation stability of the outer frame is ensured, the service life of the second driving motor is prolonged, and the overall failure rate is reduced.
The outer frame and the inner frame are of U-shaped structures, the two ends of the inner frame are respectively connected with the two ends of the outer frame through rotating shafts in a rotating mode, the third driving motor is fixed to the outer frame, the output shaft of the third driving motor is fixedly connected with the rotating shafts 11, and the rotating stability of the inner frame is improved.
Referring to the attached drawing 4, a plurality of second rollers are arranged in two ends of the outer frame at equal angular difference around the rotating shaft, third annular sliders 7 connected with the corresponding second rollers in a sliding mode are arranged at two ends of the inner frame, and through sliding fit of the third annular sliders and the second rollers 9, load on an output shaft of a third driving motor is reduced, rotation stability of the inner frame is guaranteed, service life of the third driving motor is prolonged, and overall failure rate is reduced.
In addition, the stabilizer bar 10 is arranged on the inclined strut at one end, close to each other, of the horizontal section and the vertical section, so that the connecting rod is prevented from being deformed due to the fact that the connecting rod pulls the laser radar for a long time.
Example two
The embodiment discloses a working method of a balanced mounting device of a laser radar, which comprises the following steps:
the laser radar connecting rod is started through the first driving motor, the limiting hoop is driven to rotate, then the linkage plate is driven to rotate, the limiting plate is pushed to drive the connecting rod to rotate integrally, and the laser radar is driven to rotate around the vertical axis by the balance installation device.
Further comprising: the second driving motor can drive the laser radar to rotate horizontally, the third driving motor drives the laser radar to turn horizontally, and the whole gravity center can not shift.
Example III
This embodiment discloses an unmanned aerial vehicle, includes: unmanned aerial vehicle body and balanced installation device, lidar's balanced installation device fixes on unmanned aerial vehicle, and lidar installs on balanced installation device.
As an optional implementation mode, the bottom of unmanned aerial vehicle body is equipped with flight support, flight support is equipped with two, two flight support installations are in the both sides of unmanned aerial vehicle body, flight support through setting up supports the unmanned aerial vehicle body, can be through flight support with the whole steady placing of unmanned aerial vehicle subaerial when taking off, the unmanned aerial vehicle of being convenient for takes off more, simultaneously, flight support through setting up can prevent that the unmanned aerial vehicle body from producing the equipment damage on the striking leads to balanced installation device in flight process bottom and ground or barrier.
Certainly, in specific implementation, the balanced mounting device of the laser radar may also be installed on other related monitoring devices, and the monitoring devices are installed with the balanced mounting device of the laser radar, and the laser radar is used for collecting related data.
Example four
This embodiment discloses laser radar system, including unmanned aerial vehicle and laser radar, unmanned aerial vehicle fixes a balanced installation device at least, is fixed with laser radar on the balanced installation device, and laser radar equipment's both sides are equipped with fixed magnetite respectively, simultaneously, be equipped with on the laser radar equipment with power supply socket assorted power plug, the periphery of power plug also is equipped with round power supply magnetite.
The arrangement positions of the fixed magnet and the power supply magnet on the laser radar equipment correspond to the arrangement positions of the fixed magnet and the power supply magnet on the balance mounting device; through the absorption cooperation between two fixed magnetite, can fix laser radar equipment, through the absorption cooperation of two power supply magnetite, can make power supply plug insert smoothly in the power supply socket when realizing fixing laser radar equipment.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present disclosure, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present disclosure.
Claims (13)
1. A balanced installation device of laser radar, characterized by includes:
the mounting seat, a first driving motor and a connecting rod are arranged in the mounting seat;
the mounting seat is fixed on the connecting rod, a frame structure sleeved on the periphery of the output shaft of the first driving motor is arranged on the connecting rod, and limiting plates are arranged on two side faces, located in the direction perpendicular to the length direction of the connecting rod, of the inner side of the frame structure;
the axis of the output shaft of the first driving motor is perpendicular to the plane of the frame structure, and a limiting hoop is sleeved on the output shaft of the first driving motor;
and the limiting hoops are provided with linkage plates which are inserted between the limiting plates on the two side surfaces.
