CN117908040A

CN117908040A - Airborne composite laser range finder

Info

Publication number: CN117908040A
Application number: CN202311862349.1A
Authority: CN
Inventors: 李姣荣; 罗仕梅; 徐叶
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-12-29
Filing date: 2023-12-29
Publication date: 2024-04-19

Abstract

The invention relates to the technical field of measurement, in particular to an airborne composite laser range finder, which comprises a stabilizer, a shell and a camera; one end of the stabilizer is arranged on the unmanned aerial vehicle, the other end of the stabilizer is connected with a shell, and a camera is arranged in the shell; the adjusting mechanism drives the vertical lens to rotate along the axis of the horizontal direction through the transmission component, so that the incident angle of the laser and the vertical lens is changed, the emergent angle of the laser is adjusted in the vertical direction, and the other transmission mechanism drives the horizontal lens to rotate along the vertical axis, so that the emergent angle of the laser is changed in the horizontal direction, and the laser can adjust the falling point position in a certain range through the cooperation of the horizontal lens and the vertical lens.

Description

Airborne composite laser range finder

Technical Field

The invention relates to the technical field of measurement, in particular to an airborne composite laser range finder.

Background

The laser range finder is a measuring instrument for measuring distance by utilizing laser, the laser range finder emits pulse laser signals to a measuring object, receives the laser signals reflected by the object by utilizing a signal receiver, and calculates the distance between the laser measuring instrument and the object by calculating the emitting and receiving time of the pulse laser signals.

The existing composite laser range finder arranged on the unmanned aerial vehicle mainly adjusts the measuring position of the laser range finder through the rotating arm during measurement, and the distance of a certain point is difficult to accurately measure by the laser range finder due to the fact that the precision of the rotating arm is not high and the measuring distance is far; in the prior art, a prism is added in the laser range finder, so that the path of laser is changed after the laser passes through the prism, and the prism is rotated to adjust the laser emergent angle, thereby increasing the accuracy of the laser range finder; the prism is added to enable the laser to adjust accurate measurement of the point position without cantilever rotation, so that accuracy of the laser range finder is greatly improved, but as the refraction angle of the laser after passing through the prism is influenced by the shape and the material of the prism, the refraction angle of the laser after passing through the prism is difficult to accurately control, and therefore deviation occurs in measurement of the laser range finder, and in remote measurement, the deviation is further increased.

In view of the above, in order to overcome the technical problems, the invention designs an airborne composite laser range finder, which solves the technical problems.

Disclosure of Invention

The technical purpose to be achieved by the invention is as follows: when the existing laser range finder adjusts the laser emergent direction through a prism, the laser emergent angle is uncontrollable due to the influence of the shape and the material of the prism, so that the laser measurement precision is influenced, and in the process of remote measurement, the error can be further increased, the laser emergent angle is accurately controlled by controlling the laser refractive angle, and the measurement error of the laser range finder is reduced.

In order to achieve the technical purpose, the invention provides the following technical scheme:

The invention provides an airborne composite laser range finder, which comprises a stabilizer, a shell and a camera; the stabilizer one end is installed on unmanned aerial vehicle, and the stabilizer other end is connected with the shell, the internally mounted of shell has the camera, its characterized in that still includes adjustment mechanism, adjustment mechanism installs in the inside of shell, and adjustment mechanism passes through laser emitter vertical emission laser signal to the midpoint department of perpendicular lens, perpendicular lens passes through drive assembly and rotates around the horizontal axis of perpendicular lens, and the rotation of perpendicular lens drives laser signal reciprocating motion on the vertical axis of horizontal lens.

The filter is arranged at the laser signal transmitting position and the laser signal receiving position, so that the influence of other light sources on the optical signals can be avoided, and the convex lens can be arranged at the front end of the laser transmitter and used for focusing the laser signals, so that the laser signals are more concentrated.

The adjusting mechanism comprises a fixing frame, a bracket, a laser emitter, a reflecting component, a transmission component, a motor, a synchronous component and a signal receiver; the laser transmitter is installed to the mount, and the inner wall of mount installs the support, laser transmitter is installed to the top of support, and laser transmitter also can adjust mounted position as required, and the internally mounted of support has reflection subassembly, reflection subassembly is located laser transmitter's axis under, and reflection subassembly's axis is located the coplanar with laser transmitter's axis, and reflection subassembly's mounted position is to make laser can directly penetrate on the perpendicular lens, and reflection subassembly is connected with drive assembly, drive assembly has two, and two drive assemblies all are connected with reflection subassembly, and the drive assembly other end is installed on mount and support, and the installation face mutually perpendicular that two drive assemblies correspond is used for driving perpendicular lens and horizontal lens respectively, the motor is connected with drive assembly, and installs on the mount, synchronous subassembly is connected with the drive assembly of horizontal direction, and installs on mount and support, signal receiver installs in synchronous subassembly top.

