CN202362458U - Dynamic parachute laser radar three-dimensional distance measuring system - Google Patents

Abstract

The utility model discloses a power parachute lidar three-dimensional distance measuring system. The power parachute is used as a measurement platform, and a laser radar, a GPS device and a digital camera are arranged on the measurement platform. Data storage for photo and laser point cloud data produced by lidar. An inertial navigation device is also provided on the measuring platform. The power parachute laser radar three-dimensional ranging system of the utility model uses high-resolution laser radar to measure the spatial three-dimensional distance of overhead lines and objects under the lines, and calculates the fusion data obtained by GPS information, inertial navigation information and high-resolution cameras , Interpret and locate dangerous areas and danger levels, and adopt follow-up manual processing to achieve the purpose of accurately judging the clearance distance of ground-air objects. The power parachute laser radar three-dimensional ranging system of the utility model has novel conception, easy implementation and high measurement accuracy.

Description

A three-dimensional ranging system of a powered parachute lidar

technical field

The utility model relates to a three-dimensional ranging system of a powered parachute laser radar.

Background technique

In the operating environment of transmission lines, the growth of trees and bamboos, overhead pipelines, super-high mechanical construction, and illegal buildings may pose threats to the safe operation of the line. Conventionally, inspectors use theodolite, altimeter or even visual inspection on the ground to measure the clearance distance of ground-air objects. Due to the limitations of terrain conditions, the experience and skills of the surveyors, sometimes there are omissions or large deviations between the measurement data and the actual situation, resulting in misjudgment, failure to diagnose correctly, and timely elimination of hidden dangers, resulting in power outages.

At present, the electric power industry uses artificial methods to measure the distance between ground and air objects. Due to the influence of geographical environment, human instinct and other factors, it is difficult to obtain accurate measurement and quantitative information, so it cannot achieve detailed and fast measurement results for transmission lines. And the operating efficiency is relatively low. However, the aircraft (including UAVs) may not have high spatial resolution after the laser radar is mapped to the ground due to the high flying altitude, which is not conducive to identifying small targets; or it is limited by the load and power supply of the high-performance laser radar. Due to supply requirements, low-resolution laser radar is selected, so it cannot meet the requirements of power line inspection. And it is restricted by many aspects such as aviation control, backup support, personnel management, warehouse construction, maintenance support, etc., so it is quite difficult to promote and popularize. Therefore, the above-mentioned aircraft platform is only used in the field of remote sensing and measurement with low resolution.

Utility model content

The technical problem to be solved by the utility model is to provide a three-dimensional ranging system of a powered parachute lidar. The three-dimensional ranging system of a powered parachute lidar of the utility model can be novel in conception, easy to implement, and has high measurement accuracy.

The technical solution of the utility model is as follows:

A powered parachute laser radar three-dimensional distance measuring system adopts a powered parachute as a measuring platform, and a laser radar, a GPS device and a digital camera are arranged on the measuring platform, and a data memory is also arranged on the measuring platform.

An inertial navigation device is also provided on the measuring platform.

The inertial navigation device, laser radar, GPS device and digital camera are all connected with the data memory.

Through the post-processing software, the laser point cloud data and digital photos are integrated to produce DEM (Digital Elevation Model (DEM) digital elevation model) 3D model and DSM 3D graphics.

DEM (Digital Elevation Model), which mainly reflects the naturally formed geomorphic features of a certain area, and DSM (Digital Surface Model) is a digital representation of surface features; the biggest difference between them is that DEM only represents terrain undulations, while DSM not only represents The terrain is undulating, including various building surfaces and vegetation cover.

Beneficial effect:

The power parachute laser radar three-dimensional ranging system of the utility model uses a high-resolution laser radar to measure the spatial three-dimensional distance of the overhead line and the object under the line, and solves the fusion of GPS information, inertial navigation information and high-resolution camera. Data, interpretation, positioning of dangerous areas and danger levels, and subsequent manual processing is adopted to achieve the purpose of accurately determining the clearance distance of ground-air objects.