2. The apparatus of claim 1, wherein the link is an L-shaped link, the link being vertically disposed and integrally formed from a horizontal section and a vertical section.
3. The lidar mounting assembly of claim 2, wherein the horizontal section is pivotally coupled to a bottom portion of the mounting block.
4. The balanced mounting device of claim 1, wherein the bottom of the mounting seat is provided with a circular slideway, and the circular slideway is slidably fitted with the first circular slider.
5. The balanced mounting device of claim 2, wherein a counterweight assembly is disposed at an end of the horizontal section away from the vertical section, the horizontal section is provided with an avoiding groove for avoiding the counterweight assembly, and the counterweight assembly comprises a screw rod rotatably mounted in the avoiding groove along a length direction of the horizontal section and a counterweight block in threaded connection with the screw rod.
6. The apparatus of any one of claims 1 to 5, further comprising an outer frame rotatably mounted on the connecting rod, and an inner frame rotatably connected to an inner side of the outer frame, wherein the connecting rod is provided with a second driving motor for driving the outer frame to rotate, and an outer side of the connecting rod is provided with a third driving motor for driving the inner frame to rotate.
7. The balanced mounting device of claim 6, wherein the second driving motor is mounted at the bottom end of the connecting rod, the second circular slider is disposed at the midpoint of the outer side of the outer frame, the connecting rod is disposed at a position close to the outer frame and has a plurality of first rollers rotatably connected to the second circular slider, and the second circular slider is fitted around the output shaft of the second driving motor.
8. The balanced mounting apparatus for lidar of claim 6, wherein the third driving motor is fixed to the outer frame and an output shaft of the third driving motor is fixedly connected to the rotating shaft.
9. The apparatus of claim 8, wherein a plurality of second rollers are disposed in both ends of the outer frame at equal angular differences around the rotation axis, and third circular sliders are disposed in both ends of the inner frame and slidably coupled to the corresponding second rollers.
10. The method of operating a lidar balanced mounting apparatus according to any of claims 1 to 9, comprising:
the laser radar fixing device is started through the first driving motor, the limiting hoop is driven to rotate, then the linkage plate is driven to rotate, and therefore the limiting plate is pushed to drive the connecting rod to rotate integrally, and the laser radar is driven to rotate around the vertical axis by the aid of the balance installation device.
11. The method as claimed in claim 10, wherein the second driving motor can drive the lidar to rotate horizontally, and the third driving motor drives the lidar to turn horizontally, so that the center of gravity of the whole lidar is not shifted.
12. An unmanned aerial vehicle, wherein the balanced mounting arrangement of lidar as defined in any one of claims 1 to 9 is secured to the unmanned aerial vehicle.
13. Lidar system, characterized in that, including unmanned aerial vehicle and lidar of claim 12, unmanned aerial vehicle fixes a balanced installation device at least, is fixed with lidar on the balanced installation device, and the both sides of lidar equipment are equipped with fixed magnetite respectively, and simultaneously, the lidar equipment is equipped with the power supply plug with power supply socket assorted, and the periphery of power supply plug also is equipped with round power supply magnetite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011405444.5A CN114594448A (en) | 2020-12-04 | 2020-12-04 | Laser radar balance installation device, unmanned aerial vehicle, laser radar system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011405444.5A CN114594448A (en) | 2020-12-04 | 2020-12-04 | Laser radar balance installation device, unmanned aerial vehicle, laser radar system and method |
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| Publication Number | Publication Date |
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| CN114594448A true CN114594448A (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011405444.5A Pending CN114594448A (en) | 2020-12-04 | 2020-12-04 | Laser radar balance installation device, unmanned aerial vehicle, laser radar system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117590358A (en) * | 2024-01-15 | 2024-02-23 | 吉林瑞电科技有限公司 | Obstacle detection equipment with flange type sealing cover structure |
-
2020
- 2020-12-04 CN CN202011405444.5A patent/CN114594448A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117590358A (en) * | 2024-01-15 | 2024-02-23 | 吉林瑞电科技有限公司 | Obstacle detection equipment with flange type sealing cover structure |
| CN117590358B (en) * | 2024-01-15 | 2024-04-05 | 吉林瑞电科技有限公司 | Obstacle detection equipment with flange type sealing cover structure |
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