The laser generated by the laser transmitter is required to be irradiated on the vertical lens, the mounting position of the transmission component can be adjusted according to the position of the reflection component, and the opening direction of the signal receiver is consistent with the laser emitting direction.

The reflection assembly comprises a vertical lens and a horizontal lens, the vertical lens is arranged on the support within a 90-degree range of the horizontal plane, the installation angle of the vertical lens is properly adjusted according to the requirement, the center point of the vertical lens is positioned right below the laser emitter, the irradiation height of laser is not changed when the vertical lens is turned over, the horizontal lens is opposite to the vertical lens, the laser reflected by the vertical lens is required to be irradiated on the horizontal lens, the horizontal lens is vertically arranged on the support, the center point of the horizontal lens and the center point of the vertical lens are positioned on the same horizontal axis, and the laser reflected by the vertical lens can always move along the axis of the horizontal lens.

The laser emitted by the laser emitter is preferably irradiated at the midpoint of the axis of the vertical mirror plate, and the laser reflected by the vertical mirror plate is preferably positioned on the vertical axis of the horizontal mirror plate.

The mirror surface that perpendicular lens orientation laser emitter one end is the mirror surface of reflexible light source, and the mirror surface level does not have the sunken, and the mirror surface of perpendicular lens just needs to remain to be leveled, just so can avoid laser because the sunken reflection angle that makes of mirror surface error to influence the reflection accuracy of reflection subassembly, install perpendicular connecting rod in perpendicular lens horizontal axis department, perpendicular connecting rod runs through perpendicular lens, and perpendicular connecting rod one end is connected with drive assembly, and drive assembly controls the rotation of perpendicular lens through perpendicular connecting rod.

The vertical lens rotates around the axis, so that the incident angle is changed after the laser irradiates the mirror surface, the emergent direction of the laser is changed, and the laser is adjusted in the vertical direction.

The horizontal lens is towards the mirror surface of perpendicular lens one end for the reflection light source, and the mirror surface is smooth and level, and equally, only smooth lens just can improve the accurate control to laser reflection angle, and the mirror surface is level and smooth more, and it is more accurate to laser reflection angle's control, installs the horizontal connecting rod in the vertical axis department of horizontal lens, and the horizontal lens can change the exit direction of laser in the horizontal direction through rotating around vertical axis, horizontal connecting rod runs through horizontal lens, and horizontal connecting rod one end is connected with drive assembly.

The horizontal lens rotates around the vertical axis, so that the emergent angle of the laser in the horizontal direction can be changed by the horizontal lens, and the emergent direction of the laser can be changed in a certain range by matching with the vertical lens, so that the reflecting assembly is more comprehensive.

The transmission assembly comprises a limit gear, a transmission gear and a power gear; the two limiting gears are respectively connected with the vertical connecting rod and the horizontal connecting rod, the vertical lens and the horizontal lens are independently controlled through the two independent limiting gears, the transmission gear is arranged on the fixing frame and is meshed with the limiting gears within a range of 90 degrees, laser cannot irradiate the mirror surface after the limiting gears rotate too much, the two transmission gears are mutually perpendicular, the power gear is arranged on the motor, and the power gear is meshed with the transmission gear.

The control of the vertical lens and the horizontal lens is required to be carried out separately and independently, the laser emergent angle is prevented from being inconsistent with the expected angle after the two transmission components are mutually interfered, and the number of teeth of the power gear can be increased or decreased according to the precision, so that the overturning angles of the vertical lens and the horizontal lens can be adjusted more accurately.

The limiting gear is provided with gear teeth within the range of 90 degrees, so that the limiting gear is prevented from rotating too much under the drive of the transmission gear, laser cannot irradiate the mirror surface, and when the included angle between the vertical lens and the horizontal plane is 45 degrees or the included angle between the horizontal lens and the horizontal axis of the vertical lens is 45 degrees, the central gear teeth of the limiting gear are meshed with the transmission gear, and the rotation of the limiting gear is ensured to be regulated around the center of the laser irradiation range.