The utility model uses a powered parachute to measure the distance between ground and air objects, adopts the low-cost cruise mode of the powered parachute, realizes the distance measurement between ground and air objects conveniently and quickly, accurately determines the hidden dangers, and provides targeted measures to eliminate hidden dangers Based on this, it can effectively avoid power outage accidents.

The powered parachute has many characteristics such as flexible flight, high safety and reliability, strong applicability, and low operating cost. The powered parachute is equipped with a modular, efficient and reliable ground-air object distance measurement system, such as GPS locator, inertial navigation device, laser Scanners (that is, laser radar) and high-resolution digital cameras can automatically measure and record the spatial distance between overhead lines and objects under the lines. The distance measurement accuracy error can be controlled within 10cm. Through the fusion and calculation of information data, Then it is judged whether the clearance distance of the ground-air object on the line meets the requirements of safe operation. At the same time, in terms of work efficiency and fault handling speed, the measurement speed of the system ≥ 20 km/h is unmatched by manual measurement methods, especially when dealing with faults in areas where people and vehicles cannot pass or difficult to pass, its role and effectiveness are more prominent. And the flight speed of the powered parachute is 20-40 km/h just in line with the requirement that the three-dimensional data acquisition equipment can only be realized by the slow-speed aircraft. At present, the application of power parachute to measure the distance between ground and air objects is still blank at home and abroad. Therefore, the system has great technical impetus and market expansion space.

The power parachute laser radar three-dimensional ranging system of the utility model has novel conception, easy implementation and high measurement accuracy.

Description of drawings

Fig. 1 is the overall structural block diagram of the three-dimensional ranging system of the powered parachute lidar of the present invention. Fig. 2 is a structural diagram of the mechanism for preventing card turnover when the card box door is opened;

Fig. 2 is a schematic diagram of the ranging principle of the three-dimensional ranging system of the powered parachute lidar of the present invention.

Detailed ways

The utility model will be described in further detail below in conjunction with accompanying drawing and specific embodiment:

As shown in Figure 1-2, a powered parachute lidar three-dimensional ranging system uses a powered parachute as a measurement platform, and a laser radar, a GPS device, and a digital camera are set on the measurement platform. data storage. An inertial navigation device is also provided on the measuring platform.

The laser radar adopts the pulse laser ranging system, uses the laser scanner to scan and image, and uses the semiconductor laser as the light source to realize high-speed imaging laser radar scanning. The key to lidar is the use of high-performance two-dimensional or three-dimensional scanning technology, and the scanner is formed by an adjustable-speed optical drum mirror to achieve detection in one direction. The transmitter provides high-power laser with high repetition rate and collimates the output laser of the semiconductor laser. The receiver receives the laser reflected back from the target, measures the time interval between transmitting the laser pulse signal and receiving the laser pulse signal, and measures the peak value of the received laser pulse signal. The laser scanner scans the laser emitted by the transmitter and the laser reflected from the target synchronously, so that the laser reflected from the target is always within the receiving field of view of the receiver. The software in the early stage of the system performs automatic and semi-automatic identification of the line, and measures the distance between the air-air line and the ground-air object. The post-processing software performs laser point cloud data processing and camera high-resolution image matching, and detects the safety status of the line. The relevant software design is the existing technology.

Claims (3)

1. a powered parachute laser radar three-dimensional ranging system, is characterized in that, adopts powered parachute as measuring platform, is provided with laser radar, GPS device and digital camera on this measuring platform, is also provided with data memory on this measuring platform . 2. The powered parachute lidar three-dimensional ranging system according to claim 1, characterized in that an inertial navigation device is also provided on the measurement platform. 3. the paramotor laser radar three-dimensional ranging system according to claim 2, is characterized in that, described inertial navigation device, laser radar, GPS device and digital camera are all connected with data memory.

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