The number of teeth of the limiting gear can be adjusted according to specific needs, but it is necessary to ensure that the included angle between the vertical lens and the horizontal plane is 45 degrees when the transmission gear is meshed with the central gear teeth of the limiting gear.

The synchronous assembly comprises a reversing gear, a synchronous gear, a turnover plate and a condensing plate; the reversing gear is arranged on the support, one end of the reversing gear is meshed with the transmission gear in the horizontal direction, the installation position of the reversing gear is also required to be adjusted according to different installation positions of the transmission assembly, the reversing gear is arranged at one end of laser emission, the other end of the reversing gear is meshed with the synchronous gear, one end of the synchronous gear is arranged on the fixing frame, the other end of the synchronous gear penetrates through the support to be provided with a reversing plate, the sizes and the complete numbers of the reversing gear, the number of teeth of the reversing gear and the synchronous gear are the same, the rotation of the synchronous gear is consistent with that of the limiting gear, the top end of the reversing plate is provided with a condensing plate, and the bottom of the condensing plate is provided with a signal receiver.

The reversing gear is used for enabling the rotation directions of the synchronous gear and the limiting gear to be consistent, and if the rotation directions of the synchronous gear and the limiting gear are consistent, the reversing gear is not required to be installed.

The synchronous gear upper end is provided with the stand, the spacing groove has been seted up to the stand upper end, spacing groove width slightly is greater than upset board width for the upset board can be installed in the spacing inslot, and the bilateral central symmetry of spacing inslot wall is provided with a plurality of rubber barbs, the opening direction of barb is towards the spacing groove both ends, produces holding power to the upset board when making the barb produce lateral movement to the upset board, and then makes the upset board more stable, and barb bottom and spacing tank bottom portion leave the clearance, and the barb bottom produces the restriction to the radial movement of upset board.

The limiting groove is used for installing the turnover plate, and the turnover plate is fastened, so that shaking of the signal receiver is reduced.

The light condensing plate is of a square cone structure, the square cone structure can better gather optical signals, so that the effect of amplifying tiny optical signals is achieved, an opening of the light condensing plate faces to the outer side, the inner wall of the light condensing plate is a smooth mirror surface, the mirror surface can reduce energy loss in the optical signal propagation process, and a signal receiver is installed at the bottom of the light condensing plate.

The size of the opening of the condensing plate can be adjusted according to the requirement, but the inner wall of the condensing plate is made of reflective materials, so that optical signals can be better guided to reach the signal receiver, and the signal receiver is higher in precision.

The beneficial effects of the invention are as follows:

1. According to the invention, the reflection assembly is arranged, so that the problem that the emission angle of the laser is uncontrollable due to the shape and the material of the prism when the emission angle of the laser is changed through the prism is solved, and the unstable refraction of the laser is changed into stable reflection by the reflection assembly, so that the emission angle of the laser is accurately regulated and controlled.

2. According to the invention, the synchronous component is arranged, so that the problem that the light signal receiving area of the signal receiver is reduced due to the fact that the reflected laser angle of the measuring object is changed along with the change of the emergent angle of the laser is solved, and the synchronous component is utilized to enable the signal receiver to be always perpendicular to the emergent direction of the laser.

3. According to the invention, the limiting gear is arranged, and the deflection angles of the horizontal lens and the vertical lens are limited by using the limiting gear, so that the problem that laser cannot irradiate on the horizontal lens and the vertical lens due to excessive deflection of the horizontal lens or the vertical lens is prevented, and the laser range finder is more stable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will briefly explain the drawings needed in the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

The above and other aspects of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a cross-sectional view of an adjustment mechanism of the present invention;

FIG. 3 is a cross-sectional view of the drive assembly of the present invention in a vertical orientation;

FIG. 4 is a cross-sectional view of the transmission assembly of the present invention in a horizontal orientation;

FIG. 5 is a cross-sectional view of a synchronizing assembly of the present invention;

FIG. 6 is a schematic view of a vertical lens structure according to the present invention;

FIG. 7 is a schematic view of a horizontal lens configuration of the present invention;

FIG. 8 is a schematic view of a structure of a condensing plate according to the present invention;

fig. 9 is a schematic view of the structure of the synchronous gear of the present invention.

In the figure: 1. a stabilizer; 2. a housing; 3. a camera; 4. an adjusting mechanism; 41. a fixing frame; 42. a bracket; 43. a laser emitter; 44. a reflective assembly; 441. a vertical lens; 4411. a vertical link; 442. a horizontal lens; 4421. a horizontal link; 45. a transmission assembly; 451. a limit gear; 452. a transmission gear; 453. a power gear; 46. a motor; 47. a synchronization component; 471. a reversing gear; 472. a synchronizing gear; 4721. a column; 4722. a limit groove; 7423. a barb; 473. a turnover plate; 474. a condensing plate; 48. a signal receiver.

Detailed Description

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 9, an airborne composite laser range finder comprises a stabilizer 1, a shell 2 and a camera 3; the stabilizer 1 one end is installed on unmanned aerial vehicle, and the stabilizer 1 other end is connected with shell 2, the internally mounted of shell 2 has camera 3, and a serial communication port still includes adjustment mechanism 4, adjustment mechanism 4 installs in the inside of shell 2, and adjustment mechanism 4 passes through laser emitter 43 vertical emission laser signal to the midpoint department of perpendicular lens 441, perpendicular lens 441 passes through drive assembly 45 and rotates around the horizontal axis of perpendicular lens 441, and the rotation of perpendicular lens 441 drives laser signal and reciprocates on the vertical axis of horizontal lens 442.

The transmission assembly 45 adjusts the deflection angles of the vertical lens 441 and the horizontal lens 442, so as to change the emergent angle of the laser signal within a certain range.

As shown in fig. 1 to 9, the adjusting mechanism 4 includes a fixing frame 41, a bracket 42, a laser transmitter 43, a reflecting component 44, a transmission component 45, a motor 46, a synchronizing component 47 and a signal receiver 48; the fixing frame 41 is installed in the inside of the shell 2, the support 42 is installed in the inside of the fixing frame 41, the laser emitter 43 is installed above the support 42, the reflecting component 44 is installed in the inside of the support 42, the reflecting component 44 is located right below the laser emitter 43, the axis of the reflecting component 44 is located on the same plane with the axis of the laser emitter 43, the laser emitter 43 emits laser light and then can directly irradiate the vertical lens 441, the reflecting component 44 is connected with the transmission components 45, the transmission components 45 are two, the two transmission components 45 are connected with the reflecting component 44, the other end of the transmission component 45 is installed on the fixing frame 41 and the support 42, the corresponding installation surfaces of the two transmission components 45 are perpendicular to each other, the transmission components 45 can control the reflecting component 44 from two directions, the motor 46 is connected with the transmission components 45 and installed on the fixing frame 41, the synchronizing component 47 is connected with the transmission components 45 in the horizontal direction, the transmission components 45 in the horizontal direction can drive the synchronizing component 47 to move, and further the synchronizing component 47 can move in the horizontal direction and the horizontal lens 442 to deflect, and the signal is installed on the fixing frame 42 and the signal receiving device 48.

After the laser transmitter 43 transmits the pulse laser signal, the laser signal reaches the reflecting component 44, and is reflected by the vertical mirror 441 and the horizontal mirror 442, the laser signal is emitted from the adjusting mechanism 4, and the transmission component 45 drives the synchronizing component 47 to synchronously rotate along with the change of the angle of the emission of the laser signal in the horizontal direction, so that the signal receiver 48 is kept perpendicular to the emission direction of the laser signal.

As shown in fig. 2 to 7, the reflection assembly 44 includes a vertical mirror 441 and a horizontal mirror 442, the vertical mirror 441 is transversely mounted on the support 42 within 90 ° of the horizontal plane, so that after the vertical mirror 441 is turned over, the laser signal is always kept on the mirror surface of the vertical mirror 441, and the center point of the vertical mirror 441 is located directly below the laser transmitter 43, so that when the laser signal reaches the mirror surface of the vertical mirror 441, the height of the laser signal irradiated on the vertical mirror 441 is not changed due to the turning over of the vertical mirror 441, and further, the movement of the laser signal in the vertical direction can be controlled more precisely through the turning over of the vertical mirror 441, the horizontal mirror 442 is opposite to the vertical mirror 441, the laser signal reflected by the vertical mirror 441 can be transmitted to the horizontal mirror 442, and the center point of the horizontal mirror 442 is vertically mounted on the support 42 and the same horizontal axis as the center point of the vertical mirror 441, so that the reflected laser signal is stabilized on the vertical axis of the horizontal mirror 442.

When the laser signal is emitted to the vertical lens 441, the vertical lens 441 rotates around the horizontal axis, so as to change the incident angle of the laser signal, so that the emergent angle of the laser signal is changed, the reflected laser signal moves on the axis of the horizontal lens 442, so that the laser signal is controlled in the vertical direction, the horizontal lens 442 rotates around the vertical axis, so that the laser signal is controlled in the horizontal direction, and the vertical lens 441 and the horizontal lens 442 rotate, so that the falling point of the laser signal is regulated and controlled on one plane.

As shown in fig. 2,3, 4 and 6, one end of the vertical mirror 441 facing the laser emitter 43 is a mirror surface of a reflective light source, so that the vertical mirror 441 can reflect laser signals, the mirror surface is horizontal and has no recess, the recess of the mirror surface is reduced, the deflection of the laser signal reflection is reduced, the accuracy of the reflection assembly 44 is improved, the vertical connecting rod 4411 is installed at the horizontal axis of the vertical mirror 441, the vertical mirror 441 can rotate in the vertical direction through the vertical connecting rod 4411, the vertical connecting rod 4411 penetrates the vertical mirror 441, one end of the vertical connecting rod 4411 is connected with the transmission assembly 45, and the transmission assembly 45 realizes the control of the turnover of the vertical mirror 441 through the vertical connecting rod 4411.

When the laser signal needs to be adjusted in the vertical direction, the transmission assembly 45 drives the vertical lens 441 to turn over through the vertical connecting rod 4411, and after the vertical lens 441 turns over, the height of the landing point of the laser signal on the horizontal lens 442 is changed.

As shown in fig. 2, 3,4 and 7, one end of the horizontal lens 442 facing the vertical lens 441 is a mirror surface of the reflective light source, so that the horizontal lens 442 can reflect the laser signal, the mirror surface is smooth and flat, the flatness of the mirror surface also affects the reflection precision of the reflection assembly 44, a horizontal connecting rod 4421 is installed at the vertical axis of the horizontal lens 442, so that the horizontal lens 442 can rotate around the axis in the horizontal direction, the horizontal connecting rod 4421 penetrates through the horizontal lens 442, one end of the horizontal connecting rod 4421 is connected with the transmission assembly 45, and the transmission assembly 45 realizes the control of the turnover of the horizontal lens 442 through the horizontal connecting rod 4421.

When the laser signal needs to be adjusted in the horizontal direction, the transmission assembly 45 drives the horizontal lens 442 to turn over through the horizontal connecting rod 4421, and the turning over of the horizontal lens 442 changes the emitting direction of the laser signal in the horizontal direction, so that the laser signal is adjusted in the horizontal direction.

As shown in fig. 2 to 9, the transmission assembly 45 includes a limiting gear 451, a transmission gear 452, and a power gear 453; the two limiting gears 451 are respectively connected with the vertical connecting rod 4411 and the horizontal connecting rod 4421, the limiting gears 451 are used for avoiding transmission interference through independent control of the vertical lens 441 and the horizontal lens 442, so that the accuracy of the adjusting mechanism 4 is improved, the transmission gears 452 are arranged on the fixing frame 41, the transmission gears 452 are meshed with the limiting gears 451 within a range of 90 degrees, the two transmission gears 452 are mutually perpendicular, the transmission gears 452 can only drive the limiting gears 451 to move within a certain range, the power gears 453 are arranged on the motor 46, and the power gears 453 are meshed with the transmission gears 452.

When the emitting direction of the laser signal needs to be changed, the motor 46 drives the transmission gear 452 to rotate through the power gear 453, the transmission gear 452 drives the limiting gear 451 to rotate after rotating, and the limiting gear 451 controls the rotation of the vertical lens 441 and the horizontal lens 442 through the vertical connecting rod 4411 and the horizontal connecting rod 4421, respectively.

As shown in fig. 2,3, 4,6 and 7, the gear teeth are disposed on the limit gear 451 within a range of 90 ° so that the drive gear 452 can only rotate the limit gear 451 within a range of 90 ° when driving the limit gear 451 to rotate, and thus the vertical lens 441 and the horizontal lens 442 can only rotate within a range of 90 °, preventing the vertical lens 441 or the horizontal lens 442 from rotating too much, so that the laser signal cannot be emitted, and when the vertical lens 441 and the horizontal plane form an included angle of 45 ° or the horizontal lens 442 and the horizontal axis of the vertical lens 441 form an included angle of 45 °, the center gear teeth of the limit gear 451 are engaged with the drive gear 452, so that the maximum rotation angle range of the limit gear 451 is the same as the maximum rotation angles of the horizontal lens 442 and the vertical lens 441, and the rotation angles of the horizontal lens 442 and the vertical lens 441 are better regulated.

When adjusting the emission direction of the laser signal, the transmission gear 452 drives the limiting gear 451 to rotate within a certain range, and the rotation of the limiting gear 451 drives the vertical lens 441 and the horizontal lens 442 to rotate through the vertical link 4411 and the horizontal link 4421, respectively, so as to adjust the emission direction of the laser signal.

As shown in fig. 2, 4, 5, 8, and 9, the synchronizing assembly 47 includes a counter gear 471, a synchronizing gear 472, an inverter plate 473, and a condensing plate 474; the reversing gear 471 is mounted on the bracket 42, one end of the reversing gear 471 is meshed with the transmission gear 452 in the horizontal direction, the other end of the reversing gear 471 is meshed with the synchronous gear 472, one end of the synchronous gear 472 is mounted on the fixed bracket 41, the other end of the synchronous gear 472 passes through the bracket 42 and is provided with a reversing plate 473, the reversing gear 471 is identical with the synchronous gear 472 in size, tooth number and the size and the complete tooth number of the limiting gear 451, so that the angular speed of the reversing gear 471 is consistent when rotating, and the synchronous gear 472 enables the synchronous gear 472 to be consistent with the rotating speed and the rotating direction of the limiting gear 451 through the reversing gear 471, the top end of the reversing plate 473 is provided with a condensing plate 474, and the bottom of the condensing plate 474 is provided with the signal receiver 48.

When the laser signal is adjusted in the horizontal direction, due to the rotation of the transmission gear 452 in the horizontal direction, the transmission gear 452 drives the limiting gear 451 to rotate and simultaneously drives the reversing gear 471 to rotate, the rotation of the reversing gear 471 drives the rotation of the synchronous gear 472, and after the synchronous gear 472 rotates, the rotating plate 473 drives the condensing plate 474 and the signal receiver 48 to rotate, so that the direction of the condensing plate 474 in the horizontal direction is perpendicular to the laser signal emitting direction, compared with the existing signal receiver 48, the synchronous assembly 47 is fixed and fixed, and the signal receiver 48 is perpendicular to the laser signal emitting direction, so that the signal receiver 48 can always receive the maximum signal value.

As shown in fig. 2, fig. 5, fig. 8 and fig. 9, the up end of the synchronizing gear 472 is provided with a stand 4721, a limit groove 4722 is provided at the upper end of the stand 4721, the width of the limit groove 4722 is slightly larger than that of the turnover plate 473, so that the turnover plate 473 can be installed in the limit groove 4722, a plurality of rubber barbs 7423 are symmetrically provided at two sides of the inner wall of the limit groove 4722, so that the two side barbs 7423 limit the horizontal movement of the turnover plate 473, the opening direction of the barbs 7423 faces the two ends of the limit groove 4722, so that the barbs 7423 can grasp the turnover plate 473 no matter along any side of the limit groove 4722, and a gap is left between the bottom of the barbs 7423 and the bottom of the limit groove 4722, so that the bottom of the barbs 7423 limits the vertical movement of the turnover plate 473, and the turnover plate 473 is more stable.

When the synchronizing gear 472 rotates, the synchronizing gear 472 drives the turnover plate 473 to rotate through the upright 4721, and the barbs 7423 restrict the turnover plate 473, so that the signal receiver 48 is more stable.

As shown in fig. 2, 5 and 8, the condensing plate 474 has a square cone structure, the square cone structure can collect the optical signal, the opening of the condensing plate 474 faces to the outside, the inner wall of the condensing plate 474 is a smooth mirror surface, so that the loss of the optical signal energy can be reduced when the condensing plate 474 condenses, and the signal receiver 48 is mounted at the bottom of the condensing plate 474.

After the laser signal irradiates the object and is reflected back, the scattered laser signal is converged by the condensing plate 474, so that the induction of the signal receiver 48 on the laser signal is enhanced, and the reading accuracy of the laser range finder is improved.

In the working process of the invention, when the unmanned aerial vehicle carries the laser range finder to measure an object, the laser transmitter 43 transmits a pulse laser signal in the vertical direction towards the right lower side, the pulse laser signal is reflected when moving downwards to the vertical lens 441, the reflected laser signal reaches the horizontal lens 442 to be reflected again, the reflected laser signal is emitted from the adjusting mechanism 4 to reach the surface of the object, and the laser signal reflected by the surface of the object reaches the signal receiver 48 after being converged by the condensing plate 474.

When an object needs to be measured in a small range, the motor 46 arranged in the fixing frame 41 drives the transmission gear 452 to move through the power gear 453, the transmission gear 452 drives the limit gear 451 to rotate, the limit gear 451 drives the vertical lens 441 and the horizontal lens 442 to rotate in the bracket 42 through the vertical connecting rod 4411 and the horizontal connecting rod 4421 respectively, and according to different offset positions, the rotation angles of the two limit gears 451 are different, after the vertical lens 441 rotates, the incident angle of the laser signal is changed through changing the incident angle of the laser signal, so that the emergent angle of the laser signal is changed through the reflection assembly 44, and the vertical lens 441 or the horizontal lens 442 is independently regulated through the independent transmission assembly 45, so that the regulating mechanism 4 is more stable, the laser signal vertically moves on the horizontal lens 442, so that the emission angle of the laser signal is changed in the vertical direction, the movement direction of the reflected laser signal is changed in the horizontal direction, so that the emission angle of the laser signal is controlled in the horizontal direction, and the laser signal can not be changed within a certain range through the cooperation of the vertical lens 441 and the horizontal lens 442.

When the outgoing angle of the laser signal in the horizontal direction is changed, the transmission gear 452 not only drives the limit gear 451 to rotate, but also drives the reversing gear 471 to rotate, the reversing gear 471 drives the synchronous gear 472 to rotate, so that the rotating direction of the synchronous gear 472 is consistent with that of the limit gear 451, the rotating speed of the synchronous gear 472 is consistent with that of the limit gear 451 due to the fact that the size, the tooth number of the reversing gear 471 and the synchronous gear 472 are the same as that of the limit gear 451, so that the synchronous gear 472 drives the turnover plate 473 to rotate along the axis of the synchronous gear 472 through the limit groove formed in the upright post 4721, and in the rotating process of the turnover plate 473, barbs 7423 in the limit groove 4722 limit the offset of the turnover plate 473, so that the turnover plate 473 keeps stable in the rotating process, and when the turnover plate 473 drives the condensing plate 474 to rotate, the opening direction of the condensing plate 474 is always parallel with the angle of the laser signal in the horizontal direction, the light converging effect of the turnover plate 473 can be better received by utilizing the light of the condensing plate 473 when the signal receiver 48 when receiving the light signal by the synchronizing assembly 47.

The description herein is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An airborne composite laser range finder comprises a stabilizer (1), a shell (2) and a camera (3); stabilizer (1) one end is installed on unmanned aerial vehicle, and the stabilizer (1) other end is connected with shell (2), the internally mounted of shell (2) has camera (3), a serial communication port, still include adjustment mechanism (4), adjustment mechanism (4) are installed in the inside of shell (2), and adjustment mechanism (4) are through the midpoint department of laser emitter (43) perpendicular transmission laser signal to perpendicular lens (441), perpendicular lens (441) rotate around the horizontal axis of perpendicular lens (441) through drive assembly (45), and the rotation of perpendicular lens (441) drives laser signal reciprocating motion on the vertical axis of horizontal lens (442).

2. The on-board composite laser rangefinder of claim 1 wherein: the adjusting mechanism (4) comprises a fixing frame (41), a bracket (42), a laser transmitter (43), a reflecting component (44), a transmission component (45), a motor (46), a synchronizing component (47) and a signal receiver (48); the utility model provides a laser device, including shell (2) and mount (41), and the internally mounted of mount (41) has support (42), laser emitter (43) are installed to the top of support (42), and the internally mounted of support (42) has reflection subassembly (44), reflection subassembly (44) are located under laser emitter (43), and the axis of reflection subassembly (44) is located the coplanar with the axis of laser emitter (43), drive subassembly (45) have two, and two drive subassemblies (45) all are connected with reflection subassembly (44), and drive subassembly (45) other end is installed on mount (41) and support (42), and the installation face that two drive subassemblies (45) correspond mutually perpendicular, motor (46) are connected with drive subassembly (45), and install on mount (41), synchronous subassembly (47) are connected with drive subassembly (45) of horizontal direction, and install on mount (41) and support (42), signal receiver (48) are installed in synchronous subassembly (47) top.

3. An airborne composite laser rangefinder as in claim 2 wherein: the reflection assembly (44) comprises a vertical lens (441) and a horizontal lens (442), wherein the vertical lens (441) is transversely mounted on the support (42) within the range of 90 degrees of the horizontal plane, the center point of the vertical lens (441) is located right below the laser emitter (43), the horizontal lens (442) is opposite to the vertical lens (441), the horizontal lens (442) is vertically mounted on the support (42), and the center point of the horizontal lens (442) and the center point of the vertical lens (441) are located on the same horizontal axis.

4. An on-board composite laser rangefinder as claimed in claim 3, wherein: the mirror surface of the reflecting light source is arranged at one end of the vertical lens (441) facing the laser emitter (43), a vertical connecting rod (4411) is arranged at the horizontal axis of the vertical lens (441), the vertical connecting rod (4411) penetrates through the vertical lens (441), and one end of the vertical connecting rod (4411) is connected with the transmission assembly (45).

5. The on-board composite laser rangefinder of claim 4 wherein: the horizontal lens (442) is a mirror surface capable of reflecting the light source towards one end of the vertical lens (441), a horizontal connecting rod (4421) is arranged at the vertical axis of the horizontal lens (442), the horizontal connecting rod (4421) penetrates through the horizontal lens (442), and one end of the horizontal connecting rod (4421) is connected with the transmission assembly (45).

6. An airborne composite laser rangefinder as in claim 2 wherein: the transmission assembly (45) comprises a limiting gear (451), a transmission gear (452) and a power gear (453); the limiting gears (451) are two and are respectively connected with the vertical connecting rod (4411) and the horizontal connecting rod (4421), the transmission gears (452) are installed on the fixing frame (41), the transmission gears (452) are meshed with the limiting gears (451) within a range of 90 degrees, the two transmission gears (452) are mutually perpendicular, the power gears (453) are installed on the motor (46), and the power gears (453) are meshed with the transmission gears (452).

7. The on-board composite laser rangefinder of claim 6 wherein: the limiting gear (451) is provided with gear teeth within the range of 90 degrees, and when the included angle between the vertical lens (441) and the horizontal plane is 45 degrees or the included angle between the horizontal lens (442) and the horizontal axis of the vertical lens (441) is 45 degrees, the central gear teeth of the limiting gear (451) are meshed with the transmission gear (452).

8. An airborne composite laser rangefinder as in claim 2 wherein: the synchronizing assembly (47) includes a counter gear (471), a synchronizing gear (472), a flipping plate (473), and a condensing plate (474); the reversing gear (471) is mounted on the support (42), one end of the reversing gear (471) is meshed with the transmission gear (452) in the horizontal direction, the other end of the reversing gear (471) is meshed with the synchronous gear (472), one end of the synchronous gear (472) is mounted on the fixing frame (41), the other end of the synchronous gear (472) penetrates through the support (42) to be mounted with the reversing plate (473), the reversing gear (471) is identical to the synchronous gear (472) in size, tooth number and the limiting gear (451) in size and complete tooth number, the top end of the reversing plate (473) is provided with the condensing plate (474), and the bottom of the condensing plate (474) is provided with the signal receiver (48).

9. The on-board composite laser rangefinder of claim 8 wherein: the synchronous gear (472) up end is provided with stand (4721), spacing groove (4722) have been seted up to stand (4721) upper end, spacing groove (4722) width slightly is greater than upset board (473) width, and the bilateral symmetry of spacing groove (4722) inner wall is provided with a plurality of rubber barb (7423), the opening direction of barb (7423) is towards spacing groove (4722) both ends to barb (7423) bottom and spacing groove (4722) bottom leave the clearance.

10. The on-board composite laser rangefinder of claim 9 wherein: the light condensing plate (474) is of a square cone structure, the opening of the light condensing plate (474) faces to the outer side, the inner wall of the light condensing plate (474) is a smooth mirror surface, and the bottom of the light condensing plate (474) is provided with the signal receiver (48).